CN115331531A - Teaching device and method for full-true simulation arthroscopic surgery - Google Patents
Teaching device and method for full-true simulation arthroscopic surgery Download PDFInfo
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- 238000004088 simulation Methods 0.000 title claims abstract description 89
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 39
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- 238000012549 training Methods 0.000 claims abstract description 92
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- 230000000399 orthopedic effect Effects 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 210000003484 anatomy Anatomy 0.000 description 2
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- 238000005553 drilling Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 208000032544 Cicatrix Diseases 0.000 description 1
- 210000000142 acromioclavicular joint Anatomy 0.000 description 1
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- 230000010365 information processing Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
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Abstract
The invention provides a teaching device and a method for a full-true simulation arthroscopic surgery, which comprises the following steps: the main machine is fixed on a trolley placed on the ground; the joint anatomical model is detachably connected to one side of the host; the trolley is provided with a mounting seat on each of two sides of the main machine, and the simulation instrument is mounted on the mounting seat through a force feedback device; the keyboard is connected with the host, and is fixed at one end of the joint anatomical model, which is far away from the host; the display is connected with the host, and is fixed on one side of the trolley away from the joint anatomical model; the data processing module is used for processing the three-dimensional model after the training operation and the operation to obtain each evaluation index; and the teaching evaluation module is used for processing according to each evaluation index and a preset evaluation standard to obtain a training evaluation. The method has the beneficial effects that the training evaluation is obtained according to the evaluation indexes and the evaluation standards so as to truly reflect the operation ability of the user.
Description
Technical Field
The invention relates to the field of medical teaching equipment, in particular to a teaching device and method for full-true simulation arthroscopic surgery.
Background
Arthroscopic surgery is an emerging surgical technique, and the internal structure of a joint is displayed on a display through an imaging system by installing a lens at the end of an operation tube and inserting the operation tube into the joint. The user can enter the way from different angles to observe the pathological changes in the joints in an all-round way, can see almost all parts in the joints, has the advantages of small incision, small wound, few scars, quick recovery, few complications and the like, is more accurate in seeing because the image is amplified, and is deeply favored by vast orthopedists and patients.
Because the operation needs to be finished under the microscope, the operation difficulty is higher, the requirement on an operating doctor is higher, and the doctor needs to carry out a great deal of training to be able to skillfully grasp hands, coordinate eyes and match the visual field with the operation of an operating instrument.
Currently, surgeons improve surgery-related capabilities through various arthroscopic exercises including: five types of operation simulation training systems and simulation equipment training established by actual operation, corpse operation training, animal operation training and virtual reality technology.
The simulation equipment training has the defect of single operation content, and a user lacks judgment standards after performing arthroscopic operation training through the simulation equipment, so that the training effect of the user is difficult to effectively learn.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a teaching device for a full-true simulation arthroscopic surgery, which comprises:
the main machine is fixed on a trolley placed on the ground;
the joint anatomical model is detachably connected to one side of the host, at least one operation access is formed in the outer surface of the joint anatomical model, and the operation access is communicated with a joint cavity in the joint anatomical model;
the trolley is provided with a mounting seat on two sides of the main machine respectively, the simulation instrument is mounted on the mounting seat through a force feedback device, and the outer diameter of the simulation instrument is matched with the inner diameter of the surgical access;
the keyboard is connected with the host, and is fixed at one end of the joint anatomical model, which is far away from the host;
the display is connected with the host machine and is fixed on one side of the trolley, which is far away from the joint anatomical model;
the data processing module is respectively connected with the joint anatomical model, the simulation instrument, the keyboard and the display, and is carried in the host;
the data processing module is used for processing according to a training operation of a user and a preset three-dimensional data model to obtain an operated three-dimensional model, wherein the three-dimensional data model is a data model of the joint anatomical model, and processing according to the training operation and the operated three-dimensional model to obtain each evaluation index;
and the teaching evaluation module is connected with the data processing module and is used for processing according to each evaluation index and a preset evaluation standard to obtain a training evaluation.
Preferably, a positioner is arranged on the simulation instrument, the positioner collects position information of the simulation instrument in real time and sends the position information to the data processing module, the data processing module adjusts the three-dimensional data model according to the position information and the surgical purpose of the simulation instrument to obtain the operated three-dimensional model, a simulation image is obtained by processing the operated three-dimensional model and a virtual tool model corresponding to the simulation instrument, and the display displays the simulation image.
Preferably, the base of the force feedback device is fixed on the mounting seat, and the simulation instrument is mounted at the far end of the spiral arm of the force feedback device;
the base of the force feedback device corresponds to a calibration coordinate system, and the joint anatomical model corresponds to a model coordinate system;
and processing the coordinate data of the tip end of the simulated instrument in the calibration coordinate system and the size data of the trolley to obtain the coordinate data of the tip end of the simulated instrument in the model coordinate system, and outputting the coordinate data as the position information.
Preferably, the joint anatomical model comprises a fixed end model and at least one adjusting end model, one end of the fixed end model is detachably connected with one side of the host, one end of the adjusting end model is rotatably connected with one end of the fixed end model far away from the host, and when the user adjusts the flexion-extension angle between the adjusting end model and the fixed end model, the adjusting end model outputs angle change information;
and the data processing module processes the angle change information and the three-dimensional model corresponding to the joint anatomical model to obtain a three-dimensional model after flexion and extension, and processes the three-dimensional model after flexion and extension according to the training operation and the three-dimensional model after flexion and extension to obtain the three-dimensional model after operation.
Preferably, a pose sensor is arranged in each adjusting end model, and the pose sensor collects and outputs the angle change information generated when the user adjusts the flexion and extension angles.
Preferably, one end of the simulation instrument, which is far away from the tip end of the instrument, is detachably connected with an operating handle, and the operating handle collects and outputs the training operation.
Preferably, each virtual tool model is stored in the data processing module, the user outputs an execution signal through the operating handle, the data processing module controls the virtual tool model to perform a corresponding surgical action on each simulated tissue in the three-dimensional data model according to the execution signal and the position information, adjusts the simulated tissue according to the surgical action, and takes the adjusted three-dimensional data model as the operated three-dimensional model.
Preferably, an acceleration angle speed sensor is installed on the simulation instrument, the acceleration angle speed sensor collects the stability data of the simulation instrument in the training process of the user in real time and sends the stability data to the data processing module, and the data processing module processes the stability data to obtain the stability degree of the simulation instrument and outputs the stability degree as the evaluation index to the teaching evaluation module.
Preferably, the virtual reality device is connected with the data processing module, the data processing module processes the simulated image and a preset virtual reality scene to obtain an arthroscope operation training site, and the user wears the virtual reality device to enter the arthroscope operation training site to perform operation training.
Preferably, the invention further provides a teaching method applied to the holotrue simulated arthroscopic surgery, which is applied to the teaching device in any one of the above aspects, and the teaching method comprises the following steps:
s1, acquiring corresponding arthroscopic surgery training content according to a content selection instruction input from the outside, and matching the arthroscopic surgery training content to obtain a three-dimensional data model corresponding to an articular anatomical model;
s2, acquiring training operation of a user, position information of a simulation instrument and angle change information of a joint anatomical model in real time, and processing according to the position information, the angle change information and the three-dimensional data model to obtain an operated three-dimensional model;
s3, processing the three-dimensional model after the operation to obtain a simulation image and storing the simulation image;
and S4, respectively processing according to each training operation and each simulation image to obtain corresponding evaluation indexes, and processing according to each evaluation index and an evaluation standard to obtain a training evaluation.
The technical scheme has the following advantages or beneficial effects:
(1) The teaching equipment replaces different surgical instruments through simulation instruments, the probability that a user cannot use part of the surgical instruments due to limitation of hardware facilities in the surgical training process is reduced, the applicability of the teaching device is improved, training evaluation is obtained according to various evaluation indexes and evaluation standards of the user after arthroscopic surgical training, the training evaluation truly reflects the surgical ability of the user, the user can perform targeted arthroscopic surgical training on the teaching equipment according to the training evaluation, and the surgical ability of the user is further improved;
(2) When the user selects different virtual tools, the surgical application corresponding to the simulation instrument is changed, convenience is provided for arthroscopic surgical training of the user, and the space occupied by teaching equipment in the arthroscopic surgical training process is reduced by integrating different surgical instruments on the simulation instrument;
(3) The stability of the simulated instrument in the arthroscopic surgery training process of the user is added into the training index, so that the surgery ability of the user is analyzed more comprehensively, and the effect of improving the reliability of the training evaluation is achieved.
Drawings
FIG. 1 is a block diagram of a teaching device according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of the control of the teaching device according to the preferred embodiment of the present invention;
FIG. 3 is a flowchart of a teaching method according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments. The present invention is not limited to the embodiment, and other embodiments may be included in the scope of the present invention as long as the gist of the present invention is satisfied.
In accordance with the preferred embodiment of the present invention, in view of the above problems in the prior art, there is provided a teaching device for full-true simulated arthroscopic surgery, as shown in fig. 1 to 2, the teaching device comprising:
a main machine 1 fixed on a trolley 2 placed on the ground;
the joint anatomical model 3 is detachably connected to one side of the host 1, at least one operation access is formed in the outer surface of the joint anatomical model 3, and the operation access is communicated with a joint cavity in the joint anatomical model 3;
the simulation instrument 4 is arranged on the mounting seat 5 through a force feedback device 6, and the outer diameter of the simulation instrument 4 is matched with the inner diameter of an operation access;
the keyboard 7 is connected with the host 1, and the keyboard 7 is fixed at one end of the joint anatomical model 3, which is far away from the host 1;
the display 8 is connected with the host 1, and the display 8 is fixed on one side of the trolley 2, which is far away from the joint anatomical model 3;
the data processing module 9 is respectively connected with the joint anatomical model 3, the simulation instrument 4, the keyboard 7 and the display 8, and the data processing module 9 is arranged in the host 1;
the data processing module 9 obtains an operated three-dimensional model according to a training operation of a user and a preset three-dimensional data model, wherein the three-dimensional data model is a data model of the joint anatomical model 3, and each evaluation index is obtained according to the training operation and the operated three-dimensional model;
the teaching evaluation module 10 is connected with the data processing module 9, and processes the evaluation indexes and a preset evaluation standard to obtain a training evaluation.
Specifically, in this embodiment, before starting arthroscopic surgery training, the user selects arthroscopic surgery training content to be trained, and configures a three-dimensional data model corresponding to the joint anatomical model 3 and a virtual tool model corresponding to the simulation instrument 4 according to the arthroscopic surgery training content;
in the arthroscopic surgery training process, when a user controls the simulation instrument 4 to enter a joint cavity and controls the simulation instrument 4 to perform surgery actions on simulated tissues in the joint cavity, the data processing module 9 controls the virtual tool model to enter the corresponding joint cavity position in the three-dimensional data model according to the position relation of the simulation instrument 4 relative to the joint anatomical model 3, and performs form adjustment on the three-dimensional data model according to the training operation so as to reflect the surgery progress and the surgery effect to the user in time;
the evaluation indexes comprise operation indexes and operation result indexes, after arthroscopic surgery training is finished, the data processing module 9 compares training operation of a user with standard surgery operation in the arthroscopic surgery training process to obtain corresponding operation indexes, the data processing module 9 performs characteristic comparison on the operated three-dimensional model and the standard post-operation three-dimensional model to obtain corresponding operation result indexes, and the teaching evaluation module 10 compares the operation indexes and the operation result indexes with the evaluation standards respectively to obtain training evaluation.
In another embodiment, the display 8 is a touch screen display 8, and the user can directly select the arthroscopic surgery training content and the corresponding virtual tool through the display.
In addition, the joint anatomical model 3 is provided with a plurality of operation accesses, and corresponding operation accesses are provided for conventional arthroscopic operation training and part of special arthroscopic operation training, so that the simulation instrument 4 can enter the joint cavity through the operation accesses.
In another embodiment, for arthroscopic surgical training of the knee joint, surgical approaches include, but are not limited to: an anterolateral approach, a posterolateral approach, a posteromedial approach; arthroscopic surgical training for the shoulder joint, surgical approaches include, but are not limited to: lateral approach, anterior approach, acromioclavicular joint approach, posterior approach, and superior approach.
In a preferred embodiment of the present invention, a positioner is disposed on the simulation instrument 4, the positioner collects position information of the simulation instrument 4 in real time and sends the position information to the data processing module 9, the data processing module 9 adjusts the three-dimensional data model according to the position information and the surgical purpose of the simulation instrument 4 to obtain the operated three-dimensional model, processes the operated three-dimensional model and the virtual tool model corresponding to the simulation instrument 4 to obtain a simulation image, and the display 8 displays the simulation image.
Specifically, in the present embodiment, in the display 8, in addition to the simulated image obtained by processing the post-operation three-dimensional model, the anatomical structure of the joint cavity and the joint damage model are also displayed, where the joint damage model is an image of a lesion in the three-dimensional data model corresponding to the content of the arthroscopic surgery training.
In the preferred embodiment of the present invention, the base of the force feedback device 6 is fixed on the mounting base 5, and the simulation apparatus 4 is installed at the distal end of the swing arm of the force feedback device 6;
the base of the force feedback device 6 corresponds to a calibration coordinate system, and the joint anatomical model 3 corresponds to a model coordinate system;
and processing the coordinate data of the tip of the simulated instrument 4 in the calibration coordinate system and the size data of the trolley 2 to obtain the coordinate data of the tip of the simulated instrument in the model coordinate system, and outputting the coordinate data as position information.
Specifically, in this embodiment, the simulation instrument 4 is connected to the base through at least one swing arm, and when the user controls the displacement of the simulation instrument 4, the swing arm rotates correspondingly, and the coordinate data of the tip of the instrument in the calibration coordinate system is obtained by processing the calibration coordinate system and the rotation amount of the collected swing arm;
as the base is fixed on the trolley 2, the joint anatomical model 3 is detachably arranged on one side of the main machine 1, the size data of the trolley 2 is a fixed value, the main machine 1 is arranged at a fixed position of the trolley 2, and the coordinate data of the tip of the instrument in a calibration coordinate system is subjected to coordinate conversion to obtain the coordinate data of the simulation tip in a model coordinate system.
Furthermore, coordinate data of the tip end of the instrument in a model coordinate system is converted into coordinate data of the tip end of the virtual instrument in a three-dimensional data model, posture information of the simulation instrument 4 is collected through the force feedback device 6, the position and the posture of the virtual instrument in the three-dimensional data model are adjusted according to the coordinate data and the posture information, and the function of really reflecting the training operation of the user controlled simulation instrument 4 is achieved.
The training operation includes various surgical actions, the user controls the simulation instrument 4 to move, the user switches the simulation instrument 4, and the like, and the surgical actions include, but are not limited to, actions of shearing, stripping, punching, and the like on the simulation tissue by the virtual tool.
In another embodiment, virtual tools include, but are not limited to: basket forceps, a probe, a planer tool, radio frequency, an arthroscope, a suturing tool, nucleus pulposus forceps and an orthopedic drill.
In a preferred embodiment of the present invention, the joint anatomical model 3 includes a fixed end model 31 and at least one adjusting end model 32, one end of the fixed end model 31 is detachably connected to one side of the host 1, and one end of the adjusting end model 32 is rotatably connected to one end of the fixed end model 31 away from the host 1, so that when a user adjusts the bending and stretching angle between the adjusting end model 32 and the fixed end model 31, the adjusting end model 32 outputs an angle change message;
the data processing module 9 processes the three-dimensional model corresponding to the joint anatomical model 3 according to the angle change information to obtain a post-flexion and extension three-dimensional model, and processes the post-flexion and extension three-dimensional model according to the training operation to obtain the post-operation three-dimensional model.
Specifically, in this embodiment, the adjusting end model 32 is preset with a reference position, when the user rotates the adjusting end model 32, the bending and stretching angle between the adjusting end model 32 and the fixed end model 31 changes, then an adjustment data is obtained according to the reference position and the angle change information processing, the adjustment data is applied to the three-dimensional data model, and the three-dimensional data model is adjusted according to the adjustment data, so that the three-dimensional data model can be correspondingly adjusted along with the change of the bending and stretching angle, thereby fitting the actual surgical situation more, and improving the reliability of the teaching device.
In a preferred embodiment of the present invention, a pose sensor is disposed in each of the adjustment end models 32, and the pose sensor collects and outputs angle change information generated when the user adjusts the flexion and extension angles.
Specifically, in this embodiment, a gyroscope is used as the pose sensor. When the adjusting end model 32 bends and extends, data obtained by detecting a gyroscope in the adjusting end model 32 is converted into a rotation angle of the adjusting end model 32 in the three-dimensional data model, and the three-dimensional data model is adjusted, so that when a user trains the human anatomy model, the state of the three-dimensional data model accords with the spatial position state of the adjusting end model 32.
In the preferred embodiment of the present invention, an operation handle 11 is detachably connected to the end of the simulation instrument 4 away from the tip of the instrument, and the operation handle 11 collects and outputs training operations.
Specifically, in the present embodiment, the operating handle 11 and the simulation apparatus 4 are detachably connected by a snap.
In another embodiment, the detachable connection between the operating handle 11 and the simulation instrument 4 is realized through bolts;
in another embodiment, the outer peripheral wall of the operating handle 11 is provided with an external thread, the outer peripheral wall of the end of the analog device 4 away from the tip of the device is provided with an internal thread, and the operating handle 11 is fixed to the analog device 4 by sleeving and screwing the operating handle 11 on the end of the analog device 4 away from the tip of the device, and is detachable therebetween.
In a preferred embodiment of the present invention, each virtual tool model is stored in the data processing module 9, the user outputs an execution signal through the operation handle 11, the data processing module 9 controls the virtual tool model to perform a corresponding surgical action on each simulated tissue in the three-dimensional data model according to the execution signal and the position information, and adjusts the simulated tissue according to the surgical action, and the adjusted three-dimensional data model is used as the operated three-dimensional model.
Specifically, in this embodiment, the training operation includes, but is not limited to:
when the cutting and grabbing actions are finished by pressing the basket clamp and the nucleus pulposus clamp, the basket clamp is selected as the virtual tool of one corresponding simulation instrument 4, and the nucleus pulposus clamp is selected as the virtual tool of the other simulation instrument 4;
when finishing the sharp line through pressing the stapler, punching the target location through pressing orthopedics drilling machine trigger, the stapler is selected for use to the virtual instrument of a simulation apparatus 4 that corresponds, and orthopedics drilling machine trigger is selected for use to the virtual instrument of another simulation apparatus 4.
In a preferred embodiment of the present invention, an acceleration angle velocity sensor is installed on the simulation apparatus 4, the acceleration angle velocity sensor collects the stability data of the simulation apparatus 4 in the training process of the user in real time and sends the stability data to the data processing module 9, and the data processing module 9 processes the stability data to obtain the stability degree of the simulation apparatus 4 and outputs the stability degree as an evaluation index to the teaching evaluation module 10.
Specifically, in the present embodiment, when the user uses the simulation instrument 4, the degree of stability corresponding to the simulation instrument 4 is one of the evaluation indexes.
In a preferred embodiment of the present invention, the present invention further includes a virtual reality device connected to the data processing module 9, the data processing module 9 processes the simulated image and a preset virtual reality scene to obtain an arthroscopic surgery training site, and the user wears the virtual reality device to enter the arthroscopic surgery training site for surgery training.
Specifically, in this embodiment, when the user uses the virtual reality device, the virtual reality device is mainly used for training the outside of the joint cavity, and the surgical environment outside the joint cavity is displayed to the user through the virtual reality device.
In another embodiment, at the surgical training site outside the joint cavity, training operations of taking tendons, weaving tendons, establishing bone tunnels, implanting grafts, fixing grafts and the like of a user outside the joint cavity are simulated.
In a preferred embodiment of the present invention, there is further provided a teaching method applied to the holotrue simulated arthroscopic surgery, which is applied to the teaching device in any one of the above-mentioned items, as shown in fig. 3, the teaching method includes:
s1, acquiring corresponding arthroscopic surgery training content according to a content selection instruction input from the outside, and matching the arthroscopic surgery training content to obtain a three-dimensional data model corresponding to a joint anatomical model 3;
s2, acquiring training operation of a user, position information of a simulation instrument 4 and angle change information of a joint anatomical model 3 in real time, and processing according to the position information, the angle change information and a three-dimensional data model to obtain an operated three-dimensional model;
s3, processing according to the operated three-dimensional model to obtain a simulation image and storing the simulation image;
and S4, respectively processing according to each training operation and each simulation image to obtain corresponding evaluation indexes, and processing according to each evaluation index and an evaluation standard to obtain a training evaluation.
In conclusion, the teaching equipment replaces different surgical instruments with the simulation instrument 4, the probability that a user cannot use part of the surgical instruments due to the limitation of hardware facilities in the training process is reduced, the training evaluation is obtained according to various evaluation indexes and evaluation standards after the user performs arthroscopic surgical training, the training evaluation truly reflects the surgical ability of the user, the user can perform targeted arthroscopic surgical training on the teaching equipment according to the training evaluation, the surgical ability of the user is further improved, the surgical ability of the user is analyzed more comprehensively, and the training evaluation reliability is improved.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the spirit and scope of the invention.
Claims (10)
1. The utility model provides a teaching device of full real simulation arthroscopic surgery which characterized in that includes:
the main machine is fixed on a trolley placed on the ground;
the joint anatomical model is detachably connected to one side of the host, at least one operation access is formed in the outer surface of the joint anatomical model, and the operation access is communicated with a joint cavity in the joint anatomical model;
the trolley is provided with a mounting seat on two sides of the main machine respectively, the simulation instrument is mounted on the mounting seat through a force feedback device, and the outer diameter of the simulation instrument is matched with the inner diameter of the surgical access;
the keyboard is connected with the host, and the keyboard is fixed at one end of the joint anatomical model, which is far away from the host;
the display is connected with the host computer and is fixed on one side of the trolley away from the joint anatomical model;
the data processing module is connected with the joint anatomical model, the simulation instrument, the keyboard and the display respectively, and is carried in the host machine;
the data processing module is used for processing according to a training operation of a user and a preset three-dimensional data model to obtain an operated three-dimensional model, wherein the three-dimensional data model is a data model of the joint anatomical model, and each evaluation index is obtained according to the training operation and the operated three-dimensional model;
and the teaching evaluation module is connected with the data processing module and processes according to each evaluation index and a preset evaluation standard to obtain a training evaluation.
2. The teaching device according to claim 1, wherein a positioner is disposed on the simulation instrument, the positioner collects position information of the simulation instrument in real time and sends the position information to the data processing module, the data processing module adjusts the three-dimensional data model according to the position information and a surgical purpose of the simulation instrument to obtain the operated three-dimensional model, processes the operated three-dimensional model and a virtual tool model corresponding to the simulation instrument to obtain a simulation image, and the display displays the simulation image.
3. An educational device in accordance with claim 2, wherein the base of the force feedback device is fixed to the mount, and the simulated instrument is mounted to the distal end of the radial arm of the force feedback device;
the base of the force feedback device corresponds to a calibration coordinate system, and the joint anatomical model corresponds to a model coordinate system;
and processing the coordinate data of the tip end of the simulated instrument in the calibration coordinate system and the size data of the trolley to obtain the coordinate data of the tip end of the simulated instrument in the model coordinate system, and outputting the coordinate data as the position information.
4. The teaching device according to claim 1, wherein the joint anatomical model comprises a fixed end model and at least one adjusting end model, one end of the fixed end model is detachably connected to one side of the host computer, one end of the adjusting end model is rotatably connected to one end of the fixed end model far away from the host computer, and when the user adjusts the flexion-extension angle between the adjusting end model and the fixed end model, the adjusting end model outputs an angle change message;
and the data processing module processes the angle change information and the three-dimensional model corresponding to the joint anatomical model to obtain a three-dimensional model after flexion and extension, and processes the three-dimensional model after flexion and extension according to the training operation and the three-dimensional model after flexion and extension to obtain the three-dimensional model after operation.
5. The teaching device according to claim 4, wherein a pose sensor is arranged in each adjusting end model, and the pose sensor collects and outputs the angle change information generated when the user adjusts the flexion and extension angles.
6. An instructional device as claimed in claim 3 wherein the end of the simulated apparatus remote from the tip of the apparatus is detachably connected to an operating handle which captures and outputs the training operation.
7. The teaching device of claim 6, wherein each of the virtual tool models is stored in the data processing module, the user outputs an execution signal through the operation handle, the data processing module controls the virtual tool model to perform a corresponding operation on each simulated tissue in the three-dimensional data model according to the execution signal and the position information, adjusts the simulated tissue according to the operation, and uses the adjusted three-dimensional data model as the operated three-dimensional model.
8. The teaching device according to claim 1, wherein an acceleration angular velocity sensor is installed on the simulation apparatus, the acceleration angular velocity sensor collects stability data of the simulation apparatus in the training process of the user in real time and sends the stability data to the data processing module, and the data processing module processes the stability data to obtain the stability degree of the simulation apparatus and outputs the stability degree as the evaluation index to the teaching evaluation module.
9. The teaching device according to claim 1, further comprising a virtual reality device connected to the data processing module, wherein the data processing module processes the simulated image and a preset virtual reality scene to obtain an arthroscopic surgery training site, and the user wears the virtual reality device to enter the arthroscopic surgery training site for surgery training.
10. A teaching method applied to a total true simulation arthroscopic surgery, which is characterized in that the teaching method is applied to a teaching device of any one of claims 1-9, and comprises the following steps:
s1, acquiring corresponding arthroscopic surgery training content according to a content selection instruction input from the outside, and matching the arthroscopic surgery training content to obtain a three-dimensional data model corresponding to a joint anatomical model;
s2, acquiring training operation of a user, position information of a simulation instrument and angle change information of a joint anatomical model in real time, and processing according to the position information, the angle change information and the three-dimensional data model to obtain an operated three-dimensional model;
s3, processing the three-dimensional model after the operation to obtain a simulation image and storing the simulation image;
and S4, respectively processing according to each training operation and each simulation image to obtain corresponding evaluation indexes, and processing according to each evaluation index and an evaluation standard to obtain a training evaluation.
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| CN202111467473.9A CN115331531A (en) | 2021-12-02 | 2021-12-02 | Teaching device and method for full-true simulation arthroscopic surgery |
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| CN202111467473.9A CN115331531A (en) | 2021-12-02 | 2021-12-02 | Teaching device and method for full-true simulation arthroscopic surgery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117218922A (en) * | 2023-11-08 | 2023-12-12 | 北京唯迈医疗设备有限公司 | Auxiliary training and evaluating method and device for interventional operation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117218922A (en) * | 2023-11-08 | 2023-12-12 | 北京唯迈医疗设备有限公司 | Auxiliary training and evaluating method and device for interventional operation robot |
| CN117218922B (en) * | 2023-11-08 | 2024-02-02 | 北京唯迈医疗设备有限公司 | Auxiliary training and evaluating method and device for interventional operation robot |
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