CN103632595B - Multiple intracavitary therapy endoscopic surgery doctor religion training system - Google Patents
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- CN103632595B CN103632595B CN201310659560.3A CN201310659560A CN103632595B CN 103632595 B CN103632595 B CN 103632595B CN 201310659560 A CN201310659560 A CN 201310659560A CN 103632595 B CN103632595 B CN 103632595B
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- 238000012549 training Methods 0.000 title claims abstract description 25
- 238000002674 endoscopic surgery Methods 0.000 title claims abstract description 11
- 238000002560 therapeutic procedure Methods 0.000 title claims abstract description 11
- 238000012545 processing Methods 0.000 claims abstract description 29
- 210000000056 organ Anatomy 0.000 claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 18
- 239000010959 steel Substances 0.000 claims abstract description 18
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 238000000034 method Methods 0.000 claims abstract description 14
- 238000006073 displacement reaction Methods 0.000 claims abstract description 11
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000007306 turnover Effects 0.000 claims description 15
- 238000007781 pre-processing Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 2
- 238000013461 design Methods 0.000 abstract description 2
- 238000002682 general surgery Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 238000013499 data model Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000008030 elimination Effects 0.000 description 2
- 238000003379 elimination reaction Methods 0.000 description 2
- 230000008676 import Effects 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 241001269238 Data Species 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
- 238000009877 rendering Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
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Abstract
The present invention relates to medical training device design field, in particular to one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system, comprise operational module, processing module and display module, described operational module comprises before and after handle and support handle, up and down, the support of side-to-side movement, displacement transducer is provided with between handle and support, force feedback unit, force feedback driving circuit, described displacement transducer is for gathering the positional information of handle and exporting processing module to, processing module is to handle, virtual human body organ carries out collision detection and outputs control signals to force feedback driving circuit, the drive singal that force feedback unit reception feedback driving circuit exports applies a feedback force by steel wire to handle, processing module also receives the executive signal of foot-operated input, processing module processes handle and virtual organ model and exports display module to.This system and model are independent mutually, for different training subjects, as long as arrange different handle models, organ model change handle and can realize this section's object training in processing module.
Description
Technical field
The present invention relates to medical training device design field, particularly one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system.
Background technology
Endoscope minimally invasive operation intern and basic hospital doctor, be necessary that very much the scope training base with the training qualification that scope examination committee of the Ministry of Public Health is assert gives training, to the cultivation of scope Wicresoft surgical instruments, from picking up scope that time, until last operation terminates, standardize step by step, the standard operation of these program modes seems basis, in fact very necessary, if the custom lasting for years of operation lack of standardization, not only affect medicine equipment quality, the cultivation of the new medicine equipment of doctor's its knowledge skill master is also done harm rather than good.Current domestic conventional Minimally Invasive Surgery training system is generally all from external import, and it exists following not enough: 1, expensive; 2, do not possess versatility, often a training system is only for a kind of training subject.
Summary of the invention
The object of the present invention is to provide one kind of multiple intracavitary therapy endoscopic surgeries to cure religion training system, possess versatility, be applicable to the training of various training subject.
For realizing above object, the technical solution used in the present invention is: one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system, comprise operational module, processing module and display module, described operational module comprises before and after handle and support handle, up and down, the support of side-to-side movement, displacement transducer is provided with between handle and support, force feedback unit, force feedback driving circuit, described displacement transducer is for gathering the positional information of handle and exporting processing module to, processing module is to handle, virtual human body organ carries out collision detection and outputs control signals to force feedback driving circuit, the drive singal that force feedback unit reception feedback driving circuit exports applies a feedback force by steel wire to handle, the direction that force feedback unit is applied to the feedback force of handle touch with handle before direction of motion contrary, processing module also receives the executive signal of foot-operated input, processing module is according to the signal of foot-operated input, the result of collision detection processes handle and virtual organ model and exports display module to.
Compared with prior art, there is following technique effect in the present invention: this system and model are independent mutually, for different training subjects, as long as arrange different handle models, organ model change handle and can realize this section's object training in processing module.
Accompanying drawing explanation
Fig. 1 is theory diagram of the present invention;
Fig. 2 is structural representation of the present invention;
Fig. 3 is operational module structural representation of the present invention, does not comprise foot-operated.
Embodiment
Below in conjunction with Fig. 1 to Fig. 3, the present invention is described in further detail.
Consult Fig. 1, Fig. 2, one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system, comprise operational module 10, processing module 20 and display module 30, described operational module 10 comprises before and after handle 11 and support handle 11, up and down, the support 12 of side-to-side movement, displacement transducer 13 is provided with between handle 11 and support 12, force feedback unit 14, force feedback driving circuit 15, described displacement transducer 13 is for gathering the positional information of handle 11 and exporting processing module 20 to, processing module 20 pairs of handles 11, virtual human body organ carries out collision detection and outputs control signals to force feedback driving circuit 15, the drive singal that force feedback unit 14 reception feedback driving circuit 15 exports applies a feedback force by steel wire to handle 11, the direction that force feedback unit 14 is applied to the feedback force of handle 11 touch with handle 11 before direction of motion contrary, processing module 20 also receives the executive signal of foot-operated 16 inputs, processing module 20 is according to the signal of foot-operated 16 inputs, the result of collision detection processes handle 11 and virtual organ model and exports display module 30 to.Store in processing module 20 or import virtual organ model and handle model by extraneous, when trainer carries out operating grip 11, processing module 20 carries out collision detection according to handle 11 and virtual organ model, if do not collided, then directly export the illustraton of model corresponding to virtual organ model and handle 11 current location to display module 30 and shown; If there occurs collision, processing module 20 exports two paths of signals simultaneously, one road signal exports force feedback driving circuit 15 to, allow its driving force feedback unit 14 action, also deformation process is carried out to the virtual organ model collided simultaneously, export the model of the virtual organ model after deformation and handle 11 to display module 30 afterwards.As long as the position of handle 11 changes, processing module just needs carry out collision detection and process.Because some section's object operation is comparatively complicated, except needs moving handle 11, also need other operation, such as Ho.YAG laser lithotripsy, need with the foot-operated opening and closing controlling laser, foot-operated is arranged so that the present invention can meet more multioperation.
The method of collision detection has a variety of, as the preferred version of the application, adopts collision ball detection method here.Described processing module 20 comprises
Handle model storage unit 21, for storing the dummy model of various handle;
Organ model storage unit 22, for storing the dummy model of various organ;
Model preprocessing unit 23, receives the organ model of the handle model of handle model storage unit 21 output, organ model storage unit 22 output, and generates some stealthy spheroids according to handle model, organ model;
Collision detection unit 24, the positional information that received bit displacement sensor 13 exports also according to the positional information of this updating location information handle model, monitors the spacing between the stealthy spheroid of handle model and the stealthy spheroid of organ model simultaneously;
Model treatment unit 25, the operation information of the pitch information that Receiving collision detecting unit 24 exports, foot-operated 16 inputs, processes handle model, organ model and exports display module 30 to, also outputing control signals to force feedback driving circuit 15 simultaneously.
Model preprocessing unit 23 is different with model treatment unit 25, the former is mainly used in generating stealthy spheroid, be convenient to collision detection unit 24 and carry out collision detection, latter is mainly used in there being handle model, the organ model deformed to be reconstructed, and exports according to the spacing size that collision detection exports the size that different control signals controls feedback force.
The foundation of human organ model, can be realized by software, below for department of general surgery's laparoscope, the basic process completing model emulation three-dimensional rendering is as follows: (1) data encasement, namely obtains basic concrete cavity, apparatus realistic model data needed for the work of emulation three-dimensional visualization.(2) start data model, reference mark corrects, can craft or automatic Verification.(3) perspective projection transformation, some panel datas, in order to reflecting of each being put, need to carry out suitable perspective projection transformation, namely set up the perspective relation between three-dimensional plot picture point, the perspective view under different visual angles condition can be generated too on screen.Concrete model is determined by parameters such as viewpoint, visual angle, three-dimensional picture sizes.As mathematical model changes the position of viewpoint, the perspective view observing ground in different azimuth just can be drawn out on screen.(4) illumination model, surperficial light and shade is emulated in order to reflect realistically in cavity, color changes, needing the color according to each pixel of normal vector node-by-node algorithm of direction of illumination and node and gray scale. the department of general surgery's emulation three-dimensional model being then reflected to generation gets on, can verify by hand, and parameter preset in software.A good illumination model evaluation to produce good stereoscopic visual effect, and less calculated amount, to ensure to draw speed faster.To the department of general surgery's emulation surface in scenery under laparoscope, in actual performance history, the data model processing on basis first can be obtained at 3DMAX, illumination model will consider the position of light source, the intensity of light source, the position of viewpoint, the diffusing of chamber intracorporeal organ, and apparatus is in the face of the reflection of light and absorption characteristic, carry out manual verification effect arranging virtual camera, and carry out parameter correction in software simulating.(5) blanking and cutting, elimination of hidden has multiple maturation and effective algorithm, and more representational three kinds are: painter's algorithm (relative importance value method), depth-buffer method, Ray Tracing.The elimination of hidden adopted in the application first does once simple Ray Tracing scanning blanking fast, then in conjunction with Z-buffer algorithm process, finally when viewpoint switch moves time, enables painter's algorithm blanking, reach blanking effect rapidly and efficiently.Graphics Clipping is exactly determine according to the size of model vision area the not visible part that three-dimensional department of general surgery emulates, and falls, thus make display screen provide a complete three-dimensional picture picture by falling into display extraneous part figure automatic cutting.(6) graphic plotting and storage, draws according to various respective algorithms (as analog gray scale, fractal geometry, texture mapping etc.) and shows various types of three-dimensional departments of general surgery analogous diagram, and carrying out record with standard image file format.(7) aftertreatment of three-dimensional picture. on three-dimensional perspective, add various materials etc., carry out the process such as color, brightness, contrast.In order to increase the sense of reality usability of three-dimensional department of general surgery analogous diagram, on the basis of generating three-dimensional figures, Overlapping display on the spot in region some major organs skin materials or blood vessel and relevant department of general surgery feature be very necessary, this needs to realize under 3DMAX Modling model Materials Library supports.(8) based on the analysis of three-dimensional department of general surgery analogous diagram, according to relevant parameters in three-dimensional department of general surgery analogous diagram, database or data file and Some Related Algorithms, carry out department of general surgery's model emulation.
Collision ball detection algorithm is adopted in the present invention, consider that its calculated amount is little, and by the stealthy spherical ball of monitoring in the heart apart from learning that the degree touched occurs for handle 11 and virtual organ model, if the stealthy spheroid at handle model place and the stealthy spherical ball of virtual organ model are in the heart apart from when equaling the radius sum of two stealthy spheroids, handle and organ model are in critical point to be contacted just, are less than, and illustrate and touch.
Consult Fig. 3, guide rod 112 is arranged in support 12, not easily changes, and more preferably, described handle 11 comprises grip part 111, guide rod 112, and grip part 111 forms detachable cooperation with guide rod 112.Described support 12 comprises base 121, rotary support 122, turnover bracket 123, described rotary support 122 is fixed on base 121 by the first rotating shaft, rotary support 122 around the first rotating shaft at horizontal rotation in surface, described turnover bracket 123 is fixed on rotary support 122 by the second rotating shaft, turnover bracket 123 rotates in vertical plane around the second rotating shaft, the slippage that described guide rod 112 is formed along bar length direction with the slide rail arranged in turnover bracket 123 coordinates, and bar length direction is perpendicular to the second rotating shaft.
Described force feedback unit 14 comprises the first feedback unit arranged between base 121 and rotary support 122, the second feedback unit arranged between rotary support 122 and turnover bracket 123, the 3rd feedback unit that arranges between turnover bracket 123 and guide rod 112.First feedback unit is supplied to the power rotated clockwise or counterclockwise in rotary support 122 horizontal extent by motor, steel wire, second feedback unit is supplied to the power rotated clockwise or counterclockwise in turnover bracket 123 vertical range by motor, steel wire, the 3rd feedback unit is supplied to guide rod 112 along the rectangular power forward or backward of bar by motor, steel wire.When such as trainer's operating grip 11 rotates clockwise and collides in horizontal extent, first feedback unit is just supplied to rotary support 122 and rotates counterclockwise in horizontal extent, like this, trainer just can experience so-called feedback force, the power in other directions in like manner, no longer elaborates here.
Employing steel wire transmits, and its feedback force is more true.Motor drives rotary support 122, turnover bracket 123 to rotate by steel wire and is easy to realize, as long as be arranged to by steel wire loop-like.Motor drives guide rod 112 to move along bar length direction by steel wire, also easily realize, steel wire two ends are pressed linearity to arrange, its two ends is fixed on the two ends of guide rod 112, and steel wire stage casing is walked around motor shaft and arranged, like this, motor shaft is when rotating, drive steel wire is subjected to displacement, and the two ends of steel wire and guide rod 112 fix, and has naturally also just driven guide rod 112 to move.
Claims (4)
1. one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system, it is characterized in that: comprise operational module (10), processing module (20) and display module (30), described operational module (10) comprises before and after handle (11) and support handle (11), up and down, the support (12) of side-to-side movement, displacement transducer (13) is provided with between handle (11) and support (12), force feedback unit (14), force feedback driving circuit (15), described displacement transducer (13) is for gathering the positional information of handle (11) and exporting processing module (20) to, processing module (20) is to handle (11), virtual human body organ carries out collision detection and outputs control signals to force feedback driving circuit (15), the drive singal that force feedback unit (14) reception feedback driving circuit (15) exports applies a feedback force by steel wire to handle (11), the direction that force feedback unit (14) is applied to the feedback force of handle (11) touch with handle (11) before direction of motion contrary, processing module (20) also receives the executive signal that foot-operated (16) input, the signal that processing module (20) inputs according to foot-operated (16), the result of collision detection processes handle (11) and virtual organ model and exports display module (30) to,
Described processing module (20) comprises
Handle model storage unit (21), for storing the dummy model of various handle;
Organ model storage unit (22), for storing the dummy model of various organ;
Model preprocessing unit (23), the organ model that the handle model that reception handle model storage unit (21) exports, organ model storage unit (22) export, and generate some stealthy spheroids according to handle model, organ model;
Collision detection unit (24), the positional information that received bit displacement sensor (13) exports also according to the positional information of this updating location information handle model, monitors the spacing between the stealthy spheroid of handle model and the stealthy spheroid of organ model simultaneously;
Model treatment unit (25), the operation information that the pitch information that Receiving collision detecting unit (24) exports, foot-operated (16) input, handle model, organ model are processed and export display module (30) to, also outputs control signals to force feedback driving circuit (15) simultaneously.
2. multiple intracavitary therapy endoscopic surgery doctor religion training system as claimed in claim 1, it is characterized in that: described handle (11) comprises grip part (111), guide rod (112), and grip part (111) form detachable cooperation with guide rod (112).
3. multiple intracavitary therapy endoscopic surgery doctor religion training system as claimed in claim 2, it is characterized in that: described support (12) comprises base (121), rotary support (122), turnover bracket (123), described rotary support (122) is fixed on base (121) by the first rotating shaft, rotary support (122) around the first rotating shaft at horizontal rotation in surface, described turnover bracket (123) is fixed on rotary support (122) by the second rotating shaft, turnover bracket (123) rotates in vertical plane around the second rotating shaft, the slippage that described guide rod (112) is formed along bar length direction with the slide rail arranged in turnover bracket (123) coordinates, bar length direction is perpendicular to the second rotating shaft.
4. multiple intracavitary therapy endoscopic surgery doctor religion training system as claimed in claim 3, is characterized in that: described force feedback unit (14) comprises the first feedback unit arranged between base (121) and rotary support (122), the second feedback unit arranged between rotary support (122) and turnover bracket (123), the 3rd feedback unit that arranges between turnover bracket (123) and guide rod (112); The first described feedback unit is supplied to the power rotated clockwise or counterclockwise in rotary support (122) horizontal extent by motor, steel wire, second feedback unit is supplied to the power rotated clockwise or counterclockwise in turnover bracket (123) vertical range by motor, steel wire, 3rd feedback unit is supplied to guide rod (112) along the rectangular power forward or backward of bar by motor, steel wire, and each motor is driven by force feedback driving circuit (15).
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| CN105321415A (en) * | 2014-08-01 | 2016-02-10 | 卓思生命科技有限公司 | Surgery simulation system and method |
| 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 |
| 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 |
| CN106205329A (en) * | 2016-09-26 | 2016-12-07 | 四川大学 | Virtual operation training system |
| CN108346336A (en) * | 2018-03-29 | 2018-07-31 | 安徽工程大学 | A kind of teaching aid for laparoscopic surgery training |
| CN112750344B (en) * | 2020-12-29 | 2023-04-07 | 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 |
| CN114550534A (en) * | 2022-02-25 | 2022-05-27 | 山东创客之星仪器设备有限责任公司 | Virtual reality simulation equipment for danger experiment teaching |
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Denomination of invention: Multiple intracavitary therapeutic endoscopic surgery medical education and training systems Granted publication date: 20160113 Pledgee: Hefei Xingtai Technology Micro-loan Co.,Ltd. Pledgor: HEFEI D.E ELECTRONICS Co.,Ltd. Registration number: Y2024980024337 |
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