CN104424838A - Hysteroscopic surgery simulator - Google Patents

Hysteroscopic surgery simulator Download PDF

Info

Publication number
CN104424838A
CN104424838A CN201310386467.XA CN201310386467A CN104424838A CN 104424838 A CN104424838 A CN 104424838A CN 201310386467 A CN201310386467 A CN 201310386467A CN 104424838 A CN104424838 A CN 104424838A
Authority
CN
China
Prior art keywords
3d
simulator
model
force feedback
hysteroscope
Prior art date
Application number
CN201310386467.XA
Other languages
Chinese (zh)
Inventor
王尧
Original Assignee
王尧
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 王尧 filed Critical 王尧
Priority to CN201310386467.XA priority Critical patent/CN104424838A/en
Publication of CN104424838A publication Critical patent/CN104424838A/en

Links

Classifications

    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00Simulators for teaching or training purposes

Abstract

The invention discloses a hysteroscopic surgery simulator, which comprises an examining table, a female human model, a uterine cavity resectoscope, a rotation sensor, a displacement sensor, a force feedback touch simulator, data receiving processing equipment, a 3D (three-dimensional) model processing server, a 3D platform system server and display equipment. The hysteroscopic surgery simulator is characterized in that the uterine cavity resectoscope is put in the model; the lower part of the resectoscope body is provided with the displacement sensor and the rotation sensor; the tail end of the resectoscope body is provided with the force feedback touch simulator; the displacement sensor, the rotation sensor and the force feedback touch simulator are respectively and bi-directionally related with the data receiving processing equipment arranged in the examining table. Various 3D stereoscopic models of normal tissues and diseases of a virtual uterine cavity and 3D models for an operation process are stored in the 3D model processing server, and a hysteroscopy and surgery operation interface and entering and playback software are stored, and are output to the display equipment through the 3D platform system server to show vivid virtual 3D images; the hysteroscopic surgery simulator also has a vivid force feedback touch, so that the effects of hysteroscopy, and surgery skill training and assessment can be obviously improved.

Description

Hysteroscope operation simulator

Technical field:

The present invention relates to medical teaching instrument field, specifically it is a kind of hysteroscope operation simulator.

Background technology:

Hysteroscopy and operation are new Wicresoft of gynaecology Clinics risen in recent years, have started hospital at home and have used, for the diagnosis and treatment of uterine disease.The position of pathology, scope, apparent condition can not only be determined, and trickle observation can be carried out to focus surface, capture pathological tissues biopsy, dilatation and curettage, TURP, the multiple uterine disease of coagulation operative treatment can also be positioned.This Wicresoft checks that operation has and need not anaesthetize, must not be in hospital, not bitterly or hypodynia, hemorrhagely less, does not hinder the remarkable advantages such as uterus, operating time be short, is deeply subject to the welcome of patient and doctor.Learn this emerging technology often by the doctor be skilled in technique, carry out the skills training of transmit, aid and lead formula with genuine hysteroscope at patient.But due to the raising of patient's legal knowledge and sense of self-protection in recent years, often refuse intern's operation, abroad oneself develops virtual hysteroscope operation analog machine, can address this problem.Abroad there are some researches show, the quality of performing the operation for patient through the doctor of simulation teching training is significantly improved, and operating time shortens half.But because the price of import equipment is very expensive, the economic capability of general hospital is difficult to buy, and seriously limits applying of this emerging technology of hysteroscope operation.

Summary of the invention;

The object of this invention is to provide a kind of hysteroscope operation simulator, it can simulate virtual human body tissue, organ and the focus with high presence visually, Minimally Invasive Surgery apparatus height emulates, user can carry out multi-direction, multi-angle motion to Virtual Organization's organ by operating apparatus, carry out the various operations such as TURP, coagulation, biopsy, foreign body grabbing, intubate, vision, power are felt that effect true nature, operator have and are carried out true experience of performing the operation.

This achievement solves a difficult problem for hysteroscope Clinics training, be that a kind of effect is true to nature, complete function, cheap, easy popularization hysteroscope operation simulator.

It comprises: inspecting stand, emulation female body model, Resection hysteroscope, rotation sensor, displacement transducer, force feedback touch feeling simulator, data receiver treatment facility, 3D model treatment server, 3D plateform system server, display device.It is characterized in that: in the upper female body model (2) placed of inspecting stand (1), the bar of being inserted Resection hysteroscope (4) mirror body bottom by vaginal speculum (3) is provided with displacement transducer (5), rotation sensor (6), the steel pipe (13) of its end insertion force feedback haptic simulator (7) liner rubber sleeve (14)) in, all interior data receiver treatment facility (8) two-way connections arranged with inspecting stand (1).By 3D plateform system server (9), the virtual uterine cavity normal structure of adopt three-dimensional reconstruction to build, editing and the 3D stereoscopic model of disease, the 3D model of surgical procedure and hysteroscopy, operation technique interface, typing and playback software, through 3D model treatment server (10) stores processor, output on display device (11), present virtual 3D rendering true to nature.Described force feedback touch feeling simulator (7) is fixed in model for electromagnet (12) one end magnetic pole, other end magnetic pole by magnetic force joint steel pipe (13), wall liner rubber sleeve (14) in it.The table top of inspecting stand (1) is provided with display device (11), keyboard (15), mouse (16); Base has the castor (17) that four have brake function, it is also provided with electric cabinet (18) and is connected by the power switch (21) of wire (19) and foot-switch (20) and operator's console (1) side, server switch (22).

Advantage of the present invention is: complete function, dependable performance, highly emulation, virtually can have the human tissue organ of high presence, uterine cavity Minimally Invasive Surgery apparatus, soft tissue injury.User in uterus can pass in and out with hysteroscope, camera lens is rotatable, check uterine cavity tissue organ and perform the operation, and multi-directionally moves, to left and right rotation.To in the inspection of tens of kinds of intrauterine diseases and the overall process of operation, produce smog during TURP, misoperation can cause bleeding, and not only has good visual effect, and the virtual haptic effect true to nature of force feedback, complete approach clinic.Greatly can improve the learning interest of student, significantly improve the effect of hysteroscopy, surgical skills training and assessment, be specially adapted to promote the use of in medical colleges and schools and training center of hospital.

Below in conjunction with drawings and Examples, the present invention is further described.

Accompanying drawing illustrates:

Fig. 1 is overall appearance structural representation of the present invention.

Fig. 2 is Resection hysteroscope structural representation of the present invention.

Fig. 3 is that Resection hysteroscope of the present invention and displacement transducer, rotation sensor and force feedback touch feeling simulator connect schematic diagram.

Fig. 4 is structure and working principle schematic diagram of the present invention.

Embodiment

During the invention process, must by the inspection data of the hysteroscopy finding of various common gynaecology intrauterine disease and surgical procedure, data acquisition is carried out by normal person and Disease, view data application EMC memory device is stored, with 3D plateform system server (9), Geometric Modeling, physical modeling, computation modeling and deformable modeling, graph rendering etc. is carried out to these medical datas; Adopt three-dimensional reconstruction to build virtual uterine cavity normal structure physiological property and focus, and carry out collision detection and graphic plotting, make tissue surface high resilience and flexible, deformation behavior; By VRML language compilation virtual operation instrument as: various form electrode, biopsy forceps, foreign body grabbing pincers etc., made three-dimensional picture is stored in 3D model treatment server (10).Inspecting stand (1) plastic production, emulation female body model (2) silicon rubber or PVC mould molding, lining framework hard PVC or resin make, force feedback touch feeling simulator (7) electromagnet (12) and the whippy rubber sleeve of steel pipe (13) liner (14) make, and other aftermarket is on sale.After getting all the parts shown in accompanying drawing ready, assemble with reference to accompanying drawing.During use, user's opening operation platform (1) power switch (21), server switch (22) operation keyboard (15), mouse (16), on display device (11), selectivity recalls relevant case as required, then three-dimensional dynamic images is seen on limit, limit operation Resection hysteroscope (4) is found out focus and observes pathological condition, according to state of an illness determination modus operandi.The foot-switch (17) depressing electric cabinet (18) during operation has connected line related, can carry out the operation techniques such as TURP, coagulation, grasping tissue biopsy, dilatation and curettage, foreign body or intubate.Data receiver treatment facility (8) carry out data receiver and and feedback signal process, by the force feedback information exported in operation, reach after 3D model treatment server (9) processes by analysis, three-dimensional picture on screen is occurred, and hysteroscope forward, after, left, right, on, inferior all directions motion, to anticlockwise, to the action change consistent with operation and soft tissue deformation such as right rotations, uterine cavity inwall TURP from the superficial to the deep can also be realized, shallow table is to the change of the excessive color of muscle layer, during TURP, electrode reddens and has smog to produce, as misoperation can be bled.In the process of inspection in operation and operation, each action of operation is all converted into electric signal by rotation sensor (6), displacement transducer (5), mould/number (A/D) converter through digital received treatment facility (8) is converted to digital quantity, is then controlled the motion of virtual apparatus by 3D plateform system server (9).The force feedback instruction exported is through D/A (D/A) converter of data receiver treatment facility (8), feedback force digital quantity is converted to analog quantity, thus the strength of current of electromagnet in control feedback haptic simulator, make magnetic force that corresponding change occur, electromagnet (12) and steel pipe (13) Resection hysteroscope (4) of magnetic conduction can have suction to steel in force feedback touch feeling simulator (7), at the hand of operation mirror body, feedback force is produced to user, as contacting true patient, identical with clinical true operation, therefore the simulate effect of hysteroscope operation simulator is very true to nature, skills training and check-up quality can be significantly improved.

Claims (4)

1. a hysteroscope operation simulator, it comprises inspecting stand, female body model, Resection hysteroscope, rotation sensor, displacement transducer, force feedback touch feeling simulator, data receiver treatment facility, 3D model treatment server, 3D plateform system server, display device, it is characterized in that: in the upper female body model (2) placed of inspecting stand (1), Resection hysteroscope (4) is inserted by vaginal speculum (3), mirror body bottom is provided with displacement transducer (5), rotation sensor (6), in its end insertion force feedback haptic simulator, all interior data receiver treatment facility (8) two-way connections arranged with inspecting stand (1).
2. a kind of hysteroscope operation simulator according to claim 1, it is characterized in that: the 3D stereoscopic model of the multiple employing three-dimensional reconstruction structure of the middle storage of 3D model treatment server (9), the virtual uterine cavity normal structure of editing and disease and the 3D model of surgical procedure, hysteroscopy and operation technique interface, typing and playback software, output on display device (11) through 3D plateform system server (10), present virtual 3D rendering true to nature.
3. a kind of hysteroscope operation simulator according to claim 1, it is characterized in that: described force feedback touch feeling simulator (7) is fixed in model for one end magnetic pole of electromagnet (12), other end magnetic pole is by magnetic force joint steel pipe (13), and its inwall is lined with whippy rubber sleeve (14).
4. a kind of hysteroscope operation simulator according to claim 1, it is characterized in that: the base of inspecting stand (1) is provided with the castor (16) that four have brake function below, it be also provided with electric cabinet (17) and be connected by electric cabinet (17) panel power source switch (20) of wire (18) and foot-switch (19) and operator's console (1) side, server switch (21).
CN201310386467.XA 2013-08-26 2013-08-26 Hysteroscopic surgery simulator CN104424838A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310386467.XA CN104424838A (en) 2013-08-26 2013-08-26 Hysteroscopic surgery simulator

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310386467.XA CN104424838A (en) 2013-08-26 2013-08-26 Hysteroscopic surgery simulator

Publications (1)

Publication Number Publication Date
CN104424838A true CN104424838A (en) 2015-03-18

Family

ID=52973679

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310386467.XA CN104424838A (en) 2013-08-26 2013-08-26 Hysteroscopic surgery simulator

Country Status (1)

Country Link
CN (1) CN104424838A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104966431A (en) * 2015-07-28 2015-10-07 中国医学科学院北京协和医院 Experiment table suitable for minimally invasive surgery technology research and training
CN104992582A (en) * 2015-07-13 2015-10-21 中国科学院自动化研究所 Medical minimally-invasive operation training system based on mixed reality
CN105608945A (en) * 2016-03-04 2016-05-25 南昌大学 Immersion-type self-adaptive pose virtual surgery training platform
CN106448403A (en) * 2016-12-14 2017-02-22 四川大学华西医院 Simulation thoracoscopic surgery training aid

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050014115A1 (en) * 2001-06-25 2005-01-20 Robert Riener Birth stimulator
CN201156345Y (en) * 2008-01-10 2008-11-26 傅 强;胡三元;凌 斌 Endoscope micro-wound simulating system
CN101739879A (en) * 2009-12-22 2010-06-16 天津市天堰医教科技开发有限公司 Real-time pose capture-based surgery simulation system, method and graph rendering module
CN102254476A (en) * 2011-07-18 2011-11-23 广州赛宝联睿信息科技有限公司 Endoscopic minimally invasive surgery simulation training method and system
CN202615697U (en) * 2012-06-01 2012-12-19 苏州敏行医学信息技术有限公司 Force feedback based laparoscopic surgery simulation system
CN203038549U (en) * 2012-12-12 2013-07-03 内蒙古自治区人民医院医学工程处 Endoscopic surgery operation training device

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050014115A1 (en) * 2001-06-25 2005-01-20 Robert Riener Birth stimulator
CN201156345Y (en) * 2008-01-10 2008-11-26 傅 强;胡三元;凌 斌 Endoscope micro-wound simulating system
CN101739879A (en) * 2009-12-22 2010-06-16 天津市天堰医教科技开发有限公司 Real-time pose capture-based surgery simulation system, method and graph rendering module
CN102254476A (en) * 2011-07-18 2011-11-23 广州赛宝联睿信息科技有限公司 Endoscopic minimally invasive surgery simulation training method and system
CN202615697U (en) * 2012-06-01 2012-12-19 苏州敏行医学信息技术有限公司 Force feedback based laparoscopic surgery simulation system
CN203038549U (en) * 2012-12-12 2013-07-03 内蒙古自治区人民医院医学工程处 Endoscopic surgery operation training device

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104992582A (en) * 2015-07-13 2015-10-21 中国科学院自动化研究所 Medical minimally-invasive operation training system based on mixed reality
CN104992582B (en) * 2015-07-13 2017-08-15 中国科学院自动化研究所 A kind of medical science Minimally Invasive Surgery training system based on mixed reality
CN104966431A (en) * 2015-07-28 2015-10-07 中国医学科学院北京协和医院 Experiment table suitable for minimally invasive surgery technology research and training
CN104966431B (en) * 2015-07-28 2018-05-04 中国医学科学院北京协和医院 A kind of experimental bench studied and trained suitable for Minimally Invasive Surgical Technology
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
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

Similar Documents

Publication Publication Date Title
US20040254771A1 (en) Programmable joint simulator with force and motion feedback
Timor-Tritsch et al. Three-dimensional ultrasound experience in obstetrics
US20190012934A1 (en) Surgical simulation models, materials, and methods
Coles et al. The role of haptics in medical training simulators: A survey of the state of the art
US20100167248A1 (en) Tracking and training system for medical procedures
US9251721B2 (en) Interactive mixed reality system and uses thereof
Pacchierotti et al. Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery
Dinsmore et al. Virtual reality training simulation for palpation of subsurface tumors
Tendick et al. A virtual environment testbed for training laparoscopic surgical skills
EP0426767B1 (en) Internal environment simulator system
Delingette et al. Hepatic surgery simulation
US20020168618A1 (en) Simulation system for image-guided medical procedures
CN1186753C (en) Endoscopic tutorial system and method
WO2002013164A9 (en) Computer based instrumentation and sensing for physical examination training
CA2928460A1 (en) System for injection training
US8480404B2 (en) Multimodal ultrasound training system
WO2003096255A2 (en) Simulation system for medical procedures
CN102254476B (en) Endoscopic minimally invasive surgery simulation training method and system
US5791908A (en) Apparatus and method for telesurgery
WO2001088882A2 (en) Endoscopic tutorial system for the pancreatic system
WO2006060406A1 (en) Multimodal medical procedure training system
Liu et al. A survey of surgical simulation: applications, technology, and education
US7651332B2 (en) Functional and anatomical delivery simulator
Datta et al. The PreOp flexible sigmoidoscopy trainer
CN102781336A (en) Visual tracking and annotation of clinically important anatomical landmarks for surgical interventions

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20150318