CN112704563B - Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife - Google Patents
Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife Download PDFInfo
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- CN112704563B CN112704563B CN202011557394.2A CN202011557394A CN112704563B CN 112704563 B CN112704563 B CN 112704563B CN 202011557394 A CN202011557394 A CN 202011557394A CN 112704563 B CN112704563 B CN 112704563B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/102—Modelling of surgical devices, implants or prosthesis
Abstract
The invention provides a remote ultrasonic operation simulation system for hepatobiliary surgery based on an ultrasonic scalpel, which is applied to the field of hepatobiliary treatment, and comprises: a bed body; a moving module for moving the manipulator device; the manipulator device is arranged on the moving module and used for adjusting the angle of the ultrasonic knife device; the camera module is arranged on the manipulator device and used for shooting an image of a patient and generating a real-time image; the simulation device is used for receiving and sending the operation instruction and simultaneously constructing and displaying the virtual model; and the ultrasonic knife device is arranged on the mechanical hand device and used for generating high-frequency vibration on the knife head to cut.
Description
Technical Field
The invention relates to the field of hepatobiliary treatment, in particular to a remote ultrasonic operation simulation system for hepatobiliary surgery based on an ultrasonic scalpel.
Background
Liver and gall surgery mainly researches serious diseases which seriously threaten the health of Chinese people, such as hepatocellular carcinoma, hepatobiliary calculus, posthepatitic cirrhosis, acute liver failure caused by severe hepatitis and the like. Statistics show that liver and gall diseases gradually become a disease which seriously threatens the health of Chinese people. The ultrasonic knife is a special hollow knife widely applied to hepatobiliary surgery, the working principle of the ultrasonic knife is mainly based on the cavitation effect of ultrasonic waves, namely, high-frequency energy is applied to the knife to vibrate the knife at high frequency, the knife acts on focal tissues (such as tumors and the like) of the liver or the gallbladder again to cause the focal tissues to be cracked, and then residual tissues are sucked out through negative pressure, so that the ultrasonic knife has the advantages of small damage, less bleeding and quick recovery. And as the mechanical arm (human) is gradually improved and widely applied in the existing operation system, the development of the mechanical arm in hepatobiliary surgery is also the main research direction of the team.
Through the mass search of the team, the detection and treatment systems for hepatobiliary surgery in the prior art are known as JP6255556B1, JP2018537484A, JP6568577B2 and CN201710607169.7, but the systems are mainly used in the detection field, for example, the CT scanner, the MR scanner, the radar imager and the 3D image generator are arranged to comprehensively examine the body condition of a patient, while in the prior art, the cutting treatment mode through the remote control of the mechanical arm and the ultrasonic knife device is not well perfected and developed, and the prior art is often synchronous in real time with the operation of the mechanical arm, so that the prior art is often difficult to be familiar and operated by users with insufficient experience, so that the development of a surgical simulation system for hepatobiliary surgery with higher intelligence is the main development direction of the prior art.
Disclosure of Invention
The invention aims to provide a remote ultrasonic operation simulation system for hepatobiliary surgery based on an ultrasonic knife, aiming at the defects in the existing hepatobiliary surgery.
In order to overcome the defects of the prior art, the invention adopts the following technical scheme:
a teleultrasound surgical simulation system for hepatobiliary surgery based on an ultrasonic blade, comprising: a bed body;
a moving module for moving the manipulator device;
the manipulator device is arranged on the moving module and used for adjusting the angle of the ultrasonic knife device;
the camera module is arranged on the manipulator device and used for shooting an image of a patient and generating a real-time image;
the simulation device is used for receiving and sending the operation instruction and simultaneously constructing and displaying the virtual model;
and the ultrasonic knife device is arranged on the mechanical hand device and used for generating high-frequency vibration on the knife head to cut.
Furthermore, the moving module comprises an X-axis translation mechanism, a Z-axis translation mechanism and a lifting mechanism, the X-axis translation mechanism is used for driving the manipulator device to translate along the extending direction vertical to the bed body, the Z-axis translation mechanism is used for driving the manipulator device to translate along the extending direction of the bed body, and the lifting mechanism is used for driving the manipulator device to perform lifting translation;
furthermore, the X-axis translation mechanism comprises a first mounting seat, a first driving motor, a first lead screw, a first guide rail, a first ball screw nut, a first guide rail slider and a first sliding table, wherein the first driving motor and the first guide rail are both arranged on the first mounting seat, the first lead screw is axially connected with a rotating shaft of the first driving motor through a coupler, the first lead screw and the first guide rail are both arranged along the length direction vertical to the bed body, the first ball screw nut and the first guide rail slider are respectively sleeved on the first lead screw and the first guide rail in a sliding manner, and the first sliding table is arranged on the first guide rail slider and the first ball screw nut;
furthermore, the Z-axis translation mechanism comprises a second mounting seat, a second driving motor, a second lead screw, a second guide rail, a second ball screw nut, a first guide rail slider and a second sliding table, wherein the second mounting seat is arranged on the first sliding table, the second driving motor and the second guide rail are both arranged on the second mounting seat, the second lead screw is axially connected with a rotating shaft of the second driving motor through a coupler, the second lead screw and the second guide rail are both arranged perpendicular to the extending direction of the first lead screw, the second ball screw nut and the first guide rail slider are respectively sleeved on the second lead screw and the second guide rail in a sliding manner, and the second sliding table is arranged on the second ball screw nut and the second guide rail slider;
furthermore, the lifting mechanism comprises five telescopic rods which are arranged on the second sliding table at intervals, and the piston rod ends of the five telescopic rods are connected with the manipulator device;
further, the manipulator device comprises a rotating base, a first mounting frame, a first rotating motor, an extension arm, a second rotating motor, a second mounting frame, a rotating arm, a third mounting frame, a third rotating motor, a fourth mounting frame, a fourth rotating motor, a fifth mounting frame, a fifth rotating motor and an appliance mounting frame, wherein the rotating base is arranged on the mobile module and is configured to drive the first mounting frame arranged on the rotating base to axially rotate, the first rotating motor is arranged on the first mounting frame, a rotating shaft is radially connected with one end of the extension arm, the second rotating motor is arranged at the other end of the extension arm, the rotating shaft is radially connected with the second mounting frame, the third rotating motor is arranged on the second mounting frame, the rotating shaft is axially connected with the rotating arm, the third mounting frame is arranged at the other end of the rotating arm, the fourth rotating motor is arranged on the third mounting frame, the rotating shaft of the fourth rotating motor is radially connected with the appliance mounting frame, and the ultrasonic knife device is arranged on the appliance mounting frame.
Furthermore, the simulation device comprises a machine body, and a display module, a hand motion sensing module and a control center which are arranged on the machine body, wherein the display module is used for displaying images shot by the camera module, the hand motion sensing module is used for sensing hand motions and motion tracks of a user, and a display installation chamber and an operation chamber are arranged in the machine body, the display installation chamber is arranged above the display installation chamber, and the operation chamber is arranged below the display installation chamber.
The beneficial effects obtained by the invention are as follows:
the moving module is arranged to translate and lift the manipulator device, so that the manipulator device can be retracted into the bottom of the bed body when not in use, the occupied space is reduced, and the manipulator device is convenient to clean and disinfect; the manipulator device is set to be a four-degree-of-freedom motion structure, so that the positioning and the angle of the ultrasonic knife device can be adjusted at will, and the action tracks of the ultrasonic knife device and the hand part are highly uniform; the camera module consisting of the endoscope is arranged, so that the actual condition of a patient can be fed back on a display screen in real time, and meanwhile, the model generation module constructs a drilling model according to the shot image so as to provide reference for a user to perform drilling operation; the eyeball tracking device is arranged to know that the watching of a user needs to freely switch the highlighting of the screen display content in real time, so that the manual operation burden of the user is reduced, and the attention of the user is more focused on the operation; the hand motion sensing module is also arranged to sense the hand motion of a user and the motion track of the scalpel physical model, so that the manipulator device and the moving module are controlled to enable the angle and the motion track of the ultrasonic scalpel device to be synchronous with the scalpel physical model; the ultrasonic scalpel device is provided with a reset button and a lag time synchronization mode of operation, after the simulation operation is carried out, the ultrasonic scalpel device carries out the same operation as the simulation operation after the lag time, so that a user can have certain repentance time when the operation is improper, and the fault tolerance rate of the operation is improved.
Drawings
The invention will be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the embodiments. Like reference numerals designate corresponding parts throughout the different views.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of another embodiment of the present invention.
Fig. 3 is a schematic diagram of the internal structure of the simulation apparatus of the present invention.
Fig. 4 is a schematic view of the display screen in the first display state.
Fig. 5 is a schematic view of the display screen in a second display state.
In the figure: the bed body 1, the moving module 2, the X-axis translation mechanism 21, the Z-axis translation mechanism 22, the lifting mechanism 23, the manipulator device 3, the rotating base 31, the first mounting frame 32, the first rotating motor 33, the extension arm 34, the second rotating motor 35, the second mounting frame 36, the rotating arm 37, the third mounting frame 38, the third rotating motor 39, the fourth rotating motor 301, the instrument mounting frame 302, the camera module 4, the simulation device 5, the machine body 51, the display module 52, the eye shade 521, the eyepiece 522, the display screen 523, the eyeball tracker 524, the hand motion sensing module 53, the surgical knife entity model 531, the motion shooting sensor 532, the reset button 533, the gyroscope mechanism 534, the control center 54, and the ultrasonic knife device 6.
Detailed Description
In order to make the objects and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. Other systems, methods, and/or features of the present embodiments will become apparent to those skilled in the art upon review of the following detailed description. It is intended that all such additional systems, methods, features and advantages be included within this description, be within the scope of the invention, and be protected by the accompanying claims. Additional features of the disclosed embodiments are described in, and will be apparent from, the detailed description that follows.
The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the orientation or positional relationship shown in the drawings, it is only for convenience of description and simplification of description, but it is not indicated or implied that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limitations of the present patent, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
The first embodiment.
As shown in fig. 1, a remote ultrasonic surgery simulation system for hepatobiliary surgery based on an ultrasonic blade includes: a bed body;
a moving module for moving the manipulator device;
the manipulator device is arranged on the moving module and used for adjusting the angle of the ultrasonic knife device;
the camera module is arranged on the manipulator device and used for shooting an image of a patient and generating a real-time image;
the simulation device is used for receiving and sending the operation instruction and simultaneously constructing and displaying the virtual model;
the ultrasonic knife device is arranged on the mechanical hand device and is used for generating high-frequency vibration on the knife head to cut;
the moving module comprises an X-axis translation mechanism, a Z-axis translation mechanism and a lifting mechanism, the X-axis translation mechanism is used for driving the manipulator device to translate along the extending direction vertical to the bed body, the Z-axis translation mechanism is used for driving the manipulator device to translate along the extending direction of the bed body, and the lifting mechanism is used for driving the manipulator device to perform lifting translation;
the X-axis translation mechanism comprises a first mounting seat, a first driving motor, a first lead screw, a first guide rail, a first ball screw nut, a first guide rail sliding block and a first sliding table, wherein the first driving motor and the first guide rail are arranged on the first mounting seat, the first lead screw is axially connected with a rotating shaft of the first driving motor through a coupler, the first lead screw and the first guide rail are arranged along the length direction vertical to the bed body, the first ball screw nut and the first guide rail sliding block are respectively sleeved on the first lead screw and the first guide rail in a sliding mode, and the first sliding table is arranged on the first guide rail sliding block and the first ball screw nut;
the Z-axis translation mechanism comprises a second mounting seat, a second driving motor, a second screw rod, a second guide rail, a second ball screw nut, a first guide rail sliding block and a second sliding table, the second mounting seat is arranged on the first sliding table, the second driving motor and the second guide rail are both arranged on the second mounting seat, the second screw rod is axially connected with a rotating shaft of the second driving motor through a coupler, the second screw rod and the second guide rail are both arranged perpendicular to the extending direction of the first screw rod, the second ball screw nut and the first guide rail sliding block are respectively sleeved on the second screw rod and the second guide rail in a sliding mode, and the second sliding table is arranged on the second ball screw nut and the second guide rail sliding block;
the lifting mechanism comprises five telescopic rods, the five telescopic rods are arranged on the second sliding table at intervals, and the piston rod ends are connected with the manipulator device;
the manipulator device comprises a rotating base, a first mounting frame, a first rotating motor, an extension arm, a second rotating motor, a second mounting frame, a rotating arm, a third mounting frame, a third rotating motor, a fourth mounting frame, a fourth rotating motor and an appliance mounting frame, wherein the rotating base is arranged on the mobile module and is configured to drive the first mounting frame arranged on the rotating base to axially rotate, the first rotating motor is arranged on the first mounting frame, a rotating shaft of the first rotating motor is radially connected with one end of the extension arm, the second rotating motor is arranged at the other end of the extension arm, the rotating shaft of the second rotating motor is radially connected with the second mounting frame, the third rotating motor is arranged on the second mounting frame, the rotating shaft of the third rotating motor is axially connected with the rotating arm, the third mounting frame is arranged at the other end of the rotating arm, the fourth rotating motor is arranged on the third mounting frame, the rotating shaft of the fourth rotating motor is radially connected with the appliance mounting frame, the ultrasonic knife device is arranged on the appliance mounting frame;
the simulation device comprises a machine body, a display module, a hand action sensing module and a control center, wherein the display module, the hand action sensing module and the control center are arranged on the machine body, the display module is used for displaying images shot by the camera module, the hand action sensing module is used for sensing hand actions and motion tracks of a user, and a display installation chamber and an operation chamber are arranged in the machine body, are respectively arranged above the display installation chamber and below the display installation chamber;
second embodiment, the present embodiment is further described in the above embodiments, and it should be understood that the present embodiment includes all the technical features described above and is further described in detail:
a teleultrasound surgical simulation system for hepatobiliary surgery based on an ultrasonic blade, comprising: a bed body;
a moving module for moving the manipulator device;
the manipulator device is arranged on the moving module and used for adjusting the angle of the ultrasonic knife device;
the camera module is arranged on the manipulator device and used for shooting an image of a patient and generating a real-time image;
the simulation device is used for receiving and sending the operation instruction and simultaneously constructing and displaying the virtual model;
the ultrasonic knife device is arranged on the mechanical hand device and is used for generating high-frequency vibration on the knife head to cut;
the moving module comprises an X-axis translation mechanism, a Z-axis translation mechanism and a lifting mechanism, the X-axis translation mechanism is used for driving the manipulator device to translate along the extending direction vertical to the bed body, the Z-axis translation mechanism is used for driving the manipulator device to translate along the extending direction of the bed body, and the lifting mechanism is used for driving the manipulator device to perform lifting translation;
the X-axis translation mechanism comprises a first mounting seat, a first driving motor, a first lead screw, a first guide rail, a first ball screw nut, a first guide rail sliding block and a first sliding table, wherein the first driving motor and the first guide rail are arranged on the first mounting seat, the first lead screw is axially connected with a rotating shaft of the first driving motor through a coupler, the first lead screw and the first guide rail are arranged along the length direction vertical to the bed body, the first ball screw nut and the first guide rail sliding block are respectively sleeved on the first lead screw and the first guide rail in a sliding mode, and the first sliding table is arranged on the first guide rail sliding block and the first ball screw nut;
the Z-axis translation mechanism comprises a second mounting seat, a second driving motor, a second screw rod, a second guide rail, a second ball screw nut, a first guide rail sliding block and a second sliding table, the second mounting seat is arranged on the first sliding table, the second driving motor and the second guide rail are both arranged on the second mounting seat, the second screw rod is axially connected with a rotating shaft of the second driving motor through a coupler, the second screw rod and the second guide rail are both arranged perpendicular to the extending direction of the first screw rod, the second ball screw nut and the first guide rail sliding block are respectively sleeved on the second screw rod and the second guide rail in a sliding mode, and the second sliding table is arranged on the second ball screw nut and the second guide rail sliding block;
the lifting mechanism comprises five telescopic rods, the five telescopic rods are arranged on the second sliding table at intervals, and the piston rod ends are connected with the manipulator device;
the manipulator device comprises a rotating base, a first mounting frame, a first rotating motor, an extension arm, a second rotating motor, a second mounting frame, a rotating arm, a third mounting frame, a third rotating motor, a fourth mounting frame, a fourth rotating motor and an appliance mounting frame, wherein the rotating base is arranged on the mobile module and is configured to drive the first mounting frame arranged on the rotating base to axially rotate, the first rotating motor is arranged on the first mounting frame, a rotating shaft of the first rotating motor is radially connected with one end of the extension arm, the second rotating motor is arranged at the other end of the extension arm, the rotating shaft of the second rotating motor is radially connected with the second mounting frame, the third rotating motor is arranged on the second mounting frame, the rotating shaft of the third rotating motor is axially connected with the rotating arm, the third mounting frame is arranged at the other end of the rotating arm, the fourth rotating motor is arranged on the third mounting frame, the rotating shaft of the fourth rotating motor is radially connected with the appliance mounting frame, the ultrasonic knife device is arranged on the appliance mounting frame;
a protective shell is sleeved on the peripheries of the first mounting frame, the rotating arm and the extension arm;
the camera shooting module is an endoscope, and the lens part is arranged on the appliance mounting frame and faces the front of the ultrasonic knife device;
the simulation device comprises a machine body, a display module, a hand action sensing module and a control center, wherein the display module, the hand action sensing module and the control center are arranged on the machine body, the display module is used for displaying images shot by the camera module, the hand action sensing module is used for sensing hand actions and motion tracks of a user, and a display installation chamber and an operation chamber are arranged in the machine body, are respectively arranged above the display installation chamber and below the display installation chamber;
the display module comprises an eye shield, an ocular and a display screen, the display screen is arranged in the display installation chamber, the display installation chamber is also provided with a window communicated with the outside, the ocular is arranged at the window, and the display screen and the window are obliquely arranged in the display installation chamber in an opposite way;
the hand action sensing module comprises a scalpel physical model and an action shooting sensor, the operating room is provided with an opening communicated with the outside for two hands of a user to extend into, the scalpel physical model is hung in the operating room through an elastic hanging wire, and the action shooting sensor is arranged in the operating room and is constructed to detect the hand position of the user and the position of the scalpel physical model;
the control center is provided with a model generation module and an operation adjustment module, and the model generation module is used for generating a virtual operation picture and offset data according to the received detection information sent by the hand motion sensing module and the real-time image sent by the shooting module; the operation adjusting module is used for controlling the operation of the moving module and each rotating motor of the manipulator device so as to adjust the direction and the angle of the manipulator device;
third embodiment, the present embodiment is further described in the above embodiments, and it should be understood that the present embodiment includes all the technical features described above and is further described in detail:
with further reference to fig. 2-5, a remote ultrasound surgery simulation system for hepatobiliary surgery based on an ultrasound blade, comprising: a bed body;
a moving module for moving the robot device;
the manipulator device is arranged on the moving module and used for adjusting the angle of the ultrasonic knife device;
the camera module is arranged on the manipulator device and used for shooting an image of a patient and generating a real-time image;
the simulation device is used for receiving and sending the operation instruction and simultaneously constructing and displaying the virtual model;
the ultrasonic knife device is arranged on the mechanical hand device and is used for generating high-frequency vibration on the knife head to cut;
the moving module comprises an X-axis translation mechanism, a Z-axis translation mechanism and a lifting mechanism, the X-axis translation mechanism is used for driving the manipulator device to translate along the extending direction vertical to the bed body, the Z-axis translation mechanism is used for driving the manipulator device to translate along the extending direction of the bed body, and the lifting mechanism is used for driving the manipulator device to perform lifting translation;
the X-axis translation mechanism comprises a first mounting seat, a first driving motor, a first lead screw, a first guide rail, a first ball screw nut, a first guide rail sliding block and a first sliding table, wherein the first driving motor and the first guide rail are arranged on the first mounting seat, the first lead screw is axially connected with a rotating shaft of the first driving motor through a coupler, the first lead screw and the first guide rail are arranged along the length direction vertical to the bed body, the first ball screw nut and the first guide rail sliding block are respectively sleeved on the first lead screw and the first guide rail in a sliding mode, and the first sliding table is arranged on the first guide rail sliding block and the first ball screw nut;
the Z-axis translation mechanism comprises a second mounting seat, a second driving motor, a second screw rod, a second guide rail, a second ball screw nut, a first guide rail sliding block and a second sliding table, the second mounting seat is arranged on the first sliding table, the second driving motor and the second guide rail are both arranged on the second mounting seat, the second screw rod is axially connected with a rotating shaft of the second driving motor through a coupler, the second screw rod and the second guide rail are both arranged perpendicular to the extending direction of the first screw rod, the second ball screw nut and the first guide rail sliding block are respectively sleeved on the second screw rod and the second guide rail in a sliding mode, and the second sliding table is arranged on the second ball screw nut and the second guide rail sliding block;
the lifting mechanism comprises five telescopic rods, the five telescopic rods are arranged on the second sliding table at intervals, and the piston rod ends are connected with the manipulator device;
the manipulator device comprises a rotating base, a first mounting frame, a first rotating motor, an extension arm, a second rotating motor, a second mounting frame, a rotating arm, a third mounting frame, a third rotating motor, a fourth mounting frame, a fourth rotating motor and an appliance mounting frame, wherein the rotating base is arranged on the mobile module and is configured to drive the first mounting frame arranged on the rotating base to axially rotate, the first rotating motor is arranged on the first mounting frame, a rotating shaft of the first rotating motor is radially connected with one end of the extension arm, the second rotating motor is arranged at the other end of the extension arm, the rotating shaft of the second rotating motor is radially connected with the second mounting frame, the third rotating motor is arranged on the second mounting frame, the rotating shaft of the third rotating motor is axially connected with the rotating arm, the third mounting frame is arranged at the other end of the rotating arm, the fourth rotating motor is arranged on the third mounting frame, the rotating shaft of the fourth rotating motor is radially connected with the appliance mounting frame, the ultrasonic knife device is arranged on the appliance mounting frame;
the rotating base comprises a case, a sixth rotating motor, a worm gear and a rotating platform, the worm gear is rotatably arranged in the case, the top end of the worm gear is connected with the rotating platform, the sixth rotating motor is arranged on the case, a rotating shaft of the sixth rotating motor is axially connected with the worm, and the worm is in adaptive connection with the worm gear;
a protective shell is sleeved on the peripheries of the first mounting frame, the rotating arm and the extension arm;
the camera shooting module is an endoscope, and the lens part is arranged on the appliance mounting frame and faces the front of the ultrasonic knife device;
the simulation device comprises a machine body, a display module, a hand action sensing module and a control center, wherein the display module, the hand action sensing module and the control center are arranged on the machine body, the display module is used for displaying images shot by the camera module, the hand action sensing module is used for sensing hand actions and motion tracks of a user, and a display installation chamber and an operation chamber are arranged in the machine body, are respectively arranged above the display installation chamber and below the display installation chamber;
the display module comprises an eye shield, an ocular and a display screen, the display screen is arranged in the display installation chamber, the display installation chamber is also provided with a window communicated with the outside, the ocular is arranged at the window, and the display screen and the window are obliquely arranged in the display installation chamber in an opposite way;
an eyeball tracker is also arranged on the display installation chamber;
the hand action sensing module comprises a scalpel physical model and an action shooting sensor, the operating room is provided with an opening communicated with the outside for two hands of a user to extend into, the scalpel physical model is hung in the operating room through an elastic hanging wire, and the action shooting sensor is arranged in the operating room and is constructed to detect the hand position of the user and the position of the scalpel physical model;
the motion shooting sensor comprises an infrared generator and an infrared detector, the infrared generator is used for emitting infrared rays to a hand extending into the operating room and the operation model, the infrared detector is used for receiving the infrared rays reflected from the hand, generating detection information and sending the detection information to the control center;
the scalpel physical model is also provided with a reset button and a gyroscope mechanism, the reset button and the gyroscope mechanism are in signal connection with the control center, and the gyroscope mechanism is used for monitoring the inclined deflection angle of the scalpel physical model;
the control center is provided with a model generation module and an operation adjustment module, and the model generation module is used for generating a virtual operation picture and offset data according to the received detection information sent by the hand motion sensing module and the real-time image sent by the shooting module; the operation adjusting module is used for controlling the operation of the moving module and each rotating motor of the manipulator device so as to adjust the direction and the angle of the manipulator device;
the operation mode of the remote ultrasonic operation simulation system comprises the following steps:
s1, preparation and screen display: the operation state is switched from the standby state through the operation adjusting module manipulator device and the moving module of the control center, and the specific switching mode is as follows: the X-axis translation mechanism operates to push out the manipulator device, then the Y-axis translation mechanism adjusts the manipulator device to come near the incision of the patient, and meanwhile the lifting mechanism lifts the manipulator device to enable the ultrasonic knife device to be located above the incision;
s2, model construction: then the camera module shoots a mirror image at the incision to generate a real-time image, and simultaneously the real-time image is sent to the model generation module and the display screen, the model generation module constructs an initial patient virtual model according to the received real-time image, the display content of the display screen is provided with a first display window and a second display window, and the first display window is used for displaying the real-time image;
s3, implementation operation: the user inserts the hand into the operation room, picks up the scalpel physical model, the motion shooting sensor starts to detect the motion of the hand and the direction of the scalpel physical model at the moment, the generated detection information is sent to the model generation module, the model generation module constructs a virtual model of the scalpel according to the detection information, the action track of the virtual model of the scalpel is synchronous with the action track of the physical model of the scalpel, meanwhile, the virtual model of the scalpel and the virtual model of the initial patient are synthesized and reacted to generate an operation image, meanwhile, the operation image is sent to a second display window of the display screen for displaying, the control center starts to time, if the reset button is not pressed within the lag time, the manipulator device adjusts the position and the angle of the ultrasonic knife device according to the detection information, so that the offset condition of the ultrasonic knife device is the same as that of the virtual model of the scalpel in the previous stage of the lag time;
s4, resetting: if the reset button is pressed within the lag time, the manipulator device enters a standby state, the model generation module receives the real-time image sent by the shooting module again, a new initial patient virtual model is generated according to the new real-time image, the scalpel virtual model is continuously synchronous with the scalpel physical model in the process of pressing the reset button, and the model generation module synthesizes and reacts the scalpel virtual model and the new initial patient virtual model to generate an operation image which is sent to a second display window to be displayed;
after the reset button is released, the control center restarts timing, and if the reset button is not pressed within the lag time, the manipulator device adjusts the position and the angle of the ultrasonic knife device according to the detection information, so that the relative position and the offset condition of the ultrasonic knife device are the same as those of the virtual model of the scalpel before the lag time;
s5, display window switching: the initial display state of the display screen is that the first display window is an enlarged display area of which the main window is arranged in the middle of the screen, and the second display window is arranged in a first reduced display area at the right lower part of the screen, which is a first display state, when in the first display state, the eyeball tracker identifies that the eyeball focus of the user exceeds the watching set time in the first reduced display area, the second display window is transferred to the enlarged display area, and simultaneously the first display window is transferred to a second reduced area arranged at the left lower part of the screen, which is a second display state, when in the second display state, the eyeball tracker identifies that the eyeball focus of the user exceeds the watching set time in the second reduced area, the second display state is changed into the first display state again;
in this embodiment, the lag time is 3 seconds, and the gaze setting time is 2 seconds;
although the invention has been described above with reference to various embodiments, it should be understood that many changes and modifications may be made without departing from the scope of the invention. That is, the methods, systems, and devices discussed above are examples. Various configurations may omit, substitute, or add various procedures or components as appropriate. For example, in alternative configurations, the methods may be performed in an order different than that described, and/or various components may be added, omitted, and/or combined. Moreover, features described with respect to certain configurations may be combined in various other configurations, as different aspects and elements of the configurations may be combined in a similar manner. Further, elements therein may be updated as technology evolves, i.e., many elements are examples and do not limit the scope of the disclosure or claims.
Specific details are given in the description to provide a thorough understanding of the exemplary configurations including implementations. However, configurations may be practiced without these specific details, for example, well-known circuits, processes, algorithms, structures, and techniques have been shown without unnecessary detail in order to avoid obscuring the configurations. This description provides example configurations only, and does not limit the scope, applicability, or configuration of the claims. Rather, the foregoing description of the configurations will provide those skilled in the art with an enabling description for implementing the described techniques. Various changes may be made in the function and arrangement of elements without departing from the spirit or scope of the disclosure.
In conclusion, it is intended that the foregoing detailed description be regarded as illustrative rather than limiting, and that it be understood that these examples are illustrative only and are not intended to limit the scope of the invention. After reading the description of the invention, the skilled person can make various changes or modifications to the invention, and these equivalent changes and modifications also fall into the scope of the invention defined by the claims.
Claims (6)
1. A remote ultrasonic surgery simulation system for hepatobiliary surgery based on an ultrasonic blade, comprising: a bed body;
a moving module for moving the robot device;
the manipulator device is arranged on the moving module and used for adjusting the angle of the ultrasonic knife device;
the camera module is arranged on the manipulator device and used for shooting an image of a patient and generating a real-time image;
the simulation device is used for receiving and sending the operation instruction and simultaneously constructing and displaying the virtual model;
the ultrasonic knife device is arranged on the mechanical hand device and is used for generating high-frequency vibration on the knife head to cut;
the manipulator device comprises a rotating base, a first mounting frame, a first rotating motor, an extension arm, a second rotating motor, a second mounting frame, a rotating arm, a third mounting frame, a third rotating motor, a fourth mounting frame, a fourth rotating motor, a fifth mounting frame, a fifth rotating motor and an appliance mounting frame, wherein the rotating base is arranged on the mobile module and is configured to drive the first mounting frame arranged on the rotating base to axially rotate, the first rotating motor is arranged on the first mounting frame, a rotating shaft is radially connected with one end of the extension arm, the second rotating motor is arranged at the other end of the extension arm, a rotating shaft is radially connected with the second mounting frame, the third rotating motor is arranged on the second mounting frame, a rotating shaft is axially connected with the rotating arm, and the third mounting frame is arranged at the other end of the rotating arm, the fourth rotating motor is arranged on the third mounting frame, a rotating shaft is radially connected with the appliance mounting frame, and the ultrasonic knife device is arranged on the appliance mounting frame;
the simulation device comprises a machine body, a display module, a hand action sensing module and a control center, wherein the display module, the hand action sensing module and the control center are arranged on the machine body, the display module is used for displaying images shot by the camera module, the hand action sensing module is used for sensing hand actions and motion tracks of a user, and a display installation chamber and an operation chamber are arranged in the machine body, are respectively arranged above the display installation chamber and below the display installation chamber;
the display module comprises an eye shield, an ocular and a display screen, the display screen is arranged in the display installation chamber, the display installation chamber is also provided with a window communicated with the outside, the ocular is arranged at the window, and the display screen and the window are obliquely arranged in the display installation chamber in an opposite way;
an eyeball tracker is also arranged on the display installation chamber;
the hand action sensing module comprises a scalpel physical model and an action shooting sensor, the operating room is provided with an opening communicated with the outside for two hands of a user to extend into, the scalpel physical model is hung in the operating room through an elastic hanging wire, and the action shooting sensor is arranged in the operating room and is constructed to detect the hand position of the user and the position of the scalpel physical model;
the motion shooting sensor comprises an infrared generator and an infrared detector, the infrared generator is used for emitting infrared rays to a hand extending into the operating room and the operation model, the infrared detector is used for receiving the infrared rays reflected from the hand, generating detection information and sending the detection information to the control center;
the scalpel physical model is also provided with a reset button and a gyroscope mechanism, the reset button and the gyroscope mechanism are in signal connection with the control center, and the gyroscope mechanism is used for monitoring the inclined deflection angle of the scalpel physical model;
the control center is provided with a model generation module and an operation adjustment module, and the model generation module is used for generating a virtual operation picture and offset data according to the received detection information sent by the hand motion sensing module and the real-time image sent by the shooting module; the operation adjusting module is used for controlling the operation of the moving module and each rotating motor of the manipulator device so as to adjust the direction and the angle of the manipulator device.
2. The remote ultrasonic simulation system for hepatobiliary surgery based on an ultrasonic blade of claim 1, wherein the moving module comprises an X-axis translation mechanism, a Z-axis translation mechanism and a lifting mechanism, the X-axis translation mechanism is configured to drive the manipulator device to translate along a direction perpendicular to an extension direction of the bed body, the Z-axis translation mechanism is configured to drive the manipulator device to translate along the extension direction of the bed body, and the lifting mechanism is configured to drive the manipulator device to perform lifting translation.
3. The remote ultrasonic surgery simulation system based on hepatobiliary surgery of ultrasonic knife of claim 2, wherein the X-axis translation mechanism comprises a first mounting seat, a first driving motor, a first lead screw, a first guide rail, a first ball screw nut, a first guide rail slider and a first sliding table, the first driving motor and the first guide rail are both arranged on the first mounting seat, the first lead screw is axially connected with a rotating shaft of the first driving motor through a coupler, the first lead screw and the first guide rail are both arranged along a length direction perpendicular to the bed body, the first ball screw nut and the first guide rail slider are respectively slidably sleeved on the first lead screw and the first guide rail, and the first sliding table is arranged on the first guide rail slider and the first ball screw nut.
4. The remote ultrasonic surgery simulation system for hepatobiliary surgery based on an ultrasonic blade of claim 2, it is characterized in that the Z-axis translation mechanism comprises a second mounting seat, a second driving motor, a second screw, a second guide rail, a second ball screw nut, a first guide rail slide block and a second sliding table, the second mounting seat is arranged on the first sliding table, the second driving motor and the second guide rail are both arranged on the second mounting seat, the second screw rod is axially connected with a rotating shaft of the second driving motor through a coupler, just the extending direction setting of the equal perpendicular to first lead screw of second lead screw and second guide rail, second ball screw nut and first guide rail slider slip the cover respectively and establish on second lead screw and the second guide rail, the second slip table sets up on second ball screw nut and the second guide rail slider.
5. The remote ultrasonic operation simulation system for hepatobiliary surgery based on an ultrasonic knife according to claim 2, wherein the lifting mechanism comprises five telescopic rods, the five telescopic rods are arranged on the second sliding table at intervals, and the piston rod ends are connected with the manipulator device.
6. The remote ultrasonic operation simulation system for hepatobiliary surgery based on an ultrasonic scalpel according to claim 1, wherein the simulation device comprises a body, and a display module, a hand motion sensing module and a control center which are arranged on the body, wherein the display module is used for displaying images captured by the camera module, the hand motion sensing module is used for sensing hand motions and motion tracks of a user, and a display installation chamber and an operation chamber are respectively arranged above and below the body.
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| CN202011557394.2A CN112704563B (en) | 2020-12-25 | 2020-12-25 | Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10427305B2 (en) * | 2016-07-21 | 2019-10-01 | Autodesk, Inc. | Robotic camera control via motion capture |
| CN113796933A (en) * | 2021-10-12 | 2021-12-17 | 北京派尔特医疗科技股份有限公司 | Ultrasonic knife |
| CN114431923B (en) * | 2022-01-29 | 2022-09-30 | 北京铸正机器人有限公司 | Surgical cutting operation instrument |
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