CN115331531A - A teaching device and method for fully simulating arthroscopic surgery - Google Patents

Abstract

The invention provides a teaching device and method for fully simulating arthroscopic surgery, comprising: a main engine, which is fixed on a vehicle placed on the ground; a joint anatomy model, which is detachably connected to one side of the main engine; at least one simulation instrument , the trolley is provided with a mounting seat on both sides of the host, and the simulation equipment is mounted on the mounting seat through a force feedback device; the keyboard is connected to the host, and the keyboard is fixed to the end of the joint anatomical model away from the host; the display is connected to the host, and the display is fixed On the side of the trolley far away from the joint anatomical model; the data processing module obtains each evaluation index according to the training operation and the three-dimensional model after an operation; the teaching evaluation module obtains a training evaluation according to each evaluation index and a preset evaluation standard . The beneficial effect is that the training evaluation is obtained according to each evaluation index and evaluation standard, so as to truly reflect the surgical ability of the user.

Description

A teaching device and method for fully simulating arthroscopic surgery

technical field

The invention relates to the field of medical teaching equipment, in particular to a teaching device and method for fully simulating arthroscopic surgery.

Background technique

Arthroscopic surgery is an emerging surgical technique. By installing a lens at the end of an operating tube and inserting the operating tube into the joint, the internal structure of the joint can be displayed on the monitor through an imaging system. The user can observe the lesions in the joint in all directions through different angles, and can see almost all parts of the joint. Because the image is enlarged, it can be seen more accurately. It has the advantages of small incision, small trauma, less scars, fast recovery, Less complications and other advantages, favored by the majority of orthopedic surgeons and patients.

Since the surgical operation needs to be completed under the microscope, the operation is difficult and requires high requirements for the surgeon. Doctors need a lot of training to be proficient in the coordination of hands and eyes, as well as the cooperation between the field of view and the operation of surgical instruments.

At present, surgeons improve their surgical-related abilities through various arthroscopic trainings. Arthroscopic training includes: actual surgical operations, cadaver operation training, animal operation training, surgical simulation training system established by virtual reality technology, and simulation equipment training.

Among them, the simulation equipment training has the defect of a single surgical content, and after the user performs arthroscopic surgery training through the simulation equipment, there is a lack of evaluation criteria, and it is difficult to effectively know the effect of his own training.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention provides a teaching device for fully simulating arthroscopic surgery, including:

The main engine is fixed on a car placed on the ground;

The joint anatomical model is detachably connected to one side of the host, and at least one surgical approach is opened on the outer surface of the joint anatomical model, and the surgical approach communicates with a joint cavity in the joint anatomical model;

At least one simulation device, the trolley is respectively provided with a mounting seat on both sides of the main machine, the simulation device is installed on the mounting seat through a force feedback device, and the outer diameter of the simulation device is adapted to the The inner diameter of the surgical approach;

A keyboard, connected to the host, the keyboard is fixed on the end of the joint anatomical model away from the host;

a monitor, connected to the host, and the monitor is fixed on the side of the trolley away from the joint anatomical model;

A data processing module is respectively connected to the joint anatomical model, the simulated instrument, the keyboard and the display, and the data processing module is installed in the host;

The data processing module obtains an operated three-dimensional model according to a user's training operation and a preset three-dimensional data model. The three-dimensional data model is the data model of the joint anatomy model, and according to the training operation and the preset After the above operation, the three-dimensional model is processed to obtain each evaluation index;

The teaching evaluation module is connected to the data processing module, and obtains a training evaluation according to each evaluation index and a preset evaluation standard.

Preferably, a locator is provided on the simulated device, and the locator collects the position information of the simulated device in real time and sends it to the data processing module, then the data processing module The surgical use of the instrument adjusts the three-dimensional data model to obtain the three-dimensional model after operation, and obtains a simulated image according to the three-dimensional model after operation and the virtual tool model corresponding to the simulated instrument, and displays it on the display The simulated image.

Preferably, the base of the force feedback device is fixed on the mounting seat, and the simulation instrument is installed at the distal end of the 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;

According to the coordinate data of the instrument tip of the simulated instrument in the calibration coordinate system and the size data of the trolley, the coordinate data of the instrument tip in the model coordinate system is obtained, and output as the position information .

Preferably, the joint anatomy model includes a fixed end model and at least one adjustment end model, one end of the fixed end model is detachably connected to one side of the host, and one end of the adjustment end model is rotatably connected to the fixed end The end of the model is far away from the host, and when the user adjusts the flexion and extension angle between the model at the adjustment end and the model at the fixed end, the model at the adjustment end outputs an angle change information;

The data processing module processes the three-dimensional model corresponding to the angle change information and the joint anatomy model to obtain a three-dimensional model after flexion and extension, and processes the three-dimensional model after operation according to the training operation and the three-dimensional model after flexion and extension .

Preferably, each adjustment end model is provided with a posture sensor, and the posture sensor collects and outputs the angle change information generated when the user adjusts the flexion and extension angle.

Preferably, an operating handle is detachably connected to the end of the simulation instrument away from the tip of the instrument, and the operating handle collects and outputs the training operation.

Preferably, each of the virtual tool models is stored in the data processing module, the user outputs an execution signal through the operating handle, and the data processing module controls the virtual tool model according to the execution signal and the position information. The tool model performs corresponding surgical actions on each simulated tissue in the three-dimensional data model, adjusts the simulated tissue according to the surgical action, and uses the adjusted three-dimensional data model as the post-operated three-dimensional model.

Preferably, an acceleration angular velocity sensor is installed on the simulated equipment, and the acceleration angular velocity sensor collects the stability data of the simulated equipment during the training process of the user in real time and sends it to the data processing module, and the data processing module According to the stability data processing, the stability degree of the simulated equipment is obtained and output to the teaching evaluation module as the evaluation index.

Preferably, it also includes a virtual reality device connected to the data processing module, and the data processing module obtains an arthroscopic surgery training site according to the simulated image and a preset virtual reality scene, and the user wears the Virtual reality equipment to enter the arthroscopic surgery site for surgical training.

Preferably, the present invention also provides a teaching method applied to real simulated arthroscopic surgery, which is applied to the teaching device described in any one of the above, and the teaching method includes:

Step S1, obtaining the 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;

Step S2, collecting a user's training operation, position information of a simulated instrument, and angle change information of a joint anatomical model in real time, and processing the position information, the angle change information, and the three-dimensional data model to obtain a post-operation 3D model;

Step S3, according to the three-dimensional model after the operation, a simulated image is obtained and stored;

Step S4, processing each of the training operations and each of the simulated images to obtain corresponding evaluation indicators, and processing each of the evaluation indicators and an evaluation standard to obtain a training evaluation.

The above technical solution has the following advantages or beneficial effects:

(1) The teaching equipment replaces different surgical instruments with simulated instruments, which reduces the probability that users cannot use some surgical instruments due to hardware facilities restrictions during the surgical training process, improves the applicability of the teaching device, and performs joint operations according to the user. After the endoscopic surgery training, various evaluation indicators and evaluation standards are evaluated by the training, and the training evaluation truly reflects the user's surgical ability, and the user can carry out targeted arthroscopic surgery training on the teaching equipment according to the training evaluation to further improve their own surgical ability;

(2) When the user chooses different virtual tools, the corresponding surgical use of the simulated instrument will also change, which provides convenience for the user's arthroscopic surgery training. The space occupied by teaching equipment during surgical training;

(3) By adding the stability of the simulated instrument to the training index during the arthroscopic surgery training process, the user's surgical ability can be more comprehensively analyzed, thereby improving the reliability of the training evaluation.

Description of drawings

Fig. 1 is in the preferred embodiment of the present invention, the structural diagram of teaching device;

Fig. 2 is in the preferred embodiment of the present invention, the control schematic diagram of teaching device;

Fig. 3 is a flow chart of the teaching method in a preferred embodiment of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. The present invention is not limited to this embodiment, and other embodiments may also belong to the scope of the present invention as long as they conform to the gist of the present invention.

In a preferred embodiment of the present invention, based on the above-mentioned problems in the prior art, a teaching device for fully simulating arthroscopic surgery is now provided, as shown in Figures 1 to 2, the teaching device includes:

The main engine 1 is fixed on a car 2 placed on the ground;

The joint anatomical model 3 is detachably connected to one side of the host 1, and at least one surgical approach is opened on the outer surface of the joint anatomical model 3, and the surgical approach communicates with a joint cavity in the joint anatomical model 3;

At least one simulated instrument 4, the trolley 2 is respectively provided with a mount 5 on both sides of the main machine 1, the simulated instrument 4 is installed on the mount 5 through a force feedback device 6, and the outer diameter of the simulated instrument 4 is adapted to the surgical approach inner diameter;

The keyboard 7 is connected to the host 1, and the keyboard 7 is fixed on the end of the joint anatomical model 3 away from the host 1;

A monitor 8 is connected to the host computer 1, and the monitor 8 is fixed on the side of the trolley 2 away from the joint anatomical model 3;

The data processing module 9 is respectively connected to the joint anatomical model 3, the simulation instrument 4, the keyboard 7 and the display 8, and the data processing module 9 is mounted in the host computer 1;

The data processing module 9 obtains a three-dimensional model after operation according to a user's training operation and a preset three-dimensional data model. The three-dimensional data model is the data model of the joint anatomy model 3, and obtains each evaluation index;

The teaching evaluation module 10 is connected to the data processing module 9, and processes and obtains a training evaluation according to each evaluation index and a preset evaluation standard.

Specifically, in this embodiment, before starting the arthroscopic surgery training, the user selects the arthroscopic surgery training content that needs to be trained, and configures the three-dimensional data model corresponding to the joint anatomical model 3 and the 3D data model corresponding to the simulated instrument 4 according to the arthroscopic surgery training content. virtual tool model;

During the arthroscopic surgery training process, when the user manipulates the simulated instrument 4 to enter the joint cavity and controls the simulated instrument 4 to perform surgical actions on the simulated tissue in the joint cavity, the data processing module 9 according to the position of the simulated instrument 4 relative to the joint anatomical model 3 The position relationship controls the virtual tool model to enter the corresponding joint cavity position in the 3D data model, and adjusts the shape of the 3D data model according to the training operation, so as to timely reflect the operation process and operation effect to the user;

The evaluation indicators include each operation index and each operation result index. After the arthroscopic surgery training is over, the data processing module 9 compares the user's training operation with the standard operation during the arthroscopic surgery training process to obtain the corresponding operation indicators. And the data processing module 9 compares the characteristics of the three-dimensional model after the operation with the three-dimensional model after the standard operation to obtain the corresponding operation result indicators, then the teaching evaluation module 10 compares each operation index and operation result index with the evaluation standard respectively, and obtains training evaluation.

In another embodiment, the display 8 is a touch-screen display 8, and the user can directly select arthroscopic surgery training content and corresponding virtual tools through the display screen.

In addition, the joint anatomy model 3 has multiple surgical approaches, providing corresponding surgical approaches for conventional arthroscopic surgery training and some special arthroscopic surgery training, so that the simulated instrument 4 can enter the joint cavity through the surgical approach.

In another embodiment, for the arthroscopic surgery training of the knee joint, the surgical approach includes but not limited to: anterolateral approach, anteromedial approach, posterolateral approach, posteromedial approach; arthroscopic approach for shoulder joint Surgical training, surgical approaches include but not limited to: lateral approach, anterior approach, acromioclavicular joint approach, posterior approach, superior approach.

In a preferred embodiment of the present invention, the simulation equipment 4 is provided with a locator, and the locator collects the position information of the simulation equipment 4 in real time and sends it to the data processing module 9. The operation uses to adjust the three-dimensional data model to obtain the three-dimensional model after operation, and obtain a simulated image according to the three-dimensional model after operation and the virtual tool model corresponding to the simulated instrument 4, and display the simulated image by the monitor 8.

Specifically, in this embodiment, in the display 8, in addition to the simulated image processed by the three-dimensional model after operation, the anatomical structure of the joint cavity and the joint injury model are also displayed, wherein the joint injury model is corresponding to the arthroscopic surgery training content. Image of the lesion in the 3D data model.

In a preferred embodiment of the present invention, the base of the force feedback device 6 is fixed on the mounting base 5, and the simulation instrument 4 is installed on the far end of the 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;

According to the coordinate data of the instrument tip of the simulated instrument 4 in the calibration coordinate system and the size data of the trolley 2, the coordinate data of the instrument tip in the model coordinate system is obtained and output as position information.

Specifically, in this embodiment, the simulated instrument 4 is connected to the base through at least one rotary arm. When the user controls the displacement of the simulated instrument 4, the rotary arm rotates accordingly, and the coordinate data of the tip of the instrument in the calibration coordinate system is determined by the calibration The coordinate system and the rotation amount of the acquisition arm are processed to obtain;

Since the base is fixed on the trolley 2, and the joint anatomical model 3 is detachably installed on one side of the main machine 1, and the size data of the trolley 2 is a fixed value, the main machine 1 is installed on the fixed position of the trolley 2, and the tip of the instrument is calibrated The coordinate data in the coordinate system is transformed to obtain the coordinate data of the simulation tip in the model coordinate system.

Furthermore, the coordinate data of the instrument tip in the model coordinate system is converted into the coordinate data of the tool tip of the virtual tool in the three-dimensional data model, and the attitude information of the simulated instrument 4 is collected through the force feedback device 6, and adjusted according to the coordinate data and attitude information. The position and posture of the virtual tool in the three-dimensional data model play a role in truly reflecting the user's control of the simulation device 4 for training operations.

Among them, the training operation includes various surgical actions, the user controls the movement of the simulated instrument 4, and the user switches the simulated instrument 4, etc. The surgical action includes but is not limited to cutting, peeling, and punching the simulated tissue with virtual tools.

In another embodiment, virtual tools include, but are not limited to: basket forceps, probes, planers, radiofrequency, arthroscopy, suture tools, nucleus forceps, orthopedic drills.

In a preferred embodiment of the present invention, the joint anatomy model 3 includes a fixed end model 31 and at least one adjustment 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 adjustment end model 32 is rotated Connect the end of the fixed end model 31 away from the host 1, and when the user adjusts the flexion and extension angle between the adjustment end model 32 and the fixed end model 31, the adjustment end model 32 outputs an angle change information;

The data processing module 9 processes the angle change information and the 3D model corresponding to the joint anatomical model 3 to obtain a 3D model after flexion and extension, and processes the 3D model after operation according to the training operation and the 3D model after flexion and extension.

Specifically, in this embodiment, the adjustment end model 32 is preset with a reference position. When the user rotates the adjustment end model 32, the flexion and extension angle between the adjustment end model 32 and the fixed end model 31 changes, then according to the reference position and angle Change information processing obtains an adjustment data, applies the adjustment data to the three-dimensional data model, and adjusts the three-dimensional data model according to the adjustment data, so that the three-dimensional data model can make corresponding adjustments with the change of flexion and extension angles, which is more realistic Surgical scenarios, improving the reliability of the teaching device.

In a preferred embodiment of the present invention, each adjustment end model 32 is provided with a posture sensor, and the posture sensor collects and outputs angle change information generated when the user adjusts the flexion and extension angle.

Specifically, in this embodiment, a gyroscope is selected as the pose sensor. When the adjustment end model 32 flexes and extends, the data detected by the gyroscope in the adjustment end model 32 is converted into the rotation angle of the adjustment end model 32 in the three-dimensional data model, and the three-dimensional data model is adjusted so that the user can adjust the human anatomy When the model is being trained, the state of the three-dimensional data model conforms to the state of the spatial position of the model 32 at the regulating end.

In a preferred embodiment of the present invention, an operating handle 11 is detachably connected to the end of the simulation instrument 4 away from the tip of the instrument, and the operating handle 11 collects and outputs training operations.

Specifically, in this embodiment, the connection method between the operating handle 11 and the simulation instrument 4 is a buckle to achieve a detachable connection.

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 external threads, and the outer peripheral wall of the end of the simulation instrument 4 away from the tip of the instrument is provided with internal threads. One end of the operating handle 11 is fixed on the simulation instrument 4, and the two are detachable.

In a preferred embodiment of the present invention, each virtual tool model is stored in the data processing module 9, and the user outputs an execution signal through the operating handle 11, and the data processing module 9 controls the virtual tool model to the three-dimensional data model according to the execution signal and position information. Perform corresponding surgical actions on each simulated tissue in the computer, adjust the simulated tissue according to the surgical action, and use the adjusted three-dimensional data model as the post-operation three-dimensional model.

Specifically, in this embodiment, training operations include but are not limited to:

When the cutting and grabbing actions are completed by pressing the basket forceps and the nucleus pulposus forceps, the corresponding virtual tool of one simulated instrument 4 selects the basket forceps, and the virtual tool of the other simulated instrument 4 selects the nucleus pulposus forceps;

When the front line is completed by pressing the stapler and the target position is punched by pressing the orthopedic drill trigger, the corresponding virtual tool of one simulated instrument 4 selects the stapler, and the virtual tool of the other simulated instrument 4 selects the orthopedic drill trigger.

In a preferred embodiment of the present invention, an acceleration angular velocity sensor is installed on the simulation apparatus 4, and the acceleration angular velocity sensor collects the stability data of the simulation apparatus 4 in the training process of the user in real time and sends to the data processing module 9, and the data processing module 9 according to Stability data processing obtains the degree of stability of the simulated instrument 4 and outputs it to the teaching evaluation module 10 as an evaluation index.

Specifically, in this embodiment, when the user uses the simulated device 4, the degree of stability corresponding to the simulated device 4 is one of the evaluation indicators.

In a preferred embodiment of the present invention, it also includes a virtual reality device connected to the data processing module 9, and the data processing module 9 obtains an arthroscopic surgery training site according to the simulated image and a preset virtual reality scene processing, and the user wears the virtual Realistic equipment to enter the arthroscopic surgery site for surgical training.

Specifically, in this embodiment, when the user uses the virtual reality device, it is mainly used for training operations outside the joint cavity, and the surgical environment outside the joint cavity is shown to the user through the virtual reality device.

In another embodiment, at the surgical training site outside the joint cavity, it is simulated that the user performs training operations such as tendon harvesting, tendon weaving, bone tunnel establishment, graft implantation, and graft fixation outside the joint cavity.

In a preferred embodiment of the present invention, there is also provided a teaching method applied to a full-real simulated arthroscopic surgery, which is applied to any of the above-mentioned teaching devices, as shown in Figure 3, the teaching method includes:

Step S1, obtain the corresponding arthroscopic surgery training content according to a content selection instruction input from the outside, and obtain a three-dimensional data model corresponding to the joint anatomical model 3 according to the arthroscopic surgery training content matching;

Step S2, collect a user's training operation, position information of a simulated device 4 and angle change information of a joint anatomical model 3 in real time, and obtain a three-dimensional model after operation according to the position information, angle change information and three-dimensional data model processing;

Step S3, process and store a simulation image according to the three-dimensional model after operation;

Step S4 , processing each training operation and each simulated image to obtain a corresponding evaluation index, and processing each evaluation index and an evaluation standard to obtain a training evaluation.

To sum up, the teaching equipment replaces different surgical instruments with simulated instruments 4, which reduces the probability that users cannot use some surgical instruments due to hardware limitations during the training process. According to the training evaluation, the user can carry out targeted arthroscopic surgery training on the teaching equipment, further improve their own surgical ability, and then analyze the user's surgical ability more comprehensively. , and then play a role in improving the reliability of training evaluation.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the implementation and protection scope of the present invention. For those skilled in the art, they should be able to realize that all equivalent replacements made by using this specification and the contents of the illustrations The solutions obtained with obvious changes shall all be included in the protection scope of the present 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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