CN105608945B

CN105608945B - A kind of adaptive pose virtual operation training platform of immersion

Info

Publication number: CN105608945B
Application number: CN201610124250.5A
Authority: CN
Inventors: 李春泉; 刘小平; 程强强; 邹艳妮; 黄诗文; 叶堃煜
Original assignee: Nanchang University
Current assignee: Nanchang University
Priority date: 2016-03-04
Filing date: 2016-03-04
Publication date: 2018-07-20
Anticipated expiration: 2036-03-04
Also published as: CN105608945A

Abstract

A kind of adaptive pose virtual operation training platform of immersion, is made of four parts such as upper end display module, middle-end console component, lower end support component and lateral support components.Upper end display module meets human body face structure according to ergonomic design, and observation central space size can be adjusted by knob to adapt to different size of human body brain, allows brain to be more bonded with platform, enhances feeling of immersion.Can automatic adjusument pose, training is operated with the posture that oneself is suitble to, improves comfort level, lessen fatigue sense.Entire operative training process is watched by the external 3D display device of upper end display module, training effect can be evaluated and tested.This platform can be used for simulating all kinds of operative processes such as cranial surgery, liver, kidney, mammary gland, allow learn on the job operative doctor or medic repeatedly, it is lossless, easily carry out operative training, solve the problems such as cycle of training is long, efficiency is low, costly, training object is deficient present in conventional surgical doctor training.

Description

A kind of adaptive pose virtual operation training platform of immersion

Technical field

The present invention relates to a kind of virtual operations of computer based virtual reality technology to train equipment

Background technology

Virtual reality technology based on Computer Simulation generates the two dimension in certain or certain class reality using computer reconstruction Or three-dimensional virtual scene, user can be interacted by relevant device and each type objects in virtual scene, to experience with More perception such as the sense of hearing equally true to nature, vision, smell, power feel in reality.

Traditional surgical training method uses apprentice's pattern of " transmit, aid and lead ".This method is long there are the period, Of high cost, the problems such as efficiency is low, corpse source is deficient.Even if the animal being commonly used in present medical experiment is as surgeon's hand Art trains the institutional framework of object, the problem of there is also moral aspects, and animal inevitable and the mankind's difference.

In order to solve these problems present in surgical training, research and develop based on virtual reality technology Virtual surgery simulation training system becomes a hot spot and advanced subject for current medical domain.It is studied by Canadian country Council (National Research Council, NRC) takes the lead, and has combined multiple research groups and famous hospitals, has taken 9100000 dollars, more than 50 includes experts and scholars, clinician, engineer, the cerebral surgery operation simulation that span is developed for 3 years jointly Device prototype NeuroTouch is current cranial surgery virtual operation training system state-of-the-art in the world.First, utilize patient's Functional magnetic resonance imaging (functional magnetic resonance imaging, fMRI) image data reconstructs a height The 3D human body brain tissue models of resolution ratio, this model is based on finite element grid.Then, the finite element model and wash with watercolours are read Dye reality, then, user is by operating the force feedback equipment of a similar scalpel (using Sensable companies Phantom OMNI) it is interacted with dummy model, this device has 6 degree of freedom, being capable of real-time feedback device and brain tissue The power generated after different parts or different operation.Meanwhile user can pass through screen viewing force feedback equipment and dummy model Interaction results, including tissue deformation, grey matter bleeding and beating.The characteristics of NeuroTouch, is its analog simulation soft tissue Deformation, the physiological phenomenons such as to cut, bleed very true to nature, but the 3D display effect of the system is mainly by 3 fixed display screens, It can not be adjusted according to the demand of different human body, feeling of immersion and comfort level are all unable to get satisfaction.

In the prior art, patent ZL200910242042.5 discloses a kind of virtual reality dental operation Tactility training branch Platform is supportted, but this device is to be directed to human teeth's organization design, tooth belongs to rigid substance, is modeled to it and interactive process In data processing it is all more simpler than human body brain tissue (soft tissue).And the emulation of the system artificial intelligence dental operation, Scalability is not strong.Patent ZL201010173563.2 discloses a kind of virtual flexible body deformation operation for supporting haptic device Analogue system, which utilizes equal pitch tapered coil spring haptic modeling method, by every layer of equal pitch tapered auger The sum of spring deflection is superimposed to simulate the deformation on flexible body surface.This method is not physical model truly, Do not reflect the material parameter of soft tissue physiological characteristic, and is not that 3 D stereo shows that simulated effect is not true to nature enough. ZL201110150678.4 discloses a kind of robot micro-wound operation analogue system based on force feedback, and the invention is mainly for micro- Invasive procedures design, and image data can be converted to three-dimensional data and by three-dimensional display apparatus exhibition by pattern process module therein Reveal and.But the system does not design special virtual operation operating platform, operator be easy by ambient enviroment sound, The interference of light, people and other things, feeling of immersion be not strong.Therefore, in order to solve conventional surgical surgical training problem, break In the monopoly position in the field, invention is a kind of to be had virtual teach-in feeling of immersion true to nature and can improve operative training for foreign countries The virtual surgery training platform of the adaptive pose of person's comfort is an important, urgent problems.

Invention content

For cycle of training is long, of high cost, efficiency is low present in traditional surgery doctor training, training object is deficient The problems such as with ethics are violated, the invention discloses a kind of adaptive pose virtual operation training platform of immersion, the platforms The training platform of one progress virtual reality surgical procedure is provided for the trainers such as surgeon or medic that learn on the job.

The platform is made of four parts such as upper end display station, middle-end console, lower end supporting table and lateral bolster bracing plate assemblies. Upper end display station includes mainly two 3D display devices, 3D eyeglasses assemblies and upper and lower, six pieces of front, rear, left and right cover board；Wherein, Internal 3D display device is positioned over to use for trainer, external 3D display device for other people watch with to trainer's training process into Row evaluation；3D eyeglass is clipped in the middle and is fixed by 3D eyeglasses assemblies；Above and below, six pieces of front, rear, left and right cover board constitutes one A confined space prevents trainer from receiving the interference of the factors such as light, sound, brain rotation, enhances the feeling of immersion of trainer.

It is integrated with the necessary control button for needing to carry out in virtual operation training process on middle-end console, including power supply The rotation control etc. of switch, the switch of system, upper end display module；10 cun of touching liquid-crystal display screens that centre is placed then are used for hand The control operation of software systems during art, including the transformation of surgical instrument, the startup of virtual operation software systems and closing, sight Examine the adjustment etc. at visual angle.

Lower end supporting table is mainly used for placing the graphics workstation needed for system of virtual operation, installation foot pedal etc..

Lateral bolster bracing plate assembly is then used to connecting and supporting upper end display module, middle-end console component, lower end support group Part.Trainer the hands such as touches with the soft tissue reconstructed in virtual world on platform, aspirates, cuts by force feedback equipment Art operates.Meanwhile force feedback equipment will be fed back very according to the different surgical procedure type of trainer and operating force to trainer Real tactile allows user seemingly carrying out true operation generally.Platform provides that a feeling of immersion is strong, operation is comfortable for trainer Convenient operative training environment.

A kind of adaptive pose virtual operation training platform of immersion, it is characterised in that：

Virtual operation training platform of the present invention is by upper end display station (1), middle-end console (2), lower end supporting table (3) it is formed with four parts such as lateral bolster bracing plate assembly (4)；

The upper end display station (1) includes 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), upper end front shroud (17), two 3D display devices (16A, 16B), outer Portion's 3D display device mounting device (13), internal 3D display device mounting device (14), 3D eyeglasses mounting assembly (15), electronic rotation group Part (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 upper end front shroud (17) form a confined space, and trainer is set by 3D Lens assemblies (15) observable In the virtual operation scene that 3D display device (16A) on internal 3D display device mounting device (14) is shown；

Upper end left cover (11B) is identical with upper end right cover plate (11A) structure；There are one rotations on upper end left cover (11B) The left through-hole of component (114B) sets fixing threaded hole (112B) and left-hand rotation mobile gasket for installing by left rotation shaft (111B), left position The left runner assembly of (113B) composition；There is the right through-hole of runner assembly (114A) on the center upper end right cover plate (11A), for pacifying Fill the right runner assembly of right rotation shafts (111A), right position fixing threaded hole (112A) and right-hand rotation mobile gasket (113A) composition；Wherein, Left rotation shaft (111B) is identical as right rotation shafts (111A) structure；Set fixing threaded hole (112B) and right position fixing threaded hole in left position (112A) structure is identical；Left-hand rotation mobile gasket (113B) is identical as right-hand rotation mobile gasket (113A) structure；

External 3D display device mounting device (13) is by bottom transverse direction supporting beam (137), lateral fixing piece (135), Zong Xiangzhi Support beam (134), longitudinally fixed part (133), the display connector (136) with card slot, the identical left screwing screw of structure Set setting-up piece one (132B) and right position setting-up piece one in the left position identical with right screwing screw (131A), structure (131B) (132A)；Display connector (136) with card slot can rotate within the scope of longitudinally fixed part (133) up and down 10 degree, outer in this way Portion's 3D display device mounting device (13) can up and down adjustment position, facilitate observer to watch and show on external 3D display device (16A) Content；

Internal 3D display device mounting device (14) matches with internal 3D display device fixation metal derby (125) and is fixed on inside In supporting beam (123)；Internal 3D display device mounting device (14) is connected by bottom transverse direction supporting beam (144), the display with card slot Set fixed pad in the identical left lock screw (141B) of fitting (143), structure left position identical with right lock screw (141A), structure Piece two (142B) is formed with right position setting-up piece two (142A), not rotatably；

Two groups of 3D lens attachments (15) are fixed by the identical left front lens fixed frame (151B) of structure with right front portion The identical left eye 3D eyeglasses (152B) of frame (151A), structure left back portion's eyeglass identical with right eye 3D eyeglasses (152A), structure is solid Determine frame (153B) to form with right rear portion eyeglass fixed frame (153A)；Left eye 3D eyeglasses (152B) are fixed mounted on left front lens Frame (151B) is intermediate with left back portion's eyeglass fixed frame (153B), is rigidly mounted together to 3D eyeglasses and installs on left through-hole (174B)； Right eye 3D eyeglasses (152A) are mounted on right front portion eyeglass fixed frame (151A) and right rear portion eyeglass fixed frame (153A) is intermediate, one It rises and is fixedly mounted on the right through-hole (174A) of 3D eyeglasses installation；

The upper end front shroud (17) of upper end display station (1) meets face physiological structure according to ergonomic design, training Entire face can be fully inserted into central field of view (172), left side baffle (171B) and right-hand apron by person when being trained (171A), can be fully wrapped around firmly by human ear then according to human body or so side face structure design, and front apery body bridge of the nose device (173) is then The design of the human body bridge of the nose is copied, and is recessed inwardly, to trainer there are space breathing, prevents unsmooth breath in training process；Cause This, during entire head can be fully penetrated into platform by trainer when virtual operation is trained, not by interference such as ambient light, sound Source influences, and enhances the feeling of immersion of virtual emulation；Meanwhile head wrapped up by platform after be not susceptible to other things influence and control It swings, can more put into this way in virtual emulation training, further enhance feeling of immersion；

Rotary electric component (18) is mounted on the side upper end right cover plate (11A)；Rotary electric component (18) is by control cabinet (181), hub (182), the identical upper limit position switch of structure (183A) and lower position switch (183B), stepper motor (184), The components such as drive rod (185), connecting screw (186) and screw thread rod iron (187) form；One end of screw thread rod iron (187) and stepping The shaft of motor (184) is connected, and the other end of screw thread rod iron (187) is connected with drive rod (185)；Drive rod (185) one end It is fixed on upper end right cover plate (11A), the other end and the right-hand rotation that upper end right cover plate (11A) is connected to by connecting screw (186) On moving axis (111A)；Upper limit position switch (183A), lower position switch (183B) are mounted on upper end right cover plate (11A) close to inside Edge is located at the both sides of drive rod (185), while positioned at the side of screw thread rod iron (187)；Control cabinet (181) sum aggregate Line device (182) all be mounted on upper end right cover plate (11A) upper portion, wherein control cabinet (181), upper limit position switch (183A), The control line and power cord of lower position switch (183B) and stepper motor (184) are all connected on hub (182)；Hub (182) button (23A) is moved upwards with control upper end display module and control upper end display module moves downward button (23B) again It is connected；When adjusting upper end display station (1) position, if pressing upward button (23A), stepper motor (184) will be opened trainer Begin to rotate and screw thread rod iron (187) is driven to be rotated up, the side of drive rod (185) connection screw thread rod iron (187) will turn downwards It is dynamic, and will be rotated up by the upper end display station (1) that connecting screw (186) connects；If pressing down button (23B) stepping electricity Machine (184) will start to rotate and screw thread rod iron (187) driven to rotate down, and the one of drive rod (185) connection screw thread rod iron (187) Side will be rotated up, and will be moved down by upper end display station (1) side that connecting screw (186) connects；Pass through step in this way The rotation that the rotation of stepper motor can just make upper end display station (1) upper and lower；Upper limit position switch (183A), lower position switch (183B) can control upper end display station (1) in the angular range of spatial rotational；According to human body brain it is daily bow, the elevation angle it is very big Ranging from 30 degree of upper end display station (1) upper and lower rotation are arranged in value, the present invention；Trainer can be prevented in this way because accidentally grasping Make cause upper end display station (1) to rotate up and down angle it is excessive caused by potential danger；Function that there are two control cabinet (181) tools, One of function is control stepper motor (184) velocity of rotation, can be adjusted by velocity control knob (1811)；Second A function is the opening and closing for controlling stepper motor (184) and rotating, and can be operated by rotary electric switch (1812)；

The middle-end console (2) by inner groovy tablet table top (27), support plate (28), power switch button (21), System boot button (22), control upper end display module move upwards button (23A), control upper end display module is moved downward and pressed Button (23B) and 10 cun of liquid crystal touch screen compositions；

Be equipped on the inner groovy tablet table top (27) of middle-end console (2) needed for virtual operation process operation by Button：Power switch button (21), system boot button (22), the identical control upper end display module of structure move upwards button (23A) and control upper end display module move downward the 10 cun of liquid crystal installed in button (23B), touch screen installation groove (29) and touch Touch screen；Power switch button (21) is connected to by cable on power supply, and the opening and closing of power supply is controlled；System boot button (22) passes through electricity Cable is connect with computer graphical work station (32), controls the opening and closing of the work station；Control upper end display module moves upwards button (23A) is connect by cable with hub (182), and hub (182) is connect with stepper motor (184) again, and control upper end is shown Platform (1) moves upwards；Control upper end display module moves downward button (23B) and is connect with hub (182) also by cable, collects Line device (182) is connect with stepper motor (184) again, and control upper end display module (1) moves downward；10 cun of liquid crystal touch screens are used for Surgical instrument (scalpel, palpation stick) switching when virtual operation is trained, visual angle adjust, train creating, deleting for file data It removes and preserves；

In addition, respectively there are one structure phases for design for the right and left on the inner groovy tablet table top (27) of middle-end console (2) Same force feedback equipment installation groove one (26A) and force feedback equipment installation groove two (26B)；The identical power of two structures in left and right Feedback device is individually placed in force feedback equipment installation groove two (26B) and force feedback equipment installation groove one (26A), left and right two The Capacitance Unbalance in Telecom Cables of platform force feedback equipment is each passed through the identical through-hole two (25B) of two structures and through-hole one (25A) connects afterwards On the USB interface of work station (32)；

There are six the identical holes of structure altogether at left and right sides of support plate (28) on middle-end console (2), are respectively depicted as：Hole Nine (28A), hole ten (28B), Kong Shiyi (28C), hole 12 (28D), Kong Shisan (28E), Kong Shisi (28F)；Wherein, support plate (28) hole nine (28A), hole ten (28B) and Kong Shiyi (28C) on the right side of are used for the fixation of lower end right side support plate (41A), branch Hole 12 (28D), Kong Shisan (28E) and Kong Shisi (28F) on the left of fagging (28) is for lower end left side support plate (41B) It is fixed；

There are four the identical through-holes of structure for the downside of support plate (28), are respectively depicted as：Through-hole three (28G), through-hole four (28H), through-hole five (28I) and through-hole six (28J)；There are four behind inner groovy tablet table top (27) on middle-end console (2) The identical hole of structure, is respectively depicted as：Kong Shiwu (28K), Kong Shiliu (28L), hole 17 (28M) and hole 18 (28N)；It is fixed Screw is each passed through be inserted into inner groovy tablet table top (27) after this identical through-hole of four structures of the downside of support plate (28) after In four holes in face, support plate (28) is fixed on control table top；

After virtual operation training starts, trainer presses power switch button (21) and opens entire virtual operation training first The power supply of platform；Then, it presses system boot button (22) and starts computer graphical work station (32)；Then, by being embedded in 10 cun of touch screens in touch screen installation groove (29) open virtual operation training system；Trainer can be shown by controlling upper end Component, which moves upwards button (23A) and controls upper end display module, moves downward the position that button (23B) adjusts upper end display station (1) It sets, obtains best visual operative training observation position；In training process, trainer can be by being mounted on touch screen installation groove (29) 10 cun of liquid crystal touch screens in carry out the switching of surgical instrument (scalpel, palpation stick), visual angle adjusts, trains number of files According to it is newly-built, delete and preserve etc.；

The upper part (31A) of lower end front shroud of the lower end supporting table (3) by arc shape, rectangular-shaped lower end protecgulum The lower part (31B) of plate, structure identical lower end back shroud top (36A) are held with (36B), arc in the middle part of the back shroud of lower end Hold back shroud lower part (36C), support rod iron (33), trough of belt supporting beam (34), lower support component (35) and computer graphical work Stand (32) composition；

Lower end front shroud lower part (31B) can be inserted into trough of belt supporting beam (34)；Lower end back shroud lower part (36C) can be inserted into In the groove of foot pedal (351) with groove, (36B) and lower end rear cover in the middle part of lower end back shroud top (36A), lower end back shroud These three parts plate lower part (36C) are connected together through the hinges, and are easy to open；

Lower support component (35) includes：Bottom metal support element (355A, 355B), foot pedal (351,352), fixed pad Piece (353A, 353B, 354A, 354B)；Wherein, bottom left metallic supports (355B) are tied with right bottom metal support element (355A) Structure is identical, and two bottom supports all carry rotatable pulley, facilitate the movement of entire platform；Band groove foot pedal (351) Left end is by being fixed on the left side of bottom left metallic supports (355B), band groove with the left setting-up piece of groove foot pedal (353B) Foot pedal (351) right end supports metalwork (355A) by being fixed on right bottom with the right setting-up piece of groove foot pedal (353A) Right side；The left end of rear foot pedal (352) is fixed on bottom left by the left setting-up piece of foot pedal (354B) and supports metalwork The right end in the left side of (355B), rear foot pedal (352) is fixed on right bottom metal branch by the right setting-up piece of foot pedal (354A) The right side of support member (355A)；

Computer graphical work station (32) is for running 3D real-time virtual Surgery Simulation softwares, structure three-dimensional operation field Scape, trainer can carry out virtual operation interaction by all kinds of Virtual Organization's organs in force feedback equipment and virtual operation scene, Experience, study and the training of operative training process are obtained by vision, the sense of hearing and tactile.

The lateral bolster bracing plate assembly (4) include two pieces of support plates (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 insert Sell (45A, 45B, 45C, 45D, 45E, 45F, 45G, 45H), lower end runner assembly (42A, 43A and 42B, 43B)；Wherein lower end is left Side support plate (41B) is identical as lower end Right side support plate (41A) structure；Standing screw one (44A-1), two (44B- of standing screw 1), standing screw three (44C-1), standing screw four (44D-1), standing screw five (44E-1) and standing screw six (44F-1) knot Structure is identical；Hold-doun nut one (44A-2), hold-doun nut two (44B-2), hold-doun nut three (44C-2), four (44D- of hold-doun nut 2), hold-doun nut five (44E-2) is identical with (44F-2) structure of hold-doun nut six；Rotation axis (42A) and lower end left side on the right side of lower end Rotation axis (42B) structure is identical, and fixed screw (43A) is identical with fixed screw (43B) structure on the left of lower end on the right side of lower end；

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) are used cooperatively in pairs, initially pass through the lower end right side respectively Through-hole seven (46A), through-hole eight (46B) in side support plate (41A) and through-hole nine (46C), are then inserted into middle-end console (2) Support plate (28) on the right side of hole nine (28A), hole ten (28B), in Kong Shiyi (28C), lower end Right side support plate (41A) is fixed Firmly；

Standing screw four (44D-1) and hold-doun nut four (44D-2), standing screw five (44E-1) and hold-doun nut five (44E-2), standing screw six (44F-1) and fixing nut six (44F-2) are used cooperatively in pairs, initially pass through a lower end left side respectively Through-hole ten (46D), through-hole 11 (46E) in side support plate (41B) and through-hole 12 (46F), are then inserted into middle-end control In hole 12 (28D), Kong Shisan (28E) and Kong Shisi (28F) on the left of the support plate (28) of platform (2), by lower end Left-side support Plate (41B) is fixed；

Right side Fixed latches one (45A), Fixed latches two (45B), the Fixed latches three of lower end Right side support plate (41A) Kong Shijiu (47A) on lower end Right side support plate (41A), hole are inserted into the respective one end (45C) and Fixed latches four (45D) respectively In 20 (47B), Kong Ershi mono- (47C) and Kong Ershi bis- (47D), the respective other end is inserted into middle-end console (2) respectively In hole one (24A), hole two (24B), hole three (24C) and Kong Si (24D) on the right side of inner groovy tablet table top (27), middle-end is controlled The right end of platform (2) is fixed on lower end Right side support plate (41A)；

Left side Fixed latches five (45E), Fixed latches six (45F), the Fixed latches seven of lower end Left-side support plate (41B) The respective one end (45G) and Fixed latches eight (45H) be inserted into respectively Kong Ershi tri- (47E) on lower end Left-side support plate (41B), In Kong Ershi tetra- (47F), hole 2 two ten five (47G), Kong Ershi six (47H), the respective other end is inserted on middle-end console (2) Hole five (24E), hole six (24F), hole seven (24G), in hole eight (24H), the left end of middle-end console (2) is fixed on a lower end left side In side support plate (41B)；

In this way, lower end Right side support plate (41A) and lower end Left-side support plate (41B) constitute H-type with middle-end console (2), Keep entire virtual operation training platform more firm；

Rotation axis (42A), lower end left pivot movement axis (42B), lower end right side on the right side of lower end in lateral bolster bracing plate assembly (4) Fixed screw (43B) is used for the rotation of upper end display station (1) on the left of fixed screw (43A) and lower end；When trainer presses upwards After movement buttons (23A), stepper motor (184) will start to rotate and screw thread rod iron (187) driven to be rotated up, drive rod (185) side of connection screw thread rod iron (187) will rotate down, and the other side is driven by connecting screw (186) to be turned on the right side of lower end Fixed screw (43B) turns on the left of moving axis (42A), lower end left pivot movement axis (42B), lower end right side fixed screw (43A) and lower end It is dynamic, realize that upper end display station (1) is adjusted up；It moves downward button (23B) stepper motor (184) when trainer presses and will start It rotating and screw thread rod iron (187) is driven to rotate down, the side of drive rod (185) connection screw thread rod iron (187) will be rotated up, The other side drives rotation axis (42A) on the right side of lower end, lower end left pivot movement axis (42B), lower end right side solid by connecting screw (186) Determine fixed screw (43B) on the left of screw (43A) and lower end, realizes that upper end display station (1) is adjusted downwards；

The upper end display station (1) of the adaptive pose virtual operation training platform of immersion of the present invention is according to man-machine Engineering science designs, and meets human body all brain structures feature, and trainer can go deep into brain in platform when being trained completely, and flat Platform combines together, enhances the feeling of immersion of trainer；

The adaptive pose virtual operation training platform of immersion of the present invention can be provided for trainer power feel, vision, The interactive 3D dynamic visions of the Multi-source Information Fusions such as tactile, make trainer be immersed in completely in virtual operative training system, To which the operation for fast and efficiently improving trainer is horizontal.

The upper end display station (1) of the adaptive pose virtual operation training platform of immersion of the present invention is equipped with 3D mirrors Piece component (15), trainer need not wear more convenient, comfortable when 3D glasses trainers operation；

The adaptive pose virtual operation training platform of immersion of the present invention can be according to the height of trainer, custom The adaptive adjustment pose of posture of performing the operation, makes trainer be operated according to the posture that oneself is accustomed to, improves trainer Trained comfort.

It is installed on the upper end display station (1) of the adaptive pose virtual operation training platform of immersion of the present invention limited Bit switch, when trainer due to display module position in upper end caused by maloperation is excessively high or low when be automatically stopped, prevent danger Occur；

Trainer is in training on the adaptive pose virtual operation training platform of immersion not by time and space Limitation, can repeatedly, lossless, undistorted progress virtual operation training.

By using the adaptive pose virtual operation training platform of immersion of the present invention, test and appraisal personnel can pass through The training process of the whole person of watching training of the external 3D display device (16B) of upper end display station (1), timely refers to trainer It leads.Meanwhile the entire training process of trainer can preserve, test and appraisal personnel can open the training file pair of preservation anywhere or anytime The training effect of trainer is evaluated.

A kind of the characteristics of immersion of the present invention adaptive pose virtual operation training platform：

(1) Platform Designing is based on human face structure, meets ergonomics, feeling of immersion is strong.Before the upper end of upper end display station (1) Cover board (17) is designed according to face physiological structure, meets ergonomics, can be complete by entire face when trainer is trained Embedded central field of view (172), the baffle (171A, 171B) of the left and right sides, can be complete by human ear then according to human ear structure design It wraps entirely, apery body bridge of the nose device (173) is to copy the design of the human body bridge of the nose, and be recessed inwardly, and prevents from exhaling in training process It inhales unsmooth.Therefore, entire head can be fully penetrated into platform when trainer trains, not by interference such as ambient light, sound Source influences, and enhances the feeling of immersion of virtual emulation；Meanwhile head wrapped up by platform after be not susceptible to other things influence and control It swings, can more put into this way in virtual emulation training, further enhance feeling of immersion.Trainer passes through two force feedbacks in left and right Equipment can really experience equipment and do different operations in virtual environment, touch the difference fed back when different tissues Feedback force, allow trainer to experience as the power really performed the operation is felt, allow trainer to be immersed in completely by multiple perception in this way In the virtual environment of reconstruct.

(2) adaptive pose, operation are comfortable.Virtual operation platform can be according to the operation of trainer's different height and custom Posture automatically adjusts height, and regulation button is arranged on middle-end console, easy to adjust.Meanwhile operation (including the void of system Quasi- surgical instrument switches, trains the newly-built of file, preservation, deletes, the adjustment of syetematic view) in 10 cun of liquid of middle-end console It is completed on brilliant touch screen, trainer is allowed easily to carry out system operatio.

(3) the virtual surgical procedure true to nature of energy, trainer are soft by force feedback equipment and the human body in virtual world Tissue interacts, and can simulate the surgical procedures such as palpation, cutting, the tearing in true operation, while increasing frequent when operation Occur bleed, the human bodies physiological phenomenon such as beat pulse.In addition, in order to further enhance the realism of trainer, it is embedding in system Ticktock, beat pulse sound, allow trainer to experience tactile, vision, sense of hearing etc. multiple when having entered the true operation of acquisition Information Perception is seemingly carrying out true operation equally.

(4) scalability is strong：First, a kind of immersion disclosed by the invention adaptive pose virtual operation training platform Force feedback equipment is not dedicated.The higher Phantom-OMNI force feedback equipments with six degree of freedom of cost performance can be chosen, Also other force feedback equipments can be chosen as needed.Secondly, it is not directed to certain specific class in the design of platform to perform the operation, so yet Will be very convenient when needing to extend other type of surgery on this system, different type of surgery depends primarily on virtual operation The design of training software.

(5) whole observation, evaluation can be carried out to trainer's operating process.The present invention devises double 3D display screens, and one aobvious The inside that display screen is located at platform is used for trainer, and another display location is watched in the outer tip end of platform for other staff, is examined Comment the entire operation observing, instruct, evaluating, being conducive to quickly improve trainer in this way that personnel can operate trainer Operation is horizontal.

Description of the drawings

Fig. 1 is the structure chart of the adaptive pose virtual operation training platform of immersion.

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 board 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 external 3D display device mounting device structure chart.

Fig. 8 is internal 3D display device mounting device structure chart.

Fig. 9 is 3D glasses piece mounting device structure charts.

Figure 10 is 3D glasses piece mounting device exploded views.

Figure 11 is 3D display device.

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 supporting table exploded view.

Figure 19 is lateral support plate component structure figure.

Figure 20 is lateral bolster bracing plate assembly exploded view.

In figure：1 is upper end display station, and 11A is upper end right cover plate, and 11B is upper end left cover, and 111A is right rotation shafts, 111B is left rotation shaft, and 112A is right position fixing threaded hole, and 112B is that fixing threaded hole is set in left position, and 113A is right-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 be upper end upper cover plate, and 122 be upper end back shroud, and 123 be internal supporting beam, and 124 be upper end lower cover, and 125 are Internal 3D display device fixes metal derby.

13 be external 3D display device mounting device, and 131A is left screwing screw, and 131B is right screwing screw, and 132A is left position Setting-up piece one is set, 132B is right position setting-up piece one, and 133 be longitudinally fixed part, and 134 be longitudinal support beam, and 135 is laterally Fixing piece, 136 be the display connector with card slot, and 137 be bottom transverse direction supporting beam.

14 be internal 3D display device mounting device, and 141A is right lock screw, and 141B is left lock screw, and 142A is right position Setting-up piece two is set, 142B is that setting-up piece two is set in left position, and 143 be the display connector with card slot, and 144 laterally prop up for bottom Support beam.

15 be 3D eyeglass mounting assemblies, and 151A is right front portion eyeglass fixed frame, and 151B is left front lens fixed frame, 152B For left eye 3D eyeglasses, 152A is right eye 3D eyeglasses, and 153A is right rear portion eyeglass fixed frame, and 153B is left back portion's eyeglass fixed frame.

16A is internal 3D display device, and 16B is external 3D display device.

17 be upper end front shroud, and 171A is right-hand apron, and 171B is left side baffle, and observation area centered on 172,173 be imitative Human nasal boom device, 174A are that 3D eyeglasses install right through-hole, and 174B is that 3D eyeglasses install left through-hole.

18 be rotary electric component, and 181 casees in order to control, 1811 be velocity control knob, and 1812 be rotary electric switch, 182 hubs, 183A are upper limit position switch, and 183B is lower position switch, and 184 be stepper motor, and 185 be drive rod, and 186 be company Screw is connect, 187 be screw thread rod iron.

2 be middle-end console, and 21 be power switch button, and 22 be system boot button, 23A upper end display modules in order to control Button is moved upwards, upper end display module moves downward button to 23B in order to control, and 24A is hole one, and 24B is hole two, and 24C is hole three, 24D is Kong Si, and 24E is hole five, and 24F is hole six, and 24G is hole seven, and 24H is hole eight, and 25A is through-hole one, and 25B is through-hole two, 26A For force feedback equipment installation groove one, 26B is force feedback equipment installation groove two, and 27 be inner groovy tablet table top, and 28 be support Plate, 28A are hole nine, and 28B is hole ten, and 28C Kong Shiyi, 28D are hole 12, and 28E Kong Shisan, 28F Kong Shisi, 28G are Through-hole three, 28H are through-hole four, and 28I is through-hole five, and 28J is through-hole six, and 28K Kong Shiwu, 28L Kong Shiliu, 28M are hole ten Seven, 28N are that hole 18,29 is touch screen installation groove.

3 be lower end supporting table, and 31A is the upper part of lower end front shroud, and 31B is the lower part of lower end front shroud, and 32 be meter Calculation machine graphics workstation, 33 be support rod iron, and 34 be trough of belt supporting beam, and 35 be lower support component, and 351 be band groove footrest Plate, 352 be rear foot pedal, and 353A is the band right setting-up piece of groove foot pedal, and 353B is the band left setting-up piece of groove foot pedal, 354A is the right setting-up piece of foot pedal, and 354B is the left setting-up piece of foot pedal, and 355A is right bottom metal support element, and 355B is a left side Bottom metal support element, 36A are lower end back shroud top, and 36B is in the middle part of the back shroud of lower end, and 36C is lower end back shroud lower part.

4 be lateral bolster bracing plate assembly, and 41A is lower end Right side support plate, and 41B is lower end Left-side support plate, and 42A is that lower end is right Side rotation axis, 42B are lower end left pivot movement axis, and 43A is fixed screw on the right side of lower end, and 43B is fixed screw on the left of lower end, 44A- 1 is standing screw one, and 44B-1 is standing screw two, and 44C-1 is standing screw three, and 44D-1 is standing screw four, and 44E-1 is solid Determine screw rod five, 44F-1 is standing screw six, and 44A-2 is fixing nut one, and 44B-2 is fixing nut two, and 44C-2 is fixed spiral shell Three, 44D-2 of mother is fixing nut four, and 44E-2 is fixing nut five, and 44F-2 is fixing nut six, and 45A is Fixed latches one, 45B is Fixed latches two, and 45C is Fixed latches three, and 45D is Fixed latches four, and 45E is Fixed latches five, and 45F is Fixed latches Six, 45G are Fixed latches seven, and 45H is Fixed latches eight, and 46A is through-hole seven, and 46B is through-hole eight, and 46C is through-hole nine, and 46D is Through-hole ten, 46E are through-hole 11, and 46F is through-hole 12, and 47A Kong Shijiu, 47B Kong Ershi, 47C are Kong Ershi mono-, 47D It is Kong Ershi tri- for Kong Ershi bis-, 47E, 47F is Kong Ershi tetra-, and 47G is Kong Ershi five, and 47H is Kong Ershi six.

Specific implementation mode

The present invention is described in further detail below in conjunction with the drawings and specific embodiments.

The present invention is a kind of adaptive pose virtual operation training platform of immersion, as shown in Figure 1, the platform is shown by upper end Show that four parts such as platform 1, middle-end console 2, lower end supporting table 3 and lateral bolster bracing plate assembly 4 form.In the present invention, at least also answer Including a computer graphical work station, two force feedback equipments.

Fig. 1-Figure 14 gives upper end display module connection and assembling figure in detail, is specifically described as follows：

As shown in Figures 2 and 3, upper end display station 1 includes 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, upper end front shroud 17, internal 3D display device 16A, external 3D display device 16B, external 3D display device mounting device 13, internal 3D display device mounting device 14,3D eyeglasses mounting assembly 15, electronic rotation group Part 18.Wherein, left cover 11B in upper end is identical with upper end right cover plate 11A structures.

As shown in Figures 2 and 3, 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 upper end front shroud 17 form a confined space, and trainer passes through 15 observable of 3D Lens assemblies The virtual operation scene that the inside 3D display device 16A being placed on internal 3D display device mounting device 14 is shown.

As shown in Figure 4 and Figure 5, there are one the left through-hole 114B of runner assembly by upper end left cover 11B, dynamic by turning left for installing Axis 111B, left position set the left runner assembly of fixing threaded hole 112B and left-hand rotation mobile gasket 113B compositions.Upper end right cover plate 11A centre bits Setting respectively has the right through-hole 114A of runner assembly, for installing right rotation shafts 111A, right position fixing threaded hole 112A and dynamic pad of turning right The right runner assembly of piece 113A compositions.Wherein, left rotation shaft 111B is identical as right rotation shafts 111A structures；Set fixing threaded hole in left position 112B is identical as right position fixing threaded hole 112A structures；Left-hand rotation mobile gasket 113B is identical as right-hand rotation mobile gasket 113A structures.

As shown in Fig. 3, Fig. 7 and Figure 11, external 3D display device mounting device 13 is solid by bottom transverse direction supporting beam 137, transverse direction Determine part 135, longitudinal support beam 134, longitudinally fixed part 133, the display connector 136 with card slot, left screwing screw 131B, the right side Screwing screw 131A, left position set one 132B of setting-up piece, right one 132A of position setting-up piece composition.Wherein, left screwing screw 131B is identical as right screwing screw 131A structures；Set one 132B of setting-up piece and one 132A structure phases of right position setting-up piece in left position Together；Display connector 136 with card slot can rotate within the scope of about 133 10 degree of longitudinally fixed part, 3D display external in this way Device 13 can up and down adjustment position, facilitate observer to watch the content shown on external 3D display device 16A；

As shown in Fig. 3, Fig. 6 and Fig. 8, internal 3D display device mounting device 14 fixes metal derby 125 with internal 3D display device It matches and is fixed in internal supporting beam 123；Internal 3D display device mounting device 14 is by bottom transverse direction supporting beam 144, band card slot Display connector 143, the left positions identical with right lock screw 141A, structure the identical left lock screw 141B of structure set it is solid Determine two 142B of gasket and right two 142A of position setting-up piece, not rotatable；

As shown in Fig. 2, Fig. 3, Fig. 9, Figure 10 and Figure 12, two groups of 3D lens attachments 15 of right and left eyes are by the identical left side of structure Front lens fixed frame 151B left eye 3D eyeglass 152Bs identical with right front portion fixed frame 151A, structure and right eye 3D eyeglasses The identical left back portion's eyeglass fixed frame 153B of 152A, structure and right rear portion eyeglass fixed frame 153A is formed；By left eye 3D eyeglasses 152B is mounted among left front lens fixed frame 151B and left back portion's eyeglass fixed frame 153B, is rigidly mounted together to 3D eyeglasses It installs on left through-hole 174B；Right eye 3D eyeglasses 152A is mounted on right front portion eyeglass fixed frame 151A and right rear portion eyeglass fixed frame Among 153A, it is rigidly mounted together to 3D eyeglasses and installs on right through-hole 174A；

As shown in figure 12, the upper end front shroud 17 of upper end display station 1 meets face physiology knot according to ergonomic design Entire face can be fully inserted into central field of view 172, left side baffle 171B and right-hand apron by structure when trainer is trained 171A, can be fully wrapped around firmly by human ear then according to human body or so side face structure design, and front apery body bridge of the nose device 173 is then copied The human body bridge of the nose designs, and is recessed inwardly, and to virtual operation trainer there are space breathing, prevents from breathing not in training process Freely.Therefore, during entire head can be fully penetrated into platform by trainer when virtual operation is trained, not by ambient light, sound Equal interference sources influence, and enhance the feeling of immersion of virtual emulation；Meanwhile head wrapped up by platform after be not susceptible to other things influence And swing, it can more put into this way in virtual emulation training, further enhance feeling of immersion；

As shown in Figure 13, Figure 14, Figure 16 and Fig. 2, rotary electric component 18 is mounted on the upper end sides right cover plate 11A；It is electronic Rotary components 18 are by control cabinet 181, hub 182, the identical upper limit position switch 183A of structure and lower position switch 183B, stepping The components such as motor 184, drive rod 185, connecting screw 186 and screw thread rod iron 187 form；One end of screw thread rod iron (187) and step The shaft of stepper motor (184) is connected, and the other end of screw thread rod iron (187) is connected with drive rod (185)；Drive rod (185) one End is fixed on upper end right cover plate (11A), the other end and the right side that upper end right cover plate (11A) is connected to by connecting screw (186) In rotation axis (111A)；Upper limit position switch (183A), lower position switch (183B) are mounted on upper end right cover plate (11A) close to interior Side edge is located at the both sides of drive rod (185), while positioned at the side of screw thread rod iron (187)；Control cabinet (181) and Hub (182) is all mounted 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 cord are all connected on hub (182)； Button (23A) is moved upwards with control upper end display module again for hub (182) and control upper end display module is moved downward and pressed Button (23B) is connected；After virtual operation training starts, posture when trainer is according to height and operation.Trainer is in adjustment When holding 1 position of display station, if pressing upward button 23A, stepper motor 184 will start to rotate and drive screw thread rod iron 187 upward Rotation, the side of 185 connection screw thread rod iron 187 of drive rod will rotate down, and be shown by the upper end that connecting screw 186 connects Platform 1 will be rotated up；If pressing down button 23B, stepper motor 184 will start to rotate and screw thread rod iron 187 driven to turn downwards Upper end display station dynamic, that the side of 185 connection screw thread rod iron 187 of drive rod will be rotated up, and be connected by connecting screw 186 1 side will move down；The rotation that just upper end display module 1 can be made upper and lower by the rotation of stepper motor in this way；Upper limit Switch 183A and lower position switch 183B can control upper end display module 1 in the angular range of spatial rotational；According to human body brain It is daily bow, the maximum at the elevation angle, the present invention is arranged ranging from 30 degree of the upper and lower rotation of upper end display station 1；It can prevent in this way Trainer is because of potential danger caused by the maloperation angle that causes upper end display station 1 to rotate up and down is excessive；Control cabinet 181 has There are two function, one of function is control 184 velocity of rotation of stepper motor, can be adjusted by velocity control knob 1811 Section；Second function is the opening and closing for controlling stepper motor 184 and rotating, and can be operated by rotary electric switch 1812；

As shown in Fig. 1, Figure 15 and Figure 16, middle-end console 2 is by inner groovy tablet table top 27, support plate 28, power switch Button 21, system boot button 22, control upper end display module move upwards button 23A, control upper end display module is transported downwards Dynamic button 23B and 10 cun of liquid crystal touch screen compositions；In the present invention, middle-end console 2 designs for indent, two force feedback equipments Be placed on the inner groovy tablet table top 27 of middle-end console 2, trainer can according to the situation of actual operation, select stand into Row operative training can also increase a seat, be seated and carry out operative training.Waist can be goed deep into inner groovy by trainer when standing In tablet table top 27；Chest can be goed deep into inner groovy tablet table top 27 when being seated trained, facilitate and operated.

As shown in Fig. 1, Figure 13, Figure 14, Figure 15 and Figure 16, middle-end console 2 will operate needed for virtual operation process Button is placed on inner groovy tablet table top 27, including：Power switch button 21, system boot button 22, control upper end are shown 10 cun of liquid that platform 1 moves upwards button 23A, control upper end display module 1 moves downward button 23B, controlled for training system Brilliant touch screen；

Power switch button 21 is connected to by cable on power supply, and power switch button is for controlling entire virtual operation training The electric power starting of platform and closing；System boot button 22 is connect by cable with computer graphical work station 32, and the work is controlled Make the opening and closing stood；Control upper end display module moves upwards button 23A by cable and hub 182, is connected, hub 182 It is connect again with stepper motor 184, control upper end display station 1 moves upwards；Control upper end display module moves downward button 23B It is connected with hub 182 by cable, hub 182 connect 184 with stepper motor again, and control upper end display module 1 is transported downwards It is dynamic；Wherein, connection control upper end display station 1 moves upwards button 23A and moves downward button with control upper end display station 1 is connect 23B structures are identical；10 cun of liquid crystal touch screens are installed, 10 cun of liquid crystal touch screens are virtual for controlling in touch screen installation groove 29 Surgical instrument (scalpel, palpation stick) switching, the adjusting of visual angle when operative training, train file data it is newly-built, delete and It preserves；

As shown in Figure 15 and Figure 16, respectively there are one anti-for placing power for design for the right and left on inner groovy tablet table top 27 Present the groove (26A, 26B) of equipment；Wherein one 26A of force feedback equipment installation groove is tied with two 26B of force feedback equipment installation groove Structure is identical；The identical force feedback equipment of two structures in left and right is individually placed to two 26B of force feedback equipment installation groove and is set with force feedback The Capacitance Unbalance in Telecom Cables of one 26A of standby installation groove, two force feedback equipments in left and right are each passed through two 25B of through-hole and one 25A of through-hole connects It is connected on the USB interface of work station 32；Wherein, one 25A of through-hole is identical as two 25B structures of through-hole；

As shown in figure 16, there are six the identical holes of structure altogether for the left and right sides in support plate 28, are respectively depicted as：Nine 28A of hole, Ten 28B of hole, Kong Shiyi 28C, 12 28D of hole, Kong Shisan 28E, Kong Shisi 28F；Wherein, nine 28A of hole on 28 right side of support plate, hole Ten 28B and Kong Shiyi 28C are used for the fixation of lower end right side support plate 41A, hole 12 28D, the Kong Shisan in 28 left side of support plate 28E and Kong Shisi 28F are used for the fixation of upper end left side support plate 41B；Fixing screws pass through the through-hole three of 28 lower part of support plate After this identical through-hole of four structures of 28G, four 28H of through-hole, five 28I of through-hole and six 28J of through-hole, it is inserted into inner groovy tablet table top In this identical hole of four structures Kong Shiwu 28K, Kong Shiliu 28L, 17 28M of hole and 18 28N of hole at 27 rear portions, by support plate 28 are fixed on inner groovy tablet table top 27；

After virtual operation training starts, trainer presses the electricity that power switch button 21 opens entire stage apparatus first Source；Then, it presses system boot button 22 and starts computer graphical work station 32；Then, virtual operation is opened by touch screen Training system；Trainer can upper end display module moves upwards button 23A and control upper end display module is transported downwards by controlling Dynamic button 23B adjusts the position of upper end display station 1, finds best observation position；In training process, trainer can be by being mounted on The switching of 10 cun of liquid crystal touch screens progress surgical instrument (scalpel, palpation stick) in touch screen installation groove 29, the tune at visual angle Whole, training file data newly-built, deletion and preservation etc.；Force feedback equipment is used for deformation such as surgical instrument and soft tissues Cheng Jinhang real time values calculate, and simulate the deformation of soft tissue and instrument stress and feed back to trainer.

As shown in Fig. 1, Figure 17 and Figure 18, lower end supporting table 3 by lower end front shroud (31A, 31B), lower end back shroud (36A, 36B, 36C), support rod iron 33, trough of belt supporting beam 34 and lower support component 35 constitute；Wherein, the upper part of lower end front shroud 31A is arc, and the lower part 31B of lower end front shroud is rectangle；Lower end front shroud lower part 31B can be inserted into trough of belt supporting beam 34 In；Lower end back shroud top 36A is identical as 36B structures in the middle part of the back shroud of lower end, and lower end back shroud lower part 36C is arc, can be inserted In the groove for entering foot pedal 351 with groove, three parts are connected together through the hinges, and are easy to open；Lower support component 35 include：Bottom support (355A, 355B), foot pedal (351,352), setting-up piece (353A, 353B, 354A, 354B)；Its In, bottom left metallic supports 355B is identical as right bottom metal support element 355A structures, and two bottom supports all carry can The pulley of rotation facilitates the movement of entire platform；Band groove foot pedal 351 is solid by the left setting-up piece 353B of band groove foot pedal It is scheduled on the left side of bottom left metallic supports 355B, being fixed on right bottom by the band right setting-up piece 353A of groove foot pedal supports The right side of metalwork 355A；Rear foot pedal 352 is fixed on bottom left by the left setting-up piece 354B of foot pedal and supports metalwork The left side of 355B is fixed on the right side of right bottom metal support element 355A by the right setting-up piece 354A of foot pedal；

As shown in Fig. 1, Figure 19 and Figure 20, the support plate of lateral bolster bracing plate assembly 4 including two pieces of special shapes (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 support plate 41B is identical as lower end Right side support plate 41A structures；Standing screw One 44A-1, two 44B-1 of standing screw, three 44C-1 of standing screw, four 44D-1 of standing screw, five 44E-1 of standing screw and fixation Six 44F-1 structures of screw rod are identical；One 44A-2 of hold-doun nut, two 44B-2 of hold-doun nut, three 44C-2 of hold-doun nut, hold-doun nut Four 44D-2,5 five 44E-2 of hold-doun nut are identical with six 44F-2 structures of hold-doun nut；

As shown in Figure 16 and Figure 20, one 44A-2 of one 44A-1 of standing screw and hold-doun nut, two 44B-1 of standing screw and solid Determine two 44B-2 of nut, three 44C-1 of standing screw and three 44C-2 of hold-doun nut to be used cooperatively in pairs, is each passed through the lower end right side Seven 46A of through-hole, eight 46B of through-hole and nine 46C of through-hole on side support plate 41A are inserted into 28 right side of support plate of middle-end console 2 Lower end Right side support plate 41A is fixed in nine 28A of hole, ten 28B and Kong Shiyi 28C of hole；Four 44D-1 of standing screw and fixed spiral shell Five 44E-2 of four 44D-2 of cap, five 44E-1 of standing screw and hold-doun nut, six 44F-1 of standing screw and six 44F-2 two of fixing nut Two 1 groups are used cooperatively, ten 46D of through-hole, 11 46E of through-hole and the through-hole 12 being each passed through on the Left-side support plate 41B of lower end 46F, which is inserted into 12 28D of left hole, Kong Shisan 28E, Kong Shisi 28F of the support plate 28 of middle-end console 2, to be propped up on the left of lower end Fagging 41B is fixed；

As shown in Figure 16 and Figure 20, one 45A of right side Fixed latches of Right side support plate 41A, two 45B of Fixed latches, fixation Three 45C of bolt, the Kong Shijiu (47A) on four one end 45D of Fixed latches insertion lower end Right side support plate 41A, Kong Ershi 47B, hole For 21 47C, Kong Ershi bis- in 47D, one 24A of right ports of the inner groovy tablet table top 27 of middle-end console 2, hole are inserted into one end In two 24B, three 24C of hole, four 24D of hole, the right end of middle-end console 2 is fixed on the Right side support plate 41A of lower end；Left-side support Under five 45E of left side Fixed latches of plate 41B, six 45F of Fixed latches, seven 45G of Fixed latches, eight one end 45H of Fixed latches are inserted into Tri- tetra- five 47G, Kong Ershi six in 47H of 47F, Kong Ershi of 47E, Kong Ershi of Kong Ershi on Left-side support plate 41B is held, one end is inserted into In five 24E of hole, six 24F of hole, seven 24G of hole, eight 24H of hole on the left of the inner groovy tablet table top 27 of middle-end console 2, by middle-end control The left end of platform 2 processed is fixed on the Left-side support plate 41B of lower end；In this way, Right side support plate 41A and Left-side support plate 41B and middle-end Console component 2 constitutes H-type, keeps entire virtual operation training platform more firm；

As shown in Fig. 1, Figure 13, Figure 14 and Figure 20, rotation axis 42A, lower end are left on the right side of the lower end in lateral bolster bracing plate assembly 4 Fixed screw 43A and lower end left side fixed screw 43B is used for the rotation of upper end display station 1 on the right side of side rotation axis 42B, lower end.When Trainer presses move upwards button 23A after, stepper motor 184 will start to rotate and screw thread rod iron 187 driven to be rotated up, drive The side of 185 connection screw thread rod iron 187 of lever will rotate down, and the other side drives rotation on the right side of lower end by connecting screw 186 Axis 42A, lower end left pivot movement axis 42B, fixed screw 43A on the right side of lower end) and lower end on the left of fixed screw 43B rotate, in realization End display station 1 is adjusted up；Button 23B is moved downward when trainer presses, stepper motor 184 will start to rotate and drive screw thread Rod iron 187 rotates down, and the side of 185 connection screw thread rod iron 187 of drive rod will be rotated up, and the other side passes through connecting screw 186 drive on the left of rotation axis (42A) on the right side of lower end, lower end left pivot movement axis 42B, lower end right side fixed screw 43A and lower end admittedly Determine screw 43B, realizes that upper end display station 1 is adjusted downwards；

The upper end display station 1 of the adaptive pose virtual operation training platform of the immersion be according to ergonomic design, Meeting human body all brain structures feature, brain can be goed deep into platform when being trained, combined together with platform by trainer completely, Enhance the feeling of immersion of trainer；The upper end display station 1 of the adaptive pose virtual operation training platform of the immersion is by upper end right cover 17 groups of plate 11A, upper end left cover 11B, upper end upper cover plate 121, upper end lower cover 124, upper end back shroud 122 and upper end front shroud It is completely closed space at one, light can not be injected wherein, and trainer can observe internal 3D display device 16A and show without single devotion Virtual operation scene, further enhance the feeling of immersion of trainer；The adaptive pose virtual operation training platform of the immersion can The interactive 3D dynamic visions that the Multi-source Information Fusions such as power feel, vision, tactile are provided for trainer, make trainer be immersed in completely In virtual operative training system, to which the operation for fast and efficiently improving trainer is horizontal；The adaptive pose of the immersion is empty The upper end display station 1 of quasi- operative training platform is equipped with 3D Lens assemblies 15, and trainer need not wear 3D glasses trainers operation When it is more convenient, comfortable；The adaptive pose virtual operation training platform of the immersion can be according to the hand of the height of trainer, custom The adaptive adjustment pose of art posture, makes trainer be operated according to the posture that oneself is accustomed to, and improves trainer's instruction Experienced comfort；Limit switches are installed on the upper end display station 1 of the adaptive pose virtual operation training platform of the immersion, when Trainer prevents dangerous generation due to being automatically stopped when display module position in upper end caused by maloperation is excessively high or low；Training Person on the adaptive pose virtual operation training platform of the immersion training when do not limited by time and space, can repeatedly, Lossless, undistorted progress virtual operation training.

By using the adaptive pose virtual operation training platform of the immersion, test and appraisal personnel can pass through upper end display station The training process of the 1 external 3D display device 16B whole process persons of watching training, timely instructs trainer.Meanwhile trainer Entire training process can preserve, and the training file that test and appraisal personnel can open preservation anywhere or anytime imitates the training of trainer Fruit is evaluated.

The present invention is illustrated using cranial surgery virtual operation as specific example.After training starts, trainer first, presses electricity Source switch button 21 connects the power supply of entire stage apparatus；Then, it presses system boot button 22 and starts computer graphical work Stand 32；Then, virtual operation training system is opened by 10 cun of liquid crystal touch screens；After system is opened, trainer's first step is new A new training file is built, the shortcut key that new files are arranged in system is Ctrl+N.Second step is ordered for newly-built training file Name, the naming method of recommendation are：The initial of date+trainer's name, such as trainer on November 8 " journey is big " progress in 2015 Virtual operation training, then can name trained file entitled：20151108CD.This have the advantage that convenient for searching certainly in the future Oneself training file.Third walks, and trainer carries out virtual operation training.Trainer is placed on by operation on middle-end console 2 Two force feedback equipments and virtual training system of the right and left interact, and trainer can be to virtual soft group in virtual environment It knits and carries out palpation, cutting, tearing, the operations such as suction, force feedback equipment according to the different operation of trainer and can be touched Soft tissue different parts feed back to the different feedback force of trainer, allow trainer to experience power identical with true surgical procedure and feel Impression；Meanwhile the inside 3D display device 16A of upper end display station 1 is after trainer shows that force feedback equipment is interacted with soft tissue 3D visual effects, trainer can be observed soft tissue by the soft tissue deformation after force feedback equipment palpation, soft group after cutting Knit the visual effect of the different operations such as disappearance of soft tissue after the soft tissue after expansion, tearing splits and aspirates；In order to further The visual realism for enhancing virtual system also simulates phenomenon of bleeding in true surgical procedure, beat pulse；In sense of hearing side It is being instructed in the heartbeat sound of patient and beat pulse sound embedded system in the true surgical procedure acquired in advance in face Different sound is played according to different simulated scenarios when practicing, and trainer is allowed to experience true auditory perception.In this way, trainer The Multi-source Information Fusions such as power feel, vision, the sense of hearing experienced as really performing the operation that in the training process can be comprehensive Interactive 3D dynamic visions, so that trainer is immersed in completely in virtual operative training system, to fast and efficiently carry The operation of high trainer is horizontal.

In the present invention, trainer train when do not limited by time and space, can repeatedly, lossless, undistorted progress Virtual operation is trained.

In the present invention, test and appraisal personnel can pass through the external 3D display device 16B whole process persons' of watching training of upper end display station 1 Training process is timely given and is instructed.Meanwhile the entire training process of trainer can preserve, test and appraisal personnel can be whenever and wherever possible Opening preserve training file the training effect of trainer is evaluated.

Claims

1. a kind of adaptive pose virtual operation training platform of immersion, feature is by upper end display station (1), middle-end console (2), (4) four parts of lower end supporting table (3) and lateral bolster bracing plate assembly form；

The upper end display station (1) include upper end left cover (11B), upper end right cover plate (11A), upper end upper cover plate (121), on Hold lower cover (124), upper end back shroud (122), upper end front shroud (17), two 3D display devices (16A, 16B), external 3D display Device mounting device (13), internal 3D display device mounting device (14), 3D eyeglasses mounting assembly (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 rear cover Plate (122) and upper end front shroud (17) form a confined space；

External 3D display device mounting device (13) is by bottom transverse direction supporting beam (137), lateral fixing piece (135), longitudinal support beam (134), longitudinally fixed part (133), the display connector (136) with card slot, the identical left screwing screw (131B) of structure with Right screwing screw (131A), the identical left position of structure set setting-up piece (132B) and right position setting-up piece (132A)；Band card slot Display connector (136) can be rotated within the scope of longitudinally fixed part (133) up and down 10 degree, make external 3D display device installation dress Setting (13) can up and down adjustment position；

Internal 3D display device mounting device (14) matches with internal 3D display device fixation metal derby (125) and is fixed on internal support On beam (123)；Internal 3D display device mounting device (14) is by bottom transverse direction supporting beam (144), the display connector with card slot (143), setting-up piece is set in the identical left lock screw (141B) of structure left position identical with right lock screw (141A), structure (142B) is formed with right position setting-up piece (142A)；

3D lens attachments (15) by the identical left front lens fixed frame (151B) of structure and right front portion fixed frame (151A), The identical left eye 3D eyeglasses (152B) of structure left back portion's eyeglass fixed frame (153B) identical with right eye 3D eyeglasses (152A), structure It is formed with right rear portion eyeglass fixed frame (153A)；By left eye 3D eyeglasses (152B) be mounted on left front lens fixed frame (151B) with Left back portion's eyeglass fixed frame (153B) is intermediate, is rigidly mounted together to 3D eyeglasses and installs on left through-hole (174B)；By right eye 3D mirrors Piece (152A) is mounted on right front portion eyeglass fixed frame (151A) among right rear portion eyeglass fixed frame (153A), is fixedly mounted together It is installed on right through-hole (174A) in 3D eyeglasses；

Rotary electric component (18) is mounted on the side upper end right cover plate (11A)；Rotary electric component (18) by control cabinet (181), Hub (182), the identical upper limit position switch of structure (183A) and lower position switch (183B), stepper motor (184), drive rod (185), connecting screw (186) and screw thread rod iron (187) composition；One end of screw thread rod iron (187) turns with stepper motor (184) Axis is connected, and the other end of screw thread rod iron (187) is connected with drive rod (185)；Drive rod (185) one end is fixed on upper end right cover On plate (11A), the other end and it is connected on the right rotation shafts (111A) of upper end right cover plate (11A) by connecting screw (186)；On Limit switch (183A), lower position switch (183B) are mounted on upper end right cover plate (11A) close to inside edge, are located at The both sides of drive rod (185), while positioned at the side of screw thread rod iron (187)；Control cabinet (181) and hub (182) are all installed In the upper portion of upper end right cover plate (11A), wherein control cabinet (181), upper limit position switch (183A), lower position switch The control line and power cord of (183B) and stepper motor (184) are all connected on hub (182)；Hub (182) again with control Upper end display module processed moves upwards button (23A) and moves downward button (23B) with control upper end display module and be connected；

The middle-end console (2) is by inner groovy tablet table top (27), support plate (28), power switch button (21), system Power on button (22), control upper end display module move upwards button (23A), control upper end display module moves downward button (23B) and liquid crystal touch screen form；

Power switch button (21), system boot button are installed on the inner groovy tablet table top (27) of middle-end console (2) (22), control upper end display module moves upwards button (23A), control upper end display module moves downward button (23B), installation Liquid crystal touch screen in touch screen installation groove (29)；Power switch button (21) is connected to by cable on power supply, control electricity The opening and closing in source；System boot button (22) is connect by cable with computer graphical work station (32), and opening for the work station is controlled It closes；Control upper end display module moves upwards button (23A) and is connect with hub (182) by cable, hub (182) again with Stepper motor (184) connects, and control upper end display station (1) moves upwards；Control upper end display module moves downward button (23B) It is connect with hub (182) also by cable, hub (182) is connect with stepper motor (184) again, controls upper end display module (1) it moves downward；

Respectively there are one the identical force feedbacks of structure for design for the right and left on the inner groovy tablet table top (27) of middle-end console (2) Equipment installation groove one (26A) and force feedback equipment installation groove two (26B)；The identical force feedback equipment of two structures is put respectively In force feedback equipment installation groove two (26B) and force feedback equipment installation groove one (26A), the communication of two force feedback equipments Cable, which is each passed through, to be connected to the USB of work station (32) after the identical through-hole two (25B) of two structures and through-hole one (25A) and connects On mouth；

Hole nine (28A), hole ten (28B) and Kong Shiyi (28C) on the right side of support plate (28) is for lower end Right side support plate (41A) Fixed, hole 12 (28D), Kong Shisan (28E) and Kong Shisi (28F) on the left of support plate (28) are used for lower end Left-side support plate The fixation of (41B)；

The downside of support plate (28) is there are four the identical through-hole of structure, the inner groovy tablet table top (27) on middle-end console (2) There are four the identical holes of structure below, after fixing screws are each passed through this identical through-hole of four structures of the downside of support plate (28) It is inserted into subsequent four holes of inner groovy tablet table top (27), support plate (28) is fixed on control table top；

The lower end supporting table (3) is by the upper part (31A) of lower end front shroud of arc shape, rectangular-shaped lower end front shroud After lower part (31B), structure identical lower end back shroud top (36A) hold end with lower end back shroud middle part (36B), arc Cover board lower part (36C), support rod iron (33), trough of belt supporting beam (34), lower support component (35) and computer graphical work station (32) it forms；

Lower end front shroud lower part (31B) is inserted into trough of belt supporting beam (34)；Lower end back shroud lower part (36C) is inserted into groove In the groove of foot pedal (351), (36B) and lower end back shroud lower part in the middle part of lower end back shroud top (36A), lower end back shroud These three parts (36C) are connected together through the hinges；

Lower support component (35) includes：Bottom metal support element (355A, 355B), foot pedal (351,352), setting-up piece (353A、353B、354A、354B)；Wherein, bottom left metallic supports (355B) and right bottom metal support element (355A) structure Identical, two bottom supports all carry rotatable pulley, drive the movement of entire platform；Band groove foot pedal (351) is left End passes through the left side that bottom left metallic supports (355B) is fixed on the left setting-up piece of groove foot pedal (353B), and band groove is stepped on Sole (351) right end with the right setting-up piece of groove foot pedal (353A) by being fixed on the right side that right bottom supports metalwork (355A) Side；The left end of rear foot pedal (352) is fixed on bottom left by the left setting-up piece of foot pedal (354B) and supports metalwork (355B) Left side, the right end of rear foot pedal (352) is fixed on right bottom metal support element by the right setting-up piece of foot pedal (354A) The right side of (355A)；

The lateral bolster bracing plate assembly (4) includes two pieces of support plates, lower end Left-side support plate (41B) and lower end Right side support plate (41A) structure is identical；Standing screw one (44A-1), standing screw two (44B-1), standing screw three (44C-1), standing screw Four (44D-1), standing screw five (44E-1) are identical with (44F-1) structure of standing screw six；Hold-doun nut one (44A-2) is fixed Nut two (44B-2), hold-doun nut three (44C-2), hold-doun nut four (44D-2), hold-doun nut five (44E-2) and hold-doun nut Six (44F-2) structures are identical；Rotation axis (42A) is identical with lower end left pivot movement axis (42B) structure on the right side of lower end, solid on the right side of lower end It is identical with fixed screw (43B) structure on the left of lower end to determine screw (43A)；

Two (44B- of standing screw one (44A-1) and hold-doun nut one (44A-2), standing screw two (44B-1) and hold-doun nut 2), standing screw three (44C-1) and hold-doun nut three (44C-2) are used cooperatively in pairs, initially pass through branch on the right side of lower end respectively Through-hole seven (46A), through-hole eight (46B) on fagging (41A) and through-hole nine (46C), are then inserted into the branch of middle-end console (2) In hole nine (28A), hole ten (28B), Kong Shiyi (28C) on the right side of fagging (28), lower end Right side support plate (41A) is fixed；

Five (44E- of standing screw four (44D-1) and hold-doun nut four (44D-2), standing screw five (44E-1) and hold-doun nut 2), standing screw six (44F-1) and fixing nut six (44F-2) are used cooperatively in pairs, initially pass through branch on the left of lower end respectively Through-hole ten (46D), through-hole 11 (46E) on fagging (41B) and through-hole 12 (46F), are then inserted into middle-end console (2) Support plate (28) on the left of hole 12 (28D), in Kong Shisan (28E) and Kong Shisi (28F), by lower end Left-side support plate (41B) is fixed；

Right side Fixed latches one (45A), Fixed latches two (45B), the Fixed latches three (45C) of lower end Right side support plate (41A) Kong Shijiu (47A), the Kong Ershi being inserted into respectively with the respective one end Fixed latches four (45D) on lower end Right side support plate (41A) In (47B), Kong Ershi mono- (47C) and Kong Ershi bis- (47D), the respective other end is inserted into the indent of middle-end console (2) respectively In hole one (24A), hole two (24B), hole three (24C) and Kong Si (24D) on the right side of slot tablet table top (27), by middle-end console (2) right end is fixed on lower end Right side support plate (41A)；

Left side Fixed latches five (45E), Fixed latches six (45F), the Fixed latches seven (45G) of lower end Left-side support plate (41B) It is inserted into Kong Ershi tri- (47E) on lower end Left-side support plate (41B), hole two respectively with the respective one end Fixed latches eight (45H) In 14 (47F), hole 2 two ten five (47G), Kong Ershi six (47H), the respective other end is inserted into the hole on middle-end console (2) In five (24E), hole six (24F), hole seven (24G), hole eight (24H), the left end of middle-end console (2) is fixed on branch on the left of lower end On fagging (41B)；

Lower end Right side support plate (41A) and lower end Left-side support plate (41B) constitute H-type with middle-end console (2)；

Rotation axis (42A), lower end left pivot movement axis (42B), lower end right side are fixed on the right side of lower end in lateral bolster bracing plate assembly (4) Fixed screw (43B) is used for the rotation of upper end display station (1) on the left of screw (43A) and lower end；It is moved upwards when trainer presses After button (23A), stepper motor (184) will start to rotate and screw thread rod iron (187) driven to be rotated up, and drive rod (185) is even Connecing the side of screw thread rod iron (187) will rotate down, and the other side drives rotation axis on the right side of lower end by connecting screw (186) Fixed screw (43A) and lower end left side fixed screw (43B) rotate on the right side of (42A), lower end left pivot movement axis (42B), lower end, real Existing upper end display station (1) is adjusted up；After trainer, which presses, moves downward button (23B), stepper motor (184) will start to turn It moves and screw thread rod iron (187) is driven to rotate down, the side of drive rod (185) connection screw thread rod iron (187) will be rotated up, separately Side drives rotation axis (42A) on the right side of lower end, lower end left pivot movement axis (42B), lower end right side fixed by connecting screw (186) Fixed screw (43B) rotates on the left of screw (43A) and lower end, realizes that upper end display station (1) is adjusted downwards.