CN113096509B - Stress calculation method based on surgical operation suture stress model - Google Patents
Stress calculation method based on surgical operation suture stress model Download PDFInfo
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Abstract
The invention discloses a stress calculation method based on a suture stress model of a surgical operation, wherein the stress model based on the suture operation comprises a dummy skin flesh tissue model, a model supporting plate, four six-dimensional force/torque sensors and corresponding mounting and fixing components, the four six-dimensional force/torque sensors are fixedly mounted below four corners of the model supporting plate, and the dummy skin flesh tissue model is mounted on the model supporting plate and fixedly mounted. When the simulated surgery is carried out, the force and moment information in three required directions is acquired through four six-dimensional force/moment sensors arranged at the edge of a surgical artificial skin model, the real-time operation position and the stress size in the surgery process are approximately obtained through conversion, and the operation precision and the force application size of the remote surgery of the surgical staff are analyzed on the basis of the operation position and the stress size, so that the problem of the existing surgical simulated surgery information acquisition can be solved, and the surgical staff is finally assisted to evaluate the surgery process.
Description
Technical Field
The invention relates to the technical field of sensors, in particular to effectiveness of constructing a surgical strength system.
Background
Laparoscopic surgery requires the surgeon to learn a new set of skills, the most relevant of which is tissue manipulation. Excessive force applied to the tissue can cause rupture during the procedure or ischemia of the tissue during the procedure. The aim of the present study is to establish an evaluation system for laparoscopic surgery in surgical systems based on force signals generated during the suturing task and force parameters for evaluating tissue processing interactions.
At present, a theoretical calculation based on a surgical model (see Salvador Montoya-Alvarez1 Arturo Minor-Mart i nez1 Riccardo Manual Ordorica-Flores2 Luis Padella-S a nchez. Jes. Tapia-Jurado Ferna and P rez-Eschargirosa534. constraction value of the SurgForce system for object assessment of laproscopic suring shells. https:// doi. org/10.1007/00464-020-.
Disclosure of Invention
Aiming at the prior art, based on investigation results and data analysis, the invention provides a stress calculation method based on a surgical operation suture stress model, which is used for establishing a stress theoretical model, acquiring the required force and moment information in three directions through four six-dimensional force/moment sensors arranged at the edge of an operation artificial skin model, approximately obtaining the real-time operation position and the stress magnitude in the operation process through conversion, analyzing the operation precision and the force application magnitude of the remote operation of an operator on the basis of the real-time operation position and the stress magnitude, and finally assisting the operator to evaluate the operation process.
In order to solve the technical problem, the stress calculation method based on the surgical suture stress model provided by the invention comprises the following specific steps:
the three component forces of the first six-dimensional force/moment sensor are respectively Fx1, Fy1 and Fz1, and the three moments are respectively Tx1, Ty1 and Tz 1;
the three component forces of the second six-dimensional force/moment sensor are respectively Fx2, Fy2 and Fz2, and the three moments are respectively Tx2, Ty2 and Tz 2;
the three component forces of the third six-dimensional force/moment sensor are respectively Fx3, Fy3 and Fz3, and the three moments are respectively Tx3, Ty3 and Tz 3;
the three component forces of the fourth six-dimensional force/moment sensor are respectively Fx4, Fy4 and Fz4, and the three moments are respectively Tx4, Ty4 and Tz 4;
knowing the sizes of the model supporting plate and the artificial skin human meat tissue model, obtaining all the component forces and moments through the four six-dimensional force/moment sensors, and calculating the size and the direction of a sewing force F; and then the position of the stress point A is calculated according to the magnitude of the 12 moments.
Further, the stress calculation method of the present invention includes: calculating the size and the direction of the sewing force F relative to a Cartesian coordinate system established by the center of the artificial skin meat tissue model,
1) calculating the magnitude of the stitching force F:
let the resultant force F be Fx in the cartesian coordinate system x, Fx1+ Fx2+ Fx3+ Fx4 (1)
Assuming that the stitching force F is applied in the Y direction of the Cartesian coordinate system as Fy, Fy1+ Fy2+ Fy3+ Fy4 (2)
Let the stitching force F be Fz in the z direction of the Cartesian coordinate system, Fz is 1+ Fz2+ Fz3+ Fz4-Mg (3)
2) Determining the position of the force bearing point F:
according to a Cartesian coordinate system established by each six-dimensional force/torque sensor on the artificial skin meat tissue model, obtaining:
Tzn＝-Fxn*x+Fyn*y (4)
Tyn＝-Fxn*z-Fzn*x (5)
Txn＝Fyn*z+Fzn*y (6)
in formulae (4) to (6), n is 1, 2, 3, 4;
all moments measured by the four six-dimensional force sensors and component forces of the artificial skin flesh tissue model obtained by the formulas (1) to (3) in the directions of x, y and z of the stress point A are utilized; substituting the moment and the component force into equations (4) to (6) to obtain the coordinate (x) of the stress point AA，yA，zA) I.e. the position of the point of force F.
Compared with the prior art, the invention has the beneficial effects that:
(1) the trainer and virtual reality simulator corresponding to the surgical suture stress model established by the invention can provide a safe environment for the practice and training of laparoscope skills and the performance evaluation of surgeons and surgical hospitalizers. And in particular laparoscopic trainers, provide a realistic environment that reproduces the natural tactile feedback using standard laparoscopic instruments.
(2) Four six-dimensional force/moment sensors are added at the four corners of the bottom of a surgical suture stress model (trainer), so that the surgical suture stress model and the trainer can objectively evaluate surgical performance and force feedback generated by laparoscopic instruments. The surgical suture stress model established by the invention is based on an acceleration measuring instrument to measure the dynamic force applied to tissues, and objectively evaluates advanced laparoscopic technology in the suture process. The sensor system, consisting of four six-dimensional force/torque sensors, provides a valuable tool for qualitatively evaluating the forces applied during needle penetration and suture tying. According to the invention, the six-dimensional force/torque sensors are respectively arranged at the four corners of the artificial skin meat tissue model, so that the information obtained through the four groups of data is more accurate, and the error is lower.
(3) The invention has low use cost, only needs to replace the artificial skin tissue after each use, can be recycled for a plurality of times, and is convenient and quick.
Drawings
FIG. 1 is a schematic perspective view of a suture force-bearing model of the present invention;
FIG. 2 is a schematic diagram of force point determination and force magnitude determination in an embodiment of the present invention.
In the figure: 1-a first six-dimensional force/torque sensor, 2-a second six-dimensional force/torque sensor, 3-a third six-dimensional force/torque sensor, 4-a fourth six-dimensional force/torque sensor, 5-a dummy skin human meat tissue model and 6-a model supporting plate.
Detailed Description
The invention relates to the technical field of sensors, and the design idea of the invention is the effectiveness of constructing a surgical operation strength system. The stress model based on the suture operation comprises a dummy skin human meat tissue model, a model supporting plate, six-dimensional force/torque sensors and corresponding mounting and fixing components, wherein the four six-dimensional force/torque sensors are fixedly mounted below four corners of the model supporting plate, and the dummy skin human meat tissue model is fixedly mounted above the model supporting plate. When the simulated operation is carried out, the four six-dimensional force/torque sensors below the four corners of the model supporting plate can measure the force applied to the meat tissue model of the dummy skin person, and the position of the force-applying point and the force magnitude can be accurately obtained by substituting the force-applying model provided by the invention. Therefore, the problem of information acquisition of the existing surgical simulation operation can be solved. The force sensing system formed by the four six-dimensional force/torque sensors can accurately obtain stress information during operation, and has important significance for practice and learning of doctors with less experience, acquisition of operation information of experts, further research on medical robots and the like.
In the description of the present invention, it should be noted that the terms "first", "second", "third", and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The invention will be further described with reference to the following figures and specific examples, which are not intended to limit the invention in any way.
As shown in fig. 1, the surgical suture stress model established in the present invention comprises a dummy skin flesh tissue model 5, a model supporting plate 6 and four six-dimensional force/torque sensors, wherein the dummy skin flesh tissue model 5 is mounted on the model supporting plate 6, in this embodiment, the length, width and height of the model supporting plate 6 are L, B, H respectively, and the mass is M; the four six-dimensional force/torque sensors are respectively arranged at four corners of the bottom surface of the model supporting plate 6, and are respectively recorded as a first six-dimensional force/torque sensor 1, a second six-dimensional force/torque sensor 2, a third six-dimensional force/torque sensor 3 and a fourth six-dimensional force/torque sensor 4. As shown in fig. 2, the six-dimensional force/moment sensor functions mainly as a force sensor that measures force and moment components in three directions, which can be respectively decomposed into three components in a cartesian coordinate system.
In the experimental process of simulating surgical suture, the meat tissue model 5 of the artificial skin suffers from a force with unknown direction and unknown magnitude, and corresponding numerical values can be measured by utilizing four six-dimensional force/torque sensors. The principle is as follows: in the embodiment shown in fig. 2, an operator performs a suture operation on the artificial skin flesh tissue model 5, and when the artificial skin is stressed and stressed in the operation process, the four six-dimensional force/ torque sensors 1, 2, 3 and 4 below the model supporting plate 6 can read certain numerical values, and the numerical values are substituted into the formula deduced in the invention, so that the stress magnitude and the specific position of the artificial skin can be obtained, and the suture operation has important significance for the fields of researching the surgical operation, the practice of the surgical operation and the like.
When surgical suture is performed on the artificial skin flesh tissue model 5, after the artificial skin flesh tissue model 5 is stressed, the four six-dimensional force/moment sensors measure three component forces in x, y and z directions of a Cartesian coordinate system taking the four six-dimensional force/moment sensors as coordinate origin points and three moment forces respectively corresponding to x, y and z axes, and the parameters of the four six-dimensional force/moment sensors are respectively as follows:
the three component forces Fx1, Fy1, Fz1 and the three moments Tx1, Ty1, Tz1 of the first six-dimensional force/moment sensor 1;
the three component forces Fx2, Fy2, Fz2 and the three moments Tx2, Ty2, Tz2 of the second six-dimensional force/moment sensor 2;
the three component forces Fx3, Fy3, Fz3 and the three moments Tx3, Ty3, Tz3 of the third six-dimensional force/moment sensor 3;
the three component forces Fx4, Fy4, Fz4 and the three moments Tx4, Ty4, Tz4 of the fourth six-dimensional force/moment sensor 4;
the derivation process is to calculate the magnitude and direction of the stitching force F according to the magnitude of 12 forces and 12 moments read by the sensors and the known magnitudes of the model supporting plate 5 and the dummy skin meat tissue model 5, and then calculate the position of the force point A according to the magnitudes of the 12 moments.
Calculating the size and the direction of the sewing force F relative to a Cartesian coordinate system established by the center of the artificial skin meat tissue model 5, wherein the derivation formula is as follows:
determining the force in the x direction of the coordinate system, and setting the force as Fx, Fx1+ Fx2+ Fx3+ Fx4 (1)
Determining the force in the y direction of the coordinate system, and setting the force as Fy, Fy1+ Fy2+ Fy3+ Fy4 (2)
Calculating the force in the z direction of the coordinate system, and setting the force as Fz, Fz1+ Fz2+ Fz3+ Fz4-Mg (3)
The magnitude of the F force is determined from equations (1) to (3):
calculating the position of the F force:
according to a Cartesian coordinate system established by each six-dimensional force/torque sensor on the artificial skin meat tissue model (5), obtaining:
Tzn＝-Fxn*x+Fyn*y (4)
Tyn＝-Fxn*z-Fzn*x (5)
Txn＝Fyn*z+Fzn*y (6)
in equations (4) to (6), n is 1, 2, 3, and 4, and corresponds to the first, second, third, and fourth six-dimensional force/torque sensors, respectively. On the artificial skin flesh tissue model 5, a cartesian coordinate system is established in a manner shown in fig. 2, and the coordinates of the stress point are set by using all moments measured by the four six-dimensional force sensors and the component forces of the artificial skin flesh tissue model 5 obtained by the formulas (1) to (3) in the three directions of x, y and z of the stress point a.
Taking the first six-dimensional force/torque sensor 1 as an example, the cartesian coordinate system established on the artificial skin flesh tissue model 5 is obtained:
Tz1＝-Fx1*x+Fy1*y (4)
Ty1＝-Fx1*z-Fz1*x (5)
Tx1＝Fy1*z+Fz1*y (6)
combining the three formulas, substituting the measured torque and component force of the first six-dimensional force/torque sensor into formulas (4) to (6), obtaining x, y and z, and determining the coordinate (x) of the force point AA，yA，zA) I.e. the position of the point of force F.
According to the example of the first six-dimensional force/torque sensor 1, similarly, the results of the second six-dimensional force/torque sensor 2, the third six-dimensional force/torque sensor 3 and the fourth six-dimensional force/torque sensor 4 can be sequentially obtained, that is, each six-dimensional force/torque sensor can measure one position.
While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are illustrative only and not restrictive, and various modifications which do not depart from the spirit of the present invention and which are intended to be covered by the claims of the present invention may be made by those skilled in the art.
Claims (2)
1. A stress calculation method based on a surgical suture stress model is characterized by comprising the following specific steps:
step 1, establishing a surgical suture stress model, wherein the stress model comprises a dummy skin flesh tissue model (5), a model supporting plate (6) and four six-dimensional force/torque sensors, the dummy skin flesh tissue model (5) is arranged on the model supporting plate (6), the four six-dimensional force/torque sensors are respectively arranged at four corners of the bottom surface of the model supporting plate (6), and the four six-dimensional force/torque sensors are respectively marked as a first six-dimensional force/torque sensor (1), a second six-dimensional force/torque sensor (2), a third six-dimensional force/torque sensor (3) and a fourth six-dimensional force/torque sensor (4);
step 2, when surgical suture is performed on the artificial skin meat tissue model (5), after the artificial skin meat tissue model (5) is stressed, the four six-dimensional force/torque sensors measure three component forces in the directions of x, y and z of a Cartesian coordinate system taking the respective four six-dimensional force/torque sensors as coordinate origins and three moments respectively corresponding to the x, y and z axes, and the parameters of the four six-dimensional force/torque sensors are respectively as follows:
the three component forces of the first six-dimensional force/moment sensor (1) are respectively Fx1, Fy1 and Fz1, and the three moments are respectively Tx1, Ty1 and Tz 1;
the three component forces of the second six-dimensional force/moment sensor (2) are respectively Fx2, Fy2 and Fz2, and the three moments are respectively Tx2, Ty2 and Tz 2;
the three component forces of the third six-dimensional force/moment sensor (3) are respectively Fx3, Fy3 and Fz3, and the three moments are respectively Tx3, Ty3 and Tz 3;
the three component forces of the fourth six-dimensional force/moment sensor (4) are respectively Fx4, Fy4 and Fz4, and the three moments are respectively Tx4, Ty4 and Tz 4;
knowing the sizes of the model supporting plate (6) and the artificial skin human meat tissue model (5), obtaining all component forces and moments through the four six-dimensional force/moment sensors, and calculating the size and the direction of a sewing force F; and then the position of the stress point A is calculated according to the magnitude of the 12 moments.
2. The force calculation method based on surgical suture force model according to claim 1, wherein the magnitude and direction of the suture force F are calculated with respect to the Cartesian coordinate system established at the center of the artificial skin flesh tissue model (5),
1) calculating the magnitude of the stitching force F:
let the resultant force F be Fx in the cartesian coordinate system x, Fx1+ Fx2+ Fx3+ Fx4 (1)
Assuming that the stitching force F is applied in the Y direction of the Cartesian coordinate system as Fy, Fy1+ Fy2+ Fy3+ Fy4 (2)
Let the stitching force F be Fz in the z direction of the Cartesian coordinate system, Fz is 1+ Fz2+ Fz3+ Fz4-Mg (3)
2) Determining the position of the stress point:
according to a Cartesian coordinate system established by each six-dimensional force/torque sensor on the artificial skin meat tissue model (5), obtaining:
Tzn＝-Fxn*x+Fyn*y (4)
Tyn＝-Fxn*z-Fzn*x (5)
Txn＝Fyn*z+Fzn*y (6)
in formulae (4) to (6), n is 1, 2, 3, 4;
all moments measured by the four six-dimensional force/moment sensors and component forces of the artificial skin meat tissue model (5) obtained by the formulas (1) to (3) in the directions of x, y and z of the stress point A are utilized; substituting the moment and the component force into equations (4) to (6) to obtain the coordinate (x) of the stress point AA，yA，zA) I.e. the position of the point of force F.
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| CN2234088Y (en) * | 1995-06-15 | 1996-08-28 | 霍鸣 | Three-dimension distribution force measurer |
| CN102772847A (en) * | 2012-06-06 | 2012-11-14 | 北京航空航天大学 | Device for measuring conduit interventional force and torque in cardiovascular interventional operation in real time |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2234088Y (en) * | 1995-06-15 | 1996-08-28 | 霍鸣 | Three-dimension distribution force measurer |
| CN102772847A (en) * | 2012-06-06 | 2012-11-14 | 北京航空航天大学 | Device for measuring conduit interventional force and torque in cardiovascular interventional operation in real time |
Non-Patent Citations (1)
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| Motion control skill assessment based on kinematic analysis of robotic end-effector movements;Yuan Xing等;《International Journal of Medical Robotics and Computer Assisted Surgery》;20170630;全文 * |
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