CN105719526A - Sunk cord eyebrow lifting plastic surgery simulation system based on force feedback - Google Patents
Sunk cord eyebrow lifting plastic surgery simulation system based on force feedback Download PDFInfo
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- CN105719526A CN105719526A CN201610139870.6A CN201610139870A CN105719526A CN 105719526 A CN105719526 A CN 105719526A CN 201610139870 A CN201610139870 A CN 201610139870A CN 105719526 A CN105719526 A CN 105719526A
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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- 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
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Abstract
The invention provides a sunk cord eyebrow lifting plastic surgery simulation system based on force feedback.The system comprises a surgery platform, a control device, surgical instruments, a force feedback device and a display device.The simulation system is ingenious in design, practical, easy to operate, high in operation perceptibility, high in precision and low in cost, meanwhile, the force feedback technology can simulate the scene of real surgery more accurately and vividly, doctors are helped to grasp skills of sunk cord eyebrow lifting plastic surgery quickly, thereby cost and time for medical matter training are saved, and in addition, the surgery training effect is greatly improved.
Description
Technical field
The present invention relates to virtual operation technical field, be specifically related to a kind of put forward eyebrow plastic operation analog systems based on sunkening cord of force feedback.
Background technology
Adopt embedding method to improve the form of eyebrow, improve Senile ptosis and dispel the plastic operation of upper eyelid wrinkle and can effectively alleviate the problem that human face is old and feeble, making people smarten up, increase the self-confidence of people.Along with the appearance of shaping heat, safe, reliable and effective sunkening cord carries eyebrow plastic operation and is pursued, and carrying out sunkening cord according to statistics China nearly 2,000,000 people every year of relevant department carries eyebrow plastic operation.At present, sunken cord and put forward eyebrow plastic operation training method and be mainly hospital and reshaping device and doctor carried out surgery training or method that domestic doctor abroad accepts to train is grasped to sunken cord and carried eyebrow plastic operation by the outer doctor of host country to domestic.The outer doctor of host country is to the domestic surgery training that carries out, and training cycle short-range missile causes new doctor and cannot skillfully grasp surgical technic, and surgical effect is undesirable.Domestic doctor abroad gives training, and training cost is higher causes that surgery cost also increases.
System of virtual operation can make doctor repeat in virtual environment how to perform the operation, force feedback technique make training more true, accurately, reliable, enhance the feeling of immersion of virtual operation and verity thus efficiently solving the drawback of aforesaid way.Not yet have at present and be specifically designed for the analog systems carrying eyebrow plastic operation, though the DaVinci surgical robot systems (price 1,040,000 dollars) of existing business sham operated system such as u s company exploitation also can be used to simulate this operation but because its to be all comprehensive system do not have specific aim so complicated operation, operating experience are poor, reliability is low, precision is low, expensive shortcoming be thus cannot popularize.
In view of this, it is necessary to provide a kind of and put forward eyebrow plastic operation analog systems solve the problems referred to above based on sunkening cord of force feedback.
Summary of the invention
It is an object of the invention to provide that a kind of simple to operate, operating experience is high, reliability is high, precision is high, lower-cost puies forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, propose eyebrow plastic operation training for sunkening cord, help doctor grasps rapidly to sunken cord and puies forward eyebrow plastic operation technical ability.
The a kind of of the present invention puies forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, it is characterised in that described system includes: operating theater instruments, Surgery Platform, control device, display device, device for force feedback；
Operating theater instruments includes left hand operating theater instruments and right hand operating theater instruments, carries out virtual sunkening cord for user's manipulation and proposes the simulation of eyebrow plastic operation；Left hand operating theater instruments and right hand operating theater instruments are inserted in two through holes of Surgery Platform respectively, and are connected with two device for force feedback respectively；
Surgery Platform for for based on force feedback sunken cord carry in eyebrow plastic operation analog systems device for force feedback, control device provide one hold space；
Device for force feedback, for exporting the virtual human body facial soft tissue power to surgical instrument back, makes the size and Orientation of user's perceptible feedback power；
Control device for providing user and virtual sunkening cord to carry the haptic interaction between eyebrow plastic operation analog systems and visual interactive；
Display device is for providing user to carry out and the visual interactive carried between eyebrow plastic operation analog systems of sunkening cord；
Described device for force feedback is provided with force feedback brake and three-dimension sensor, is used for providing feedback force,；
Described control device includes, human body face geometric model storehouse, physical modeling module, collision detection module, force feedback computing module and visualization model；Human body face geometric model storehouse is for storing virtual human body face 3-D geometric model；The deformation that physical modeling module is additionally operable to carry out human body face soft tissue for the assignment of material properties and the applying of boundary condition calculates；Force feedback calculates for calculating virtual human body facial soft tissue power to surgical instrument back when deforming and be punctured, and is sent in device for force feedback；Collision detection module is used for some when colliding and the unit that detect between virtual operation instrument and human body face soft tissue；Visualization model is for refreshing the grid node change of human body face tissue in real time, and transmits to display device；
Bottom described Surgery Platform, pulley is installed, it is simple to sunken cord and propose the movement of eyebrow plastic operation analog systems；
Being provided with braking on described pulley to stop, being used for fixing sunkens cord carries the position of eyebrow plastic operation analog systems.
The invention has the beneficial effects as follows: the scene help doctor of the true operation of simulation that the while that the analog systems of the present invention being simple to operate, operating experience high, precision is high, less costly, force feedback technique can be more accurate, true to nature grasps rapidly to sunken cord and puies forward eyebrow plastic operation technical ability, not only save expense and the time of medical matters training, and substantially increase surgery training effect.
The analog systems of the present invention is succinct, practical, attractive in appearance, it is simple to mobile and fixing.
Accompanying drawing explanation
Fig. 1 be the present invention a preferred implementation in carry the structural representation of eyebrow plastic operation analog systems based on sunkening cord of force feedback.
Fig. 2 carries the module diagram of eyebrow plastic operation analog systems based on sunkening cord of force feedback in the present invention one preferred implementation.
Fig. 3 is the control device workflow schematic diagram carried in eyebrow plastic operation analog systems of sunkening cord in the present invention one preferred implementation based on force feedback.
Wherein 1-operating theater instruments, 2-Surgery Platform, 3-control device, 4-display device, 5-device for force feedback.
Detailed description of the invention
The present invention puies forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, and described system includes: Surgery Platform, controls device, operating theater instruments, device for force feedback, display device.
In order to technical scheme is more clearly understood from, now the technical scheme in the embodiment of the present application is stated by the accompanying drawing 1 in comparison the embodiment of the present application, Fig. 2 and Fig. 3, obviously, described embodiment is only a part of embodiment of the application rather than whole embodiment.
Operating theater instruments 1 includes left hand operating theater instruments and right hand operating theater instruments, it is inserted in respectively in two through holes on Surgery Platform 2, and be connected with two device for force feedback 5 respectively, the data performed the operation in real time are passed to control device 3 by the signal of telecommunication by device for force feedback 5, described control device 3 generates operation analog image in real time and utilizes the signal of telecommunication to be transferred to display device 4, and display device 4 shows simulated image of performing the operation in real time.
Described Surgery Platform 2 is internal for holding space, for accommodating described control device 3, device for force feedback 5.
The handle of operating theater instruments 1 is identical all having six degree of freedom and all use rustless steel to make, it is made to have similar feel to real operating theater instruments, different apparatuses is embodied in their virtual end and includes the operation tool such as shears, blunt needle, according to different training steps, select to demonstrate different instruments.
Device for force feedback 5 is provided with force feedback brake and three-dimension sensor, the force feedback brake resistance that operator experiences when sham operated and feedback force and the size and Orientation of feedback force feeds back to the operating theater instruments of user；Three-dimension sensor can adopt HEDS55 type 500 line optical-electricity encoder, for detecting and record the position of FORCE FEEDBACK brake.
Control device 3 to include, human body face geometric model storehouse, physical modeling module, collision detection module, force feedback computing module and visualization model；Controlling device 3 after receiving the data that device for force feedback 5 sends and call above-mentioned module, human body face geometric model storehouse is for storing virtual human body face 3-D geometric model；The deformation that physical modeling module is additionally operable to carry out human body face soft tissue for the assignment of material properties and the applying of boundary condition calculates；Force feedback calculates for calculating virtual human body facial soft tissue power to surgical instrument back when deforming and be punctured, and is sent in device for force feedback；Collision detection module is used for some when colliding and the unit that detect between virtual operation instrument and human body face soft tissue；Visualization model, for refreshing the grid node change of human body face tissue in real time, ultimately generates the real-time operative image of a complete interaction and transmits to display device 4.
Display device 4 and Surgery Platform 2 angle are 120 ° and meet human engineering best angle so that the true surgical scene of more life-like simulation.
Display device 4 includes information input equipment and keyboard and mouse, for selecting the virtual end of operating theater instruments to show required operation tool in different operative training steps.
Being provided with pulley 6 bottom Surgery Platform 2, quantity is 4, it is simple to sunkens cord and proposes the movement of eyebrow plastic operation analog systems, pulley 6 is provided with braking and stops that being used for fixing sunkens cord and carry the position of eyebrow plastic operation analog systems.
Present embodiment is the exemplary illustration to patent of the present invention; do not limit its protection domain; the application is not intended to be limited to embodiment illustrated herein; its local can also be changed by those skilled in the art; as long as no the spirit beyond this patent, all in the protection domain of this patent.
Claims (5)
1. put forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, it is characterised in that described system includes: operating theater instruments 1, Surgery Platform 2, control device 3, display device 4, device for force feedback 5；
Operating theater instruments 1 includes left hand operating theater instruments and right hand operating theater instruments, carries out virtual sunkening cord for user's manipulation and proposes the simulation of eyebrow plastic operation；Left hand operating theater instruments and right hand operating theater instruments are inserted in two through holes of Surgery Platform 2 respectively, and are connected with two device for force feedback 5 respectively；Surgery Platform 2 for for based on force feedback sunken cord carry in eyebrow plastic operation analog systems device for force feedback 5, control device 3 and provide to hold a space；Device for force feedback 5, for exporting the virtual human body facial soft tissue power to surgical instrument back, makes the size and Orientation of user's perceptible feedback power；Control device 3 for providing user and virtual sunkening cord to carry the haptic interaction between eyebrow plastic operation analog systems and visual interactive；Display device 4 is for providing user to carry out and the visual interactive carried between eyebrow plastic operation analog systems of sunkening cord.
2. according to claim 1 put forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, it is characterised in that described device for force feedback 5 is provided with force feedback brake and three-dimension sensor, is used for providing feedback force.
3. according to claim 1 put forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, it is characterized in that, described control device 3 includes: human body face geometric model storehouse, physical modeling module, collision detection module, force feedback computing module and visualization model；Human body face geometric model storehouse is for storing virtual human body face 3-D geometric model；Physical modeling module is used for the assignment of material properties and the applying of boundary condition；The deformation being additionally operable to carry out human body face soft tissue calculates；Force feedback calculates for calculating virtual human body facial soft tissue power to surgical instrument back when deforming and be punctured, and is sent in device for force feedback 5；Collision detection module is used for some when colliding and the unit that detect between virtual operation instrument and human body face soft tissue；Visualization model is for refreshing the grid node change of human body face tissue in real time, and transmits to display device 4.
4. according to claim 1 put forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, it is characterised in that bottom described Surgery Platform 2, pulley 6 is installed, it is simple to sunken cord and propose the movement of eyebrow plastic operation analog systems.
5. according to claim 6 putting forward eyebrow plastic operation analog systems based on sunkening cord of force feedback, it is characterised in that be provided with braking on described pulley 6 and stop 7, being used for fixing sunkens cord carries the position of eyebrow plastic operation analog systems.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610139870.6A CN105719526A (en) | 2016-03-14 | 2016-03-14 | Sunk cord eyebrow lifting plastic surgery simulation system based on force feedback |
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| CN201610139870.6A CN105719526A (en) | 2016-03-14 | 2016-03-14 | Sunk cord eyebrow lifting plastic surgery simulation system based on force feedback |
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Cited By (6)
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| CN105913718A (en) * | 2016-07-08 | 2016-08-31 | 哈尔滨理工大学 | Thread lift plastic surgery simulation system |
| CN106157724A (en) * | 2016-08-28 | 2016-11-23 | 冯滔 | The instrument for training of interventional technique medical procedure in a kind of blood supply tube chamber |
| CN108804861A (en) * | 2017-04-26 | 2018-11-13 | 中国科学院沈阳自动化研究所 | A kind of minimally invasive spine surgical training system and method with true force feedback |
| CN108904048A (en) * | 2018-06-20 | 2018-11-30 | 广东弘基医疗生物技术有限公司 | A kind of double-edged eyelid multiple spot deep layer positioning device and its localization method |
| CN111047937A (en) * | 2019-12-14 | 2020-04-21 | 上海工程技术大学 | Operation training system based on magnetorheological fluid |
| CN113240990A (en) * | 2021-04-17 | 2021-08-10 | 运怡（北京）医疗器械有限公司 | Arthroscope training tool |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105913718A (en) * | 2016-07-08 | 2016-08-31 | 哈尔滨理工大学 | Thread lift plastic surgery simulation system |
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| CN113240990A (en) * | 2021-04-17 | 2021-08-10 | 运怡（北京）医疗器械有限公司 | Arthroscope training tool |
| CN113240990B (en) * | 2021-04-17 | 2022-07-29 | 运怡（北京）医疗器械有限公司 | Arthroscope training tool |
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