CN109710073A - A kind of VR medical operation teaching helmet - Google Patents

A kind of VR medical operation teaching helmet Download PDF

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Publication number
CN109710073A
CN109710073A CN201811617391.6A CN201811617391A CN109710073A CN 109710073 A CN109710073 A CN 109710073A CN 201811617391 A CN201811617391 A CN 201811617391A CN 109710073 A CN109710073 A CN 109710073A
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China
Prior art keywords
helmet
image
medical operation
processing module
students
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CN201811617391.6A
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Chinese (zh)
Inventor
张弟龙
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Chongqing College of Electronic Engineering
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Chongqing College of Electronic Engineering
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Priority to CN201811617391.6A priority Critical patent/CN109710073A/en
Publication of CN109710073A publication Critical patent/CN109710073A/en
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Abstract

The present invention proposes a kind of VR medical operation teaching helmet, including camera, for acquiring picture in real time；Transmitting device, for by the picture transmission acquired in real time to processing module；Processing module, for by the picture splicing acquired in real time at complete panorama；The processing module carries out real-time coding to complete panorama to generate panorama preview video；VR helmet main body, for watching the panoramic video.The present invention provides a kind of VR medical operation teaching helmet, so that surgical overall process can be got off with stereoscopic shooting, student can be by the overall process of helmet observation surgical on the spot in person, and mode is demonstrated in the conventional teaching for substituting text and PPT, so that viewing video is more preferably intuitive.

Description

A kind of VR medical operation teaching helmet
Technical field
The present invention relates to field of virtual reality, and in particular to a kind of VR medical operation teaching helmet.
Background technique
One special occupation of doctor's behaviours needs the medicine technical ability of profession, and the grasp of this technical ability needs one are not The process of disconnected study, and nearly 2 years, the important township that surgery demonstration system becomes hospital sets project, is used to clinic, science Exchange is also or remote guide, the video for recording of performing the operation are also precious learning materials, and weight when malpractice even more occurs in the future The evidence wanted.But existing surgery demonstration system cannot make student on the spot in person, not enough intuitively.
Summary of the invention
In view of the foregoing deficiencies of prior art, the purpose of the present invention is to provide a kind of VR medical operation teaching heads Helmet is unable to direct feel surgical procedure disadvantage to solve existing student.
In order to achieve the above objects and other related objects, the present invention provides a kind of VR medical operation teaching helmet, comprising:
Camera, for acquiring picture in real time；
Transmitting device, for by the picture transmission acquired in real time to processing module；
Processing module, for by the picture splicing acquired in real time at complete panorama；
The processing module carries out real-time coding to complete panorama to generate panorama preview video；
VR helmet main body, for watching the panoramic video；
The processing module constructs virtual training scene according to the panoramic video；
The processing module is also used to record the explanation of the hand dynamics and performer of performer corresponding to surgical procedure；
The processing module includes basic data storage unit, for being stored in used all doctors in surgical procedure The model for the treatment of instrument and corresponding appliance function information；
Practitioner is using corresponding medical instrument model according to the explanation and the hand dynamics of surgical procedure virtual Training is completed in Training scene.
Optionally, the hand dynamics is acquired by the surgical instrument with force feedback.
Optionally, the camera includes regular polygon bracket, is provided with one on each face of the regular polygon bracket A imaging sensor.
Optionally, described image sensor is set at the center in each face of the regular polygon bracket.
Optionally, it is adjacent to be greater than two for described image sensor visual field having the same and the field angle of each imaging sensor Angle between imaging sensor axis.
Optionally, the optical axis of the imaging sensor on each face of the regular polygon and imaging sensor place face are to just The line coincident at polyhedron center.
Optionally, collected picture is spliced into complete panorama by the panorama camera in real time, is specifically included:
Obtain the multiple image for being used for spliced panoramic image；
The multiple image is launched into longitude and latitude image respectively；
The splicing regions between several longitude and latitude images are extracted respectively, obtain multiple splicing regions, by the multiple splicing On region projection to unit ball；
The corresponding cylindrical surface areas in region to be spliced in unit sphere is extracted, the left and right image in region to be spliced is calculated separately Between optical flow field；
According to the optical flow field between the left and right image in region to be spliced, the image of each splicing regions is melted respectively Close, until all splicing regions image co-registration after, obtain it is seamless spliced after panoramic picture.
Optionally, the VR helmet main body include the first spectacle lens, secondary glasses piece and for adjust the first spectacle lens with The adjustment module of the spacing distance of secondary glasses piece.
Optionally, the transmitting device is radio transmitting device.
The helmet as described above, a kind of VR medical operation of the invention is imparted knowledge to students, has the advantages that
The present invention provides a kind of VR medical operation teaching helmet, so that surgical overall process can be got off with stereoscopic shooting, Student can substitute the conventional teaching demonstration side of text and PPT by the overall process of helmet observation surgical on the spot in person Formula, so that viewing video is more preferably intuitive.
Specific embodiment
Illustrate embodiments of the present invention below by way of specific specific example, those skilled in the art can be by this specification Other advantages and efficacy of the present invention can be easily understood for disclosed content.The present invention can also pass through in addition different specific realities The mode of applying is embodied or practiced, the various details in this specification can also based on different viewpoints and application, without departing from Various modifications or alterations are carried out under spirit of the invention.It should be noted that in the absence of conflict, following embodiment and implementation Feature in example can be combined with each other.
The present invention provides a kind of VR medical operation teaching helmet, comprising:
Camera, for acquiring picture in real time；
Transmitting device, for by the picture transmission acquired in real time to processing module；
Processing module, for by the picture splicing acquired in real time at complete panorama；
The processing module carries out real-time coding to complete panorama to generate panorama preview video；
VR helmet main body, for watching the panoramic video；
The processing module constructs virtual training scene according to the panoramic video；
The processing module is also used to record the explanation of the hand dynamics and performer of performer corresponding to surgical procedure；
The processing module includes basic data storage unit, for being stored in used all doctors in surgical procedure The dummy model for the treatment of instrument and corresponding appliance function information；
Practitioner is using corresponding medical instrument model according to the explanation and the hand dynamics of surgical procedure virtual Training is completed in Training scene.Particularly, during practitioner carries out operative training, the dynamics of surgical instrument model also can be by It shows, which can be with the dynamics being recorded compared with, and practitioner adjusts according to the dynamics of display and the dynamics of record Section makes the dynamics of display close to the dynamics of record.
Optionally, the hand dynamics is acquired by the surgical instrument with force feedback.
The camera includes regular polygon bracket, and an image is provided on each face of the regular polygon bracket and is passed Sensor.
In an embodiment, described image sensor is set at the center in each face of the regular polygon bracket.
In an embodiment, the field angle of described image sensor visual field having the same and each imaging sensor is greater than Angle between two neighboring image sensors axis.
In an embodiment, where the optical axis and the imaging sensor of the imaging sensor on each face of regular polygon Line coincident of the face to regular polygon center.
In an embodiment, collected picture is spliced into complete panorama by the panorama camera in real time, specifically Include:
Obtain the multiple image for being used for spliced panoramic image；
The multiple image is launched into longitude and latitude image respectively；
The splicing regions between several longitude and latitude images are extracted respectively, obtain multiple splicing regions, by the multiple splicing On region projection to unit ball；
The corresponding cylindrical surface areas in region to be spliced in unit sphere is extracted, the left and right image in region to be spliced is calculated separately Between optical flow field；
According to the optical flow field between the left and right image in region to be spliced, the image of each splicing regions is melted respectively Close, until all splicing regions image co-registration after, obtain it is seamless spliced after panoramic picture.
It is described multiple image is launched into longitude and latitude image respectively to specifically include:
Obtain the model that shooting image is deployed into longitude and latitude image；
According to the model, the multiple image is unfolded respectively, obtains several warps corresponding with the multiple image Latitude image.
The splicing regions extracted between several longitude and latitude images respectively, obtain multiple splicing regions, by multiple splicings It is specifically included on region projection to unit ball:
N width longitude and latitude image I is extracted respectively1One InBetween splicing regions, obtain N number of splicing regions Sl-Sn；
To N number of splicing regions S of extractionl-SnSpherical projection is carried out, N number of region J to be spliced in unit sphere is obtained1- Jn, wherein N is the natural number more than or equal to 2；
The corresponding cylindrical surface areas in region to be spliced, calculates separately the left and right of region to be spliced in the extraction unit sphere Optical flow field between image specifically includes:
Extract N number of region J to be spliced in unit sphere1-Jn, by region J to be spliced1-JnIt is respectively mapped to corresponding cylinder Region T1-Tn；
Calculate separately N number of cylindrical surface areas T1-TnLeft and right image between optical flow field, for each cylindrical surface areas, specifically Are as follows:
Calculate left image to right image optical flow field fL → R (x, y) and right image to left image optical flow field fR → L (x, y)；
Left image is adaptively adjusted according to the distance between splicing regions pixel and left and right two pieces to right image The weighted value a of optical flow field fL → R (x, y) and right image to left image optical flow field fR → L (x, y) weighted value b, be adjusted Optical flow field afterwards.
Optical flow field between the left and right image according to region to be spliced, respectively to the image of each splicing regions into Row fusion specifically includes:
Left and right image co-registration is adaptively adjusted according to the distance between splicing regions pixel and left and right two pieces Weighted value λ and μ；
According to the following formula to region T to be splicedLAnd TRImage co-registration is carried out, fused region T is obtainedB；
TB(x, y)=λ gTL(x+fx(L→R)(x,y),y)+fy(L→R)(x,y))+μgTR(x+fx(R→L)(x,y),y+ fy(R→L)(x,y))
Wherein, TB(x, y) indicates the value of pixel (x, y) after fusion, TL(x, y) is indicated in integration region left image The value of pixel, TR(x, y) indicates the value of pixel in integration region right image, and λ and μ are weighted value, λ ∈ [0,1], μ ∈ [0, 1]。
In an embodiment, the VR helmet main body is including the first spectacle lens, secondary glasses piece and for adjusting First view The adjustment module of the spacing distance of eyeglass and secondary glasses piece.
The adjustment module is in the following manner adjusted the distance between the first spectacle lens and secondary glasses piece:
The eyes image information of the user is obtained by image collecting device；
According to the eyes image information, two interpupillary distances of the user are calculated；
According to the two of the user interpupillary distances, the interpupillary distance information of the user is obtained；
It is described according to the eye information, however, it is determined that the eye information is unsatisfactory for the visual condition of the VR glasses, then According to the eye information, adjustment modes are determined, comprising:
If it is determined that the interpupillary distance information is unsatisfactory for the interpupillary distance configuration information in the visual condition, then believed according to the interpupillary distance Breath and the interpupillary distance configuration information determine that the adjustment modes are interpupillary distance adjustment modes.
It is described according to the adjustment modes, adjust the VR glasses, comprising:
According to the interpupillary distance information of the user, the first spectacle lens of the VR glasses and the position of secondary glasses piece are adjusted It sets.
According to the interpupillary distance information of the user, the interpupillary distance of the user is big with the current interpupillary distance of VR glasses It is small；
If the interpupillary distance of the user is greater than the current interpupillary distance of VR glasses, the first motor and the second motor are controlled, with Drive corresponding first spectacle lens of first motor and the corresponding secondary glasses piece of second motor synchronously to far from The direction of heart reference point is mobile, so that the interpupillary distance of the VR glasses and the interpupillary distance of the user match；
If the interpupillary distance of the user is less than the current interpupillary distance of VR glasses, the first motor and the second motor are controlled, with Drive corresponding first spectacle lens of first motor and the corresponding secondary glasses piece of second motor synchronously in The direction of heart reference point is mobile, so that the interpupillary distance of the VR glasses and the interpupillary distance of the user match.
In the present embodiment, the eye information of VR glasses user is obtained by acquisition, however, it is determined that the eye of user is believed The visual condition that breath is unsatisfactory for VR glasses determines adjustment modes according to the eye information of user, carries out not to VR glasses automatically With the adjustment of adjustment modes, the visual condition of VR glasses and the eye information matches of user can be made, realize automatic collection The eye information of user, and the visual condition of the eye information adjust automatically VR glasses according to user, improve VR glasses Visual effect, improve user's visual experience.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe The personage for knowing this technology all without departing from the spirit and scope of the present invention, carries out modifications and changes to above-described embodiment.Cause This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as At all equivalent modifications or change, should be covered by the claims of the present invention.

Claims (9)

  1. The helmet 1. a kind of VR medical operation is imparted knowledge to students characterized by comprising
    Camera, for acquiring picture in real time；
    Transmitting device, for by the picture transmission acquired in real time to processing module；
    Processing module, for by the picture splicing acquired in real time at complete panorama；
    The processing module carries out real-time coding to complete panorama to generate panorama preview video；
    VR helmet main body, for watching the panoramic video；
    The processing module constructs virtual training scene according to the panoramic video；
    The processing module is also used to record the explanation of the hand dynamics and performer of performer corresponding to surgical procedure；
    The processing module includes basic data storage unit, for being stored in used whole Medical treatment devices in surgical procedure The model of tool and corresponding appliance function information；
    Practitioner is according to the corresponding medical instrument model of utilization according to the explanation and the hand dynamics of surgical procedure virtual Training is completed in Training scene.
  2. The helmet 2. a kind of VR medical operation according to claim 1 is imparted knowledge to students, which is characterized in that the hand dynamics passes through tool The surgical instrument of force feedback acquires.
  3. The helmet 3. a kind of VR medical operation according to claim 1 is imparted knowledge to students, which is characterized in that the camera includes just more Face body support frame is provided with an imaging sensor on each face of the regular polygon bracket.
  4. The helmet 4. a kind of VR medical operation according to claim 3 is imparted knowledge to students, which is characterized in that described image sensor setting At the center in each face of the regular polygon bracket.
  5. The helmet 5. a kind of VR medical operation according to claim 3 is imparted knowledge to students, which is characterized in that described image sensor has Identical visual field and the field angle of each imaging sensor are greater than the angle between two neighboring image sensors axis.
  6. The helmet 6. a kind of VR medical operation according to claim 4 is imparted knowledge to students, which is characterized in that each face of regular polygon On imaging sensor optical axis and the imaging sensor where face to regular polygon center line coincident.
  7. The helmet 7. a kind of VR medical operation according to claim 1 is imparted knowledge to students, which is characterized in that the panorama camera will acquire To picture be spliced into complete panorama in real time, specifically include:
    Obtain the multiple image for being used for spliced panoramic image；
    The multiple image is launched into longitude and latitude image respectively；
    The splicing regions between several longitude and latitude images are extracted respectively, obtain multiple splicing regions, by the multiple splicing regions It projects on unit ball；
    The corresponding cylindrical surface areas in region to be spliced in unit sphere is extracted, is calculated separately between the left and right image in region to be spliced Optical flow field；
    According to the optical flow field between the left and right image in region to be spliced, the image of each splicing regions is merged respectively, directly To all splicing regions image co-registration after, obtain it is seamless spliced after panoramic picture.
  8. The helmet 8. a kind of VR medical operation according to claim 1 is imparted knowledge to students, which is characterized in that the VR helmet main body includes The adjustment module of first spectacle lens, secondary glasses piece and the spacing distance for adjusting the first spectacle lens and secondary glasses piece.
  9. The helmet 9. a kind of VR medical operation according to claim 8 is imparted knowledge to students, which is characterized in that the transmitting device is wireless Transmitting device.
CN201811617391.6A 2018-12-28 2018-12-28 A kind of VR medical operation teaching helmet Pending CN109710073A (en)

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Application Number Priority Date Filing Date Title
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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110689968A (en) * 2019-09-26 2020-01-14 山东浪潮人工智能研究院有限公司 Big data medical learning method and system based on 5G and VR technology
CN113963609A (en) * 2021-09-23 2022-01-21 四川大学 Neurosurgery operation simulation operation model based on VR technique

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Publication number Priority date Publication date Assignee Title
CN103325400A (en) * 2013-05-17 2013-09-25 北京中科大洋信息技术有限公司 Teaching system and method for recording and broadcasting operation video
CN106251751A (en) * 2016-10-12 2016-12-21 大连文森特软件科技有限公司 A kind of simulated medical surgery analogue system based on VR technology
CN107369129A (en) * 2017-06-26 2017-11-21 深圳岚锋创视网络科技有限公司 A kind of joining method of panoramic picture, device and portable terminal
CN207429174U (en) * 2017-02-23 2018-06-01 医影联合（北京）科技有限公司 Shadowless lamp and the system for obtaining surgical operation images
US20180211563A1 (en) * 2017-01-26 2018-07-26 Sonosim, Inc System and Method for Multisensory Psychomotor Skill Training

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103325400A (en) * 2013-05-17 2013-09-25 北京中科大洋信息技术有限公司 Teaching system and method for recording and broadcasting operation video
CN106251751A (en) * 2016-10-12 2016-12-21 大连文森特软件科技有限公司 A kind of simulated medical surgery analogue system based on VR technology
US20180211563A1 (en) * 2017-01-26 2018-07-26 Sonosim, Inc System and Method for Multisensory Psychomotor Skill Training
CN207429174U (en) * 2017-02-23 2018-06-01 医影联合（北京）科技有限公司 Shadowless lamp and the system for obtaining surgical operation images
CN107369129A (en) * 2017-06-26 2017-11-21 深圳岚锋创视网络科技有限公司 A kind of joining method of panoramic picture, device and portable terminal

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110689968A (en) * 2019-09-26 2020-01-14 山东浪潮人工智能研究院有限公司 Big data medical learning method and system based on 5G and VR technology
CN113963609A (en) * 2021-09-23 2022-01-21 四川大学 Neurosurgery operation simulation operation model based on VR technique
CN113963609B (en) * 2021-09-23 2022-11-15 四川大学 Neurosurgery operation simulation operation model based on VR technique

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Application publication date: 20190503