CN111429776B - Training method and system for ophthalmologic operation and terminal equipment - Google Patents
Training method and system for ophthalmologic operation and terminal equipment Download PDFInfo
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Abstract
The invention relates to the technical field of medical operations, in particular to a training method and a training system for ophthalmic operation. The method and the system receive operation training requests of operators including specific operation types; calling out an operation object based on the operation type; collecting or calculating an operation weight parameter sigma; when the operation weight parameter is sigma 1, executing teacher teaching mode operation on the operation object, and recording teaching operation data of the teaching mode; when the operation weight parameter is sigma 0, executing the student autonomous mode operation on the operation object, and recording the autonomous operation data of the autonomous mode; when the operation weight parameter is 0< sigma <1, the student learning mode operation is executed on the operation object, and the learning operation data of the learning mode is recorded.
Description
Technical Field
The invention relates to the technical field of medical operations, in particular to a training method and system for ophthalmic operation and terminal equipment.
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.
Ophthalmology is an important organ of human beings, but because of the complex structure and limited operation space, the ophthalmologic operation often needs extremely fine operation, and the training difficulty of an ophthalmologist is difficult to perform routine 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
The embodiment of the invention provides a training method and a training device for ophthalmologic operation, which at least solve the technical problem of low ophthalmologic training accuracy of the existing ophthalmologic training system.
A first aspect of an embodiment of the present invention provides a method for training an ophthalmic surgical procedure, the method including the steps of:
receiving a surgical training request, the surgical training request including an operation type;
calling out an operation object based on the operation type;
collecting an operation weight parameter sigma;
when the operation weight parameter is sigma-1, executing teacher teaching mode operation on the operation object, and recording teaching operation data of the teaching mode;
when the operation weight parameter is sigma-0, executing trainee autonomous mode operation on the operation object, and recording autonomous operation data of the autonomous mode;
when the operation weight parameter is 0 & ltsigma & lt 1, a student learning mode operation is performed on the operation object, and learning operation data of the learning mode is recorded.
Optionally, when the operation weight parameter is σ ═ 1, the step of performing teacher teaching mode operation on the operation object and recording teaching operation data of the teaching mode specifically includes:
the teacher operates the main machine operation device, and the main machine control unit generates the main machine control quantity u of the main machine operation devicem0(t); the slave control unit generates a slave control quantity u corresponding to the slave operation instrument under a bidirectional control strategys0And (t) controlling the slave operation device to complete the action which is the same as or proportional to the action of the master operation device.
The host control quantity u in the teaching modem0(t) and slave control amount us0(t) is expressed as:
wherein, 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)、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)+fe0(t) corresponds to the force of the teacher on the operating device and the resultant force of the environment on the operating device;
the system stores standard operation data input by a teacher through the host operation instrument as teaching operation data when a student operates;
optionally, when the operation weight parameter is σ ═ 0, the step of performing trainee autonomous mode operation on the operation target and recording autonomous operation data of the autonomous mode specifically includes:
student operatorThe main machine control unit generates a main machine control quantity u of the main machine operation apparatusm1(t); the slave control unit generates a slave control quantity u corresponding to the slave operation instrument under a bidirectional control strategys1And (t) controlling the slave operation device to complete the action which is the same as or proportional to the action of the master operation device.
The host control quantity u in the autonomous modem1(t) and slave control amount us1(t) is expressed as:
wherein, 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;
the system stores the autonomous operation data input by the trainee through the host operation instrument as data comparison in the future.
Optionally, the step of performing a learner learning mode operation on the operation target and recording learning operation data of the learning mode when the operation weight parameter is 0< σ <1 specifically includes:
the student operates the host machine operation apparatus, the host machine control unit combines the teaching operation data stored by the system to generate the host machine control quantity u of the host machine operation apparatusm(t); under the bidirectional control strategy, the slave control unit combines teaching operation data stored in the system to generate a slave control quantity u corresponding to a slave operation instrumentsAnd (t) controlling the slave operation device to complete the action which is the same as or proportional to the action of the master operation device.
The host control quantity um(t) and slave control amount us(t) is expressed as:
the master control unit and the slave control unit respectively distribute the master control quantity u according to the operation weight parameter sigma in proportionm(t) and slave control quantity usAnd (t) the operation of the teacher and the student occupies the weight, and the instruction degree of the teacher to the student in the learning mode is further adjusted, so that the student can gradually finish autonomous operation from the operation completely according to the instruction of the teacher.
Optionally, the operation weight parameter is set by an operator through an operation weight parameter adjusting button of the system, manually set in system software, or automatically adjusted by the system according to previous operation effect.
Specifically, the operation weight parameter σ dynamically adjusts its adjustment relationship according to the operation effect index M, which is expressed as:
σ＝k*M；
wherein k is a preset proportionality coefficient, and k is more than 0.
Optionally, the operation effect index M is expressed 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.
To teach toThe integral of the difference between the forces of the environment operating the instrument from the slave during the operation of the teacher and the student reflects the sum of the differences.
Optionally, prior to the receiving a surgical training request, the surgical training request including a type of procedure, the method further comprises:
judging whether a training system for operation has a fault;
if the training system of the operation has faults, carrying out fault repairing work on the training system of the operation;
and if the training system of the operation has no fault, executing the step of receiving the operation training request.
Optionally, after the step of performing a learning mode operation on the operation target and recording learning operation data of the learning mode when the operation weight parameter is 0< σ <1, the method further includes:
receiving a data query request, wherein the data query request can be one or more of a teaching operation, an autonomous operation or a learning operation;
outputting one or more of the teaching operation data, the autonomous operation data, or the learning operation data corresponding to the query request.
A second aspect of embodiments of the present invention provides a training system for an ophthalmic surgical procedure, the training system comprising:
a receiving unit, configured to receive a surgical training request, where the surgical training request includes an operation type, and call out an ophthalmic surgical operation object based on the operation type;
the weight parameter acquisition unit is used for acquiring an operation weight parameter sigma;
when the operation weight parameter is sigma 1, executing teaching mode operation on the operation object, and recording teaching operation data of the teaching mode;
when the operation weight parameter is sigma-0, executing autonomous mode operation on the operation object, and recording autonomous operation data of the autonomous mode;
when the operation weight parameter is 0< sigma <1, performing learning mode operation on the operation object, and recording learning operation data of the learning mode.
A third aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method mentioned in the first aspect when executing the computer program.
According to the training method and the training system for the ophthalmic surgery operation, the surgical training request is received, and comprises the operation type; calling out an operation object based on the operation type; collecting an operation weight parameter sigma; when the operation weight parameter is sigma 1, the teacher can execute teaching mode operation on the operation object, and record teaching operation data of the teaching mode for reference learning of the requirements of subsequent students; when the operation weight parameter is sigma 0, the student can perform autonomous mode operation on the operation object, is not influenced by the operation of the teacher, autonomously learns, and records autonomous operation data of the autonomous mode, so that the subsequent student can conveniently check errors or modify; when the operation weight parameter is that sigma is more than 0 and less than 1, the student can execute the operation of the learning mode on the operation object, can receive the influence of teacher operation in different degrees, perform operation learning, and record the learning operation data of the learning mode, so that the follow-up student can conveniently check errors or modify.
Drawings
FIG. 1 is a flow chart of a method of training an ophthalmic surgical procedure according to the present invention;
FIG. 2 is a flow chart of a self-test for failure of the method of training an ophthalmic surgical procedure of the present invention;
FIG. 3 is a flow chart of data query for the training method of ophthalmic surgery procedure according to the present invention;
FIG. 4 is a schematic view of a training system for an ophthalmic surgical procedure according to the present invention;
FIG. 5 is a schematic flow chart illustrating operation of an embodiment of the training system for ophthalmic surgical procedures of the present invention;
FIG. 6 is a schematic diagram of human-machine interaction of an embodiment of the training system for ophthalmic surgical procedures 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 1
According to an embodiment of the present invention, there is provided a training method for an ophthalmic surgery operation, referring to fig. 1, comprising the steps of:
s1: a surgical training request is received, the surgical training request including an operation type.
In the present embodiment, the surgical training request is a selection request of a functional mode of the ophthalmic surgical operation input according to the actual application requirement of the operator; the operation type may be a type of an ophthalmic surgery corresponding to a teaching mode, an autonomous mode, or a learning mode, and may be other types, which is not limited herein.
Specifically, an operation training request input by an operator can be received through a client of a training system such as a display, and based on the operation training request, an operation type carried in the operation training request is directly acquired, so that a subsequent rapid response is performed according to the operation type, and the training efficiency of the ophthalmic operation can be ensured to a certain extent.
S2: and calling out the operation object based on the operation type.
Specifically, according to the operation type obtained in step S1, the operation object corresponding to the operation type can be quickly obtained; the operation object can be an ophthalmic operation object such as an artificial eyeball and the like, and is used for ensuring the real experience of the operator on the ophthalmic operation, ensuring the effectiveness of the operator in training the ophthalmic operation and being capable of achieving the accuracy of the training of the ophthalmic operation to a certain extent.
S3: the operational weight parameter sigma is collected.
In the present embodiment, the operation weight parameter σ is a guide degree of the teacher for the trainee's operation in the training process for adjusting the ophthalmic surgery operation by adjusting the operation weight parameter during the operation.
Specifically, the operation weight parameter σ may be acquired according to a specific numerical value of the operation weight parameter input by the operator, may be automatically calculated according to previous operation effects, or may be acquired by other methods, which is not limited herein.
S4: when the operation weight parameter is sigma 1, a teaching mode operation is performed on the operation object, and teaching operation data of the teaching mode is recorded.
Specifically, when the operation weight parameter is σ ═ 1, it can be understood that a teacher operates the current training system, the teacher can obtain a corresponding operation object according to the operation training request input in step S1, and further, the teacher can perform teaching mode operation on the operation object, for example, the teacher performs standard operation of a certain ophthalmic operation, and at the same time, the training system performs full-range data recording on the teaching mode performed by the teacher, so as to facilitate subsequent inquiry of the teacher or a student, or guide the student to operate in the learning mode.
S5: when the operation weight parameter is sigma 0, an autonomous mode operation is performed on the operation object, and autonomous operation data of the autonomous mode is recorded.
Specifically, when the operation weight parameter σ is 0, it may be understood that the current training system performs an autonomous learning operation for the trainee, and the trainee may obtain a corresponding operation object according to the operation training request input in step S1, and since, according to step S3, the operation weight parameter σ is used for adjusting the instruction degree of the teacher for the trainee during the training of the ophthalmic operation by adjusting the operation weight parameter during the operation, it may be understood that the trainee may perform an autonomous mode operation on the operation object without being affected by the operation of the teacher, such as the trainee autonomously performing an autonomous operation of a certain ophthalmic operation, and at the same time, the system may perform a data recording of the entire autonomous mode performed by the trainee for error or modification by a subsequent trainee, the training accuracy of the ophthalmic surgery operation can be ensured to a certain extent.
S6: when the operation weight parameter is 0< σ <1, a learning mode operation is performed on the operation subject, and learning operation data of the learning mode is recorded.
Specifically, when the operation weight parameter is 0< σ <1, it can be understood that the current training system performs a learning operation on the trainee, and the trainee can obtain a corresponding operation object according to the operation training request input in step S1, and similarly, according to step S3, when the operation weight parameter is 0< σ <1, it can be understood that the trainee can perform a learning mode operation on the operation object under the guidance of the teacher operation in different degrees, for example, the trainee can perform a learning operation of an ophthalmic operation under the influence of the teacher operation in different degrees with reference to the teacher operation, and at the same time, the training system can perform a data recording of the whole course of the learning mode performed by the trainee, so as to facilitate the error checking or modification performed by the subsequent trainee, and can ensure the training accuracy of the ophthalmic operation to a certain degree.
According to the training method for the ophthalmic surgery operation, the surgical training request is received, and comprises the operation type; calling out an operation object based on the operation type; collecting an operation weight parameter sigma; when the operation weight parameter is sigma 1, the teacher can execute teaching mode operation on the operation object, and record teaching operation data of the teaching mode for reference learning of the requirements of subsequent students; when the operation weight parameter is sigma 0, the student can perform autonomous mode operation on the operation object, is not influenced by the operation of the teacher, autonomously learns, and records autonomous operation data of the autonomous mode, so that the subsequent student can conveniently check errors or modify; when the operation weight parameter is that sigma is more than 0 and less than 1, the student can execute the operation of the learning mode on the operation object, can receive the instruction of the teacher operation of different degrees, operate and learn, and record the learning operation data of the learning mode, so that the follow-up student can conveniently check errors or modify.
In a preferred embodiment, the step of performing a teacher teaching mode operation on the operation target and recording teaching operation data of the teaching mode when the operation weight parameter σ is 1 specifically includes:
s401: the teacher operates the main machine operation device, and the main machine control unit generates the main machine control quantity u of the main machine operation devicem0(t); the slave control unit generates a slave control quantity u corresponding to the slave operation instrument under a bidirectional control strategys0(t) controlling the slave operating device to perform the same or proportional action as the master operating device, the master control quantity u in the teaching modem0(t) and slave control amount us0(t) is expressed as:
wherein, 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)、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.
Specifically, the host control amount u of the host operation instrument is adjustedm0(t) and a slave control amount u of a slave operation devices0(t), the master operation device can accurately complete the relevant operation of the teacher in the teaching mode, namely when the operation weight parameter sigma is 1, the teacher can perform the standard operation of a certain ophthalmic operation, and the motion information such as the position, the speed, the acceleration and the like in the operation process and the acting force f of the teacher on the master operation device are stored in real time in the operation processh0(t) force f of the environment on the slave operation devicee0And (t) the force information can ensure the training accuracy of the ophthalmic surgery operation to a certain extent.
The system stores standard operation data input by a teacher through the host operation instrument as teaching operation data when a student operates.
Specifically, the receiving of the standard operation data input by the teacher through the host operation device is to specifically acquire and record each item of data involved in a teaching operation process performed by the teacher on the host operation device, such as a standard operation for performing a standard operation on an ophthalmic surgery on the ophthalmic training system, that is, standard operation data.
It should be noted that the present embodiment is directed to an ophthalmic training method based on bidirectional control, so that the slave operation device performs the same ophthalmic surgical operation as the master operation device, and thus the slave operation device can perform the surgical operation on the operation target based on the standard operation data.
Specifically, the operation of the slave operation device on the operation object based on the standard operation data may specifically be that the slave operation device performs the same operation as the master operation device on the operation object based on the standard operation data, and the one-to-one operation repetition can be implemented to a certain extent, so that the teaching experience of a teacher "handle" by a subsequent student can be provided, and the training accuracy of the ophthalmic operation can be improved to a certain extent.
The specific process of the standard operation data input by the teacher through the master operation device in step S402 and the specific process of the slave operation device performed in step S403 for performing the surgical operation on the operation object based on the standard operation data are recorded in a full-range manner, so as to ensure the integrity and comprehensiveness of the teaching operation data, and provide the data for subsequent query by the teacher or the student or reference learning by the student.
In the present embodiment, the master control amount u of the master operation device is adjustedm0(t) and a slave control amount u of a slave operation devices0And (t) after adjustment, standard operation data input by a teacher through the master operation device is received, then the slave operation device performs operation on an operation object based on the standard operation data, the standard operation data is used as teaching operation data, the master operation device can be guaranteed to accurately complete relevant operation of a teaching mode of the teacher, accurate execution and recording of the standard operation data are further achieved, accuracy and integrity of the standard operation data can be guaranteed, follow-up inquiry of the teacher or a student or reference learning of the student can be guaranteed, and accordingly training accuracy of ophthalmic operation is guaranteed to a certain extent.
In a preferred embodiment, the step of performing the trainee autonomous mode operation on the operation target and recording the autonomous operation data of the autonomous mode when the operation weight parameter σ is 0 specifically includes:
s501: the student operates the main machine operation device, and the main machine control unit generates the main machine control quantity u of the main machine operation devicem1(t); the slave control unit being bidirectionalUnder the control strategy, a slave control quantity u corresponding to the slave operation instrument is generateds1(t) controlling the slave operation device to perform the same or proportional action as the master operation device; the host control quantity u in the autonomous modem1(t) and slave control amount us1(t) is expressed as:
wherein, 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.
Specifically, the host control amount u of the host operation instrument is adjustedm1(t) and a slave control amount u of a slave operation devices1(t), when the slave operation device accurately completes the operation related to the autonomous mode of the trainee, that is, when the operation weight parameter σ is 0, the trainee can autonomously perform the training operation of a certain ophthalmic operation without being affected by the operation of the trainee.
Specifically, the receiving of the free operation data input by the trainee through the slave operation instrument is to specifically acquire and record each data involved in the autonomous operation of the trainee on the slave operation instrument without being affected by the operation of the trainee, such as the free operation data, which is the data involved in the autonomous operation of the trainee on the slave operation instrument of the ophthalmic training system without referring to the record of the teaching operation mode of the teacher. The slave operation device may perform the surgical operation on the operation target based on the free operation data specifically may be based on the free operation data received in step S502, and the slave operation device may perform the autonomous surgical operation on the operation target based on the free operation data without being influenced by the master operation device, may implement that the training of the ophthalmic operation is completely autonomously controlled by the trainee, and may improve the training efficiency of the ophthalmic operation to a certain extent.
Further, the specific process of the free operation data input by the trainee through the slave operation instrument in step S502 and the specific process of the slave operation instrument performing the surgical operation on the operation object based on the free operation data performed in step S503 are all-time data recorded, so as to ensure the integrity and comprehensiveness of the free operation data, and provide for timely and accurate error checking and modification by the subsequent trainee.
In the present embodiment, the master control amount u of the master operation device is adjustedm1(t) and a slave control amount u of a slave operation devices1And (t) after adjustment, receiving free operation data input by a student through a slave operation instrument, then enabling the student to perform operation on an operation object through the slave operation instrument based on the free operation data, and using the free operation data as autonomous operation data, so that the slave operation instrument can be ensured to accurately complete the related operation of the autonomous mode of the student without being influenced by the master operation instrument, and further accurate execution and recording of the autonomous operation data can be realized, the accuracy and integrity of the autonomous operation data can be ensured, and subsequent students can timely and accurately check errors and modify the data, thereby ensuring the training accuracy of ophthalmic operation to a certain extent.
In a preferred embodiment, the step of performing a learning mode operation on the operation target and recording learning operation data of the learning mode when the operation weight parameter is 0< σ <1 specifically includes:
the student operates the host machine operation apparatus, the host machine control unit combines the teaching operation data stored by the system to generate the host machine control quantity u of the host machine operation apparatusm(t); under the bidirectional control strategy, the slave control unit combines teaching operation data stored in the system to generate a slave control quantity u corresponding to a slave operation instruments(t) controlling the slave operation device to perform the same or proportional action as the master operation device;
the hostControl quantity um(t) and slave control amount us(t) is represented by
The master control unit and the slave control unit respectively distribute the master control quantity u according to the operation weight parameter sigma in proportionm(t) and slave control quantity usAnd (t) the operation of the teacher and the student occupies the weight, and the instruction degree of the teacher to the student in the learning mode is further adjusted, so that the student can gradually finish autonomous operation from the operation completely according to the instruction of the teacher.
It should be noted that, since the training system provided by the embodiment is actually operated by adding the relevant operation information of the teacher and the participation degree of the teacher's operation in the whole operation process is adjusted by the operation weight parameter σ, the system host control amount u is controlled by the trainee in the training of the ophthalmic operation in the learning modem(t) and slave control quantity us(t) can be expressed by the above formula.
Specifically, the operation weight parameter satisfies 0 ≦ σ ≦ 1; when the operation weight parameter σ is 1, it can be understood that the whole operation process is completely completed according to the teaching mode of the teacher, even if the student holds the operation instrument by hand, the operation force cannot be applied to the system, and the student can really feel the position and force characteristics of the corresponding operation under the teaching of the teacher's hand grip'; when the operation weight parameter sigma is 0, the ophthalmologic operation training is completely controlled by the trainee, the operation of the teacher is not reflected to the actual operation process, the current 0< sigma <1, and the position and force characteristics in the operation process of the trainee can be sensed to different degrees in the operation process of the trainee according to the difference of the operation weight parameter, so that the practicability and the accuracy of the training of the ophthalmologic operation are improved to a certain degree, and the training work efficiency of the ophthalmologic operation is improved to a certain degree.
The method comprises the steps of receiving student operation data input by a student through a slave operation instrument, specifically, acquiring and recording learning operation processes executed on the slave operation instrument when the student is influenced by teacher operations of different degrees, for example, each piece of data related to the learning operation of the student on the slave operation instrument of the ophthalmologic training system by referring to the record of a teaching operation mode of a teacher and under the influence of the operations of different degrees, namely student operation data.
In this embodiment, the actual operation data is actual operation data that is generated when the trainee's trainee operation data is influenced by the teacher's operation corresponding to the operation weight parameter σ, with reference to the teaching operation data acquired by the trainee based on the operation weight parameter σ.
The actual operation data corresponding to the student operation data and the teaching operation data is acquired based on the operation weight parameter σ, and the surgical operation on the operation object based on the actual operation data may be specifically that the actual operation data corresponding to the operation weight parameter σ is acquired based on the student operation data received in step S602, and the surgical operation is performed on the operation object based on the actual operation data, so that the student can experience the learning mode under different teacher operation influence degrees, the capability of improving the ophthalmic surgical operation of the student is facilitated, and the training efficiency and effectiveness of the ophthalmic surgical operation can be improved to a certain extent.
Specifically, the specific process of the student operation data input by the student through the slave operation instrument in step S602 and the specific process of the slave operation instrument executed in step S603 are used to acquire the actual operation data corresponding to the student operation data and the teaching operation data based on the operation weight parameter σ, and the specific process of performing the surgical operation on the operation object based on the actual operation data is subjected to the full-range data recording, so that the integrity and the comprehensiveness of the learning operation data are ensured, so that the subsequent student can timely and accurately make mistakes and modify, and the ability of the student in the ophthalmic surgical operation is improved.
In this embodiment, the system host control quantity u is adjustedm(t) and slave control quantity us(t) receiving the trainee's operation through the slave after the adjustmentThe student operation data input by the instrument is taken, then the student can acquire actual operation data corresponding to the student operation data and teaching operation data through the slave operation instrument based on the operation weight parameter sigma, perform surgical operation on an operation object based on the actual operation data, and use the student operation data as learning operation data, so that the student can be ensured to train ophthalmic surgery operation under the influence of host operation instrument operation of different degrees experienced by the slave operation instrument, accurate execution and recording of the learning operation data can be realized, the accuracy and integrity of the autonomous operation data can be ensured, subsequent students can check errors and modify accurately in time, the capability of ophthalmic surgery operation of the student can be improved, and the training efficiency and effectiveness of the ophthalmic surgery operation can be improved to a certain extent.
In a preferred embodiment, the operation weight parameter is set by an operator via an operation weight parameter adjustment button of the system, manually set in system software, or automatically adjusted by the system according to a previous operation effect. The method further comprises the following steps: dynamically adjusting an operation weight parameter sigma based on the operation effect index M, wherein the operation weight parameter sigma is expressed as:
σ＝k*M；
wherein k is a preset proportionality coefficient, and k is more than 0.
It should be noted that, when the operation weight parameter is adjusted, two ways may be specifically adopted, one way is to automatically adjust the operation weight parameter by using the operation effect index through the training system; and the other method is to adjust the operation weight parameters through an operation weight parameter adjusting button of a master console of the training system.
Specifically, the present embodiment dynamically adjusts the operation weight parameter σ by using the operation effect index M; the operation effect index M may be specifically selected as a function related to a position deviation, a velocity deviation, an acceleration deviation, and a force deviation.
In a preferred embodiment, the operation effect index M is represented by:
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.
Specifically, in the embodiment, the operation weight parameter is automatically adjusted according to the operation effect index, where the operation effect index M is in a proportional relationship with the operation weight parameter σ, and it can be understood that when the operation effect index M is larger, the operation weight parameter σ is larger, that is, when the student has a poor operation effect, the operation process improves the teacher's operation participation, so that the teacher can better "handle" to guide the position and force information of the operation process to the student; 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 the operation effect index M → 0, the operation weight parameter σ → 0, that is, the trainee can reproduce the operation of the teacher.
In a preferred embodiment, referring to fig. 2, the method further comprises:
s7: and judging whether the training system of the operation has a fault.
Specifically, after the training system is started, the stability and timeliness of the training of the operation can be ensured by judging whether the training system of the operation has a fault, and the work efficiency of the training of the operation is ensured.
Further, the specific step of determining whether the training system for the surgical operation has a fault may be to perform troubleshooting on each signal by acquiring operation signals of all operation units of the training system for the surgical operation to ensure efficiency and accuracy of fault detection, or may be performed in other channel manners, which is not limited herein.
S8: and if the training system for the operation has faults, carrying out fault repairing work on the training system for the operation.
Specifically, if the training system for the surgical operation has a fault, performing fault repairing work on the training system for the surgical operation, which may be understood as that the related ophthalmic surgical operation training cannot be performed temporarily, and specifically, performing fault repairing work on the training system for the surgical operation may be automatically repairing the detected fault according to a repairing scheme preset in the training system; or sending a fault prompt to a manager so that the manager can repair the fault in time according to the fault prompt to ensure the timely operation of the training system; other fault recovery methods may also be used, and are not specifically limited herein.
S9: and if the training system of the operation has no fault, executing the step of receiving the operation training request.
Specifically, if the training system for the surgical operation has no fault, the step of receiving the surgical training request is executed, that is, the training system can be understood as the training system which is normally operated without fault at present, and the related ophthalmic surgical operation training can be performed at any time, that is, the step of receiving the surgical training request is executed, so that the training for the ophthalmic surgical operation can be performed timely, and the working efficiency and accuracy of the training for the ophthalmic surgical operation can be ensured to a certain extent.
In a preferred embodiment, referring to fig. 3, the method further includes:
s10: a data query request is received, wherein the data query request may be one or more of a teaching operation, an autonomic operation, or a learning operation.
Specifically, the received data query request is a query request input according to actual query needs of different operators, and the data query request may be generated as a query requirement for one or more of teaching operation, autonomous operation or learning operation according to different operators, such as teachers or trainees.
S11: outputting one or more of the teaching operation data, the autonomic operation data, or the learning operation data corresponding to the query request.
Specifically, according to the inquiry request received in step S10, the data content of one or more of the teaching operation data, the autonomous operation data, or the learning operation data corresponding to the inquiry request is directly retrieved in the system and presented to the operator of the inquiry request.
In the embodiment, the data query request is received, and one or more of teaching operation data, autonomous operation data or learning operation data corresponding to the query request is output, wherein for a teacher, position information and force feedback information of a slave can be sensed in the operation, and meanwhile, through the data query, information such as operation images and videos, positions, speeds, accelerations and acting forces of a master and the slave in the ophthalmologic operation process can be accurately acquired, so that the operation is more precise. For the student, the operation effect index can be used for automatically adjusting the operation weight parameter, or the operation proficiency can be used for manually adjusting the operation weight parameter to perform ophthalmic surgery operation, the student can feel position and force feedback of the slave and position and force information of a teacher in the operation process, and meanwhile, information such as an operation image and video, positions, speeds, accelerations and acting forces of the master and the slave in the ophthalmic operation process can be timely and accurately acquired through data query, so that the student can master the operation process of the student at any time, the capability of independently operating the ophthalmic surgery is rapidly improved, and training is better completed.
Example 2
According to another embodiment of the present invention, there is provided a training system for an ophthalmic surgical operation, see fig. 4 to 6, including:
the system comprises a display 1, a master control console 4, a host training system 2 and a slave training system 3; wherein the content of the first and second substances,
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 information such as the position, speed, acceleration and acting force of the master operation instrument and the slave operation instruments in real time.
In the present embodiment, the host training system 2 includes a host control unit 21, a host sensor unit 22, a host communication unit 23, and a host operation instrument 24; the host control unit 21 may be specifically composed of an ARM or a DSP, and is used for implementing data storage and processing functions of the host during the training process of the ophthalmic surgery operation; 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 host communication unit 23 plays a role in establishing information and data transmission among the master control console 4, the host training system 2 and the slave training system 3; the operator operates the instrument 24 through the main machine to perform the ophthalmic surgery operation.
Specifically, during the training of the ophthalmic surgery operation, information of the motion information (position, speed, acceleration, etc.) of the host operation instrument 24 during the training 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; furthermore, the force sensor (force sensor, torque sensor, etc.) of the master training system 2 measures information of force information (force, torque, etc.) of the master operation instrument 24 in the training process of the ophthalmic surgery operation in real time, and transmits the information to the slave control unit 33 and the system processing unit 41 through the master communication unit 23, so as to complete the operation of the operator on the master training system 2.
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 the slave in the training process of the ophthalmic surgery operation; 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 communication unit 33 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 slave operation instrument 34 performs the same ophthalmic surgery operation as the master operation instrument 24, so that the ophthalmic surgery is performed on the operation target in the slave training system 3.
Specifically, during the training of the ophthalmic surgery operation, the information of the motion information (position, speed, acceleration, etc.) of the master operation instrument 24 during the ophthalmic surgery training operation is measured in real time by the motion sensor (position sensor, speed sensor, acceleration sensor, etc.) of the slave training system 3, and the information of the force information (force, moment, etc.) of the slave operation instrument 34 during the ophthalmic surgery training operation is measured in real time by the force sensor (force sensor, moment sensor, etc.) of the slave training system 3, and is transmitted to the master control unit 23 and the system processing unit 41 through the slave communication unit 33, so as to complete the operation of the operator on the slave training system 3.
In a preferred embodiment, the console 4 comprises a system processing unit 41, a system communication unit 42, a power supply unit 44 and an operation weight parameter adjusting button 43 for controlling the operation of the whole training system.
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 adjustment button 43 can adjust the teacher operation weight during the 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 can execute teaching mode operation on the operation object on the host training system 2, and record 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 can perform 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 check errors or modify; when the operation weight parameter is 0 & ltsigma & lt 1, the student can execute the learning mode operation on the operation object in the slave training system 3, can receive the influence of teacher operation in different degrees, performs operation learning, and records the learning operation data of the learning mode, so that the subsequent student can conveniently check errors or modify.
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 student can clearly know the operation effect of the student, and the training operation effect of the ophthalmic surgery is more obvious; meanwhile, the operation weight parameters can be automatically adjusted by the operation effect indexes, and can also be manually adjusted by a student through an operation weight parameter adjusting button 43, and the operation effect indexes are calculated based on the operation times and precision of the student during automatic adjustment;
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.
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 (7)
1. A method of training an ophthalmic surgical procedure, the method comprising the steps of:
receiving a surgical training request, the surgical training request including an operation type;
calling out an operation object based on the operation type;
collecting an operation weight parameter sigma;
when the operation weight parameter is sigma-1, executing teacher teaching mode operation on the operation object, and recording teaching operation data of the teaching mode;
when the operation weight parameter is sigma-0, executing trainee autonomous mode operation on the operation object, and recording autonomous operation data of the autonomous mode;
when the operation weight parameter is 0 & lt sigma & lt 1, executing student learning mode operation on the operation object, and recording learning operation data of the learning mode;
wherein:
when the operation weight parameter is σ ═ 1, a step of executing teacher teaching mode operation on the operation object and recording teaching operation data of the teaching mode specifically includes:
the teacher operates the main machine operation device, and the main machine control unit generates the main machine control quantity u of the main machine operation devicem0(t); the slave control unit generates a slave control quantity u corresponding to the slave operation instrument under a bidirectional control strategys0(t) controlling the slave operation device to perform the same or proportional action as the master operation device;
the host control quantity u in the teaching modem0(t) and slave control amount us0(t) is expressed as:
wherein, 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;
the system stores standard operation data input by a teacher through the host operation instrument as teaching operation data when a student operates;
when the operation weight parameter is σ ═ 0, the step of executing trainee autonomous mode operation on the operation target and recording autonomous operation data of the autonomous mode specifically includes:
the student operates the slave operation device, and the master control unit generates a master control amount u of the master operation devicem1(t); the slave control unit generates a slave control quantity u corresponding to the slave operation instrument under a bidirectional control strategys1(t) controlling the slave operation device to perform the same or proportional action as the master operation device;
the host control quantity u in the autonomous modem1(t) and slave control amount us1(t) is expressed as:
wherein, 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;
the system stores the autonomous operation data input by the trainee through the host operation instrument as data comparison in the future;
the step of, when the operation weight parameter is 0< σ <1, executing a learner learning mode operation on the operation target, and recording learning operation data of the learning mode, specifically includes:
the student operates the host machine operation apparatus, the host machine control unit combines the teaching operation data stored by the system to generate the host machine control quantity u of the host machine operation apparatusm(t); under the bidirectional control strategy, the slave control unit combines teaching operation data stored in the system to generate a slave control quantity u corresponding to a slave operation instruments(t) controlling the slave operation device to perform the same or proportional action as the master operation device;
the host control quantity um(t) and slave control amount us(t) is expressed as:
the master control unit and the slave control unit respectively distribute the master control quantity u according to the operation weight parameter sigma in proportionm(t) and slave control quantity usAnd (t) the operation of the teacher and the student occupies the weight, and the instruction degree of the teacher to the student in the learning mode is further adjusted, so that the student can gradually finish autonomous operation from the operation completely according to the instruction of the teacher.
2. The training method for ophthalmic surgery operation according to claim 1, wherein the operation weight parameter is set by an operator through an operation weight parameter adjustment button of the system, is manually set in system software, or is automatically adjusted by the system according to a previous operation effect;
specifically, the operation weight parameter σ dynamically adjusts its adjustment relationship according to the operation effect index M, which is expressed as:
σ＝k*M；
wherein k is a preset proportionality coefficient, and k is more than 0.
3. The training method for ophthalmic surgery operations according to claim 2, characterized in that the operation effect index M is expressed as:
wherein, Xs0(t) position response of slave in actual operation process of teacher, Xs1(T) the position response of the slave in the actual operation process of the student, T the total time of the ophthalmic surgery training operation, and n 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 to reflect the sum of the difference between the operation position responses of the teacher and the student;
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.
4. The method of training ophthalmic surgical procedures of claim 1, wherein prior to said receiving a surgical training request comprising a procedure type, said method further comprises:
judging whether a training system for operation has a fault;
if the training system of the operation has faults, carrying out fault repairing work on the training system of the operation;
and if the training system of the operation has no fault, executing the step of receiving the operation training request.
5. The training method for ophthalmic surgery operations according to claim 1, characterized in that after the step of performing learning mode operation on the operation subject when the operation weight parameter is 0< σ <1, and recording learning operation data of the learning mode, the method further comprises:
receiving a data query request, wherein the data query request can be one or more of a teaching operation, an autonomous operation or a learning operation;
outputting one or more of the teaching operation data, the autonomous operation data, or the learning operation data corresponding to the query request.
6. A training system for an ophthalmic surgery procedure using the training method for an ophthalmic surgery procedure according to claim 1, characterized by comprising:
a receiving unit, configured to receive a surgical training request, where the surgical training request includes an operation type, and call out an ophthalmic surgical operation object based on the operation type;
the weight parameter acquisition unit is used for acquiring an operation weight parameter sigma;
when the operation weight parameter is sigma 1, executing teaching mode operation on the operation object, and recording teaching operation data of the teaching mode;
when the operation weight parameter is sigma-0, executing autonomous mode operation on the operation object, and recording autonomous operation data of the autonomous mode;
when the operation weight parameter is 0< sigma <1, performing learning mode operation on the operation object, and recording learning operation data of the learning mode.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method according to any one of claims 1 to 5 when executing the computer program.
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