CN107240344A - Virtual laparoscopic bile duct exploration training method and system - Google Patents
Virtual laparoscopic bile duct exploration training method and system Download PDFInfo
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- CN107240344A CN107240344A CN201710508391.1A CN201710508391A CN107240344A CN 107240344 A CN107240344 A CN 107240344A CN 201710508391 A CN201710508391 A CN 201710508391A CN 107240344 A CN107240344 A CN 107240344A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
Abstract
A kind of virtual laparoscopic bile duct exploration training system, it includes following module：Physical modeling module, gall stone random generating module, expert's demonstration module, substep training module；Manikin and every operating theater instruments of the system physical modeling module needed for for generating virtual laparoscopic surgery；The gall stone random generating module is used to generate choledocholithiasis at random；Expert's demonstration module is used to play the expert's operation information stored；The substep training module is used for operation committed step training.
Description
Technical field
The present invention relates to virtual operation teaching technical field, more particularly to a kind of virtual laparoscopic bile duct exploration training.
Background technology
Laparoscopic surgery is the Minimally Invasive Surgery method that a new development is got up, and first case abdominal cavity is implemented from Frenchman Mouret
Mirror cholecystectomy starts existing more than 100 years development course, the new technology generally taken as medical field.The technology has
It is wound small, recover fast, mitigate patient's pain, the advantages of shortening the hospital stays is deep to be welcome by patient and doctor.But, implement
Laparoscopic surgery needs to complete by the consummate technology of doctor, and consummate technology is limited to surgical experience, only passes through
Training and clinical practice could be obtained.
Existing laparoscopic surgery training system is main based on simulated operation case, and control box is used for simulating the body of human body
Some beads are placed in chamber, the inside, and the object such as line simulates the object of true operation technique.Using real apparatus in control box
Carry out various fundamental hand works or operation fragment.This method does not show inside of human body actual configuration intuitively, for basic
Gimmick can even be misled, and part Minimally Invasive Surgery apparatus can not be trained (such as coagulation), and clinical real Minimally Invasive Surgery also has more
Positional factor, can not also be showed in control box.
System of virtual operation is to utilize application of the virtual reality technology in modern medicine.It is a fusion calculation machine skill
Art, computer graphics, sensor technology, biomethanics, modern medicine, image procossing, computer vision, robotics, section
Learn the interdisciplinary research field of the subjects such as calculation visualization.By means of system of virtual operation, medical personnel give birth in computer
Into virtual environment in using emulating apparatus simulated surgical operation, grasped while system of virtual operation can be performed the operation with playing standard
Make, saved medical matters training cost and time, reach the rapid purpose for improving medico and intern's surgical skills.
The content of the invention
In view of this, the present invention proposes a kind of virtual laparoscopic bile duct exploration training method and system.
A kind of virtual laparoscopic bile duct exploration training system, it includes following module：
Physical modeling module, gall stone random generating module, expert's demonstration module, substep training module；
The system physical modeling module is used to generate the manikin and every surgical device needed for virtual laparoscopic surgery
Tool；
The gall stone random generating module is used to generate choledocholithiasis at random；
Expert's demonstration module is used to play the expert's operation information stored；
The substep training module is used for operation committed step training.
In virtual laparoscopic bile duct exploration training system of the present invention,
The system physical modeling module includes：
Based on Chinese Digital personal data, increase polygon quantity on the basis of manikin and add texture mapping, with
Improve manikin fidelity；It is modeled according to true laparoscopic instrument and sets up virtual operation instrument model with textures.
In virtual laparoscopic bile duct exploration training system of the present invention,
The gall stone random generating module includes：
Gall stone model is made in MAYA and unity and coherence in writing textures are assigned；
Calculus in manikin, measurement choledochus is loaded in the scene is likely to occur region, the random generation position in region
Coordinate is put, calculus is created in the coordinate, and scaling and the rotation of preset ratio are carried out to calculus.
In virtual laparoscopic bile duct exploration training system of the present invention,
Expert's operation information that expert's demonstration module has been stored includes the type of operating theater instruments, when originating and terminating
Displacement and rotation, and the operation informations such as coagulation are clamped, the operation of each step takes；According to position difference when starting and termination
The step-length of each frame is calculated with angle difference, instrument positions and angle are updated in real time；When apparatus enters certain trigger area
Domain, activates corresponding deformation animation.
In virtual laparoscopic bile duct exploration training system of the present invention,
The substep training module includes 4 independent operation units, including detects Calot triangles and choledochus unit, folder
Close under gall-bladder pipe unit, common bile unit, choledochoscope and take stone unit；
The Calot triangles and choledochus unit detected is used for realization and detects training to Calot triangles and choledochus unit；
The folder, which closes gall-bladder pipe unit, to be used to realize that gall-bladder pipe unit folder closes training；
The common bile unit is used to realize that common bile is trained；
Stone unit is taken to take stone to train under choledochoscope for realizing under the choledochoscope.
The present invention also provides a kind of virtual laparoscopic bile duct exploration training method,
It comprises the following steps：
Manikin and every operating theater instruments needed for S1, the virtual laparoscopic surgery of generation；
S2, choledocholithiasis is generated at random；
S3, the virtual laparoscopic bile duct exploration Training scene of loading；
S4, judge whether enter expert's demo mode, be to jump to step S5；Otherwise step S/6 is jumped to；
S5, reading expert's operating process information, organ shape animation is simultaneously played in the position for changing operating theater instruments；
S6, the training step for judging selection, and corresponding training is completed according to the training step of selection.
In virtual laparoscopic bile duct exploration training method of the present invention,
Instrumentation toggle area is provided with each training step in the step S6, for judging that user operates
It is whether correct.
In virtual laparoscopic bile duct exploration training method of the present invention,
The training step includes：Detect Calot triangles and choledochus, folder are closed under cystic duct, common bile, choledochoscope
Take stone；
Correspondingly, to be taken under choledochoscope in stone unit, the display of scene under scene under laparoscope and choledochoscope is included
And switching.
Implement the virtual laparoscopic bile duct exploration training method of the invention provided and system has compared with prior art
Following beneficial effect：
(1) human organ model of system is rebuild according to real human body layer data and formed, and apparatus is according to true abdominal cavity
Mirror apparatus ratio is modeled, and is simulated operating environment under mirror true to nature, is made operator on the spot in person.
(2) location and shape of choledocholithiasis differ in system, for simulating complicated and diversified clinical manifestation, solve
The problem of laparoscopy exploration of common bile duct operative training model is single.
(3) expert's demonstration module is included in system, there is directive significance for beginner.
(4) system is split critical operation step, is conducive to user to carry out repetition training to particular step.
Brief description of the drawings
Fig. 1 is the virtual laparoscopic bile duct exploration training flow chart of the embodiment of the present invention.
Fig. 2 is the operation screen schematic diagram of the embodiment of the present invention.
Embodiment
A kind of virtual laparoscopic bile duct exploration training system, it includes following module：
Physical modeling module, gall stone random generating module, expert's demonstration module, substep training module；
The system physical modeling module is used to generate the manikin and every surgical device needed for virtual laparoscopic surgery
Tool；
In virtual laparoscopic bile duct exploration training system of the present invention,
The system physical modeling module includes：
Based on Chinese Digital personal data, increase polygon quantity on the basis of manikin and add texture mapping, with
Improve manikin fidelity；It is modeled according to true laparoscopic instrument and sets up virtual operation instrument model with textures, can
Generate every operating theater instruments needed for virtual laparoscopic surgery.It can realize under virtual environment, provide the user with operation and implement
Object.
The gall stone random generating module is used to generate choledocholithiasis at random；
In virtual laparoscopic bile duct exploration training system of the present invention,
The gall stone random generating module includes：
Gall stone model is made in MAYA and unity and coherence in writing textures are assigned；
Calculus in manikin, measurement choledochus is loaded in the scene is likely to occur region, the random generation position in region
Coordinate is put, calculus is created in the coordinate, and scaling and the rotation of preset ratio are carried out to calculus.
In virtual operation operating process, the gall stone of the random different sizes of diverse location generation quantity in biliary tract is given
User creates different focus characteristics and operating experience.
Expert's demonstration module is used to play the expert's operation information stored；
It can realize in complete virtual operation scene, play surgical instrument operation path and operation that expert recommends
During target organ shape animation.
In virtual laparoscopic bile duct exploration training system of the present invention,
Expert's operation information that expert's demonstration module has been stored includes the type of operating theater instruments, when originating and terminating
Displacement and rotation, and the operation informations such as coagulation are clamped, the operation of each step takes；According to position difference when starting and termination
The step-length of each frame is calculated with angle difference, instrument positions and angle are updated in real time；When apparatus enters certain trigger area
Domain, activates corresponding deformation animation.
The substep training module is used for operation committed step training.
In virtual laparoscopic bile duct exploration training system of the present invention,
The substep training module includes 4 independent operation units, including detects Calot triangles and choledochus unit, folder
Close under gall-bladder pipe unit, common bile unit, choledochoscope and take stone unit；
The Calot triangles and choledochus unit detected is used for realization and detects training to Calot triangles and choledochus unit；
The folder, which closes gall-bladder pipe unit, to be used to realize that gall-bladder pipe unit folder closes training；
The common bile unit is used to realize that common bile is trained；
Stone unit is taken to take stone to train under choledochoscope for realizing under the choledochoscope.
In embodiments of the present invention, it is preferable that the starting turntable of each independent operation unit, program sets lens of laparoscope
The position for being conducive to the step operation is scheduled on, user's selection Robot Type instantiates corresponding manipulator, passes through control machinery hand
Displacement, rotation and corresponding function operation (as clamped, coagulation, cutting) complete surgical procedure.Stone list is taken under choledochoscope
, it is necessary to show under choledochoscope scene under scene and laparoscope simultaneously, scene switching is as shown in Fig. 2 program sets home court scape in member
Size is screen size, using the screen upper left corner as the origin of coordinates, and it is (0,0) to set home court scape coordinate, and depth is 0.Secondary field is set
The length and width of scape are the 40% of screen aspect, using the screen upper left corner as the origin of coordinates, and it is (0.6,0.6) to set home court scape coordinate,
Depth is 1.Switch major-minor scene, the coordinate value and depth value of the scene of program interaction two.
Preferably, each independent operation unit is both provided with instrumentation toggle area, for whether judging user's operation
Correctly.Taken under choledochoscope in stone unit, include the display and switching of scene under scene under laparoscope and choledochoscope.
As shown in figure 1, the present invention also provides a kind of virtual laparoscopic bile duct exploration training method,
It comprises the following steps：
Manikin and every operating theater instruments needed for S1, the virtual laparoscopic surgery of generation；
S2, choledocholithiasis is generated at random；
S3, the virtual laparoscopic bile duct exploration Training scene of loading；
S4, judge whether enter expert's demo mode, be to jump to step S5；Otherwise step S/6 is jumped to；
S5, reading expert's operating process information, organ shape animation is simultaneously played in the position for changing operating theater instruments；
S6, the training step for judging selection, and corresponding training is completed according to the training step of selection.
In virtual laparoscopic bile duct exploration training method of the present invention,
Instrumentation toggle area is provided with each training step in the step S6, for judging that user operates
It is whether correct.
In virtual laparoscopic bile duct exploration training method of the present invention,
The training step includes：Detect Calot triangles and choledochus, folder are closed under cystic duct, common bile, choledochoscope
Take stone；
Correspondingly, to be taken under choledochoscope in stone unit, the display of scene under scene under laparoscope and choledochoscope is included
And switching.
Implement the virtual laparoscopic bile duct exploration training method of the invention provided and system has compared with prior art
Following beneficial effect：
(1) human organ model of system is rebuild according to real human body layer data and formed, and apparatus is according to true abdominal cavity
Mirror apparatus ratio is modeled, and is simulated operating environment under mirror true to nature, is made operator on the spot in person.
(2) location and shape of choledocholithiasis differ in system, for simulating complicated and diversified clinical manifestation, solve
The problem of laparoscopy exploration of common bile duct operative training model is single.
(3) expert's demonstration module is included in system, there is directive significance for beginner.
(4) system is split critical operation step, is conducive to user to carry out repetition training to particular step.
It is understood that for the person of ordinary skill of the art, can be done with technique according to the invention design
Go out other various corresponding changes and deformation, and all these changes and deformation should all belong to the protection model of the claims in the present invention
Enclose.
Claims (8)
1. a kind of virtual laparoscopic bile duct exploration training system, it is characterised in that it includes following module：
Physical modeling module, gall stone random generating module, expert's demonstration module, substep training module；
Manikin and every operating theater instruments of the system physical modeling module needed for for generating virtual laparoscopic surgery；
The gall stone random generating module is used to generate choledocholithiasis at random；
Expert's demonstration module is used to play the expert's operation information stored；
The substep training module is used for operation committed step training.
2. virtual laparoscopic bile duct exploration training system as claimed in claim 1, it is characterised in that
The system physical modeling module includes：
Based on Chinese Digital personal data, increase polygon quantity on the basis of manikin and add texture mapping, to improve
Manikin fidelity；It is modeled according to true laparoscopic instrument and sets up virtual operation instrument model with textures.
3. virtual laparoscopic bile duct exploration training system as claimed in claim 1, it is characterised in that
The gall stone random generating module includes：
Gall stone model is made in MAYA and unity and coherence in writing textures are assigned；
Calculus in manikin, measurement choledochus is loaded in the scene and is likely to occur region, and random generation position is sat in region
Mark, calculus is created in the coordinate, and scaling and the rotation of preset ratio are carried out to calculus.
4. virtual laparoscopic bile duct exploration training system as claimed in claim 1, it is characterised in that
Expert's operation information that expert's demonstration module has been stored includes the displacement when type of operating theater instruments, starting and termination
And rotation, and the operation informations such as coagulation are clamped, the operation of each step takes；According to position difference when starting and termination and angle
The step-length of each frame of mathematic interpolation is spent, instrument positions and angle are updated in real time；When apparatus enters certain trigger region, swash
Corresponding deformation animation living.
5. virtual laparoscopic bile duct exploration training system as claimed in claim 1, it is characterised in that
The substep training module includes 4 independent operation units, including detects Calot triangles and choledochus unit, presss from both sides and close courage
Stone unit is taken under capsule pipe unit, common bile unit, choledochoscope；
The Calot triangles and choledochus unit detected is used for realization and detects training to Calot triangles and choledochus unit；
The folder, which closes gall-bladder pipe unit, to be used to realize that gall-bladder pipe unit folder closes training；
The common bile unit is used to realize that common bile is trained；
Stone unit is taken to take stone to train under choledochoscope for realizing under the choledochoscope.
6. a kind of virtual laparoscopic bile duct exploration training method, it is characterised in that
It comprises the following steps：
Manikin and every operating theater instruments needed for S1, the virtual laparoscopic surgery of generation；
S2, choledocholithiasis is generated at random；
S3, the virtual laparoscopic bile duct exploration Training scene of loading；
S4, judge whether enter expert's demo mode, be to jump to step S5；Otherwise step S/6 is jumped to；
S5, reading expert's operating process information, organ shape animation is simultaneously played in the position for changing operating theater instruments；
S6, the training step for judging selection, and corresponding training is completed according to the training step of selection.
7. virtual laparoscopic bile duct exploration training method as claimed in claim 6, it is characterised in that
Instrumentation toggle area is provided with each training step in the step S6, for whether judging user's operation
Correctly.
8. virtual laparoscopic bile duct exploration training method as claimed in claim 6, it is characterised in that
The training step includes：Detect Calot triangles and choledochus, folder are closed and taken under cystic duct, common bile, choledochoscope
Stone；
Correspondingly, to be taken under choledochoscope in stone unit, the display comprising scene under laparoscope and scene under choledochoscope and cut
Change.
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| CN108062980A (en) * | 2017-12-05 | 2018-05-22 | 华中科技大学鄂州工业技术研究院 | Virtual laparoscope hepatic cyst excision fenestration operation demenstration method and system |
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| CN110728872A (en) * | 2019-09-29 | 2020-01-24 | 阿斯利康(无锡)贸易有限公司 | Apparatus and method for simulating endoscope operation |
| CN115662234A (en) * | 2022-11-03 | 2023-01-31 | 郑州大学 | Thoracoscope surgery teaching system based on virtual reality |
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