JP2004344491A - Virtual surgery simulation system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a virtual surgery simulation system simulating the work of a surgery at the same sight line as the actual surgery without using models. <P>SOLUTION: When a user stands in front of a three-dimensional image display device 10, puts on a liquid crystal shutter type spectacles 40, and moves a grip 51, this virtual surgery simulation system 1 allows a main PC 20 to display a parallax error image three-dimensionally displayed when looking through the liquid crystal shutter type spectacles 40 on the three-dimensional image display device 10 based on a human model data and surgical appliance model data. Then, the main PC three-dimensionally displays a virtual surgical appliance and the virtual human body overlapped on the grip 51 in front of the user and, when the virtual surgical appliance approaches to the virtual body, the main PC 20 calculates the operation that the virtual surgical appliance is elastically deformed, cuts, or penetrates relative to the virtual human body, displays the virtual human body formed by updating the human model data, and produces a repulsive force at the grip 51 responding to the operation applied to the virtual human body by an inner force sense device 50. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a virtual surgery simulation system for performing a surgical operation without using an actual human body, for training of surgical skills, preliminary examination of the surgery, and the like.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a method of simulating surgery by training students in surgical skills, a method of performing surgery on a simulated object (for example, an animal) simulating a human body is known.
However, from the viewpoint of animal welfare, it has become difficult to use animals as imitations. Even when artificial imitations are used, there is a problem that it is difficult to use the imitations repeatedly and it is costly.
[0003]
In order to improve this problem, a virtual human body simulating a patient and a three-dimensional image of a virtual surgical tool simulating a surgical tool are drawn and displayed on a monitor screen, and are provided in front of the monitor screen by a user. The virtual surgical tool is displayed in conjunction with the operation of the simulated surgical tool, and the effect of the virtual surgical tool is reflected and displayed on the virtual human body. A method of performing an operation on a virtual human body is known (see Patent Document 1).
[0004]
[Patent Document 1]
Japanese Patent No. 3198130
[Problems to be solved by the invention]
However, in the conventional virtual surgery simulation system, surgery is performed on the virtual human body in the image displayed on the monitor screen, and the user's line of sight is different from the time of the actual operation. The problem that is difficult to grasp is considered.
[0006]
Also, in actual surgery, the state of the affected part may be checked by looking into the state of the affected part from each direction, but in such a case, a conventional virtual surgery simulation system uses a joystick to display the monitor screen. There is a gap with the actual operation such as confirmation by switching the display range.
[0007]
The present invention has been made in view of these problems, and provides a virtual surgery simulation system capable of simulating a surgical operation without using a simulated object with a line of sight similar to an actual operation. Aim.
[0008]
[Means for Solving the Problems]
In order to achieve the above object, the virtual surgery simulation system according to claim 1 has an image display means for displaying a stereoscopic image in a predetermined virtual space, and simulates a part or all of a patient in the virtual space. Human body model data for displaying a virtual human body, and surgical tool model data for displaying a virtual surgical tool simulating a surgical tool in a virtual space, including position information of a position to be displayed in the virtual space. Storage means for storing.
[0009]
Then, the position detecting means detects the position of the user's hand or finger in the virtual space, and the position information updating means sets the virtual surgical instrument at the position of the user's hand or finger detected by the position detecting means. Is updated, the position information of the virtual surgical tool is updated, and when it is determined that the virtual surgical tool, the position information of which has been updated by the position information updating unit, has a positional relationship in contact with the virtual human body, The model data updating means calculates the action on the human body when the actual surgical tool is brought into contact with the actual human body in this positional relationship, and reflects the calculation result on the human body model data.
[0010]
Further, the line-of-sight detection unit detects the line-of-sight position and the line-of-sight direction of the user, and the image control unit detects the virtual human body and the virtual surgical tool with the latest human body model data and surgical tool model data using the line-of-sight detection means. The image is displayed by the image display means as a stereoscopic image in the virtual space observed from the detected line-of-sight position and line-of-sight direction.
[0011]
As a result, according to the virtual surgery simulation system of the present invention, the virtual human body and the virtual surgical instrument are displayed in a stereoscopic image according to the user's gaze position and gaze direction, and the user moves the position of the hand or finger. Thus, the virtual surgical tool can be moved, the virtual surgical tool can be brought into contact with the virtual human body, and the virtual human body can be changed as if actually performing a surgical operation.
[0012]
For this reason, the user should use the same gaze as the actual operation, without using a simulated object, in the same way as for an actual patient, for training in surgical skills and studying preoperative surgical methods. Alternatively, a simulated operation can be performed by moving a finger. In addition, only by returning the human body model data to the original state, the simulation of the operation can be easily repeated.
[0013]
The position where the position is detected by the position detecting means is a hand or a finger. When the detected position is a hand, the position is determined by the position information updating means as the position of the hand holding the surgical tool, that is, the position of the virtual surgical tool. Update the position of the surgical tool. If the position detected by the position detection means is the position of a finger, the finger may be used as a surgical tool, or a virtual surgical tool such as a forceps may be used depending on the detected positions of several fingers. The position of the virtual surgical instrument may be updated by the position information updating means as if operated by a finger.
[0014]
Further, there may be two or more virtual surgical tools. In this case, surgical instruments of the same type may be simulated, or surgical instruments of different types may be simulated. Then, two or more virtual surgical instruments can be used by a plurality of persons.
Further, the position detected by the position detecting means may be plural depending on the number of virtual surgical tools, or may be one that detects a plurality of positions for one virtual surgical tool.
[0015]
Next, the virtual surgery simulation system of the present invention includes a bodily sensation unit for giving a repulsive force to a user's hand or finger whose position is detected by the position detection unit, as described in claim 2, The model data updating means calculates the repulsive force against the actual surgical instrument when calculating the action on the actual human body, and gives the repulsive force to the user's hand or finger via the bodily sensation means based on the calculation result. You may comprise so that it may be.
[0016]
In other words, with this configuration, in addition to the sight simulated by the stereoscopic image, the tactile sensation is simulated by the bodily sensation means by the repulsive force generated on the user's hand or finger by the action on the virtual human body by the virtual surgical instrument. Thus, a virtual surgery simulation system having a more realistic feeling can be provided.
[0017]
In order to obtain a more realistic feeling, it is better to generate sound in accordance with the action of the virtual surgical instrument to simulate hearing as well as sight and touch.
By the way, there are various surgical tools used for surgery, such as scalpels, forceps, suture needles, and human fingers. The effect of these surgical tools on the human body depends on the shape of the portion of the surgical tool that contacts the human body.
[0018]
In order to simulate such various actions on the human body by the surgical tool, the virtual surgery simulation system according to claim 1 or 2, and the model data updating means as described in claim 3, For each type of shape of the virtual surgical tool in contact with the virtual human body, a plurality of operation patterns for calculating the operation on the actual human body are provided. It is preferable to select a plurality of calculation patterns according to the shape of the abutment portion of the surgical tool and calculate the actual operation on the human body using the calculation pattern.
[0019]
In other words, with this configuration, it is possible to change the action on the virtual human body according to the type of the virtual surgical tool and how to use the virtual surgical tool, so that the action of the virtual surgical tool on the virtual human body is closer to the actual one. It can be simulated as follows.
The operation of the surgical tool on the human body during surgery includes the action of elastically deforming the human body by pushing or pulling a part of the human body with forceps or fingers, the action of cutting a stomach with a scalpel or the like, or the action of suturing. And a piercing action by a suture needle or the like at the time of anastomosis. The model data updating means may include an operation pattern for simulating these operations.
[0020]
Further, in the virtual surgery simulation system according to the first to third aspects, various specific configurations of the three-dimensional display means can be considered, and the three-dimensional display means is, for example, parallax as described in the fourth aspect. The image display device displays the virtual human body and the virtual surgical tool on the table top corresponding to the operating table as two parallax images provided with parallax, and stereoscopically displays the parallax image with stereoscopic glasses worn in front of the user's eyes. It is good to make it visible.
[0021]
In other words, when the stereoscopic display means is configured in this manner, the user can wear only stereoscopic glasses, and like a head-mounted display, which is another configuration for displaying a stereoscopic video, the user can wear the video. It is not necessary to attach a large-scale device for displaying the message to the head, and the surgical operation can be experienced in a more natural state.
[0022]
The storage means of the virtual surgery simulation system according to the first to fourth aspects stores human body model data generated from data obtained from a real patient, as described in the fifth aspect. Is also good.
In other words, in this way, by performing a surgical operation using the virtual surgery simulation system, it is possible to confirm in advance whether or not there is a problem with the surgical method, increase the skill of the operating doctor in the surgical operation, and generate human body model data. The success rate when operating on a patient who has failed.
[0023]
In addition, in order to make the virtual surgery simulation system according to claim 5 operate a surgical tool on a patient who exists in the real space, the virtual output simulation system is detected by the external output means and detected by the position detection means. It is preferable to output the position of the hand or finger of the person to a predetermined outside.
[0024]
In other words, with this configuration, if the output destination of the external output means is a device such as a robot that controls and moves a surgical tool based on the output position, it is assumed that human body model data is obtained from an existing patient, and virtual By synchronizing the operation performed by the doctor in the operation simulation system with the operation performed by the robot, the operation can be performed on a patient located in a remote place. That is, the virtual surgery simulation system can be used as an input device of a so-called telesurgery system.
[0025]
In addition, by using the virtual surgery simulation system as an input device of a microsurgery system that performs surgery in a micro world, the output destination of the external output means is a micro medical robot, and the diseased part of the virtual human body to be displayed is enlarged and displayed. It is also possible for the user to enter the microscopic world and operate.
[0026]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 shows the overall configuration of the virtual surgery simulation system 1 of the present embodiment.
As shown in FIG. 1, the virtual surgery simulation system 1 includes a stereoscopic video display device 10, a main personal computer (hereinafter, referred to as a main PC) 20, and a video processing workstation (hereinafter, referred to as a video processing WS). 30, a liquid crystal shutter-type glasses 40, a position sensor 45, and a haptic device 50. For the purpose of skill training, etc., a virtual human body simulating a patient is displayed in a predetermined space as a stereoscopic image by a user. Is a system for performing a virtual surgery on this virtual human body.
[0027]
In the three-dimensional image display device 10, a semi-transparent spherical display 12 having a hemispherical dome shape is mounted on an open portion above a box-shaped console 11 with the spherical surface facing upward, and two sets for projecting and displaying images are provided. The liquid crystal projectors 13 and 14 are mounted below the spherical display 12 in the console 11 with the light projecting portions facing each other so as to project an image on the inner surface of the spherical display 12. Mechanical shutters 15 and 16 are arranged at the front of the section, respectively.
[0028]
Further, the mechanical shutters 15 and 16 receive the synchronization signal from the main PC 20, and alternately open and close the shutter at predetermined time intervals (for example, every 1/60 second) in accordance with the synchronization signal. In this manner, the images projected by the liquid crystal projectors 13 and 14 are alternately projected on the inner surface of the spherical display 12 at predetermined time intervals and displayed on the outer surface of the spherical display 12.
[0029]
In addition, the liquid crystal shutter glasses 40 are liquid crystal shutters in which the left and right lens units are respectively opened and closed by electric signals, and a synchronization signal having the same timing as that of the mechanical shutters 15 and 16 is input from the main PC 20 by infrared rays or the like. In accordance with this, the liquid crystal shutter is opened alternately left and right. Therefore, the opening / closing timings of the liquid crystal shutter glasses 40 and the mechanical shutters 15 and 16 are synchronized.
[0030]
As described above, when the user views the image displayed on the spherical display 12 through the liquid crystal shutter glasses 40, one of the eyes (for example, the right eye) of the user's eyes only sees the image from the liquid crystal projector 13. Instead, the other eye (for example, the left eye) can see only the image from the liquid crystal projector 14.
[0031]
Therefore, of the two images having parallax for displaying a stereoscopic image, the image for the right eye is input to the liquid crystal projector 13 and the image for the left eye is input to the liquid crystal projector 14, and the spherical display 12 of the stereoscopic image display device 10 is input. , The user sees the image for the right eye with the right eye and the image for the left eye with the left eye, and as a result, the image displayed on the spherical display 12 appears as a stereoscopic image (so-called stereoscopic image). See).
[0032]
In the case of stereoscopic viewing, it is ideal that an image is displayed in a direction orthogonal to the line of sight. In that regard, in the stereoscopic video display device 10, the spherical display 12 that projects an image has a hemispherical shape. Thus, an image in the orthogonal direction can be displayed from any direction on the upper surface of the console 11, and the image can be stereoscopically viewed.
[0033]
The position sensor 45 has a built-in orthogonal coil and is mounted on the liquid crystal shutter type glasses 40. A transmitter 46, which is formed of a quadrature coil and generates magnetism when an alternating current is applied, is placed beside the three-dimensional image display device 10. When the transmitter 46 is placed in a magnetic field generated by the transmitter 46, an induced current is generated. Is detected by the detection circuit 47 in a time-division manner, and the three-dimensional coordinate values of X, Y, and Z (that is, the line-of-sight position) and the Euler angles of pitch, yaw, and roll (that is, the line-of-sight direction) are obtained. The signal is output to the main PC 20.
[0034]
The haptic device 50 has a configuration in which a grip 51 gripped by a user is supported by an articulated support member 52 so as to be able to move in the X, Y, and Z axis directions, and is disposed on the upper surface of the console 11. Is done. Then, the three-dimensional coordinate position of the tip of the grip 51 is detected by an encoder or the like provided at each joint, and the detected position signal is output to the main PC 20. Each joint of the force sensing device 50 is provided with a DC motor, and receives a driving current from the main PC 20 to the DC motor to generate a repulsive force in three degrees of freedom with respect to the grip 51.
[0035]
The main PC 20 is composed of a well-known personal computer including a CPU, a ROM, a RAM, an external storage device, an I / O, etc., and receives signals from the force sensor 50 and the position sensor 45 to input signals from the mechanical shutter 15, 16 and a synchronizing signal to the liquid crystal shutter 40, a driving current to the haptic device 50, and a WS for image processing of two parallax images generated by providing parallax so as to stereoscopically display a virtual human body and a virtual surgical instrument. And an analog RGB signal. The main PC 20 has a sufficiently high processing capacity so that the image displayed on the three-dimensional image display device 10 is changed and displayed in real time according to each input.
[0036]
In addition, the WS 30 for image processing is configured by a well-known workstation, and the two parallax images to be input are images to be displayed on a rectangular display. The video signal is subjected to video correction processing so as not to be distorted and output to the liquid crystal projectors 13 and 14 of the stereoscopic video display device 10.
[0037]
The video processing WS 30 includes a video signal converter 31, and a parallax image based on an analog RGB signal sent from the main PC 20 is passed through the video signal converter 31 and input as a video signal.
By the way, a range in which an image is stereoscopically displayed by the three-dimensional image display device 10 is defined as a virtual space, and human body model data representing a state of a virtual human body displayed at a predetermined location in the virtual space; And surgical instrument model data indicating the state of the virtual surgical instrument displayed at the location of the main PC 20, based on the basic data stored in the external storage device of the main PC 20, and including the respective positional information on the RAM. .
[0038]
The basic data of the human body model data is obtained by extracting a contour from a medical image such as CT (Computed Tomography Apparatus) or MRI (Nuclear Magnetic Resonance Imaging) of a part of the human body, and extracting the Delaunay triangle or the like. The three-dimensional shape data generated by generating a surface between contour lines using the Voronoi diagram and including information on the inside of the human body includes various types of information on the characteristics of the human body such as the elastic coefficient of each tissue.
[0039]
The surgical tool model data is composed of a plurality of three-dimensional shape data obtained by converting the shape of a surgical tool, such as a scalpel or a suture needle, into each virtual surgical tool. The blade-shaped portion has data of the shape characteristics of the type "B", the needle-shaped portion such as a suturing needle has the shape characteristics of the type "C", and the others have the shape characteristics data of the type "A".
[0040]
Next, the operation of the virtual surgery simulation system 1 will be described with reference to the flowchart shown in FIG.
First, in S100 (S represents a step), a position signal of the grip 51 is acquired from the force sensor device 50, and the position of the position signal is set as a display position of the virtual surgical instrument (that is, the virtual operation tool is superimposed on the grip 51). The position information of the surgical tool model data is changed (so that the tool is displayed).
[0041]
Next, in S110, it is determined based on the surgical tool model data and the human body model data whether the area where the virtual surgical tool is displayed on the stereoscopic video display device 10 is in contact with the area where the virtual human body is displayed. If these areas are in contact, the process proceeds to S120; otherwise, the process proceeds to S190.
[0042]
Next, in S120, the type of the shape of the portion of the displayed virtual surgical tool that is in contact with the virtual human body is determined. When the type of shape is "A", the process proceeds to S130, when the type of shape is a blade-like "B", the process proceeds to S150, and when the type of shape is a needle-like "C", the process proceeds to S170.
[0043]
In S130, the state of the virtual human body deformed by the virtual surgical tool is calculated using a model combining the finite element method and Newton's equation of motion, with the virtual human body in contact with the virtual surgical tool as an elastic body. The human body model data is changed so that the virtual human body reflects the above. Then, in S140, an elastic force with respect to the calculated deformation amount is obtained in S130 as a repulsive force for the virtual surgical instrument, and the process proceeds to S190.
[0044]
In S150, the human body model data is changed so that the virtual human body part in contact with the blade-like shape of the virtual surgical tool is cut into a somewhat smooth cut surface by a vertex rearrangement method as a phase deformation technique. The rebound force at the time of cutting calculated in S150 is determined as the repulsion force for the tool, and the process proceeds to S190.
[0045]
In S170, the human body model data is changed so as to generate a puncture hole by rearranging and multiplying the vertices of the virtual human body part where the needle-shaped shape of the virtual surgical tool overlaps. The process proceeds to S190 in which the penetration resistance of the penetration hole in S180 due to the tightening force is determined.
[0046]
Next, in S190, a signal of the line-of-sight position and the line-of-sight direction from the position sensor 45 is acquired.
Next, in S200, based on the human body model data and the surgical tool model data, the virtual human body and the virtual surgical tool to be displayed at the respective positions of the position information are viewed from the line-of-sight position and the line-of-sight direction acquired in S190. Two parallax images in which a three-dimensional image has parallax are generated.
[0047]
Next, in S210, the image generated in S200 is output to the video processing WS 30 and displayed on the stereoscopic video display device 10, and the drive current based on the repulsive force calculated in S140 or S160 or S180 is applied to the haptic device. 50, and the process returns to S100. In addition, another virtual surgical tool is displayed side by side at a predetermined position above the console 11, and when the user can place the grip 51 on the position of the virtual surgical tool, the virtual surgical tool is displayed on the grip 51. The displayed virtual surgical tool is replaced.
[0048]
Thereby, when the user stands in front of the three-dimensional image display device 10, puts on the liquid crystal shutter glasses 40, and moves the grip 51, the virtual surgery simulation system 1 places the virtual human body and the virtual surgical tool in front of the user. The virtual surgical tool is displayed in a three-dimensional manner, and the virtual surgical tool is superimposed on the grip 51. When the virtual surgical tool contacts the virtual human body, the virtual surgical tool is elastically deformed, cut, or stabbed in accordance with the shape of the portion of the virtual surgical tool that contacts the virtual human body. The virtual human body is deformed and displayed as if passed, and a repulsive force is generated in the grip 51. For example, when the virtual surgical instrument is a virtual scalpel, when the grip 51 is moved and the blade-shaped portion of the virtual scalpel comes into contact with the virtual human body, the virtual human body is deformed and displayed in a shape cut at the portion where the virtual scalpel comes into contact, The force sensor device 50 generates a repulsive force as if it were cut with a scalpel, and makes the user feel that the virtual scalpel is cutting a virtual human body.
[0049]
As described above, according to the virtual surgery simulation system 1, the user can visually recognize the virtual human body and the virtual surgical tool displayed in a stereoscopic image according to the user's line of sight, as in the case of performing an actual operation. By moving the grip 51 so as to operate the virtual surgical tool, the virtual surgical tool can act on the virtual human body. In addition, since a repulsive force is generated in the grip 51 when the virtual surgical instrument acts on the virtual human body, the user can feel tactilely as if the virtual human body actually exists.
[0050]
As described above, the virtual surgery simulation 1 allows a user to perform a simulated operation for a skill training or the like without using a simulated object with a line of sight similar to that of an actual operation.
In addition, as an operation on the virtual human body by the surgical tool, any one of the operation patterns of elastic deformation, cutting, and piercing is selected and calculated according to the shape of the surgical tool, so that various operations by various virtual surgical tools are performed. Can simulate the effect on the virtual human body in accordance with.
[0051]
In addition, if the human body model data is used as data from a patient who actually performs a surgery, and the virtual surgery simulation system 1 performs the operation before the surgery, it is possible to confirm whether or not there is a problem in performing the surgery. The skill level of the operation can be increased, and the success rate of the operation can be increased.
[0052]
[Correspondence with the present invention]
The WS 30 for image processing and the stereoscopic image display device 10 of the present embodiment correspond to the parallax image display device of the present invention, the liquid crystal shutter glasses 40 correspond to stereoscopic glasses, the RAM of the main PC 20 corresponds to storage means, The haptic device 50 corresponds to a position detecting unit and a bodily sensation unit, the position sensor 45 corresponds to a line-of-sight detecting unit, the processing in S100 in the main PC 20 corresponds to a position information updating unit, and the processing in S110 to S180 in the main PC 20. The processing corresponds to the model data updating means, and the processing in S190 to S210 in the main PC 20 corresponds to the image control means.
[0053]
[Modification]
As described above, the embodiments of the present invention have been described. However, the present invention is not limited to the above specific embodiments, and can be implemented in various other modes.
For example, in the present embodiment, a configuration is used in which a stereoscopic image of a virtual human body is displayed on the console 11, but a stereoscopic image may be displayed by another method. The virtual space may be three-dimensionally displayed with a three-dimensional image. However, in the method of displaying an image on the console 11 of the present embodiment, a large-scale device for displaying an image, such as a head-mounted display, does not need to be mounted on the head, so that the operation work can be performed in a more natural state. You can experience it.
[0054]
In this embodiment, only one haptic device 50 is mounted, and one virtual surgical instrument is operated in the state of the grip 51. However, even if a plurality of haptic devices 50 are provided. With such a configuration, it is possible to simulate an operation performed by a plurality of virtual surgical tools with both hands or a plurality of persons, or to operate a plurality of force-sensing devices 50 with a fingertip, thereby providing a virtual surgical tool such as forceps. It is possible to simulate various states of surgery, for example, by operating with a finger or performing a surgical operation with a finger.
[0055]
Further, the position signal from the haptic device 50 may be configured to be output to the outside by the external output device 90. In this case, the human body model data is set to the actual patient, and the external output device 90 The virtual surgery simulation system 1 performs a surgical operation by using the output destination of the position signal by the robot as a robot that moves an actual surgical tool in accordance with the position signal, thereby operating the robot to operate a remote patient. It can be performed. Such an input device of a telesurgery system can be used.
[0056]
In addition, as an input device of a microsurgery system operating in a micro world, a position signal from a haptic device 50 is input to a micro medical robot by an external output device 90, and the affected part is enlarged by a virtual human body to be displayed. By displaying, it is possible to actually enter the microscopic world and perform an operation.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an overall configuration of a virtual surgery simulation system 1 according to the present embodiment.
FIG. 2 is a flowchart of a processing procedure of a main PC according to the embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Virtual surgery simulation system, 10 ... Stereoscopic image display device, 11 ... Console, 12 ... Spherical display, 13, 14 ... Liquid crystal projector, 15, 16 ... Mechanical shutter, 20 ... Main personal computer, 30 ... Image processing workstation , 40: liquid crystal shutter glasses, 45: position sensor, 46: transmitter, 50: force sensor, 90: external output device.

Claims (6)

Image display means for displaying a stereoscopic image in a predetermined virtual space,
Human body model data for displaying a virtual human body simulating a part or all of a patient in the virtual space, and surgical tool model data for displaying a virtual surgical tool simulating a surgical tool in the virtual space, Storage means stored including position information of a position to be displayed in the virtual space;
Position detection means for detecting the position of the user's hand or finger in the virtual space,
Position information updating means for updating position information of the virtual surgical instrument, so that the virtual surgical instrument is displaced to the position of the user's hand or finger detected by the position detecting means,
When it is determined that the virtual surgical instrument whose position information has been updated by the position information updating unit has a positional relationship in contact with the virtual human body, the actual surgical tool is replaced with the actual human body by the positional relationship. A model data updating unit that calculates an action on the human body when the contact is performed, and reflects the calculation result on the human body model data;
Gaze detection means for detecting the gaze position and gaze direction of the user,
According to the latest human body model data and surgical instrument model data, the virtual human body and the virtual surgical instrument are used as a stereoscopic image in the virtual space observed from the line-of-sight position and the line-of-sight direction detected by the line-of-sight detecting means. Video control means for displaying by the video display means,
A virtual surgery simulation system comprising: The user's hand or finger whose position is detected by the position detecting means, a bodily sensation means for giving a repulsive force,
The model data updating means calculates a repulsive force on the actual surgical instrument when calculating the action on the actual human body, and based on the calculation result, the user's hand or finger through the bodily sensation means. Give repulsion to
The virtual surgery simulation system according to claim 1, wherein: The model data updating means,
For each type of the shape of the virtual surgical instrument at a position in contact with the virtual human body, a plurality of operation patterns for calculating the effect on the actual human body,
When calculating the action on the actual human body, the plurality of calculation patterns according to the shape of the contact point of the virtual surgical instrument with the virtual human body are selected, and the action on the actual human body is calculated using the calculation pattern. Operate on,
The virtual surgery simulation system according to claim 1 or 2, wherein: The stereoscopic display means,
A parallax image display device that displays the virtual human body and the virtual surgical tool on a table top corresponding to an operating table as two parallax images provided with parallax;
Stereoscopic glasses that are worn in front of the user's eyes and allow the parallax image to be viewed stereoscopically,
The virtual surgery simulation system according to claim 1, wherein: In the storage means,
The virtual surgery simulation system according to any one of claims 1 to 4, wherein human body model data generated from data obtained from an existing patient is stored. An external output unit for outputting the position of the user's hand or finger detected by the position detection unit to a predetermined outside in order to cause the surgical tool to act on a patient who exists in the real space. The virtual surgery simulation system according to claim 5.

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