CN103456221A - Two-hand cooperation moving locating training method and system based on laparoscopic surgery analog system - Google Patents
Two-hand cooperation moving locating training method and system based on laparoscopic surgery analog system Download PDFInfo
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- 238000002324 minimally invasive surgery Methods 0.000 description 1
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Abstract
The invention provides a two-hand cooperation moving locating training method and system based on a laparoscopic surgery analog system. The training method comprises the steps that S1. a training scene is preset; S2. the preset scene is loaded, a left hand instrument and a right hand instrument are arranged to be gripping tongs; S3. an instrument handle of a peritoneoscope simulator is operated, within the allotted time, the gripping tongs are used for achieving moving locating of specimens; S4. whether moving locating is achieved on all of the specimens is judged, if yes, training is successful, and otherwise, training is failed. According to the two-hand cooperation moving locating training method and system, by operating the instrument handle of the peritoneoscope simulator, the gripping tongs are used for clamping the specimens in the preset scene, the two hands carry out transmitting to complete moving locating, inter-coordination and inter-cooperation of the left hand and the right hand of a doctor are effectively trained, and the operation level of the doctor is improved.
Description
Technical field
The present invention relates to the virtual operation technical field, relate in particular to a kind of both hands cooperation running fix training method and system based on the laparoscopic surgery simulation system.
Background technology
The develop rapidly of science and technology makes computer technology be penetrated into the every field of producing and living, traditional manufacture, financial industry, amusement film and tv industry, medical and health industry, biotechnology etc. all present new vitality due to the application of computer technology, have produced novel one by one market.The virtual operation training system is the application of computer technology in modern medicine, and this system has merged the multi-disciplinary crossing domains such as computer technology, graph image, sensor technology, biomechanics, modern medicine, computer vision, robotics.
Advanced modus operandi both can be removed patient's sufferer, had reduced again patient's misery in the surgical procedure.Adopt advanced modus operandi, make surgical procedure become safer, also greatly accelerated the postoperative rehabilitation course of patient simultaneously.Endoscopy is one of them, and why it at home and abroad all is popular, and its reason just is its Reduction surgery wound and the misery that reduces patient in surgical procedure to greatest extent.In laparoscopic surgery, the doctor inserts patient's belly to obtain the image of operative site in surgical procedure by a tiny telephotography camera lens, also the scalpel of 30 centimeter length and other special operating theater instruments are stretched in patient body by two tiny otch simultaneously, then observe the lesions position in the patient body on the monitor connected at pick-up lens, the bimanualness scalpel is implemented operation, like this, just large wound needn't be arranged in surgical procedure, alleviated widely patient's misery, the agglutination of wound is also accelerated greatly.
But, in Minimally Invasive Surgery, doctor's operating difficulties, as right-hand man's operation of mutually coordinating and cooperatively interact etc., the surgical procedure degree of accuracy is difficult to ensure, human factor is very large on the impact of operation.General doctor is difficult to competent this work, and this will obtain experience through constantly practice and training in learning process, improve doctor's the level of practising medicine.Yet training and the training of tradition to new doctor, except using corpse and animal, just do not have better training simulation means.Use animal to give training, just there are a lot of shortcomings, wherein most importantly the anatomical structure of the anatomical structure of animal and human body is different, and people's corpse can not repeatedly be used, in order to solve this defect existed in reality, just impelled the generation of laparoscopic surgery simulation system, and the laparoscopic surgery simulation system can be used in the training right-hand man functipnal capability of mutually coordinating and cooperatively interact.
In view of this, be necessary to provide a kind of both hands cooperation running fix training method based on the laparoscopic surgery simulation system and system to address the above problem.
Summary of the invention
The object of the present invention is to provide a kind of both hands cooperation running fix training method and system based on the laparoscopic surgery simulation system.
A kind of both hands cooperation running fix training method based on the laparoscopic surgery simulation system of the present invention said method comprising the steps of:
S1, default Training scene, described Training scene comprises bottom surface and sidewall, and fixed leg and sample, described bottom surface is provided with the first color sample, the second color sample of the first color fixed leg, the second color fixed leg and the equivalent of equivalent, described the first color sample is set on the second color fixed leg, and the second color sample is set on the first color fixed leg;
S2, loading Training scene, arrange the left hand apparatus and right hand apparatus is nipper;
The instrument handle of S3, operation laparoscope simulator, at the appointed time, realize the running fix of sample with nipper, pick up the second color sample on the first color fixed leg with the left hand nipper, pass to right hand nipper, right hand clamp is set in the second color sample on the second color fixed leg after playing the second color sample, pick up the first color sample on the second color fixed leg with right hand nipper, pass to the left hand nipper, the left hand clamp is set in the first color sample on the first color fixed leg after playing the first color sample;
S4, judge whether all samples have all realized running fix, and whether the first color sample all is set on the first color fixed leg, and whether the second color sample all is set on the second color fixed leg, if, train successfully, if not, failure to train.
As a further improvement on the present invention, described Training scene also comprises some the 3rd color fixed legs.
As a further improvement on the present invention, maximum sheathed samples on described each fixed leg.
As a further improvement on the present invention, described the first color fixed leg has not sheathed second a color sample at least, and the second color fixed leg has not sheathed first a color sample at least.
As a further improvement on the present invention, described sample hollow is column, and the cross section, bottom surface is equilateral triangle.
As a further improvement on the present invention, described nipper and fixed leg can not intersect through, and collision has a force feedback.
As a further improvement on the present invention, in described step S4, the stipulated time is set to 5～30 minutes.
As a further improvement on the present invention, described step S4 also comprises: in the time, the sample quantity of correct running fix is marked according to the rules, and appraisal result is presented on screen.
Correspondingly, a kind of both hands cooperation running fix training system based on the laparoscopic surgery simulation system, described system comprises:
Default Training scene unit, unit for default Training scene, described Training scene comprises bottom surface and sidewall, and fixed leg and sample, described bottom surface is provided with the first color sample, the second color sample of the first color fixed leg, the second color fixed leg and the equivalent of equivalent, described the first color sample is set on the second color fixed leg, and the second color sample is set on the first color fixed leg;
The simulation system setting unit, for loading Training scene, arrange the unit that left hand apparatus and right hand apparatus are nipper;
The simulation system operating unit, for operating the instrument handle of laparoscope simulator, at the appointed time, realize the unit of the running fix of sample with nipper, pick up the second color sample on the first color fixed leg with the left hand nipper, pass to right hand nipper, right hand clamp is set in the second color sample on the second color fixed leg after playing the second color sample, pick up the first color sample on the second color fixed leg with right hand nipper, pass to the left hand nipper, the left hand clamp is set in the first color sample on the first color fixed leg after playing the first color sample;
Train successful judging unit, for judging whether all samples have all realized running fix, whether the first color sample all is set on the first color fixed leg, whether the second color sample all is set on the second color fixed leg, if, train successfully, if not, the unit of failure to train.
As a further improvement on the present invention, described system also comprises the scoring unit, is marked for the sample quantity of correct running fix in time according to the rules, and appraisal result is presented on screen.
The invention has the beneficial effects as follows: by the instrument handle of operation laparoscope simulator, pick up sample two hands with nipper and transmitted mutually running fix in default scene, effectively for the doctor, practise the right-hand man and mutually coordinate, the ability cooperatively interacted, improved doctor's operation level.
The accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present application or technical scheme of the prior art, below will the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparently, the accompanying drawing the following describes is only some embodiment that put down in writing in the application, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the schematic flow sheet that the present invention is based on the both hands cooperation running fix training method of laparoscopic surgery simulation system.
Fig. 2 is the module diagram that the present invention is based on the both hands cooperation running fix training system of laparoscopic surgery simulation system.
Embodiment
In order to make those skilled in the art person understand better the technical scheme in the application, below in conjunction with the accompanying drawing in the embodiment of the present application, technical scheme in the embodiment of the present application is clearly and completely described, obviously, described embodiment is only the application's part embodiment, rather than whole embodiment.Embodiment based in the application, those of ordinary skills are not making under the creative work prerequisite the every other embodiment obtained, and all should belong to the scope of the application's protection.
Shown in ginseng Fig. 1, the both hands cooperation running fix training method based on the laparoscopic surgery simulation system in one embodiment of the present invention comprises the following steps:
S1, default Training scene, described Training scene comprises bottom surface and sidewall, and fixed leg and sample, described bottom surface is provided with the first color sample, the second color sample of the first color fixed leg, the second color fixed leg and the equivalent of equivalent, described the first color sample is set on the second color fixed leg, and the second color sample is set on the first color fixed leg;
S2, loading Training scene, arrange the left hand apparatus and right hand apparatus is nipper;
The instrument handle of S3, operation laparoscope simulator, at the appointed time, realize the running fix of sample with nipper, pick up the second color sample on the first color fixed leg with the left hand nipper, pass to right hand nipper, right hand clamp is set in the second color sample on the second color fixed leg after playing the second color sample, pick up the first color sample on the second color fixed leg with right hand nipper, pass to the left hand nipper, the left hand clamp is set in the first color sample on the first color fixed leg after playing the first color sample;
S4, judge whether all samples have all realized running fix, and whether the first color sample all is set on the first color fixed leg, and whether the second color sample all is set on the second color fixed leg, if, train successfully, if not, failure to train.
In this embodiment, Training scene is defined as follows:
Bottom surface and sidewall are greyish white alternate common rigid material, can not be penetrated by apparatus, occupy the view picture picture of simulator display interface;
Fixed leg is right cylinder rod shape, comprise that the first color is red fixed leg, the second color is green fixed leg, can also comprise the fixed leg that the 3rd color is grey, wherein the fixed leg of different colours is positioned at different zones, and the zone at grey fixed leg place is positioned at the centre of red and green region.Redness, green and grey fixed leg all are made as 4 in the present embodiment;
Sample hollow is column, and cross section is equilateral triangle, and side is square.Sample comprises that the first color is that red sample and the second color is green sample, sample is set on fixed leg, in the initial training scene, red sample is set on green fixed leg, green sample is set on red fixed leg, but maximum sheathed samples on each fixed leg, and red fixed leg has not sheathed green sample at least, and green fixed leg has not sheathed red sample at least.Red and green sample all is made as 3 in the present embodiment.
The definition of above-mentioned Training scene is only a preferred implementation of the present invention, in other embodiments, the shape of bottom surface, sidewall, color, the parameters such as the shape of fixed leg, sample, quantity, color all can be converted.
In when training, the left hand apparatus is set and right hand apparatus is nipper, nipper and fixed leg can not intersect through, and collision has force feedback.The instrument handle of operation laparoscope simulator, in 5～30 minutes at the appointed time, realize the running fix of sample with nipper, preferably, the stipulated time is made as 20 minutes.Concrete operations are for to pick up the green sample on red fixed leg with the left hand nipper, pass to right hand nipper, right hand clamp is set in green sample on green fixed leg after playing green sample, pick up the red sample on green fixed leg with right hand nipper, pass to the left hand nipper, the left hand clamp is set in red sample on red fixed leg after playing red sample.
In training process, concrete operations are defined as:
If any object of nipper extruding except sample has very large force feedback, apparatus can't advance by former direction;
If nipper extruding sample, sample is followed the change of the direction occurrence positions of extruding;
If nipper picks up sample, sample is followed the change of the mobile occurrence positions of nipper.
After all operations were completes or reaches the stipulated time, judge whether all samples have all realized running fix, and whether red sample all is set on red fixed leg, whether green sample all is set on green fixed leg, if train successfully, if not, failure to train.
In addition, in the time, the sample quantity of correct running fix is marked according to the rules, and appraisal result is presented on screen.Such as the definition full marks are 100 minutes, one of them red sample running fix obtains 15 minutes to red fixed leg, a green sample running fix obtains 15 minutes to green fixed leg, 6 samples obtain 10 minutes all on correct fixed leg the time, in addition, define a sample and buckle 3 minutes on the nail of grey the time, the number of times that left hand nipper or right hand nipper pick up surpasses once to be buckled 2 minutes when the number of samples of tram.Like this system according to the rules in the time sample quantity and other operations of correct running fix provide corresponding mark, with the level to the operator, further assess.
Shown in ginseng Fig. 2, the both hands cooperation running fix training system 100 based on the laparoscopic surgery simulation system in one embodiment of the present invention comprises:
Default Training scene unit 10, unit for default Training scene, described Training scene comprises bottom surface and sidewall, and fixed leg and sample, described bottom surface is provided with the first color sample, the second color sample of the first color fixed leg, the second color fixed leg and the equivalent of equivalent, described the first color sample is set on the second color fixed leg, and the second color sample is set on the first color fixed leg;
Simulation system setting unit 20, for loading Training scene, arrange the unit that left hand apparatus and right hand apparatus are nipper;
Simulation system operating unit 30, for operating the instrument handle of laparoscope simulator, at the appointed time, realize the unit of the running fix of sample with nipper, pick up the second color sample on the first color fixed leg with the left hand nipper, pass to right hand nipper, right hand clamp is set in the second color sample on the second color fixed leg after playing the second color sample, pick up the first color sample on the second color fixed leg with right hand nipper, pass to the left hand nipper, the left hand clamp is set in the first color sample on the first color fixed leg after playing the first color sample;
Train successful judging unit 40, for judging whether all samples have all realized running fix, whether the first color sample all is set on the first color fixed leg, whether the second color sample all is set on the second color fixed leg, if, train successfully, if not, the unit of failure to train.
Preferably, said system also comprises the scoring unit, is marked for the sample quantity of correct running fix in time according to the rules, and appraisal result is presented on screen.
By technique scheme, can be found out, the present invention, by the instrument handle of operation laparoscope simulator, picks up sample two hands with nipper and has transmitted mutually running fix in default scene, effectively for the doctor, practises the right-hand man and mutually coordinates, the ability cooperatively interacted, improved doctor's operation level.
The above is only the application's preferred implementation, makes those skilled in the art can understand or realize the application.Multiple modification to these embodiment will be apparent to one skilled in the art, and General Principle as defined herein can be in the situation that do not break away from the application's spirit or scope, realization in other embodiments.Therefore, the application will can not be restricted to these embodiment shown in this article, but will meet the widest scope consistent with principle disclosed herein and features of novelty.
Claims (10)
1. the both hands cooperation running fix training method based on the laparoscopic surgery simulation system, is characterized in that, said method comprising the steps of:
S1, default Training scene, described Training scene comprises bottom surface and sidewall, and fixed leg and sample, described bottom surface is provided with the first color sample, the second color sample of the first color fixed leg, the second color fixed leg and the equivalent of equivalent, described the first color sample is set on the second color fixed leg, and the second color sample is set on the first color fixed leg;
S2, loading Training scene, arrange the left hand apparatus and right hand apparatus is nipper;
The instrument handle of S3, operation laparoscope simulator, at the appointed time, realize the running fix of sample with nipper, pick up the second color sample on the first color fixed leg with the left hand nipper, pass to right hand nipper, right hand clamp is set in the second color sample on the second color fixed leg after playing the second color sample, pick up the first color sample on the second color fixed leg with right hand nipper, pass to the left hand nipper, the left hand clamp is set in the first color sample on the first color fixed leg after playing the first color sample;
S4, judge whether all samples have all realized running fix, and whether the first color sample all is set on the first color fixed leg, and whether the second color sample all is set on the second color fixed leg, if, train successfully, if not, failure to train.
2. method according to claim 1, is characterized in that, described Training scene also comprises some the 3rd color fixed legs.
3. method according to claim 1, is characterized in that, maximum sheathed samples on described each fixed leg.
4. method according to claim 3, is characterized in that, described the first color fixed leg has not sheathed second a color sample at least, and the second color fixed leg has not sheathed first a color sample at least.
5. method according to claim 1, is characterized in that, described sample hollow is column, and the cross section, bottom surface is equilateral triangle.
6. method according to claim 1, is characterized in that, described nipper and fixed leg can not intersect through, and collision has a force feedback.
7. method according to claim 1, is characterized in that, in described step S4, the stipulated time is set to 5～30 minutes.
8. method according to claim 1, is characterized in that, described step S4 also comprises: in the time, the sample quantity of correct running fix is marked according to the rules, and appraisal result is presented on screen.
9. the both hands cooperation running fix training system based on the laparoscopic surgery simulation system as claimed in claim 1, is characterized in that, described system comprises:
Default Training scene unit, unit for default Training scene, described Training scene comprises bottom surface and sidewall, and fixed leg and sample, described bottom surface is provided with the first color sample, the second color sample of the first color fixed leg, the second color fixed leg and the equivalent of equivalent, described the first color sample is set on the second color fixed leg, and the second color sample is set on the first color fixed leg;
The simulation system setting unit, for loading Training scene, arrange the unit that left hand apparatus and right hand apparatus are nipper;
The simulation system operating unit, for operating the instrument handle of laparoscope simulator, at the appointed time, realize the unit of the running fix of sample with nipper, pick up the second color sample on the first color fixed leg with the left hand nipper, pass to right hand nipper, right hand clamp is set in the second color sample on the second color fixed leg after playing the second color sample, pick up the first color sample on the second color fixed leg with right hand nipper, pass to the left hand nipper, the left hand clamp is set in the first color sample on the first color fixed leg after playing the first color sample;
Train successful judging unit, for judging whether all samples have all realized running fix, whether the first color sample all is set on the first color fixed leg, whether the second color sample all is set on the second color fixed leg, if, train successfully, if not, the unit of failure to train.
10. system according to claim 9, is characterized in that, described system also comprises the scoring unit, marked for the sample quantity of correct running fix in time according to the rules, and appraisal result is presented on screen.
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| CN104200730A (en) * | 2014-09-09 | 2014-12-10 | 华中科技大学 | Device, method and system for virtual laparoscopic surgery |
| CN108510822A (en) * | 2018-03-15 | 2018-09-07 | 四川大学华西医院 | A kind of hysteroscope visual field positioning wire examination method |
| CN112419826A (en) * | 2020-12-16 | 2021-02-26 | 上海索验智能科技有限公司 | Virtual simulation laparoscopic surgery endoscope operation training method and system |
| CN112734704A (en) * | 2020-12-29 | 2021-04-30 | 上海索验智能科技有限公司 | Skill training evaluation method under real objective based on neural network machine learning recognition |
| CN112750344A (en) * | 2020-12-29 | 2021-05-04 | 上海索验智能科技有限公司 | Training system and method for hand coordination transfer in virtual simulation laparoscopic surgery |
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