CN111429775B - A training device for ophthalmic surgery operation - Google Patents

Abstract

The invention relates to the technical field of medical surgery, in particular to a training device for ophthalmic surgery operations. The device can realize master-slave bidirectional ophthalmic surgery operation training based on force/position mixed information, and save motion information during the operation in real time. At the same time, the system adds the motion information of the teacher during the same operation process to the training of the students' ophthalmic surgery operation. By adjusting the operation weight parameters through the operation weight parameter adjustment button, the teacher's operation weight in the ophthalmic surgery training process can be adjusted, so that the students can change from Teachers completely "hand-in-hand" teaching to gradually increase the degree of independent participation in different degrees of operation practice, which can better improve the training effect of ophthalmic surgery.

Description

A training device for ophthalmic surgery operation

technical field

The invention relates to the technical field of medical surgery, in particular to a training device for ophthalmic surgery operations.

Background technique

Surgical training system is a research hotspot in the field of medical training technology in recent years. By enabling trainees to perform virtual surgical operations in training, the trainees' proficiency in certain medical operations can be effectively improved, and the cost and time of medical training can be saved.

The eye is an important organ of human beings. Due to its complex structure, limited operating space during surgery, and ophthalmic surgery often requires extremely delicate operations, the training difficulty for ophthalmologists is also more difficult than conventional surgery. At present, there are very few ophthalmologists in the country who can perform fine intraocular surgery, and the resources of ophthalmologists are very scarce, and the treatment of domestic eye diseases is greatly limited. It has always been a matter of great interest in the industry to train doctors who can perform delicate eye surgery more efficiently and quickly.

For example, an existing corneal surgery training system enables trainees to conduct virtual corneal surgery training, in which force sensors are used to collect force information, and the operation data of the teacher and trainee can only be compared after both operations; or It is an existing corneal intelligent surgery training system. The trainer obtains the surgical target object and the surgical instruments used in real time through AR glasses. This system can only make the trainees feel more accurate about their own operation; In some spinal minimally invasive surgery training systems, the system focuses on making students feel the force feedback in their own operations, so that they can have more precise positioning of the target. None of the above existing ophthalmology training systems can allow students to truly and synchronously experience the position and force information of the teacher during the same operation process, resulting in the inability to achieve more refined ophthalmology training.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present invention provide a training device for ophthalmic surgery operation, so as to at least solve the problem that trainees cannot truly and synchronously receive operation guidance of different weights from teachers in the existing ophthalmic surgery training process.

The invention provides a training device for ophthalmic surgery operation, the training device includes: a display, a master console, a host training system and a slave training system; wherein:

The host training system and the slave training system are two sets of operating systems with the same configuration and the same operating scale or a certain proportion. The operator directly operates the host training system, and the slave training system can synchronously complete the same surgical operation on the ophthalmic operation object with motion information such as position and force proportional to the operation scale.

The master console is respectively connected with the display, the host training system and the slave training system. The host training system includes a host operating apparatus, a host control unit, a host sensor unit and a host communication unit. The slave training system includes a slave operating device, a slave control unit, a slave sensor unit and a slave communication unit;

The master console is used for receiving the exercise information sent by the host training system and the slave training system; checking the exercise information and controlling the display to display the information, wherein the exercise information includes all the information. Movement information such as the position, movement speed, acceleration, and applied force of the host operating device and the slave operating device;

The general console includes an operation weight parameter adjustment button, which is used to adjust the operation weight of the teacher participating in the operation of the student during the operation of the student, so as to adjust the degree of guidance of the teacher during the operation of the student. Optionally, the operation weight parameter selection of the ophthalmic surgery operation process can be set in the main console system by directly adjusting the operation weight parameter adjustment button.

Optionally, the general console further includes a system processing unit, a system communication unit and a power supply unit, which are used for overall management of the operation of the entire surgical operation training device.

The host control unit is used to store and process the data generated by the host during the ophthalmic surgery, generate corresponding operation commands, and control the host sensor unit and the host communication unit to work;

The host sensor unit is connected with the host control unit, and is used for detecting the operation data of the host operating instrument, and sending the operation data to the host control unit;

The host communication unit is connected with the slave communication unit for data interaction with the slave training system. Optionally, the host sensor unit includes one or more of a position sensor, a speed sensor, an acceleration sensor, a force sensor, and a torque sensor.

The slave control unit is used to store and process the data generated by the slave during the ophthalmic surgery, generate corresponding operation commands, and control the work of the slave sensor unit and the slave communication unit;

The slave sensor unit is connected with the slave control unit, and is used for the operation data of the slave operation instrument, and sends the operation data to the slave control unit;

The slave communication unit is connected with the host communication unit for data interaction with the host training system.

The sensor of the slave sensor unit is of the same sensor type as the master sensor unit, and the measurement range is proportional to the operation scale of the master-slave operation unit.

Optionally, the core chips of the master control unit and the slave control unit are ARM or DSP. Optionally, the system communication unit in the main console performs data interaction with the master communication unit and the slave communication unit respectively.

Optionally, the operators include teachers and trainees. When the operator is a teacher, the teacher performs a certain ophthalmic surgery operation, and the host control unit records the motion information of the teacher's operation process, and sends it to the main console for storage through the host communication unit; when the operator is a student , the student selects an ophthalmic surgery operation, and operates the operation weight parameter adjustment button to adjust the teacher operation weight stored in the system according to the requirements. When students perform ophthalmic surgery operations, the data of the same operation performed by the teacher is added to the students' operations synchronously according to the operation weight parameters.

When the operation weight parameter is 0, the trainee operates completely autonomously and completes the surgical operation. When the operation weight parameter is 1, the trainee completes the surgical operation with the operation data stored by the teacher; when the operation weight parameter is between 0 and 1, the operation data stored by the teacher also presses Proportional participation enables students to gradually operate autonomously while feeling the characteristics of the teacher's operation.

The present application provides a training device for ophthalmic surgery operation, which can realize master-slave bidirectional ophthalmic surgery operation training based on force/position mixed information, and save motion information during the operation in real time. . At the same time, the system adds the motion information of the teacher during the same operation process to the training of the students' ophthalmic surgery operation. By adjusting the operation weight parameters through the operation weight parameter adjustment button, the teacher's operation weight in the ophthalmic surgery training process can be adjusted, so that the students can change from Teachers completely "hand-in-hand" teaching to gradually increase the degree of independent participation in different degrees of operation practice, which can better improve the training effect of ophthalmic surgery.

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the attached image:

Fig. 1 is the structural block diagram of the training device for ophthalmic surgery operation provided by the present invention;

2 is a schematic diagram of hardware of a training device provided by an embodiment of the present invention;

FIG. 3 is a schematic diagram of human-machine interaction when the training device according to an embodiment of the present invention is running.

In the figure, 1-display; 2-host training system; 21-host control unit; 22-host sensor unit; 23-host communication unit; 24-host operating equipment; 3-slave training system; 31-slave control unit 32-slave sensor unit; 33-slave communication unit; 34-slave operating equipment; 35-operating object; 4-general console; 41-system processing unit; 42-system communication unit; 43-operation weight parameter Adjustment button; 44 - Power supply unit.

Detailed ways

In order to make those skilled in the art better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only Embodiments are part of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

Example 1

An embodiment of the present invention provides a training device for ophthalmic surgery operation, referring to FIG. 1 to FIG. 3 , including:

Display 1, master console 4, host training system 2 and slave training system 3; among them,

The host training system 2 includes a host control unit 21 , a host sensor unit 22 , a host communication unit 23 and a host operating instrument 24 , and is used for the collection, processing, transmission and storage of host data during surgical operations.

In this embodiment, the display 1 can display in real time the operation images and videos during the training process of the ophthalmic surgery operation, as well as the motion information such as the position, speed, acceleration and force of the master operation instrument and the slave operation instrument.

In this embodiment, the host control unit 21 may be specifically composed of ARM or DSP, etc., and is used to realize the data storage and processing functions of the host during the training process of ophthalmic surgery operations, generate corresponding control instructions, and control the host communication unit and the slave. The communication unit 21 communicates with the main console 4, and receives the motion information detected by the host sensor unit 22; the host sensor unit 22 consists of motion sensors (position sensor, speed sensor, acceleration sensor, etc.) ); the host training system 2 transmits information and data with the master console 4 and the slave training system 3 through the host communication unit 23; the operator controls the host operating instrument 24 to complete the ophthalmic surgery operation.

Specifically, during the training process of the ophthalmic surgery operation, the motion information (position, position, speed, etc.) of the host operating instrument 24 during the training process of the ophthalmic surgery operation is measured in real time by the motion sensors (position sensor, speed sensor, acceleration sensor, etc.) of the host training system 2 . speed, acceleration, etc.); the force sensor (force sensor, torque sensor, etc.) or force estimator of the host training system 2 measures the force information (force, torque, etc.) of the host operating instrument 24 during the training process of the ophthalmic surgery operation in real time. , and sent to the master control unit 21 for it to generate corresponding control commands in combination with the slave motion information and force information, and transmit them to the slave control unit 33 and the system processing unit 41 through the master communication unit 23 .

The slave training system 3 includes a slave control unit 31 , a slave sensor unit 32 , a slave communication unit 33 and a slave operating instrument 34 , which are used for the collection, processing, transmission and storage of slave data during surgical operations.

In this 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 operating device 34; wherein, the slave control unit 31 can be specifically composed of an ARM or DSP, etc. It is used to realize the data storage and processing functions of the slaves in the training process of ophthalmic surgery operations, generate corresponding control instructions of the slave operating instruments 34, and control the slave communication unit 33 to communicate with the slave communication unit 21 and the master console 4. , motion information detected by the slave sensor unit 32, etc.; the slave sensor unit 32 is arranged by one or more of motion sensors (position sensor, speed sensor, acceleration sensor, etc.) and force sensor (force sensor, torque sensor, etc.) Combination composition; the slave training system 3 undertakes the master console 4 and the host training system 2 through the slave communication unit 33 to transmit information and data; the operator controls the slave based on the two-way control method by operating the equipment 24 on the host The operating instrument 34 performs ophthalmic surgery operations on the operating object.

Specifically, in the training process of the ophthalmic surgery operation, the motion information (position sensor, etc.) of the host operating instrument 24 during the ophthalmic surgery training operation is measured in real time by the motion sensors (position sensor, speed sensor, acceleration sensor, etc.) of the slave training system 3 , speed, acceleration, etc.), the force sensor (force sensor, torque sensor, etc.) or force estimator of the slave training system 3 measures the force information (force, torque, etc.) of the slave operating instrument 34 during the ophthalmic surgery training operation in real time. etc.) information, sent to the slave control unit 31 for it to generate corresponding control commands in combination with the master motion information and force information, and transmitted to the master control unit 23 and the system processing unit 41 through the slave communication unit 33.

As a preferred technical solution, the main 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 , for overall management of the operation of the entire surgical operation training device.

Specifically, the main 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; wherein, the system processing unit 41 is composed of ARM, DSP or industrial computer, etc., and is used to realize eye surgery. The operation training system has functions such as data storage, surgical operation selection, and operation weight setting; the system communication unit 42 is responsible for establishing information and data transmission between the master console 4, the host training system 2, and the slave training system 3. Function; the power supply unit 44 provides power for the training system of ophthalmic surgery operation; the operation weight parameter adjustment button 43 can adjust the teacher's operation weight during the student's operation.

The training system for ophthalmic surgical operation in the embodiment of the present invention receives a surgical training request through the display 1, and the surgical training request includes the operation type; then, the slave training system 3 calls out the operation object based on the operation type; the master console 4 collects the operation weights parameter σ; when the operation weight parameter is σ=1, the teacher performs the teaching mode operation on the operation object on the host training system 2, and records the teaching operation data of the teaching mode for reference and learning according to the needs of subsequent students; when the operation weight When the parameter is σ=0, the trainee performs the autonomous mode operation on the operation object on the slave training system 3, and is not affected by the teacher's operation, autonomously learns, and records the autonomous operation data of the autonomous mode, which is convenient for the subsequent trainees to check for errors or Modification; when the operation weight parameter is 0<σ<1, the trainee performs the learning mode operation on the operation object in the slave training system 3, and the teacher's operation participates in and guides the trainee operation according to the operation weight ratio, and records the learning operation in the learning mode. The training system for ophthalmic surgery operation of the present invention can improve the independent operation learning of ophthalmic surgery training, allowing students to accept the influence of different degrees of teacher's operation, and can also intuitively experience the accuracy of the teacher's "hand-in-hand" operation. Teach the operation to improve the accuracy of ophthalmic surgery training.

When selecting weights in ophthalmic surgery training, first, the teacher operates a certain ophthalmic surgery on the ophthalmic training system, so that the master control amount and the slave control amount during the teacher's operation are:

Among them, u _m0 (t) and u _s0 (t) are respectively the master control amount and the slave control amount when the teacher performs the ophthalmic surgery operation process; X _m0 (t) and X _s0 (t) are the host computer when the teacher is operating Position response and slave position response; f _h0 (t), f _e0 (t) are the teacher's force on the master's operating device and the environment's force on the slave's operating device; C _pm (t), Cfm (t) are the master position controller and the master force controller, respectively; C _ps (t) and C _fs (t) are the slave position controller and the slave force controller, respectively. X _s0 (t)-X _m0 (t) is the difference between the position response of the master and the slave, and f _h0 (t)+f _e0 (t) is equivalent to the force of the teacher on the operating device and the resultant external force of the environment on the operating device.

When the ophthalmic surgery training operation is carried out by the trainee, the master control amount and the slave control amount during the trainee's operation are as follows:

Among them, u _m1 (t) and u _s1 (t) are respectively the master control amount and the slave control amount when the trainee is in the ophthalmic surgery training operation process; X _m1 (t) and X _s1 (t) are the main machine when the trainee is operating Position response and slave position response; f _h1 (t), f _e1 (t) are the force of the trainee on the master operating device and the environment on the slave operating device; X _s1 (t)-X _m1 (t ) is the difference between the position response of the master and the slave, and f _h1 (t)+f _e1 (t) is equivalent to the force of the trainee on the operating device and the resultant external 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 proposed by the present invention, and the participation of the teacher in the whole operation process is adjusted by the operation weight parameter σ. Therefore, when the trainees conduct ophthalmic operation training, the system master control volume and slave control volume become:

Specifically, when adjusting the operation weight parameters, the ophthalmic surgery training system can adopt two methods. One is that the system uses the surgical operation effect index to automatically adjust the operation weight parameters; the other is to adjust the operation weight parameters through the operation weight parameter adjustment button of the main console. weight parameter.

The operation effect index can be selected as a function related to position deviation, velocity deviation, acceleration deviation, and force deviation.

Preferably, an operation effect index M can be set as:

为教师实际操作过程中从机的位置响应和学员实际操作过程中从机的位置响应之差的积分，反映出教师和学员操作位置响应之差的总和。

为教师和学员操作过程中环境对从机操作器械的作用力之差的积分，反映出作用力之差的总和。Among them, X _s0 (t) is the position response of the slave machine during the actual operation of the teacher, X _s1 (t) is the position response of the slave machine during the actual operation of the trainee, T is the total time of ophthalmic surgery training operation, and n is the trainee’s ophthalmology department. Number of surgical training operations.

It is the integral of the difference between the position response of the slave machine during the actual operation of the teacher and the position response of the slave machine during the actual operation of the student, and reflects the sum of the difference between the operation position response of the teacher and the student.

It is the integral of the difference between the force of the environment on the slave-operated equipment during the operation of the teacher and the student, and reflects the sum of the difference of the force.

The ophthalmic surgery training system can automatically adjust the operation weight parameter according to the operation effect index, namely σ=k*M, k is a proportional coefficient, and k is greater than 0. The operation effect index M is proportional to the operation weight parameter σ. When the operation effect index M is larger, the operation weight parameter σ is larger, that is, when the students' operation effect is poor, the operation process improves the teacher's participation in the operation, so that the teacher can better "" Hand-in-hand guide the position and force information of the operation process to the students; the smaller the operation effect index M, the smaller the operation weight parameter σ, that is, as the students become more proficient in the operation, the less the teacher's participation in the operation process; When M→0, σ→0, that is, the trainee can reproduce the teacher's operation.

The specific training operation process of the ophthalmic surgery training system is as follows:

Let the operation weight parameter σ in formula (3) be 1, ask the teacher to perform a standard operation of an ophthalmology operation, and store the position, speed, acceleration and other motion information during the operation in real time during the operation, as well as the teacher's response to the host operating equipment. Force information of the force f _h0 (t) and the force f _e0 (t) of the environment on the slave operating device;

The trainee selects the information stored in the ophthalmic surgery training system to perform a certain surgical operation, and uses the operation weight parameter automatically calculated by the operation effect index or manually adjusts the operation weight parameter button to make 0≤σ≤1 in formula (3). When the operation weight parameter σ is 1, the trainee completely follows the operation of the host operating instrument, so as to feel the position information of the teacher when operating the operation and the force information of the teacher on the host operating instrument. When the operation weight parameter σ gradually decreases, the influence of the host operating equipment by the teacher's operation information becomes smaller, and the weight of the student operating the host equipment becomes larger. When the operation weight parameter σ is 0, the host operating equipment is no longer affected by the teacher's operation information, and the students completely deviate from the teacher's guidance to perform ophthalmic surgery operations;

During the operation of the trainee, the system stores the position, speed, acceleration and other motion information in real time during the operation, as well as the force f _h1 (t) of the trainee on the host operating device, and the force f _e (t) of the environment on the slave operating device. force information. At the end of the trainee's operation, the system will automatically calculate the operation effect index according to formula (4), evaluate the operation effect, and calculate the operation weight parameter for use in the next operation.

Compared with the existing ophthalmic training system, the advantages of the training method and system for ophthalmic surgical operation of the present invention are:

1. The training method and system of ophthalmic surgery operation provided by the present invention have introduced the operation weight parameter, which can be adjusted during the operation by adjusting the operation weight parameter. The trainees carry out different levels of guidance, and the trainees can not only follow the teacher's operation record to operate a certain eye surgery, but also complete various eye surgery operations independently; this enables the trainees to have a clear understanding of the effect of their own operations, and the training operation of eye surgery effect is more pronounced.

2. The training system for ophthalmic surgical operation based on bidirectional control provided by the present invention can accurately record information such as position, speed, acceleration and force during each surgical operation. It enables students to experience the real and synchronous multi-dimensional motion information of the teacher's position and force during the operation process, making the ophthalmology training process more real and effective, and can train people who perform fine eye surgery faster and more effectively. doctor.

Embodiment 2:

The invention provides an ophthalmology training system based on the master-slave two-way control of position-force, which enables trainees to real-time experience the position and force information of the teacher during the operation.

From the hardware structure diagram, the host training system 2 and the slave training system 3 rely on the host communication unit 23 and the slave communication unit 33 for data transmission, and both can communicate with the system processing unit 41 through the system communication unit 42. Carry out the transmission of data and control commands. 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, velocity, acceleration information of the master and the slave in operation and transmit the data to the master control unit 21 and the slave. machine control unit 31.

The flow of ophthalmic surgery training operation:

1. POST. If there is a fault, the system checks the power supply unit 44, the system communication unit 42, the master communication unit 23, the slave communication unit 33 and the master sensor unit 22, the fault of the slave sensor unit 32 and finds out the faulty module and exits;

2. If the self-examination is normal, for the teacher, select an ophthalmic surgery operation, operate the master operating instrument 24 to perform the operation, and the slave operating instrument 34 performs the same operation as the master operating instrument 24, so that the slave operating instrument 34 can perform the operation. Subject 35 underwent surgery. The operation object 35 may be an ophthalmic surgery operation object such as an artificial eyeball. At the same time, the ophthalmology training system records and stores all data during the operation, and exits this operation after the storage is completed;

3. If the self-test is normal, for the student, select an eye surgery operation that has been stored by the teacher. The operation weight parameter is automatically calculated by the operation effect index, or the student manually adjusts the operation weight parameter adjustment button 43 according to the surgical proficiency to select the operation weight parameter. Afterwards, the trainee starts to operate the host operating instrument 24 to complete the operation. At the same time, the ophthalmology training system will record and store various data during the operation. After the storage, the operation effect index and operation weight parameter will be automatically calculated and the operation will be exited;

4. For teachers and students, the operation history records can be inquired, and the data can be viewed and deleted.

For teachers, the position information and force feedback information of the slave machine can be felt during the operation, and at the same time, the operation images and videos, the position, speed, acceleration and force of the host machine and the slave machine can be obtained on the display 1 during the operation of the ophthalmology. make the operation more precise. For the trainee, the operation weight parameter is automatically adjusted according to the calculated operation effect index, or the operation weight parameter adjustment button 43 is manually adjusted according to the surgical proficiency to perform the ophthalmic surgery operation. During the operation, the students can feel the position and force feedback of the slave machine, as well as the position and force information of the teacher, and at the same time, they can obtain the operation image and video, the position, speed, acceleration and Force and other information, so that students can grasp their own operation process at any time, quickly improve the ability to operate ophthalmic surgery independently, and better complete the training.

In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The system embodiments described above are only illustrative, for example, the division of units may be a logical function division, and there may be other division methods in actual implementation, for example, multiple units or components may be combined or integrated into Another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of units or modules, and may be in electrical or other forms.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the principles of the present invention, several improvements and modifications can be made. It should 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 is_m0(t)、u_s0(t) respectively controlling the master machine control quantity and the slave machine control quantity when the teacher performs the ophthalmic surgery operation process; x_m0(t)、X_s0(t) respectively representing master machine position response and slave machine position response during teacher operation; f. of_h0(t)、f_e0(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; c_pm(t)、C_fm(t) a host position controller and a host force controller, respectively; c_ps(t)、C_fs(t) a slave position controller and a slave force controller, respectively; x_s0(t)-X_m0(t) is the difference between the master and slave position responses, f_h0(t)+f_e0(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，u_m1(t)、u_s1(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; x_m1(t)、X_s1(t) respectively representing the host position response and the slave position response when the trainee operates; f. of_h1(t)、f_e1(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; x_s1(t)-X_m1(t) is the difference between the master and slave position responses, f_h1(t)+f_e1(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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