CN104112375A - Virtual minimally invasive surgery training system - Google Patents
Virtual minimally invasive surgery training system Download PDFInfo
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- CN104112375A CN104112375A CN201310138968.6A CN201310138968A CN104112375A CN 104112375 A CN104112375 A CN 104112375A CN 201310138968 A CN201310138968 A CN 201310138968A CN 104112375 A CN104112375 A CN 104112375A
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Abstract
The invention provides a virtual minimally invasive surgery training system. The virtual minimally invasive surgery training system is mainly composed of an operating mechanism, a control system and a software platform. The operating mechanism includes mechanism design and 3D modeling; the control system includes data acquisition hardware design and data acquisition interface design; and the software platform includes geometric modeling, physical modeling, collision detection, tissue simulation deformation and system module design, wherein the system design includes a man-machine interface module, a material illumination rendering module, a texture module, a voice module, an ensemble transforming module and system control. Compared with a traditional training system, the collision detection is additionally adopted, and therefore, the virtual minimally invasive surgery training system can simulate real environments more authentically and help medical staff to quickly master the processes and methods of minimally invasive surgeries.
Description
Technical field
The present invention relates to a kind of medical teaching field, relate in particular to a kind of virtual Minimally Invasive Surgery training system.
Background technology
Current, virtual reality technology has become the focus of the concern afterwards of computing machine association area relaying multimedia technology, Internet network technology and research, exploitation and application, is also a current multidisciplinary synthesis technology with fastest developing speed.In 21st century, the mankind will enter the scientific and technological New Times of virtual reality, and the development of virtual reality technology and universal will be developed fully in each field of society, for people's work, life brings far-reaching influence.Now, all take computing machine and as basis, learn and train in many fields, and it can help people to enlarge one's knowledge and sharpen one's skills.Medical domain is no exception, and even performance is more obvious, because medical training is the process of very long and both expensive of time; Yet the develop rapidly along with virtual reality technology and computer network and multimedia technology, the medical science simulated training system that utilizes virtual reality technology to realize, can make trainer practise at any time, and be under a very true and safe environment, complete whole operative training process; The application potential of its medical domain is very wide at present.Therefore, further urgent for the market demand of virtual Minimally Invasive Surgery training airplane, and the appearance of virtual reality technology makes its development and exploitation become a kind of inevitable.
Summary of the invention
The problem that can not reach real skilled grasp Minimally Invasive Surgery in order to solve medical personnel, the invention provides a kind of virtual Minimally Invasive Surgery training system, strengthens medical personnel's technical ability, more has authenticity.
The present invention forms like this: a kind of virtual Minimally Invasive Surgery training system is mainly by operating mechanism, control system and the large module composition of software platform three; Wherein said operating mechanism comprises mechanism design, three-dimensional modeling, uses AutoCAD, SolidWorks to carry out mechanism design and realize operating mechanism modeling; Described control system comprises data acquisition hardware design, data acquisition interface design, to virtual micro-wound simulating system, provide active data, by the spatial position data of this system Real-time Collection operating theater instruments, determine migration track and the position of model in Virtual Space; Described software platform comprises Geometric Modeling, physical modeling, collision detection, organizes emulation distortion and system module design, realize system module design and model migration training, wherein in system module design, comprised human-computer interaction interface module, material illumination rendering module, texture module, sound module, set transform module and system are controlled.
The present invention compared with prior art has following advantage: the design system software section of hommization more, collision detection is provided, and more real training environment is provided, help medical science medical personnel to grasp fast flow process and the method for Minimally Invasive Surgery.
Accompanying drawing explanation
Fig. 1 is virtual Minimally Invasive Surgery training system structural representation.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further described.
As shown in Figure 1, a kind of virtual Minimally Invasive Surgery training system of the present invention is mainly by operating mechanism, control system and the large module composition of software platform three.Wherein operating mechanism comprises mechanism design, three-dimensional modeling; Control system comprises data acquisition hardware design, data acquisition interface design; Software platform comprises Geometric Modeling, physical modeling, and collision detection, organizes emulation distortion, system module design.And in system, comprised human-computer interaction interface module, and material illumination rendering module, texture module, sound module, set transform module and system are controlled.
Operating mechanism provides operating platform for doctor's operative training.Define the design procedure of Minimally Invasive Surgery training system operating mechanism, comprise analysis and formulation and the Choice of Sensors of organization plan.Use AutoCAD, SolidWorks to carry out mechanism design and realize operating mechanism modeling.In design process, adopt the design philosophy of diversification, thinking is clear, definite functions.Operating mechanism is the topworks of virtual Minimally Invasive Surgery training system, is the direct operated hardware platform of training doctor.
Control system is a bridge of attended operation mechanism and software platform, for providing active data to virtual micro-wound simulating system, by the spatial position data of this system Real-time Collection operating theater instruments, can determine migration track and the position of model in Virtual Space.The design of this part comprises selection data acquisition equipment, realizes data acquisition hardware design; Organized data acquisition interface program, realizes data acquisition.
Software section is realized system module design and model migration training, and it is mainly the migration of model in Virtual Space.Wherein comprise following module:
1. Geometric Modeling
Module is set up can adopt 3DS MAX software and SolidWorks software development, human organ and operating theater instruments geometric model can save as respectively ASE file layout and STL file layout, because these forms are all with network of triangle case form memory model data, be convenient to use OpenGL to rebuild in virtual scene, then by designing and write interface routine, make system realize the function of the 3 D graphic data of reading model from ASE and STL formatted file;
2. physical module
Operating theater instruments is rigid body, even bump and generally also can not deform with human organ, therefore virtual operation instrument in virtual scene except occurring integral position (translation, rotation) changes, after apparatus itself is stressed, deformation can not occur, so operating theater instruments can directly be used with importing scene after SolidWorks modeling.Human organ is different, human organ bumps after stressed can produce distortion, after importing scene, need to set up its physical model, because human organ is soft tissue, its deformation is very complicated, construct human organ physical model difficulty true to nature very large, and fidelity is higher, the calculating needing, internal memory are just more, can affect the response speed of whole system.Therefore the physical model that will set up high fidelity, responds fast;
3. collision detection
Collision detection detects or contact detection also referred to as interfering, and is an important component part in virtual environment, is also the underlying issue of interbehavior between emulation object.Whether the collision detection specific works in virtual environment comprises two parts: detect and have collision to occur, calculate the position that collision occurs.The collision detection of 2D object is wanted easily relatively, is that employing pixel judges or use object area and Distance Judgment to be all feasible; But in 3D scene, just have very large trouble, for the arithmetic capability of PC machine, if detect the polygon of each object and penetrating of summit, operand is by considerable.For 3D Collision Detection, also there is no almost ideal solution at present, can only take to accept or reject as required arithmetic speed and accuracy.Substantially, between two objects fast collision detection of high precision method mainly contain two classes: bounding volume hierarchy method and apart from tracing.Apart from tracing, utilize time continuity and the geometric continuity of object of which movement, calculate the minimum distance between object, when the movement velocity that is suitable for simple shape object and object is not very fast, do not use, be not suitable for using in virtual Minimally Invasive Surgery.In virtual Minimally Invasive Surgery, between virtual operation instrument and human organ, accurate collision detection is the basis of deformation and force feedback, and complicacy and the real-time of virtual Minimally Invasive Surgery environment are had higher requirement to collision detection again simultaneously.Can say that collision detection is in whole virtual operation process, the collision detection algorithm that virtual Minimally Invasive Surgery adopts should possess several conditions: quick, accurate, reliable and stable, can be for the emulation of physical model;
4. the emulation of tissue distortion
Human organ tissue is carried out to mechanical characteristic analysis, can set up human organ based on linear elasticity model and organize physical model, adopt the computation model of Mass-spring Construction of A Model human organ.Meanwhile, utilize adjacency matrix method for expressing to be described the topological structure of human organ model.Need in addition to set up the dynamics universal equation of human organ physical model, adopt two rank Runge-Kutta methods to this solving equations.Adopt the emulation of carrying out of Mass-spring/damper model;
5. system module design
In system module design, comprised human-computer interaction interface module, material illumination rendering module, texture module, sound module, set transform module and system are controlled.
The above, be only preferred embodiment of the present invention, not the present invention done to any pro forma restriction, any simple modification that all foundations technical spirit of the present invention is done above embodiment, equivalent variations and modification, still belong in the scope of technical solution of the present invention.
Claims (4)
1. a virtual Minimally Invasive Surgery training system, is characterized in that this system is mainly by operating mechanism, control system and the large module composition of software platform three; Wherein operating mechanism comprises mechanism design, three-dimensional modeling; Control system comprises data acquisition hardware design, data acquisition interface design; Software platform comprises Geometric Modeling, physical modeling, and collision detection, organizes emulation distortion, system module design; And in system module design, comprised human-computer interaction interface module, and material illumination rendering module, texture module, sound module, set transform module and system are controlled.
2. virtual Minimally Invasive Surgery training system according to claim 1, is characterized in that, described operating mechanism uses AutoCAD, SolidWorks to carry out mechanism design and realize operating mechanism modeling.
3. virtual Minimally Invasive Surgery training system according to claim 1, it is characterized in that, described control system provides active data to virtual micro-wound simulating system, by the spatial position data of this system Real-time Collection operating theater instruments, determine migration track and the position of model in Virtual Space.
4. virtual Minimally Invasive Surgery training system according to claim 1, is characterized in that, described software desk Implementation system module design and model migration training.
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| CN201310138968.6A CN104112375A (en) | 2013-04-22 | 2013-04-22 | Virtual minimally invasive surgery training system |
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| CN201310138968.6A CN104112375A (en) | 2013-04-22 | 2013-04-22 | Virtual minimally invasive surgery training system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106297471A (en) * | 2016-10-25 | 2017-01-04 | 深圳市科创数字显示技术有限公司 | The removable cornea intelligent operation training system that AR and VR combines |
| CN107316554A (en) * | 2017-06-14 | 2017-11-03 | 西安工业大学 | A kind of heart interventional therapy virtual training system |
| CN109979600A (en) * | 2019-04-23 | 2019-07-05 | 上海交通大学医学院附属第九人民医院 | Orbital Surgery training method, system and storage medium based on virtual reality |
| CN114267219A (en) * | 2021-12-15 | 2022-04-01 | 上海交通大学医学院附属第九人民医院 | Virtual operation simulation device and simulation system |
-
2013
- 2013-04-22 CN CN201310138968.6A patent/CN104112375A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN106297471A (en) * | 2016-10-25 | 2017-01-04 | 深圳市科创数字显示技术有限公司 | The removable cornea intelligent operation training system that AR and VR combines |
| CN107316554A (en) * | 2017-06-14 | 2017-11-03 | 西安工业大学 | A kind of heart interventional therapy virtual training system |
| CN109979600A (en) * | 2019-04-23 | 2019-07-05 | 上海交通大学医学院附属第九人民医院 | Orbital Surgery training method, system and storage medium based on virtual reality |
| CN114267219A (en) * | 2021-12-15 | 2022-04-01 | 上海交通大学医学院附属第九人民医院 | Virtual operation simulation device and simulation system |
| CN114267219B (en) * | 2021-12-15 | 2024-03-08 | 上海交通大学医学院附属第九人民医院 | Virtual operation simulation device and simulation system |
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Application publication date: 20141022 |