CN105608945A - Immersion-type self-adaptive pose virtual surgery training platform - Google Patents

Immersion-type self-adaptive pose virtual surgery training platform Download PDF

Info

Publication number
CN105608945A
CN105608945A CN201610124250.5A CN201610124250A CN105608945A CN 105608945 A CN105608945 A CN 105608945A CN 201610124250 A CN201610124250 A CN 201610124250A CN 105608945 A CN105608945 A CN 105608945A
Authority
CN
China
Prior art keywords
hole
screw
gripper shoe
fixed
kong
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
Application number
CN201610124250.5A
Other languages
Chinese (zh)
Other versions
CN105608945B (en
Inventor
李春泉
刘小平
程强强
邹艳妮
黄诗文
叶堃煜
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanchang University
Original Assignee
Nanchang University
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 Nanchang University filed Critical Nanchang University
Priority to CN201610124250.5A priority Critical patent/CN105608945B/en
Publication of CN105608945A publication Critical patent/CN105608945A/en
Application granted granted Critical
Publication of CN105608945B publication Critical patent/CN105608945B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B30/00—Optical systems or apparatus for producing three-dimensional [3D] effects, e.g. stereoscopic images
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B5/00—Electrically-operated educational appliances
    • G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Medical Informatics (AREA)
  • Chemical & Material Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Medicinal Chemistry (AREA)
  • Algebra (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Rehabilitation Tools (AREA)

Abstract

Provided is an immersion-type self-adaptive pose virtual surgery training platform, comprising four parts of an upper display component, a middle console component, a lower support component and a side support component, and the like. The upper display component, which is designed according to ergonomics, fits a human facial structure and is adapted to human brains with different sizes by adjusting the size of the observation center space via a button, so that the human brains fit well with the platform and the sense of immersion in enhanced. The pose can be adjusted in the self-adaptive way, so that the surgery operation training can be conducted with the appropriate pose, thereby improving the degree of comfort and reducing the fatigue. The whole surgery training process is observed via an external 3D display of the upper display component, so as to evaluate the training effect. The platform of the invention may be used for simulating the operation process of various surgeries, such as brain surgeries, liver surgeries, kidney surgeries, breast surgeries and the like, enables intern doctors or medical college students to conduct the surgery training in the repeated, damage-free and convenient manner, and solves the problems of long training period, low efficiency, high cost, lack of training objects which may occur during traditional surgeon training.

Description

A kind of immersion self adaptation pose virtual operation training platform
Technical field
The present invention relates to a kind of virtual operation exercise equipment of computer based virtual reality technology
Background technology
Based on the virtual reality technology of Computer Simulation, utilize computer reconstruction to generate the two dimension in certain or certain class realityOr three-dimensional virtual scene, user can be undertaken alternately by the each type objects in relevant device and virtual scene, thereby experiencesTo with many perception such as the sense of hearing equally true to nature in reality, vision, sense of smell, power feel.
Traditional surgical training method adopts apprentice's pattern of " transmit, aid and lead ". There is the cycle in this methodThe problems such as length, cost is high, efficiency is low, corpse source scarcity. Even the animal conduct often using in medical experiment now, also there is the problem of moral aspect in surgeon's operative training object, and the institutional framework of animal is inevitable have with the mankindInstitute's difference.
In order to solve these difficult problems that exist in surgical training, research and develop taking virtual reality technology as basisVirtual surgery simulation training system becomes focus and the advanced subject of current medical domain. By country of CanadaResearch council (NationalResearchCouncil, NRC) takes the lead, and has combined multiple research groups and well-known hospital,Spent 9,100,000 dollars, more than 50 comprises experts and scholars, clinician, engineer, span common development in 3 yearsCerebral surgery operation simulator prototype NeuroTouch is state-of-the-art cranial surgery virtual operation training system in the world at presentSystem. First, utilize patient's functional magnetic resonance imaging (functionalmagneticresonanceimaging, fMRI)High-resolution 3D human body brain tissue model of image data reconstruct, this model is based on finite element grid.Then, read this FEM model and play up reality, then, user is by the force feedback of a similar scalpel of operationEquipment (employing be the PhantomOMNI of Sensable company) carries out alternately with dummy model, and this device has 6The individual free degree, can Real-time Feedback equipment and brain tissue different parts or different operating after the power that produces. Meanwhile, useFamily can be by the interaction results of screen viewing force feedback equipment and dummy model, comprise organize deformation, grey matter hemorrhage andBeat. The feature of NeuroTouch is that the deformation of its analog simulation soft tissue, the physiological phenomenon such as cut, bleed force very muchVery, but the 3D display effect of this system is mainly passed through 3 fixing display screens, cannot be according to the need of different human bodyAsk and adjust, feeling of immersion and comfort level all cannot be met.
In the prior art, patent ZL200910242042.5 discloses a kind of virtual reality dental operation Tactility training and has propped upSupport platform, but this device is to organize design for human teeth, and tooth belongs to rigidity material, to its modeling and friendshipData processing in process is all more simple than human body brain tissue (soft tissue) mutually. And this system intelligence simulation dentistryThe emulation of operation, extensibility is not strong. Patent ZL201010173563.2 discloses a kind of void of holding power tactile feedbackIntend flexible body deformation operation simulation system, this invention utilizes equal pitch tapered coil spring haptic modeling method, willThe distortion on flexible body surface is simulated in the stack of every layer of equal pitch tapered coil spring deflection sum. This method is notBe physical model truly, do not reflect the material parameter of soft tissue physiological characteristic, and be not 3 D stereoShow, simulated effect is true to nature not. ZL201110150678.4 discloses a kind of Wicresoft of robot hand based on force feedbackArt analogue system, this invention designs mainly for Minimally Invasive Surgery, and pattern process module wherein can be changed image dataShow for three-dimensional data and by three-dimensional display apparatus. But this system does not design special virtual operationOperating platform, operator is easily subject to the interference of surrounding environment sound, light, people and other things, and feeling of immersion is not strong.Therefore,, in order to solve conventional surgical doctor operative training problem, break the monopoly position in this field abroad, invention oneKind there is virtual operation emulation feeling of immersion true to nature and can improve operative training self adaptation pose virtual of person's comfortablenessOperation training platform is important, a urgent problem.
Summary of the invention
In training for traditional surgery doctor, the cycle of training of existence is long, cost is high, efficiency is low, training objects is deficientWeary and run counter to the problems such as ethics, the invention discloses a kind of immersion self adaptation pose virtual operation training platform,This platform provides one to carry out virtual reality operation technique for the trainer such as surgeon or medic that learns on the jobTraining platform.
This platform is made up of four parts such as upper end display station, middle-end console, lower end brace table and lateral support board components.Upper end display station mainly comprises two 3D displays, 3D eyeglasses assembly and upper and lower, front, rear, left and right sixPiece cover plate; Wherein, be positioned over inner 3D display for trainer, outside 3D display is watched for other peopleSo that trainer's training process is evaluated; 3D eyeglasses assembly is clipped in the middle 3D eyeglass fix; Upper and lower,Six of front, rear, left and right cover plate has formed a confined space, prevents that trainer from receiving that light, sound, brain turnThe interference of the factor such as moving, strengthens trainer's feeling of immersion.
The integrated necessary control button that carries out of needing in virtual operation training process on middle-end console, comprises power supplyThe switch of switch, system, the rotation control of upper end display module etc.; Middle 10 cun of touching liquid-crystal display screens placingFor the control operation of surgical procedure software systems, comprise the opening of conversion, virtual operation software systems of operating theater instrumentsMoving and close, the adjustment of observation visual angle etc.
Lower end brace table is mainly used in placing the required graphics workstation of system of virtual operation, installation foot pedal etc.
Lateral support board component is for connecting and supporting upper end display module, middle-end console assembly, lower end support groupPart. Trainer by force feedback equipment on platform with virtual world in the soft tissue of reconstruct touch, aspirate, cutThe operation technique such as cut. Meanwhile, force feedback equipment will be given instruction according to the different operation technique type of trainer and operating forceWhite silk person feeds back real sense of touch, allows user carry out true operation generally seemingly. Platform for trainer provide one heavySoak the operative training environment that sense is strong, operate comfort and convenient.
A kind of immersion self adaptation pose virtual operation training platform, is characterized in that:
Virtual operation training platform of the present invention is supported by upper end display station (1), middle-end console (2), lower endFour part compositions such as platform (3) and lateral support board component (4);
Described upper end display station (1) comprises upper end left cover (11B), upper end right cover plate (11A), upper end upper coverPlate (121), upper end lower cover (124), upper end back shroud (122), upper end front shroud (17), two 3D showDevice (16A, 16B), outside 3D display mounting apparatus (13), inner 3D display mounting apparatus (14), 3DEyeglass installation component (15), rotary electric component (18);
Upper end left cover (11B), upper end right cover plate (11A), upper end upper cover plate (121), upper end lower cover (124),Upper end back shroud (122) and a confined space of upper end front shroud (17) composition, trainer is by 3D Lens assembly(15) observable is placed in the virtual hand that the upper 3D display (16A) of inner 3D display mounting apparatus (14) showsArt scene;
Upper end left cover (11B) is identical with upper end right cover plate (11A) structure; On upper end left cover (11B), have oneThe left through hole of individual runner assembly (114B), for installing by left-hand rotation moving axis (111B), left position fixing threaded hole (112B)Left runner assembly with left-hand rotation mobile gasket (113B) composition; There is rotating group upper end right cover plate (11A) on centerThe right through hole of part (114A), for installing right-hand rotation moving axis (111A), right position fixing threaded hole (112A) and the moving pad of turning rightThe right runner assembly of sheet (113A) composition; Wherein, left-hand rotation moving axis (111B) and right-hand rotation moving axis (111A) structure phaseWith; Left position fixing threaded hole (112B) is identical with right position fixing threaded hole (112A) structure; Left-hand rotation mobile gasket (113B)Identical with right-hand rotation mobile gasket (113A) structure;
Outside 3D display mounting apparatus (13) by bottom transverse brace summer (137), laterally fixture (135),Longitudinal bracing beam (134), longitudinal fixture (133), identical with display connector (136), the structure of draw-in grooveLeft screwing screw (131B) and right screwing screw (131A), the left position setting-up piece one (132B) that structure is identicalWith right position setting-up piece one (132A); Display connector (136) with draw-in groove can be at longitudinal fixture (133)Within the scope of upper and lower 10 degree, rotate, so outside 3D display mounting apparatus (13) can up-down adjustment position, conveniently sightThe person of examining watches the upper content showing of outside 3D display (16A);
Inner 3D display mounting apparatus (14) matches fixing with inner 3D display fixing metal piece (125)On inner support beam (123); Inner 3D display mounting apparatus (14) by bottom transverse brace summer (144),The identical left lock screw (141B) of display connector (143), structure with draw-in groove and right lock screw (141A),Left position setting-up piece two (142B) and right position setting-up piece two (142A) composition that structure is identical, not rotatable;
Two groups of 3D eyeglass erecting devices (15) are by structure identical left front lens fixed frame (151B) and right front portionFixed frame (151A), left eye 3D eyeglass (152B) and right eye 3D eyeglass (152A), structure phase that structure is identicalSame left back portion's eyeglass fixed frame (153B) and right back portion's eyeglass fixed frame (153A) composition; By left eye 3D eyeglass(152B) be arranged in the middle of left front lens fixed frame (151B) and left back portion's eyeglass fixed frame (153B), togetherBeing fixedly mounted on 3D eyeglass installs on left through hole (174B); Right eye 3D eyeglass (152A) is arranged on to right front portionEyeglass fixed frame (151A) is middle with right back portion's eyeglass fixed frame (153A), is fixedly mounted on together 3D eyeglass peaceFill on right through hole (174A);
The upper end front shroud (17) of upper end display station (1), according to ergonomic design, meets face physiological structure,When trainer trains, whole face can be stretched into completely to center viewing area (172), left side baffle plate (171B) andRight side baffle plate (171A), according to human body left and right sides face structural design, can wrap people's ear completely, anterior apery bodyBridge of the nose device (173) is copied the design of the human body bridge of the nose, and caves inward, and leaves space breathe to trainer, preventsUnsmooth breath in training process; Therefore, trainer can be deep into platform completely by whole head in the time that virtual operation is trainedIn, not affected by the interference source such as ambient light, sound, strengthen the feeling of immersion of virtual emulation; Meanwhile, head is put downAfter platform parcel, do not allow to be subject to other things impacts and swing, can more drop into like this in virtual emulation training, entering oneStep has strengthened feeling of immersion;
Rotary electric component (18) is arranged on side, upper end right cover plate (11A); Rotary electric component (18) is by controllingCase processed (181), hub (182), upper limit position switch (183A) that structure is identical and lower position switch (183B),The parts compositions such as stepper motor (184), drive rod (185), connecting screw (186) and screw thread rod iron (187);One end of screw thread rod iron (187) is connected with the rotating shaft of stepper motor (184), the other end of screw thread rod iron (187) withDrive rod (185) is connected; It is upper that drive rod (185) one end is fixed on upper end right cover plate (11A), the other end withBe connected to by connecting screw (186) on the right-hand rotation moving axis (111A) of upper end right cover plate (11A); Upper limit position switch(183A), lower position switch (183B) is arranged on edge, the upper close inner side of upper end right cover plate (11A), differenceBe positioned at the both sides of drive rod (185), be positioned at a side of screw thread rod iron (187) simultaneously; Control cabinet (181) and line concentrationDevice (182) is all arranged on the upper portion of upper end right cover plate (11A), and wherein, control cabinet (181), upper limit leaveThe control line and the power line that close (183A), lower position switch (183B) and stepper motor (184) are all connected to line concentrationOn device (182); Hub (182) again with control upper end display module move upward button (23A) and control upper endDisplay module moves downward button (23B) and is connected; Trainer is in the time adjusting upper end display station (1) position, if pressUnder button (23A) upwards, stepper motor (184) will start to rotate and drive screw thread rod iron (187) upwards to rotate,One side of drive rod (185) connecting thread rod iron (187) will rotate, and connect by connecting screw (186)Upper end display station (1) will upwards rotate; Turn starting if press to knob down (23B) stepper motor (184)Move and drive screw thread rod iron (187) to rotate, a side of drive rod (185) connecting thread rod iron (187) will be toUpper rotation, and upper end display station (1) one side connecting by connecting screw (186) will move down; Pass through like thisThe rotation of stepper motor just can make the upper and lower rotation of upper end display station (1); Upper limit position switch (183A), lower limitBit switch (183B) can be controlled the angular range of upper end display station (1) in spatial rotational; Daily according to human body brainBow, the maximum at the elevation angle, the scope that the present invention arranges the upper and lower rotation of upper end display station (1) is 30 degree; Like thisCan prevent trainer because the excessive potential danger causing of angle that maloperation causes upper end display station (1) to rotate up and downDanger; Control cabinet (181) has two functions, and one of them function is control step motor (184) velocity of rotation,Can regulate by Negotiation speed control handle (1811); Second function is opening of control step motor (184) rotationOpen and close, can pass through rotary electric switch (1812) operation;
Described middle-end console (2) by inner groovy dull and stereotyped table top (27), gripper shoe (28), power switch button (21),System boot button (22), control upper end display module move upward button (23A), control upper end display module and transport downwardsMoving button (23B) and 10 cun of liquid crystal touch screen compositions;
On the dull and stereotyped table top of the inner groovy of middle-end console (2) (27), be provided with operation required in virtual operation process byButton: power switch button (21), system boot button (22), the control upper end display module that structure is identical move upward byButton (23A) and control upper end display module move downward button (23B), touch-screen is installed 10 of the middle installation of groove (29)Very little liquid crystal touch screen; Power switch button (21) is received on power supply by cable, controls the switching of power supply; System is openedMachine button (22) is connected with computer graphical work station (32) by cable, controls the switching of this work station; In controlThe end display module button (23A) that moves upward is connected with hub (182) by cable, and hub (182) againBe connected with stepper motor (184), control upper end display station (1) and move upward; Controlling upper end display module transports downwardsMoving button (23B) is also connected with hub (182) by cable, and hub (182) is connected with stepper motor again(184), controlling upper end display module (1) moves downward; When 10 cun of liquid crystal touch screens are trained for virtual operationOperating theater instruments (scalpel, palpation rod) is switched, the adjustment at visual angle, training file data newly-built, delete and preserve;
In addition, the right and left on the dull and stereotyped table top of the inner groovy of middle-end console (2) (27) is respectively designed with a structureIdentical force feedback equipment is installed groove one (26A), with force feedback equipment, groove two (26B) is installed; Two knots in left and rightThe force feedback equipment that structure is identical is placed on respectively force feedback equipment groove two (26B) and force feedback equipment installation groove is installedIn one (26A), the Capacitance Unbalance in Telecom Cables of two force feedback equipments in left and right is respectively through two through holes two (25B) that structure is identicalWith after through hole one (25A), be connected on the USB interface of work station (32);
Gripper shoe (28) left and right sides on middle-end console (2) has six holes that structure is identical, is described as respectively:Hole nine (28A), hole ten (28B), Kong Shiyi (28C), hole 12 (28D), Kong Shisan (28E), Kong Shisi(28F); Wherein, the hole nine (28A) on gripper shoe (28) right side, hole ten (28B) and Kong Shiyi (28C) useIn fixing of upper end right flank gripper shoe (11A), hole 12 (28D), the Kong Shisan (28E) in gripper shoe (28) left sideAnd Kong Shisi (28F) fixing for upper end left surface gripper shoe (11B);
The downside of gripper shoe (28) has four through holes that structure is identical, is described as respectively: through hole three (28G), through holeFour (28H), through hole five (28I) and through hole six (28J); The dull and stereotyped table top of inner groovy (27) on middle-end console (2)There are four holes that structure is identical below, are described as respectively: Kong Shiwu (28K), Kong Shiliu (28L), hole 17 (28M)With hole 18 (28N); Hold-down screw is respectively through inserting after the identical through hole of these four structures of downside of gripper shoe (28)Enter in four holes below of the dull and stereotyped table top of inner groovy (27), gripper shoe (28) is fixed on and is controlled on table top;
After virtual operation training starts, first trainer presses power switch button (21) and opens whole virtual operation trainingThe power supply of platform; Then, press system boot button (22) and start computer graphical work station (32); Subsequently, pass through10 cun of touch-screens that are embedded in touch-screen installation groove (29) are opened virtual operation training system; Trainer can pass throughControlling move upward button (23A) and control upper end display module of upper end display module moves downward in button (23B) adjustingThe position of end display station (1), obtains best visual operative training observation position; In training process, trainer can pass through10 cun of liquid crystal touch screens that are arranged in touch-screen installation groove (29) carry out operating theater instruments (scalpel, palpation rod)Switching, visual angle adjustment, training file data newly-built, delete and preserve etc.;
Described lower end brace table (3) is by the upper part (31A) of the lower end front shroud of arc shape, rectangular-shaped lower endThe identical back shroud top, lower end (36A) of the lower part (31B) of front shroud, structure and lower end back shroud middle part (36B),Arc holds end back shroud bottom (36C), supports rod iron (33), trough of belt brace summer (34), lower support assembly(35) formation and computer graphical work station (32) composition;
Under the front shroud of lower end, part (31B) can be inserted in trough of belt brace summer (34); Back shroud bottom, lower end (36C)Can insert in the groove of the foot pedal (351) with groove back shroud top, lower end (36A), lower end back shroud middle part(36B) together with being connected through the hinge with these three parts of back shroud bottom, lower end (36C), be easy to open;
Lower support assembly (35) comprising: bottom metal support member (355A, 355B), foot pedal (351,352),Setting-up piece (353A, 353B, 354A, 354B); Wherein, bottom left metallic supports (355B) and right bottomMetallic supports (355A) structure is identical, and two bottom supports, all with rotating pulley, facilitate whole platformMovement; Band groove foot pedal (351) left end is fixed on a left side by the band left setting-up piece of groove foot pedal (353B)The left side of bottom metal support member (355B), band groove foot pedal (351) right-hand member is right solid by band groove foot pedalDetermine pad (353A) and be fixed on the right side of right bottom support metalwork (355A); The left end of rear foot pedal (352)Be fixed on the left side of bottom left support metal part (355B) by the left setting-up piece of pedal (354B), rear foot pedal(352) right-hand member is fixed on right bottom metal support member (355A) by the right setting-up piece of pedal (354A)Right side;
Computer graphical work station (32), for moving 3D real-time virtual Surgery Simulation software, builds three-dimensional operationScape, trainer can carry out virtual operation friendship by all kinds of Virtual Organization organ in force feedback equipment and virtual operation sceneMutually, obtain experience, study and the training of operative training process by vision, the sense of hearing and sense of touch.
Described lateral support board component (4) comprise two gripper shoes (41A, 41B), standing screw (44A-1,44B-1,44C-1,44D-1,44E-1,44F-1), hold-doun nut (44A-2,44B-2,44C-2,44D-2,44E-2,44F-2), Fixed latches (45A, 45B, 45C, 45D, 45E, 45F, 45G, 45H), lower end turnMoving assembly (42A, 43A and 42B, 43B); Wherein lower end left side gripper shoe (41B) and right side, lower end gripper shoe (41A)Structure is identical; Standing screw one (44A-1), standing screw two (44B-1), standing screw three (44C-1), fixingScrew rod four (44D-1), standing screw five (44E-1) are identical with standing screw six (44F-1) structure; Hold-doun nutOne (44A-2), hold-doun nut two (44B-2), hold-doun nut three (44C-2), hold-doun nut four (44D-2), solidDetermine nut five (44E-2) identical with hold-doun nut six (44F-2) structure; Right side, lower end turning cylinder (42A) and a left side, lower endSide turning cylinder (42B) structure is identical, right side, lower end fixed screw (43A) and lower end left side fixed screw (43B) knotStructure is identical;
Standing screw one (44A-1) and hold-doun nut one (44A-2), standing screw two (44B-1) and hold-doun nut two(44B-2), standing screw three (44C-1) and hold-doun nut three (44C-2) between two one group be used in conjunction with, first pass respectivelyThrough hole seven (46A), through hole eight (46B) and through hole nine (46C) in right side, lower end gripper shoe (41A), be then inserted intoIn the hole nine (28A) on gripper shoe (28) right side of middle-end console (2), hole ten (28B), Kong Shiyi (28C), will underEnd right side gripper shoe (41A) is fixed;
Standing screw four (44D-1) and hold-doun nut four (44D-2), standing screw five (44E-1) and hold-doun nutFive (44E-2), standing screw six (44F-1) and hold-down nut six (44F-2) between two one group be used in conjunction with, respectivelyFirst pass through hole ten (46D), through hole 11 (46E) and the through hole 12 (46F) in lower end left side gripper shoe (41B),Then be inserted into gripper shoe (28) left side of middle-end console (2) hole 12 (28D), Kong Shisan (28E) andIn Kong Shisi (28F), lower end left side gripper shoe (41B) is fixed;
The right side Fixed latches one (45A) of right side, lower end gripper shoe (41A), Fixed latches two (45B), fixing insertingThe hole ten in right side, lower end gripper shoe (41A) is inserted respectively in pin three (45C) and Fixed latches four (45D) one end separatelyIn nine (47A), Kong Ershi (47B), Kong Ershi mono-(47C) and Kong Ershi bis-(47D), the other end separatelyInsert respectively the dull and stereotyped table top (27) of the inner groovy right side of middle-end console (2) hole one (24A), hole two (24B),In hole three (24C) and Kong Si (24D), the right-hand member of middle-end console (2) is fixed on to right side, lower end gripper shoe (41A)On;
Left side Fixed latches five (45E), Fixed latches six (45F), the Fixed latches of lower end left side gripper shoe (41B)The Kong Ershi in lower end left side gripper shoe (41B) is inserted respectively in seven (45G) and Fixed latches eight (45H) one end separatelyIn three (47E), Kong Ershi tetra-(47F), hole 2 two ten five (47G), Kong Ershi six (47H), the other end is separately insertedEnter in hole five (24E) on middle-end console (2), hole six (24F), hole seven (24G), hole eight (24H),The left end of middle-end console (2) is fixed in lower end left side gripper shoe (41B);
Like this, right side, lower end gripper shoe (41A) and lower end left side gripper shoe (41B) and middle-end console (2) structureBecome H type, make whole virtual operation training platform more firm;
Right side, lower end turning cylinder (42A) in lateral support board component (4), left side, lower end turning cylinder (42B), the right side, lower endSide fixed screw (43A) and lower end left side fixed screw (43B) are for the rotation of upper end display station (1); Work as instructionWhite silk person presses after the button that moves upward (23A), and stepper motor (184) will start to rotate and drive screw thread rod iron (187) upwardsRotate, a side of drive rod (185) connecting thread rod iron (187) will rotate, and opposite side is by connecting screw (186)Drive right side, lower end turning cylinder (42A), lower end left side turning cylinder (42B), right side, lower end fixed screw (43A) and lower endLeft side fixed screw (43B) rotates, and realizes upper end display station (1) and upwards regulates; When trainer press move downward byButton (23B) stepper motor (184) will start to rotate and drive screw thread rod iron (187) to rotate, and drive rod (185) connects spiral shellOne side of line rod iron (187) will upwards be rotated, opposite side by connecting screw (186) drive right side, lower end turning cylinder (42A),Lower end left side turning cylinder (42B), right side, lower end fixed screw (43A) and lower end left side fixed screw (43B), realizeUpper end display station (1) regulates downwards;
The upper end display station (1) of immersion self adaptation pose virtual operation training platform of the present invention is according to man-machineEngineering science design, meets human body all brain structures feature, and trainer can go deep into brain completely in platform in the time training,Combine together with platform, strengthen trainer's feeling of immersion;
Immersion self adaptation pose virtual operation training platform of the present invention can be trainer provide power feel, vision,The interactive 3D dynamic vision of the Multi-source Information Fusion such as sense of touch, makes trainer be immersed in virtual operative training system completelyIn system, thereby improve fast and efficiently trainer's operation level.
The upper end display station (1) of immersion self adaptation pose virtual operation training platform of the present invention is provided with 3DLens assembly (15), it is convenient, comfortable while operating that trainer need not wear 3D glasses trainer;
Immersion self adaptation pose virtual operation training platform of the present invention can be according to trainer's height, customThe adaptive adjustment pose of operation posture, the posture that trainer is accustomed to according to oneself is carried out operation technique, has improved instructionThe comfortableness of white silk person's training.
The upper installation of upper end display station (1) of immersion self adaptation pose virtual operation training platform of the present invention is limitedBit switch automatically stops in the time that display module position, upper end that trainer causes due to maloperation is too high or low, preventsDangerous generation;
Trainer is not subject to time and space while training on described immersion self adaptation pose virtual operation training platformRestriction, can be repeatedly, harmlessly, undistorted carry out virtual operation training.
Immersion self adaptation pose virtual operation training platform described in the application of the invention, test and appraisal personnel can pass throughOutside 3D display (16B) the whole process person's of watching training of upper end display station (1) training process, timely to instructionWhite silk person instructs. Meanwhile, the whole training process of trainer can be preserved, and test and appraisal personnel can open anywhere or anytimeThe training file of preserving is evaluated trainer's training effect.
The feature of a kind of immersion self adaptation of the present invention pose virtual operation training platform:
(1) Platform Designing, based on human face structure, meets ergonomics, and feeling of immersion is strong. Upper end display station (1)Upper end front shroud (17), according to face physiological structure design, meets ergonomics, can be by when trainer trainsWhole face embeds center viewing area (172) completely, and the baffle plate (171A, 171B) of the left and right sides is according to people's earStructural design, can wrap people's ear completely, and apery body bridge of the nose device (173) is the design of the imitation human body bridge of the nose, and toSunken inside, prevents unsmooth breath in training process. Therefore when, trainer trains, can whole head be deep into flat completelyIn platform, not affected by the interference source such as ambient light, sound, strengthened the feeling of immersion of virtual emulation; Meanwhile, head quiltAfter platform parcel, do not allow to be subject to other things impacts and swing, can more drop into like this in virtual emulation training, enteringOne step has strengthened feeling of immersion. Trainer is by two of left and right force feedback equipment, and the equipment of can experiencing is really virtualIn environment, do different operations, the different feedback force feeding back while touching different tissues, allow trainer experience asThe power of true operation is felt, is allowed trainer be immersed in completely in the virtual environment of reconstruct like this by multiple perception.
(2) self adaptation pose, operates comfortable. Virtual operation platform can be according to the hand of the different height of trainer and customArt posture is adjusted height automatically, regulates button to be arranged on middle-end console, easy to adjust. Meanwhile, the behaviour of systemDoing (comprising newly-built, preservation, the deletion of switching, the training file of virtual operation instrument, the adjustment of syetematic view) existsOn 10 cun of liquid crystal touch screens of middle-end console, complete, allow trainer carry out easily system operation.
(3) the virtual surgical procedure true to nature of energy, trainer is soft by the human body in force feedback equipment and virtual worldTissue carries out mutual, palpation in can Reality simulation operation, the operation technique such as cuts, tears, and has increased operation simultaneouslyWhat Shi Jingchang occurred bleed, the Human Physiology phenomenon such as beat pulse. In addition, in order further to strengthen the true to nature of trainerSense, ticktock, beat pulse sound while having embedded the true operation gathering in system, allow trainer experience sense of touch,The multiple information Perception such as vision, the sense of hearing, is carrying out true operation equally seemingly.
(4) extensibility is strong: first, and a kind of immersion self adaptation pose virtual operation training platform disclosed by the inventionForce feedback equipment be not special. Can choose the Phantom-OMNI power with six degree of freedom that cost performance is higher anti-Feedback equipment, also can choose other force feedback equipment as required. Secondly, in the time of the design of platform also not for specificallyThe operation of certain class, like this in the time that needs are expanded other type of surgery in this system by very convenient, different type of surgeryDepend primarily on the design of virtual operation training software.
(5) can trainer's operating process be carried out whole process observation, be evaluated. The present invention has designed two 3D display screens, oneIndividual display location in the inside of platform for trainer, another display location in the outer tip end of platform for other staffWatch, evaluation staff can observe, instruct, evaluate the whole of trainer's operation, is conducive to like this QuickHigh trainer's operation technique level.
Brief description of the drawings
Fig. 1 is the structure chart of immersion self adaptation pose virtual operation training platform.
Fig. 2 is upper end display station structure chart.
Fig. 3 is upper end display station exploded view.
Fig. 4 is the left and right covering plate structure figure of upper end display station.
Fig. 5 is the left and right cover plate exploded view of upper end display station.
Fig. 6 is upper and lower, the rear cover plate structure figure of upper end display station.
Fig. 7 is outside 3D display mounting apparatus structure chart.
Fig. 8 is inner 3D display mounting apparatus structure chart.
Fig. 9 is 3D lens erecting device structure chart.
Figure 10 is 3D lens erecting device exploded view.
Figure 11 is 3D display.
Figure 12 is upper end display station front cover structure figure.
Figure 13 is rotary electric component structure chart.
Figure 14 is rotary electric component exploded view.
Figure 15 is middle-end console structure chart.
Figure 16 is middle-end console exploded view.
Figure 17 is lower end support table structure figure.
Figure 18 is lower end brace table exploded view.
Figure 19 is lateral support plate component structure figure.
Figure 20 is lateral support board component exploded view.
In figure: 1 is upper end display station, 11A is upper end right cover plate, and 11B is upper end left cover, and 111A is moving for turning rightAxle, 111B is left-hand rotation moving axis, and 112A is right position fixing threaded hole, and 112B is left position fixing threaded hole, and 113A isRight-hand rotation mobile gasket, 113B is left-hand rotation mobile gasket, and 114A is the right through hole of runner assembly, and 114B is the left through hole of runner assembly.
121 is upper end upper cover plate, and 122 is upper end back shroud, and 123 is inner support beam, and 124 is upper end lower cover,125 is inner 3D display fixing metal piece.
13 is outside 3D display mounting apparatus, and 131A is left screwing screw, and 131B is right screwing screw, 132AFor left position setting-up piece one, 132B is that right position setting-up piece one, 133 is longitudinal fixture, and 134 is longitudinally to prop upSupport beam, 135 is horizontal fixture, and 136 is the display connector with draw-in groove, and 137 is bottom transverse brace summer.
14 is inner 3D display mounting apparatus, and 141A is right lock screw, and 141B is left lock screw, 142AFor right position setting-up piece two, 142B is that left position setting-up piece two, 143 is the display connector with draw-in groove, 144For bottom transverse brace summer.
15 is 3D eyeglass installation component, and 151A is right front portion eyeglass fixed frame, and 151B is left front lens fixed frame,152B is left eye 3D eyeglass, and 152A is right eye 3D eyeglass, and 153A is right back portion eyeglass fixed frame, and 153B is leftRear portion eyeglass fixed frame.
16A is inner 3D display, and 16B is outside 3D display.
17 is upper end front shroud, and 171A is right side baffle plate, and 171B is left side baffle plate, and centered by 172 observation area, 173For apery body bridge of the nose device, 174A is that 3D eyeglass is installed right through hole, and 174B is that 3D eyeglass is installed left through hole.
18 is rotary electric component, and 181 is control cabinet, and 1811 is velocity control knob, and 1812 is rotary electric switch,182 hubs, 183A is upper limit position switch, and 183B is lower position switch, and 184 is stepper motor, and 185 for drivingBar, 186 is connecting screw, 187 is screw thread rod iron.
2 is middle-end console, and 21 is power switch button, and 22 is system boot button, and 23A shows for controlling upper endThe assembly button that moves upward, 23B moves downward button for controlling upper end display module, and 24A is hole one, and 24B is holeTwo, 24C is hole three, and 24D is Kong Si, and 24E is hole five, and 24F is hole six, and 24G is hole seven, and 24H is hole eight,25A is through hole one, and 25B is through hole two, and 26A is that force feedback equipment is installed groove one, and 26B is force feedback equipment peaceDress groove two, 27 is the dull and stereotyped table top of inner groovy, and 28 is gripper shoe, and 28A is hole nine, and 28B is hole ten, and 28C is hole11,28D is hole 12, and 28E is Kong Shisan, and 28F is Kong Shisi, and 28G is through hole three, and 28H is through hole four,28I is through hole five, and 28J is through hole six, and 28K is Kong Shiwu, and 28L is Kong Shiliu, and 28M is hole 17, and 28N isHole 18,29 is touch-screen installation groove.
3 is lower end brace table, and 31A is the upper part of lower end front shroud, and 31B is the lower part of lower end front shroud, 32For computer graphical work station, 33 for supporting rod iron, and 34 is trough of belt brace summer, and 35 is lower support assembly, and 351For band groove foot pedal, 352 is rear foot pedal, and 353A is the right setting-up piece of band groove foot pedal, and 353B is recessed for being withThe left setting-up piece of groove foot pedal, 354A is the right setting-up piece of foot pedal, 354B is the left setting-up piece of foot pedal, 355AFor right bottom metal support member, 355B is bottom left metallic supports, and 36A is back shroud top, lower end, under 36B isEnd back shroud middle part, 36C is back shroud bottom, lower end.
4 is lateral support board component, and 41A is right side, lower end gripper shoe, and 41B is left side, lower end gripper shoe, and 42A isRight side, lower end turning cylinder, 42B is left side, lower end turning cylinder, and 43A is right side, lower end fixed screw, and 43B is a left side, lower endSide fixed screw, 44A-1 is standing screw one, and 44B-1 is standing screw two, and 44C-1 is standing screw three, 44D-1For standing screw four, 44E-1 is standing screw five, and 44F-1 is standing screw six, and 44A-2 is hold-down nut one, 44B-2For hold-down nut two, 44C-2 is hold-down nut three, and 44D-2 is hold-down nut four, and 44E-2 is hold-down nut five, 44F-2For hold-down nut six, 45A is Fixed latches one, and 45B is Fixed latches two, and 45C is Fixed latches three, and 45D isFixed latches four, 45E is Fixed latches five, and 45F is Fixed latches six, and 45G is Fixed latches seven, and 45H is for solidDetermine latch eight, 46A is through hole seven, and 46B is through hole eight, and 46C is through hole nine, and 46D is through hole ten, and 46E is for logicalKong Shiyi, 46F is through hole 12, and 47A is Kong Shijiu, and 47B is Kong Ershi, and 47C is Kong Ershi mono-, 47D isKong Ershi bis-, 47E is Kong Ershi tri-, and 47F is Kong Ershi tetra-, and 47G is Kong Ershi five, and 47H is Kong Ershi six.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
The present invention is a kind of immersion self adaptation pose virtual operation training platform, and as shown in Figure 1, this platform is by upper endThe four part compositions such as display station 1, middle-end console 2, lower end brace table 3 and lateral support board component 4. In the present invention,At least also should comprise a computer graphical work station, two force feedback equipments.
Fig. 1-Figure 14 has provided upper end display module and has connected in detail and assembly drawing, is specifically described as follows:
As shown in Figures 2 and 3, upper end display station 1 include upper end left cover 11B, upper end right cover plate 11A, onEnd upper cover plate 121, upper end lower cover 124, upper end back shroud 122, upper end front shroud 17, inner 3D display 16A,Outside 3D display 16B, outside 3D display mounting apparatus 13, inner 3D display mounting apparatus 14,3DEyeglass installation component 15, rotary electric component 18. Wherein, upper end left cover 11B and upper end right cover plate 11A structureIdentical.
As shown in Figures 2 and 3, under upper end left cover 11B, upper end right cover plate 11A, upper end upper cover plate 121, upper endCover plate 124, upper end back shroud 122 and upper end front shroud 17 form a confined space, and trainer is by 3D eyeglassAssembly 15 observables are placed in virtual that inside 3D display 16A on inner 3D display mounting apparatus 14 showsSurgical scene.
As shown in Figure 4 and Figure 5, upper end left cover 11B has a left through hole 114B of runner assembly, for installing by a left sideThe left runner assembly of turning cylinder 111B, left position fixing threaded hole 112B and left-hand rotation mobile gasket 113B composition. The right side, upper endThere is respectively the right through hole 114A of runner assembly cover plate 11A center, for right-hand rotation moving axis 111A, right position being installed admittedlyDetermine the right runner assembly of screw 112A and right-hand rotation mobile gasket 113A composition. Wherein, left-hand rotation moving axis 111B is moving with right-hand rotationAxle 111A structure is identical; Left position fixing threaded hole 112B is identical with right position fixing threaded hole 112A structure; Turn left movingPad 113B is identical with right-hand rotation mobile gasket 113A structure.
As shown in Fig. 3, Fig. 7 and Figure 11, outside 3D display mounting apparatus 13 by bottom transverse brace summer 137,Laterally fixture 135, longitudinal bracing beam 134, longitudinally fixture 133, display connector 136, a left side with draw-in grooveScrewing screw 131B, right screwing screw 131A, left position setting-up piece one 132B, right position setting-up piece one 132AComposition. Wherein, left screwing screw 131B is identical with right screwing screw 131A structure; Left position setting-up piece one 132BIdentical with right position setting-up piece one 132A structure; Display connector 136 with draw-in groove can be at longitudinal fixture 133Within the scope of upper and lower 10 degree, rotate, so outside 3D display 13 can up-down adjustment position, facilitates outside observer watchesThe upper content showing of the 3D of portion display 16A;
As shown in Fig. 3, Fig. 6 and Fig. 8, inner 3D display mounting apparatus 14 and the fixing gold of inner 3D displayGenus piece 125 matches and is fixed on inner support beam 123; Inner 3D display mounting apparatus 14 is propped up by bottom transverseSupport beam 144, identical left lock screw 141B and the right lock screw of display connector 143, structure with draw-in groove141A, left position setting-up piece two 142B and right position setting-up piece two 142A, not rotatable that structure is identical;
As shown in Fig. 2, Fig. 3, Fig. 9, Figure 10 and Figure 12, two groups of 3D eyeglass erecting devices 15 of right and left eyes are by structureIdentical left front lens fixed frame 151B and right front portion fixed frame 151A, the left eye 3D eyeglass 152B that structure is identicalWith right eye 3D eyeglass 152A, the left back eyeglass fixed frame 153B of portion and the right back eyeglass fixed frame 153A of portion that structure is identicalComposition; Left eye 3D eyeglass 152B is arranged on to left front lens fixed frame 151B and the left back eyeglass fixed frame 153B of portionCentre, is fixedly mounted on together 3D eyeglass and installs on left through hole 174B; Right eye 3D eyeglass 152A is arranged on to the right sideIn the middle of front lens fixed frame 151A and the right back eyeglass fixed frame 153A of portion, be fixedly mounted on together 3D eyeglass and installOn right through hole 174A;
As shown in figure 12, the upper end front shroud 17 of upper end display station 1, according to ergonomic design, meets face rawReason structure, can stretch into center viewing area 172 by whole face when trainer trains, left side baffle plate 171B completelyAccording to human body left and right sides face structural design, people's ear can be wrapped completely to anterior apery body with right side baffle plate 171A173, bridge of the nose device is copied the design of the human body bridge of the nose, and caves inward, and leave space to virtual operation trainer and breathe,Prevent unsmooth breath in training process. Therefore, trainer can be deep into whole head completely in the time that virtual operation is trainedIn platform, not affected by the interference source such as ambient light, sound, strengthened the feeling of immersion of virtual emulation; Meanwhile, headAfter being wrapped up by platform, do not allow to be subject to other things impacts and swing, can more drop into like this in virtual emulation training,Further strengthen feeling of immersion;
As shown in Figure 13, Figure 14, Figure 16 and Fig. 2, rotary electric component 18 is arranged on upper end right cover plate 11A sideFace; Rotary electric component 18 by the identical upper limit position switch 183A of control cabinet 181, hub 182, structure and underThe parts groups such as limit switch 183B, stepper motor 184, drive rod 185, connecting screw 186 and screw thread rod iron 187Become; One end of screw thread rod iron (187) is connected with the rotating shaft of stepper motor (184), another of screw thread rod iron (187)End is connected with drive rod (185); It is upper that drive rod (185) one end is fixed on upper end right cover plate (11A), anotherHold and be connected on the right-hand rotation moving axis (111A) of upper end right cover plate (11A) by connecting screw (186); Upper limitIt is upper near edge, inner side that switch (183A), lower position switch (183B) are arranged on upper end right cover plate (11A),Lay respectively at the both sides of drive rod (185), be positioned at a side of screw thread rod iron (187) simultaneously; Control cabinet (181) andHub (182) is all arranged on the upper portion of upper end right cover plate (11A), wherein, and control cabinet (181), the upper limitControl line and the power line of bit switch (183A), lower position switch (183B) and stepper motor (184) are all connected toOn hub (182); Hub (182) again with control move upward button (23A) and controlling of upper end display moduleUpper end display module moves downward button (23B) and is connected; After virtual operation training starts, trainer is according to heightAttitude during with operation. Trainer is in the time adjusting display station 1 position, upper end, if press upwards button 23A, stepping electricityMachine 184 will start to rotate and drive screw thread rod iron 187 upwards to rotate, one of drive rod 185 connecting thread rod irons 187Side will rotate, and the upper end display station 1 connecting by connecting screw 186 will upwards rotate; If press downwards byButton 23B, stepper motor 184 rotates starting and drives screw thread rod iron 187 to rotate, and drive rod 185 connects spiral shellOne side of line rod iron 187 will upwards be rotated, and upper end display station 1 one sides that connect by connecting screw 186 will be downwardsMobile; Just can make the upper and lower rotation of upper end display module 1 by the rotation of stepper motor like this; Upper limit position switch183A and lower position switch 183B can control the angular range of upper end display module 1 in spatial rotational; According to human body brainPortion is daily bows, the maximum at the elevation angle, and the scope that the present invention arranges the upper and lower rotation of upper end display station 1 is 30 degree; ThisSample can prevent trainer because the excessive potential danger causing of angle that maloperation causes upper end display station 1 to rotate up and downDanger; Control cabinet 181 has two functions, and one of them function is control step motor 184 velocities of rotation, can pass throughVelocity control knob 1811 regulates; Second function is the opening and closing that control step motor 184 rotates, canOperate by rotary electric switch 1812;
As shown in Fig. 1, Figure 15 and Figure 16, middle-end console 2 is by the dull and stereotyped table top 27 of inner groovy, gripper shoe 28, electricitySource switch button 21, system boot button 22, control upper end display module move upward button 23A, to control upper end aobviousShow that assembly moves downward button 23B and 10 cun of liquid crystal touch screen compositions; In the present invention, in middle-end console 2 isBe arranged with meter, two force feedback equipments are placed on the inner groovy flat board table top 27 of middle-end console 2, and trainer can rootAccording to the situation of actual operation, selecting stands carries out operative training, also can increase a seat, and the instruction of performing the operation is seatedPractice. While standing, trainer can go deep into waist in the dull and stereotyped table top 27 of inner groovy; While being seated training chest can be goed deep into indentIn the dull and stereotyped table top 27 of groove, conveniently operate.
As shown in Fig. 1, Figure 13, Figure 14, Figure 15 and Figure 16, middle-end console 2 is by required in virtual operation processAction button be all placed on the dull and stereotyped table top 27 of inner groovy, comprising: power switch button 21, system boot button 22,Control upper end display station 1 move upward button 23A, control upper end display module 1 move downward button 23B, for10 cun of liquid crystal touch screens of training system control;
Power switch button 21 is received on power supply by cable, and power switch button is used for controlling whole virtual operation trainingThe electric power starting of platform and closing; System boot button 22 is connected with computer graphical work station 32 by cable, controlMake the switching of this work station; Control upper end display module and move upward button 23A by cable and hub 182, phaseConnect, hub 182 is connected with stepper motor 184 again, controls upper end display station 1 and moves upward; Control upper end showsAssembly moves downward button 23B and is also connected with hub 182 by cable, and hub 182 is connected with stepper motor again184, control upper end display module 1 and move downward; Wherein, connect and control the upper end display station 1 button 23A that moves upwardControl upper end display station 1 to move downward button 23B structure identical with connecting; Touch-screen is installed in groove 29 and is provided with10 cun of liquid crystal touch screens, the operating theater instruments (scalpel, tactile when 10 cun of liquid crystal touch screens are trained for controlling virtual operationExamine rod) switch, the adjustment at visual angle, training file data newly-built, delete and preserve;
As shown in Figure 15 and Figure 16, the right and left on the dull and stereotyped table top 27 of inner groovy is respectively designed with one for placement powerThe groove (26A, 26B) of feedback device; Wherein force feedback equipment installation groove one 26A and force feedback equipment are installed recessedGroove two 26B structures are identical; Two of the left and right identical force feedback equipment of structure is placed on respectively force feedback equipment groove two is installed26B and force feedback equipment are installed groove one 26A, and the Capacitance Unbalance in Telecom Cables of two force feedback equipments in left and right is respectively through through holeTwo 25B and through hole one 25A are connected on the USB interface of work station 32; Wherein, through hole one 25A and through hole two25B structure is identical;
As shown in figure 16, in gripper shoe 28, the left and right sides has six holes that structure is identical, is described as respectively: Kong Jiu28A, hole ten 28B, Kong Shiyi 28C, hole 12 28D, Kong Shisan 28E, Kong Shisi 28F; Wherein, gripper shoeHole nine 28A, hole ten 28B on 28 right sides and Kong Shiyi 28C are fixing for upper end right flank gripper shoe 11B's,Hole 12 28D, the Kong Shisan 28E in fagging 28 left sides and Kong Shisi 28F are for upper end left surface gripper shoe 11A'sFixing; Hold-down screw is through through hole three 28G, through hole four 28H, through hole five 28I and the through hole six of gripper shoe 28 bottomsAfter the identical through hole of these four structures of 28J, then insert Kong Shiwu 28K, the Kong Shiliu at the dull and stereotyped table top of inner groovy 27 rear portionsIn 28L, the hole 17 28M hole identical with these four structures of hole 18 28N, gripper shoe 28 is fixed on to inner groovyOn dull and stereotyped table top 27;
After virtual operation training starts, first trainer presses power switch button 21 and opens the electricity of whole stage apparatusSource; Then, press system boot button 22 and start computer graphical work station 32; Subsequently, open by touch-screenVirtual operation training system; Trainer can be by controlling move upward button 23A and to control upper end aobvious of upper end display moduleShow that assembly moves downward the position of button 23B adjusting upper end display station 1, finds best observation position; In training process,Trainer can by be arranged on touch-screen install 10 cun of liquid crystal touch screens in groove 29 carry out operating theater instruments (scalpel,Palpation rod) switching, visual angle adjustment, training file data newly-built, delete and preserve etc.; Force feedback equipmentFor the deformation process such as operating theater instruments and soft tissue is carried out to real-time numerical computations, simulate soft tissue deformation andApparatus stress also feeds back to trainer.
As shown in Fig. 1, Figure 17 and Figure 18, lower end brace table 3 by lower end front shroud (31A, 31B), lower end afterCover plate (36A, 36B, 36C), support rod iron 33, trough of belt brace summer 34 and lower support assembly 35 form; ItsIn, the upper part 31A of lower end front shroud is arc, the lower part 31B of lower end front shroud is rectangle; Lower end front shroudLower part 31B can insert in trough of belt brace summer 34; Lower end back shroud top 36A and lower end back shroud middle part 36B knotStructure is identical, and back shroud bottom, lower end 36C is arc, can insert in the groove of the foot pedal 351 with groove three portionsDivide and be connected through the hinge together, be easy to open; Lower support assembly 35 comprises: bottom support (355A, 355B),Foot pedal (351,352), setting-up piece (353A, 353B, 354A, 354B); Wherein, bottom left metal props upSupport member 355B is identical with right bottom metal support member 355A structure, and two bottom supports are all with rotating pulley,Facilitate the movement of whole platform; Band groove foot pedal 351 is fixed on by the left setting-up piece 353B of band groove foot pedalThe left side of bottom left metallic supports 355B, is fixed on right bottom by the right setting-up piece 353A of band groove foot pedal and props upThe right side of support metalwork 355A; Rear foot pedal 352 is fixed on bottom left by the left setting-up piece 354B of pedal and supportsThe left side of metalwork 355B, by pedal, right setting-up piece 354A is fixed on right bottom metal support member 355A'sRight side;
As shown in Fig. 1, Figure 19 and Figure 20, lateral support board component 4 comprise two special shapes gripper shoe (41A,41B), standing screw (44A-1,44B-1,44C-1,44D-1,44E-1,44F-1), hold-doun nut (44A-2,44B-2,44C-2,44D-2,44E-2,44F-2), Fixed latches (45A, 45B, 45C, 45D, 45E, 45F,45G, 45H), lower end runner assembly (42A, 43A and 42B, 43B); Wherein lower end left side gripper shoe 41B withRight side, lower end gripper shoe 41A structure is identical; Standing screw one 44A-1, standing screw two 44B-1, standing screw three44C-1, standing screw four 44D-1, standing screw five 44E-1 are identical with standing screw six 44F-1 structures; Fixing spiral shellCap one 44A-2, hold-doun nut two 44B-2, hold-doun nut three 44C-2, hold-doun nut four 44D-2, hold-doun nut 5Five 44E-2 are identical with hold-doun nut six 44F-2 structures;
As shown in Figure 16 and Figure 20, standing screw one 44A-1 and hold-doun nut one 44A-2, standing screw two 44B-1With hold-doun nut two 44B-2, standing screw three 44C-1 and hold-doun nut three 44C-2 between two one group be used in conjunction with, pointThrough hole seven 46A, through hole eight 46B on Chuan Guo right side, lower end gripper shoe 41A and through hole nine 46C insert middle-end controlsIn hole nine 28A, hole ten 28B on gripper shoe 28 right sides of platform 2 and Kong Shiyi 28C by right side, lower end gripper shoe 41AFix; Standing screw four 44D-1 and hold-doun nut four 44D-2, standing screw five 44E-1 and hold-doun nut five44E-2, standing screw six 44F-1 and hold-down nut six 44F-2 between two one group be used in conjunction with, respectively through lower end left sideThe support that through hole ten 46D, through hole 11 46E on gripper shoe 41B and through hole 12 46F insert middle-end console 2In left hole 12 28D, the Kong Shisan 28E of plate 28, Kong Shisi 28F, left side, lower end gripper shoe 41B is fixed;
As shown in Figure 16 and Figure 20, right side Fixed latches one 45A of right side gripper shoe 41A, Fixed latches two 45B,Kong Shijiu (47A) on Fixed latches three 45C, Fixed latches four insertion lower end, 45D one end right side gripper shoe 41A,In Kong Ershi 47B, Kong Ershi mono-47C, Kong Ershi bis-47D, the inner groovy flat board of middle-end console 2 is inserted in one endIn right ports one 24A, hole two 24B of table top 27, hole three 24C, hole four 24D, by the right-hand member of middle-end console 2Be fixed on the gripper shoe 41A of right side, lower end; Left side Fixed latches five 45E, the Fixed latches six of left side gripper shoe 41BKong Ershi tri-on 45F, Fixed latches seven 45G, Fixed latches eight left side, insertion lower end, 45H one end gripper shoe 41BIn 47E, Kong Ershi tetra-47F, Kong Ershi five 47G, Kong Ershi six 47H, in one end insertion middle-end console 2In hole five 24E, hole six 24F in grooving slab table top 27 left sides, hole seven 24G, hole eight 24H, by middle-end console2 left end is fixed on the gripper shoe 41B of left side, lower end; Like this, right side gripper shoe 41A and left side gripper shoe 41B withMiddle-end console assembly 2 forms H type, makes whole virtual operation training platform more firm;
As shown in Fig. 1, Figure 13, Figure 14 and Figure 20, right side, lower end turning cylinder 42A in lateral support board component 4,Left side, lower end turning cylinder 42B, right side, lower end fixed screw 43A and left side, lower end fixed screw 43B show for upper endThe rotation of platform 1. Move upward after button 23A when trainer presses, stepper motor 184 will start to rotate and drive spiral shellLine rod iron 187 upwards rotates, and a side of drive rod 185 connecting thread rod irons 187 will rotate, and opposite side passes throughConnecting screw 186 drives right side, lower end turning cylinder 42A, left side, lower end turning cylinder 42B, right side, lower end fixed screw 43A)Fixed screw 43B rotates with left side, lower end, realizes upper end display station 1 and upwards regulates; When pressing, trainer moves downwardButton 23B stepper motor 184 rotates starting and drives screw thread rod iron 187 to rotate, and drive rod 185 connects spiral shellOne side of line rod iron 187 will upwards be rotated, opposite side by connecting screw 186 drive right side, lower end turning cylinder (42A),Left side, lower end turning cylinder 42B, right side, lower end fixed screw 43A and left side, lower end fixed screw 43B, realize upper end and showShow that platform 1 regulates downwards;
The upper end display station 1 of this immersion self adaptation pose virtual operation training platform is according to ergonomic design,Meet human body all brain structures feature, trainer can go deep into brain completely in platform in the time training, with platform melt forOne, strengthens trainer's feeling of immersion; The upper end display station 1 of this immersion self adaptation pose virtual operation training platformBy upper end right cover plate 11A, upper end left cover 11B, upper end upper cover plate 121, upper end lower cover 124, upper end back shroud122 and upper end front shroud 17 form a complete confined space, light cannot be injected wherein, trainer can be with single-hearted devotionThe virtual operation scene that inner 3D display 16A shows is observed on ground, further strengthens trainer's feeling of immersion; This is heavySoaking formula self adaptation pose virtual operation training platform can be trainer the Multi-source Information Fusion such as power feel, vision, sense of touch is providedInteractive 3D dynamic vision, trainer is immersed in virtual operative training system completely, thus quick, highThe raising trainer's of effect operation level; The upper end display station 1 of this immersion self adaptation pose virtual operation training platform3D Lens assembly 15 is installed, and it is convenient, comfortable while operating that trainer need not wear 3D glasses trainer; ShouldImmersion self adaptation pose virtual operation training platform can be adaptive according to the operation posture of trainer's height, customAdjust pose, the posture that trainer is accustomed to according to oneself is carried out operation technique, has improved the comfortableness of trainer's training;On the upper end display station 1 of this immersion self adaptation pose virtual operation training platform, limit switch is installed, works as trainerWhen the display module position, upper end that causes due to maloperation is too high or low, automatically stop, preventing dangerous generation; TrainerWhile training, be not subject to the restriction in time and space on this immersion self adaptation pose virtual operation training platform, can be repeatedly,Harmless, undistortedly carry out virtual operation training.
By using this immersion self adaptation pose virtual operation training platform, test and appraisal personnel can pass through upper end display station1 the outside 3D display 16B whole process person's of watching training training process, instructs trainer timely. WithTime, the whole training process of trainer can be preserved, and test and appraisal personnel can open the training file pair of preservation anywhere or anytimeTrainer's training effect is evaluated.
The present invention describes taking cranial surgery virtual operation as instantiation. After training starts, first trainer, pressesPower switch button 21 is connected the power supply of whole stage apparatus; Then, press system boot button 22 and start computerGraphics workstation 32; Subsequently, open virtual operation training system by 10 cun of liquid crystal touch screens; After system is opened,Trainer's first step is wanted a newly-built new training file, and the shortcut that system arranges new files is Ctrl+N. SecondStep, is newly-built training file designation, and the naming method of recommendation is: the initial of date+trainer's name, for example2015 trainer on November 8, " journey is large " carried out virtual operation training, can name training file by name:20151108CD. The benefit of doing is like this to be convenient to search the training file of oneself in the future. The 3rd step, trainer carries outVirtual operation training. Two force feedback equipment of trainer by operator placement the right and left on middle-end console 2 withVirtual training system is carried out alternately, trainer can carry out palpation to the virtual soft tissue in virtual environment, cuts, tears,The operations such as suction, force feedback equipment can be according to trainer's different operating and the soft tissue touching different parts feedbackGive the different feedback force of trainer, allow trainer experience the power feel impression identical with true operation technique; Meanwhile, onThe inside 3D display 16A of end display station 1 is that trainer shows that the 3D after force feedback equipment and soft tissue are alternately looksFeel effect, trainer can be observed soft tissue by the soft tissue deformation after force feedback equipment palpation, cutting after soft groupKnit expansion, soft tissue after tearing split and aspirate after the visual effect of the different operating such as disappearance of soft tissue; In order to enterOne step strengthens the visual realism of virtual system, has also simulated the phenomenon of bleeding, beat pulse in true operation technique;Aspect the sense of hearing, the heartbeat sound of patient in the true surgical procedure gathering in advance and beat pulse sound are embeddedIn system, in the time of training, play different sound according to different simulated scenario, allow trainer experience the real sense of hearingImpression. Like this, the power that trainer can omnibearingly experience as true operation in training process is felt, is lookedThe interactively 3D dynamic vision of the Multi-source Information Fusion such as feel, the sense of hearing, makes trainer be immersed in virtual operation completelyIn training system, thereby improve fast and efficiently trainer's operation level.
In the present invention, when trainer trains, be not subject to the restriction in time and space, can be repeatedly, harmless, undistorted enterThe training of row virtual operation.
In the present invention, test and appraisal personnel can watch training by the outside 3D display 16B whole process of upper end display station 1Person's training process, instructs timely. Meanwhile, the whole training process of trainer can be preserved, and test and appraisal personnel canWith the training file of opening anywhere or anytime preservation, trainer's training effect is evaluated.

Claims (1)

1. an immersion self adaptation pose virtual operation training platform, its feature is by upper end display station (1), middle-end controlPlatform processed (2), lower end brace table (3) and (4) four part compositions of lateral support board component;
Described upper end display station (1) comprises upper end left cover (11B), upper end right cover plate (11A), upper end upper coverPlate (121), upper end lower cover (124), upper end back shroud (122), upper end front shroud (17), two 3D showDevice (16A, 16B), outside 3D display mounting apparatus (13), inner 3D display mounting apparatus (14), 3DEyeglass installation component (15), rotary electric component (18);
Upper end left cover (11B), upper end right cover plate (11A), upper end upper cover plate (121), upper end lower cover (124),Upper end back shroud (122) and a confined space of upper end front shroud (17) composition;
Outside 3D display mounting apparatus (13) by bottom transverse brace summer (137), laterally fixture (135),Longitudinal bracing beam (134), longitudinal fixture (133), identical with display connector (136), the structure of draw-in grooveThe identical left position setting-up piece (132B) of left screwing screw (131B) and right screwing screw (131A), structure withRight position setting-up piece (132A); Display connector (136) with draw-in groove can be on longitudinal fixture (133)Rotation in lower 10 degree, makes the outside 3D display mounting apparatus (13) can up-down adjustment position;
Inner 3D display mounting apparatus (14) matches fixing with inner 3D display fixing metal piece (125)On inner support beam (123); Inner 3D display mounting apparatus (14) by bottom transverse brace summer (144),The identical left lock screw (141B) of display connector (143), structure with draw-in groove and right lock screw (141A),Left position setting-up piece (142B) and right position setting-up piece (142A) composition that structure is identical;
3D eyeglass erecting device (15) is fixed with right front portion by the identical left front lens fixed frame (151B) of structureThe identical left eye 3D eyeglass (152B) of frame (151A), structure and right eye 3D eyeglass (152A), structure are identicalLeft back portion's eyeglass fixed frame (153B) and right back portion's eyeglass fixed frame (153A) composition; By left eye 3D eyeglass (152B)Be arranged on left front lens fixed frame (151B) middle with left back portion's eyeglass fixed frame (153B), together fixed installationInstall on left through hole (174B) at 3D eyeglass; Right eye 3D eyeglass (152A) is arranged on to right front portion eyeglass to be fixedFrame (151A) is middle with right back portion's eyeglass fixed frame (153A), is fixedly mounted on together 3D eyeglass right through hole is installed(174A) on;
Rotary electric component (18) is arranged on side, upper end right cover plate (11A); Rotary electric component (18) is by controllingCase processed (181), hub (182), upper limit position switch (183A) that structure is identical and lower position switch (183B),Stepper motor (184), drive rod (185), connecting screw (186) and screw thread rod iron (187) composition; Screw-thread steelOne end of rod (187) is connected with the rotating shaft of stepper motor (184), the other end and the drive rod of screw thread rod iron (187)(185) be connected; It is upper that drive rod (185) one end is fixed on upper end right cover plate (11A), the other end with by connectingConnect on the right-hand rotation moving axis (111A) that screw (186) is connected to upper end right cover plate (11A); Upper limit position switch (183A),It is upper near edge, inner side that lower position switch (183B) is arranged on upper end right cover plate (11A), lays respectively at drive rod(185) both sides are positioned at a side of screw thread rod iron (187) simultaneously; Control cabinet (181) and hub (182)All be arranged on the upper portion of upper end right cover plate (11A), wherein, control cabinet (181), upper limit position switch (183A),The control line of lower position switch (183B) and stepper motor (184) and power line are all connected to (182) on hub;Hub (182) again with control upper end display module move upward button (23A) and control upper end display module downwardMovement buttons (23B) is connected;
Described middle-end console (2) by inner groovy dull and stereotyped table top (27), gripper shoe (28), power switch button (21),System boot button (22), control upper end display module move upward button (23A), control upper end display module and transport downwardsMoving button (23B) and liquid crystal touch screen composition;
On the dull and stereotyped table top of inner groovy (27) of middle-end console (2), power switch button (21), system boot are installedButton (22), control upper end display module move upward button (23A), control upper end display module and move downward button(23B), be arranged on touch-screen the liquid crystal touch screen in groove (29) is installed; Power switch button (21) passes through cableReceive on power supply, control the switching of power supply; System boot button (22) is by cable and computer graphical work station (32)Connect, control the switching of this work station; Control upper end display module and move upward button (23A) by cable and collectionLine device (182) connects, and hub (182) is connected with stepper motor (184) again, controls upper end display station (1)Move upward; Control upper end display module moves downward button (23B) and is also connected with hub (182) by cable,Hub (182) is connected (184) again with stepper motor, control upper end display module (1) and move downward;
It is identical that the right and left on the dull and stereotyped table top of inner groovy (27) of middle-end console (2) is respectively designed with a structureForce feedback equipment is installed groove one (26A), with force feedback equipment, groove two (26B) is installed; Two power that structure is identicalFeedback device is placed on respectively force feedback equipment groove two (26B) and force feedback equipment installation groove one (26A) is installedIn, the Capacitance Unbalance in Telecom Cables of two force feedback equipments is respectively through two through hole two (25B) and through holes one that structure is identical(25A) after, be connected on the USB interface of work station (32);
Hole nine (28A), hole ten (28B) and the Kong Shiyi (28C) on gripper shoe (28) right side are for upper end right flankFixing of gripper shoe (11A), hole 12 (28D), Kong Shisan (28E) and the Kong Shisi in gripper shoe (28) left side(28F) fixing for upper end left surface gripper shoe (11B);
The downside of gripper shoe (28) has four through holes that structure is identical, the inner groovy plate platform on middle-end console (2)Face (27) has four holes that structure is identical below, and hold-down screw passes respectively these four knots of downside of gripper shoe (28)After the identical through hole of structure, insert in four holes below of the dull and stereotyped table top of inner groovy (27), gripper shoe (28) is fixedControlling on table top;
Described lower end brace table (3) is by the upper part (31A) of the lower end front shroud of arc shape, rectangular-shaped lower endThe identical back shroud top, lower end (36A) of the lower part (31B) of front shroud, structure and lower end back shroud middle part (36B),Arc holds end back shroud bottom (36C), supports rod iron (33), trough of belt brace summer (34), lower support assembly(35) formation and computer graphical work station (32) composition;
Under the front shroud of lower end, part (31B) is inserted in trough of belt brace summer (34); Insert back shroud bottom, lower end (36C)Enter in the groove of the foot pedal (351) with groove back shroud top, lower end (36A), lower end back shroud middle part (36B)Together with being connected through the hinge with these three parts of back shroud bottom, lower end (36C);
Lower support assembly (35) comprising: bottom metal support member (355A, 355B), foot pedal (351,352),Setting-up piece (353A, 353B, 354A, 354B); Wherein, bottom left metallic supports (355B) and right bottomMetallic supports (355A) structure is identical, and two bottom supports, all with rotating pulley, drive whole platformMovement; Band groove foot pedal (351) left end is fixed on a left side by the band left setting-up piece of groove foot pedal (353B)The left side of bottom metal support member (355B), band groove foot pedal (351) right-hand member is right solid by band groove foot pedalDetermine pad (353A) and be fixed on the right side of right bottom support metalwork (355A); The left end of rear foot pedal (352)Be fixed on the left side of bottom left support metal part (355B) by the left setting-up piece of pedal (354B), rear foot pedal(352) right-hand member is fixed on right bottom metal support member (355A) by the right setting-up piece of pedal (354A)Right side;
Described lateral support board component (4) comprises two gripper shoes, lower end left side gripper shoe (41B) and the right side, lower endSide gripper shoe (41A) structure is identical; Standing screw one (44A-1), standing screw two (44B-1), standing screwThree (44C-1), standing screw four (44D-1), standing screw five (44E-1) and standing screw six (44F-1) knotStructure is identical; Hold-doun nut one (44A-2), hold-doun nut two (44B-2), hold-doun nut three (44C-2), fixing spiral shellCap four (44D-2), hold-doun nut five (44E-2) are identical with hold-doun nut six (44F-2) structure; Right side, lower end turnsMoving axis (42A) is identical with left side, lower end turning cylinder (42B) structure, and right side, lower end fixed screw (43A) and left side, lower end are solidDetermine screw (43B) structure identical;
Standing screw one (44A-1) and hold-doun nut one (44A-2), standing screw two (44B-1) and hold-doun nut two(44B-2), standing screw three (44C-1) and hold-doun nut three (44C-2) between two one group be used in conjunction with, first pass respectivelyThrough hole seven (46A), through hole eight (46B) and through hole nine (46C) in right side, lower end gripper shoe (41A), be then inserted intoIn the hole nine (28A) on gripper shoe (28) right side of middle-end console (2), hole ten (28B), Kong Shiyi (28C), will underEnd right side gripper shoe (41A) is fixed;
Standing screw four (44D-1) and hold-doun nut four (44D-2), standing screw five (44E-1) and hold-doun nutFive (44E-2), standing screw six (44F-1) and hold-down nut six (44F-2) between two one group be used in conjunction with, respectivelyFirst pass through hole ten (46D), through hole 11 (46E) and the through hole 12 (46F) in lower end left side gripper shoe (41B),Then be inserted into gripper shoe (28) left side of middle-end console (2) hole 12 (28D), Kong Shisan (28E) andIn Kong Shisi (28F), lower end left side gripper shoe (41B) is fixed;
The right side Fixed latches one (45A) of right side, lower end gripper shoe (41A), Fixed latches two (45B), fixing insertingThe hole ten in right side, lower end gripper shoe (41A) is inserted respectively in pin three (45C) and Fixed latches four (45D) one end separatelyIn nine (47A), Kong Ershi (47B), Kong Ershi mono-(47C) and Kong Ershi bis-(47D), the other end separatelyInsert respectively the dull and stereotyped table top (27) of the inner groovy right side of middle-end console (2) hole one (24A), hole two (24B),In hole three (24C) and Kong Si (24D), the right-hand member of middle-end console (2) is fixed on to right side, lower end gripper shoe (41A)On;
Left side Fixed latches five (45E), Fixed latches six (45F), the Fixed latches of lower end left side gripper shoe (41B)The Kong Ershi in lower end left side gripper shoe (41B) is inserted respectively in seven (45G) and Fixed latches eight (45H) one end separatelyIn three (47E), Kong Ershi tetra-(47F), hole 2 two ten five (47G), Kong Ershi six (47H), the other end is separately insertedEnter in hole five (24E) on middle-end console (2), hole six (24F), hole seven (24G), hole eight (24H),The left end of middle-end console (2) is fixed in lower end left side gripper shoe (41B);
Right side, lower end gripper shoe (41A) and lower end left side gripper shoe (41B) form H type with middle-end console (2);
Right side, lower end turning cylinder (42A) in lateral support board component (4), left side, lower end turning cylinder (42B), the right side, lower endSide fixed screw (43A) and lower end left side fixed screw (43B) are for the rotation of upper end display station (1); Work as instructionWhite silk person presses after the button that moves upward (23A), and stepper motor (184) will start to rotate and drive screw thread rod iron (187) upwardsRotate, a side of drive rod (185) connecting thread rod iron (187) will rotate, and opposite side is by connecting screw (186)Drive right side, lower end turning cylinder (42A), lower end left side turning cylinder (42B), right side, lower end fixed screw (43A) and lower endLeft side fixed screw (43B) rotates, and realizes upper end display station (1) and upwards regulates; When trainer press move downward byButton (23B) stepper motor (184) will start to rotate and drive screw thread rod iron (187) to rotate, and drive rod (185) connects spiral shellOne side of line rod iron (187) will upwards be rotated, opposite side by connecting screw (186) drive right side, lower end turning cylinder (42A),Lower end left side turning cylinder (42B), right side, lower end fixed screw (43A) and lower end left side fixed screw (43B), realizeUpper end display station (1) regulates downwards.
CN201610124250.5A 2016-03-04 2016-03-04 A kind of adaptive pose virtual operation training platform of immersion Active CN105608945B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610124250.5A CN105608945B (en) 2016-03-04 2016-03-04 A kind of adaptive pose virtual operation training platform of immersion

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610124250.5A CN105608945B (en) 2016-03-04 2016-03-04 A kind of adaptive pose virtual operation training platform of immersion

Publications (2)

Publication Number Publication Date
CN105608945A true CN105608945A (en) 2016-05-25
CN105608945B CN105608945B (en) 2018-07-20

Family

ID=55988847

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610124250.5A Active CN105608945B (en) 2016-03-04 2016-03-04 A kind of adaptive pose virtual operation training platform of immersion

Country Status (1)

Country Link
CN (1) CN105608945B (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105913718A (en) * 2016-07-08 2016-08-31 哈尔滨理工大学 Thread lift plastic surgery simulation system
CN107170306A (en) * 2017-07-18 2017-09-15 浙江拓客网络科技有限公司 Experimental box based on virtual reality
CN107374742A (en) * 2017-07-31 2017-11-24 成都中科博恩思医学机器人有限公司 The report control platform of executing agency
CN107798983A (en) * 2017-11-29 2018-03-13 北京众绘虚拟现实技术研究院有限公司 A kind of point device applied to virtual operation on oral cavity
CN111047937A (en) * 2019-12-14 2020-04-21 上海工程技术大学 Operation training system based on magnetorheological fluid
CN115394162A (en) * 2022-08-19 2022-11-25 北京旭合瑞科技有限公司 Microsurgery training operation platform for simulating clinical scene

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120189996A1 (en) * 2009-03-20 2012-07-26 Hager Gregory D Method and system for quantifying technical skill
CN202422539U (en) * 2011-12-23 2012-09-05 中国人民解放军海军总医院 Virtual surgery operation device
CN103456223A (en) * 2012-06-01 2013-12-18 苏州敏行医学信息技术有限公司 Laparoscopic surgery simulation system based on force feedback
CN104424838A (en) * 2013-08-26 2015-03-18 王尧 Hysteroscopic surgery simulator
CN104658394A (en) * 2015-02-13 2015-05-27 苏州敏行医学信息技术有限公司 Virtual teaching training system for puncture
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120189996A1 (en) * 2009-03-20 2012-07-26 Hager Gregory D Method and system for quantifying technical skill
CN202422539U (en) * 2011-12-23 2012-09-05 中国人民解放军海军总医院 Virtual surgery operation device
CN103456223A (en) * 2012-06-01 2013-12-18 苏州敏行医学信息技术有限公司 Laparoscopic surgery simulation system based on force feedback
CN104424838A (en) * 2013-08-26 2015-03-18 王尧 Hysteroscopic surgery simulator
CN104658394A (en) * 2015-02-13 2015-05-27 苏州敏行医学信息技术有限公司 Virtual teaching training system for puncture
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

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105913718A (en) * 2016-07-08 2016-08-31 哈尔滨理工大学 Thread lift plastic surgery simulation system
CN105913718B (en) * 2016-07-08 2018-11-16 哈尔滨理工大学 One kind, which is sunken cord, promotes plastic operation analogue system
CN107170306A (en) * 2017-07-18 2017-09-15 浙江拓客网络科技有限公司 Experimental box based on virtual reality
CN107374742A (en) * 2017-07-31 2017-11-24 成都中科博恩思医学机器人有限公司 The report control platform of executing agency
CN107798983A (en) * 2017-11-29 2018-03-13 北京众绘虚拟现实技术研究院有限公司 A kind of point device applied to virtual operation on oral cavity
CN107798983B (en) * 2017-11-29 2020-03-27 北京众绘虚拟现实技术研究院有限公司 Be applied to fulcrum device of virtual oral cavity operation
CN111047937A (en) * 2019-12-14 2020-04-21 上海工程技术大学 Operation training system based on magnetorheological fluid
CN115394162A (en) * 2022-08-19 2022-11-25 北京旭合瑞科技有限公司 Microsurgery training operation platform for simulating clinical scene
CN115394162B (en) * 2022-08-19 2023-07-25 北京旭合瑞科技有限公司 Microsurgery training operation panel of simulation clinical sight

Also Published As

Publication number Publication date
CN105608945B (en) 2018-07-20

Similar Documents

Publication Publication Date Title
CN105608945A (en) Immersion-type self-adaptive pose virtual surgery training platform
CN107067856B (en) Medical simulation training system and method
Escobar-Castillejos et al. A review of simulators with haptic devices for medical training
Hunter et al. Ophthalmic microsurgical robot and associated virtual environment
CN105264459B (en) Tactile enhancing for simulation surgery and virtual reality system
US20090263775A1 (en) Systems and Methods for Surgical Simulation and Training
US20110160578A1 (en) Real-time surgical reference guides and methods for surgical applications
CN107433021A (en) A kind of VR rehabilitation systems based on mirror neuron
CN109979600A (en) Orbital Surgery training method, system and storage medium based on virtual reality
CN106293082A (en) A kind of human dissection interactive system based on virtual reality
Wake et al. Multimodal virtual reality platform for the rehabilitation of phantom limb pain
CN105310853A (en) Virtual reality somatosensory interaction massage chair
CN107507278A (en) Three-dimensional entity model construction method and device based on several tomoscan images
CN105206153A (en) Holographic projection jet-propelled real-feeling simulation operation system
CN202422539U (en) Virtual surgery operation device
Greenleaf Developing the tools for practical VR applications [Medicine]
CN206312417U (en) A kind of Integrative laparoscopic analogue means
Combalia et al. Immersive virtual reality in orthopaedics—a narrative review
Behringer et al. Some usability issues of augmented and mixed reality for e-health applications in the medical domain
WO2010097771A3 (en) Method and apparatus for surgical training
CN105824248A (en) Impedance-variable and event-based touch feedback control method
CN103258469B (en) Shoulder arthroscopy knotting simulation simulator
CN101950502B (en) Virtual knee arthroscopic surgery device
CN206711474U (en) A kind of medical simulation integrated machine equipment
Rice et al. Simulation training in vitreoretinal surgery: a low-cost, medium-fidelity model

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