CN108492693A - A kind of laparoscopic surgery simulated training system shown based on computer aided medicine - Google Patents
A kind of laparoscopic surgery simulated training system shown based on computer aided medicine Download PDFInfo
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Abstract
The invention discloses a kind of laparoscopic surgery simulated training systems shown based on computer aided medicine,Its CT data preprocessing module,CT internal organs divide module,Said three-dimensional body drafting module can be according to the sufferer CT scan data of customization,Rendering is integrated using artificial intelligence and 3D volume drawings,The three-dimensional abdominal cavity model of structure in real time,Using volume data Mechanical loading module,Control stick control module,Control stick mechanics feedback module,Establish accurate Force Feedback Model and tissue deformation model,Use the practical laparoscopic surgical instruments of simulation,And combine control stick mechanics feedback module,The operating position and mode of operation of real simulation surgical instrument,The real-time stress situation of accurate feedback organ and tissue,Real-playback Soft Tissue Deformation or cutting effect,Can be the operative skill and operation skill that laparoscopic procedure person accumulate the true operating experience person that can not only improve laparoscopic procedure,Additionally aiding laparoscopic procedure, person skillfully perceives the relative depth of surgical instrument and lesion organ.
Description
Technical field
The present invention relates to biomedical laparoscopic technique fields, more particularly to a kind of to be shown based on computer aided medicine
Laparoscopic surgery simulated training system.
Background technology
With the fast development of medical technology, more and more patient's selections replace out abdomen hand using laparoscopic surgery
Art is to complete to treat.Laparoscopic surgery is a kind of novel Minimally Invasive Surgery, and in operation, doctor opens 2-5 diameter in patient abdomen
For the notch of 4-8mm, laparoscope and surgical instrument etc. are stretched by the notch via casing intraperitoneal, and later, laparoscope exists
Intraperitoneal shooting image, and the image is sent to terminal and is shown, the image that doctor shows according to terminal is performed the operation to manipulate
Instrument, to perform the operation to lesion organ.Compared with abdominal, laparoscopic surgery is small with notch, pain is small, restores
The advantages that fast and scar is small.
But since the camera lens of laparoscope is miniature webcam, after laparoscope stretches into abdominal cavity, camera lens is shone by cold light source
It is bright, abdominal cavity is shot to obtain image, and the image is sent to terminal, directly be shown by terminal.In abdominal cavity
In videoendoscopic surgery, since what the camera lens of laparoscope can be shot is limited in scope, obtained field of view is smaller, often can only
Reflect local circumstance, and due to being difficult to weigh the relative depth of surgical instrument and lesion organ in the picture, leads to laparoscope hand
The danger of art is very high.
Due to laparoscopic procedure particularity, doctor needs to carry out special training that laparoscopic surgery can be operated, such as：Chamber
The operations such as separation, ligation, suture, hemostasis under mirror, hand eye coordination training etc..Decline additionally, due to operation flexibility ratio, visual area of performing the operation
Limitation, operative doctor will have a great impact to the efficiency of operation or even success rate to the understanding of lesion.Therefore, if abdominal cavity
The unskilled operation skill of mirror operator and consummate operative skill, lack operating experience, cannot perceive surgical device well
The relative depth of tool and lesion organ, it will greatly increase the danger of laparoscopic surgery.
Invention content
In order to solve laparoscopic procedure, person lacks the risk that laparoscopic surgery probability of failure increases caused by operating experience,
The present invention provides a kind of laparoscopic surgery simulated training system shown based on computer aided medicine, can not only improve abdomen
The operative skill and operation skill of hysteroscope operator, additionally aiding laparoscopic procedure, person skillfully perceives surgical instrument and lesion device
The relative depth of official improves the success rate of laparoscopic surgery.The technical solution is as follows：
In a first aspect, providing a kind of laparoscopic surgery simulated training system shown based on computer aided medicine, institute
State laparoscopic surgery simulated training system include CT data preprocessing modules, CT internal organs segmentation module, said three-dimensional body drafting module,
Volume data Mechanical loading module, control stick control module, three-dimensional rendering module, control stick mechanics feedback module, wherein described
CT data preprocessing modules are used to carry out partitioning into skin to two-dimensional CT image data, CT body data are extracted and rebuild three-dimensional dough sheet
Model to show the corresponding three-dimensional abdominal cavity model of the two-dimensional CT image data on the display screen；The CT internal organs divide mould
Block be used to need the histoorgan divided according to scanned position selection so that the CT data preprocessing modules to its corresponding two
Victoria C T image datas are pre-processed, with generate the histoorgan three-dimensional patch model and with the three-dimensional abdominal cavity model
Fusion display；The said three-dimensional body drafting module is used to load the optical transfer function that three-dimensional volume drawing renders, so that voxel
Display gray shade value is converted into color, transparency, and light projecting algorithm is used in combination to calculate each voxel to rendering area pixel unit
Contribution with the three-dimensional intra-abdominal organ and organization chart picture of Overlapping display physics illumination model；The volume data Mechanical loading mould
Block is used for when virtual operation instrument touches the Different Organs and tissue of the three-dimensional abdominal cavity model, by searching for preset CT
Value and manipulation device force feedback parameter list, accurately control force feedback intensity；The control stick control module is for simulating laparoscope
And surgical instrument in depth, the pitch angle between itself axial-rotation and incision point and the yaw angle between incision point and
Itself attitude parameter；The laparoscope that the three-dimensional rendering module is used to be determined according to the control stick control module is in CT scan
Position and direction in coordinate system adjust the rendering parameter of the three-dimensional abdominal cavity model, with the abdomen under simulative display current operation
Hysteroscope view；Tissue stress when the control stick mechanics feedback module is for accurate feedback surgical instrument contact lesion organ
Size, to help manipulation feel of operator's perception by surgical instrument operation lesion organ when.
Optionally, the control stick mechanics feedback module includes collision detection module, Force Calculation module, deformation calculation
Module and data transmission module, wherein the data transmission module is for completing data output and feedback, the collision detection
Module is for detecting the tissue whether laparoscopic surgery control stick touches lesion organ；The Force Calculation module is for working as
Laparoscopic surgery control stick calculates the function of organization of the lesion organ on control stick when touching the tissue of lesion organ
Reaction force, and then operation bench is fed back to by the data transmission module, and the anti-work is simulated by control servomotor
Size firmly；The deformation calculation module when laparoscopic surgery control stick touches the tissue of lesion organ for calculating
The tissue deformation of lesion organ, and shown the size of the tissue deformation over the display using the form of three-dimensional rendering.
Optionally, the CT data preprocessing modules are additionally operable to shown by the way of volume drawing rendering according to CT data
Show and show main organs inside three-dimensional abdominal cavity model on device, is superimposed in the main organs by the way of iso-surface patch rendering
Show the skin model of the three-dimensional abdominal cavity model.
Optionally, the CT data preprocessing modules are additionally operable to click position on the skin model according to user,
It determines laparoscopic incision position and surgical instrument incision site, and calculates the laparoscopic incision position and the surgical instrument
The three-dimensional coordinate of incision site.
Optionally, the three-dimensional abdominal cavity model that the laparoscopic surgery simulated training system uses is according to the CT number of user
Newer three-dimensional abdominal cavity model when factually.
Optionally, the laparoscopic surgery simulated training system is represented different close using the Hounsfiled values of CT data
The tissue of degree.
Optionally, in the laparoscopic surgery simulated training system the corresponding CT data of air Hounsfiled values be-
The Hounsfiled values of 1000~-200Hu, the corresponding CT data of air are -1000~-200Hu, the corresponding CT data of water
Hounsfiled values are 0~15Hu, and the Hounsfiled values of the corresponding CT data of blood are 15~50Hu, the corresponding CT of spleen
The Hounsfiled values of data are 40~62Hu, and the Hounsfiled values of the corresponding CT data of liver are 50~70Hu, kidney pair
The Hounsfiled values for the CT data answered are 40~52Hu, and the Hounsfiled values of the corresponding CT data of muscle are 38~75Hu,
The Hounsfiled values of the corresponding CT data of bone are more than 400Hu, and the Hounsfiled values of the corresponding CT data of fat are -15
~10Hu.
The advantageous effect of technical solution provided in an embodiment of the present invention is：
A kind of laparoscopic surgery simulated training system shown based on computer aided medicine provided in an embodiment of the present invention
System, including CT data preprocessing modules, CT internal organs segmentation module, said three-dimensional body drafting module, volume data Mechanical loading module, behaviour
Vertical pole control module, three-dimensional rendering module, control stick mechanics feedback module, wherein CT data preprocessing modules, CT internal organs point
Cut module, said three-dimensional body drafting module can according to the sufferer CT scan data of customization, using artificial intelligence and 3D volume drawings with
And iso-surface patch integrates Rendering, the three-dimensional abdominal cavity model of structure, is controlled using volume data Mechanical loading module, control stick in real time
Module, three-dimensional rendering module, control stick mechanics feedback module, establish accurate Force Feedback Model and soft tissue deformation model, use
The practical laparoscopic surgical instruments of simulation, and combine control stick mechanics feedback module, real simulation surgical instrument current operation position
It sets and mode of operation, the real-time stress situation of accurate feedback organ and tissue, real-playback Soft Tissue Deformation or cutting is imitated
Fruit, can be laparoscopic procedure person accumulate the true operating experience person that can not only improve laparoscopic procedure operative skill and
Operation skill, the person that additionally aids laparoscopic procedure skillfully perceive the relative depth of surgical instrument and lesion organ, improve laparoscope
The success rate of operation.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, required in being described below to embodiment
The attached drawing used is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention,
For those of ordinary skill in the art, without creative efforts, it can also be obtained according to these attached drawings
Other attached drawings.
Fig. 1 is a kind of laparoscope hand shown based on computer aided medicine for implementing to exemplify according to exemplary partial
The structural schematic diagram of art simulated training system；
Fig. 2 is the operating diagram of laparoscopic surgery simulated training system provided by one embodiment of the present invention；
Fig. 3 is a kind of laparoscopic surgery mould shown based on computer aided medicine that another embodiment of the present invention provides
The structural schematic diagram of quasi- training system；
Fig. 4 is the structural schematic diagram of control stick mechanics feedback module provided by one embodiment of the present invention.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention
Formula is described in further detail.
In order to solve laparoscopic procedure, person lacks the risk that laparoscopic surgery probability of failure increases caused by operating experience,
The present invention provides a kind of laparoscopic surgery simulated training system shown based on computer aided medicine, can not only improve abdomen
The operative skill and operation skill of hysteroscope operator, additionally aiding laparoscopic procedure, person skillfully perceives surgical instrument and lesion device
The relative depth of official improves the success rate of laparoscopic surgery.
Below in conjunction with 1~attached drawing of attached drawing 4 to a kind of abdomen shown based on computer aided medicine of the embodiment of the present invention
Endoscope-assistant surgery simulated training system is described in detail.
It is provided in an embodiment of the present invention a kind of based on computer aided medicine shown in refer to the attached drawing 1, attached drawing 2 and attached drawing 3
The laparoscopic surgery simulated training system of display includes CT data preprocessing modules 100, CT internal organs segmentation module 200, said three-dimensional body
Drafting module 300, control stick control module 500, three-dimensional rendering module 600, manipulates stick force at volume data Mechanical loading module 400
Learn feedback module 700, wherein CT data preprocessing modules 100 are used to carry out partitioning into skin, CT body to two-dimensional CT image data
Data are extracted and rebuild three-dimensional patch model to show the corresponding three-dimensional abdominal cavity mould of the two-dimensional CT image data on the display screen
Type.
Specifically, refering to what is shown in Fig. 2, three-dimensional abdominal cavity model can be number in multiple abdominal cavities CT images according to certain patient
Incidence relation between uses marching cube (English：Marching Cubes) etc. three-dimensional reconstructions algorithm, sequentially generate
The sub- organ model of multiple human bodies of multiple sub- organ models of human body, the generation can be liver, spleen, pancreas, stomach and gall-bladder etc.
The threedimensional model of organ, i.e., the patient's three-dimensional abdominal cavity model generated according to multiple abdominal cavities CT images of certain patient includes liver, spleen
The sub- organ model of multiple human bodies such as dirty, pancreas, stomach and gall-bladder.
Shown in referring to figs. 2 and 3, CT data preprocessing modules 100 carry out skin data to two-dimensional CT image data first
Dividing processing, after dividing processing is completed, three-dimensional patch model is obtained by the extraction of CT body data and three-dimensional reconstruction, then
CT data preprocessing modules 100 show three-dimensional abdominal cavity model over the display according to CT data by the way of volume drawing rendering
Internal main organs, by the way of iso-surface patch rendering in the main organs three-dimensional abdominal cavity model described in Overlapping display
Skin model.CT data preprocessing modules 100 can build different sufferers in real time according to multiple abdominal cavities CT images of different sufferers
Three-dimensional abdominal cavity model, and show over the display, it is ensured that for laparoscopic surgery simulation three-dimensional abdominal cavity model difference
Anisotropic and real-time, so as to the simulation for carrying out operative skill and operation skill according to different sufferers for laparoscopic procedure person
Training, improves the success rate of laparoscopic surgery.
It before laparoscopic surgery, needs that veress needle is inserted into abdomen at the 1cm~2cm of navel top, when determining veress needle position
After free abdominal cavity, starts pneumoperitoneum apparatus and injection carbon dioxide gas forms artificial air film into abdominal cavity, to realize abdominal cavity
Internal organs separate and then expose laparoscopic surgery operating space in wall and abdomen.In order in the laparoscopic surgery of the embodiment of the present invention
Achieve the effect that real simulation laparoscopic surgery in simulated training system, CT data preprocessing modules 100 are according to the click of user
Operation determines that user clicks position on skin model, and then is sat according to the position for clicking location determination veress needle of user
Mark, simulates to form artificial pneumoperitoneum according to the position coordinates of veress needle, and artificial pneumoperitoneum is simulated in three-dimensional abdominal cavity model to realize,
Realize that internal organs in abdominal wall and abdomen are separated and then expose the effect of laparoscopic surgery operating space by simulation.
Further, CT data preprocessing modules 100 click location determination laparoscopic incision position and hand according to user
Art instrument incision site, and calculate the three-dimensional coordinate of laparoscopic incision position and surgical instrument incision site.Preferably, this hair
The position range that clicks for the user that the CT data preprocessing modules 100 of bright embodiment are arranged is at the 1cm~3cm of umbilical region top edge,
And then it is generally at the 1cm~3cm of umbilical region top edge according to the laparoscopic incision position for clicking position calculating, surgical instrument notch
Position is calculated according to click position and the need abdominal operation type to be simulated of user.
Further, CT internal organs segmentation module 200 be used to need the histoorgan divided according to scanned position selection so that
CT data preprocessing modules 100 pre-process its corresponding two-dimensional CT image data, to generate histoorgan to be simulated
Three-dimensional patch model and shown with three-dimensional abdominal cavity Model Fusion.Exemplary, CT internal organs divide module 200 can be from two-dimensional ct
The histoorgans such as liver, spleen, heart, blood vessel, the kidney for needing to build are selected in image data according to scanned position to correspond to
Two-dimensional image vegetarian refreshments, and then the partial pixel point generate histoorgan to be simulated three-dimensional patch model and with three-dimensional abdominal cavity
Model Fusion is shown.It should be noted that the liver for needing to build is selected according to scanned position from two-dimensional CT image data
The specific method of the corresponding two-dimensional image vegetarian refreshments of the histoorgans such as dirty, spleen, heart, blood vessel, kidney, the embodiment of the present invention are not done
It limits and tires out and state, those skilled in the art can refer to prior art.
It should be noted that the CT internal organs segmentation module 200 and 100 phase of CT data preprocessing modules of the embodiment of the present invention
Mutually cooperation, can select the two-dimensional CT image data of different patient's samples as needed, generate be used for laparoscope hand in real time
What the three-dimensional abdominal cavity model of art simulated training system namely the laparoscopic surgery simulated training system of the embodiment of the present invention used
Three-dimensional abdominal cavity model is that can fully ensure that implementation of the present invention according to the three-dimensional abdominal cavity model of the CT data real-time updates of user
The training effect of the laparoscopic surgery simulated training system of example.
Further, with reference to shown in figure 1, Fig. 2 and Fig. 3, said three-dimensional body drafting module 300 is for loading three-dimensional volume drawing wash with watercolours
The optical transfer function of dye is used in combination light projecting algorithm to calculate so that the display gray shade value of voxel is converted into color, transparency
Each voxel is to rendering the contribution of area pixel unit with the three-dimensional intra-abdominal organ and group of Overlapping display physics illumination model
Knit image.Specifically, said three-dimensional body drafting module 300 loads the optical transfer function that three-dimensional volume drawing renders, so that voxel is aobvious
Show that gray value is converted into color, transparency, light projecting algorithm is used in combination to calculate each voxel to rendering area pixel unit
Contribution is final to realize according in operating process with the three-dimensional intra-abdominal organ and organization chart picture of Overlapping display physics illumination model
Collision detection after Force Calculation stressing conditions and deformation calculation deformation size cases, calculate each in real time
Voxel is to rendering the contribution of area pixel unit and by its Overlapping display, one kind meeting simulation when the display result finally presented
It is required that perspective model.
The laparoscopic surgery simulated training system of the embodiment of the present invention can be according to different CT scan positions, said three-dimensional body
Drafting module 300 loads preset transmission function automatically, while doctor obtains CT data, builds laparoscopic surgery in real time
The three-dimensional abdominal cavity model that simulated training system uses, and can be at any time according to different scanning position, switching shows observation visual angle.
Further, with reference to shown in figure 1, Fig. 2 and Fig. 3, volume data Mechanical loading module 400 is used to work as virtual operation device
When tool touches the Different Organs and tissue of three-dimensional abdominal cavity model, by searching for preset CT values and manipulation device force feedback parameter
Table accurately controls force feedback intensity.Wherein, laparoscopic surgery simulated training system uses the Hounsfiled value generations of CT data
The tissue of table different densities.Specifically, the corresponding CT numbers of air in the laparoscopic surgery simulated training system of the embodiment of the present invention
According to Hounsfiled values be -1000~-200Hu, the Hounsfiled values of the corresponding CT data of water are 0~15Hu, blood pair
The Hounsfiled values for the CT data answered are 15~50Hu, and the Hounsfiled values of the corresponding CT data of spleen are 40~62Hu,
The Hounsfiled values of the corresponding CT data of liver are 50~70Hu, and the Hounsfiled values of the corresponding CT data of kidney are 40
The Hounsfiled values of~52Hu, the corresponding CT data of muscle are 38~75Hu, the Hounsfiled of the corresponding CT data of bone
Value is more than 400Hu, and the Hounsfiled values of the corresponding CT data of fat are -15~10Hu.
Why the laparoscopic surgery simulated training system of the embodiment of the present invention uses the Hounsfiled value generations of CT data
The tissue of table different densities, be because inventor in the implementation of the present invention, by a large amount of CT Data Summaries and survey
Examination finds there is incidence relation between the Hounsfiled values and the density of different tissues of CT data, moreover, the difference of human body
Tissue has different density, therefore, the Hounsfiled value generations of CT data is used in laparoscopic surgery simulated training system
The tissue of table different densities can be very good the analog image for distinguishing the different tissues for showing human body.
Mechanics transmission function used by volume data Mechanical loading module 400 can introduce optical delivery letter by setting
Numerical value is simultaneously weighted, and the CT values for hiding or weakening display, the body of the embodiment of the present invention are needed for optical transfer function value
Data Mechanical loading module 400 reduces its mechanics parameter weight, to realize the shadow for eliminating extraneous tissue or organ to simulating effect
It rings, enhances the reading efficiency of laparoscopic surgery simulated training system.
Further, with reference to shown in figure 1, Fig. 2 and Fig. 3, control stick control module 500 is for simulating laparoscope and operation
Instrument is in depth, the pitch angle between itself axial-rotation and incision point and the yaw angle between incision point and from figure
State parameter；The laparoscope that three-dimensional rendering module 600 is used to be determined according to control stick control module 500 is in CT scan coordinate system
Position and direction, the rendering parameter of three-dimensional abdominal cavity model is adjusted, with the laparoscope view under simulative display current operation；Behaviour
Tissue stress size when vertical pole mechanics feedback module 700 is for accurate feedback surgical instrument contact lesion organ, to help to grasp
Manipulation feel when author's perception is by surgical instrument operation lesion organ.
Specifically, shown in referring to figs. 2 and 3, the laparoscopic surgery simulated training system of the embodiment of the present invention is provided with hand
Art joystick, wherein surgical instrument control stick is arranged in laparoscopic surgery simulation table, surgical instrument control stick and behaviour
It is electrically connected between vertical pole control module 500, operation of the control stick control module 500 according to user to joystick of performing the operation, mould
Quasi- laparoscope and surgical instrument are in depth, the pitch angle between itself axial-rotation and incision point and between incision point
Yaw angle and itself attitude parameter.Wherein, in the laparoscopic surgery simulated training system of the embodiment of the present invention according to control stick control
The simulation laparoscope and surgical instrument that molding block 500 determines are in depth, the pitching between itself axial-rotation and incision point
Yaw angle between angle and incision point and itself attitude parameter, in the laparoscopic surgery simulated training system of the embodiment of the present invention
Overlapping display is rendered in the three-dimensional abdominal cavity model that system uses virtual operation instrument, to realize the true of simulation laparoscopic surgery
Visual effect.
Refering to what is shown in Fig. 4, control stick mechanics feedback module 700 includes collision detection module 701, Force Calculation module
702, deformation calculation module 703 and data transmission module 704, wherein shown in referring to figs. 2 and 3, data transmission module 704 is used
In completing data output and feedback, collision detection module 701 is for detecting whether laparoscopic surgery control stick touches lesion device
The tissue of official；Force Calculation module 702 is used for the calculating foci when laparoscopic surgery control stick touches the tissue of lesion organ
Reaction force of the function of organization of organ on control stick, and then operation bench is fed back to by data transmission module 704, and lead to
Cross the size that control servomotor simulates the reaction force；Deformation calculation module 703 is used to touch when laparoscopic surgery control stick
The tissue deformation of calculating foci organ when encountering the tissue of lesion organ, and deformation will be organized using the form of three-dimensional rendering
Size is shown over the display.
It is well known that in laparoscopic surgery, doctor is by surgical instrument manipulating tissue organ, it is difficult to correctly perception group
The stressing conditions for knitting organ, to increase the risk for causing histoorgan to damage since application active force is excessive, and it is final
Increase the difficulty of myometrial suture.And the control stick mechanics that the laparoscopic surgery simulated training system of the embodiment of the present invention uses
Feedback module 700, wherein when user is operated by the surgical instrument control stick of operation bench, work as collision detection module
701 detect that laparoscopic surgery control stick touches the tissue of lesion organ；702 calculating foci organ of Force Calculation module
Reaction force of the function of organization on control stick, and then operation bench is fed back to by data transmission module 704, and pass through control
Servo motor simulates the size of reaction force；So as to allow operator's sense of reality to the stressing conditions of histoorgan.For mould
Quasi- trainer brings good telepresenc.Meanwhile when laparoscopic surgery control stick touches the tissue of lesion organ, deformation
The tissue deformation of 703 calculating foci organ of computing module, and using three-dimensional rendering form will organize the size of deformation include
On display, allow user visually and in operating handle between sense of reality laparoscopic surgery control stick and lesion organ by
Power size and tissue deformation size can improve the laparoscopic surgical instruments manipulation feel of laparoscopic surgery simulated training person.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent replacement, improvement and so on should all be included in the protection scope of the present invention.
Claims (7)
1. a kind of laparoscopic surgery simulated training system shown based on computer aided medicine, which is characterized in that the abdominal cavity
Videoendoscopic surgery simulated training system includes CT data preprocessing modules, CT internal organs segmentation module, said three-dimensional body drafting module, volume data power
Learn load-on module, control stick control module, three-dimensional rendering module, control stick mechanics feedback module, wherein the CT data are located in advance
Module is managed to be used to carry out partitioning into skin, the extraction of CT body data to two-dimensional CT image data and rebuild three-dimensional patch model to show
The corresponding three-dimensional abdominal cavity model of the two-dimensional CT image data is shown on screen；The CT internal organs segmentation module is used for according to scanning
Position selection need the histoorgan divided so that the CT data preprocessing modules to its corresponding two-dimensional CT image data into
Row pretreatment, to generate the three-dimensional patch model of the histoorgan and be shown with the three-dimensional abdominal cavity Model Fusion；Described three
Dimension volume drawing module is used to load the optical transfer function that three-dimensional volume drawing renders, so that the display gray shade value of voxel is converted into face
Color, transparency are used in combination light projecting algorithm to calculate each voxel to rendering the contribution of area pixel unit with Overlapping display object
Manage the three-dimensional intra-abdominal organ and organization chart picture of illumination model；The volume data Mechanical loading module is for working as virtual operation instrument
When touching the Different Organs and tissue of the three-dimensional abdominal cavity model, by searching for preset CT values and manipulation device force feedback parameter
Table accurately controls force feedback intensity；The control stick control module for simulate laparoscope and surgical instrument in depth, along itself
The yaw angle and itself attitude parameter between pitch angle and incision point between axial-rotation and incision point；The three-dimensional rendering
Position and direction of the laparoscope that module is used to be determined according to the control stick control module in CT scan coordinate system, adjust institute
The rendering parameter for stating three-dimensional abdominal cavity model, with the laparoscope view under simulative display current operation；The control stick mechanics feedback
Tissue stress size when module is for accurate feedback surgical instrument contact lesion organ, to help operator's perception to pass through operation
Manipulation feel when instrumentation lesion organ.
2. laparoscopic surgery simulated training system according to claim 1, which is characterized in that the control stick mechanics feedback
Module includes collision detection module, Force Calculation module, deformation calculation module and data transmission module, wherein the data pass
Defeated module is for completing data output and feedback, and the collision detection module is for detecting whether laparoscopic surgery control stick is touched
To the tissue of lesion organ；The Force Calculation module is used for when laparoscopic surgery control stick touches the tissue of lesion organ
Reaction force of the function of organization of the lesion organ on control stick is calculated, and then is fed back to by the data transmission module
Operation bench, and simulate by control servomotor the size of the reaction force；The deformation calculation module is for working as laparoscope
The tissue deformation of calculating foci organ when operation control stick touches the tissue of lesion organ, and will in the form of three-dimensional rendering
The size of the tissue deformation is shown over the display.
3. laparoscopic surgery simulated training system according to claim 1, which is characterized in that the CT data predictions mould
Block is additionally operable to show main organs inside three-dimensional abdominal cavity model over the display by the way of volume drawing rendering according to CT data,
By the way of iso-surface patch rendering in the main organs three-dimensional abdominal cavity model described in Overlapping display skin model.
4. laparoscopic surgery simulated training system according to claim 3, which is characterized in that the CT data predictions mould
Block is additionally operable to click position on the skin model according to user, determines laparoscopic incision position and surgical instrument notch position
It sets, and calculates the three-dimensional coordinate of the laparoscopic incision position and the surgical instrument incision site.
5. laparoscopic surgery simulated training system according to claim 1, which is characterized in that the laparoscopic surgery simulation
The three-dimensional abdominal cavity model that training system uses is according to the three-dimensional abdominal cavity model of the CT data real-time updates of user.
6. laparoscopic surgery simulated training system according to claim 1, which is characterized in that the laparoscopic surgery simulation
Training system represents the tissue of different densities using the Hounsfiled values of CT data.
7. laparoscopic surgery simulated training system according to claim 1, which is characterized in that the laparoscopic surgery simulation
The Hounsfiled values of the corresponding CT data of air are -1000~-200Hu in training system, the corresponding CT data of air
Hounsfiled values are -1000~-200Hu, and the Hounsfiled values of the corresponding CT data of water are 0~15Hu, and blood is corresponding
The Hounsfiled values of CT data are 15~50Hu, and the Hounsfiled values of the corresponding CT data of spleen are 40~62Hu, liver
The Hounsfiled values of corresponding CT data are 50~70Hu, the Hounsfiled values of the corresponding CT data of kidney are 40~
The Hounsfiled values of 52Hu, the corresponding CT data of muscle are 38~75Hu, the Hounsfiled values of the corresponding CT data of bone
More than 400Hu, the Hounsfiled values of the corresponding CT data of fat are -15~10Hu.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810267210.5A CN108492693A (en) | 2018-03-28 | 2018-03-28 | A kind of laparoscopic surgery simulated training system shown based on computer aided medicine |
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| CN109192030A (en) * | 2018-09-26 | 2019-01-11 | 郑州大学第附属医院 | True hysteroscope Minimally Invasive Surgery simulation training system and method based on virtual reality |
| CN110164557A (en) * | 2019-07-08 | 2019-08-23 | 杭州爱卓科技有限公司 | The method that implicit surfaces algorithm is used for analogue simulation operation on soft tissue path planning |
| CN111403017A (en) * | 2019-01-03 | 2020-07-10 | 西门子医疗有限公司 | Medical assistance device, system, and method for determining a deformation of an object |
| CN111882936A (en) * | 2020-07-18 | 2020-11-03 | 纽智医疗科技(苏州)有限公司 | Operation rehearsal and teaching system based on force feedback and virtual reality |
| CN112932663A (en) * | 2021-03-02 | 2021-06-11 | 成都与睿创新科技有限公司 | Intelligent auxiliary method and system for improving safety of laparoscopic cholecystectomy |
| CN114067626A (en) * | 2021-09-30 | 2022-02-18 | 中日友好医院(中日友好临床医学研究所) | Bronchoscope simulation system based on personalized data |
| CN114373349A (en) * | 2020-12-15 | 2022-04-19 | 西安赛德欧医疗研究院有限公司 | Whole abdominal cavity viscera operation training system |
| WO2022199651A1 (en) * | 2021-03-24 | 2022-09-29 | 上海微创医疗机器人（集团）股份有限公司 | Computer readable storage medium, electronic device, surgical robot, and positioning system |
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| CN109192030A (en) * | 2018-09-26 | 2019-01-11 | 郑州大学第附属医院 | True hysteroscope Minimally Invasive Surgery simulation training system and method based on virtual reality |
| CN111403017A (en) * | 2019-01-03 | 2020-07-10 | 西门子医疗有限公司 | Medical assistance device, system, and method for determining a deformation of an object |
| CN111403017B (en) * | 2019-01-03 | 2023-08-18 | 西门子医疗有限公司 | Medical auxiliary device, system, and method for determining deformation of an object |
| CN110164557A (en) * | 2019-07-08 | 2019-08-23 | 杭州爱卓科技有限公司 | The method that implicit surfaces algorithm is used for analogue simulation operation on soft tissue path planning |
| CN110164557B (en) * | 2019-07-08 | 2022-05-31 | 杭州爱卓科技有限公司 | Method for simulating and simulating soft tissue surgery path planning by using implicit surface algorithm |
| CN111882936A (en) * | 2020-07-18 | 2020-11-03 | 纽智医疗科技(苏州)有限公司 | Operation rehearsal and teaching system based on force feedback and virtual reality |
| CN114373349A (en) * | 2020-12-15 | 2022-04-19 | 西安赛德欧医疗研究院有限公司 | Whole abdominal cavity viscera operation training system |
| CN112932663A (en) * | 2021-03-02 | 2021-06-11 | 成都与睿创新科技有限公司 | Intelligent auxiliary method and system for improving safety of laparoscopic cholecystectomy |
| CN112932663B (en) * | 2021-03-02 | 2021-10-22 | 成都与睿创新科技有限公司 | Intelligent auxiliary system for improving safety of laparoscopic cholecystectomy |
| WO2022199651A1 (en) * | 2021-03-24 | 2022-09-29 | 上海微创医疗机器人（集团）股份有限公司 | Computer readable storage medium, electronic device, surgical robot, and positioning system |
| CN114067626A (en) * | 2021-09-30 | 2022-02-18 | 中日友好医院(中日友好临床医学研究所) | Bronchoscope simulation system based on personalized data |
| CN114067626B (en) * | 2021-09-30 | 2023-12-15 | 浙江优亿医疗器械股份有限公司 | Bronchoscope simulation system based on personalized data |
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