CN111429775B - Training device for ophthalmologic operation - Google Patents
Training device for ophthalmologic operation Download PDFInfo
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Abstract
The invention relates to the technical field of medical operations, in particular to a training device for ophthalmic operation. The device can realize master-slave bidirectional ophthalmic surgery operation training based on force/position mixed information, and stores motion information in the operation process in real time. Meanwhile, the system adds the motion information of the teacher in the same operation process in the training of the student eye surgery operation, and adjusts the operation weight parameter by operating the weight parameter adjusting button, so that the operation weight of the teacher in the training process of the eye surgery can be adjusted, the student can teach from the teacher's hands completely to the operation exercises of different degrees of gradually increasing the autonomous participation degree, and the training effect of the eye surgery is better improved.
Description
Technical Field
The invention relates to the technical field of medical operations, in particular to a training device for ophthalmic operation.
Background
Surgery training systems are a research hotspot in the technical field of medical training in recent years. By enabling the trainees to perform virtual operation in training, the proficiency of the trainees on certain medical operation can be effectively improved, and the cost and time of medical training are saved.
The eye is an important organ of human, and the training difficulty of ophthalmologists is difficult to perform routine operations due to the complex structure, the limited operation space during operations, and the need for extremely fine operations in ophthalmic operations. At present, fine internal eye operations can be performed by national ophthalmologists rarely, the resources of the ophthalmologists are very deficient, and the treatment of domestic eye diseases is greatly limited. It has been a significant concern in the industry if doctors capable of performing delicate eye surgery could be trained more efficiently and more quickly.
For example, an existing training system for eye corneal surgery enables a student to perform virtual eye corneal surgery training, in the system, a force sensor is used for collecting force information, and operation data of a teacher and the student can be compared only after the teacher and the student operate the training system; or the existing cornea intelligent operation training system is characterized in that training personnel can acquire operation target objects and the conditions of operation instruments used by the operation target objects in real time through AR glasses, and the system only enables students to experience the operation of the trainees more accurately; or an existing spinal minimally invasive surgery training system, which focuses on enabling a student to feel force feedback in self operation, so that a target can be positioned more accurately. The existing ophthalmologic training systems cannot enable students to really and synchronously feel the position and force information of teachers in the same operation process, so that more detailed ophthalmologic training cannot be realized.
Disclosure of Invention
In view of this, the embodiment of the present invention provides a training device for ophthalmic surgery operations, so as to at least solve the problem that a trainee cannot really and synchronously receive operation guidance with different weights from a teacher in the existing ophthalmic surgery training process.
The invention provides a training device for ophthalmologic operation, comprising: the system comprises a display, a master control console, a host training system and a slave training system; wherein:
the master training system and the slave training system are two sets of operating systems which are configured identically and can have the same operation scale or a certain proportion. The operator directly operates the master training system, and the slave training system can synchronously complete the same operation on the eye operation object by the motion information such as position, force and the like which is proportional to the operation scale.
The master control console is respectively connected with the display, the host training system and the slave training system, the host training system comprises a host operating instrument, a host control unit, a host sensor unit and a host communication unit, and the slave training system comprises a slave operating instrument, a slave control unit, a slave sensor unit and a slave communication unit;
the master control console is used for receiving the motion information sent by the master training system and the slave training system; the motion information is checked and the display is controlled to display the information, wherein the motion information comprises the motion information such as the positions, the motion speeds, the accelerations and the acting forces of the master operation instrument and the slave operation instrument;
the master control platform comprises an operation weight parameter adjusting button which is used for adjusting the operation weight of a teacher participating in the operation process of the student so as to adjust the instruction degree of the teacher in the operation process of the student. Alternatively, the operation weight parameter selection of the ophthalmic surgery operation process can be set in the master console system by directly adjusting the operation weight parameter adjusting button.
Optionally, the master control console further comprises a system processing unit, a system communication unit and a power supply unit, and is used for overall management of the operation of the whole operation training device.
The host control unit is used for storing and processing data generated by the host in the ophthalmic surgery process, generating a corresponding operation command and controlling the host sensor unit and the host communication unit to work;
the host sensor unit is connected with the host control unit and used for detecting operation data of host operation equipment and sending the operation data to the host control unit;
and the host communication unit is connected with the slave communication unit and is used for carrying out data interaction with the slave training system. Optionally, the host sensor unit comprises one or more of a position sensor, a velocity sensor, an acceleration sensor, a force sensor, and a torque sensor.
The slave control unit is used for storing and processing data generated by a slave in the ophthalmic surgery process, generating a corresponding operation command and controlling the slave sensor unit and the slave communication unit to work;
the slave sensor unit is connected with the slave control unit and used for operating the operation data of the slave operation instrument and sending the operation data to the slave control unit;
and the slave communication unit is connected with the host communication unit and is used for data interaction with the host training system.
The sensor of the slave sensor unit is the same as the sensor of the master sensor unit in type, and the measuring range is proportional to the operation scale of the master operation unit and the slave operation unit.
Optionally, core chips of the master control unit and the slave control unit are ARM or DSP. Optionally, the system communication unit in the master console performs data interaction with the host communication unit and the slave communication unit respectively.
Optionally, the operator comprises a teacher and a student. When the operator is a teacher, the teacher performs certain eye surgery operation, and the host control unit records the movement information of the teacher in the operation process and sends the movement information to the master control platform for storage through the host communication unit; when the operator is a student, the student selects a certain eye surgery operation, and operates the operation weight parameter adjusting button to adjust the teacher operation weight stored in the system according to the requirement. When the student operates the ophthalmic surgery, the data of the same operation performed by the teacher is synchronously added to the operation of the student according to the operation weight parameters.
And when the operation weight parameter is 0, the student operates completely and autonomously to complete the operation. When the operation weight parameter is 1, the student is completely carried by the operation data stored by the teacher to finish the operation; when the operation weight parameter is between 0 and 1, the operation data stored by the teacher also participates in proportion in the operation process of the students, so that the students can gradually carry out autonomous operation while feeling the operation characteristics of the teacher.
The training device for the ophthalmic surgery operation can achieve master-slave bidirectional ophthalmic surgery operation training based on force/position mixed information, and motion information in the operation process is stored in real time. . Meanwhile, the system adds the motion information of the teacher in the same operation process in the training of the student eye surgery operation, and adjusts the operation weight parameter by operating the weight parameter adjusting button, so that the operation weight of the teacher in the training process of the eye surgery can be adjusted, the student can teach from the teacher's hands completely to the operation exercises of different degrees of gradually increasing the autonomous participation degree, and the training effect of the eye surgery is better improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a block diagram of an apparatus for training an ophthalmic surgical procedure according to the present invention;
FIG. 2 is a hardware diagram of a training apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram of human-machine interaction during operation of the training apparatus according to the embodiment of the present invention.
In the figure, 1-display; 2-a host training system; 21-a host control unit; 22-a host sensor unit; 23-a host communication unit; 24-a host operating instrument; 3-slave training system; 31-a slave control unit; 32-slave sensor unit; 33-slave communication unit; 34-a slave operation instrument; 35-an operation object; 4-a master console; 41-a system processing unit; 42-a system communication unit; 43-operating a weight parameter adjustment button; 44-power supply unit.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example one
An embodiment of the present invention provides a training apparatus for an ophthalmic surgery operation, and referring to fig. 1 to 3, the training apparatus includes:
the system comprises a display 1, a master control console 4, a host training system 2 and a slave training system 3; wherein,
the main training system 2 comprises a main control unit 21, a main sensor unit 22, a main communication unit 23 and a main operation instrument 24, and is used for collecting, processing, transmitting and storing the data of the main in the operation process.
In the present embodiment, the display 1 can display the operation images and videos in the training process of the ophthalmic surgery operation, and the movement information such as the position, speed, acceleration, and force of the master operation device and the slave operation devices in real time.
In this embodiment, the master control unit 21 may specifically be composed of an ARM or a DSP, and is configured to implement data storage and processing functions of the master in the training process of the ophthalmic surgery operation, generate a corresponding control instruction, control the master communication unit to communicate with the slave communication unit 21 and the master control console 4, and receive motion information and the like detected by the master sensor unit 22; the main sensor unit 22 is composed of one or more of motion sensors (position sensor, speed sensor, acceleration sensor, etc.) and force sensors (force sensor, moment sensor, etc.); the master training system 2 transmits information and data with the master control platform 4 and the slave training system 3 through the master communication unit 23; the operator controls the main machine operation instrument 24 to complete the ophthalmic operation.
Specifically, during the training process of the ophthalmic surgery operation, the motion information (position, speed, acceleration, etc.) of the host operation instrument 24 during the training process of the ophthalmic surgery operation is measured in real time by the motion sensor (position sensor, speed sensor, acceleration sensor, etc.) of the host training system 2; the force sensor (force sensor, moment sensor, etc.) or the force estimator of the master training system 2 measures the information of the force information (force, moment, etc.) of the master operation instrument 24 in the training process of the ophthalmic surgery operation in real time, sends the information to the master control unit 21 for the master control unit to generate a corresponding control command by combining the slave motion information and the force information, and transmits the control command to the slave control unit 33 and the system processing unit 41 through the master communication unit 23.
The slave training system 3 comprises a slave control unit 31, a slave sensor unit 32, a slave communication unit 33 and a slave operation instrument 34, and is used for acquiring, processing, transmitting and storing the data of the slave in the process of the operation.
In the present embodiment, the slave training system 3 includes a slave control unit 31, a slave sensor unit 32, a slave communication unit 33, and a slave operation instrument 34; the slave control unit 31 may specifically be composed of an ARM or a DSP, and is configured to implement data storage and processing functions of a slave in a training process of an ophthalmic surgical operation, generate a control instruction of a corresponding slave operation instrument 34, control the slave communication unit 33 to communicate with the slave communication unit 21 and the master control console 4, and control motion information detected by the slave sensor unit 32; the slave sensor unit 32 is formed by arranging and combining one or more of a motion sensor (a position sensor, a speed sensor, an acceleration sensor and the like) and a force sensor (a force sensor, a moment sensor and the like); the slave training system 3 is used for carrying out information and data transmission with the master control platform 4 and the host training system 2 through the slave communication unit 33; the operator controls the slave manipulator 34 to perform the ophthalmic surgical operation on the object to be operated based on the bidirectional control method by operating the master manipulator 24.
Specifically, during the training process of the ophthalmic surgery operation, the motion sensor (position sensor, velocity sensor, acceleration sensor, etc.) of the slave training system 3 measures the motion information (position, velocity, acceleration, etc.) of the master operation instrument 24 during the ophthalmic surgery training operation in real time, and the force sensor (force sensor, moment sensor, etc.) or the force estimator of the slave training system 3 measures the force information (force, moment, etc.) of the slave operation instrument 34 during the ophthalmic surgery training operation in real time, and sends the information to the slave control unit 31 so that the slave control unit can generate a corresponding control command by combining the master motion information and the force information, and the control command is transmitted to the master control unit 23 and the system processing unit 41 through the slave communication unit 33.
In a preferred embodiment, the console 4 includes a system processing unit 41, a system communication unit 42, a power supply unit 44 and an operation weight parameter adjusting button 43, and is used for overall management of the operation of the training apparatus.
Specifically, the general control console 4 includes a system processing unit 41, a system communication unit 42, a power supply unit 44, and an operation weight parameter adjustment button 43; the system processing unit 41 is composed of an ARM, a DSP or an industrial personal computer, and is used for realizing functions of data storage, surgical operation selection, operation weight setting, and the like of a training system for ophthalmic surgical operations; the system communication unit 42 plays a role in establishing information and data transmission among the master control console 4, the master training system 2 and the slave training system 3; the power supply unit 44 supplies power to a training system for an ophthalmic surgery operation; the operation weight parameter adjusting button 43 can adjust the teacher's operation weight during the student's operation.
In the training system for ophthalmic surgery operation according to the embodiment of the present invention, a surgery training request is received through the display 1, and the surgery training request includes an operation type; then, the slave training system 3 calls out an operation object based on the operation type; the master control console 4 collects an operation weight parameter sigma; when the operation weight parameter is sigma 1, the teacher executes teaching mode operation on the operation object on the host training system 2, and records teaching operation data of the teaching mode for reference learning of the requirements of subsequent trainees; when the operation weight parameter σ is 0, the trainee performs autonomous mode operation on the operation object on the slave training system 3, the trainee is not influenced by the operation of the trainee, autonomously learns, and records autonomous operation data of the autonomous mode, so that the subsequent trainee can conveniently perform error checking or modification; when the operation weight parameter is 0< sigma <1, the student performs learning mode operation on an operation object in the slave training system 3, and meanwhile, the teacher participates in the operation weight proportion, guides the student to operate, and records the learning operation data of the learning mode, so that the follow-up student can conveniently check errors or modify.
When weight selection is performed in ophthalmic surgery training, firstly, a teacher operates a certain ophthalmic surgery on an ophthalmic surgery training system, and the master control quantity and the slave control quantity in the teacher operation process are respectively as follows:
wherein u ism0(t)、us0(t) respectively controlling the master machine control quantity and the slave machine control quantity when the teacher performs the ophthalmic surgery operation process; xm0(t)、Xs0(t) respectively representing master machine position response and slave machine position response during teacher operation; f. ofh0(t)、fe0(t) respectively acting force of the teacher on the master machine operation device and acting force of the environment on the slave machine operation device; cpm(t) and cfm (t) are respectively a host position controller and a host force controller; cps(t)、CfsAnd (t) a slave position controller and a slave force controller. Xs0(t)-Xm0(t) is the difference between the master and slave position responses, fh0(t)+fe0The term (t) corresponds to the force of the teacher on the operation device and the resultant force of the environment on the operation device.
When the student carries out the training operation of the ophthalmic surgery completely, the master control quantity and the slave control quantity in the operation process of the student are respectively as follows:
wherein u ism1(t)、us1(t) respectively controlling a master machine control quantity and a slave machine control quantity when the trainee carries out the training operation process of the ophthalmic surgery; xm1(t)、Xs1(t) respectively representing the host position response and the slave position response when the trainee operates; f. ofh1(t)、fe1(t) the acting force of the student on the master machine operation instrument and the acting force of the environment on the slave machine operation instrument are respectively; xs1(t)-Xm1(t) is the difference between the master and slave position responses, fh1(t)+fe1The term (t) corresponds to the force of the trainee on the operating device and the resultant force of the environment on the operating device.
The operation information of the teacher is added in the actual operation process of the ophthalmic surgery training system provided by the invention, and the participation degree of the teacher in the whole operation process is adjusted through the operation weight parameter sigma. Therefore, when the trainee trains the ophthalmologic operation, the control quantity of the master computer and the control quantity of the slave computer of the system are changed into that:
specifically, when the operation weight parameter is adjusted, the ophthalmic surgery training system can adopt two modes, one mode is that the system automatically adjusts the operation weight parameter by adopting a surgery operation effect index; and the other is to adjust the operation weight parameters through an operation weight parameter adjusting button of the master control console.
The performance indicator may be selected as a function of position deviation, velocity deviation, acceleration deviation, and force deviation.
Preferably, one of the operation effect indexes M may be set as:
wherein, Xs0(t) position response of slave in actual operation process of teacher, Xs1And (T) is the position response of the slave in the actual operation process of the student, T is the total time of the ophthalmic surgery training operation, and n is the ophthalmic surgery training operation times of the student.
The position response of the slave machine in the actual operation process of the teacher and the position response of the slave machine in the actual operation process of the student are integrated, and the sum of the difference between the operation position responses of the teacher and the student is reflected.
The integral of the difference of the acting force of the environment to the slave computer operation instrument in the operation process of the teacher and the student reflects the sum of the difference of the acting force.
The ophthalmic surgery training system can automatically adjust the operation weight parameter according to the operation effect index, namely sigma-k M, k is a proportionality coefficient, and k is larger than 0. The operation effect index M and the operation weight parameter sigma are in a direct proportion relation, when the operation effect index M is larger, the operation weight parameter sigma is larger, namely the operation process improves the operation participation degree of a teacher when the operation effect of the student is poorer, so that the teacher can better guide the position and force information of the operation process to the student by 'hands'; when the operation effect index M is smaller, the operation weight parameter sigma is smaller, namely after the student is more and more proficient in operation, the participation degree of the teacher in the operation process is smaller; when M → 0, σ → 0, i.e., the trainee can reproduce the teacher's operation.
The specific training operation flow of the ophthalmic surgery training system comprises the following steps:
let the operation weight parameter sigma in the formula (3) be 1, the instructor performs standard operation of certain ophthalmic surgery, and stores the motion information such as position, speed, acceleration and the like in the operation process and the acting force f of the teacher on the host operation instrument in real time in the operation processh0(t) force f of the environment on the slave operation devicee0(t) force information;
the trainees select the information stored in the ophthalmic surgery training system to perform a certain surgical operation, and the operation weight parameter automatically calculated through the operation effect index or the operation weight parameter button is manually adjusted to ensure that sigma in the formula (3) is more than or equal to 0 and less than or equal to 1. When the operation weight parameter sigma is 1, the student completely follows the operation of the host operation instrument, thereby sensing the position information of the teacher when operating the operation and the acting force information of the teacher on the host operation instrument. When the operation weight parameter σ is gradually decreased, the influence of the teacher operation information on the host operation device becomes smaller, and the weight of the trainee operating the host device becomes larger. When the operation weight parameter sigma is 0, the operation instruments of the host are not influenced by the operation information of the teacher any more, and the student is completely separated from the instruction of the teacher to carry out the ophthalmic surgery operation;
the system stores the motion information such as position, speed, acceleration and the like in the operation process of the student in real time and the acting force f of the student on the operation instrument of the host in the operation processh1(t) force f of the environment on the slave operation devicee(t) force information. When the student finishes the operation, the system automatically calculates the operation effect index according to the formula (4), evaluates the operation effect and calculates the operation weight parameter for the next operation.
Compared with the prior ophthalmic training system, the training method and the training system for ophthalmic surgery operation have the advantages that:
1. the training method and the training system for the ophthalmic surgery operation, provided by the invention, introduce the operation weight parameter, and can adjust the instruction degree of a teacher to the operation of a student in the training process by adjusting the operation weight parameter in the operation process; the adjustment of the operation weight parameters is equivalent to the instruction of the teacher to the student in different degrees, and the student can not only operate a certain ophthalmic operation along with the operation record of the teacher, but also independently complete various ophthalmic operation operations; the training device enables the trainees to clearly understand the operation effect of the trainees, and the training device has more remarkable training effect on the ophthalmic operation.
2. The training system for the ophthalmic surgery operation based on the bidirectional control can accurately record information such as position, speed, acceleration, acting force and the like of each surgery operation. The method has the advantages that the students can really and synchronously experience the multidimensional motion information such as the position, the force and the like in the operation process of the teacher in the operation process, so that the ophthalmologic training process is more real and effective, and doctors carrying out fine eye surgery can be trained more quickly and effectively.
Example two:
the invention provides an ophthalmologic training system which is based on position-force master-slave bidirectional control and enables students to experience position and force information in the operation process of teachers in real time in the operation process.
In the hardware configuration, the master training system 2 and the slave training system 3 are configured to perform data transmission via the master communication unit 23 and the slave communication unit 33, and both of them can perform data and control command transmission with the system processing unit 41 via the system communication unit 42. The master sensor unit 22 of the master training system 2 and the slave sensor unit 32 of the slave training system 3 measure the position, speed, and acceleration information of the master and the slave and transmit the data to the master control unit 21 and the slave control unit 31 in operation.
The flow of the training operation of the ophthalmic surgery:
1. and (6) power-on self-test. If the fault occurs, the system checks the faults of the power supply unit 44, the system communication unit 42, the master communication unit 23, the slave communication unit 33, the master sensor unit 22 and the slave sensor unit 32, finds out the fault module and exits;
2. if the self-check is normal, the teacher selects a certain ophthalmic surgery operation, operates the master operation device 24 to perform the surgery, and operates the slave operation device 34 in the same manner as the master operation device 24, so that the slave operation device 34 performs the surgery on the operation object 35. The operation object 35 may be an ophthalmic operation object such as an artificial eyeball. Meanwhile, the ophthalmologic training system records and stores all data in the operation process, and quits the operation after the storage is finished;
3. if the self-check is normal, the student selects a certain stored ophthalmic surgery operation operated by the teacher. The operation weight parameter is automatically calculated by the operation effect index, or the trainee selects the operation weight parameter by manually adjusting the operation weight parameter adjusting button 43 by the skill level of the operation. Then, the student starts to operate the host machine operation instrument 24 to complete the operation, meanwhile, the ophthalmologic training system records and stores all data in the operation process, and automatically calculates the operation effect index and the operation weight parameter after the storage is finished and quits the operation;
4. for teachers and students, the operation history records can be inquired, and data can be viewed and deleted.
For teachers, position information and force feedback information of the slave machines can be sensed during operation, and meanwhile, operation images and videos, positions, speeds, accelerations, acting forces and other information of the master machine and the slave machines during ophthalmologic operation can be acquired on the display 1, so that the operation is more precise. For the trainee, the operation weight parameter is automatically adjusted by the calculated operation effect index, or the operation weight parameter adjustment button 43 is manually adjusted by the operation proficiency level to perform the ophthalmic operation. The student can feel the position and force feedback of the slave and the position and force information of the teacher in the operation process, and can acquire the operation images and videos, the position, the speed, the acceleration, the acting force and other information of the master and the slave in the ophthalmologic operation process on the display 1, so that the student can master the operation process at any time, the capability of independently operating the ophthalmologic operation is rapidly improved, and the training is better completed.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described system embodiments are merely illustrative, and for example, a division of a unit may be a logical division, and an actual implementation may have another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (8)
1. Training device for ophthalmologic surgical operations, characterized in that it comprises: the system comprises a display, a master control console, a host training system and a slave training system; wherein:
the master control console is respectively connected with the display, the host training system and the slave training system, the host training system comprises a host operating instrument, a host control unit, a host sensor unit and a host communication unit, and the slave training system comprises a slave operating instrument, a slave control unit, a slave sensor unit and a slave communication unit;
the master control console is used for receiving the motion information sent by the master training system and the slave training system; checking the motion information and controlling the display to display the information, wherein the motion information comprises the positions, the motion speeds, the accelerations and the applied forces of the master operation instrument and the slave operation instrument;
the master control station also comprises an operation weight parameter adjusting button which is used for adjusting the operation weight of a teacher participating in the operation teaching process of the student when the student operates so as to adjust the participation degree of the teacher in the operation process;
firstly, a teacher firstly operates a certain ophthalmic surgery on an ophthalmic training system, and the master machine control quantity and the slave machine control quantity in the teacher operation process are respectively as follows:
wherein u ism0(t)、us0(t) respectively controlling the master machine control quantity and the slave machine control quantity when the teacher performs the ophthalmic surgery operation process; xm0(t)、Xs0(t) respectively representing master machine position response and slave machine position response during teacher operation; f. ofh0(t)、fe0(t) respectively acting force of the teacher on the master machine operation device and acting force of the environment on the slave machine operation device; cpm(t)、Cfm(t) a host position controller and a host force controller, respectively; cps(t)、Cfs(t) a slave position controller and a slave force controller, respectively; xs0(t)-Xm0(t) is the difference between the master and slave position responses, fh0(t)+fe0(t) corresponds to the force of the teacher on the operating device and the resultant force of the environment on the operating device;
when the student carries out the training operation of the ophthalmic surgery completely, the master control quantity and the slave control quantity in the operation process of the student are respectively as follows:
wherein，um1(t)、us1(t) respectively controlling a master machine control quantity and a slave machine control quantity when the trainee carries out the training operation process of the ophthalmic surgery; xm1(t)、Xs1(t) respectively representing the host position response and the slave position response when the trainee operates; f. ofh1(t)、fe1(t) the acting force of the student on the master machine operation instrument and the acting force of the environment on the slave machine operation instrument are respectively; xs1(t)-Xm1(t) is the difference between the master and slave position responses, fh1(t)+fe1(t) corresponds to the force of the trainee on the operating instrument and the resultant force of the environment on the operating instrument;
adding operation information of a teacher in the actual operation process, and adjusting the participation degree of the teacher in the whole operation process through an operation weight parameter sigma; when the trainee trains the ophthalmologic operation, the master control quantity and the slave control quantity are changed into:
2. the training apparatus for ophthalmologic surgical operation according to claim 1, wherein the adjustment of the operation weight of the teacher who participates in the teaching of the student's operation includes
When the operation weight parameter adjusting button is in a state that sigma is 1, executing teacher teaching mode operation on an operation object, and recording teaching operation data of the teaching mode;
when the operation weight parameter adjusting button is in a state that sigma is 0, executing trainee autonomous mode operation on the operation object, and recording autonomous operation data of the autonomous mode;
when the operation weight parameter adjustment button is in a state of 0< σ <1, a student learning mode operation is performed on the operation target, and learning operation data of the learning mode is recorded.
3. The training apparatus for ophthalmic surgery according to claim 1, wherein the console further comprises a system processing unit, a system communication unit and a power supply unit for integrally managing the operation of the training apparatus for ophthalmic surgery.
4. The training apparatus for ophthalmic surgery operations according to claim 1, wherein the host training system comprises a host control unit, a host sensor unit and a host communication unit;
the host control unit is used for storing and processing data generated by the host in the ophthalmic surgery process, generating a corresponding operation command and controlling the host sensor unit and the host communication unit to work;
the host sensor unit is connected with the host control unit and used for detecting operation data of host operation equipment and sending the operation data to the host control unit;
and the host communication unit is connected with the slave communication unit and is used for carrying out data interaction with the slave training system.
5. The training apparatus for ophthalmic surgical operations according to claim 4, wherein the main unit sensor unit comprises one or more of a position sensor, a velocity sensor, and an acceleration sensor, and a force sensor, a moment sensor.
6. The training apparatus for ophthalmic surgical operations according to claim 4, wherein the slave training system comprises a slave control unit, a slave sensor unit and a slave communication unit;
the slave control unit is used for storing and processing data generated by a slave in the ophthalmic surgery process, generating a corresponding operation command and controlling the slave sensor unit and the slave communication unit to work;
the slave sensor unit is connected with the slave control unit and used for operating the operation data of the slave operation instrument and sending the operation data to the slave control unit;
and the slave communication unit is connected with the host communication unit and is used for data interaction with the host training system.
7. The training apparatus for ophthalmic surgery operations according to claim 4, wherein the core chips of the master control unit and the slave control unit are ARM or DSP.
8. The training apparatus for ophthalmic surgery operation according to claim 6, wherein the system communication unit in the master console is connected to the master communication unit and the slave communication unit, respectively.
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