CN111640345A

CN111640345A - Spinal endoscope puncture catheterization training method and device and computer equipment

Info

Publication number: CN111640345A
Application number: CN202010484736.6A
Authority: CN
Inventors: 曾典; 毛广超
Original assignee: Beijing Shuyiji Micro Technology Co ltd
Current assignee: Beijing Shuyiji Micro Technology Co ltd
Priority date: 2020-05-22
Filing date: 2020-06-01
Publication date: 2020-09-08

Abstract

The method comprises the steps of obtaining mark information of mark points on an optical calibration frame, a human skeleton model and a surgical instrument model, determining virtual mark points through the mark information, binding the virtual mark points with the human skeleton model and the surgical instrument model respectively to obtain a bound human skeleton model and a bound surgical instrument model, carrying out puncture catheterization operation on the bound human skeleton model through the bound surgical instrument model, collecting puncture catheterization operation virtual images corresponding to the bound human skeleton model in different surgical positions, and carrying out training operation on a simulated skeleton model according to the puncture catheterization operation virtual images; the method can be used for training the puncture catheterization operation in the spinal endoscopic surgery by adopting a virtual training mode without training operation on a corpse, thereby reducing the cost of the puncture catheterization training.

Description

Spinal endoscope puncture catheterization training method and device and computer equipment

Technical Field

The application relates to the field of medicine, in particular to a spinal endoscopy puncture catheterization training method and device and computer equipment.

Background

Percutaneous spinal endoscopic surgery, which is an endoscopic technique rapidly developed in recent years, has gradually become a main surgical treatment mode for degenerative diseases of cervical and lumbar vertebrae, especially lumbar intervertebral disc protrusion. To speed up the advanced development of clinicians in spinal endoscopy, training in procedures such as puncture, cannulation, and zygopophysis are often required.

In the traditional technology, the training of clinicians on the procedures of puncture, catheterization, articular process molding and the like is directly carried out on corpses. However, the corpse is deficient and expensive, so that the cost of the puncture tube-placing training is increased.

Disclosure of Invention

Therefore, it is necessary to provide a spinal endoscope puncture catheterization training method, device and computer equipment for solving the problem of the puncture catheterization training cost in the conventional technology.

A spinal endoscopic puncture catheterization training method, comprising:

acquiring marking information of a marking point on an optical calibration frame, a human skeleton model and a surgical instrument model;

determining a virtual marking point according to the marking information, and respectively binding the virtual marking point with the human skeleton model and the surgical instrument model to obtain a bound human skeleton model and a bound surgical instrument model;

and carrying out puncture tube placing operation on the bound human skeleton model through the bound surgical instrument model, and acquiring corresponding puncture tube placing operation virtual images of the bound human skeleton model in different surgical positions so as to carry out training operation on the simulated skeleton model according to the puncture tube placing operation virtual images.

In one embodiment, the acquiring virtual images of the puncture catheterization operation of the bound human bone model in different operation body positions includes:

and collecting corresponding puncture catheterization operation virtual images when the bound human skeleton model is respectively in the prone position and the lateral position.

In one embodiment, the virtual images of the puncture catheter operation comprise a prone virtual image and a lateral virtual image; gather when binding human skeleton model and being in prone position and lateral position respectively, the virtual image of pipe operation is put in puncture that corresponds includes:

respectively collecting the prostrate virtual images corresponding to the coronal plane direction and the sagittal plane direction of the bound human skeleton model when the bound human skeleton model is in the prone position and the surgical instrument model passes through the intervertebral foramen and the intervertebral disc;

and respectively collecting the lateral virtual images corresponding to the coronal plane direction and the sagittal plane direction of the bound human skeleton model when the bound human skeleton model is in the lateral position and the bound surgical instrument model passes through an intervertebral foramen.

In one embodiment, the method further comprises: and establishing a mapping relation between the identification code of the virtual mark point and the human skeleton model and the surgical instrument model.

In one embodiment, the acquiring marking information of the marking points on the optical calibration frame, the human skeleton model and the surgical instrument model comprises:

collecting position information of different marking points on the optical calibration frame as the marking information;

carrying out three-dimensional reconstruction through a clinical medical human body image to obtain a skeleton three-dimensional model, and obtaining the human body skeleton model through the skeleton three-dimensional model; wherein the human skeleton model comprises a planning position corresponding to a human surgical site;

modeling the surgical instrument to obtain an instrument three-dimensional model, and acquiring the surgical instrument model through the instrument three-dimensional model.

In one embodiment, the surgical instrument comprises: a kirschner wire, a puncture needle, an expansion tube, a positioning bone needle, a bone drill, a trepan and a working outer sleeve.

In one embodiment, said obtaining said human bone model from said three-dimensional model of bone comprises:

adding materials and coloring languages to the skeleton three-dimensional model to obtain the human skeleton model;

the obtaining the surgical instrument model through the instrument three-dimensional model comprises:

and adding materials to the instrument three-dimensional model to obtain the surgical instrument model.

In one embodiment, the human bone model is the same size as a simulated human model, and the surgical instrument model is the same size as the surgical instrument.

A spinal endoscopy catheterization training device, the device comprising:

the model acquisition module is used for acquiring marking information of the marking points on the optical calibration frame, a human skeleton model and a surgical instrument model;

the model binding module is used for determining a virtual marking point according to the marking information, and binding the virtual marking point with the human skeleton model and the surgical instrument model respectively to obtain a bound human skeleton model and a bound surgical instrument model;

and the virtual image acquisition module is used for performing puncture tube placing operation on the bound human skeleton model through the bound surgical instrument model, acquiring corresponding puncture tube placing operation virtual images of the bound human skeleton model in different operation positions, and performing training operation on the simulated skeleton model according to the puncture tube placing operation virtual images.

A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor, when executing the computer program, performs the steps of:

The embodiment of the application provides a spinal endoscope puncture catheterization training method, a spinal endoscope puncture catheterization training device and computer equipment, wherein the method can be used for acquiring mark information of mark points on an optical calibration frame, a human skeleton model and a surgical instrument model, determining virtual mark points through the mark information, binding the virtual mark points with the human skeleton model and the surgical instrument model to obtain a bound human skeleton model and a bound surgical instrument model, performing puncture catheterization operation on the bound human skeleton model through the bound surgical instrument model, and acquiring corresponding puncture catheterization operation virtual images of the bound human skeleton model in different surgical positions so as to perform training operation on a simulated skeleton model according to the puncture catheterization operation virtual images; the method can be used for training the puncture catheterization operation in the spinal endoscopic surgery by adopting a virtual training mode without training operation on a corpse, thereby reducing the cost of the puncture catheterization training.

Drawings

FIG. 1 is a diagram illustrating an application scenario of a spinal endoscopic puncture catheterization training system according to an embodiment of the present application;

FIG. 2 is a schematic flow chart of a spinal endoscopic puncture catheterization training method according to an embodiment of the present application;

FIG. 3 is a schematic flowchart of a specific process for acquiring marking information of a marking point on an optical calibration frame, a human skeleton model and a surgical instrument model according to another embodiment of the present application;

FIG. 4 is a three-dimensional model of a clinical medical body image after three-dimensional reconstruction according to another embodiment of the present application;

FIG. 5 is a schematic representation of a human skeletal model according to another embodiment of the present application;

FIG. 6 is a schematic illustration of a bone model provided in accordance with another embodiment of the present application;

FIG. 7 is a schematic diagram of a corresponding bone model in a simulated human body model according to another embodiment of the present application;

FIG. 8 is a schematic view of three different surgical instruments according to another embodiment of the present application;

fig. 9 is a schematic view of a specific process for collecting a virtual image of a puncture catheterization operation according to another embodiment of the present application;

FIG. 10 is a schematic view of a virtual image of a puncture catheterization procedure according to another embodiment of the present application;

fig. 11 is a schematic view of a virtual image of a puncture catheterization procedure acquired during a puncture catheterization procedure according to another embodiment of the present application;

FIG. 12 is a schematic view of an image of a puncture cannula in an actual environment according to another embodiment of the present disclosure;

FIG. 13 is a schematic structural view of a spinal endoscopic puncture catheterization training device provided in an embodiment of the present application;

fig. 14 is a schematic internal structural diagram of a computer device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

The spinal endoscopy puncture catheterization training method provided by the embodiment can be applied to an application scene chart of the spinal endoscopy puncture catheterization training system shown in fig. 1. The system comprises computer equipment, a simulated manikin and surgical instruments, wherein optical calibration frame marking points are bound on the simulated manikin and the surgical instruments in the figure 1, the optical calibration frame is Y-shaped, and the top end of each rod is provided with the optical marking points, namely the optical calibration frame is spherical; the black points beside the optical calibration frame in the simulated human body model are optical marking points. The computer device may be an electronic device with a three-dimensional modeling function, such as a tablet computer, a notebook computer, a desktop computer, or a personal digital assistant, and the specific form of the computer device is not limited in this embodiment.

It should be noted that the computer device may be installed with optical calibration software, three-dimensional modeling software, and three-dimensional virtual reality software, where the optical calibration software and the three-dimensional modeling software are respectively communicated with the three-dimensional virtual reality software through plug-ins to mutually send information in the virtual three-dimensional model, where the information includes position coordinates and real-time angles of the virtual three-dimensional model. The computer device executes the spinal endoscopy puncture catheterization training method provided by the embodiment to obtain a puncture catheterization operation virtual image, and the puncture catheterization operation virtual image is displayed on a computer device interface for a clinician to watch. The following embodiments of the method are described by taking a computer device as an example, and the processing procedure of the computer device will be specifically described in the following embodiments.

Fig. 2 is a schematic flow chart of a spinal endoscopic puncture catheterization training method according to an embodiment. The embodiment relates to a process for acquiring a virtual image of a puncture catheterization operation so as to perform training operation through the virtual image of the puncture catheterization operation. As shown in fig. 2, the method includes:

and S1000, acquiring marking information of the marking points on the optical calibration frame, a human skeleton model and a surgical instrument model.

Specifically, the three-dimensional virtual reality engine software installed on the computer device can acquire the marking information of the marking points on the optical calibration frame, the human skeleton model and the surgical instrument model. The human skeletal model and the surgical instrument model may also represent the position coordinates and real-time angle information of the three-dimensional model. Optionally, the three-dimensional virtual reality software may be a development game, a virtual reality software, and the like, and in this embodiment, the three-dimensional virtual reality software may be Unity 3D. Alternatively, the marking information of the marking points on the optical calibration frame can be understood as three-dimensional spatial position information of different marking points on the optical calibration frame. Optionally, the number and size of the marking points in different optical calibration frames may be the same; the computer equipment can acquire the marking information of at least three marking points on each optical marking frame; in the selected marking points, the distance between every two marking points can be different, and the distance between every two marking points can be larger than the minimum distance; each marker point is created as a rigid body, the minimum distance may be set by optical calibration software, and the minimum distances set by different optical calibration software may be different.

Wherein the human bone model comprises an intervertebral foramen and an intervertebral plate.

It should be noted that the human skeleton model may be a virtual three-dimensional model corresponding to a human skeleton; the human bone model may include a vertebral body portion, and in particular may include an intervertebral foramen and an intervertebral space contained within the vertebral body portion. In this embodiment, the vertebral body portion may be a spinal endoscopic surgical operation site. Alternatively, the human bone model may specifically include organs and tissues surrounding the vertebral body region. Optionally, the human skeleton model may be an edited virtual three-dimensional model; the editing process may include an add material process, a clipping process, a coloring language process, an add word process, and the like.

It is understood that the surgical instrument model may be a virtual three-dimensional model corresponding to a surgical instrument for use in a spinal endoscopic surgery. Optionally, the surgical instrument model may be a virtual three-dimensional model corresponding to an instrument such as puncture dilation and bone treatment. Alternatively, the surgical instrument model may be an edited virtual three-dimensional model.

Step S2000, determining virtual mark points through the mark information, and binding the virtual mark points with the human skeleton model and the surgical instrument model respectively to obtain a bound human skeleton model and a bound surgical instrument model.

Specifically, the three-dimensional virtual reality engine software installed on the computer device can display the mark information to obtain the virtual mark points according to the obtained mark information of the mark points on different optical calibration frames, and then bind the virtual mark points with the positions of the human skeleton model and the position of the surgical instrument model respectively to obtain the bound human skeleton model and the bound surgical instrument model after binding. Alternatively, binding may be understood as the process of fixing the relative position between the virtual marker point and the model of the human anatomy, and the relative position between the virtual marker point and the model of the surgical instrument. In the embodiment, the virtual mark points are respectively bound on the human skeleton model and the surgical instrument model, so that no matter how the human skeleton model and the surgical instrument model change, the X-ray radioscopy in the operation can be simulated through the relative position between the two models; meanwhile, the virtual mark points are respectively bound on the human skeleton model and the surgical instrument model, so that the motion tracks of the human skeleton model and the surgical instrument model can be tracked, and spatial positioning can be carried out.

Wherein the method further comprises: and establishing a mapping relation between the identification code of the virtual mark point and the human skeleton model and the surgical instrument model.

In this embodiment, the identification codes of the virtual marking points corresponding to different optical calibration frames may be different, and the identification codes of the virtual marking points corresponding to the same optical calibration frame may be the same, so that the identification codes of different virtual marking points may be established to be respectively in mapping relationship with the human skeleton model and the surgical instrument model, so as to distinguish whether the human skeleton model or the different surgical instrument model is bound to different marking points through the identification codes. Optionally, different optical calibration frames have respective parameter attributes, and the identification code of the virtual marking point can be determined according to the parameter attributes; the identification code may be understood as identification information, and the identification code may be represented by a string of numbers and/or letters, although the representation method is not limited thereto.

Step S3000, performing puncture tube placing operation on the bound human skeleton model through the bound surgical instrument model, and collecting corresponding puncture tube placing operation virtual images of the bound human skeleton model in different surgical positions so as to perform training operation on the simulated skeleton model according to the puncture tube placing operation virtual images.

Specifically, the three-dimensional virtual reality engine software installed on the computer device can control the binding surgical instrument model, puncture tube placing operation is performed on the binding human skeleton model, and the three-dimensional virtual reality engine software can also collect the binding human skeleton model and puncture tube placing operation virtual images corresponding to different surgical positions while the puncture tube placing operation is performed. Optionally, the spinal endoscopic surgery may include a lumbar spinal endoscopic surgery, a thoracic spinal endoscopic surgery, and a cervical spinal endoscopic surgery, and therefore, the puncturing and tube placement operation in this embodiment may include at least a percutaneous intervertebral foramen access operation and a percutaneous intervertebral disc access operation. Wherein, lumbar vertebrae backbone endoscopic surgery can include the operation of getting into the way between percutaneous intervertebral foramen and percutaneous vertebral plate, and cervical vertebrae backbone endoscopic surgery and thoracic vertebrae backbone endoscopic surgery can include the operation of getting into the way between percutaneous vertebral plate. Optionally, the surgical positions may include a lateral position, a supine position, a prone position, a semi-lateral position, and a recumbent position.

It should be noted that the three-dimensional virtual reality engine software can control the binding of the surgical instrument model, puncture and bind the intervertebral foramen and the vertebral lamina in the human skeleton model, and synchronously acquire and operate virtual images in the process of puncture and catheterization operation. Optionally, in the process of the puncture catheterization operation, the binding surgical instrument model and the binding human skeleton model are provided with virtual mark points, and the virtual mark points move to the movement position information of the virtual space; the motion position information may include rotation information of the virtual marker point and position information where the virtual marker point is located in the virtual space. It should be noted that, after the human skeleton model and the surgical instrument model are respectively bound to different virtual mark points, when the surgical instrument model is bound to the human skeleton model for puncture catheterization, no matter the surgical instrument model or the human skeleton model is bound, displacement or rotation is generated in a virtual space, and the other model also generates displacement or rotation of a corresponding unit. Alternatively, the virtual space may be understood as a three-dimensional model operating space displayed by three-dimensional virtual reality engine software.

In this embodiment, the virtual image of the puncture catheterization operation includes the puncture position of the bound surgical instrument model in the bound human skeleton model. Further, the three-dimensional virtual reality engine software can display the collected puncture tube placing operation virtual image, then a clinician observes the puncture position in the puncture tube placing operation virtual image, and the clinician uses a surgical instrument to perform actual training operation on the simulated human body model according to the observed puncture result; that is, the clinician uses the puncture position of the surgical instrument on the simulated manikin as the puncture position in the virtual image of the puncture catheterization operation. Optionally, an optical calibration frame is bound to the simulated manikin.

It can be explained that, during the operation of puncture catheterization, the posture of the binding human skeleton model in the virtual space needs to be consistent with the posture of the simulated human skeleton model in the actual environment, so as to improve the vivid training effect. For example, the binding human skeleton model is prone on a desk, and the simulated human skeleton model also needs to lie on the desk, so that if the position of the operation body is changed from a prone position to a lateral position, the simulated human skeleton model rotates by a certain degree, and the binding human skeleton model in the virtual space also rotates by a corresponding angle.

Wherein, the human skeleton model and the simulated human body model have the same size.

It will also be appreciated that the simulated mannequin may be created from a model of human bone. Optionally, a 3D printing technology and a simulation materials science technology may be adopted to make the human skeleton model into a simulated human model, which may be a physical human model. In the manufacturing process, a groove buckling mode is adopted, so that the relative position relation of each vertebral body of the spine can be kept consistent with the relative position relation of each bony structure in the human skeleton model; meanwhile, in the manufacturing process, after the simulated tissue is obtained, post-treatment is needed, wherein the post-treatment can comprise treatment of adhesion of skin and muscle, connection of a vertebral body and a vertebral body through intervertebral discs, placement of ligamentum flavum between vertebral plates and the like. Alternatively, the simulated manikin may also include organs and tissues surrounding the vertebral body region. In this embodiment, the size and the internal structure of the simulated manikin can be set to be consistent with those of the human skeleton model, so as to improve the reality of the training operation. Alternatively, the simulated mannequin may be a stable hard tissue structure.

The embodiment provides a spinal endoscope puncture cannula training method, which can obtain marking information of a marking point on an optical calibration frame, a human skeleton model and a surgical instrument model, determine a virtual marking point through the marking information, respectively bind the virtual marking point with the human skeleton model and the surgical instrument model to obtain a bound human skeleton model and a bound surgical instrument model, perform puncture cannula operation on the bound human skeleton model through the bound surgical instrument model, and acquire corresponding puncture cannula operation virtual images of the bound human skeleton model in different surgical positions so as to perform training operation on a simulated skeleton model according to the puncture cannula operation virtual images; the method can be used for training the puncture catheterization operation in the spinal endoscopic surgery without training operation on a corpse, and a virtual training mode is adopted, so that the cost of the puncture catheterization training is reduced; meanwhile, the method can also perform repeated puncture and tube placement operation on the virtual model, so that the advanced culture quality of doctors can be accelerated, and doctor-patient disputes caused by insufficient training can be reduced; in addition, the method can also reduce the radiation exposure injury of a clinician to a human body caused by using an C, G type arm X-ray machine during practical training.

Fig. 3 is a schematic view of a specific process for acquiring marking information of a marking point on an optical calibration frame, a human bone model, and a surgical instrument model according to another embodiment, as shown in fig. 3, the process of acquiring the marking information of the marking point on the optical calibration frame, the human bone model, and the surgical instrument model in step S1000 may specifically be implemented by the following steps:

and S1100, collecting position information of different marking points on the optical calibration frame as the marking information.

Specifically, the computer device can acquire three-dimensional space position information of different marking points on the optical calibration frame through the installed optical calibration software. Optionally, the optical calibration software may be an application program for the optical camera to identify the optical marker point; the optical calibration software can set different mark points as different rigid bodies, and the rigid bodies can be understood as objects with unchanged shapes, sizes and relative positions of various points in the objects after the objects move and are acted by force.

S1200, performing three-dimensional reconstruction through a clinical medical human body image to obtain a skeleton three-dimensional model, and acquiring the human skeleton model through the skeleton three-dimensional model; wherein the human skeletal model comprises an anatomical position corresponding to a human surgical site.

In particular, clinical medical body images may be characterized as a two-dimensional image data sequence; and the clinical medical human body image can be acquired by medical imaging equipment such as computed tomography, nuclear magnetic resonance imaging and the like. Optionally, the three-dimensional modeling software in the computer device may receive the clinical medical body image sent by the medical imaging device, and then perform three-dimensional reconstruction on the clinical medical body image. Fig. 4 is a schematic diagram of a clinical medical body image, which is a chromaticity diagram in practice.

It should be noted that the three-dimensional reconstruction process can be characterized by preprocessing a clinical medical human body image, then performing two-dimensional image segmentation processing on the preprocessed image, then performing visual mapping on the segmentation processing result, reconstructing a human body three-dimensional model corresponding to a human body virtual tissue and organ, then cutting the human body three-dimensional model, editing the cut model, cutting a bone three-dimensional model corresponding to a human body bone part, and performing material adding processing and coloring language processing on the bone three-dimensional model to obtain the human body bone model. Optionally, the preprocessing may include filtering, enhancing, restoring, interpolating, scaling, translating, and the like; the two-dimensional image segmentation process described above may include a region-based segmentation process, an edge-based segmentation process, a pixel-based segmentation process, and a multi-scale segmentation process. Alternatively, the three-dimensional model of bone may be a transparent model of bone. Fig. 5 shows a human skeleton model with a human skin model, and fig. 6 shows an enlarged skeleton model including only bones, both of which are actually displayed as a chromaticity diagram. Fig. 7 shows a corresponding skeleton model in the simulated human body model.

S1300, modeling the surgical instrument to obtain an instrument three-dimensional model, and acquiring the surgical instrument model through the instrument three-dimensional model.

In this embodiment, the surgical instruments may be standard surgical instruments, and thus, the standard surgical instruments each have a corresponding standard drawing. Optionally, the three-dimensional modeling software installed on the computer device may import a standard drawing corresponding to the surgical instrument, and perform modeling according to the standard drawing to obtain the three-dimensional model of the surgical instrument. Further, the three-dimensional modeling software can send the instrument three-dimensional model to the three-dimensional virtual reality engine software, and the three-dimensional virtual reality engine software performs material adding processing on the instrument three-dimensional model to obtain the surgical instrument model.

In addition, the surgical instrument can be scanned by using the three-dimensional scanner, and then the three-dimensional scanner can send the collected surgical instrument to the three-dimensional modeling software to obtain the three-dimensional model of the instrument. At this time, the three-dimensional modeling software may be three-dimensional scanner FlexScan3D software.

Wherein the surgical instrument comprises: a kirschner wire, a puncture needle, an expansion tube, a positioning bone needle, a bone drill, a trepan and a working outer sleeve.

It should be noted that the acquired virtual image of the puncture catheterization operation may include a perspective surgical instrument model. In the virtual image of the embodiment, the perspective surgical instruments may include a kirschner wire, a puncture needle, an expansion tube, a positioning bone needle, a bone drill, a trepan and a working outer cannula. When the pipe is placed in a puncture operation, the trepan and the working outer sleeve pipe need to work at the same time without mutual interference; but when the puncture tube is placed, the working outer sleeve can be placed firstly and then the trepan can be placed. Fig. 8 is a schematic view showing an appearance structure of three different surgical instruments, and an optical calibration frame is bound to the surgical instrument, the optical calibration frame is in a fork shape, i.e., a Y shape, and a circle is provided at the top end of each branch.

Further, the process of obtaining the human skeleton model through the skeleton three-dimensional model in step S1200 may specifically include: and performing material adding processing and coloring language processing on the bone three-dimensional model to obtain the human body bone model.

It can be understood that the three-dimensional virtual reality engine software in the computer device can perform material adding processing and coloring language processing on the skeleton three-dimensional model to obtain the human skeleton model. Optionally, the three-dimensional virtual reality engine software is provided with an adding material control and a coloring language control, and the three-dimensional virtual reality engine software can receive an adding material instruction and a coloring language instruction input by a user and respond to the adding material instruction and the coloring language instruction to obtain the human skeleton model. Optionally, the manner of inputting the material adding instruction and the coloring language instruction by the user may be to click the material adding control and the coloring language control by using a mouse. Optionally, after the user inputs the material adding instruction, the three-dimensional virtual reality engine software may respond to the material adding instruction, the three-dimensional virtual reality engine software interface may display a material ball adjusting frame, and after the adjusting parameter is set, the determination button is clicked, so that the adjusted material may be assigned to the bone three-dimensional model, and the bone three-dimensional model to which the material is assigned is called a human body bone model. Optionally, the human skeleton model is displayed on a computer device interface, and may be a skeleton X-ray radiation effect image, or a material model called human skeleton model perspective simulation effect. Optionally, the shading language processing may include whole transparency, edge hardening, vertex rendering, and the like.

Meanwhile, the process of obtaining the surgical instrument model through the instrument three-dimensional model in the step S1300 may specifically include: and adding materials to the instrument three-dimensional model to obtain the surgical instrument model.

It can be understood that the three-dimensional virtual reality engine software in the computer device may also receive a material adding instruction input by the user, and perform material adding processing on the instrument three-dimensional model in response to the material adding instruction to obtain the surgical instrument model. Optionally, the material added to the three-dimensional model of the instrument may be a gray black transparent material.

Wherein the surgical instrument model is the same size as the surgical instrument.

It should be noted that the surgical instrument may be a tube-like non-deformable instrument. In the present embodiment, the size of the surgical instrument model may be set to be the same as the physical surgical instrument, and the form of the surgical instrument model may be set to be the same as the form of the physical surgical instrument, so as to improve the realism of the training operation.

The embodiment provides a spinal endoscope puncture cannula training method, which can obtain mark information of mark points on an optical calibration frame, a human skeleton model and a surgical instrument model, further determine virtual mark points through the mark information, bind the virtual mark points with the human skeleton model and the surgical instrument model respectively to obtain a bound human skeleton model and a bound surgical instrument model, perform puncture cannula operation on the bound human skeleton model through the bound surgical instrument model, acquire corresponding puncture cannula operation virtual images of the bound human skeleton model in different surgical positions, perform training operation on a simulated skeleton model according to the puncture cannula operation virtual images, and construct a virtual simulated scene; the method can be used for training the puncture catheterization operation in the spinal endoscopic surgery without training operation on a corpse, and a virtual training mode is adopted, so that the cost of the puncture catheterization training is reduced; meanwhile, the method can also perform repeated puncture and tube placement operation on the virtual model, so that the advanced culture quality of doctors can be accelerated, and doctor-patient disputes caused by insufficient training can be reduced; in addition, the method can also reduce the radiation exposure injury of a clinician to a human body caused by using an C, G type arm X-ray machine during practical training.

Another embodiment provides a specific process for acquiring a virtual image of a puncture catheter placement operation. The process of collecting the puncture catheterization operation virtual image corresponding to the bound human skeleton model in different operation body positions in step S3000 may include the steps of: and collecting corresponding puncture catheterization operation virtual images when the bound human skeleton model is respectively in the prone position and the lateral position.

Specifically, the spine endoscopic surgery needs to acquire a prone position image and a lateral position image of a human body, and therefore, in this embodiment, the surgical positions only include a prone position and a lateral position. Furthermore, the three-dimensional virtual reality engine software can control the bound human skeleton model to be respectively in prone position and lateral position postures, control the bound surgical instrument model and perform puncture catheterization operation on the bound human skeleton model. At the moment, the optical camera plug-in the three-dimensional virtual reality engine software can also collect and bind the human skeleton model, and operate virtual images on puncture catheterization corresponding to the prone position and the lateral position respectively. Optionally, a spatial coordinate system is established in the virtual space, and the bound human skeleton model may be located around the origin. Optionally, the optical camera plug-in may be a virtual camera plug-in for acquiring a virtual image of a puncture catheterization operation at a position where a human body is located, so as to determine an angle and a position of an influence.

The puncture catheterization operation virtual image comprises a prone virtual image and a lateral virtual image; as shown in fig. 9, the process of collecting the virtual images of the puncture cannula operation corresponding to the bonded human skeleton model in the prone position and the lateral position may specifically include the following steps:

and S3100, respectively collecting the prone virtual images corresponding to the coronal plane direction and the sagittal plane direction of the bound human bone model when the bound human bone model is in the prone position and the surgical instrument model is between the intervertebral foramen and the intervertebral vertebral plate.

Specifically, the three-dimensional virtual reality engine software can control the bound human skeleton model to be in a prone posture, then control the bound surgical instrument model, and conduct puncture catheterization operation on the bound human skeleton model through intervertebral foramen, and when an optical camera plug-in the three-dimensional virtual reality engine software can collect puncture catheterization operation, bind corresponding prone virtual images of the human skeleton model in the coronal plane direction and the sagittal plane direction respectively. Fig. 10 is a schematic view of a virtual image of a puncture cannula operation collected by an optical camera plug-in.

Taking the 3-4 segment lumbar vertebrae transforaminal foramen in fig. 11 as an example, the right side diagram in fig. 11 is a side image, the small circle represents the exiting nerve root region, which can be understood as a puncture forbidden region, the straight line is a connecting line at 1/3 behind the vertebral body, which is an abdominal safety line, the left side of the straight line is an abdominal side, the binding surgical instrument model cannot cross the left side of the straight line to reach the abdomen, and the position of the articular process in the large circle in the correct moving region is preferred. The left image in fig. 11 is a virtual image in the direction of the tube plane, and the binding surgical instrument model cannot reach the inside of the vertebral canal beyond the vertical line segment (i.e. the inner edge of the pedicle) and cannot go beyond the pedicle line in the 3-4 segment lumbar surgery, i.e. the intervertebral foramen must be accessed from the area between two horizontal line segments.

Step S3200, respectively collecting the lateral virtual images corresponding to the coronal plane direction and the sagittal plane direction of the bound human skeleton model when the bound human skeleton model is in the lateral position and the surgical instrument model passes through the intervertebral foramen.

Specifically, the three-dimensional virtual reality engine software can control the bound human skeleton model to be in a lateral position posture, then control the bound surgical instrument model, and perform puncture catheterization operation on the bound human skeleton model through an intervertebral plate, and when an optical camera plug-in the three-dimensional virtual reality engine software can collect puncture catheterization operation, bind the corresponding lateral virtual images of the human skeleton model in the coronal plane direction and the sagittal plane direction respectively.

It should be noted that, after the optical camera plug-in is opened, the virtual camera icon may be displayed on the three-dimensional virtual reality engine software interface; the virtual camera icon may include two virtual cameras. Optionally, when the bound human skeleton model is in the prone position posture, one virtual camera may be displayed in the sagittal plane direction of the human skeleton model, and the other virtual camera may be displayed in the coronal plane direction of the human skeleton model; meanwhile, all the virtual mark points are within the visual angle range of the two virtual cameras, and the virtual cameras are not shielded. Optionally, two virtual cameras may be provided with an interactive shooting function, and both virtual cameras are added with a circular mask. In this embodiment, when the virtual camera captures the virtual images in the coronal and sagittal directions, the circular mask may be opened, and at this time, the virtual images captured by the virtual camera are all displayed as circular images on the three-dimensional virtual reality engine software interface, as shown in fig. 10.

In addition, the wide angle of the virtual camera may be generally set to view 4-5 vertebral bodies. Optionally, the computer device may be connected to a foot switch, and then the computer device may call a command of the inter-disc shortcut key to set the inter-disc shortcut key to a function of simulating perspective photography in software, that is, an interactive photography function. When the virtual camera is used for the first time, the origin of the camera can be determined first. Optionally, the two virtual cameras have different parameters, and the virtual cameras are higher than the human body virtual skin model in the directions of the coronal plane and the sagittal plane, so that the virtual camera view angle can show the human body and the surgical instruments when the surgical instrument binding model is calibrated in different surgical positions. Optionally, the virtual skin model of the human body may be a three-dimensional model bound to a surface layer of the skeletal model of the human body.

Correspondingly, in an actual environment, as shown in fig. 12, the uppermost brush-like rectangular structure in fig. 12 represents an optical camera, the middle rectangular plate represents a display, the lowermost table body is placed with a simulated manikin, the simulated manikin is called a prone position when lying on the stomach, both the middle drawing and the right drawing in fig. 12 are schematic diagrams of the prone position of the model, the middle drawing is the operation of puncturing and cannulating through the intervertebral disc, the right drawing is the operation of puncturing and cannulating through the intervertebral disc, and the left drawing in fig. 12 is a schematic diagram of the lateral position of the model, that is, the operation of puncturing and cannulating through the intervertebral disc. In fig. 12, the long rods around the body of the simulated manikin are surgical instruments, the simulated manikin is generally fixed on a mechanical frame of a table, and an optical calibration frame is arranged beside the mechanical frame.

The embodiment provides a spinal endoscopy puncture catheterization training method, which can collect virtual images of puncture catheterization operation corresponding to a bonded human skeleton model in a prone position and a lateral position respectively, so as to perform training operation on a simulated skeleton model according to the virtual images of puncture catheterization operation; the method can be used for training the puncture catheterization operation in the spinal endoscopic surgery without training operation on a corpse, and a virtual training mode is adopted, so that the cost of the puncture catheterization training is reduced; in addition, the method can also reduce the radiation exposure injury of a clinician to a human body caused by using an C, G type arm X-ray machine during practical training.

It should be understood that although the various steps in the flowcharts of fig. 2, 3 and 9 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2, 3, and 9 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.

For the specific limitation of the spinal endoscopic puncture cannula training device, reference may be made to the above limitation on the spinal endoscopic puncture cannula training method, which is not described herein again. All modules in the spinal endoscopy intubation training device of the computer equipment can be completely or partially realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

Fig. 13 is a schematic structural view of a spinal endoscopic puncture catheterization training device provided in an embodiment. As shown in fig. 13, the apparatus may include: the system comprises an information acquisition module 11, a model binding module 12 and a virtual image acquisition module 13.

Specifically, the information obtaining module 11 is configured to obtain marking information of a marking point on the optical calibration frame, a human skeleton model, and a surgical instrument model;

the model binding module 12 is configured to determine a virtual marker point according to the marker information, and bind the virtual marker point with the human skeleton model and the surgical instrument model respectively to obtain a bound human skeleton model and a bound surgical instrument model;

the virtual image acquisition module 13 is configured to perform puncture catheterization operation on the bound human skeleton model through the bound surgical instrument model, and acquire corresponding puncture catheterization operation virtual images of the bound human skeleton model in different surgical body positions, so as to perform training operation on the simulated skeleton model according to the puncture catheterization operation virtual images.

The spinal endoscopy puncture catheterization training device provided by the embodiment can execute the method embodiments, the implementation principle and the technical effect are similar, and the detailed description is omitted.

In one embodiment, the virtual image capturing module 13 includes: an image acquisition unit.

Specifically, the image acquisition unit is used for acquiring corresponding puncture catheterization operation virtual images when the bound human skeleton model is respectively in the prone position and the lateral position.

In one embodiment, the virtual images of the puncture catheter operation comprise a prone virtual image and a lateral virtual image; the image acquisition unit includes: a prostrate virtual image acquisition subunit and a lateral virtual image acquisition subunit.

Specifically, the prone virtual image collecting subunit is configured to collect the prone virtual images corresponding to the coronal plane direction and the sagittal plane direction of the bound human bone model when the bound human bone model is in the prone position and the bound surgical instrument model passes through the intervertebral foramen and the intervertebral disc;

the lateral virtual image acquisition subunit is configured to acquire the lateral virtual images corresponding to the coronal plane direction and the sagittal plane direction of the bound human bone model when the bound human bone model is in the lateral position and the surgical instrument model passes through the intervertebral foramen.

In one embodiment, the spinal endoscopic puncture catheterization training device further comprises: and a mapping establishing module.

The mapping establishing module is used for establishing a mapping relation between the identification code of the mark point on the optical calibration frame and the human skeleton model and the surgical instrument model.

In one embodiment, the information obtaining module 11 includes: the device comprises a marking information acquisition unit, a three-dimensional reconstruction unit and a modeling unit.

Specifically, the mark information acquiring unit is configured to acquire position information of different mark points on the optical calibration frame as the mark information;

the three-dimensional reconstruction unit is used for performing three-dimensional reconstruction through a clinical medical human body image to obtain a skeleton three-dimensional model, and acquiring the human skeleton model through the skeleton three-dimensional model; wherein the human skeleton model comprises a planning position corresponding to a human surgical site;

the modeling unit is used for modeling the surgical instrument to obtain an instrument three-dimensional model, and obtaining the surgical instrument model through the instrument three-dimensional model.

In one embodiment, the three-dimensional reconstruction unit is specifically configured to perform material adding processing and coloring language processing on the bone three-dimensional model to obtain the human bone model; the modeling unit is specifically used for adding materials to the instrument three-dimensional model to obtain the surgical instrument model.

The human skeleton model and the simulated human body model are the same in size, and the surgical instrument model and the surgical instrument are the same in size.

In one embodiment, a computer device is provided, the internal structure of which may be as shown in FIG. 14. The computer device includes a processor, a memory, a network interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used for communicating with an external computer device through a network connection. The computer program is executed by a processor to realize a spinal endoscopic puncture catheterization training method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.

Those skilled in the art will appreciate that the architecture shown in fig. 14 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having a computer program stored therein, the processor implementing the following steps when executing the computer program:

In one embodiment, a readable storage medium is provided, having stored thereon a computer program which, when executed by a processor, performs the steps of:

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A spinal endoscopy catheterization training method is characterized by comprising the following steps:

2. The method of claim 1, wherein the human bone model comprises an intervertebral foramen and an intervertebral plate.

3. The method according to claim 2, wherein said acquiring virtual images of corresponding puncture catheterization procedures of the bonded human skeletal model in different surgical positions comprises:

4. The method according to claim 3, wherein the virtual images of the puncture catheter operation include a prone virtual image and a lateral virtual image; gather when binding human skeleton model and being in prone position and lateral position respectively, the virtual image of pipe operation is put in puncture that corresponds includes:

5. The method of claim 1, further comprising: and establishing a mapping relation between the identification code of the mark point on the optical calibration frame and the human skeleton model and the surgical instrument model.

6. The method of claim 1, wherein the obtaining marking information of the marking points on the optical calibration frame, the human bone model and the surgical instrument model comprises:

carrying out three-dimensional reconstruction through a clinical medical human body image to obtain a skeleton three-dimensional model, and obtaining the human body skeleton model through the skeleton three-dimensional model; wherein the human skeletal model comprises an anatomical position corresponding to a human surgical site;

7. The method of claim 6, wherein the surgical instrument comprises: a kirschner wire, a puncture needle, an expansion tube, a positioning bone needle, a bone drill, a trepan and a working outer sleeve.

8. The method of claim 6, wherein said obtaining said human bone model from said three-dimensional model of bone comprises:

9. The method of claim 6, wherein the mannequin is the same size as a simulated mannequin and the surgical instrument model is the same size as the surgical instrument.

10. The utility model provides a spinal endoscopy puts a tub trainer, a serial communication port, the device includes:

the information acquisition module is used for acquiring marking information of the marking points on the optical calibration frame, the human skeleton model and the surgical instrument model;

the model binding module is used for binding the marking information with the human skeleton model and the surgical instrument model respectively to obtain a bound human skeleton model and a bound surgical instrument model;

11. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor implements the steps of the method of any one of claims 1 to 9 when executing the computer program.