CN111081386A - Medical interaction system based on virtual reality technology - Google Patents
Medical interaction system based on virtual reality technology Download PDFInfo
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- CN111081386A CN111081386A CN201911226881.8A CN201911226881A CN111081386A CN 111081386 A CN111081386 A CN 111081386A CN 201911226881 A CN201911226881 A CN 201911226881A CN 111081386 A CN111081386 A CN 111081386A
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H80/00—ICT specially adapted for facilitating communication between medical practitioners or patients, e.g. for collaborative diagnosis, therapy or health monitoring
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
- G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/012—Walk-in-place systems for allowing a user to walk in a virtual environment while constraining him to a given position in the physical environment
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2203/00—Indexing scheme relating to G06F3/00 - G06F3/048
- G06F2203/01—Indexing scheme relating to G06F3/01
- G06F2203/014—Force feedback applied to GUI
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Abstract
The application discloses a medical interaction system based on a virtual reality technology, which comprises a camera device, a computer device and a display device, wherein the camera device is used for acquiring real scene information of a user and sending the real scene information to the computer device; the tactile glove is used for calculating the force data pre-applied by the hand of the user according to the virtual object and the operation action information of the hand of the user, and controlling the tactile glove to make real feedback to the hand of the user according to the data; sending the operation action information to the computer equipment; the virtual reality equipment is used for acquiring the head data of the user and sending the head data to the computer equipment; receiving virtual scene information sent by computer equipment, and updating and displaying a virtual scene; and the computer equipment is used for receiving the real scene information, the operation action information and the head data, calculating the virtual scene information in real time according to the real scene information and the virtual object, and sending the virtual scene information to the virtual reality equipment. Through interactive communication between the virtual reality device and the tactile gloves, a user can accurately capture an actual medical scene according to real feedback of the tactile gloves.
Description
Technical Field
The invention relates to the field of virtual reality interaction technology application, in particular to a medical interaction system based on a virtual reality technology.
Background
Virtual reality technology is also called as VR (virtual reality) technology, the technology has been applied to medical virtual surgery, telemedicine and the like, and particularly, the technology makes remarkable progress in virtual reality immersion display and virtual manipulation.
The touch gloves are also called VR touch gloves, VR data gloves, VR body feeling gloves or VR medical gloves, the research on the touch gloves in China is late, most touch interaction equipment is mainly applied to a mobile terminal or is realized in a force feedback device mode, and no related scheme is provided in the field of combination with the virtual reality technology.
In the medical field, to disease such as patient's action difficulty, the touch response is slow, the treatment mode that exists at present often carries out simple basic rehabilitation under professional's accompany, can not strengthen patient's subjective consciousness, and the substitution is felt weak, consequently, how to realize interactive communication through wearing VR sense of touch gloves and virtual reality equipment, and all make the feedback to patient's each step action through VR sense of touch gloves and let patient experience things around directly perceivedly conveniently, it is the present problem that will wait to solve to accomplish rehabilitation training.
Disclosure of Invention
In view of the above defects or shortcomings in the prior art, it is desirable to provide a medical interaction system based on a virtual reality technology, which solves the problem that the user can realize accurate capture of a target in an actual medical scene according to real feedback of a tactile glove through interactive communication between a virtual reality device and the tactile glove so as to achieve the purpose of rehabilitation therapy or skill training.
The application provides a medical treatment interactive system based on virtual reality technology, includes:
the camera device is used for acquiring real scene information of a user and sending the real scene information to the computer equipment;
the tactile glove is used for calculating pre-applied force data of the hand of the user according to the virtual object and the operation action information of the hand of the user, and controlling the tactile glove to make real feedback to the hand of the user according to the force data; sending the operation action information to computer equipment;
the virtual reality equipment is used for acquiring head data of a user and sending the head data to the computer equipment; receiving virtual scene information sent by computer equipment, and updating a displayed virtual scene;
and the computer equipment is used for receiving the real scene information, the operation action information and the head data, calculating virtual scene information in real time according to the real scene information, the operation action information, the head data and the virtual object, and sending the virtual scene information obtained by calculation to the virtual reality equipment.
Further, the operation action information comprises hand position data, hand rotation data and/or finger bending data.
Further, the haptic glove includes:
the glove comprises a glove body, at least one strain sensor, a controller and at least one pneumatic actuator;
the strain sensor is used for detecting the deformation of the glove and sending a measured signal to the controller,
the controller is respectively and electrically connected with the strain sensors on the gloves through signal wires and is used for receiving sensing signals sent by each strain sensor and outputting control signals to the pneumatic actuator,
the pneumatic actuator is used for receiving the control signal of the controller and executing control action according to the control signal.
Further, the pneumatic actuator comprises an air pump and a plurality of air bags, and the air pump controls the air bags to inflate and deflate according to the control signals.
Preferably, the diameter of the air bag is 10mm, and the diameter of the air inlet of the air bag is 2 mm.
Further, the tactile glove is prepared by the following steps:
taking acrylamide and N.N methylene bisacrylamide as cross-linking agents, ammonium persulfate as an initiator and tetramethylethylenediamine as an accelerator, stirring the materials according to a preset proportion until the solution is uniform and transparent, and pouring the solution into a mold;
distributing a strain sensor and a pneumatic actuator at the corresponding position of the mould;
cure at 50 ℃ for 1.5 hours.
Preferably, a plurality of diamond microstructures are distributed on the outer surface of the tactile glove.
Preferably, the strain sensor is a liquid-solid dual-phase gallium-based metallized micro-channel film.
Further, the virtual reality equipment is virtual reality glasses or a virtual reality helmet.
Further, the head data includes position data of the head and/or rotation direction data of the head.
To sum up, in the medical interaction system based on the virtual reality technology provided by the embodiment of the application, the computer device receives the real scene information acquired by the camera device, the operation action information of the touch glove, and the head data and the virtual object acquired by the virtual reality device, calculates the virtual scene information according to the real scene information and the operation action information, and sends the virtual scene information to the virtual reality device for updating and displaying; the user touches or moves an object in the virtual scene through the tactile glove, the specific tactile glove calculates the pre-applied force data of the hand of the user according to the virtual object and the operation action information of the hand of the user, controls the tactile glove to make real feedback to the hand of the user according to the force data, and enables the hand of the user to feel the real tactile feedback.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic communication and interaction diagram of a medical interaction system based on virtual reality technology according to an embodiment of the present application;
FIG. 2 is a flow chart of a method of making a haptic glove according to an embodiment of the present application;
fig. 3 is a schematic diagram of a machine learning algorithm flow of a haptic glove with optimal function according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
For convenience of understanding and explanation, a virtual reality technology-based medical interactive system provided by an embodiment of the present application is explained in detail below by fig. 1, and includes:
the camera device is used for acquiring real scene information of a user and sending the real scene information to the computer equipment;
the tactile glove is used for calculating pre-applied force data of the hand of the user according to the virtual object and the operation action information of the hand of the user, and controlling the tactile glove to make real feedback to the hand of the user according to the force data; sending the operation action information to computer equipment;
the virtual reality equipment is used for acquiring head data of a user and sending the head data to the computer equipment; receiving virtual scene information sent by computer equipment, and updating a displayed virtual scene;
and the computer equipment is used for receiving the real scene information, the operation action information and the head data, calculating virtual scene information in real time according to the real scene information, the operation action information, the head data and the virtual object, and sending the virtual scene information obtained by calculation to the virtual reality equipment.
In this embodiment, the image capturing apparatus is configured to acquire real scene information of a user and send the real scene information to the computer device.
Specifically, the camera device is an instrument device with a video shooting function, such as a video camera, a video camera, and the like, and is used for performing real-time monitoring shooting on a user wearing virtual reality equipment and a touch glove in a real scene to obtain real-time video information, and the camera device sends the real-time video information to the computer device in real time.
It should be noted that, in the present embodiment, the virtual reality device includes, but is not limited to, a virtual reality helmet or virtual reality glasses.
In the embodiment, the tactile glove is used for calculating the pre-applied force data of the hand of the user according to the virtual object and the operation action information of the hand of the user, and controlling the tactile glove to make real feedback to the hand of the user according to the force data; and sending the operation action information to computer equipment.
Specifically, the virtual object refers to a virtual object to be operated in a virtual space by a user through a tactile glove, such as a virtual ball to be operated in the virtual space or a virtual dumbbell to be operated in the virtual space.
Specifically, the operation action information of the user hand refers to a series of hand operation actions generated when the user operates the virtual object in the virtual space through the tactile glove after wearing the tactile glove, and a series of operation instructions which can be recognized and transmitted are converted by the tactile glove, for example, the operation action information generated when the user hand touches or moves the virtual ball in the virtual space through the tactile glove. In this embodiment, the operation motion information of the user's hand includes, but is not limited to, hand position data, hand rotation data, and/or finger bending data. The haptic glove is used as an interactive device, and the operation action information needs to be sent to a computer device for processing.
Specifically, the haptic glove further needs to calculate force data, which is applied by the user hand on the virtual object in advance, according to the virtual object in the virtual space and operation motion information of the user hand generated by operating the virtual object, and then the haptic glove controls the haptic glove to make real feedback to the user hand according to the force data, so that the user can obtain more real immersion and experience, and thus interaction and feedback of the haptic glove in virtual reality are completed.
It should be noted that the force data herein includes haptic data and pressure data applied to the virtual object, wherein the haptic data refers to the roughness of the virtual pair surface sensed by the haptic glove when touching or moving the virtual object, and the pressure data refers to the force applied to the surface of the virtual object when the haptic glove touches or moves the virtual object. Accordingly, the actual feedback imparted by the haptic glove experienced by the user includes both haptic feedback and force feedback.
The haptic glove is applied to the field of medical rehabilitation, real feedback can be given to each step of operation of a user in a virtual space, and the real haptic feedback and force feedback are helpful for helping the user to establish muscle memory and skill training, so that the user is helped to finish a treatment target or a training purpose.
For example, for a patient needing rehabilitation, the virtual human leg in the virtual space is operated by wearing the tactile glove, if the tactile glove touches the inner ligament of the virtual human leg with 1N acting force, the tactile glove controls the tactile glove to give real tactile feedback for touching the inner ligament of the human leg to the hand of the patient and give 1N real force feedback, the patient can immediately and deeply feel that the patient really touches the inner ligament of the human leg and simultaneously uses 1N force to touch the inner ligament of the human leg, the feeling fed back by the tactile glove can enable the patient to have extremely real immersion, and muscle memory can be formed in the body of the patient through continuous training, and during actual self-rehabilitation treatment, the patient can more easily find the position of the inner ligament of the patient and apply correct acting force to carry out rehabilitation treatment according to the muscle memory, thereby reducing the probability of failure to heal due to misplacement or application of a wrong force.
As another example, for medical personnel involved in skill training, by manipulating virtual human tissue in a virtual space by wearing tactile gloves, the haptic glove controls itself to give the medical staff real tactile feedback of touching the human tissue, and the real force feedback acting on the human tissue is given, the medical staff can immediately and deeply feel that the medical staff really touches the human tissue and simultaneously use the same acting force to touch the human tissue, the feeling fed back by the tactile glove can lead the obligation staff to have very real immersion feeling, and a skill training can be formed through continuous training, in the actual human tissue operation, the medical staff can more easily find the corresponding human tissue part of the patient and apply correct acting force to perform the operation according to the skill training, thereby reducing the probability of a failed procedure due to misplacement or application of a wrong force.
In this embodiment, the virtual reality device is configured to collect head data of a user, and send the head data to the computer device; and receiving the virtual scene information sent by the computer equipment, and updating the displayed virtual scene.
Preferably, the virtual reality equipment is virtual reality glasses or a virtual reality helmet.
Preferably, the head data includes position data of the head and/or rotation direction data of the head.
Specifically, the virtual reality device is configured to obtain head data of the user in real time, except for displaying a virtual scene of visual feedback to the user, and the specific obtaining process is as follows: the virtual reality equipment collects six-degree-of-freedom data of the head of a user in real time, the six-degree-of-freedom data comprise moving degrees of freedom in the directions of three rectangular coordinate axes of x, y and z and turning degrees of freedom around the three rectangular coordinate axes of x, y and z, the position and turning information of the user reflected by the six-degree-of-freedom data determine the real-time position and turning of the head of the user in a virtual space, a rotation and translation matrix in a virtual space scene is calculated according to the real-time position and turning data, and the rotation and translation matrix is adjusted and updated in real time according to the actual movement of the head of the user, so that the user obtains good immersion. The virtual reality device is used as an interactive device, and the head data needs to be sent to the computer device for processing.
In addition, the virtual reality device is also used for receiving the virtual scene information sent by the computer device in real time and updating the virtual scene displayed to the user in real time according to the real-time virtual scene information. It should be noted that the virtual scene information here is a three-dimensional space model established by the computer device for real-time dynamics between the haptic glove and the virtual object in the virtual space, and correspondingly, the three-dimensional space model is displayed to the user by the virtual reality device in real time, and a scene fed back to the user's vision at this time is called a virtual scene.
In this embodiment, the computer device is configured to receive the real scene information, the operation action information, and the header data, calculate virtual scene information in real time according to the real scene information, the operation action information, the header data, and the virtual object, and send the virtual scene information obtained through calculation to the virtual reality device.
Specifically, the computer device is in communication connection with the camera device, the haptic glove and the virtual reality device, the computer device serves as a data processing device, performs real-time fusion of information on the received real scene information of the camera device, the operation action information of the haptic glove, the head data of the virtual reality device and the pre-established virtual object information, and calculates the virtual scene information in the whole virtual space in real time according to the real-time fusion information, wherein the calculation process refers to a process of dynamically establishing a three-dimensional space model between the haptic glove and the virtual object in the virtual space in real time by the computer device. The computer device is used as a communication device, and the three-dimensional space model is also required to be transmitted to the virtual reality device in real time and finally displayed by the virtual reality device in real time.
To sum up, in the medical interaction system based on the virtual reality technology provided by the embodiment of the application, the computer device receives the real scene information acquired by the camera device, the operation action information of the touch glove, and the head data and the virtual object acquired by the virtual reality device, calculates the virtual scene information according to the real scene information and the operation action information, and sends the virtual scene information to the virtual reality device for updating and displaying; the user touches or moves an object in a virtual scene through the tactile glove, the specific tactile glove calculates the pre-applied force data of the hand of the user according to the virtual object and the operation action information of the hand of the user, controls the tactile glove to make real feedback to the hand of the user according to the force data, and enables the user to feel real immersion and experience.
Further, the haptic glove of the above embodiment includes:
the glove comprises a glove body, at least one strain sensor, a controller and at least one pneumatic actuator;
the strain sensor is used for detecting the deformation of the glove and sending a measured signal to the controller,
the controller is respectively and electrically connected with the strain sensors on the gloves through signal wires and is used for receiving sensing signals sent by each strain sensor and outputting control signals to the pneumatic actuator,
the pneumatic actuator is used for receiving the control signal of the controller and executing control action according to the control signal.
Specifically, the glove body includes a plurality of strain sensors, and a plurality of strain sensors need to detect the deformation of gloves, and deformation here includes crooked deformation and the atress deformation that the gloves action produced, and wherein, the strain sensor that detects crooked deformation sets up the finger back curved surface position at the glove body, and the strain sensor that detects the atress deformation sets up the inboard application of force position of finger at the glove body, for example finger tip position.
It should be noted that the strain sensor for detecting bending deformation is a strain type displacement sensor, and the strain sensor for detecting stressed deformation is a strain type load cell.
In addition, a plurality of strain sensors are electrically connected with the controller through signal wires, and the strain sensors need to send bending deformation signals measured by the strain sensors for detecting bending deformation and stress deformation signals measured by the strain sensors for detecting stress deformation to the controller through the signal wires.
Specifically, the controller receives the bending deformation signal and the stress deformation signal, converts the bending deformation signal into a touch data signal, converts the stress deformation signal into a pressure data signal, transmits the touch data signal and the pressure data signal to the pneumatic actuator through the signal line, and the pneumatic actuator receives the two signals.
Specifically, the pneumatic actuator controls the pneumatic actuator to make tactile feedback to the user according to the tactile data signal. Preferably, the pneumatic actuator comprises an air pump and a plurality of air bags arranged on the inner surface of the glove body, the air bags are connected with the air pump, the air pump outputs air flow into the air bags, and the air flow can drive the air bags to control the air bags to inflate and deflate according to the touch data signals. For example, these bladders may be inflated and deflated at a rate of up to 100 cycles per second to cause the user's hands to feel vibrations to simulate a true touch. Preferably, the diameter of the air bag is 10mm, and the diameter of the air inlet of the air bag is 2 mm.
Meanwhile, the pneumatic actuator controls the pneumatic actuator to feed back force to a user according to the pressure data signal. Preferably, the pneumatic actuator here includes an air cylinder, an air pump and a link mechanism which are connected with each other, and the acting force of the air cylinder is transmitted to the finger part of the glove body through the connecting mechanism in an air pressure driving manner, so that the hand of the user can feel pressure to simulate real acting force feedback. Of course, the pneumatic actuator can also simulate real force feedback by arranging a motor and driving the motor.
It should be noted that, for the descriptions of the same steps and the same contents in this embodiment as those in other embodiments, reference may be made to the descriptions in other embodiments, which are not described herein again.
Further, as shown in fig. 2, the tactile glove in the above embodiment is prepared by the following steps:
s101, taking acrylamide and N.N methylene bisacrylamide as cross-linking agents, ammonium persulfate as an initiator and tetramethylethylenediamine as an accelerator, stirring the materials according to a preset proportion until the solution is uniform and transparent, and pouring the solution into a prepared mold.
It should be noted that, the mould is a special mould for preparing the touch glove, the structure of the mould surface corresponding to the outer surface of the glove body can be preset, and the structure of the mould surface corresponding to the inner surface of the glove body can be polished into a pattern more fitting the skin, so that no foreign body appears when the glove is worn.
Preferably, a plurality of diamond microstructures are distributed on the surface of the die corresponding to the outer surface of the touch glove, and the structures are high in pressure sensitivity and can accurately feed back a touch object.
And S102, distributing strain sensors and pneumatic actuators at corresponding positions of the die. Specifically, the arrangement of the strain sensors and the pneumatic actuators can be arranged according to the corresponding description and the prior art provided in the present application, and is not limited herein.
Preferably, the strain sensor in this embodiment is a liquid-solid dual-phase gallium-based metallized micro-channel film, specifically, a dual-phase (liquid-solid) gallium-based metallized micro-channel film using a silicone film as a template, and then the film is laminated on the signal line on the back of the glove body.
And S103, covering a cover plate on the mold, and curing at 50 ℃ for 1.5 hours to obtain the touch glove.
It should be noted that, in the above preparation method, the pre-made mold mainly refers to a mold surface structure corresponding to the outer surface of the glove body is designed in advance. The haptic glove with the optimal function, which is manufactured by combining the preset proportion and the preset structure, has the characteristics of good durability, high strength, corrosion resistance and excellent toughness, and the haptic glove can be optimized on the preset proportion and the preset structure through a machine learning algorithm.
It should be noted that, for the descriptions of the same steps and the same contents in this embodiment as those in other embodiments, reference may be made to the descriptions in other embodiments, which are not described herein again.
As shown in fig. 3, the embodiment further provides the calculation steps of the machine learning algorithm:
s201, collecting data, wherein the data comprise preparation materials with different proportions and different structures of the inner surface of a mould corresponding to the outer surface of the glove body; for example, different preparation materials are respectively acrylamide, N.N methylene-bisacrylamide, ammonium persulfate and tetramethyl ethylene diamine in sequence, the mixture ratio of the materials is M1: M2: M3: M4, and different structures are respectively a random structure P1, a linear structure P2 and a rhombic structure P3.
S202, data processing, including vectorizing and standardizing the collected data;
s203, model training, including selecting an algorithm compiling program according to a preset model, inputting a data set into the program, and calculating to obtain a training result of a ratio and a structure with better functions;
s204, diagnosis and tuning are carried out, evaluation and analysis are carried out according to the training result, and if the training result is the result with the optimal function, the result is output; if the result is not the optimal result, the model is improved, and iteration is repeated until a result with optimal function or no more improvement is found and output.
It should be noted that, for the descriptions of the same steps and the same contents in this embodiment as those in other embodiments, reference may be made to the descriptions in other embodiments, which are not described herein again.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (10)
1. A medical interaction system based on virtual reality technology, comprising:
the camera device is used for acquiring real scene information of a user and sending the real scene information to the computer equipment;
the tactile glove is used for calculating pre-applied force data of the hand of the user according to the virtual object and the operation action information of the hand of the user, and controlling the tactile glove to make real feedback to the hand of the user according to the force data; sending the operation action information to computer equipment;
the virtual reality equipment is used for acquiring head data of a user and sending the head data to the computer equipment; receiving virtual scene information sent by computer equipment, and updating a displayed virtual scene;
and the computer equipment is used for receiving the real scene information, the operation action information and the head data, calculating virtual scene information in real time according to the real scene information, the operation action information, the head data and the virtual object, and sending the virtual scene information obtained by calculation to the virtual reality equipment.
2. The virtual reality technology-based medical interaction system of claim 1, wherein:
the operation action information comprises hand position data, hand rotation data and/or finger bending data.
3. The virtual reality technology-based medical interaction system of claim 1, wherein:
the haptic glove includes: the glove comprises a glove body, at least one strain sensor, a controller and at least one pneumatic actuator;
the strain sensor is used for detecting the deformation of the glove and sending a measured signal to the controller,
the controller is respectively and electrically connected with the strain sensors on the gloves through signal wires and is used for receiving sensing signals sent by each strain sensor and outputting control signals to the pneumatic actuator,
the pneumatic actuator is used for receiving the control signal of the controller and executing control action according to the control signal.
4. The virtual reality technology-based medical interaction system of claim 1, wherein:
the pneumatic actuator comprises an air pump and a plurality of air bags, and the air pump controls the air bags to inflate and deflate according to the control signals.
5. The virtual reality technology-based medical interaction system of claim 4, wherein the diameter of the balloon is 10mm, and the diameter of the air inlet of the balloon is 2 mm.
6. The virtual reality technology-based medical interaction system of claim 1,
the tactile glove is prepared by the following steps:
taking acrylamide and N.N methylene bisacrylamide as cross-linking agents, ammonium persulfate as an initiator and tetramethylethylenediamine as an accelerator, stirring the materials according to a preset proportion until the solution is uniform and transparent, and pouring the solution into a mold;
distributing a strain sensor and a pneumatic actuator at the corresponding position of the mould;
cure at 50 ℃ for 1.5 hours.
7. The virtual reality technology-based medical interaction system of claim 3, wherein a plurality of diamond microstructures are distributed on the outer surface of the haptic glove.
8. The virtual reality technology-based medical interaction system of claim 3, wherein the strain sensor is a liquid-solid dual-phase gallium-based metallized micro-channel film.
9. The virtual reality technology-based medical interaction system of claim 1, wherein the virtual reality device is a virtual reality glasses or a virtual reality helmet.
10. The virtual reality technology-based medical interaction system of claim 1, wherein the head data comprises position data of the head and/or rotational direction data of the head.
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| CN201911226881.8A CN111081386A (en) | 2019-12-04 | 2019-12-04 | Medical interaction system based on virtual reality technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112270505A (en) * | 2020-11-18 | 2021-01-26 | 深圳市艾利特医疗科技有限公司 | Internet of things medical equipment state monitoring system, method and device |
| CN114860082A (en) * | 2022-05-30 | 2022-08-05 | 歌尔股份有限公司 | Handle control method, device and computer readable storage medium |
| CN114967915A (en) * | 2022-05-16 | 2022-08-30 | 广东中科四创科技有限公司 | Glove system with touch feedback function and control method |
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2019
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112270505A (en) * | 2020-11-18 | 2021-01-26 | 深圳市艾利特医疗科技有限公司 | Internet of things medical equipment state monitoring system, method and device |
| CN114967915A (en) * | 2022-05-16 | 2022-08-30 | 广东中科四创科技有限公司 | Glove system with touch feedback function and control method |
| CN114860082A (en) * | 2022-05-30 | 2022-08-05 | 歌尔股份有限公司 | Handle control method, device and computer readable storage medium |
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Application publication date: 20200428 |