CN102568288A - Endoscopy virtual surgery system with force feedback - Google Patents
Endoscopy virtual surgery system with force feedback Download PDFInfo
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- CN102568288A CN102568288A CN2010106098698A CN201010609869A CN102568288A CN 102568288 A CN102568288 A CN 102568288A CN 2010106098698 A CN2010106098698 A CN 2010106098698A CN 201010609869 A CN201010609869 A CN 201010609869A CN 102568288 A CN102568288 A CN 102568288A
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Abstract
The invention provides an endoscopy virtual surgery system with force feedback, which comprises a peripheral device for a user to directly operate, an interface connected with the peripheral device and responding to operations of the user, a display device, a simulation module connected with the interface and providing simulation environment and a force feedback model module enabling the user to be interacted with the virtual simulation module. The endoscopy virtual surgery system with force feedback enables the user to have touch feeling feedback and operation touch feeling interaction by using the module supporting force feedback, simultaneously enables the virtual environment of the whole virtual operation to be lifelike through a module simulating organ deformation, and is more suitable for research, teaching and training of surgical operation.
Description
Technical field
The present invention relates to a kind of surgical system, particularly a kind of surgery virtual operation artificial system.
Background technology
Virtual operation is meant that the doctor sets up undergo surgery in the virtual environment training and plan through computing machine.Because general image check only can provide two-dimensional image.3D operation emulation be can't carry out, the sense of reality and unreliability lacked.
Along with the development of virtual reality technology, but can utilize computing machine to set up a virtual 3D environment and interactive operation platform the medical domain people.But, can not virtual operation instrument be carried out force feedback operation emulation owing to lack effective force feedback.
Summary of the invention
The present invention is directed to existing operation simulation system, a kind of scope system of virtual operation that has force feedback is provided.
The scope system of virtual operation that has force feedback provided by the invention comprises:
One is used for the peripherals of user's direct control;
One link to each other meaning response user with above-mentioned peripherals the interface of operation;
One display device;
One emulation module that virtual environment is provided that links to each other with above-mentioned interface; Under emulation module have further and comprise:
One is used for simulating the operation molded tissue block of the model of the tissue that will perform the operation;
One is used for being convenient to demonstrate the figure indicating module of surgical procedure;
One be used for sham operated cutting cutting module;
One mutual computing module; And
The module of one simulated organ distortion;
And
One makes user and the mutual force feedback model module of above-mentioned virtual emulation module.
Further, said emulation module also comprises the tactile feedback control module.
Further again, said emulation module also comprises the collision processing module.
The scope system of virtual operation that has force feedback provided by the invention is owing to the module that has adopted the holding power feedback; Make the user that tactile feedback arranged; Haptic interaction with operation; Through the module of simulated organ distortion, make that the virtual environment of whole virtual operation is more true to nature simultaneously, be more suitable for operating research, teaching and training.
Description of drawings:
Further specify the present invention below in conjunction with accompanying drawing and embodiment.
Fig. 1 is a surgery virtual operation artificial system synoptic diagram of the present invention.
Fig. 2 is the emulation module synoptic diagram of surgery virtual operation artificial system of the present invention.
Fig. 3 is force feedback of the present invention and operator's a mutual synoptic diagram.
Embodiment:
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.
Referring to Fig. 1, the present invention provides the scope system of virtual operation that has force feedback to comprise peripherals 1, operation interface 2, emulation module 3, force feedback model module 4 and display device 5.Equipment such as keyboard, the mouse etc. of peripherals 1 person's of being to use input control information.Operation interface 2 is interfaces that the user operates.Emulation module 4 is cores of system of the present invention, will describe in detail below.Force feedback model module 4 is piths of surgery systems of the present invention, the instrument of the person of being to use and virtual emulation module system interaction.Display device 5 is display device of using always.
Referring to Fig. 2, emulation module 3 further comprise the model that is used for simulating the tissue that will perform the operation operation molded tissue block 31, be used for being convenient to demonstrate surgical procedure figure indicating module 32, be used for cutting module 34, the interactive module 35 of sham operated cutting, module 33, tactile feedback control module 36 and the collision processing module 37 of simulated organ distortion.Tactile feedback control module 36 the is integrated initialization of haptic feedback devices, the startup that resets, stop, function such as read the position, feedback force is provided with.Collision processing module 37 is responsible in the surgical cut operation, detecting analog scalpel and current unit tabulation and the record intersection point information that intersects with scalpel of collision, maintenance, the modification of the soft tissue that is cut.Cutting module 34 is responsible for the unit that scalpel is inswept and is decomposed into tetrahedron element.Mutual computing module 35 is to find the solution the kinetics equation of Soft Tissue Deformation and upgrade the state of soft tissue model with numerical method.
Referring to Fig. 3, operator's brain 41 command operation persons' hand 42 moves, the operating rod 43 of control feedback device, and simultaneously, operating rod 43 is to the hand 42 of force feedback to the operator, so operator's brain 41 receives tactile feedback.
Referring to Fig. 2, the emulation module 3 of virtual operation artificial system of the present invention is the branch following steps setting up module again:
1, Geometric Modeling
Steps such as the model through to the operation organ carries out pre-service, cuts apart, three-dimensional reconstruction obtain the STL three-dimensional modeling data.Be stored as the 3DS form to model in the export function of utilizing 3DMAX.
2, motion modeling
During this modeling in order to confirm position and their the motion in virtual environment of three dimensional object in coordinate.
3, physical modeling
At first, through quality-spring model the distortion organ is carried out modeling.
Secondly, set up the force feedback model through PHANTOM
At last, set up collision detection through movement locus.
Referring to Fig. 1, Fig. 2, Fig. 3, emulation module 3 of the present invention has been set up virtual operation simulated environment, makes that through force feedback model module 4 operator can the realistic simulation surgical environments, on operation interface, implements force feedback emulation operation.
More than show and described ultimate principle of the present invention, principal character and advantage of the present invention.Those skilled in the art should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the instructions just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (3)
1. scope system of virtual operation that has force feedback is characterized in that it comprises:
One is used for the peripherals of user's direct control;
One link to each other meaning response user with above-mentioned peripherals the interface of operation;
One display device;
One emulation module that virtual environment is provided that links to each other with above-mentioned interface; Under emulation module have further and comprise:
One is used for simulating the operation molded tissue block of the model of the tissue that will perform the operation;
One is used for being convenient to demonstrate the figure indicating module of surgical procedure;
One be used for sham operated cutting cutting module;
One mutual computing module; And
The module of one simulated organ distortion;
And
One makes user and the mutual force feedback model module of above-mentioned virtual emulation module.
2. the scope system of virtual operation that has force feedback as claimed in claim 1 is characterized in that said emulation module also comprises the tactile feedback control module.
3. the scope system of virtual operation that has force feedback as claimed in claim 1 is characterized in that said emulation module also comprises the collision processing module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106098698A CN102568288A (en) | 2010-12-23 | 2010-12-23 | Endoscopy virtual surgery system with force feedback |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010106098698A CN102568288A (en) | 2010-12-23 | 2010-12-23 | Endoscopy virtual surgery system with force feedback |
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| CN102568288A true CN102568288A (en) | 2012-07-11 |
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| CN2010106098698A Pending CN102568288A (en) | 2010-12-23 | 2010-12-23 | Endoscopy virtual surgery system with force feedback |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104537938A (en) * | 2014-12-21 | 2015-04-22 | 合肥德铭电子有限公司 | Endoscope simulative training system capable of achieving flexible force feedback |
| CN104680911A (en) * | 2015-03-12 | 2015-06-03 | 苏州敏行医学信息技术有限公司 | Tagging method based on puncture virtual teaching and training system |
| CN104916184A (en) * | 2015-06-16 | 2015-09-16 | 中国科学院自动化研究所 | Virtual operation simulation training system for preoperative training and training method thereof |
| CN104992603A (en) * | 2015-07-06 | 2015-10-21 | 嘉恒医疗科技（上海）有限公司 | Human body virtual roaming display system |
| WO2016015560A1 (en) * | 2014-08-01 | 2016-02-04 | 卓思生命科技有限公司 | Surgery simulation system and method |
| CN105654830A (en) * | 2016-03-21 | 2016-06-08 | 苏州敏行医学信息技术有限公司 | Puncture simulation device and puncture simulation method |
| CN105931517A (en) * | 2016-06-17 | 2016-09-07 | 重庆金山科技（集团）有限公司 | Surgical operation virtual simulation method and system |
| CN106293082A (en) * | 2016-08-05 | 2017-01-04 | 成都华域天府数字科技有限公司 | A kind of human dissection interactive system based on virtual reality |
| CN117524492A (en) * | 2023-11-02 | 2024-02-06 | 广东工业大学 | Virtual surgery-based operation process modularization method |
-
2010
- 2010-12-23 CN CN2010106098698A patent/CN102568288A/en active Pending
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016015560A1 (en) * | 2014-08-01 | 2016-02-04 | 卓思生命科技有限公司 | Surgery simulation system and method |
| CN104537938A (en) * | 2014-12-21 | 2015-04-22 | 合肥德铭电子有限公司 | Endoscope simulative training system capable of achieving flexible force feedback |
| CN104537938B (en) * | 2014-12-21 | 2017-02-22 | 合肥德铭电子有限公司 | Endoscope simulative training system capable of achieving flexible force feedback |
| CN104680911A (en) * | 2015-03-12 | 2015-06-03 | 苏州敏行医学信息技术有限公司 | Tagging method based on puncture virtual teaching and training system |
| CN104916184A (en) * | 2015-06-16 | 2015-09-16 | 中国科学院自动化研究所 | Virtual operation simulation training system for preoperative training and training method thereof |
| CN104992603A (en) * | 2015-07-06 | 2015-10-21 | 嘉恒医疗科技（上海）有限公司 | Human body virtual roaming display system |
| CN105654830A (en) * | 2016-03-21 | 2016-06-08 | 苏州敏行医学信息技术有限公司 | Puncture simulation device and puncture simulation method |
| CN105931517A (en) * | 2016-06-17 | 2016-09-07 | 重庆金山科技（集团）有限公司 | Surgical operation virtual simulation method and system |
| CN106293082A (en) * | 2016-08-05 | 2017-01-04 | 成都华域天府数字科技有限公司 | A kind of human dissection interactive system based on virtual reality |
| CN117524492A (en) * | 2023-11-02 | 2024-02-06 | 广东工业大学 | Virtual surgery-based operation process modularization method |
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Application publication date: 20120711 |