CN116092362B - Forceps clamping training system and method - Google Patents
Forceps clamping training system and method Download PDFInfo
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- CN116092362B CN116092362B CN202310371291.4A CN202310371291A CN116092362B CN 116092362 B CN116092362 B CN 116092362B CN 202310371291 A CN202310371291 A CN 202310371291A CN 116092362 B CN116092362 B CN 116092362B
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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
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
Abstract
The invention provides a tweezers clamping training system and a tweezers clamping training method, wherein the tweezers clamping training system comprises a tweezers simulator and VR equipment, the tweezers simulator comprises a holding handle and a simulation device connected with the holding handle, the simulation device is provided with a gear connecting rod connected with the holding handle, a detection shaft is arranged on the gear connecting rod, two ends of the detection shaft are respectively connected with the gear connecting rod and an angle sensor, the simulation device also comprises a driving circuit board, a connector and a shell, the connector is arranged on the shell far away from one end of the driving circuit board, the driving circuit board is respectively and electrically connected with the angle sensor and the connector, the VR equipment comprises a wearable VR imaging module and an upper system, and after the upper system processes angle data detected by the angle sensor, information is fed back to the VR imaging module for processing and displaying. The invention solves the problem that medical workers cannot complete forceps operation training in a real operation scene.
Description
Technical Field
The invention belongs to the technical field of medical teaching, and particularly relates to a forceps clamping training system and method.
Background
Along with the development of socioeconomic, the virtual reality technology is widely applied to various fields, is accepted by more and more people, and can be used for experiencing the truest feeling in the virtual reality world, simulating the reality of the environment and the difficulty in reality, so that people feel like being personally on the scene.
Medical forceps are widely used in the medical field as one of the most important tools in surgical medical instruments, and the use proficiency of forceps may reflect the medical level of a medical worker in certain situations, especially in surgery.
The practical training of forceps in operation by medical workers is particularly important, however, the practical training of forceps is not realistic in actual operation, and is generally accomplished by repeatedly gripping some small objects or by clinically observing and rubbing other medical staff, and although the practical training of forceps can be improved to a certain extent, the feeling of forceps is completely different from that of forceps in actual operation, so that how to enable medical workers to complete the forceps operation training as much as possible in actual operation is interesting.
Disclosure of Invention
Based on the above, the invention aims to provide a forceps simulation training system and a forceps simulation training method, which aim to solve the problem that medical workers cannot finish forceps operation training in a real operation scene in the prior art.
The forceps simulation training system comprises a forceps simulator and VR equipment electrically connected with the forceps simulator, wherein the forceps simulator comprises a holding handle and a simulation device connected with the holding handle, the simulation device comprises a gear connecting rod movably connected with the holding handle, a protection frame arranged on the gear connecting rod and an angle sensor arranged on one side of the protection frame, a detection shaft is arranged on the gear connecting rod, one end of the detection shaft is connected with the gear connecting rod, the other end of the detection shaft is connected with the angle sensor, the simulation device further comprises a driving circuit board arranged on the protection frame, a connector electrically connected with the driving circuit board and a shell sleeved on the protection frame, wherein the driving circuit board is respectively electrically connected with the angle sensor and the connector, and the VR equipment is electrically connected with the connector and used for uploading a received opening and closing angle signal of the holding handle to the VR equipment for display.
Further, the protection frame comprises a matching part and a mounting part arranged on the matching part, the gear connecting rod is embedded on the matching part, the angle sensor is attached to the matching part, and the detection shaft penetrates through the matching part to be respectively connected with the gear connecting rod and the angle sensor.
Furthermore, the mounting part extends upwards to form a limiting table, the driving circuit board is arranged in the limiting table, and the shell is sleeved on the limiting table.
Further, the matching part is provided with an accommodating groove, a through hole is formed in the middle of the bottom of the accommodating groove, and the through hole is used for the detection shaft to pass through.
Further, the angle sensor is arranged in the accommodating groove and is matched with the accommodating groove.
Further, the connector comprises a magnet and an electrical contact arranged on the magnet, and the electrical contact is electrically connected with an upper system of the VR equipment.
Further, one end of the gear connecting rod is a meshing part, the other end of the gear connecting rod is a rotating part, the rotating part is connected with the holding grab handle, and the meshing part is used for driving the gear connecting rod to open and close when the holding grab handle is opened and closed.
Further, the gear connecting rod is provided with a mounting groove far away from the rotating part, the angle sensor is provided with a mounting hole, one end of the detection shaft is matched with the mounting groove, and the other end of the detection shaft is matched with the mounting hole.
Further, the one end that the shell kept away from the spacing platform is provided with supporting platform and by the outside portion that encloses that extends of supporting platform closes, enclose and close the portion with supporting platform forms groove structure, the connector is arranged in the groove structure.
The invention further provides a forceps holding training method applied to the forceps holding training system, which comprises the following steps:
obtaining a virtual object and a virtual tweezers simulator displayed in the VR device, wherein the virtual object at least comprises the outline of the virtual object;
determining a clamping angle of the virtual tweezer corresponding to the outline of the virtual object according to the outline of the virtual object;
acquiring a current clamping angle when the tweezers simulator clamps the virtual object, wherein the current clamping angle is triggered by the tweezers simulator;
judging whether the current clamping angle is smaller than or equal to the clamping angle;
if yes, judging that the forceps holding training is successful.
The invention forms a scissor structure by arranging the holding handle and the gear connecting rod, and meanwhile, the detection shaft arranged on the gear connecting rod in the protection frame connects the gear connecting rod with the angle sensor, namely, the opening and closing of the holding handle drives the gear connecting rod to open and close so as to drive the detection shaft in the angle sensor to rotate.
Other advantages and technical effects of a forceps analog training system according to the present invention will be described in detail in the detailed description.
Drawings
Fig. 1 is a schematic structural view of a forceps simulator according to a first embodiment of the present invention;
FIG. 2 is an exploded view of a gear link and a detection shaft according to a first embodiment of the present invention;
figure 3 is a partially exploded view of the forceps simulator provided by the first embodiment of the invention;
fig. 4 is an exploded view of a forceps simulator according to a first embodiment of the present invention from a certain view angle;
fig. 5 is a flowchart of a forceps holding training method according to a second embodiment of the present invention.
Description of main reference numerals:
the following detailed description will further illustrate the invention with reference to the above-described drawings.
Detailed Description
In order that the invention may be readily understood, a more complete description of the invention will be rendered by reference to the appended drawings. Several embodiments of the invention are presented in the figures. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "mounted" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
Example 1
Referring to fig. 1 to 4, there is shown a forceps simulation training system in an embodiment of the present invention, the system comprising a forceps simulator and a VR device, the forceps simulator comprising a holding handle 1 and a simulation device connected to the holding handle 1, wherein:
the end parts of the holding handles 1 are respectively provided with a gear connecting rod 2, wherein one end of the gear connecting rod 2 is provided with a meshing part 21, and the other end of the gear connecting rod is provided with a rotating part 22, in the embodiment, the rotating part 22 in the gear connecting rod 2 is movably connected with the holding handles 1 in a rotating shaft mode, and it can be understood that the gear connecting rod 2 is connected with the holding handles 1 to form a scissor structure, and the meshing parts 21 of the two gear connecting rods 2 are meshed with each other, so that the holding handles 1 are always opened and closed in the middle of the two gear connecting rods 2.
Specifically, the meshing portion 21 of the two gear links 2 is disposed in the middle of the protecting frame 8, wherein the protecting frame 8 includes an installation portion and a mating portion 80, a rectangular accommodating groove 811 is provided in the mating portion 80, a through hole is provided in the middle of the bottom of the accommodating groove 811, it is to be noted that, one end of one of the gear links 2 far away from the rotating portion 22 is provided with a hexagonal installation groove 23, the position of the installation groove 23 matches with that of the through hole, the detecting shaft 3 is disposed in the through hole, and one end of the detecting shaft 3 is embedded in the installation groove 23, that is, after the gear links 2 are driven to move by opening and closing the holding handle 1, the detecting shaft 3 also rotates correspondingly along with the gear links 2, in addition, the accommodating groove 811 is used for accommodating the angle sensor 4, the angle sensor 4 is engaged with the accommodating groove 811, since the bottom of the accommodating groove 811 is also provided with a clamping groove, when the angle sensor 4 is placed in the accommodating groove 811, the angle sensor 4 is fastened and fixed with the clamping groove, and since the installation hole 41 is provided on the angle sensor 4, the other end of the detecting shaft 3 is inserted into the installation hole 41, that is understood, that is the other end of the detecting shaft 3, that is rotating the angle sensor 3, that is used for collecting the angle sensor 4.
In this embodiment, the mounting portion extends upward to form a limiting platform 81, and the driving circuit board 5 is disposed in the limiting platform and electrically connected to the angle sensor 4, where the limiting platform 81 includes an annular abutting portion 82 and a limiting portion 83 extending from the abutting portion 82 in a direction away from the holding handle 1.
It should be noted that, the casing 7 is erected on the limiting table 81, the bottom of the casing 7 abuts against the abutting portion 82, and since the outer diameter of the limiting portion 83 is identical to the inner diameter of the casing 7, when the casing 7 is sleeved on the limiting table 81, the casing 7 is in a stable state which is not easy to shake, in addition, one end of the casing 7, which is far away from the abutting portion 82, is provided with the supporting platform 71 and the enclosing portion 72 which extends outwards from the supporting platform 71, the enclosing portion 72 and the supporting platform 71 form a groove structure, and it can be understood that the connector 6 is placed in the groove structure, meanwhile, an opening is arranged at the upper end of the enclosing portion 72, and the opening is convenient for taking out the connector 6 from the groove structure.
The connector 6 includes a ring magnet 61 and an electrical contact 62 disposed on the ring magnet 61, and one side of the connector 6 is electrically connected to the driving circuit board 5, and the other side is connected to the VR device through the electrical contact 62.
Specifically, when the medical staff needs to carry out forceps operation training, the upper system in the VR device will take the operation scene data and the medical instrument data in the scene construction unit, after taking, the operation scene will be shown in the wearable VR imaging module, after the upper system is electrically connected with the connector 6, because the internal communication instruction of the driving circuit board 5 contains the appliance type data, when the upper system reads the instruction, the driving circuit returns the appliance type data so as to be convenient for the upper system to distinguish the appliance type, in this embodiment, the forceps simulator is used, the forceps simulator is shown in the VR imaging module after being communicated, the forceps simulator is used for displaying the forceps, it can be understood that the connector 6 uploads the received opening and closing angle signal of the holding handle 1 to the upper system, after the upper system finishes processing the angle signal, the information is fed back to the VR imaging module for processing and displaying, what needs to be described, the opening and closing angle signal includes the angle information acquired by the angle sensor 4, wherein the angle information specifically includes the number of turns of the detection shaft 3, the current rotation of the detection shaft 3, the specific direction of the forceps simulator is mapped to the current rotation of the forceps, and the current rotation of the forceps is established, and the current rotation of the forceps is detected by the angle sensor, and the current rotation of the forceps is established.
In addition, the holding handle 1 is a forceps handle of a real forceps, but the length of the holding handle 1 is 10mm-30mm shorter than that of a standard forceps handle, when the forceps simulator is communicated, the standard forceps are displayed in the VR imaging module, and the distance between the calculation gripping points of the upper system is 10mm-30mm longer than that of the holding handle 1, so that the force acting length of the forceps simulator is exactly equal to that of the real forceps, namely, the forceps simulator has the same touch effect as the real forceps in a virtual simulation environment.
In summary, the tweezers simulation training system provided by the embodiment of the invention is connected with the gear connecting rod to form a scissors structure through the holding handle, meanwhile, the detection shaft arranged on the gear connecting rod in the protection frame is used for connecting the gear connecting rod with the angle sensor, namely, the opening and closing of the holding handle drives the gear connecting rod to open and close, and further drives the detection shaft in the angle sensor to rotate, and because the angle sensor is electrically connected with the driving circuit board in the shell, the driving circuit board can acquire signals sent by the angle sensor in real time, and the signals are uploaded to the VR equipment through the connector electrically connected with the driving circuit board and displayed in real time, and medical workers can finish tweezers operation training in a near-real operation scene through the VR equipment.
Example two
Referring to fig. 5, a forceps holding training method according to a second embodiment of the present invention is shown, and the forceps holding training system according to the first embodiment is adopted, and the method includes steps S10 to S14.
Step S10, obtaining a virtual object and a virtual tweezers simulator displayed in the VR device, wherein the virtual object at least comprises the outline of the virtual object.
In this embodiment, through the VR display device of the head-mounted type or the display screen type, a virtual object, virtual tweezers and a virtual scene to be operated can be observed, the virtual object can be specifically any object which can be contacted in a real operation process and is clamped by using the tweezers, for example, stones and the like in a body, the outline of the specific virtual object can be observed through the VR display device, a trainer can conveniently identify the clamped object, the target sense is enhanced, and the virtual scene can be specifically any scene which may possibly appear in the operation process.
And S11, determining the clamping angle of the virtual tweezer corresponding to the outline of the virtual object according to the outline of the virtual object.
It should be noted that, the corresponding clamping angles of the virtual tweezers simulator capable of clamping the virtual objects can be established in the training system for the virtual objects with different sizes, wherein the size of the virtual objects and the size of the actual objects are designed according to the proportion of 1:1, so that a trainer can experience real clamping feeling.
Specifically, in the initial state of the virtual tweezers simulator, one ends of the two holding handles are adhered, and the other ends of the two holding handles are opened and closed, namely, the initial state of the tweezers is the same as that in the actual situation. When the size of the virtual object is determined, the distance between any two points on the surface of the virtual object is also determined, in this embodiment, the point with the largest distance on the surface of the virtual object is taken as the clamping point, the distance between the clamping points and the lengths of the two holding handles of the virtual tweezers simulator are known, and then the required clamping angle for clamping the virtual object can be determined, and it can be understood that if the initial angle of the two holding handles of the virtual tweezers simulator is 30 °, the clamping angle of the two holding handles of the virtual tweezers simulator will be less than 30 ° when clamping the virtual object in normal cases.
And S12, acquiring a current clamping angle when the tweezers simulator clamps the virtual object, wherein the current clamping angle is triggered by the tweezers simulator.
It can be understood that the trainer can feed back the operation of the forceps simulator on the VR device in real time and collect the data of the clamping angle in real time, and when the virtual forceps contact the outline of the virtual object, the trainer is judged to be ready for the clamping operation, and the current clamping angle when the two holding handles contact the outline of the virtual object simultaneously is obtained.
And step S13, judging whether the current clamping angle is smaller than or equal to the clamping angle, and if yes, executing step S14.
Specifically, when the current clamping angle is smaller than or equal to the preset clamping angle of the virtual object, the virtual object is clamped by the tweezers, for example, the clamping angle required for clamping the virtual object is 10 °, if the current clamping angle of the tweezers simulator is smaller than or equal to 10 °, the virtual object is clamped, more specifically, in this embodiment, a certain clamping angle allowance is further provided, it can be understood that the clamping angle required for clamping the virtual object is 10 °, if the current clamping angle of the tweezers simulator is 9 ° to 10 °, the virtual object is considered to be clamped, and when the current clamping angle of the tweezers simulator is smaller than 9 °, an alarm is given to prompt an operator that the clamping operation is improper, and it can be understood that the current clamping angle of the tweezers simulator is 10 ° for a virtual object with a clamping angle of 10 °, if the current clamping angle of the tweezers simulator is smaller than 10 °, the clamping force applied by the operator to the virtual object is considered to be increased, but the clamping force is not excessively large, and if in actual situations, there may be a clamping end or a clamping object with a clamping force is not excessively large, and the method can be applied to the tweezers through the method.
And S14, judging that the forceps clamping training is successful.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The foregoing examples illustrate only a few embodiments of the invention, which are described in detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.
Claims (10)
1. The forceps clamping training system is characterized by comprising a forceps simulator and VR equipment electrically connected with the forceps simulator, wherein the forceps simulator comprises a holding handle and a simulation device connected with the holding handle, the simulation device comprises a gear connecting rod movably connected with the holding handle, a protection frame arranged on the gear connecting rod and an angle sensor arranged on one side of the protection frame, a detection shaft is arranged on the gear connecting rod, one end of the detection shaft is connected with the gear connecting rod, the other end of the detection shaft is connected with the angle sensor, the simulation device further comprises a driving circuit board arranged on the protection frame, a connector electrically connected with the driving circuit board and a shell sleeved on the protection frame, wherein the driving circuit board is electrically connected with the angle sensor and the connector respectively, and the connector is electrically connected with the VR equipment and used for uploading a received opening and closing angle signal of the holding handle to the VR equipment for display;
the end parts of the holding handles are respectively provided with a gear connecting rod, one end of each gear connecting rod is a meshing part, the other end of each gear connecting rod is a rotating part, the rotating parts are movably connected with the holding handles, and the meshing parts of the two gear connecting rods are meshed with each other.
2. The forceps holding training system of claim 1, wherein the protective frame comprises a mating portion and a mounting portion provided on the mating portion, the gear connecting rod is embedded on the mating portion, the angle sensor is attached to the mating portion, and the detection shaft passes through the mating portion to be connected with the gear connecting rod and the angle sensor, respectively.
3. The forceps holding training system of claim 2, wherein the mounting portion extends upwardly beyond a stop, the drive circuit board is disposed within the stop, and the housing is disposed over the stop.
4. The forceps holding training system of claim 2, wherein the mating portion is provided with a receiving slot, a through hole is provided in the middle of the bottom of the receiving slot, and the through hole is used for the detection shaft to pass through.
5. The forceps holding training system of claim 4, wherein the angle sensor is disposed within and engaged with the receiving groove.
6. The forceps holding training system of claim 1, wherein the connector comprises a magnet and an electrical contact disposed on the magnet, the electrical contact being electrically connected to a host system of the VR device.
7. The forceps holding training system of claim 1, wherein one end of the gear link is a meshing portion, the other end is a rotating portion, the rotating portion is connected with the holding handle, and the meshing portion is used for driving the gear link to open and close when the holding handle is opened and closed.
8. The forceps holding training system of claim 7, wherein the gear connecting rod is provided with a mounting groove far away from the rotating part, the angle sensor is provided with a mounting hole, one end of the detection shaft is matched with the mounting groove, and the other end of the detection shaft is matched with the mounting hole.
9. The forceps holding training system of claim 3, wherein the end of the housing remote from the stop platform is provided with a support platform and a skirt extending outwardly from the support platform, the skirt and support platform forming a groove structure, the connector being disposed within the groove structure.
10. A forceps holding training method for use in the forceps holding training system of any one of claims 1 to 9, the method comprising:
obtaining a virtual object and a virtual tweezers simulator displayed in the VR device, wherein the virtual object at least comprises the outline of the virtual object;
determining a clamping angle of the virtual tweezer corresponding to the outline of the virtual object according to the outline of the virtual object;
acquiring a current clamping angle when the tweezers simulator clamps the virtual object, wherein the current clamping angle is triggered by the tweezers simulator;
judging whether the current clamping angle is smaller than or equal to the clamping angle;
if yes, judging that the forceps holding training is successful.
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| CN113838332A (en) * | 2021-10-21 | 2021-12-24 | 温州职业技术学院 | Operation training equipment based on virtual reality |
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| US7877243B2 (en) * | 2001-07-16 | 2011-01-25 | Immersion Corporation | Pivotable computer interface |
| WO2013078449A1 (en) * | 2011-11-23 | 2013-05-30 | Sassani Joseph | Universal microsurgical simulator |
| US8992230B2 (en) * | 2012-01-23 | 2015-03-31 | Virtamed Ag | Medical training systems and methods |
| CN108389488B (en) * | 2018-03-05 | 2020-12-15 | 泉州医学高等专科学校 | Interactive oral cavity simulation system |
| US11619986B2 (en) * | 2018-10-18 | 2023-04-04 | Hewlett-Packard Development Company, L.P. | Virtual reality controller apparatus |
| CN112835457A (en) * | 2021-02-06 | 2021-05-25 | 上海萃钛智能科技有限公司 | 3D magic pen, display system based on 3D magic pen and use method of display system |
| CN114973922B (en) * | 2021-02-25 | 2024-03-15 | 北京服装学院 | Virtual reality teaching system and method for three-dimensional tailoring of clothing |
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