CN105069301A - Lumbar puncture virtual simulation and training system supporting haptic interaction - Google Patents
Lumbar puncture virtual simulation and training system supporting haptic interaction Download PDFInfo
- Publication number
- CN105069301A CN105069301A CN201510502415.3A CN201510502415A CN105069301A CN 105069301 A CN105069301 A CN 105069301A CN 201510502415 A CN201510502415 A CN 201510502415A CN 105069301 A CN105069301 A CN 105069301A
- Authority
- CN
- China
- Prior art keywords
- puncture
- virtual
- finite element
- needle
- model
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
Links
Abstract
The present invention discloses a lumbar puncture virtual simulation and training system supporting haptic interaction, comprising a calculating apparatus and a haptic interaction device. A display device is connected to the calculating apparatus. The calculating apparatus is connected to the haptic interaction device, and is configured to transmit an action signal that is made by a user and is detected by the haptic interaction device to the calculating apparatus. The calculating apparatus substitutes the received signal to a preset model to perform real-time simulation calculation, to obtain an acting force of a puncture needle, and transmits the acting force to the haptic interaction device for perception of the user. In addition, a real-time virtual puncture process interface is generated on the display device according to a simulation calculation result, so as to implement lumbar puncture virtual simulation and training. The system can simulate a resistance change in a puncture process, and can significantly reduce costs and the period of medical staff training.
Description
Technical field
The present invention devises a kind of virtual emulation and training system of lumbar puncture, belongs to the cross-application field of virtual reality, system emulation, medical information technology.
Background technology
Lumbar puncture not only can be used for diagnosis but also can be used for treatment.Lumbar puncture technology is also one of difficult point of medical teaching, and require that doctor has very high operation skill, the trick collaboration capabilities of precise and high efficiency and preoperative skills training strict in a large number and practice, cycle of training is extremely long, requires that the ability of practice is extremely strong.Figure 1 shows that the dissection schematic diagram of lumbar puncture, puncture needle successively through skin, fat, supraspinal ligament, ligamenta intervertebralia, ligamentum flavum, dural time, because every layer tissue elasticity is different, therefore the resistance different to puncture needle is produced, concerning operator, the increase and decrease of resistance can be experienced.The increase and decrease of resistance is a prompting concerning operator, and experienced operator can judge needle point present position accordingly.
Comprehensively current conventional exercises mode has four kinds: the corpse of donation, manikin, animal and patient; But these modes all exist significantly not enough separately, the corpse such as contributed is limited, and soft tissue physical characteristics changes, and the chance of training is few; Sample limited amount, cost intensive; Zootomy environment is different with human body, and training environment is undesirable; Large at patient exercise operation risk, not easily accept by patient and there is nonrepeatability.In traditional operation, doctor is according to the human dissection knowledge that obtains from sample or book, and formulates operation plan in conjunction with clinical experience, and in oneself brain, carry out preoperative operation preview.The deficiency of this mode is that the quality of operation plan depends on the individual clinical experience of doctor and technical ability; Be unfavorable for the problem found in advance in whole surgical procedure; Be unfavorable for mutually learning between doctor, inquiring into.
Along with the development of computer technology and Minimally Invasive Surgery, digital virtual operation plays more and more important role in medical domain.Utilize virtual reality technology, by building the digital model of human organ, the physics of simulated human tissue and physiological property, emulation surgical scene and operating theater instruments, doctor can be immersed in virtual surgical environment, alternatively experiences and learns various operation.
In Involved in Medical Clinical Teaching, there is no the instrument for spinal puncture training at present, operator is difficult to the main points learning, grasp lumbar puncture technology.
Summary of the invention
Technical matters to be solved by this invention is, for the deficiency that background technology exists, a kind of lumbar puncture virtual emulation and the training system of supporting dynamic sensing interexchanging are proposed, the power that reaches feel sensation steadily, simulate effect is true to nature, can meet the requirement of lumbar vertebra puncture operation emulation to requirement of real-time and fine manipulation.
The present invention is for solve the problems of the technologies described above and by the following technical solutions:
Support lumbar puncture virtual emulation and the training system of dynamic sensing interexchanging, comprise calculation element and force sense interactive device, be connected with display device on the computing device; Wherein, described calculation element is connected with force sense interactive device, the actuating signal made for the user detected by force sense interactive device transfers to calculation element, the signal of reception is brought into the model pre-set and is carried out real-time simulated animation by calculation element, obtain puncture needle force transfer to force sense interactive device by user's perception, generate real-time virtual piercing process interface on the display device according to simulation result simultaneously, thus realize lumbar puncture virtual emulation and training.
Further, a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging of the present invention, described calculation element comprises off-line model construction unit, real-time simulated animation unit; Wherein,
Off-line model construction unit for building the trunk geometric model and finite element model that comprise backbone Bone and soft tissue, and about subtracts finite element model;
Real-time simulated animation unit comprises:
Trunk finite element model distortion computing module, for setting up the equation of motion of the finite element model after about subtracting, the equation of motion after about subtracting is emulated about subtracting in space, rebuild the distortion that deformation vectors realizes trunk finite element model, and local updating and sampling are carried out to finite element model;
Dynamic sensing interexchanging module, exerts oneself visual information for calculating according to the actuating signal of user and sends it to force sense interactive device, reading the pose of the operating grip of force sense interactive device to upgrade the position and posture of virtual puncture needle simultaneously;
Virtual puncture English majours module, in virtual piercing process, for user provides English majours.
Further, a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging of the present invention, dynamic sensing interexchanging module comprises collision detection submodule, collision response submodule, force rendering submodule, wherein:
Collision detection submodule, for carrying out collision detection according to the relative position of virtual puncture needle and trunk each several part;
Collision response submodule, for calculating the resistance that virtual puncture needle is subject to according to the result of collision detection, virtual puncture needle is applied to masterpiece on body soft tissue for input, send trunk finite element model distortion computing module to, thus the shape calculated after the distortion of trunk finite element model and displacement;
Force rendering submodule, for accepting power visual information that collision detection submodule and collision response submodule send and sending it to force sense interactive device, thus the force feedback allowing operator experience virtual puncture to produce; Meanwhile, read the pose of the operating grip of force sense interactive device, and upgrade the position and posture of the virtual puncture needle in virtual environment according to this posture information.
Further, a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging of the present invention, described virtual puncture English majours module is in virtual piercing process: the highlighted display providing point of puncture position, the three-dimensional line segment display in puncture direction, the animation that puncture needle thrusts is play, show that puncture needle is in the position of inside of human body with cross sectional view, puncture needle movement locus shows, and carries out vision guide simultaneously.
Further, a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging of the present invention, described in carry out vision guide concrete steps and be: prestore the best hand-manipulating of needle track of expert, point of puncture and puncture direction exemplarily; In training process, the point of puncture of the reality of student, puncture direction are compared with model, when the point of puncture of student and model point of puncture deviation exceed the threshold value of setting, or the puncture angle in direction of puncture direction and model is greater than when setting threshold value, system carries out reminding and highlighted display optimum puncturing point and puncture direction, shows that puncture needle is in the position of inside of human body with cross sectional view simultaneously.
Further, a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging of the present invention, trunk finite element model, specifically comprise: L1-L5 lumbar vertebrae, pelvis, rumpbone, sacral hiatus, sacrum angle, supraspinal ligament, ligamentum flavum, endorchis and Intraventricular membrane, and by sour jujube upper after the cavum subarachnoidale of above-mentioned organization formation, epidural space, sacrum, spinous process of thoracic vertebra, spinous process of lumbar vertebra, also comprise the model of skin and muscle; Wherein, skeleton model is all rigid body, does not participate in deformation simulation, and finite element unit type is linear hexahedral element.
Further, a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging of the present invention, trunk finite element model distortion computing module:
A, adopt implicit expression NewMark integration method to emulate the kinetics equation of the finite element model after about subtracting about subtracting in space, about subtracted the deformation q in space;
B, reconstruction deformation vectors u: the deformation vectors u ∈ R3n rebuilding luv space according to the deformation q about subtracted in space upgrades finite element model, realizes the distortion of trunk finite element model;
The local updating of C, finite element model and sampling: the distortion and the position that comprise the summit of the requirement Renewal model outside surface for meeting graphic plotting, and the regional area that may collide, interfere is upgraded, for collision detection module provides the geological information of renewal.
Further, a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging of the present invention, the method for collision detection is:
First, filter out the grid vertex likely contacted with puncture needle, form interest point set Ψ, be specially: centered by puncture needle, axle is formed and surrounds right cylinder, with the needle point of puncture needle for the center of circle generates encircle sphere, both merge becomes bounding box, filters out the grid vertex in current bounding box, builds interest point set Ψ;
Then, check whether pricker needle point collides with skeleton model, detects with the collision checking method of point-to-points limit shape grid, if testing result is yes, then calculate pricker needle point further and invade the bone degree of depth, calculate the power of feedback with spring damping algorithm, send power interactive device to; Otherwise illustrate that pricker does not contact bone, pricker to be tried to achieve further to the intrusion of soft tissue and interference situation, local deformation renewal is carried out to the summit of soft tissue finite element models all in the interest point set Ψ of finite element model, soft tissue finite element grid after distortion will be upgraded, interference checking is carried out with the line segment representing puncture needle, find out the grid intersected with puncture needle, and find out the summit that these grids comprise, build intersection vertex collection Θ, find the soft tissue of parcel needle tubing, invasion depth li.
The present invention adopts above technical scheme to have following technique effect:
The present invention is the touch feel feedback that virtual puncture training provides strong sense of reality, concerning raising lumbar puncture is starved of the operation sense of reality of feel like this, very helpful.According to anatomy, puncture needle successively through skin, fat, supraspinal ligament, ligamenta intervertebralia, ligamentum flavum, dural time because every layer tissue elasticity is different, therefore produce the resistance different to puncture needle, concerning operator, the increase and decrease of resistance can be experienced.The increase and decrease of resistance is a prompting concerning operator, and experienced operator can judge needle point present position accordingly.Native system can emulate the change of resistance in piercing process, thus provides training effect true to nature for student.
In addition, the present invention can improve efficiency of teaching, enriches teaching means, arouse the interest in study, cultivates the adaptability to changes that new hand processes various emergency case, improves knowledge applying ability, greatly can also reduce cost and the cycle of training medical worker simultaneously; And the backwoodsman doctor relatively to fall behind for medical condition and student provides repeatable and reversible training and study, this has important practical significance for raising medical education level.
Accompanying drawing explanation
Fig. 1 is that schematic diagram is dissected in lumbar puncture;
Fig. 2 is overall system Organization Chart;
Fig. 3 is CT scan position schematic diagram;
Fig. 4 is puncture needle force analysis schematic diagram;
Fig. 5 is clamper power computing method schematic diagram;
Fig. 6 is cutting force computing method schematic diagram;
Fig. 7 is soft tissue elastic force computing method schematic diagram.
Embodiment
Specific embodiment of the invention step is described in further detail by specific embodiment below in conjunction with accompanying drawing.
The present invention utilizes virtual reality technology, and set up " lumbar puncture virtual training system ", object is for medico provides the training mode that strong sense of reality, reliability are high.As shown in Figure 1, in piercing process, puncture needle is successively through skin, fat, supraspinal ligament, ligamenta intervertebralia, ligamentum flavum, pachymeninx.Because every layer tissue elasticity is different, after puncture needle needle point enters a certain layer tissue, operator can experience the increase and decrease of resistance, and this is a prompting concerning operator, and experienced operator can judge needle point present position accordingly.Native system can emulate the change of resistance in piercing process, thus provides training effect true to nature for student.Native system can be trained spinal epidural cavity decompression and inject anesthetic liquid medicine and be carried out peridural anesthesia, extracts the operation projects such as cerebrospinal fluid.
A successful puncture comprises with the next stage:
1. pin not yet contacts skin and prick skin gradually, and now needle point is subject to the elastic force stiffness from skin;
2., after needle point prick skin, needle point is through skin, and the elastic force from skin disappears; Before needle point moves on and does not contact ligamentum flavum, this stage needle body is gradually through fat and musculature, owing to not having strong but pliable in texture manadesma between fat and muscle in this process, needle point continues the saturating soft tissue of thorn, and needle point is subject to the effect of cutting force cutting always;
3. needle point arrives ligamentum flavum and breaks through gradually and pierces through ligamentum flavum, and in this process, needle point is subject to the elastic force stiffness from ligamentum flavum;
4. needle point to pierce through after ligamentum flavum and moves on, and needle point is subject to cutting force cutting;
5. needle point arrives endocranium and breaks through gradually and pierces through endocranium, and in this process, needle point is subject to from dural elastic force stiffness;
6. needle point pierces through endocranium and arrives cerebrospinal fluid later, and now needle point does not have resistance.
The present invention is a kind of lumbar puncture virtual emulation and training system of supporting dynamic sensing interexchanging, comprise: main frame and force sense interactive device, main frame is connected with display, the software systems of described main frame at least comprise: have skin, the geometric model of the trunk part of soft tissue and bone, trunk finite element model after model about subtracts, dynamic sensing interexchanging module, trunk finite element model distortion computing module, virtual puncture English majours module, described software systems are connected with force sense interactive device by USB interface, for power is felt equipment Inspection to the action made of user transfer to computer system, the puncture needle force transfer simultaneously system-computed obtained is to force sense interactive device, final by user's perception.Overall system framework as shown in Figure 2.
One, comprise the structure of the geometric model of the trunk of backbone Bone and soft tissue, mainly comprise the following steps:
1) the CT image of human body waist and part chest under pricking body position state is obtained.During actual puncture procedure, patient lateral position, back is vertical with bed board, and head is to shirtfront flexing, and two hands are tucked and made it be close to belly, and trunk arcuately.Its objective is and make vertebra try one's best processus aboralis with broadening vertebra gap, be convenient to inserting needle.Keep such position, with 2 millimeters for interval, CT scan is carried out to the region of waist lower in Fig. 3.
2) Iamge Segmentation: adopt Active contour models to follow the tracks of and the view data of image segmentation algorithm to Bone and soft tissue of Markov random field is split, carries out meticulous, Iamge Segmentation accurately to the method for CT tomographic data employing artificial cognition.
3) three-dimensional modeling and vector quantization: first, adopts computerized three-dimensional reconstruction algorithm to carry out three-dimensional reconstruction to partition data, sets up patch model, and smoothing and simplify processes.Then, carry out resampling to patch model, obtain cloud data, the three-dimensional digital model represented by cloud data structure free form surface, completes the vector quantization of three-dimensional model.
4) three-dimensional waist human trunk model: needed for system, geometric model comprises: L1-L5 lumbar vertebrae (centrum, lamina, spinous process), pelvis, rumpbone, sacral hiatus, sacrum angle, supraspinal ligament, ligamentum flavum, endorchis and Intraventricular membrane, and by sour jujube upper after the cavum subarachnoidale of above-mentioned organization formation, epidural space, sacrum, spinous process of thoracic vertebra, spinous process of lumbar vertebra.In addition, the geometric model of skin and muscle is also constructed.As shown in Figure 3, wherein dorsal area needs the part of CT scan.
Two, the foundation of trunk finite element model and about subtracting of finite element model
1, the structure of lower waist trunk finite element model
Puncture emulation relates to the deformation simulation of soft tissue.Native system adopts the distortion of finite element model emulation soft tissue.Because system uses dynamic sensing interexchanging, and dynamic sensing interexchanging requires that deformation simulation calculates the calculating refresh rate with more than 1000Hz usually, thus ensures the stability of dynamic sensing interexchanging.For this reason, present invention employs finite element analysis, model analysis and model reduction approaches to reach this requirement.
Adopt hexahedral element, trunk geometric model is evenly divided in three dimensions, obtains the finite element model being assigned different physical attribute.The Young modulus of unit is as follows: cortex bone 12000Mpa, cancellous bone 100Mpa, annulus fibrosus disci intervertebralis 500MPa, nucleus pulposus 4Mpa, ligament 10Mpa, muscle 8Mpa, and skin is 6Mpa.
2, finite element model about subtracts
The deformation of finite element model adopts motion vector u ∈ R usually
3n(n is the number of model mesh vertex) represents, usual n is very large, and the process solving displacement components u is very consuming time.Solve to carry out emulation to trunk finite element model in real time, we use q ∈ R
r(r≤3n) replaces motion vector u, and q represents the motion vector about subtracting subspace, and r is the dimension about subtracting space, is far smaller than 3n, is generally within 20.Relation between the motion vector q that motion vector u peace treaty in luv space subtracts space is provided by equation (1):
u＝Uq(1)
Wherein U ∈ R
3n*rbe about subtract space displacement basis matrix (r≤3n), do not change in simulation process.Finite element model is about subtracted, before being real-time simulation, obtains U by precomputation, thus significantly reduce the finite element equation of motion solve scale.
The method obtaining U is as follows:
1. adopt business finite element software, carry out model analysis to the finite element model of trunk, the output of model analysis is
R rank before 2. only retaining (i=1,2 ..., mode r), in order to build the basis matrix of linear normal modes
r value 12.
Basis matrix U is exactly that model about subtracts basis matrix.
Three, trunk finite element model distortion computing module
The equation of motion of the finite element model after 1, about subtracting
Quality weighted orthogonalization method is adopted to make U quality orthogonal, then U
tmU=I.About can be subtracted the equation of motion (2):
In equation (2)
represent and about subtract internal force,
for about subtracting the external force in space, can derive and about subtract stiffness matrix and be expressed as follows:
Wherein
it is the stiffness matrix about subtracting space.Equation (2) describes deformable model and is about subtracting motion q=q (t) the ∈ R in space
r.
The motion of trunk finite element model in luv space also just can be passed through u (t)=Uq (t) and obtain.
2, integration method
Implicit expression NewMark integration method is adopted to emulate about subtracting kinetics equation about subtracting in space.Equation (4), (5), (6) illustrate implicit expression NewMark integration method, and wherein λ and μ is parameter, and value is λ=1/2, μ=1/4, and such value can obtain and emulate stability preferably.
In equation (4), (5), (6), q is the motion vector about subtracted in space, and t is current time, and δ t is integration step, and M is mass matrix, and D is damping matrix, and R is out of shape the tension matrix caused, and f is external force matrix.The dimension of matrix is all r.
3, deformation vectors u is rebuild
Equation (4), (5), (6) integration about can be subtracted the deformation q in space, but, the deformation vectors u ∈ R of luv space must be rebuild according to q
3njust can upgrade finite element model, realize the distortion of trunk finite element model.
Rebuild deformation vectors u and only need carry out matrix multiplication according to formula (1).But because native system finite element is larger, the scale of actual U is also very large, therefore adopts the matrix multiplication based on GPU to accelerate.
The acceleration based on GPU is achieved based on CUDA.Have employed CUBLAS storehouse method to realize u=Uq, the multiplying problem of extensive matrix and vector is accelerated.Detailed process is as follows:
1. be matrix allocation storage space in video memory;
2. by during matrix U, q are from memory copying to video memory;
3. call CUBLAS function realization matrix multiplying u=Uq, obtain u;
4. result u is copied back internal memory from video memory.
4, the local updating of finite element model and sampling
The grid of trunk finite element model and summit quantity are very large, there is no need upgrade and rebuild all grids and the deformation on summit.Mainly local updating and sampling are carried out to two class situations:
For meeting the requirement of graphic plotting, only need distortion and the position on the summit of Renewal model outside surface.Find out the finite element grid summit that model outside surface is corresponding, quantity is ns, extracting the row with outside surface vertex correspondence, and abandoning remaining row, obtaining the subspace basis matrix U on outside surface summit from about subtracting the basis matrix U of space
surface∈ R
3ns*r.The displacement on outside surface summit is u
surface=U
surfaceq, wherein (u
surface∈ R
3ns).
The regional area that may collide, interfere (grid of such as puncture needle annex and summit) is upgraded, for collision detection module provides the geological information of renewal.First, find out partial interest grid vertex in finite element model, quantity is ni, extracts the row with outside surface vertex correspondence, and abandons remaining row, obtain the subspace basis matrix U on partial interest summit from the basis matrix U of subspace
interest∈ R
ni*r, then, the displacement can obtaining outside surface summit is u
interest=U
interestq, wherein (u
interest∈ R
3ni).
Four, dynamic sensing interexchanging module
This module mainly comprises three submodules: collision detection submodule, collision response submodule, force rendering submodule.
The function of collision detection submodule is, the relative position according to virtual puncture needle and trunk each several part carries out collision detection.
Collision response submodule: according to the result of collision detection, calculates the resistance that virtual puncture needle is subject to.The resistance that virtual puncture needle is subject to and virtual puncture needle are applied to power acting force and the reacting force each other on body soft tissue, virtual puncture needle is applied to masterpiece on body soft tissue for input, send trunk finite element model distortion computing module to, thus the shape calculated after the distortion of trunk finite element model and displacement.
The function of force rendering submodule is: accept power visual information that collision detection submodule and collision response submodule send and send it to force sense interactive device, thus the force feedback allowing operator experience virtual puncture to produce; Meanwhile, read the pose of the operating grip of force sense interactive device, and upgrade the position and posture of the virtual puncture needle in virtual environment according to this posture information.
1, collision detection submodule
Collision detection submodule according to before the thrusting of puncture needle, thrust rear 2 stages, perform different collision detection tasks.
Before being needled into: during system starts, puncture needle not yet contacts body skin.Now, the collision detection model of trunk adopts the geometric model of skin, and namely the triangular mesh of skin represents.Puncture needle then represents with the point representing needle point, and its position and posture is driven by power interactive device.Check whether needle point contacts skin with a collision checking method for diabolo grid.
After pin broken skin is thrust: when puncture needle acts on the threshold value of the power on skin more than 1.2N, spike pierces skin.Namely system starts to carry out collision detection to puncture needle and sub-dermal soft tissue, muscle, ligament, bone etc.The collision detection model of soft tissue represents with hexahedron finite element grid, and puncture needle line segment represents, its position and posture is driven by power interactive device.The object of collision detection finds out which unit in soft tissue finite element grid to contact with puncture needle.
The method of collision detection is:
First, filter out the grid vertex likely contacted with puncture needle, form interest point set Ψ.Method is: centered by puncture needle, axle is formed and surrounds right cylinder, and with the needle point of puncture needle for the center of circle generates encircle sphere, both become bounding box at merging.Filter out the grid vertex in current bounding box, build interest point set Ψ.
Then, check that pricker needle point has not and skeleton model collision, this step collision checking method of point-to-points limit shape grid carries out detecting.If testing result is ' being ', then calculates pricker needle point further and invade the bone degree of depth, calculate the power of feedback with spring damping algorithm, send power interactive device to.
If the collision detection result of previous step needle point to bone is 'No', illustrate that pricker does not contact bone.To the force feedback of pricker, contributed by soft tissue completely, therefore need to try to achieve pricker to the intrusion of soft tissue and interference situation.Local deformation renewal is carried out to the summit of soft tissue finite element models all in the interest point set Ψ of finite element model.The soft tissue finite element grid after distortion will be upgraded, carry out interference checking with the line segment representing puncture needle, find out which grid and puncture needle intersects, and find out the summit that these grids comprise, build intersection vertex collection Θ.Find the soft tissue of parcel needle tubing, invasion depth li.
2, collision response submodule
1. mechanical analysis
The task of collision response submodule comprises two aspects: 1, calculate the power that virtual puncture needle is subject to, and this power can be sent to force feedback module and carries out force rendering thus feed back to user on hand; 2, try to achieve the power that puncture needle is applied to soft tissue, this power can be sent to Simulation of Soft Tissue Deformation module, carries out the deformation simulation of soft tissue.
First, introduce the method for expressing of power: in acupuncture mechanical modeling, power has four kinds, respectively with stiffness represent elastic force, friction represents friction force, cutting represents cutting force, clamping represents clamper power.
Often there is a pair acting force and reacting force in power reciprocal process, the subscript of exerting oneself represents the applying side of power respectively, represents stressed side by subscript.Such as, and
represent that soft tissue acts on the friction force on pin,
represent that needle point acts on the cutting force on soft tissue,
then represent that soft tissue acts on cutting force on needle point, their equal and opposite in direction, direction is contrary, is a pair acting force and reacting force.
Stressed point of two parts of pin: needle point power and needle tubing stressed.
Needle tubing is stressed comprises friction force friction, clamper power clamping, as shown in Figure 4.The size of friction force is relevant with the when injected organism tissue physical characteristics of puncture needle speed, parcel puncture needle.The direction of friction force is parallel with puncture needle direction, contrary with direction of motion.Clamper power clamping direction, perpendicular to puncture needle, stops puncture needle to deflect.
The stress of needle point is comparatively complicated, relevant with needle point present position, has two kinds of situations:
● needle point is that (as fat, muscle) advances in the soft tissue of homogeneous, then puncture needle needle point is subject to cutting force cutting, and cutting force cutting is a constant numerical value, and relevant with soft-tissue material, direction is parallel with puncture needle direction.
● needle point is broken through, pierce through certain layer of tough and tensile tissue (such as: skin, manadesma, ligament), then the manadesma of being oppressed by needle point or skin can produce moderate finite deformation, and puncture needle needle point is subject to the elastic force stiffness coming from manadesma or skin.Then puncture needle broken skin penetrates manadesma or skin enters lower floor's soft tissue, and this stage, elastic force disappeared, and soft tissue can relax, resilience after the saturating manadesma of puncture acupuncture enters soft tissue.
Penetrate in the process of multilayer soft tissue at puncture needle, above two kinds of situations can alternately occur.
Puncture needle is stressed by equation expression:
f
needle＝f
tip+∑friction+∑clamping
Wherein f
tipbe needle point power, can be expressed as
F
needlestressed for pin, ∑ friction is friction force, and ∑ clamping is clamper power.
As shown in Figure 4, be puncture needle force analysis (in figure, stressed object is puncture needle).
2. calculation about friction force
Friction force is that needle tubing and surrounding tissue friction produce, and direction is parallel to puncture needle direction, contrary with puncture needle velocity reversal.Friction force size depends on and relative velocity between needle tubing and surrounding tissue, and friction force can be stiction or kinetic force of friction.Karnopp Frictional model is adopted to represent the friction force of needle tubing:
f
friction＝KarnΔl
Wherein, f
frictionfor friction force, Karn is friction factor, and Δ l is the length of needle tubing in this layer tissue.
Friction factor formula is as follows:
The computing method reference of friction force is from OkamuraAM, SimoneC, O'LearyMD.Forcemodelingforneedleinsertionintosofttissue [J] .BiomedicalEngineering.IEEETransactionson (0018-9294), 2004,51:1707-1716.
If the size of puncture needle speed v is less than threshold value Δ v=0.001m/s, then thinks and relatively do not transport between puncture needle and soft tissue, therefore friction force is static friction, is provided by the second row in equation (7) and the third line.If the size of puncture needle speed v is greater than threshold value Δ v, then friction force is kinetic friction, is provided by the first row in equation (7) and fourth line.Sign function sgn () formula (8) represents.Coefficient value is shown in form.
Table 1 soft tissue friction coefficient
Puncture needle is applied to the friction force in surrounding soft tissue
found the finite element unit of parcel needle tubing by collision detection module, (quantity is n), and stressed on each summit is to find the summit of these unit further
soft Tissue Deformation computing module, according to Input Forces, carries out distortion to skin and hypodermis and calculates.Stressing conditions as shown in Figure 4.
3. clamper power computing method
Clamping force is then perpendicular to the acting force of needle body, if when in piercing process, needle point departs from predetermined inserting needle direction, tissue can produce clamping force to limit the deflection of needle body.
As shown in Figure 5, step is as follows for computing method:
A, carry out following pre-service when puncture needle has just pierced through a unit e surperficial: under first supposing initial situation, puncture needle has just stung unit e, and without any deflection, puncture needle radial direction does not stress.The face f that puncture needle is crossing with unit e, its four summits are v1, v2, v3 and v4.Obtain the intersection point anchor in puncture needle and face.Carry out matching with bilinear interpolation method antinode anchor, obtain the parameter a of anchor, b.
B, in the renewal of time step each time, find all unit { e being punctured pin and penetrating
1, e2 ... en}, performs following operation to not having a unit e in set:
B1, the face f finding unit e and puncture needle to intersect; According to the parameter a that four summits of f are v1, v2, v3 and v4 changing coordinates information and puncture needle intersection point anchor, b, can in the hope of the reposition anchornew of anchor point by bilinear interpolation.
B2, obtain the intersection point internew of puncture needle and face f, usual internew and anchornew does not overlap, and can obtain vector V between 2.Ask the component V of the vertical and puncture needle of vector V
constraint.
The clamper power that the face f of B3, unit e is applied to puncture needle is
wherein elasticity coefficient k is relevant with the material of unit e, sees form 2.
The reacting force of B4, clamper power is
this acting force is the power that puncture needle acts on unit e, on the vertex v 1, v2, v3 needing the face f being applied to unit e and v4:
V1 is stressed is
V2 is stressed is a (1-b)
V3 is stressed is
V4 is stressed is
Above summit force transmission, to Soft Tissue Deformation computing module, carries out distortion to skin and hypodermis and calculates.
C, all soft tissue unit apply:
D, transfer to force feedback rendering module and carry out force feedback and play up.
Table 2 clamper power calculates elasticity coefficient used
4. cutting force computing method
The size of cutting force cutting is relevant with the soft tissue of needle point present position, and for specific soft tissue, cutting force is constant, and value is in Table.
Table 3 Soft tissue cutting power calculating parameter
| Cutting force | |
| Muscle | 1.56N |
| Fat | 0.62N |
| Ligament | 3.6N |
。
With
the contrary reaction force acts in onesize direction is in soft tissue.Found the finite element unit comprising needle point by collision detection module, find 8 summits of this element further, stressed on each summit is
soft Tissue Deformation computing module, according to Input Forces, carries out distortion to skin and hypodermis and calculates.Stressing conditions as shown in Figure 6.
5. the elastic force of manadesma, ligament, skin
A. elastic force:
The computing method reference of elastic force is from OkamuraAM, SimoneC, O'LearyMD.Forcemodelingforneedleinsertionintosofttissue [J] .BiomedicalEngineering.IEEETransactionson (0018-9294), 2004,51:1707-1716.
Wherein, Δ x is the invasion depth of needle point,
for the movement velocity vector of needle body, α and β is the elasticity coefficient of skin/manadesma/ligament, and value is as following table.When elastic force reaches threshold value, spike pierces skin/manadesma/ligament, elastic force is zero.As shown in Figure 6, coefficient is with reference to form 4 for the computing method of Δ x.
Table 4 soft tissue elastic force parameter
| α | β | Elastic force threshold value (N) during spike pierces | |
| Skin | 0.23 | 0.04 | 1.2 |
| Ligamentum flavum | 0.61 | 0.1 | 2.5 |
| Endocranium | 0.65 | 0.12 | 3 |
As shown in Figure 7, soft tissue elastic force computing method.
B. the reaction force acts of the elastic force that onesize, direction is contrary is in skin/manadesma/ligament,
The finite element unit finding skin surface to contact with needle point by collision detection module, finds 8 summits of this element further, and stressed on each summit is
soft Tissue Deformation computing module, according to Input Forces, carries out distortion to skin and hypodermis and calculates.
6. respond
System mainly produces two responses:
Calculate by mechanical modeling module the power that puncture needle is subject to, export puncture needle stressed to force rendering module, power interactive device by this force feedback to operator on hand;
The reacting force of puncture needle resistance is obtained by mechanical modeling module, and the grid vertex that its reacting force is stressed, this information is inputed to Soft Tissue Deformation computing module, distortion is carried out to skin and hypodermis finite element model and calculates.
3, force rendering submodule:
Function accepts collision detection with the response power visual information that sends of submodule to send it to force sense interactive device, thus the force feedback allowing operator experience virtual puncture to produce; Meanwhile, read the pose of the operating grip of force sense interactive device, and upgrade the position and posture of the virtual puncture needle in virtual environment according to this posture information.
Five, English majours module
First, the model of puncture procedure is built, for demonstration lesson and training.By the expert of skilled operation lumbar puncture operating this analogue system, system presses the frequency record expert hand-manipulating of needle track of 60Hz, and selects optimum hand-manipulating of needle track and exemplarily save.Under the guidance of expert, determine optimum puncturing point and puncture direction, exemplarily, storage is got off.
Training point three steps, incremental.
First be system demonstration, use flash demo piercing process, demonstrate piercing process and technology, gordian technique step step by step.Concrete exemplary content comprises: the highlighted display of point of puncture position; Puncture direction shows with three-dimensional line segment, can be observed by student's various visual angles; The animation that puncture needle thrusts is play, and shows that puncture needle is in the position of inside of human body, allows student understand puncture needle traveling process with cross sectional view simultaneously.
Then be teaching training process, namely guide student to puncture by system, shown by vision and guide.Thrust the highlighted display in region.Puncture needle movement locus shows, and carries out vision guide, and student need guide according to vision display, from thrusting region inserting needle, and the direction alignment of inserting needle direction palpus and teaching prompting, slow inserting needle.Puncture needle slowly should thrust with the direction vertical with backbone.First system obtains the B-spline curves of backbone according to spinal vertebral center interpolation, line.Try to achieve the vertical line of point of puncture place backbone curve, this is desirable puncture direction.Direction ratio is punctured comparatively with desirable in the puncture direction of student, and when angle is greater than 10 °, system is reminded student, and highlighted display ideal puncture direction.With cross sectional view, simultaneity factor shows that puncture needle is in the position of inside of human body, dynamic sensing interexchanging provides tactile feedback for student.In simulation process, when arriving at the ligamentum flavum region in trunk finite element model when virtual puncture needle, the force feedback that system-computed draws can increase and flexible sense, when operator's expulsive force feedback handle continues deeply, the needle point of virtual puncture needle can break through ligamentum flavum, the force feedback that system-computed draws can reduce suddenly, produces the sense that falls through.System feedback is to this sense that falls through of operator just, can play the effect of prompting: puncture needle breaks through ligamentum flavum to operator.After puncture needle penetrates ligamentum flavum, operator can select puncture needle to rest on this region.Now operator can practise spinal epidural cavity decompression and inject anesthetic liquid medicine carrying out peridural anesthesia.If operator promotes puncture needle continue inserting needle, then puncture needle can pierce through endorchis and Intraventricular membrane.The force feedback that system-computed draws can increase gradually and then reduce suddenly, produces the sense that falls through for the second time.The sense that falls through for the second time can remind operator's puncture needle through endorchis and Intraventricular membrane, enters cavum subarachnoidale.System display shows cerebrospinal fluid to flow out.Such teaching training makes student comparatively fast can understand the step of operation, inserting needle position and direction, inserting needle speeds control, and the tactile feedback that the dynamic sensing interexchanging of system provides and prompting, student is allowed to know from experience the change of feel in inserting needle process, for independently training lays the first stone.
3rd step is the autonomous training of student, and demonstrations all in this process and teaching prompting are all closed, and complete the institute of acupuncture in steps and process completely by student oneself.If user can according to abovementioned steps the most at last lancet puncture put in place, be then considered as successfully.But, complete and once successfully puncture usually and be not easy.The main obstacle of puncture failure is caused to have two classes: one is puncture direction sideslip, and cause puncture needle not by bone gap, needle point encounters bone; Two is should stop inserting needle and not stop thus losing sufferer spinal cord after endocranium is pierced through in puncture needle arrival.The most dangerous with the second error.Whether system judgement is trained successful each time, to the operation of failure, carry out process playback, and with cross sectional view, simultaneity factor shows that puncture needle is in the position of inside of human body, help student to sum up experience and lessons.
Claims (8)
1. support lumbar puncture virtual emulation and the training system of dynamic sensing interexchanging, it is characterized in that: comprise calculation element and force sense interactive device, be connected with display device on the computing device; Wherein, described calculation element is connected with force sense interactive device, the actuating signal made for the user detected by force sense interactive device transfers to calculation element, the signal of reception is brought into the model pre-set and is carried out real-time simulated animation by calculation element, obtain puncture needle force transfer to force sense interactive device by user's perception, generate real-time virtual piercing process interface on the display device according to simulation result simultaneously, thus realize lumbar puncture virtual emulation and training.
2. a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging according to claim 1, it is characterized in that, described calculation element comprises off-line model construction unit, real-time simulated animation unit; Wherein,
Off-line model construction unit, for building the trunk geometric model and finite element model that comprise backbone Bone and soft tissue, and about subtracts finite element model;
Real-time simulated animation unit comprises:
Trunk finite element model distortion computing module, for setting up the equation of motion of the finite element model after about subtracting, simulation calculation is carried out to the equation of motion after about subtracting about subtracting in space, rebuild the distortion that deformation vectors realizes trunk finite element model, and local updating and sampling are carried out to finite element model;
Dynamic sensing interexchanging module, exerts oneself visual information for calculating according to the actuating signal of user and sends it to force sense interactive device, reading the pose of the operating grip of force sense interactive device to upgrade the position and posture of virtual puncture needle simultaneously;
Virtual puncture English majours module, in virtual piercing process, for user provides English majours.
3. a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging according to claim 2, it is characterized in that, dynamic sensing interexchanging module comprises collision detection submodule, collision response submodule, force rendering submodule, wherein:
Collision detection submodule, for carrying out collision detection according to the relative position of virtual puncture needle and trunk each several part;
Collision response submodule, for calculating the resistance that virtual puncture needle is subject to according to the result of collision detection, virtual puncture needle is applied to masterpiece on body soft tissue for input, send trunk finite element model distortion computing module to, thus the shape calculated after the distortion of trunk finite element model and displacement;
Force rendering submodule, for accepting power visual information that collision detection submodule and collision response submodule send and sending it to force sense interactive device, thus the force feedback allowing operator experience virtual puncture to produce; Meanwhile, read the pose of the operating grip of force sense interactive device, and upgrade the position and posture of the virtual puncture needle in virtual environment according to this posture information.
4. a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging according to claim 2, it is characterized in that, described virtual puncture English majours module is in virtual piercing process: the highlighted display providing point of puncture position, the three-dimensional line segment display in puncture direction, the animation that puncture needle thrusts is play, show that puncture needle is in the position of inside of human body with cross sectional view, puncture needle movement locus shows, and carries out vision guide simultaneously.
5. a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging according to claim 4, is characterized in that, described in carry out vision guide concrete steps and be:
Prestore the best hand-manipulating of needle track of expert, point of puncture and puncture direction exemplarily; In training process, the point of puncture of the reality of student, puncture direction are compared with model, when the point of puncture of student and model point of puncture deviation exceed the threshold value of setting, or the puncture angle in direction of puncture direction and model is greater than when setting threshold value, system carries out reminding and highlighted display optimum puncturing point and puncture direction, shows that puncture needle is in the position of inside of human body with cross sectional view simultaneously.
6. a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging according to claim 2, it is characterized in that, trunk finite element model, specifically comprise: L1-L5 lumbar vertebrae, pelvis, rumpbone, sacral hiatus, sacrum angle, supraspinal ligament, ligamentum flavum, endorchis and Intraventricular membrane, and by sour jujube upper after the cavum subarachnoidale of above-mentioned organization formation, epidural space, sacrum, spinous process of thoracic vertebra, spinous process of lumbar vertebra, also comprise the model of skin and muscle; Wherein, skeleton model is all rigid body, does not participate in deformation simulation, and finite element unit type is linear hexahedral element.
7. a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging according to claim 2, is characterized in that, trunk finite element model distortion computing module:
A, adopt implicit expression NewMark integration method to emulate the kinetics equation of the finite element model after about subtracting about subtracting in space, about subtracted the deformation q in space;
B, reconstruction deformation vectors u: the deformation vectors u ∈ R rebuilding luv space according to the deformation q about subtracted in space
3nupgrade finite element model, realize the distortion of trunk finite element model;
The local updating of C, finite element model and sampling: the distortion and the position that comprise the summit of the requirement Renewal model outside surface for meeting graphic plotting, and the regional area that may collide, interfere is upgraded, for collision detection module provides the geological information of renewal.
8. a kind of lumbar puncture virtual emulation and training system supporting dynamic sensing interexchanging according to claim 3, it is characterized in that, the method for collision detection is:
First, filter out the grid vertex likely contacted with puncture needle, form interest point set Ψ, be specially: centered by puncture needle, axle is formed and surrounds right cylinder, with the needle point of puncture needle for the center of circle generates encircle sphere, both merge becomes bounding box, filters out the grid vertex in current bounding box, builds interest point set Ψ;
Then, check whether pricker needle point collides with skeleton model, detects with the collision checking method of point-to-points limit shape grid, if testing result is yes, then calculate pricker needle point further and invade the bone degree of depth, calculate the power of feedback with spring damping algorithm, send power interactive device to; Otherwise illustrate that pricker does not contact bone, pricker to be tried to achieve further to the intrusion of soft tissue and interference situation, local deformation renewal is carried out to the summit of soft tissue finite element models all in the interest point set Ψ of finite element model, soft tissue finite element grid after distortion will be upgraded, collision detection is carried out with the line segment representing puncture needle, find out the grid intersected with puncture needle, and find out the summit that these grids comprise, build intersection vertex collection Θ, find the soft tissue of parcel needle tubing, invasion depth li.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510502415.3A CN105069301B (en) | 2015-08-14 | 2015-08-14 | Support the lumbar puncture virtual emulation and training system of dynamic sensing interexchanging |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510502415.3A CN105069301B (en) | 2015-08-14 | 2015-08-14 | Support the lumbar puncture virtual emulation and training system of dynamic sensing interexchanging |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105069301A true CN105069301A (en) | 2015-11-18 |
| CN105069301B CN105069301B (en) | 2017-10-17 |
Family
ID=54498666
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510502415.3A Expired - Fee Related CN105069301B (en) | 2015-08-14 | 2015-08-14 | Support the lumbar puncture virtual emulation and training system of dynamic sensing interexchanging |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105069301B (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105448155A (en) * | 2015-12-22 | 2016-03-30 | 天津市医学堂科技有限公司 | Spine endoscope virtual training system |
| CN105760681A (en) * | 2016-02-26 | 2016-07-13 | 南京航空航天大学 | Modeling method for contact stress of multi-plane conical needle |
| 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 |
| CN106067269A (en) * | 2016-05-13 | 2016-11-02 | 中国科学院自动化研究所 | The determination method and system of feedback force in virtual cardiovascular interventional operation training system |
| CN108777001A (en) * | 2018-06-26 | 2018-11-09 | 宁波极呈光电有限公司 | Surgical simulation method and device |
| CN108803872A (en) * | 2018-05-08 | 2018-11-13 | 上海嘉奥信息科技发展有限公司 | The plug-in system of force feedback hardware is called in illusory engine |
| CN110275537A (en) * | 2019-06-27 | 2019-09-24 | 中国电子科技集团公司信息科学研究院 | Motion profile cooperative control method and its device, computer readable storage medium |
| CN111028603A (en) * | 2019-12-27 | 2020-04-17 | 广东电网有限责任公司培训与评价中心 | Live-line work training method and system for transformer substation based on dynamic capture and virtual reality |
| CN111026269A (en) * | 2019-12-04 | 2020-04-17 | 上海褚信医学科技有限公司 | Haptic feedback method, device and equipment of biological tissue structure based on force feedback |
| CN111640345A (en) * | 2020-05-22 | 2020-09-08 | 北京数医脊微科技有限公司 | Spinal endoscope puncture catheterization training method and device and computer equipment |
| CN112466174A (en) * | 2020-07-21 | 2021-03-09 | 北京人卫智数科技有限公司 | Lumbar puncture surgery training system based on virtual reality platform |
| CN113066188A (en) * | 2021-04-23 | 2021-07-02 | 上海逸舟信息科技有限公司 | Three-dimensional simulation method and equipment for outdoor construction operation |
| CN113171177A (en) * | 2021-04-07 | 2021-07-27 | 上海交通大学 | Human-computer interaction control method and system capable of capturing breakthrough sensation of lumbar puncture tissue layer |
| CN113440253A (en) * | 2021-05-28 | 2021-09-28 | 浙江工业大学 | Prostate puncture needle rotary needle inserting method based on finite element |
| CN116030694A (en) * | 2023-03-27 | 2023-04-28 | 江西明天高科技股份有限公司 | Lumbar puncture simulation device and control method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104794949A (en) * | 2014-01-22 | 2015-07-22 | 东南大学 | Two-dimensional haptic interaction device for realizing bone marrow aspiration virtual surgery |
-
2015
- 2015-08-14 CN CN201510502415.3A patent/CN105069301B/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104794949A (en) * | 2014-01-22 | 2015-07-22 | 东南大学 | Two-dimensional haptic interaction device for realizing bone marrow aspiration virtual surgery |
Non-Patent Citations (2)
| Title |
|---|
| GLOZMAN D ET AL.: "Flexible needles teering for percutaneous therapies", 《COMPUTER AIDED SURGERY》 * |
| 高德东 等: "针穿刺软组织变形有限元仿真", 《计算机辅助设计与图形学学报》 * |
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105448155A (en) * | 2015-12-22 | 2016-03-30 | 天津市医学堂科技有限公司 | Spine endoscope virtual training system |
| CN105760681A (en) * | 2016-02-26 | 2016-07-13 | 南京航空航天大学 | Modeling method for contact stress of multi-plane conical needle |
| CN105760681B (en) * | 2016-02-26 | 2018-12-14 | 南京航空航天大学 | The modeling method of more planar cone needle contacts |
| CN106067269A (en) * | 2016-05-13 | 2016-11-02 | 中国科学院自动化研究所 | The determination method and system of feedback force in virtual cardiovascular interventional operation training system |
| CN106067269B (en) * | 2016-05-13 | 2019-03-15 | 中国科学院自动化研究所 | The determination method and system of feedback force in virtual cardiovascular interventional operation training system |
| 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 |
| CN108803872B (en) * | 2018-05-08 | 2021-07-27 | 上海嘉奥信息科技发展有限公司 | Plug-in system for invoking force feedback hardware in illusion engine |
| CN108803872A (en) * | 2018-05-08 | 2018-11-13 | 上海嘉奥信息科技发展有限公司 | The plug-in system of force feedback hardware is called in illusory engine |
| CN108777001A (en) * | 2018-06-26 | 2018-11-09 | 宁波极呈光电有限公司 | Surgical simulation method and device |
| CN110275537A (en) * | 2019-06-27 | 2019-09-24 | 中国电子科技集团公司信息科学研究院 | Motion profile cooperative control method and its device, computer readable storage medium |
| CN110275537B (en) * | 2019-06-27 | 2022-05-17 | 中国电子科技集团公司信息科学研究院 | Motion trajectory cooperative control method and device and computer readable storage medium |
| CN111026269A (en) * | 2019-12-04 | 2020-04-17 | 上海褚信医学科技有限公司 | Haptic feedback method, device and equipment of biological tissue structure based on force feedback |
| CN111026269B (en) * | 2019-12-04 | 2023-10-10 | 上海褚信医学科技有限公司 | Haptic feedback method, device and equipment for biological tissue structure based on force feedback |
| CN111028603A (en) * | 2019-12-27 | 2020-04-17 | 广东电网有限责任公司培训与评价中心 | Live-line work training method and system for transformer substation based on dynamic capture and virtual reality |
| CN111640345A (en) * | 2020-05-22 | 2020-09-08 | 北京数医脊微科技有限公司 | Spinal endoscope puncture catheterization training method and device and computer equipment |
| CN112466174A (en) * | 2020-07-21 | 2021-03-09 | 北京人卫智数科技有限公司 | Lumbar puncture surgery training system based on virtual reality platform |
| CN113171177A (en) * | 2021-04-07 | 2021-07-27 | 上海交通大学 | Human-computer interaction control method and system capable of capturing breakthrough sensation of lumbar puncture tissue layer |
| CN113171177B (en) * | 2021-04-07 | 2023-02-17 | 上海交通大学 | Human-computer interaction control method and system capable of capturing breakthrough sensation of lumbar puncture tissue layer |
| CN113066188A (en) * | 2021-04-23 | 2021-07-02 | 上海逸舟信息科技有限公司 | Three-dimensional simulation method and equipment for outdoor construction operation |
| CN113440253A (en) * | 2021-05-28 | 2021-09-28 | 浙江工业大学 | Prostate puncture needle rotary needle inserting method based on finite element |
| CN116030694A (en) * | 2023-03-27 | 2023-04-28 | 江西明天高科技股份有限公司 | Lumbar puncture simulation device and control method thereof |
| CN116030694B (en) * | 2023-03-27 | 2023-06-27 | 江西明天高科技股份有限公司 | Lumbar puncture simulation device and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105069301B (en) | 2017-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105069301B (en) | Support the lumbar puncture virtual emulation and training system of dynamic sensing interexchanging | |
| Williams et al. | Implementation and evaluation of a haptic playback system | |
| Hamza-Lup et al. | A survey of visuo-haptic simulation in surgical training | |
| Escobar-Castillejos et al. | A review of simulators with haptic devices for medical training | |
| US20160328998A1 (en) | Virtual interactive system for ultrasound training | |
| US5882206A (en) | Virtual surgery system | |
| US7731500B2 (en) | Vascular-access simulation system with three-dimensional modeling | |
| Kapoor et al. | Haptics–Touchfeedback technology widening the horizon of medicine | |
| US11373553B2 (en) | Dynamic haptic robotic trainer | |
| WO2009117419A2 (en) | Virtual interactive system for ultrasound training | |
| EP1576565B1 (en) | An interventional simulation device | |
| Chellali et al. | Haptic communication to support biopsy procedures learning in virtual environments | |
| US11322048B2 (en) | Ultrasound-guided medical tool insertion simulators | |
| CN110807968A (en) | Puncture operation teaching system, realization method, teaching terminal and teaching equipment | |
| WO2017048931A1 (en) | Ultrasound-guided medical tool insertion simulators | |
| Manoharan et al. | Design and validation of an epidural needle insertion simulator with haptic feedback for training resident anaesthesiologists | |
| Crossan et al. | A horse ovary palpation simulator for veterinary training | |
| Williams et al. | The virtual haptic back project | |
| Tai et al. | Tissue and force modelling on multi-layered needle puncture for percutaneous surgery training | |
| Brazil et al. | Force modeling and gamification for Epidural Anesthesia training | |
| Coles et al. | Haptic palpation for the femoral pulse in virtual interventional radiology | |
| Hiemenz et al. | A physiologically valid simulator for training residents to perform an epidural block | |
| de Melo et al. | Modeling the basic behaviors of Anesthesia Training in Relation to Puncture and Penetration Feedback | |
| Crossan et al. | Multimodal feedback cues to aid veterinary training simulations | |
| Lawrance et al. | Enhancing palpation skills through the use of stereognosis drills |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171017 Termination date: 20180814 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |