CN111380500A - Simulated scalpel space positioning method and device - Google Patents
Simulated scalpel space positioning method and device Download PDFInfo
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- CN111380500A CN111380500A CN201811641948.XA CN201811641948A CN111380500A CN 111380500 A CN111380500 A CN 111380500A CN 201811641948 A CN201811641948 A CN 201811641948A CN 111380500 A CN111380500 A CN 111380500A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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Abstract
The invention provides a space positioning method and equipment for a simulated scalpel, wherein the equipment comprises movable arms S1, S2 and S3; a simulated scalpel S4; the universal rotating shaft S5, S6, S7, S8 and the fixed seat S9; the movable arms and the movable arms are connected with the simulated scalpel through universal rotating shafts, each section of movable arm is internally provided with an attitude detection module, and the simulated scalpel is internally provided with an attitude detection module and a calibration key; the universal rotating shaft can rotate around the shaft center in a three-dimensional space at a large angle, the gesture of the movable arm in the motion process is captured by the gesture detection module of the movable arm, the gesture of the simulated scalpel S4 in the motion process is captured by the gesture detection module of the simulated scalpel S4, the length of the movable arm and the length of the simulated scalpel S4 are combined, the function of positioning the virtual scalpel in virtual reality is achieved, and the requirements of performing operations at different angles in virtual reality simulated operation are met.
Description
Technical Field
The invention relates to the technical field of space positioning, in particular to a method and equipment for simulating the space positioning of a scalpel.
Background
The existing virtual reality space positioning device has the problems of more additional equipment, high price and complex use and operation, and has a large defect for the application of a virtual reality scene in a medical experiment.
Disclosure of Invention
Aiming at the technical problems, the invention provides a solution for a space positioning device of a simulated scalpel, which can better meet the aerial positioning requirement of the simulated scalpel in the aspect of medical simulated surgery application.
1. The invention provides a space positioning device for a simulated scalpel, which comprises a base,
comprises a movable arm S1, a movable arm S2, a movable arm S3, a simulated scalpel S4, a universal rotating shaft S5, a universal rotating shaft S6, a universal rotating shaft S7, a universal rotating shaft S8 and a fixed seat S9;
the movable arm S1 is connected to the fixed seat S9 through the universal rotating shaft S5, the movable arm S1 is connected to the movable arm S2 through the universal rotating shaft S6, the movable arm S2 is connected to the movable arm S3 through the universal rotating shaft S7, and the movable arm S3 is connected to the simulated scalpel S4 through the universal rotating shaft S8;
the movable arm S1 comprises a posture detection module S101, a Bluetooth SOC processor module S102 and a power supply module S103; the attitude detection module S101 adopts a nine-axis motion attitude detection sensor and is used for capturing the air attitude of the movable arm S1 in the motion process; the Bluetooth SOC processor module S102 is used for acquiring motion attitude data of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, performing data fusion calculation, acquiring aerial position positioning information of the simulated scalpel S4, and sending the aerial position positioning information to other application systems for use through Bluetooth communication;
the movable arm S2 comprises a gesture detection module for capturing the gesture of the movable arm S2 during movement;
the movable arm S3 comprises a gesture detection module for capturing the gesture of the movable arm S3 during movement;
the simulated scalpel S4 comprises a gesture detection module and a calibration key, wherein the gesture detection module is used for capturing gestures in the motion process of the simulated scalpel S4, and the calibration key is used for realizing initial position calibration of the space positioning equipment of the simulated scalpel S4;
the attitude detection module uses a nine-axis inertial sensor, and the nine-axis inertial sensor comprises a three-axis acceleration sensor, a three-axis gyroscope sensor and a three-axis magnetic intensity sensor;
the universal rotating shaft is used for providing the movable arm with large-scale rotating motion in a three-dimensional space around the universal rotating shaft center;
the Bluetooth SOC processor module is a single SOC chip integrating an MCU central processing unit and a Bluetooth communication function, is used for collecting three attitude detection module data and grating coding module coding signals in the rotating arm to perform space positioning algorithm processing of a simulated scalpel S4, and sends calculated space positioning information of the simulated scalpel S4 to an external application system through Bluetooth communication;
the gesture detection module S101, the gesture detection module S201, the gesture detection module S301, the gesture detection module S401, the calibration key S402 and the power supply module S103 are connected with the Bluetooth SOC processor module S102 through leads.
2. A space positioning method for a simulated scalpel is characterized in that,
comprises the following steps of (a) carrying out,
step one, keeping a movable arm S1, a movable arm S2, a movable arm S3 and a simulated scalpel S4 of the space positioning equipment of the simulated scalpel S4 horizontal, enabling the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 to be on the same axis to form a straight line, and enabling an attitude detection module built in the movable arm S1, the movable arm S2 and the movable arm S3 and an attitude detection module built in the simulated scalpel S4 to be kept right side up; starting the space positioning equipment of the simulated scalpel S4 to work, and pressing a calibration button of the simulated scalpel S4 to calibrate the initial position posture of the space positioning equipment of the simulated scalpel S4;
acquiring quaternion attitude data of each attitude detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, converting the quaternion attitude data into Euler angle attitude data, and determining the aerial attitude and direction of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 according to the Euler angle attitude data;
thirdly, acquiring gravity acceleration data of each built-in posture detection module of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, and respectively calculating an included angle between each movable arm and a horizontal plane and an included angle between each simulated scalpel S4 and the horizontal plane according to vector components of gravity on three axes of an acceleration sensor;
an included angle between the movable arm S1 and the horizontal plane is α, an included angle between the movable arm S2 and the horizontal plane is β, an included angle between the movable arm S3 and the horizontal plane is delta, and an included angle between the simulated scalpel S4 and the horizontal plane is theta;
according to the connection relationship of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 and the universal rotating shaft,
setting the fixing seat S9 as a point O, the universal rotating shaft S6 as a point A, the universal rotating shaft S7 as a point B, the universal rotating shaft S8 as a point C, the movable end of the simulated scalpel S4 as a point D, and establishing an included angle coordinate system xOy of each part of the equipment in the technical scheme of the invention by taking O as a coordinate origin;
an included angle between the movable arm S1 and the x axis is α, an included angle between the movable arm S2 and the x axis is β, an included angle between the movable arm S3 and the x axis is delta, and an included angle between the simulated scalpel S4 and the x axis is theta;
setting the included angle between AB and BO, the included angle between BO and the y axis as q, the included angle between BO and the x axis as psi, and the included angle between CO and the x axis as p;
the lengths of the movable arm S1, the movable arm S2 and the movable arm S3 are all L, the length of the simulated scalpel S4 is H, the distance from the top end of the movable arm S2 to the fixing seat S9 is M, the distance from the top end of the movable arm S3 to the fixing seat S9 is N, and the distance from the top end of the simulated scalpel S4 to the fixing seat S9 is X;
according to the triangular angle relationship in the coordinate system xOy, the following formula holds:
---(7)
---(8)
m, N and X can be calculated according to formulas (1) to (8), and accurate positioning of the spatial position of the simulated scalpel S4 is achieved according to rigid connection among the simulated scalpel S4, the movable arm S1, the movable arm S2, the movable arm S3 and the fixed seat and by combining attitude data captured in real time by attitude detection modules in the simulated scalpel S4, the movable arm S1, the movable arm S2 and the movable arm S3.
By the method, the simulated operation aerial positioning can be rapidly and accurately carried out, the method can be widely applied to the operation positioning requirement of the virtual scalpel in the virtual reality simulated operation, and meanwhile, the method has the advantages of less additional equipment, convenience in operation, low price and high aerial position positioning accuracy.
Drawings
FIG. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a schematic diagram of a coordinate system according to an embodiment of the present invention;
fig. 3 is a block diagram of a hardware system according to the present invention.
Detailed Description
For better explanation of the technical solution of the present invention, the following detailed description is provided for the principles and features of the present invention with reference to the accompanying drawings;
as shown in FIG. 1, the invention provides a space positioning device for a simulated scalpel, which comprises a movable arm S1, a movable arm S2, a movable arm S3, a simulated scalpel S4, a universal rotating shaft S5, a universal rotating shaft S6, a universal rotating shaft S7, a universal rotating shaft S8 and a fixed seat S9;
the movable arm S1 is connected to the fixed seat S9 through the universal rotating shaft S5, the movable arm S1 is connected to the movable arm S2 through the universal rotating shaft S6, the movable arm S2 is connected to the movable arm S3 through the universal rotating shaft S7, and the movable arm S3 is connected to the simulated scalpel S4 through the universal rotating shaft S8;
the movable arm S1 comprises a posture detection module S101, a Bluetooth SOC processor module S102 and a power supply module S103; the attitude detection module S101 adopts a nine-axis motion attitude detection sensor and is used for capturing the air attitude of the movable arm S1 in the motion process; the Bluetooth SOC processor module S102 is used for acquiring motion attitude data of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, performing data fusion calculation, acquiring aerial position positioning information of the simulated scalpel S4, and sending the aerial position positioning information to other application systems for use through Bluetooth communication;
the movable arm S2 comprises a gesture detection module for capturing the gesture of the movable arm S2 during movement;
the movable arm S3 comprises a gesture detection module for capturing the gesture of the movable arm S3 during movement;
the simulated scalpel S4 comprises a gesture detection module and a calibration key, wherein the gesture detection module is used for capturing gestures in the motion process of the simulated scalpel S4, and the calibration key is used for realizing initial position calibration of the space positioning equipment of the simulated scalpel S4;
the attitude detection module uses a nine-axis inertial sensor, and the nine-axis inertial sensor comprises a three-axis acceleration sensor, a three-axis gyroscope sensor and a three-axis magnetic intensity sensor;
the universal rotating shaft is used for providing the movable arm with large-scale rotating motion in a three-dimensional space around the universal rotating shaft center;
the Bluetooth SOC processor module is a single SOC chip integrating an MCU central processing unit and a Bluetooth communication function, is used for collecting three attitude detection module data and grating coding module coding signals in the rotating arm to perform space positioning algorithm processing of a simulated scalpel S4, and sends calculated space positioning information of the simulated scalpel S4 to an external application system through Bluetooth communication;
the gesture detection module S101, the gesture detection module S201, the gesture detection module S301, the gesture detection module S401, the calibration key S402 and the power supply module S103 are connected with the Bluetooth SOC processor module S102 through leads.
2. A space positioning method for a simulated scalpel is characterized in that,
comprises the following steps of (a) carrying out,
step one, keeping a movable arm S1, a movable arm S2, a movable arm S3 and a simulated scalpel S4 of the space positioning equipment of the simulated scalpel S4 horizontal, enabling the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 to be on the same axis to form a straight line, and enabling an attitude detection module built in the movable arm S1, the movable arm S2 and the movable arm S3 and an attitude detection module built in the simulated scalpel S4 to be kept right side up; starting the space positioning equipment of the simulated scalpel S4 to work, and pressing a calibration button of the simulated scalpel S4 to calibrate the initial position posture of the space positioning equipment of the simulated scalpel S4;
acquiring quaternion attitude data of each attitude detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, converting the quaternion attitude data into Euler angle attitude data, and determining the aerial attitude and direction of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 according to the Euler angle attitude data;
thirdly, acquiring gravity acceleration data of each built-in posture detection module of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, and respectively calculating an included angle between each movable arm and a horizontal plane and an included angle between each simulated scalpel S4 and the horizontal plane according to vector components of gravity on three axes of an acceleration sensor;
according to the connection relationship of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 and the universal rotating shaft,
a schematic diagram of an included angle coordinate system xOy of each part of the device in the technical scheme is established by taking O as a coordinate origin and taking the fixing seat S9 as a point O, the universal rotating shaft S6 as a point A, the universal rotating shaft S7 as a point B, the universal rotating shaft S8 as a point C and the movable end of the simulated scalpel S4 as a point D, and is shown in FIG. 2;
an included angle between the movable arm S1 and the x axis is α, an included angle between the movable arm S2 and the x axis is β, an included angle between the movable arm S3 and the x axis is delta, and an included angle between the simulated scalpel S4 and the x axis is theta;
setting the included angle between AB and BO, the included angle between BO and the y axis as q, the included angle between BO and the x axis as psi, and the included angle between CO and the x axis as p;
the lengths of the movable arm S1, the movable arm S2 and the movable arm S3 are all L, the length of the simulated scalpel S4 is H, the distance from the top end of the movable arm S2 to the fixing seat S9 is M, the distance from the top end of the movable arm S3 to the fixing seat S9 is N, and the distance from the top end of the simulated scalpel S4 to the fixing seat S9 is X;
as shown in fig. 2, according to the triangle angle relationship in the coordinate system, the following formula holds:
---(7)
---(8)
m, N and X can be calculated according to formulas (1) to (8), and accurate positioning of the spatial position of the simulated scalpel S4 is achieved according to rigid connection among the simulated scalpel S4, the movable arm S1, the movable arm S2, the movable arm S3 and the fixed seat and by combining attitude data captured in real time by attitude detection modules in the simulated scalpel S4, the movable arm S1, the movable arm S2 and the movable arm S3.
Claims (2)
1. A space positioning device for a simulated scalpel is characterized in that,
comprises a movable arm S1, a movable arm S2, a movable arm S3, a simulated scalpel S4, a universal rotating shaft S5, a universal rotating shaft S6, a universal rotating shaft S7, a universal rotating shaft S8 and a fixed seat S9;
the movable arm S1 is connected to the fixed seat S9 through the universal rotating shaft S5, the movable arm S1 is connected to the movable arm S2 through the universal rotating shaft S6, the movable arm S2 is connected to the movable arm S3 through the universal rotating shaft S7, and the movable arm S3 is connected to the simulated scalpel S4 through the universal rotating shaft S8;
the movable arm S1 comprises a posture detection module S101, a Bluetooth SOC processor module S102 and a power supply module S103; the attitude detection module S101 adopts a nine-axis motion attitude detection sensor and is used for capturing the air attitude of the movable arm S1 in the motion process; the Bluetooth SOC processor module S102 is used for acquiring motion attitude data of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, performing data fusion calculation, acquiring aerial position positioning information of the simulated scalpel S4, and sending the aerial position positioning information to other application systems for use through Bluetooth communication;
the movable arm S2 comprises a gesture detection module for capturing the gesture of the movable arm S2 during movement;
the movable arm S3 comprises a gesture detection module for capturing the gesture of the movable arm S3 during movement;
the simulated scalpel S4 comprises a gesture detection module and a calibration key, wherein the gesture detection module is used for capturing gestures in the motion process of the simulated scalpel S4, and the calibration key is used for realizing initial position calibration of the space positioning equipment of the simulated scalpel S4;
the attitude detection module uses a nine-axis inertial sensor, and the nine-axis inertial sensor comprises a three-axis acceleration sensor, a three-axis gyroscope sensor and a three-axis magnetic intensity sensor;
the universal rotating shaft is used for providing the movable arm with large-scale rotating motion in a three-dimensional space around the universal rotating shaft center;
the Bluetooth SOC processor module is a single SOC chip integrating an MCU central processing unit and a Bluetooth communication function, is used for collecting three attitude detection module data and grating coding module coding signals in the rotating arm to perform space positioning algorithm processing of a simulated scalpel S4, and sends calculated space positioning information of the simulated scalpel S4 to an external application system through Bluetooth communication;
the gesture detection module S101, the gesture detection module S201, the gesture detection module S301, the gesture detection module S401, the calibration key S402 and the power supply module S103 are connected with the Bluetooth SOC processor module S102 through leads.
2. A space positioning method for a simulated scalpel is characterized in that,
comprises the following steps of (a) carrying out,
step one, keeping the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 of the space positioning device of the simulated scalpel S4 in claim 1 horizontal, and keeping the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 on the same axis to form a straight line, and simultaneously keeping the posture detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the posture detection module built in the simulated scalpel S4 all face upwards; starting the space positioning equipment of the simulated scalpel S4 to work, and pressing a calibration button of the simulated scalpel S4 to calibrate the initial position posture of the space positioning equipment of the simulated scalpel S4;
acquiring quaternion attitude data of each attitude detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, converting the quaternion attitude data into Euler angle attitude data, and determining the aerial attitude and direction of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 according to the Euler angle attitude data;
thirdly, acquiring gravity acceleration data of each built-in posture detection module of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, and respectively calculating included angles between the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 and a horizontal plane according to vector components of gravity on three axes of an acceleration sensor;
an included angle between the movable arm S1 and the horizontal plane is α, an included angle between the movable arm S2 and the horizontal plane is β, an included angle between the movable arm S3 and the horizontal plane is delta, and an included angle between the simulated scalpel S4 and the horizontal plane is theta;
according to the connection relationship of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4 and the universal rotating shaft,
setting the fixing seat S9 as a point O, the universal rotating shaft S6 as a point A, the universal rotating shaft S7 as a point B, the universal rotating shaft S8 as a point C, the movable end of the simulated scalpel S4 as a point D, and establishing an included angle coordinate system xOy of each part of the equipment in the technical scheme of the invention by taking O as a coordinate origin;
an included angle between the movable arm S1 and the x axis is α, an included angle between the movable arm S2 and the x axis is β, an included angle between the movable arm S3 and the x axis is delta, and an included angle between the simulated scalpel S4 and the x axis is theta;
setting the included angle between AB and BO, the included angle between BO and the y axis as q, the included angle between BO and the x axis as psi, and the included angle between CO and the x axis as p;
the lengths of the movable arm S1, the movable arm S2 and the movable arm S3 are all L, the length of the simulated scalpel S4 is H, the distance from the top end of the movable arm S2 to the fixing seat S9 is M, the distance from the top end of the movable arm S3 to the fixing seat S9 is N, and the distance from the top end of the simulated scalpel S4 to the fixing seat S9 is X;
according to the triangular angle relationship in the coordinate system xOy, the following formula holds:
---(7)
---(8)
m, N and X can be calculated according to formulas (1) to (8), and accurate positioning of the spatial position of the simulated scalpel S4 is realized according to rigid connection among the simulated scalpel S4, the movable arm S1, the movable arm S2, the movable arm S3 and the fixed seat and by combining attitude data captured in real time by attitude detection modules in the simulated scalpel S4, the movable arm S1, the movable arm S2 and the movable arm S3;
in the steps of the space positioning method for the simulated scalpel S4, the sequence of some steps can be changed, and the final result of the space positioning method for the simulated scalpel S4 is not influenced.
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| CN201811641948.XA CN111380500A (en) | 2018-12-29 | 2018-12-29 | Simulated scalpel space positioning method and device |
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| CN201811641948.XA CN111380500A (en) | 2018-12-29 | 2018-12-29 | Simulated scalpel space positioning method and device |
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