CN108335754A - A kind of interactive mode interventional cardiac procedures simulator - Google Patents
A kind of interactive mode interventional cardiac procedures simulator Download PDFInfo
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- CN108335754A CN108335754A CN201810276632.9A CN201810276632A CN108335754A CN 108335754 A CN108335754 A CN 108335754A CN 201810276632 A CN201810276632 A CN 201810276632A CN 108335754 A CN108335754 A CN 108335754A
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Abstract
The invention discloses a kind of interventional cardiac procedures simulators, including data import modul, three-dimensional modeling module, simulation conduit, human-computer interaction device and controller；Data import modul is used to import the two dimensional image of anatomical cardiac；Three-dimensional modeling module constructs heart digital three-dimensional model according to two dimensional image；Human-computer interaction device receives the control instruction that trainer inputs, and controller determines the control parameter of simulation conduit according to control instruction, with the damped coefficient between the displacement direction and simulation conduit and other objects of control simulation conduit；According to position reciprocal effect number and speed reciprocal effect number, determine the real offset of the head end of simulation conduit, according to real offset, the head end of control simulation conduit is inserted into the target location of heart digital three-dimensional model, and simulation conduit head end is so that trainer simulates the catheter manipulation process in surgical procedure.The learning cycle for shortening interventional cardiac procedures, improves the operation skill of operator, to reduce operation risk.
Description
Technical field
The present invention relates to field of medical technology, and in particular to a kind of interventional cardiac procedures simulator.
Background technology
Angiocardiopathy is to threaten the number one killer of human health, incidence and disable, lethality it is high.Heart
Intervention operation has become the critical treatment means of such disease in the past 10 years.So-called " intervention " refers to doctor by from patient body
Table approach (blood vessel) is inserted into conduit and enters heart, to have the function that diagnosing and treating.This kind of operation is different from traditional " outer
Section's scalpel cuts exposure ", operator completes operation under the two-dimentional visual angle under X-ray projects in three-dimensional organ.In this way
Art formula need the ability that operator has " two dimension is regarded as three-dimensional ", learning cycle is long, and operation risk is high.
Therefore, the learning cycle for how shortening interventional cardiac procedures improves the operation skill of operator, to reduce operation wind
Danger, is the technical barrier of those skilled in the art's urgent need to resolve.
Invention content
The purpose of the present invention is to provide a kind of interventional cardiac procedures simulators, shorten the study week of interventional cardiac procedures
Phase improves the operation skill of operator, to reduce operation risk.
To achieve the above object, the present invention provides a kind of interventional cardiac procedures simulator, including data import modul, three-dimensional
Modeling module, simulation conduit, human-computer interaction device and controller；
The data import modul (10) is used to import the two dimensional image of anatomical cardiac；
The three-dimensional modeling module (11) is used to construct the heart digital three-dimensional model according to the two dimensional image；
The human-computer interaction device (13) is used to receive the control instruction of trainer's input；
The controller (14) is used to determine the control parameter of the simulation conduit (12) according to the control instruction, with control
Make the damped coefficient between the displacement direction and the simulation conduit (12) and other objects of the simulation conduit (12)；According to
Position reciprocal effect number and speed reciprocal effect number determine the real offset of the head end of simulation conduit (12), according to the reality
Border offset, the head end for controlling the simulation conduit (12) are inserted into the target location of the heart digital three-dimensional model, and simulation is led
Tube head end is so that trainer simulates the catheter manipulation process in surgical procedure.
Further, interventional cardiac procedures simulator described above further includes bidimensional image display module；
The bidimensional image display module is for showing the corresponding two-dimentional shadow of the heart digital three-dimensional model difference position
Picture, so that the trainer establishes the incidence relation between the bidimensional image of heart and 3 D anatomical.
Further, interventional cardiac procedures simulator described above, the controller are additionally operable to heart number
The position of target angle carries out transparency process in threedimensional model.
Further, interventional cardiac procedures simulator described above, the controller pass through to the target angle
The material at position is handled, and the position transparence of the target angle is made.
Further, interventional cardiac procedures simulator described above further includes virtual reality module；
The virtual reality module is used to build the virtual scene of the heart digital three-dimensional model and the simulation conduit,
So that the trainer utilizes virtual reality device in the virtual scene to the heart digital three-dimensional model and the mould
Quasi- conduit is operated.
Further, interventional cardiac procedures simulator described above, further includes collision detection module；
The collision detection module is used in the virtual scene crash requirements needed for realization interventional cardiac procedures,
So that the trainer accurately completes operative training.
Further, interventional cardiac procedures simulator described above, the collision detection module are drawn using physical manipulations
Hold up Physx realizations.
Further, interventional cardiac procedures simulator described above, further includes memory module；
The memory module is for storing the heart digital three-dimensional model.
Further, interventional cardiac procedures simulator described above, further includes evaluation module；
The evaluation module is for evaluating and testing the surgical skills of the trainer, to obtain evaluation result.
The interventional cardiac procedures simulator of the present invention imports the two dimensional image of anatomical cardiac by data import modul 10
Afterwards, the corresponding heart digital three-dimensional model of two dimensional image of anatomical cardiac is built by three-dimensional modeling module 11, and utilizes controller
Damped coefficient between the displacement direction and simulation conduit 12 and other objects of 14 control simulation conduits 12, interacts according to position
Number and speed reciprocal effect number are influenced, the real offset of the head end of simulation conduit 12 is determined, with according to the head of simulation conduit 12
The head end of the real offset at end, control simulation conduit 12 is inserted into the target location of heart digital three-dimensional model, realizes training
Person simulates the catheter manipulation process in surgical procedure.Technical solution using the present invention can shorten interventional cardiac procedures
The period is practised, the operation skill of operator is improved, to reduce operation risk.
Description of the drawings
Fig. 1 is the structural schematic diagram of the interventional cardiac procedures simulator embodiment 1 of the present invention；
Fig. 2 is the structural schematic diagram of the interventional cardiac procedures simulator embodiment 2 of the present invention；
Fig. 3 is the structural schematic diagram of the interventional cardiac procedures simulator embodiment 3 of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with the specific embodiment of the invention and
The present embodiment technical solution is clearly and completely described in corresponding attached drawing.Obviously, described embodiment is only this implementation
Example a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
There is the every other embodiment obtained under the premise of making creative work, belongs to the range of the present embodiment protection.
The (if present)s such as term " first ", " second " in specification and claims and above-mentioned attached drawing are to be used for area
Not similar part, without being used to describe specific sequence or precedence.It should be appreciated that the data used in this way are appropriate
In the case of can be interchanged, so that embodiments herein described herein can be real with the sequence other than illustrating herein
It applies.
The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention..
Embodiment 1
Fig. 1 is the structural schematic diagram of the interventional cardiac procedures simulator embodiment 1 of the present invention, as shown in Figure 1, the present embodiment
Interventional cardiac procedures simulator include data import modul 10, three-dimensional modeling module 11, simulation conduit 12, human-computer interaction device
13 and controller 14.
For example, the two dimensional image of multiple anatomical cardiacs can be acquired, and by data import modul 10 by anatomical cardiac
Two dimensional image is imported into three-dimensional modeling module 11, and according to the two dimensional image and heart number three is based on by three-dimensional modeling module 11
It ties up modeling technique and constructs heart digital three-dimensional model.Wherein, the present embodiment cardiac digital three-dimensional model is preferably dynamic heart
Digital three-dimensional model, with real simulation human heart.
After building heart digital three-dimensional model, in order to which the conduit during enabling trainer to simulate actual surgery is grasped
Make process, in the present embodiment, multistage can be simulated into conduit by automatic welding technique and carry out seamless welding, obtained required
Conduit is simulated, and relevant control instruction is inputted by human-computer interaction device 13, controller 14 is made to be determined according to the control instruction
The control parameter for simulating conduit 12, between the displacement direction and simulation conduit 12 and other objects of control simulation conduit 12
Damped coefficient is realized close to true physical effect, and the position reciprocal effect number and speed that are obtained according to position solver are handed over
Number is mutually influenced, determines the real offset of the head end of simulation conduit 12.For example, simulating the control parameter of conduit 12 in the present embodiment
May include the linear damping for simulating conduit 12, angle damping, centroid offset, the parameters such as mass scale.
It, can be according to simulation conduit 12 after determining the real offset of head end of simulation conduit 12 in the present embodiment
The head end of the real offset of head end, control simulation conduit 12 is inserted into the target location of heart digital three-dimensional model, so that training
Person simulates the catheter manipulation process in surgical procedure.
The interventional cardiac procedures simulator of the present embodiment imports the two dimensional image of anatomical cardiac by data import modul 10
Afterwards, the corresponding heart digital three-dimensional model of two dimensional image of anatomical cardiac is built by three-dimensional modeling module 11, and utilizes controller
Damped coefficient between the displacement direction and simulation conduit 12 and other objects of 14 control simulation conduits 12, interacts according to position
Number and speed reciprocal effect number are influenced, the real offset of the head end of simulation conduit 12 is determined, with according to the head of simulation conduit 12
The head end of the real offset at end, control simulation conduit 12 is inserted into the target location of heart digital three-dimensional model, realizes training
Person simulates the catheter manipulation process in surgical procedure.Technical solution using the present invention can shorten interventional cardiac procedures
The period is practised, the operation skill of operator is improved, to reduce operation risk.
Embodiment 2
Fig. 2 is the structural schematic diagram of the interventional cardiac procedures simulator embodiment 2 of the present invention, as shown in Fig. 2, the present embodiment
Interventional cardiac procedures simulator embodiment shown in Fig. 1 on the basis of further comprise bidimensional image display module 15.
In practical applications, trainer needs to understand the concrete structure of heart, preferably to perform the operation, is
The ability of raising trainer " two dimension is regarded as three-dimensional ", the present embodiment can utilize bidimensional image display module 15 to show heart
The corresponding bidimensional image of digital three-dimensional model difference position, so that trainer establishes the bidimensional image and three-dimensional of heart in brain
Incidence relation between dissection.
Due to heart certain angles can not it is clear that the structure of endocardial can not see clearly so that trainer can not
Clearly understand cardiac structure, therefore, in the present embodiment, controller 14 is additionally operable to target angle in heart digital three-dimensional model
Position carry out transparency process.Specifically, controller 14 is handled by the material at the position to target angle, makes target
The position transparence of angle.For example, trainer can utilize controller 14 to drag heart digital three-dimensional model to arbitrary angle,
And to the face automatic transparent of each angle face user, conveniently see conduit and endocardial structure clearly.
It should be noted that in the present embodiment controller 14 can training operation consent to heart digital three-dimensional model in mesh
Mark angle position carry out transparency process, can also training perform the operation in heart digital three-dimensional model in target angle portion
Position carries out transparency process, and the present embodiment is not particularly limited.
In practical applications, each trainer before training construction heart digital three-dimensional model can the more wasteful time,
Therefore, as shown in Fig. 2, the interventional cardiac procedures simulator of the present embodiment further includes memory module 18, whenever structure anatomical cardiac
The corresponding heart digital three-dimensional model of two dimensional image after, can be stored by memory module 18, so as to subsequently directly from
Memory module 18 is called.
Embodiment 3
Fig. 3 is the structural schematic diagram of the interventional cardiac procedures simulator embodiment 3 of the present invention, as shown in figure 3, the present embodiment
Interventional cardiac procedures simulator embodiment shown in Fig. 2 on the basis of further comprise virtual reality module 16.
In the present embodiment, in order to enable trainer preferably to learn interventional cardiac procedures, it can utilize virtual existing
Real module 16 builds heart digital three-dimensional model and simulates the virtual scene of conduit 12, is set in this way, trainer puts on virtual reality
After standby, heart digital three-dimensional model and simulation conduit 12 can then generate 3D vision imaging, keep trainer on the spot in person, in void
Heart digital three-dimensional model and simulation conduit 12 are operated in quasi- scene.
As shown in figure 3, the interventional cardiac procedures simulator of the present embodiment further includes collision detection module 17, the collision detection
Module 17 is used to realize crash requirements needed for interventional cardiac procedures in virtual scene, so that trainer accurately completes hand
Art is trained.
For example, the collision detection module 17 in the present embodiment is realized using physical manipulations engine Physx, in collision process
In, collision inquiry system attached for the object in virtual scene, mainly have ray detection to collide (raycast), scanning inspection
Survey collision (sweep) and interaction detection collision (overlap).Wherein, each collision can all return to a kind of or multiclass as a result,
Each inquiry can traverse a selection result for including scenario objects, and execute one using geometrical queries function and accurately touch
Detection is hit, and is accumulated as a result, to realize accurate collision, so that operator can accurately complete to perform the operation.
The present embodiment utilizes virtual reality technology so that and trainer can be on the spot in person, more really understands cardiac structure,
Some problems that can be potentially encountered in openheart surgery are grasped, to more handy in actual operation.Shorten operation simultaneously
Processing maturation period, to the risk alleviated current disparities between supply and demand, reduce postoperative complication.
As shown in figure 3, the interventional cardiac procedures simulator of the present embodiment further includes evaluation module 19, which uses
It is evaluated and tested in the surgical skills to trainer, to obtain evaluation result, in order to which trainer can quickly obtain carry out heart
Intervene the credentials etc. of operation.
For example, trainer can be logged in by registering to use Cardiac interventional surgical simulation device to be trained, and works as and reach
When certain training session or oneself think to have reached training requirement, the application examination of evaluation module 19, trainer can be utilized
Into virtual scene, to complete the links needed for operation, evaluation module can collect trainer and be completed in virtual environment
The operation data of each link of operation, and it is sent to auditor, it is given a mark to trainer by auditor, alternatively, examination
Module gives a mark to trainer according to preset marking criterion, or according to the marking of auditor and beating for evaluation module
Divide and carry out comprehensive marking, the present embodiment is not particularly limited.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention belong to the scope of protection of present invention.
Claims (9)
1. a kind of interventional cardiac procedures simulator, which is characterized in that the simulator includes that data import modul (10), three-dimensional are built
Mould module (11), simulation conduit (12), human-computer interaction device (13) and controller (14)；
The data import modul (10) is used to import the two dimensional image of anatomical cardiac；
The three-dimensional modeling module (11) is used to construct the heart digital three-dimensional model according to the two dimensional image；
The human-computer interaction device (13) is used to receive the control instruction of trainer's input；
The controller (14) is used to determine the control parameter of the simulation conduit (12) according to the control instruction, to control
State the damped coefficient between the displacement direction and the simulation conduit (12) and other objects of simulation conduit (12)；According to position
Reciprocal effect number and speed reciprocal effect number determine the real offset of the head end of simulation conduit (12), inclined according to the reality
Shifting amount, the head end for controlling the simulation conduit (12) are inserted into the target location of the heart digital three-dimensional model, simulate conductor housing
It holds so that trainer simulates the catheter manipulation process in surgical procedure.
2. interventional cardiac procedures simulator according to claim 1, which is characterized in that the simulator further includes two-dimentional shadow
As display module (15)；
The bidimensional image display module (15) is for showing the corresponding two-dimentional shadow of the heart digital three-dimensional model difference position
Picture, so that the trainer establishes the incidence relation between the bidimensional image of heart and 3 D anatomical.
3. interventional cardiac procedures simulator according to claim 1, which is characterized in that the controller (14) is additionally operable to pair
The position of target angle carries out transparency process in the heart digital three-dimensional model.
4. interventional cardiac procedures simulator according to claim 3, which is characterized in that the controller (14) passes through to institute
The material for stating the position of target angle is handled, and the position transparence of the target angle is made.
5. according to claim 1-4 any one of them interventional cardiac procedures simulators, which is characterized in that the simulator also wraps
Include virtual reality module (16)；
The virtual reality module (16) be used for build the heart digital three-dimensional model and it is described simulation conduit (12) it is virtual
Scene, so that the trainer utilizes virtual reality device in the virtual scene to the heart digital three-dimensional model and institute
Simulation conduit (12) is stated to be operated.
6. interventional cardiac procedures simulator according to claim 5, which is characterized in that the simulator further includes collision inspection
Survey module (17)；
The collision detection module (17) is used in the virtual scene crash requirements needed for realization interventional cardiac procedures,
So that the trainer accurately completes operative training.
7. interventional cardiac procedures simulator according to claim 6, which is characterized in that the collision detection module (17) is adopted
It is realized with physical manipulations engine Physx.
8. according to claim 1-4 any one of them interventional cardiac procedures simulators, which is characterized in that the simulator also wraps
Include memory module (18)；
The memory module (18) is for storing the heart digital three-dimensional model.
9. according to claim 1-4 any one of them interventional cardiac procedures simulators, which is characterized in that the simulator also wraps
Include evaluation module (19)；
The evaluation module (19) is for evaluating and testing the surgical skills of the trainer, to obtain evaluation result.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810276632.9A CN108335754A (en) | 2018-03-30 | 2018-03-30 | A kind of interactive mode interventional cardiac procedures simulator |
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| CN201810276632.9A CN108335754A (en) | 2018-03-30 | 2018-03-30 | A kind of interactive mode interventional cardiac procedures simulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109065147A (en) * | 2018-07-30 | 2018-12-21 | 广州狄卡视觉科技有限公司 | Medical Digital 3D model human body surgical simulation human-computer interaction system and method |
| CN110025376A (en) * | 2019-03-22 | 2019-07-19 | 江苏霆升科技有限公司 | A kind of interventional cardiac procedures analogy method, terminal device and system |
| CN110376922A (en) * | 2019-07-23 | 2019-10-25 | 广东工业大学 | Operating room scenario simulation system |
-
2018
- 2018-03-30 CN CN201810276632.9A patent/CN108335754A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109065147A (en) * | 2018-07-30 | 2018-12-21 | 广州狄卡视觉科技有限公司 | Medical Digital 3D model human body surgical simulation human-computer interaction system and method |
| CN110025376A (en) * | 2019-03-22 | 2019-07-19 | 江苏霆升科技有限公司 | A kind of interventional cardiac procedures analogy method, terminal device and system |
| CN110376922A (en) * | 2019-07-23 | 2019-10-25 | 广东工业大学 | Operating room scenario simulation system |
| CN110376922B (en) * | 2019-07-23 | 2022-10-21 | 广东工业大学 | Operating room scene simulation system |
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