CN112419826B - Endoscope operation training method and system for virtual simulation laparoscopic surgery - Google Patents
Endoscope operation training method and system for virtual simulation laparoscopic surgery 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; if an endoscope selection instruction is received, entering a training scene; prompting to select an 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, judging whether the simulation endoscope is aligned with the operation object or not according to the position of the simulation endoscope or the relative position between the simulation endoscope and the operation object, and keeping the simulation endoscope and the operation object stable; judging whether the alignment and the holding operation of all the operation objects are completed within a specified time, if so, training is successful, and if not, training fails; 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 operation object is effectively provided for a user to perform endoscope operation, and the training efficiency and quality of doctors are improved.
Description
Technical Field
The invention relates to the aspect of virtual simulation surgery, in particular to a virtual simulation laparoscopic surgery endoscope operation training method and system.
Background
The rapid development of science and technology has led to the penetration of computer technology into various fields of production and life, and the traditional manufacturing industry, financial industry, entertainment and video industry, medical and health industry, biotechnology and the like all present new activities due to the application of computer technology, thus creating a new market. The virtual operation training system is an application of computer technology in modern medicine, and the system is integrated with the crossing 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. The advanced operation mode is adopted, so that the operation process becomes safer, and the rehabilitation process of the patient after the operation is greatly accelerated. The endoscope operation is one of them, and is popular both at home and abroad because it can minimize the operation wound and reduce the pain of the patient in the operation process. In laparoscopic surgery, a doctor inserts an endoscope into the abdomen of a patient to obtain an image of an operation part in the operation process, simultaneously stretches a 30 cm long scalpel and other special surgical instruments into the patient through two small incisions, then observes focus parts in the patient on a monitor connected with a camera lens, and operates the scalpel by two hands, so that a large wound is not needed in the operation process, the pain of the patient is greatly relieved, and the healing process of the wound is also greatly accelerated.
However, in the minimally invasive surgery, the operation of a doctor is difficult, how to operate the endoscope to accurately position and accurately capture the surgical position, the accuracy of the surgical procedure is difficult to ensure, and the influence of human factors on the surgery is great. General doctors are difficult to be able to cope with the work, and experience is obtained in the learning process through continuous practice and training, so that the doctor's doctor practice level is improved. However, there is no better training simulation means for training and training of new doctors, except for cadavers and animals. Training with animals has a number of drawbacks, the most important of which is that the anatomy of the animal is different from that of the human body, and that the human cadaver cannot be used many times, in order to solve the drawbacks existing in reality, the generation of a virtual simulation laparoscopic surgery system has been promoted.
Disclosure of Invention
Based on the above, it is necessary to provide a virtual simulation laparoscopic surgery endoscope operation training method capable of improving the training quality.
Meanwhile, the virtual simulation laparoscopic surgery endoscope operation training system capable of improving training quality is provided.
A virtual simulation laparoscopic surgical endoscopic procedure training method, comprising:
loading training scenes: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: a 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;
type selection: prompting to select an 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, judging whether the simulation endoscope is aligned with the operation object or not according to the position of the simulation endoscope or the relative position between the simulation endoscope and the operation object, and keeping the simulation endoscope and the operation object stable;
judging training results: judging whether alignment and stable operation of all operation objects are completed within a specified time, if so, training is successful, and if not, training fails;
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 a training scene, if a lifting instruction of a simulation endoscope is received, selecting the operation of the endoscope, and entering the training scene; types of the endoscope include: any one or more of a 0 degree lens, a 30 degree lens and a 45 degree lens;
if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the simulation endoscope is overlapped with the letter in the scene, keep stable in the alignment state and keep the stable for 1-5 seconds in the set time;
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: any one or more of a display prompt and a sound prompt are displayed, wherein the display prompt is a letter color change, and the sound prompt is a prompt tone or a voice prompt;
the actions of the simulated endoscope include: any one or more of moving, rotating and advancing and retreating the lens.
In a preferred embodiment, the method further comprises the step of evaluating: recording training actions and performing training evaluation; the training action recording is used for recording an operation action and an operation result by taking training time as a recording time axis; the training evaluation is training result and capability analysis.
In a preferred embodiment, 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 a training scene, if a lifting instruction of a simulation endoscope is received, selecting the operation of the endoscope, and entering the training scene; types of the endoscope 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 the simulated endoscope lens is kept stable within a set distance range and is kept stationary for a set time in 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 performing a correct prompt, where the correct prompt includes: any one or more of a display prompt and a sound prompt are displayed, wherein the display prompt is a focus color change or a small ball color change, and the sound prompt is a prompt tone or a voice prompt.
In a preferred embodiment, if the operation object is a letter, the alignment determination is to determine whether the letter on the scope of the simulated endoscope coincides with the letter in the scene, and the operation object remains stationary for a set time in the aligned state, and the set time for the operation object remains stationary is 1-5 seconds.
In a preferred embodiment, if the operation object is a letter, detecting that the letter on the lens or the letter in front of the lens of the simulation endoscope completely coincides with the letter in the scene, and performing a correct prompt, where the correct prompt includes: any one or more of a display prompt and a sound prompt are displayed, wherein the display prompt is a letter color change, and the sound prompt is a prompt tone or a voice prompt.
In a preferred embodiment, the acts of emulating an endoscope include: any one or more of the moving, rotating and advancing and retreating lenses are used for detecting offset and rotation amount according to the movement, rotation and advancing and retreating lens actions of the simulation endoscope, converting the offset and rotation amount into the movement, rotation and retreating of the virtual endoscope in a scene in proportion, updating a virtual image pickup picture according to the actions of the simulation endoscope, detecting whether the virtual endoscope is aligned with an operation object in the scene according to the movement position and rotation amount of the virtual endoscope, and if the alignment is detected and kept for a set time, the operation object disappears, recording and continuously detecting the next operation object.
In a preferred embodiment, according to the rotation amount and 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, collision calibration is performed according to the state of the current virtual endoscope and a virtual organ in the scene, if collision occurs, 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.
A virtual simulation 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: a 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 an endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
training module: detecting the action of the simulation endoscope and the relative position between the simulation endoscope and the operation object, judging whether the operation object is aligned and kept stable according to the position of the simulation endoscope or the relative position between the simulation endoscope and the operation object;
training result judging module: judging whether alignment and stable operation of all operation objects are completed within a specified time, if so, training is successful, and if not, training fails;
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 training scene entering module, if a lifting instruction of a simulation endoscope is received, selecting the operation of the endoscope, and entering a training scene; types of the endoscope include: any one or more of a 0 degree lens, a 30 degree lens and a 45 degree lens;
if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the simulation endoscope is overlapped with the letter in the scene, keep stable in the alignment state and keep the stable for 1-5 seconds in the set time;
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: any one or more of a display prompt and a sound prompt are displayed, wherein the display prompt is a letter color change, and the sound prompt is a prompt tone or a voice prompt;
the actions of the simulated endoscope include: any one or more of moving, rotating and advancing and retreating the lens.
According to the virtual simulation laparoscopic surgery endoscope operation training method and system, the simulation endoscope is operated in the preset scene to align and keep stable operation on the operation object, so that the operation object is effectively provided for a user to perform endoscope operation, training efficiency and quality of doctors are improved, and surgery level of the doctors is improved.
According to the training method, the relative position between the lens and the small ball or the letter is adjusted according to the training design, the operation object is probed and positioned in the virtual scene, the movement and rotation of the endoscope under the separation of the hand and the eye are effectively exercised, the probing and positioning are carried out, and the direction sense under the mirror and the stability of holding the mirror are effectively cultivated. The laparoscopic surgery supporting mirror level and the basic mirror skill level of a doctor are rapidly improved.
Drawings
FIG. 1 is a partial flow chart of a virtual simulation laparoscopic surgical endoscopic procedure training method in accordance with an embodiment of the present invention.
Description of the embodiments
As shown in fig. 1, a virtual simulation laparoscopic surgery endoscope operation training method according to an embodiment of the present invention includes:
step S101, loading training scenes: receiving a training scene loading instruction, loading a training scene, wherein the training scene comprises: a 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; prompting to select a simulation instrument, preferably entering a simulation instrument selection picture, or other prompting modes;
step S105, type selection: prompting to select an endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope; the prompting selection 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 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, judging whether the simulation endoscope is aligned with the operation object or not according to the position of the simulation endoscope or the relative position between the simulation endoscope and the operation object, and keeping the simulation endoscope and the operation object stable; the actions of the simulated endoscope of the present embodiment include: simulating the movement, rotation, advancing and retreating of the endoscope, and the like;
step S119, training result judgment: judging whether alignment and stable operation of all operation objects are completed within a specified time, if so, training is successful, and if not, training fails. The operation object of the embodiment is any one or more of balls or letters with different colors;
step S111, evaluation: and recording training actions, and performing training evaluation.
Further, in the evaluation in step S111, it is preferable that the training operation is recorded as a recording time axis with the training time, and the operation and the operation result are recorded. Training evaluation is training result and capability analysis.
In this embodiment, the training completion time is preferably 1 to 5 minutes, and may be set according to the time situation.
Further, the bottom surface and the side walls of the embodiment are arranged in an arc shape to simulate the shape and the size of the abdominal cavity of a human body.
Further, the operation object of the present embodiment is any one or more of balls or letters of different colors.
Further, in step S103 of the present embodiment, in the step of entering the training scene, if a pull-up instruction of the simulated endoscope is received or a pull-up action of the simulated endoscope is detected, an operation of the endoscope is selected, and the training scene is entered.
Further, the types of the 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 sphere, the alignment judgment is to judge whether the simulated endoscope lens is aligned with the small sphere and within the set distance range. Preferably, the alignment beads are set at a distance in the range of 2-2.5cm.
Remain stable in the aligned state and remain stationary for a set period of time. Preferably, the set time to remain stable is 1-5 seconds.
Further, if the operation object is a small ball, it is detected that the relative position of the lens of the simulation endoscope and the small ball is adjusted to be within a correct range, and correct prompt is performed. Preferably, the correct prompt includes: any one or more of a prompt and an audio prompt are displayed. The display cues are a focus color change or a pellet color change. The audible prompts are prompts such as a shorthand prompt, or voice prompts.
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 letter on the simulated endoscope lens or the letter in front of the lens completely coincides with the letter in the scene.
Preferably, the letters on the simulated endoscope lens or the letters in front of the lens may be the letters projected on the lens or in front of the lens. The letters in front of the lens may be letters projected in the view of the lens. Remain stable in the aligned state for a set period of time. 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 carried out. The correct prompt includes: any one or more of a prompt and an audio prompt are displayed. The display cues may be letter color changes. The audible prompts are prompts such as a shorthand prompt, or voice prompts.
Further, the offset, rotation, and lens advance and retreat amount are detected based on the movement, rotation, and advance and retreat movements of the simulation endoscope, and the movement, rotation, and advance and retreat movements of the simulation endoscope are converted into the movement, rotation, and advance and retreat movements of the simulation endoscope in the scene in proportion, the virtual image pickup screen is updated based on the movements of the simulation endoscope, the radiation detection is performed based on the movement position and rotation amount of the virtual endoscope, whether the operation object in the scene is aligned is detected, and if the alignment is detected and the set time is maintained, the operation object disappears, and the recording is performed, and the detection of the next operation object is continued.
Further, according to the rotation amount and 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, collision calibration is performed according to the current state of the virtual endoscope and the virtual organ in the scene, and if collision occurs, the effect of the organ is updated. The organ effect is one or more of squashing, clamping and pulling according to the action response of the virtual endoscope.
Further, the moving direction of the simulation endoscope of the present embodiment is opposite to the moving direction of the screen in the scene.
The virtual simulation laparoscopic surgery endoscope operation training system of an embodiment of the invention comprises:
loading a training scene module: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: a 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 an endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
training module: detecting the action of the simulation endoscope and the relative position between the simulation endoscope and the operation object, judging whether the operation object is aligned and kept stable according to the position of the simulation endoscope or the relative position between the simulation endoscope and the operation object;
training result judging module: judging whether the alignment and the holding operation of all the operation objects are completed within a specified time, if so, training is successful, and if not, training fails;
and an evaluation module: and recording training actions, and performing training evaluation.
Further, in the evaluation module, it is preferable that the training action be recorded as a recording time axis by taking the training time as a recording time axis, and the operation action and the operation result be recorded. Training evaluation is to analyze relevant data for training results and capabilities.
Further, the bottom surface and the side walls of the embodiment are arranged in an arc shape to simulate the shape and the size of the abdominal cavity of a human body.
Further, the operation object of the present embodiment is any one or more of balls or letters of different colors.
Further, in the training scene entering module of the embodiment, if a pulling instruction of the simulation endoscope is received or a pulling action of the simulation endoscope is detected, an endoscope operation is selected, and a training scene is entered.
Further, the types of the 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 sphere, the alignment judgment is to judge whether the simulated endoscope lens is aligned with the small sphere and within the set distance range. Remain stable in the aligned state and remain stationary for a set period of time. Preferably, the set time to remain stable is 1-5 seconds.
Further, if the operation object is a small ball, it is detected that the relative position of the lens of the simulation endoscope and the small ball is adjusted to be within a correct range, and correct prompt is performed. Preferably, the correct prompt includes: any one or more of a prompt and an audio prompt are displayed. The display cues are a focus color change or a pellet color change. The audible prompts are prompts such as a shorthand prompt, or voice prompts.
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 letter on the simulated endoscope lens or the letter in front of the lens completely coincides with the letter in the scene.
Preferably, the letters on the simulated endoscope lens or the letters in front of the lens may be the letters projected on the lens or in front of the lens. The letters in front of the lens may be letters projected in the view of the lens. Remain stable in the aligned state for a set period of time. 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 carried out. The correct prompt includes: any one or more of a prompt and an audio prompt are displayed. The display cues may be letter color changes. The audible prompts are prompts such as a shorthand prompt, or voice prompts.
Further, the actions of the simulated endoscope of the present embodiment include: simulate the movement, rotation, advancing and retreating of the endoscope, etc. Further, the offset, rotation, and lens advance and retreat amount are detected based on the movement, rotation, and advance and retreat movements of the simulation endoscope, and the movement, rotation, and advance and retreat movements of the simulation endoscope are converted into the movement, rotation, and advance and retreat movements of the simulation endoscope in the scene in proportion, the virtual image pickup screen is updated based on the movements of the simulation endoscope, the radiation detection is performed based on the movement position and rotation amount of the virtual endoscope, whether the operation object in the scene is aligned is detected, and if the alignment is detected and the set time is maintained, the operation object disappears, and the recording is performed, and the detection of the next operation object is continued.
Further, according to the rotation amount and 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, collision calibration is performed according to the current state of the virtual endoscope and the virtual organ in the scene, and if collision occurs, the effect of the organ is updated. The organ effect is one or more of squashing, clamping and pulling according to the action response of the virtual endoscope.
Further, the moving direction of the simulation endoscope of the present embodiment is opposite to the moving direction of the screen in the scene.
According to the virtual simulation laparoscopic surgery endoscope operation training method and system, the simulation endoscope is operated in the preset scene to align and keep stable operation on the operation object, so that the operation object is effectively provided for a user to perform endoscopic operation, and the surgery level of the user is improved. Meanwhile, the user can know the training condition of the user conveniently by providing relevant data such as training results and capability analysis, and the training efficiency and quality of doctors are improved by manual operation.
With the above-described preferred embodiments according to the present application as a teaching, the related workers can make various changes and modifications without departing from the scope of the technical idea of the present application. 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 claims.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 (7)
1. A virtual simulation laparoscopic surgery endoscopic procedure training method, comprising:
loading training scenes: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: a 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;
type selection: prompting to select an 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, judging whether the simulation endoscope is aligned with the operation object or not according to the position of the simulation endoscope or the relative position between the simulation endoscope and the operation object, and keeping the simulation endoscope and the operation object stable;
judging training results: judging whether alignment and stable operation of all operation objects are completed within a specified time, if so, training is successful, and if not, training fails;
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 a training scene, if a lifting instruction of a simulation endoscope is received, selecting the operation of the endoscope, and entering the training scene; types of the endoscope include: any one or more of a 0 degree lens, a 30 degree lens and a 45 degree lens;
if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the simulation endoscope is overlapped with the letter in the scene, keep stable in the alignment state and keep the stable for 1-5 seconds in the set time;
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: any one or more of a display prompt and a sound prompt are displayed, wherein the display prompt is a letter color change, and the sound prompt is a prompt tone or a voice prompt;
the actions of the simulated endoscope include: any one or more of moving, rotating and advancing and retreating the lens.
2. The virtual simulation laparoscopic surgical endoscopic procedure training method according to claim 1, further comprising evaluating: recording training actions and performing training evaluation; the training action recording is used for recording an operation action and an operation result by taking training time as a recording time axis; the training evaluation is training result and capability analysis.
3. The method according to claim 1, wherein if the operation object is a pellet, the alignment judgment is to judge whether the simulated endoscope lens is aligned with the pellet, and the simulated endoscope lens is kept stable within a set distance range, and is kept stationary for a set time in the aligned state, and the set time is kept stable for 1 to 5 seconds.
4. The method for training operation of a virtual simulation laparoscopic surgery endoscope according to claim 1, wherein if the operation object is a small ball, it is detected that the relative position of the lens of the simulation endoscope and the small ball is adjusted to be within a correct range, and a correct prompt is performed, and the correct prompt includes: any one or more of a display prompt and a sound prompt are displayed, wherein the display prompt is a focus color change or a small ball color change, and the sound prompt is a prompt tone or a voice prompt.
5. The training method for operation of a virtual simulation laparoscopic surgery endoscope according to any one of claims 1 to 4, wherein the offset and the rotation amount are detected according to the movement, rotation and advancing and retreating actions of the simulation endoscope, the virtual endoscope movement, rotation and retreating actions are converted into the scene in proportion, the virtual image is updated according to the actions of the simulation endoscope, the radiation detection is performed according to the movement position and the rotation amount of the virtual endoscope and the operation object in the scene, whether the operation object is aligned is detected, if the alignment is detected and the set time is maintained, the operation object disappears, and the next operation object is recorded and continues to be detected.
6. The method for training operation of a virtual simulation laparoscopic surgery endoscope according to any one of claims 1 to 4, wherein collision calibration is performed with a virtual organ in a scene according to a current state of the virtual endoscope according to a rotation amount, an offset amount, whether a power-on state exists or not, whether a lens is fixed to update the state of the virtual endoscope in the scene, and if the current state of the virtual endoscope collides, an 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.
7. A virtual simulation laparoscopic surgical endoscope operation training system, comprising:
loading a training scene module: receiving a training scene loading instruction, and loading a training scene, wherein the training scene comprises: a 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 an endoscope type, receiving an endoscope type selection instruction, and selecting a corresponding endoscope;
training module: detecting the action of the simulation endoscope and the relative position between the simulation endoscope and the operation object, judging whether the operation object is aligned and kept stable according to the position of the simulation endoscope or the relative position between the simulation endoscope and the operation object;
training result judging module: judging whether alignment and stable operation of all operation objects are completed within a specified time, if so, training is successful, and if not, training fails;
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 training scene entering module, if a lifting instruction of a simulation endoscope is received, selecting the operation of the endoscope, and entering a training scene; types of the endoscope include: any one or more of a 0 degree lens, a 30 degree lens and a 45 degree lens;
if the operation object is a letter, the alignment judgment is to judge whether the letter on the lens of the simulation endoscope is overlapped with the letter in the scene, keep stable in the alignment state and keep the stable for 1-5 seconds in the set time;
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: any one or more of a display prompt and a sound prompt are displayed, wherein the display prompt is a letter color change, and the sound prompt is a prompt tone or a voice prompt;
the actions of the simulated endoscope include: any one or more of moving, rotating and advancing and retreating the lens.
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| CN202011479441.6A CN112419826B (en) | 2020-12-16 | 2020-12-16 | Endoscope operation training method and system for virtual simulation laparoscopic surgery |
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