CN114120735A - Cataract ultrasonic emulsification virtual operation training system - Google Patents
Cataract ultrasonic emulsification virtual operation training system Download PDFInfo
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- CN114120735A CN114120735A CN202110854370.1A CN202110854370A CN114120735A CN 114120735 A CN114120735 A CN 114120735A CN 202110854370 A CN202110854370 A CN 202110854370A CN 114120735 A CN114120735 A CN 114120735A
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The invention discloses a cataract ultrasonic emulsification virtual operation training system which comprises a hardware system and a software system, wherein the hardware system comprises an ophthalmic operation simulation microscope eyepiece, an operation platform with a simulation eyeball, an ophthalmic operation handle, a force feedback device, a pedal eyepiece magnification and focusing controller, an ultrasonic emulsification device controller, an eyepiece support, a computer and a display. The invention realistically reproduces the operation process according to the biomechanical characteristics of a plurality of layers of soft tissues of eyeballs, adds the force feedback device to enable a student to feel realistic touch in operation training, carries an operating handle similar to the holding hand of a real surgical instrument on the force feedback device to provide the student with realistic touch in operation, constructs an operation scene and biological tissues by using a Unity3D software platform, and solves the problem of single subject of part of operation simulators.
Description
Technical Field
The invention relates to the technical field of virtual operation training, in particular to a cataract ultrasonic emulsification virtual operation training system.
Background
Cataract is a common ophthalmic disease and is also the first blind disease worldwide. With the positive development of the anti-blind and blind-stopping work in China and the improvement of the ophthalmic service capability, the number of embodiments of cataract surgery in China keeps on a continuously increasing trend, the cataract surgery training module of EYESI is divided into entry, beginner, middle-level and high-level courses, PhacoVision mainly trains the students to tear capsules and operate skills of ultrasonic emulsification in cataract surgery, the simulator can set the attributes of an eye model to create virtual patient cases with various difficulties, the simulator can record the training data of the students in the whole training process, and the evaluation result is displayed after the surgery.
In the prior art, EYESI and PhacoVision cannot provide force feedback in the operation process, so that the sense of touch in the operation process is not real, the immersion of simulation training is reduced, MicroVisTouch is provided with a force feedback device and can provide force effect in the operation process, but MicroVisTouch is concentrated in capsulorhexis training in cataract operation and is not provided with an ultrasonic emulsification simulation device, so that the whole process of cataract ultrasonic emulsification cannot be simulated.
Disclosure of Invention
The invention aims to solve the defects in the prior art, and provides a cataract ultrasonic emulsification virtual surgery training system which carries out high-fidelity eyeball modeling according to the biological characteristics of Chinese people, establishes a biological material constitutive equation more close to a real eyeball according to the different biomechanical characteristics of a plurality of layers of eyeball soft tissues and considering factors such as elastic coefficients, damping coefficients, the quality and density of the soft tissues and the like of different components, models the damage of the eyeball, and realistically reproduces the surgery process, wherein the mechanical damage caused by mechanical factors and non-mechanical damages such as laser injury, thermal burn and the like are included;
a force feedback device is added, nonlinear modeling is carried out on stress generated in the operation by using a force feedback algorithm based on a spring quality model, and the stress is fed back to the force feedback device through real-time calculation, so that a student feels vivid touch in operation training. An operating handle similar to the hand feeling of holding the actual surgical instrument is carried on the force feedback device, the switching of various surgical instruments in the operation is realized through a switch on the operating handle, the vivid hand feeling is provided for students in the operation, and the use is convenient;
the Unity3D software platform is used for constructing an operation scene and biological tissues, and is connected with the virtual reality equipment, the human-computer interaction equipment and the force feedback equipment, so that an operation training platform with high immersion is built, various operation subjects are designed, the whole process of the cataract ultrasonic emulsification operation is comprehensively trained, and the problem that part of operation simulator subjects are single is solved.
In order to achieve the purpose, the invention adopts the following technical scheme:
cataract ultrasonic emulsification virtual operation training system, including hardware system and software system, hardware system includes ophthalmic surgery simulation microscope eyepiece, has the operation platform of emulation eyeball, ophthalmic surgery operating handle, force feedback equipment, pedal eyepiece magnification and focusing controller and phacoemulsification device controller, eyepiece support, computer, display, software system includes flexible eyeball module of modelling, human-computer interaction interface, soft tissue collision detection module, soft tissue deformation and cutting real-time computation module, force feedback module, virtual reality registration and orientation module, training guidance and evaluation module, data storage and transmission module.
Preferably, the display is used for selecting courses and patient models for the human-computer interaction interface, after the simulated surgery starts, the control computer establishes a virtual surgery scene according to different surgery conditions and course requirements, and displays the virtual surgery scene in the microscope eyepiece.
Preferably, the flexible modeling module is used for operating the simulated eyeball by using the operating handle according to the course requirement of the student, calculating and displaying the deformation, damage or puncture state of the eyeball in real time in a virtual scene according to the interaction between the surgical tool and the simulated eyeball, simulating and feeding back the force generated by collision, deformation or cutting in the operation through the spring quality model according to the biomechanics of the real eyeball on the force feedback device, and the sound system can simulate the sound generated by surgical equipment and a patient in the operation.
Preferably, the data storage module is used for recording the operation data of the student and a part of the biological characteristics as a judgment basis for the operation level of the student, and after the simulated operation is finished, the system can evaluate and propose an improvement suggestion for the performance of the student.
Preferably, the force feedback device is provided with an operating handle for operating the surgical instrument, and the operating handle switches the surgical instrument through a foot controller.
Preferably, the force feedback device is connected with a virtual reality device and a human-computer interaction device through a Unity3D software platform, and the Unity3D software platform is used for constructing surgical scenes and biological tissues.
Compared with the prior art, the invention has the beneficial effects that:
1. through setting up biological flexible tissue modeling technique, realize carrying out the biological characteristic modeling of high fidelity to the eyeball to collision, deformation and the cutting of soft tissue carry out real-time simulation, with high fidelity and the sense of immersing that increase virtual operation scene.
2. Through setting up the force feedback equipment of high accuracy, use the quality spring model to carry out accurate nonlinear modeling to the sense of force that receives in the operation, come the sense of touch in lifelike reduction operation to use the force feedback equipment to fix a position, improve the location accuracy nature in the operation.
3. Through using the operating tool and the pedal touch panel that are very similar with the operation of reality, adopt real-time human-computer interaction system and sound system, strengthen the sense of reality of student in the operation, make the student can be more personally on the scene carry out the operation training, improve operating skill fast.
4. Through setting up abundant operation training course, including tearing the bag, splitting the nucleus, phacoemulsification and crystal implantation, carry out comprehensive and targeted training to cataract phacoemulsification operation overall process, satisfy the training demand of student in each aspect.
5. By providing a complete evaluation mechanism, the data of the student in operation can be recorded and systematic evaluation can be given.
Drawings
FIG. 1 is a connection diagram of the hardware structure of the force feedback operation system of the cataract ultrasonic emulsification virtual surgery training system provided by the invention;
FIG. 2 is a schematic diagram of a hardware system structure of a cataract phacoemulsification virtual surgery training system according to the present invention;
FIG. 3 is a system diagram of a cataract phacoemulsification virtual surgery training system according to the present invention;
fig. 4 is a system block diagram of the Unity3D software platform of the training system for phacoemulsification virtual surgery according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as broadly as the present invention is capable of modification in various respects, all without departing from the spirit and scope of the present invention.
Referring to fig. 1-4, the cataract ultrasonic emulsification virtual surgery training system comprises a hardware system and a software system, wherein the hardware system comprises an ophthalmic surgery simulation microscope eyepiece, an operation platform with a simulation eyeball, an ophthalmic surgery operation handle, a force feedback device, a pedal eyepiece magnification and focusing controller, an ultrasonic emulsification device controller, an eyepiece support, a computer and a display, and the software system comprises a flexible eyeball modeling module, a human-computer interaction interface, a soft tissue collision detection module, a soft tissue deformation and cutting real-time calculation module, a force feedback module, a virtual-real registration and positioning module, a training guidance and evaluation module and a data storage and transmission module.
The display is used for selecting courses and patient models for the human-computer interaction interface, after the simulated operation starts, the control computer can establish a virtual operation scene according to different operation conditions and course requirements, and the virtual operation scene is displayed in the microscope eyepiece.
The flexible modeling module is used for calculating and displaying the deformation, damage or puncture state of the eyeball in real time in a virtual scene according to the interaction of a surgical tool and the simulated eyeball when the student uses the operating handle to operate the simulated eyeball according to the course requirement of the student, and simulating and feeding back the force generated by collision, deformation or cutting in the operation through the spring quality model according to the biomechanics of the real eyeball on the force feedback device, and the sound system can simulate the sound generated by surgical equipment and a patient in the operation.
The data storage module is used for recording the operation data of the student and a part of biological characteristics to be used as a judgment basis for the operation level of the student. After the simulated operation is finished, the system can evaluate and propose improvement opinions on the performance of the trainees.
The cataract ultrasonic emulsification virtual operation training system provided by the invention is realized by the following use method:
the method comprises the following steps that a student selects a training course and difficulty by using a human-computer interaction interface, and a computer generates an operation scene according to the setting of the student;
the student sits at a designated position, observes a virtual image simulating eyeball modeling in the simulation microscope eyepiece, and adjusts the magnification and the focal length of the eyepiece by using the pedal control panel.
The student selects a proper operation tool to operate the simulated eyeball on the operation platform, the human-computer interaction module and the virtual-real registration and positioning module can acquire the position and the direction of the operation handle, and the virtual operation tool corresponding to the operation handle is displayed in the simulated microscope eyepiece, so that the student can see a vivid operation scene in the operation visual field, and the student can switch different operation tools through a switch on the operation handle to perform operations such as capsulorhexis, ultrasonic emulsification, nucleus cleavage, perfusion, suction and the like, and the operations are basically consistent with the operations in a real operation.
In the operation process, the collision detection module adopts a soft tissue collision detection method based on a collision set to perform real-time collision detection calculation on interaction between an operation tool and soft tissue, the soft tissue deformation and cutting real-time calculation module simulates deformation and cutting of the soft tissue by using a spring quality system, and phenomena possibly generated in a series of operation processes such as eyeball deformation, cutting, bleeding and the like are simulated in real time in a virtual operation scene.
In the operation process, the force feedback system calculates the change of the force applied to the operation tool in real time according to the operation of the student and the degree of eyeball deformation and cutting in the operation scene, and feeds the change of the force to the force feedback device in time, and the motor driving the force feedback device simulates the force applied to the hand, so that the student feels the change of the force applied in the real operation.
When the training of the ultrasonic emulsification module is carried out, the student uses the operating handle to switch to the simulated ultrasonic emulsification tool, and then uses the pedal control board to carry out the ultrasonic emulsification operation.
After the operation training is finished, the computer scores all skills of the student according to the data collected in the operation process, gives a rating and provides an improvement suggestion.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. Cataract ultrasonic emulsification virtual operation training system, including hardware system and software system, its characterized in that, hardware system includes ophthalmic surgery simulation microscope eyepiece, has the operation platform of emulation eyeball, ophthalmic surgery operating handle, force feedback equipment, pedal eyepiece magnification and focusing controller and phacoemulsification device controller, eyepiece support, computer, display, software system includes flexible eyeball modeling module, human-computer interaction interface, soft tissue collision detection module, soft tissue deformation and cutting real-time computation module, force feedback module, virtual reality registration and orientation module, training guidance and evaluation module, data storage and transmission module.
2. The cataract phacoemulsification virtual surgery training system of claim 1, wherein the display is used for selecting courses and patient models for the human-computer interaction interface, and after the simulated surgery is started, the control computer establishes a virtual surgery scene according to different surgery conditions and requirements of the courses and displays the virtual surgery scene in the microscope eyepiece.
3. The cataract phacoemulsification virtual surgery training system of claim 2, wherein the flexible modeling module is used for calculating and displaying deformation, damage or puncture state of an eyeball in real time in a virtual scene according to interaction of a surgical tool and the simulated eyeball when the student uses the operating handle to operate the simulated eyeball according to course requirements of the student, simulating and feeding back force generated by collision, deformation or cutting in surgery through a spring quality model according to biomechanics of the real eyeball on the force feedback device, and the sound system can simulate sounds generated by surgical equipment and a patient in the surgery.
4. The phacoemulsification virtual surgery training system of claim 3, wherein the data storage module is used for recording the operation data of the trainee and a part of the biological characteristics as a basis for judging the operation level of the trainee, and after the simulated surgery is finished, the system can evaluate and provide improvement suggestions for the performance of the trainee.
5. The phacoemulsification virtual surgery training system of claim 4, wherein the force feedback device is provided with an operation handle for operating a surgical instrument, and the operation handle switches the surgical instrument through a switch on the operation handle.
6. The phacoemulsification virtual surgery training system of claim 5, wherein the force feedback device is connected with a virtual reality device and a human-computer interaction device through a Unity3D software platform, and the Unity3D software platform is used for constructing surgical scenes and biological tissues.
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| CN202110854370.1A CN114120735A (en) | 2021-07-28 | 2021-07-28 | Cataract ultrasonic emulsification virtual operation training system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115019877A (en) * | 2022-08-05 | 2022-09-06 | 上海华模科技有限公司 | Method and device for modeling and updating biological tissue model and storage medium |
| CN115019591A (en) * | 2022-08-05 | 2022-09-06 | 上海华模科技有限公司 | Operation simulation method, operation simulation device and storage medium |
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2021
- 2021-07-28 CN CN202110854370.1A patent/CN114120735A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115019877A (en) * | 2022-08-05 | 2022-09-06 | 上海华模科技有限公司 | Method and device for modeling and updating biological tissue model and storage medium |
| CN115019591A (en) * | 2022-08-05 | 2022-09-06 | 上海华模科技有限公司 | Operation simulation method, operation simulation device and storage medium |
| CN115019591B (en) * | 2022-08-05 | 2022-11-04 | 上海华模科技有限公司 | Operation simulation method, device and storage medium |
| CN115019877B (en) * | 2022-08-05 | 2022-11-04 | 上海华模科技有限公司 | Method and device for modeling and updating biological tissue model and storage medium |
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