CN112419826A - Virtual simulation laparoscopic surgery endoscope operation training method and system - Google Patents
Virtual simulation laparoscopic surgery endoscope operation training method and system Download PDFInfo
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Abstract
A virtual simulation laparoscopic surgery endoscope operation training method and system comprises the following steps: receiving a training scene loading instruction, and loading a training scene; entering a training scene if an endoscope selection instruction is received; prompting to select the endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope; detecting the action and the position of the simulation endoscope, adjusting the relative position between the simulation endoscope and the operation object according to the action of the simulation endoscope, and judging whether to align the operation object and keep stable according to the position of the simulation endoscope or the relative position of the simulation endoscope and the operation object; judging whether the alignment and holding operations of all the operation objects are finished within a specified time, if so, successfully training, and if not, failing to train; according to the method and the system, the simulation endoscope is operated in the preset scene to align and keep stable operation on the operation object, so that the endoscope operation is effectively provided for a user, and the training efficiency and the training quality of doctors are improved.
Description
Technical Field
The invention relates to the aspect of virtual simulation surgery, in particular to a method and a system for training endoscope operation in virtual simulation laparoscopic surgery.
Background
The rapid development of scientific technology enables computer technology to penetrate into various fields of production and life, and the traditional manufacturing industry, financial industry, entertainment film and television industry, medical health industry, biotechnology and the like all show new vitality due to the application of the computer technology, so that a novel market is generated. The virtual operation training system is an application of computer technology in modern medicine, and the system integrates the cross fields of various subjects such as computer technology, graphic imaging, sensor technology, biomechanics, modern medicine, computer vision, robotics and the like.
The advanced operation mode can relieve the patient and reduce the pain of the patient in the operation process. Adopts an advanced operation mode, so that the operation process becomes safer, and simultaneously, the recovery process of the patient after the operation is greatly accelerated. Endoscopic surgery is one of the most popular, both at home and abroad, because it can minimize the surgical incision and reduce the pain of patients during the surgery. In laparoscopic surgery, a doctor inserts an endoscope into the abdomen of a patient to obtain an image of a surgical site in the surgical process, and simultaneously, a scalpel 30 cm long and other special surgical instruments are inserted into the body of the patient through two tiny incisions, and then the focal site in the body of the patient is observed on a monitor connected with a camera lens, and the operation is carried out by operating the scalpel with two hands, so that a large wound does not need to be formed in the surgical process, the pain of the patient is greatly relieved, and the healing process of the wound is greatly accelerated.
However, in a minimally invasive surgery, the operation of a doctor is difficult, how to operate the endoscope to perform accurate positioning and accurately capture the surgical position is difficult to guarantee, and the influence of human factors on the surgery is great. The general doctor is difficult to be competent for the work, so that the doctor needs to obtain experience in the learning process through continuous practice and training, and the doctor can improve the medical practice level. However, traditional training and training for new physicians has not provided a better training simulation means than the use of cadavers and animals. The training using animals has many disadvantages, the most important of which is that the anatomical structure of animals is different from that of human body, and the human body can not be used for many times, and in order to solve the defect in reality, the generation of virtual simulation laparoscopic surgery system is promoted.
Disclosure of Invention
Based on this, there is a need for a virtual simulation laparoscopic surgery endoscope operation training method that can improve the training quality.
Meanwhile, the virtual simulation laparoscopic surgery endoscope operation training system capable of improving the training quality is provided.
A virtual simulation laparoscopic surgery endoscope operation training method comprises the following steps:
loading a training scene: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: the space formed by the bottom surface and the side wall and one or more operation objects randomly distributed on the bottom surface;
entering a training scene: prompting to select a simulation instrument, and entering a training scene if an endoscope selection instruction is received;
and (3) type selection: prompting to select the endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
training: detecting the action and the position of the simulation endoscope, adjusting the relative position between the simulation endoscope and the operation object according to the action of the simulation endoscope, and judging whether to align the operation object and keep stable according to the position of the simulation endoscope or the relative position of the simulation endoscope and the operation object;
judging a training result: and judging whether the alignment of all the operation objects and the stable operation are finished within a specified time, if so, successfully training, and if not, failing to train.
In a preferred embodiment, further comprising evaluating: recording training actions and performing training evaluation; the recording training action takes training time as a recording time axis, and records operation action and operation results; the training evaluation is a training result and a capability analysis.
In a preferred embodiment, the bottom surface and the side walls are arc structures simulating the shape and size of the abdominal cavity of a human body, and the operation objects are any one or more of small balls or letters with different colors; in the step of entering the training scene, if a pulling instruction of the simulation endoscope is received, selecting the endoscope to operate, and entering the training scene; the types of endoscopes include: any one or more of a 0-degree lens, a 30-degree lens and a 45-degree lens.
In a preferred embodiment, if the operation object is a small ball, the alignment judgment is to judge whether the simulated endoscope lens is aligned with the small ball, and within a set distance range, the simulated endoscope lens is kept stable whether to be kept still within a set time under an aligned state, and the set time for keeping the stability is 1-5 seconds.
In a preferred embodiment, if the operation object is a small ball, detecting that the relative position of the lens of the simulation endoscope and the small ball is adjusted to be within a correct range, and carrying out correct prompt, wherein the correct prompt comprises; the visual prompt is the color change of the focus or the color change of the small ball, and the sound prompt is prompt sound or voice prompt.
In a preferred embodiment, if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the artificial endoscope coincides with the letter in the scene, and whether the letter is kept stable in the aligned state within a set time, and the set time for keeping stable is 1-5 seconds.
In a preferred embodiment, if the operation object is a letter, detecting that the letter on the lens of the simulation endoscope or the letter in front of the lens is completely overlapped with the letter in the scene, and carrying out correct prompt, wherein the correct prompt comprises the following steps; the visual prompt is the change of the color of letters, and the sound prompt is prompt sound or voice prompt.
In a preferred embodiment, the actions of the artificial endoscope include: the method comprises the steps of moving, rotating and moving back and forth any one or more lenses, detecting offset and rotation amount according to the movement, rotation and moving back and forth lens action of the simulation endoscope, converting the detected offset and rotation amount into the movement, rotation or moving back and forth of the simulation lens in a scene in proportion, updating a virtual camera shooting picture according to the movement of the simulation endoscope, performing ray detection according to the movement position and rotation amount of the virtual endoscope and an operation object in the scene, detecting whether the virtual camera shooting picture is aligned or not, if the alignment is detected and the set time is kept, enabling the operation object to disappear, recording the operation object, and continuously detecting the next operation object.
In a preferred embodiment, according to the rotation amount and the offset of the simulation endoscope, whether the simulation endoscope is in an electrified state or not, whether the lens is fixed or not and whether the state of the virtual endoscope in the scene is updated or not, collision check is carried out according to the current state of the virtual endoscope and virtual organs in the scene, and if the collision happens, the organ effect is updated, wherein the organ effect is one or more of flattening, clamping and pulling; the moving direction of the simulation endoscope is opposite to the moving direction of the virtual endoscope in the scene.
A virtual simulated laparoscopic surgical endoscopic procedure training system, comprising:
loading a training scene module: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: the space formed by the bottom surface and the side wall and one or more operation objects randomly distributed on the bottom surface;
entering a training scene module: prompting to select a simulation instrument, and entering a training scene if an endoscope selection instruction is received;
a type selection module: prompting to select the endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
a training module: detecting the action of the simulation endoscope and the relative position between the simulation endoscope and the operation object, and judging whether to align the operation object and keep stable according to the position of the simulation endoscope or the relative position with the operation object;
a training result judgment module: and judging whether the alignment of all the operation objects and the stable operation are finished within a specified time, if so, successfully training, and if not, failing to train.
According to the operation training method and system for the virtual simulation laparoscopic surgery endoscope, the simulation endoscope is operated in the preset scene to align and keep stable operation on the operation object, so that the endoscope is effectively provided for a user to operate and use, the training efficiency and quality of doctors are improved, and the operation level of the doctors is improved.
The training method provided by the invention adjusts the relative position between the lens and the small ball or letter according to the training design, probes and positions the operation object in the virtual scene, effectively practices the movement and rotation of the endoscope under the separation of hands and eyes, probes and positions, and effectively cultivates the direction sense under the endoscope and the stability of holding the endoscope. The laparoscope holding level and the basic endoscopic skill level of the laparoscopic surgery of the doctor are quickly improved.
Drawings
FIG. 1 is a partial flowchart of a virtual simulated laparoscopic surgery endoscopic procedure training method according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, a virtual simulation laparoscopic surgery endoscopic manipulation training method according to an embodiment of the present invention includes:
step S101, loading a training scene: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: the space formed by the bottom surface and the side wall and one or more operation objects randomly distributed on the bottom surface;
step S103, entering a training scene: prompting to select a simulation instrument, and entering a training scene if an endoscope selection instruction is received; and prompting to select the simulation instrument, preferably entering a simulation instrument selection screen or other prompting modes.
Step S105, type selection: prompting to select the endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope; the prompting of the endoscope type is preferably realized by entering an endoscope type selection interface or pushing the endoscope type selection interface, and other prompting modes can also be adopted.
Step S107, training: detecting the action and the position of the simulation endoscope, adjusting the relative position between the simulation endoscope and the operation object according to the action of the simulation endoscope, and judging whether to align the operation object and keep stable according to the position of the simulation endoscope or the relative position of the simulation endoscope and the operation object; the operation of the artificial endoscope of the present embodiment includes: simulating the movement, rotation, advancing and retreating of the endoscope and the like.
Step S119, training result judgment: and judging whether the alignment of all the operation objects and the stable operation are finished within a specified time, if so, successfully training, and if not, failing to train. The operation object of the embodiment is any one or more of a ball or a letter with different colors.
Step S111, evaluation: recording training action and performing training evaluation.
Further, in the evaluation in step S111, it is preferable to record the training movement as a recording time axis with the training time as a recording time axis and record the operation movement and the operation result. The training evaluation is a training result and a capability analysis.
In this embodiment, the predetermined time for training is preferably 1 to 5 minutes, and may be set according to the time condition.
Further, the bottom surface and the side walls of the present embodiment are provided in an arc shape to simulate the shape and size of the abdominal cavity of a human body.
Further, the operation object of the present embodiment is any one or more of a ball or a letter of different colors.
Further, in step S103 of the present embodiment, in the training scene step, when a pull-up command of the artificial endoscope is received or a pull-up operation of the artificial endoscope is detected, the endoscope operation is selected, and the training scene is entered.
Further, the types of endoscope of the present embodiment include: any one or more of a 0-degree lens, a 30-degree lens and a 45-degree lens.
Further, if the operation object is a small ball, the alignment judgment is to judge whether the simulation endoscope lens is aligned with the small ball and is within the set distance range. Preferably, the set distance for aligning the beads is in the range of 2-2.5 cm.
Remains stable as to whether it remains stationary for a set time in the aligned state. Preferably, the set time for stabilization is 1-5 seconds.
Further, if the operation object is a small ball, the relative position of the lens of the simulation endoscope and the small ball is detected to be adjusted to be within a correct range, and correct prompt is given. Preferably, the correct prompt includes; and displaying any one or more of a prompt and a voice prompt. The visual cue is a focus color change or a pellet color change. The audible prompt is a prompt tone such as a short sound prompt or a voice prompt.
Further, if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the simulation endoscope coincides with the letter in the scene. Preferably, the alignment determination is to determine whether the letters on the lens or in front of the lens of the artificial endoscope completely coincide with the letters in the scene.
Preferably, the letters on or in front of the lens of the artificial endoscope may be letters projected on or in front of the lens. The letters in front of the lens may be letters projected within the range of the lens view. And remains stable as to whether or not it remains stationary for a set time in the aligned state. The set time for keeping stable is 1-5 seconds.
Further, if the operation object is a letter, the letter on the lens of the simulation endoscope or the letter in front of the lens is detected to be completely overlapped with the letter in the scene, and correct prompt is performed. The correct prompt includes; and displaying any one or more of a prompt and a voice prompt. The visual cue may be a change in color of the letter. The audible prompt is a prompt tone such as a short sound prompt or a voice prompt.
Further, the offset amount, the rotation amount, and the lens advancing/retracting amount are detected from the movement, rotation, and lens advancing/retracting movement of the endoscope, and are converted into the movement, rotation, and lens advancing/retracting movement of the virtual endoscope in the scene in proportion, the virtual image pickup screen is updated based on the movement of the endoscope, the radiation detection is performed based on the movement position and rotation amount of the virtual endoscope and the operation object in the scene, whether the alignment is detected or not is detected, and if the alignment is detected and the set time is maintained, the operation object disappears, and is recorded, and the next operation object is continuously detected.
Furthermore, according to the rotation amount and the offset of the simulation endoscope, whether the power-on state exists or not, whether the lens is fixed or not, and whether the state of the virtual endoscope in the scene is updated or not, collision check is carried out on the current state of the virtual endoscope and the virtual organ in the scene, and if the collision happens, the organ effect is updated. The organ effect is one or more of squashing, clamping and pulling according to the action reaction of the virtual endoscope.
Further, the moving direction of the artificial endoscope of the present embodiment is opposite to the screen moving direction in the scene.
The virtual simulation laparoscopic surgery endoscope operation training system of an embodiment of the present invention comprises:
loading a training scene module: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: the space formed by the bottom surface and the side wall and one or more operation objects randomly distributed on the bottom surface;
entering a training scene module: prompting to select a simulation instrument, and entering a training scene if an endoscope selection instruction is received;
a type selection module: prompting to select the endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
a training module: detecting the action of the simulation endoscope and the relative position between the simulation endoscope and the operation object, and judging whether to align the operation object and keep stable according to the position of the simulation endoscope or the relative position with the operation object;
a training result judgment module: judging whether the alignment and holding operations of all the operation objects are finished within a specified time, if so, successfully training, and if not, failing to train;
an evaluation module: recording training action and performing training evaluation.
Further, in the evaluation module, it is preferable that the training action is recorded as recording an operation action and an operation result with the training time as a recording time axis. The training evaluation is the training result and the relevant data of the ability analysis.
Further, the bottom surface and the side walls of the present embodiment are provided in an arc shape to simulate the shape and size of the abdominal cavity of a human body.
Further, the operation object of the present embodiment is any one or more of a ball or a letter of different colors.
Further, in the training scene entering module of this embodiment, if a pull instruction of the simulation endoscope is received or a pull operation of the simulation endoscope is detected, the endoscope operation is selected to enter the training scene.
Further, the types of endoscope of the present embodiment include: any one or more of a 0-degree lens, a 30-degree lens and a 45-degree lens.
Further, if the operation object is a small ball, the alignment judgment is to judge whether the simulation endoscope lens is aligned with the small ball and is within the set distance range. Remains stable as to whether it remains stationary for a set time in the aligned state. Preferably, the set time for stabilization is 1-5 seconds.
Further, if the operation object is a small ball, the relative position of the lens of the simulation endoscope and the small ball is detected to be adjusted to be within a correct range, and correct prompt is given. Preferably, the correct prompt includes; and displaying any one or more of a prompt and a voice prompt. The visual cue is a focus color change or a pellet color change. The audible prompt is a prompt tone such as a short sound prompt or a voice prompt.
Further, if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the simulation endoscope coincides with the letter in the scene. Preferably, the alignment determination is to determine whether the letters on the lens or in front of the lens of the artificial endoscope completely coincide with the letters in the scene.
Preferably, the letters on or in front of the lens of the artificial endoscope may be letters projected on or in front of the lens. The letters in front of the lens may be letters projected within the range of the lens view. And remains stable as to whether or not it remains stationary for a set time in the aligned state. The set time for keeping stable is 1-5 seconds.
Further, if the operation object is a letter, the letter on the lens of the simulation endoscope or the letter in front of the lens is detected to be completely overlapped with the letter in the scene, and correct prompt is performed. The correct prompt includes; and displaying any one or more of a prompt and a voice prompt. The visual cue may be a change in color of the letter. The audible prompt is a prompt tone such as a short sound prompt or a voice prompt.
Further, the operation of the artificial endoscope of the present embodiment includes: simulating the movement, rotation, advancing and retreating of the endoscope and the like. Further, the offset amount, the rotation amount, and the lens advancing/retracting amount are detected from the movement, rotation, and lens advancing/retracting movement of the endoscope, and are converted into the movement, rotation, and lens advancing/retracting movement of the virtual endoscope in the scene in proportion, the virtual image pickup screen is updated based on the movement of the endoscope, the radiation detection is performed based on the movement position and rotation amount of the virtual endoscope and the operation object in the scene, whether the alignment is detected or not is detected, and if the alignment is detected and the set time is maintained, the operation object disappears, and is recorded, and the next operation object is continuously detected.
Furthermore, according to the rotation amount and the offset of the simulation endoscope, whether the power-on state exists or not, whether the lens is fixed or not, and whether the state of the virtual endoscope in the scene is updated or not, collision check is carried out on the current state of the virtual endoscope and the virtual organ in the scene, and if the collision happens, the organ effect is updated. The organ effect is one or more of squashing, clamping and pulling according to the action reaction of the virtual endoscope.
Further, the moving direction of the artificial endoscope of the present embodiment is opposite to the screen moving direction in the scene.
The virtual simulation laparoscopic surgery endoscope operation training method and system provided by the invention can be used for aligning and maintaining stable operation on an operation object by operating the simulation endoscope in a preset scene, effectively providing endoscope operation for a user, and improving the operation level of the user. Meanwhile, by providing relevant data such as training results and capability analysis, a user can know the training condition of the user conveniently, and the training efficiency and the training quality of doctors are improved through manual operation.
In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Claims (10)
1. A virtual simulation laparoscopic surgery endoscope operation training method is characterized by comprising the following steps:
loading a training scene: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: the space formed by the bottom surface and the side wall and one or more operation objects randomly distributed on the bottom surface;
entering a training scene: prompting to select a simulation instrument, and entering a training scene if an endoscope selection instruction is received;
and (3) type selection: prompting to select the endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
training: detecting the action and the position of the simulation endoscope, adjusting the relative position between the simulation endoscope and the operation object according to the action of the simulation endoscope, and judging whether to align the operation object and keep stable according to the position of the simulation endoscope or the relative position of the simulation endoscope and the operation object;
judging a training result: and judging whether the alignment of all the operation objects and the stable operation are finished within a specified time, if so, successfully training, and if not, failing to train.
2. The virtual simulated laparoscopic surgical endoscopic procedure training method of claim 1, further comprising evaluating: recording training actions and performing training evaluation; the recording training action takes training time as a recording time axis, and records operation action and operation results; the training evaluation is a training result and a capability analysis.
3. The virtual simulation laparoscopic surgery endoscope operation training method according to claim 1, wherein the bottom surface and the side wall are arc structures formed by simulating the shape and the size of the abdominal cavity of a human body, and the operation objects are any one or more of balls or letters with different colors; in the step of entering the training scene, if a pulling instruction of the simulation endoscope is received, selecting the endoscope to operate, and entering the training scene; the types of endoscopes include: any one or more of a 0-degree lens, a 30-degree lens and a 45-degree lens.
4. The virtual simulation laparoscopic surgery endoscope operation training method according to claim 1, wherein if the operation object is a small ball, the alignment is judged as to determine whether the simulated endoscope lens is aligned with the small ball, and is kept stable within a set distance range as to whether it is kept still for a set time in an aligned state, and the set time for keeping stable is 1-5 seconds.
5. The virtual simulation laparoscopic surgery endoscope operation training method according to claim 1, wherein if the operation object is a small ball, a correct prompt is performed by detecting that the relative position of the lens of the simulation endoscope and the small ball is adjusted to a correct range, and the correct prompt includes; the visual prompt is the color change of the focus or the color change of the small ball, and the sound prompt is prompt sound or voice prompt.
6. The virtual simulation laparoscopic surgery endoscope operation training method according to claim 1, wherein if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the simulation endoscope coincides with the letter in the scene, and is kept stable as to whether it remains still for a set time in the aligned state, and the set time for keeping stable is 1-5 seconds.
7. The virtual simulation laparoscopic surgery endoscope operation training method according to claim 1, wherein if the operation object is a letter, it is detected that the letter on the lens of the simulation endoscope or the letter in front of the lens is completely overlapped with the letter in the scene, and a correct prompt is performed, wherein the correct prompt includes; the visual prompt is the change of the color of letters, and the sound prompt is prompt sound or voice prompt.
8. The virtual simulated laparoscopic surgical endoscopic procedure training method according to any one of claims 1 to 7, wherein said actions of said simulated endoscope comprise: the method comprises the steps of moving, rotating and moving back and forth any one or more lenses, detecting offset and rotation amount according to the movement, rotation and moving back and forth lens action of the simulation endoscope, converting the detected offset and rotation amount into the movement, rotation or moving back and forth of the simulation lens in a scene in proportion, updating a virtual camera shooting picture according to the movement of the simulation endoscope, performing ray detection according to the movement position and rotation amount of the virtual endoscope and an operation object in the scene, detecting whether the virtual camera shooting picture is aligned or not, if the alignment is detected and the set time is kept, enabling the operation object to disappear, recording the operation object, and continuously detecting the next operation object.
9. The virtual simulation laparoscopic surgery endoscope operation training method according to any one of claims 1 to 7, wherein according to the rotation amount, offset amount, whether there is an energized state, whether the lens is fixed and the state of the virtual endoscope in the updated scene, the collision check is performed according to the current state of the virtual endoscope and the virtual organ in the scene, if collision, the effect of the organ is updated, and the effect of the organ is one or more of flattening, clamping and pulling; the moving direction of the simulation endoscope is opposite to the moving direction of the virtual endoscope in the scene.
10. A virtual simulated laparoscopic surgery endoscopic procedure training system, comprising:
loading a training scene module: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: the space formed by the bottom surface and the side wall and one or more operation objects randomly distributed on the bottom surface;
entering a training scene module: prompting to select a simulation instrument, and entering a training scene if an endoscope selection instruction is received;
a type selection module: prompting to select the endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
a training module: detecting the action of the simulation endoscope and the relative position between the simulation endoscope and the operation object, and judging whether to align the operation object and keep stable according to the position of the simulation endoscope or the relative position with the operation object;
a training result judgment module: and judging whether the alignment of all the operation objects and the stable operation are finished within a specified time, if so, successfully training, and if not, failing to train.
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| CN112991333A (en) * | 2021-04-21 | 2021-06-18 | 强基(上海)医疗器械有限公司 | Image processing method and system based on voice analysis in endoscopic surgery |
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