CN111613122A - Virtual-actual fused vascular interventional operation simulation system - Google Patents
Virtual-actual fused vascular interventional operation simulation system Download PDFInfo
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- CN111613122A CN111613122A CN202010423220.0A CN202010423220A CN111613122A CN 111613122 A CN111613122 A CN 111613122A CN 202010423220 A CN202010423220 A CN 202010423220A CN 111613122 A CN111613122 A CN 111613122A
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Abstract
The invention discloses a virtual-real fused vascular interventional operation simulation system, which comprises a solid simulator, wherein a force feedback device is arranged in the solid simulator; an interventional surgical device; a spatial localization device for detecting a position and/or an angle of an interventional surgical device; the data host is used for building a teaching management platform and a surgery virtual environment, calling case data according to teaching contents, building a three-dimensional data model, and carrying out vascular intervention surgery simulation and flow prompting and guiding of surgery operation according to signals from the force feedback equipment and the space positioning equipment; and the holographic image equipment is in communication connection with the data host and is used for receiving and playing the image data from the data host and performing man-machine interaction. The method is beneficial to the special training and examination of the vascular interventional operation and the popularization of operation education, simulates an immersive virtual operation environment, cultivates clinical thinking and improves the abundance of case data.
Description
Technical Field
The invention relates to the technical field of simulated medicine, in particular to a virtual-actual fused vascular interventional operation simulation system.
Background
Cardiovascular and cerebrovascular diseases are the first cause of death in China, and the clinical application of vascular interventional surgery as an important therapy for treating cardiovascular and cerebrovascular diseases is more and more extensive. At present, the learning of the vascular intervention operation mainly adopts a apprentice teaching mode, namely a young doctor directly carries out teaching practice on a patient under the guidance of a superior doctor, and the risk of increasing the operation complication exists.
The direct facing of patients in teaching can be avoided through simulating medical education, and medical errors are reduced. However, the existing vascular intervention operation simulation teaching device has the following problems:
1) the sense of reality, the sense of immersion and the sense of interaction are insufficient, an immersive operation environment is lacked, a training scene is single, and the like;
2) lack of clinical thinking culture, lack of flow prompt and guide of clinical vascular surgery operation in the operation simulation, insufficient human-computer interaction function, and failure to correct error operation in time;
3) the number of cases is limited and personalized case data is lacking.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a virtual-real fused vascular interventional operation simulation system which can realize the simulation of the vascular interventional operation.
The virtual-real fused vessel interventional operation simulation system comprises an entity simulator and a force feedback device, wherein the entity simulator is used as a simulation object of a vessel interventional operation; the interventional operation equipment is used for carrying out vascular interventional simulation operation on the solid simulator; a spatial localization device for detecting a position and/or an angle of the interventional surgical device; the data host is electrically connected with the force feedback equipment and the space positioning equipment respectively and used for building a teaching management platform and a virtual operation environment, calling case data according to teaching contents, building a three-dimensional data model, and performing vascular intervention operation simulation and flow prompting and guiding of operation according to signals from the force feedback equipment and the space positioning equipment; and the holographic image equipment is in communication connection with the data host, and is used for receiving and playing the image data from the data host and performing man-machine interaction.
The virtual-real fused vascular interventional operation simulation system provided by the embodiment of the invention at least has the following beneficial effects:
the teaching management platform for the blood vessel interventional operation is built based on the holographic image technology, the special training examination of the blood vessel interventional operation and the popularization of operation education are facilitated, the three-dimensional virtual operation environment is built according to the data host, the immersive virtual operation environment can be simulated through the projection of the holographic image equipment, the flow prompt and the guidance of the operation are carried out in the simulated operation process, the clinical thinking is facilitated to be cultivated, different case data are called according to teaching contents, the three-dimensional data model is built, and the abundance of the case data is facilitated to be improved.
According to some embodiments of the invention, the teaching management platform comprises at least one of a remote teaching module, a collaborative teaching module, a training module, and an assessment module.
According to some embodiments of the invention, the training module comprises a holographic image prompting unit, an object selecting unit and an information extracting unit, wherein the holographic image prompting unit is used for teaching prompt through voice and/or pictures, the object selecting unit is used for selecting an interactive object according to hand actions of a practicer, and the information extracting unit is used for reading and displaying preset information of the selected object.
According to some embodiments of the invention, the training module further comprises a labeling unit for labeling the selected object.
According to some embodiments of the invention, the holographic imaging device has a camera for capturing hand motion information of the practitioner and sending the hand motion information to the data host.
According to some embodiments of the present invention, the vessel intervention simulation system further comprises a hand positioning module in communication connection with the data host, wherein the hand positioning module is configured to detect hand movements of the practitioner and send the detection result to the data host.
According to some embodiments of the invention, the data host has a memory built therein or externally attached thereto, the memory for storing at least one of a case database, teaching cases, and training information.
According to some embodiments of the invention, the spatial locator device employs an electromagnetic locating system.
According to some embodiments of the invention, the three-dimensional volume data model is a polygonal surface model compiled from the case data by an edge definition algorithm and rendered by a three-dimensional image engine or a three-dimensional image tool.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a virtual-real fused vascular interventional surgery simulation system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a teaching management screen body of the virtual-real fused vascular interventional surgery simulation system shown in fig. 1.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, unless otherwise explicitly defined, terms such as setting, connecting, electrical connecting, communication connecting and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the terms in the present invention by combining the specific contents of the technical solutions.
Referring to fig. 1, the present embodiment discloses a virtual-real fused vascular interventional surgery simulation system, which includes an entity human simulator 100, an interventional surgery device 200, a spatial positioning device 300, a data host 400 and a holographic image device 500, where the entity human simulator 100 is used as a simulation object of a vascular interventional surgery, and the entity human simulator 100 refers to 1: the human body model 1, the physical anthropomorphic dummy 100 embeds the force feedback device, and utilizes the material with the same hardness as the human blood vessel to simulate the real human blood vessel, so that the practicer has more clinical operation feeling when performing the simulated operation, the interventional operation device 200 comprises the common operation devices of the blood vessel interventional operation such as the catheter, the guide wire and the microcatheter, the interventional operation device 200 is used for performing the blood vessel interventional simulated operation on the physical anthropomorphic dummy 100, the physical anthropomorphic dummy 100 can simulate the real human body condition, the force feedback device embedded in the physical anthropomorphic dummy 100 senses the blocking feeling of the hand when performing the interventional operation and generates the corresponding force feedback signal, which is beneficial to performing the simulation analysis on the simulated operation, the space positioning device 300 is used for detecting the position and/or the angle of the interventional operation device 200 and generating the corresponding detection signal, so that the data host 400 generates the simulated image of the interventional operation device 200 during the operation, the data host 400 is electrically connected with the force feedback device and the spatial positioning device 300 respectively, the data host 400 is used for building a teaching management platform and a virtual operation environment, calling case data and building a three-dimensional data model according to teaching contents, and performing vascular intervention operation simulation and flow prompting and guiding of operation according to signals from the force feedback device and the spatial positioning device 300, the holographic image device 500 is in communication connection with the data host 400, the holographic image device 500 can adopt a stereo holographic projector or a head-mounted holographic device, and the holographic image device 500 is used for receiving and playing image data from the data host 400 and performing man-machine interaction.
A teaching management platform of the vascular interventional operation is established based on holographic image technology, which is beneficial to the special training examination of the vascular interventional operation and the popularization of operation education, a three-dimensional virtual operation environment is established through a data host 400, the virtual operation environment comprises common operation instruments such as an operating table, a C-shaped arm and the like, the projection is carried out through holographic image equipment 500, an immersion type virtual operation environment can be established, the flow prompt and the guidance of the operation are carried out in the simulated operation process, the standard training of the operation flow can be realized, the training of the clinical thinking of a trainer and the operation steps of guiding the autonomous learning operation are facilitated, different case data are called according to the teaching content and a three-dimensional data model is established, the case data are from a preset case database, the case data comprise medical image data and pathological CT (Computed Tomography), electronic computer Tomography/MRI (Magnetic Resonance Imaging), magnetic resonance imaging) slice data and the like, which is favorable for improving the abundance of case data, constructing a three-dimensional data model according to the case data, restoring case structures such as various artery and vein structures during contrast medium, carrying out multi-angle and depth observation and facilitating the understanding of a practicer to be deepened.
Referring to fig. 2, the teaching management platform includes at least one of a remote teaching module, a collaborative teaching module, a training module, and an assessment module. The teaching management platform has multiple modes, can cover the whole flow of vascular intervention operation teaching, training and examination, and can enable a practicer to have the immersion feeling of clinical operation by designing a corresponding operation virtual environment.
The training module comprises a holographic image prompting unit, an object selecting unit and an information extracting unit, wherein the holographic image prompting unit is used for teaching prompt through voice and/or pictures, for example, when a simulated operation is carried out, according to the operation flow of the operation, voice broadcasting is carried out on each operation step, and preset pictures and/or video files are called to be matched with images for explanation, the object selection unit selects an interactive object according to the hand motion of the practicer, and highlights the interactive object after the interactive object is selected, and the information extraction unit is used for reading and displaying preset information of the selected object, for example, after the practicer selects a certain section of blood vessel, the object selection unit highlights the section of the blood vessel, the information extraction unit reads and displays pathological information related to the section of the blood vessel, and the display mode can be voice broadcasting, character display or image display of pathological anatomy.
The training module further comprises a labeling unit, wherein the labeling unit is used for labeling the selected object, for example, after the trainee selects a certain section of blood vessel, the labeling unit sets a MARK (MARK) of the section of blood vessel to TRUE or FALSE, and changes any one of the display state, the color or the transparency of the section of blood vessel.
The holographic imaging device 500 has a camera for capturing hand motion information of a practitioner and sending the hand motion information to the data host 400, wherein the holographic imaging device 500 performs spatial position positioning and motion recognition of a hand by using a SLAM (simultaneous localization and mapping) algorithm after capturing the hand motion information, and the data host 400 implements virtual interaction according to the hand motion information, for example, menu selection, and selection of the type of the interventional operation device 200 required for simulating an operation from the menu.
The virtual-real fused blood vessel intervention operation simulation system of the embodiment further comprises a hand positioning module in communication connection with the data host 400, the hand positioning module can adopt infrared positioning equipment or electromagnetic positioning equipment, the hand positioning module is worn on the hands of a practicer, and the hand positioning module is used for detecting the hand actions of the practicer and sending the detection result to the data host 400. The virtual-real fused blood vessel interventional surgery simulation system of the embodiment captures hand motion through the camera and performs hand space positioning of a practicer by matching with hand positioning simulation, can accurately acquire the hand motion of the practicer, and realizes interaction with a virtual surgery environment, such as operating a virtual menu, operating a virtual operating table and a C-shaped arm in a surgery process, selecting an interactive object and the like.
In order to facilitate storage of various data, the data host 400 is internally or externally connected with a memory, the memory is used for storing at least one of a case database, a teaching case and training information, the case database has various medical image data and pathological CT/MRI slice data, is rich in variety, can be updated regularly or irregularly according to needs, selects corresponding case data according to teaching contents, and is favorable for training and examining individual cases of vascular interventional surgery.
The spatial locator device 300 employs an electromagnetic locating system. The electromagnetic positioning system comprises a magnetic field emitter and a receiving sensor, wherein the electromagnetic positioning system determines the relation between the magnetic field emitter and the receiving sensor according to a magnetic field distribution model of a target object so as to establish an equation set containing target position information, and then the target position information (space coordinates) is obtained by solving the equation set. The accuracy of electromagnetic positioning system is millimeter level, and small, the low and difficult external interference that receives moreover, can carry out accurate location to the position and/or the angle of interveneeing surgical equipment 200.
The three-dimensional data model is a polygonal curved surface model which is edited by an edge definition algorithm according to case data and is rendered by a three-dimensional image engine or a three-dimensional image tool, namely, an isosurface is extracted from medical image data or pathological CT/MRI slice data according to a preset threshold value, a polygonal mesh model is generated according to the isosurface, and then the polygonal mesh model is rendered into a polygonal deformation curved surface model by the three-dimensional image engine or the three-dimensional image tool. The three-dimensional data model is constructed based on case data, and the data of the interventional operation device 200 in the simulated operation process is combined with the three-dimensional data model, for example, the actions of the interventional operation device 200 are simulated in the three-dimensional data model according to the detection signals of the space positioning device 300, and the operation simulation analysis is performed according to the detection signals of the force feedback device, so that observation can be performed from a plurality of angles, and a practicer can conveniently understand the operation.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. A virtual-real fused vascular interventional surgery simulation system is characterized by comprising:
a solid anthropomorphic dummy (100) with a built-in force feedback device, the solid anthropomorphic dummy (100) being used as a dummy object for a vascular interventional procedure;
an interventional surgical device (200) for performing a vascular interventional simulation procedure on the physical simulator (100);
a spatial localization device (300) for detecting a position and/or an angle of the interventional surgical device (200);
the data host (400) is electrically connected with the force feedback equipment and the space positioning equipment (300) respectively, and the data host (400) is used for building a teaching management platform and a virtual operation environment, calling case data according to teaching contents, constructing a three-dimensional data model, and carrying out vascular intervention operation simulation and process prompting and guiding of operation according to signals from the force feedback equipment and the space positioning equipment (300);
the holographic image device (500) is in communication connection with the data host (400), and the holographic image device (500) is used for receiving and playing image data from the data host (400) and performing man-machine interaction.
2. The virtual-real fused vessel interventional surgery simulation system of claim 1, wherein the teaching management platform comprises at least one of a remote teaching module, a collaborative teaching module, a training module and an assessment module.
3. The virtual-real fused vessel interventional surgery simulation system of claim 2, wherein the training module comprises a holographic image prompting unit, an object selection unit and an information extraction unit, the holographic image prompting unit performs teaching prompt through voice and/or pictures, the object selection unit selects an interactive object according to hand motions of a practicer, and the information extraction unit is used for reading and displaying preset information of the selected object.
4. The virtual-real fused vessel intervention surgery simulation system according to claim 2 or 3, wherein the training module further comprises a labeling unit for labeling the selected object.
5. A virtual-real fused vessel interventional surgery simulation system according to claim 1, characterized in that the holographic imaging device (500) has a camera for capturing hand motion information of a practicer and sending the hand motion information to the data host (400).
6. A virtual-real fused vessel interventional surgery simulation system according to claim 1 or 5, further comprising a hand positioning module in communication connection with the data host (400), wherein the hand positioning module is used for detecting hand movements of a practicer and sending the detection result to the data host (400).
7. A virtual-real fused vessel interventional surgery simulation system according to claim 1, wherein the data host (400) is internally or externally connected with a memory for storing at least one of case database, teaching case and training information.
8. A virtual-real fused vessel interventional surgery simulation system according to claim 1, characterized in that the spatial localization device (300) employs an electromagnetic localization system.
9. A virtual-real fused vessel interventional surgery simulation system according to claim 1, wherein the three-dimensional volume data model is a polygonal surface model edited by an edge definition algorithm and rendered by a three-dimensional image engine or a three-dimensional image tool according to the case data.
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| CN113362691A (en) * | 2021-06-07 | 2021-09-07 | 首都医科大学附属北京安贞医院 | Fetal heart ultrasonic examination practice training system based on intelligent control |
| CN114446109A (en) * | 2022-02-10 | 2022-05-06 | 郑州大学 | Multifunctional interactive massage teaching system |
| CN115035767A (en) * | 2022-06-27 | 2022-09-09 | 西安交通大学 | Spine operation teaching and training system based on AR and anthropomorphic model |
| CN115294826A (en) * | 2022-05-25 | 2022-11-04 | 戴广亮 | Acupuncture training simulation system based on mixed reality, 3D printing and spatial micro-positioning |
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| CN113362691A (en) * | 2021-06-07 | 2021-09-07 | 首都医科大学附属北京安贞医院 | Fetal heart ultrasonic examination practice training system based on intelligent control |
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| CN117173940A (en) * | 2023-11-03 | 2023-12-05 | 北京唯迈医疗设备有限公司 | Operation prompt explanation method and system in interventional operation robot operation |
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Application publication date: 20200901 |