CN103456223A - Laparoscopic surgery simulation system based on force feedback - Google Patents
Laparoscopic surgery simulation system based on force feedback Download PDFInfo
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- CN103456223A CN103456223A CN2012101787886A CN201210178788A CN103456223A CN 103456223 A CN103456223 A CN 103456223A CN 2012101787886 A CN2012101787886 A CN 2012101787886A CN 201210178788 A CN201210178788 A CN 201210178788A CN 103456223 A CN103456223 A CN 103456223A
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Abstract
The invention provides a laparoscopic surgery simulation system based on force feedback. The system comprises an operation platform, a main computer, a simulation apparatus, a laparoscope cannula, force feedback equipment, a pedal and a display device. The laparoscopic surgery simulation system is concise, compact and attractive in design, can carry out an operation through the simulation apparatus in a virtual environment generated by the main computer, improves the level of clinical operations, and greatly saves expenses and time of medical training. Meanwhile, by means of a force feedback technology, a user can carry out haptic interaction with the virtual environment through the force feedback equipment, the training is more realistic, accurate and reliable, and immersion and reality of a virtual operation are enhanced.
Description
Technical field
The present invention relates to the virtual operation technical field, relate in particular to a kind of laparoscopic surgery simulation system based on force feedback.
Background technology
From Frenchman Mouret carries out the first case Laparoscopic Cholecystectomy, laparoscopic surgery, through the development course of more than 100 years, has become the new technology that a kind of medical circle is generally taked.By the combination of laparoscope and television pickup system, the special equipment of performing the operation etc., started the novel and desirable approach of abdominal operation, be the Typical Representative of minimally invasive surgery.
Make a call to 2～5 apertures human abdomen or the small of the back during laparoscopic surgery, adopt special-purpose laparoscopic instrument to be performed the operation by puncture.Enforcement laparoscopic surgery wound is little, recovery is fast, has alleviated patient's misery, has shortened the hospital stays, and after the operation, the wound healing scar is little simultaneously, and appearance looks elegant is subject to patient and doctor's welcome very much.But, implement laparoscopic surgery and must rely on the technology of doctor's exquisiteness just can complete, and consummate technology is subject to the restriction in surgical experience, operating time and space, only have by training and could obtain.
Existing laparoscopic surgery training mainly be take the simulated operation case as main, and control box is simulated the human body cavity exactly, and the control box the inside is placed the article such as some soya beans, line, bead and come virtual human body inside.Use real apparatus to carry out various fundamental hand works or operation fragment in control box.Such training method, intuitively do not present the actual configuration of human body inside cavity, even can mislead for fundamental hand work, the minimally invasive surgery apparatus of part can not be practised, clinical real minimally invasive surgery also can, by many X factors, show in control box again.
The virtual operation technology has important application in medical domain, is one of focus of Recent study.By means of the virtual operation technology, in medical worker's virtual environment that computing machine generates again, utilize the training of emulation apparatus how to be performed the operation, system of virtual operation can also be recorded skilled doctor's operation and playback, save expense and the time of medical matters trainings, thereby reached the purpose of rapid raising learner technical ability.In virtual operation, force feedback technique plays an important role, and force feedback technique can make the doctor by operating the force feedback equipment of system of virtual operation, with virtual environment, carries out dynamic sensing interexchanging, make training more true, accurate, reliable, strengthened feeling of immersion and the authenticity of virtual operation.Yet at present, similar system is very rare, the work of some this respects has been done by Tokyo Ci Hui meeting medical university and Hong Kong Chinese University based on Leonardo da Vinci's operating robot, obtained certain achievement in research, but the system of developing is still very immature, and domestic Surgery Simulation based on operating robot is not yet extensively carried out, this respect research both domestic and external is also in the starting stage in a word.
In view of this, be necessary to provide a kind of laparoscopic surgery simulation system based on force feedback to address the above problem.
Summary of the invention
The object of the present invention is to provide a kind of laparoscopic surgery simulation system based on force feedback.
A kind of laparoscopic surgery simulation system based on force feedback of the present invention, described laparoscopic surgery simulation system comprises:
Surgery Platform, described Surgery Platform inside is provided with accommodation space, and the upper surface of Surgery Platform is provided with the first through hole, the second through hole and third through-hole;
Principal computer, be located in the accommodation space of described Surgery Platform inside, for generate operation emulating image in real time by simulation softward;
Simulated instrument, described simulated instrument comprises left hand simulated instrument, right hand simulated instrument, left hand simulated instrument and right hand simulated instrument are inserted in respectively in described the first through hole and the second through hole;
Laparoscopic cannula, be located on described Surgery Platform and be inserted in described third through-hole, for controlling the visual field shown on display device;
Force feedback equipment, be located in the accommodation space of described Surgery Platform inside, and described force feedback equipment is made as two, with described left hand simulated instrument, with right hand simulated instrument, is connected respectively;
Pedal, be connected with described principal computer, for energising and the flushing of control simulation apparatus;
Display device, be located on Surgery Platform, for the real-time operation emulating image that shows that principal computer generates by simulation softward.
As a further improvement on the present invention, described force feedback equipment is provided with some alignment sensors.
As a further improvement on the present invention, described alignment sensor comprises angular transducer or displacement transducer.
As a further improvement on the present invention, described principal computer comprises data processing module, for receiving and calculate the data of alignment sensor on described force feedback equipment, and is processed rear generation three-dimensional artificial image and is sent on described display device.
As a further improvement on the present invention, in described Surgery Platform, accommodation space is divided into the first accommodation space and the second accommodation space be interconnected, and described principal computer is positioned at the second accommodation space, and force feedback equipment is positioned at the first accommodation space.
As a further improvement on the present invention, the field-of-view angle that described laparoscopic cannula shows comprises 0 °, 30 ° and 45 °.
As a further improvement on the present invention, described display device comprises information input equipment, and described information input equipment is keyboard, mouse or touch display screen.
As a further improvement on the present invention, also be provided with the simulation trunk on described Surgery Platform, described simulation trunk is provided with three through holes corresponding with Surgery Platform.
As a further improvement on the present invention, described Surgery Platform bottom is provided with at least four pulleys, to facilitate the movement of laparoscopic surgery simulation system.
As a further improvement on the present invention, be provided with braking on described each pulley and stop, with the fixing position of laparoscopic surgery simulation system.
The invention has the beneficial effects as follows: the design of laparoscopic surgery simulation system is succinct, compact, attractive in appearance, in its virtual environment that can generate at principal computer, utilize simulated instrument to be performed the operation, improve the clinical operation level, and greatly saved expense and the time of medical matters trainings.Simultaneously, force feedback technique can make the user pass through force feedback equipment, with virtual environment, carries out dynamic sensing interexchanging, makes training more true, accurate, reliable, has strengthened feeling of immersion and the authenticity of virtual operation.
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.
The structural representation that Fig. 1 is the laparoscopic surgery simulation system based on force feedback in the present invention's one preferred implementation.
The schematic top plan view that Fig. 2 is the laparoscopic surgery simulation system based on force feedback in the present invention's one preferred implementation.
The module diagram that Fig. 3 is the laparoscopic surgery simulation system based on force feedback in the present invention's one preferred implementation.
Embodiment
The present invention is based on the laparoscopic surgery simulation system of force feedback, it comprises:
Surgery Platform, described Surgery Platform inside is provided with accommodation space, and the upper surface of Surgery Platform is provided with the first through hole, the second through hole and third through-hole;
Principal computer, be located in the accommodation space of described Surgery Platform inside, for generate operation emulating image in real time by simulation softward;
Simulated instrument, described simulated instrument comprises left hand simulated instrument, right hand simulated instrument, left hand simulated instrument and right hand simulated instrument are inserted in respectively in described the first through hole and the second through hole;
Laparoscopic cannula, be located on described Surgery Platform and be inserted in described third through-hole, for controlling the visual field shown on display device;
Force feedback equipment, be located in the accommodation space of described Surgery Platform inside, and described force feedback equipment is made as two, with described left hand simulated instrument, with right hand simulated instrument, is connected respectively;
Pedal, be connected with described principal computer, for energising and the flushing of control simulation apparatus;
Display device, be located on Surgery Platform, for the real-time operation emulating image that shows that principal computer generates by simulation softward.
This laparoscopic surgery simulation system design of the present invention is succinct, compact, attractive in appearance, in its virtual environment that can generate at principal computer, utilizes simulated instrument to be performed the operation, and improves the clinical operation level, and has greatly saved expense and the time of medical matters trainings.Simultaneously, be connected with force feedback equipment on simulated instrument, force feedback technique can make the user pass through force feedback equipment, with virtual environment, carries out dynamic sensing interexchanging, makes training more true, accurate, reliable, has strengthened feeling of immersion and the authenticity of virtual operation.
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.
Be respectively structural representation, schematic top plan view and the module diagram of the laparoscopic surgery simulation system 100 based on force feedback in the present invention's one preferred implementation shown in ginseng Fig. 1-Fig. 3.Below each ingredient of laparoscopic surgery simulation system 100 is elaborated.
The upper and lower surface of Surgery Platform 10 is plane, and wherein upper surface slightly is longer than lower surface, and Surgery Platform 10 bottoms are provided with pulley 16, to facilitate the movement of laparoscopic surgery simulation system.Be provided with braking on each pulley 13 and stop 161, with the fixing position of laparoscopic surgery simulation system.Preferably the quantity of pulley is set to 4 in the present embodiment, after laparoscopic surgery simulation system 100 moves to correct position, step on braking and stop 161, the fixing position of laparoscopic surgery simulation system 100, while needing mobile laparoscopic surgery simulation system 100, again step on to decontrol braking and stop and 161 get final product.
Being provided with the first through hole 13, the second through hole 14 and third through-hole 15, the first through holes 13, the second through hole 14 and third through-hole 15 at the upper surface of Surgery Platform 10 all is connected with the first accommodation space 11.
Simulated instrument 30, described simulated instrument 30 comprises left hand simulated instrument 31 and right hand simulated instrument 32, left hand simulated instrument 31 and right hand simulated instrument 32 are inserted in respectively in described the first through hole 13 and the second through hole 14, and the first through hole 13 and the second through hole 14 are identical and be symmetrical arranged.Simulated instrument 30 comprises straight elastic separating plier, curved elastic separating plier, nipper, titanium clamp pincers, coagulation hook, sewing needle etc.The handle place of simulated instrument is used wear resistant resin to make, and can increase the service life, and weight and the feel of class vraisemblance apparatus are arranged, and for circuit insulation and electronic signal, also can effectively shield.
The instrument handle of the simulated instrument 30 in laparoscopic surgery simulation system 100 is all the virtual terminal that identical, different apparatus shows simulated instrument 30, according to different training and operations, demonstrates different instruments.When being operated, the user, by the manipulation to the operation instrument handle, realizes corresponding operating effect in Training scene.The various instruments that use in each training are to occur by selected this mode.When being selected, after the insertion simulated instrument, show the apparatus of having selected; If need to reselect apparatus, should first extract simulated instrument, change simulated instrument in principal computer 20 after, then simulated instrument is inserted into to line operate.In use, the user realizes the operation of simulated instrument by actions such as the movement to simulated instrument, button, releases, and the operating effect of respective action is presented on display device by principal computer.
The field-of-view angle that laparoscopic cannula shows comprises 0 °, 30 ° and 45 ° etc., the user is according to different needs, can select the laparoscope of different angles, principal computer 20 is according to user's selection, call corresponding scene, and laparoscope image within the vision is shown on display device 70.
In use, the variation of the laparoscopically visual field is controlled by mobile laparoscope canula device.In the visual field that shows screen display, to follow the position of sleeve pipe and the adjustment of angle corresponding the variation occurs, its using method is identical with simulated instrument.Current laparoscopically angle case can be presented on display device, and commonly used is that the mode of 0 ° or 30 ° two angles shows.For convenience of operation, fixing laparoscope angle, make the laparoscopically visual field keep present scene constant.If need to change laparoscopically angle, first remove fixing laparoscopically angle, then by touch, click or click and select the laparoscope angle needed with mouse, just can switch laparoscopically angle.
Force feedback equipment is provided with some alignment sensors, and alignment sensor can be angular transducer or displacement transducer etc.Alignment sensor can be by the data that gather, by these data transmission in principal computer 20, after principal computer 20 receives data, call database and the simulation software of Minimally Invasive Surgery, generate fully interactive patient and a state of an illness, by computer software and sterically defined perfect adaptation, show surgical scene true to nature on display device 70.Simultaneously, force feedback equipment 50 also can feed back to the size and Orientation of feedback force on user's simulated instrument, makes training truer.
Pedal 60, be connected with described principal computer 20, for energising and the flushing of control simulation apparatus 40.
Pedal 60 comprises right steps and Vehicular left pedal, and right steps is controlled right hand simulated instrument 32, and Vehicular left pedal is controlled left hand simulated instrument 31.After having selected apparatus, if can use the energising attribute of simulated instrument, can in display device, set in advance the electric power numerical value of simulated instrument and the switch of energising attribute, certainly in operating process, adjust and also be fine.If simulated instrument has the energising attribute, and the energising attribute of apparatus is also opened.So in training process, beginning and the end operation of by trampling and discharge pedal, being switched on.In addition, the Kai Heguan of flushing is also controlled by pedal, tramples pedal and starts to rinse, and discharges pedal and stops rinsing.
Further, also be provided with dismountable simulation trunk on Surgery Platform 10, belly on the simulation trunk is provided with three through holes corresponding with Surgery Platform for simulated instrument 30 and laparoscopic cannula 40 operations, and the setting by the simulation trunk, can make simulated training truer.
In the present invention, the laparoscopic surgery simulation system utilizes principal computer to generate the operation virtual environment, carry out virtual operation by control simulation apparatus, laparoscope and pedal in the operation virtual environment, can see intuitively the operation in the operation virtual environment on display device, simultaneously, the power in virtual environment feeds back to the size and Orientation of feedback force on user's simulated instrument by force feedback equipment.
By above technical scheme, can be seen, laparoscopic surgery simulation system design of the present invention is succinct, compact, attractive in appearance, in its virtual environment that can generate at principal computer, utilize simulated instrument to be performed the operation, improve the clinical operation level, and greatly saved expense and the time of medical matters trainings.Simultaneously, force feedback technique can make the user pass through force feedback equipment, with virtual environment, carries out dynamic sensing interexchanging, makes training more true, accurate, reliable, has strengthened feeling of immersion and the authenticity of virtual operation.
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 laparoscopic surgery simulation system based on force feedback, is characterized in that, described laparoscopic surgery simulation system comprises:
Surgery Platform, described Surgery Platform inside is provided with accommodation space, and the upper surface of Surgery Platform is provided with the first through hole, the second through hole and third through-hole;
Principal computer, be located in the accommodation space of described Surgery Platform inside, for generate operation emulating image in real time by simulation softward;
Simulated instrument, described simulated instrument comprises left hand simulated instrument, right hand simulated instrument, left hand simulated instrument and right hand simulated instrument are inserted in respectively in described the first through hole and the second through hole;
Laparoscopic cannula, be located on described Surgery Platform and be inserted in described third through-hole, for controlling the visual field shown on display device;
Force feedback equipment, be located in the accommodation space of described Surgery Platform inside, and described force feedback equipment is made as two, with described left hand simulated instrument, with right hand simulated instrument, is connected respectively;
Pedal, be connected with described principal computer, for energising and the flushing of control simulation apparatus;
Display device, be located on Surgery Platform, for the real-time operation emulating image that shows that principal computer generates by simulation softward.
2. the laparoscopic surgery simulation system based on force feedback according to claim 1, is characterized in that, described force feedback equipment is provided with some alignment sensors.
3. the laparoscopic surgery simulation system based on force feedback according to claim 2, is characterized in that, described alignment sensor comprises angular transducer or displacement transducer.
4. the laparoscopic surgery simulation system based on force feedback according to claim 2, it is characterized in that, described principal computer comprises data processing module, for receiving and calculate the data of alignment sensor on described force feedback equipment, and processed rear generation three-dimensional artificial image and be sent on described display device.
5. the laparoscopic surgery simulation system based on force feedback according to claim 1, it is characterized in that, in described Surgery Platform, accommodation space is divided into the first accommodation space and the second accommodation space be interconnected, described principal computer is positioned at the second accommodation space, and force feedback equipment is positioned at the first accommodation space.
6. the laparoscopic surgery simulation system based on force feedback according to claim 1, is characterized in that, the field-of-view angle that described laparoscopic cannula shows comprises 0 °, 30 ° and 45 °.
7. the laparoscopic surgery simulation system based on force feedback according to claim 1, is characterized in that, described display device comprises information input equipment, and described information input equipment is keyboard, mouse or touch display screen.
8. the laparoscopic surgery simulation system based on force feedback according to claim 1, is characterized in that, also is provided with the simulation trunk on described Surgery Platform, and described simulation trunk is provided with three through holes corresponding with Surgery Platform.
9. the laparoscopic surgery simulation system based on force feedback according to claim 1, is characterized in that, described Surgery Platform bottom is provided with at least four pulleys, to facilitate the movement of laparoscopic surgery simulation system.
10. the laparoscopic surgery simulation system based on force feedback according to claim 9, is characterized in that, is provided with braking on described each pulley and stops, with the fixing position of laparoscopic surgery simulation system.
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| CN103943017A (en) * | 2014-03-22 | 2014-07-23 | 北京航空航天大学 | Virtual laparoscopic surgery simulator with force feedback function |
| CN104200730A (en) * | 2014-09-09 | 2014-12-10 | 华中科技大学 | Device, method and system for virtual laparoscopic surgery |
| 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 |
| CN104952344A (en) * | 2015-06-18 | 2015-09-30 | 青岛大学附属医院 | Neurosurgery virtual operation training system |
| CN105078579A (en) * | 2015-07-06 | 2015-11-25 | 嘉恒医疗科技（上海）有限公司 | Simulation training system for nasal endoscopic surgery navigation |
| CN105096716A (en) * | 2015-09-01 | 2015-11-25 | 深圳先进技术研究院 | System for simulating endovascular intervention operation |
| CN105321415A (en) * | 2014-08-01 | 2016-02-10 | 卓思生命科技有限公司 | Surgery simulation system and method |
| CN105608945A (en) * | 2016-03-04 | 2016-05-25 | 南昌大学 | Immersion-type self-adaptive pose virtual surgery training platform |
| CN105719526A (en) * | 2016-03-14 | 2016-06-29 | 哈尔滨理工大学 | Sunk cord eyebrow lifting plastic surgery simulation system based on force feedback |
| CN106155281A (en) * | 2015-03-31 | 2016-11-23 | 深圳超多维光电子有限公司 | Stereo interaction method, stereoscopic display device and system thereof |
| CN106448403A (en) * | 2016-12-14 | 2017-02-22 | 四川大学华西医院 | Simulation thoracoscopic surgery training aid |
| CN107331271A (en) * | 2017-08-18 | 2017-11-07 | 北京翔瑞康科技有限公司 | A kind of hysteroscope analog training device |
| CN107993506A (en) * | 2016-10-27 | 2018-05-04 | 程远雄 | A kind of force feedback endoscopy virtual training system |
| CN108122467A (en) * | 2017-12-28 | 2018-06-05 | 王震坤 | Laparoscopy Training Exercise Using Simulator machine |
| CN108346336A (en) * | 2018-03-29 | 2018-07-31 | 安徽工程大学 | A kind of teaching aid for laparoscopic surgery training |
| CN108492693A (en) * | 2018-03-28 | 2018-09-04 | 盛玉涛 | A kind of laparoscopic surgery simulated training system shown based on computer aided medicine |
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| CN114360349A (en) * | 2021-12-09 | 2022-04-15 | 深圳先进技术研究院 | Operation training device and system and operation instrument movement information acquisition method |
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| CN103943017A (en) * | 2014-03-22 | 2014-07-23 | 北京航空航天大学 | Virtual laparoscopic surgery simulator with force feedback function |
| CN105321415A (en) * | 2014-08-01 | 2016-02-10 | 卓思生命科技有限公司 | Surgery simulation system and method |
| CN104200730A (en) * | 2014-09-09 | 2014-12-10 | 华中科技大学 | Device, method and system for virtual laparoscopic surgery |
| 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 |
| CN106155281A (en) * | 2015-03-31 | 2016-11-23 | 深圳超多维光电子有限公司 | Stereo interaction method, stereoscopic display device and system thereof |
| 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 |
| CN104952344A (en) * | 2015-06-18 | 2015-09-30 | 青岛大学附属医院 | Neurosurgery virtual operation training system |
| CN105078579A (en) * | 2015-07-06 | 2015-11-25 | 嘉恒医疗科技（上海）有限公司 | Simulation training system for nasal endoscopic surgery navigation |
| CN105096716B (en) * | 2015-09-01 | 2019-01-25 | 深圳先进技术研究院 | Intravascular intervention surgery simulation system |
| CN105096716A (en) * | 2015-09-01 | 2015-11-25 | 深圳先进技术研究院 | System for simulating endovascular intervention operation |
| CN105608945A (en) * | 2016-03-04 | 2016-05-25 | 南昌大学 | Immersion-type self-adaptive pose virtual surgery training platform |
| CN105608945B (en) * | 2016-03-04 | 2018-07-20 | 南昌大学 | A kind of adaptive pose virtual operation training platform of immersion |
| CN105719526A (en) * | 2016-03-14 | 2016-06-29 | 哈尔滨理工大学 | Sunk cord eyebrow lifting plastic surgery simulation system based on force feedback |
| CN107993506A (en) * | 2016-10-27 | 2018-05-04 | 程远雄 | A kind of force feedback endoscopy virtual training system |
| CN106448403A (en) * | 2016-12-14 | 2017-02-22 | 四川大学华西医院 | Simulation thoracoscopic surgery training aid |
| CN106448403B (en) * | 2016-12-14 | 2019-11-19 | 四川大学华西医院 | It is a kind of for simulating the training aids of thoracoscopic operation |
| CN110662492A (en) * | 2017-04-11 | 2020-01-07 | 佛尔欧公司 | Operation simulator |
| CN107331271A (en) * | 2017-08-18 | 2017-11-07 | 北京翔瑞康科技有限公司 | A kind of hysteroscope analog training device |
| CN108122467A (en) * | 2017-12-28 | 2018-06-05 | 王震坤 | Laparoscopy Training Exercise Using Simulator machine |
| CN108492693A (en) * | 2018-03-28 | 2018-09-04 | 盛玉涛 | A kind of laparoscopic surgery simulated training system shown based on computer aided medicine |
| CN108346336A (en) * | 2018-03-29 | 2018-07-31 | 安徽工程大学 | A kind of teaching aid for laparoscopic surgery training |
| CN114360349A (en) * | 2021-12-09 | 2022-04-15 | 深圳先进技术研究院 | Operation training device and system and operation instrument movement information acquisition method |
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