CN117524492A - Virtual surgery-based operation process modularization method - Google Patents
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- 238000000034 method Methods 0.000 title claims abstract description 43
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- 238000001356 surgical procedure Methods 0.000 claims abstract description 13
- 230000009471 action Effects 0.000 claims abstract description 12
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- 230000014509 gene expression Effects 0.000 claims description 12
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- 206010014080 Ecchymosis Diseases 0.000 description 1
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Abstract
The invention provides a virtual surgery-based operation process modularization method, which comprises the steps of establishing a model library, wherein the model library comprises a human tissue model and a surgical instrument model; the simulation module is packaged according to the actual operation process and comprises a performance module, a behavior module and a state module; building a surgery simulation environment by using the model library, and adding a simulation module into the surgery simulation environment; responding to an action signal of the force feedback equipment, enabling the simulation modules to act, carrying out logic processing on the simulation modules according to preset rules to judge whether logic conflict exists among the simulation modules, giving an alarm if the logic conflict exists, and enabling the human body organization model to carry out deformation action according to the simulation modules if the logic conflict does not exist.
Description
Technical Field
The invention relates to the technical field of medical software, in particular to a surgical operation process modularization method based on virtual surgery.
Background
The virtual operation is a research field which is integrated with multiple disciplines such as medicine, computer graphics, robotics and the like, mainly starts from medical image data, visualizes complex medical image data according to the technology of computer graphics, reconstructs a three-dimensional interactive virtual human body model, simulates a simulated operation environment through an interactive system, and provides specific operation training and preoperative planning for doctors. Therefore, the virtual operation has very wide application prospect in the fields of basic medical skill training, operation simulation, operation teaching and the like.
However, the current virtual operation simulation generally puts the center on the functional implementation of a single operation, the coupling of the internal modules of the system is serious, and when a new operation scene is developed, if a certain key technology is needed to be reused, a great amount of modification work is needed, and the quick construction of a plurality of operation scenes cannot be realized.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a surgical operation process modularization method based on virtual surgery, which comprises the following steps:
establishing a model library, wherein the model library comprises a human tissue model and a surgical instrument model;
the simulation module is packaged according to the actual operation process and comprises a performance module, a behavior module and a state module;
building a surgery simulation environment by using the model library, and adding a simulation module into the surgery simulation environment;
responding to an action signal of the force feedback equipment, enabling the simulation modules to act, carrying out logic processing on the simulation modules according to preset rules to judge whether logic conflict exists among the simulation modules, giving an alarm if the logic conflict exists, and enabling the human body organization model to carry out deformation action according to the simulation modules if the logic conflict does not exist.
In one embodiment, when the operation simulation environment is built, the method further comprises:
adding a human tissue model and a surgical instrument model, and adjusting the pose of the human tissue model and the surgical instrument model;
configuring one or more of a performance module and a status module in the human tissue model and/or configuring a behavior module on the surgical instrument model;
and configuring attribute values of the simulation module so that the simulation module acts according to preset attribute values when the human tissue model and the surgical instrument model collide.
In one embodiment, when the simulation module is logically processed according to a preset rule, the method further includes:
building logic combinations comprising different expression modules and behavior modules in the preset rules; the logic combination comprises a performance module, a behavior module and a state module;
judging whether the added simulation module, the expression module and the behavior module can be matched with the logic combination, if so, calling a corresponding state module, otherwise, outputting the logic failure.
In one embodiment, the properties of the performance module include an adjustable damping spring rate, a non-linear spring rate, and a deformation recovery spring rate.
In one embodiment, when the human tissue model performs the deformation action according to the simulation module, the method further includes:
responding to the operation of the force feedback equipment in the operation simulation environment, obtaining the operation force of the behavior module of the operation instrument model on the human tissue model, and calculating the feedback force of the human tissue model on the operation instrument model according to the deformation of the human tissue model;
the feedback force is input to the force feedback device.
In one embodiment, when configuring the behavior module on the surgical instrument model, the method further comprises: based on the type of the behavior module, an effective collision point of the surgical instrument model is configured, and when the effective collision point contacts the human tissue model, the corresponding performance module and the state module are triggered.
In one embodiment, the damping spring rate is calculated by the following formula:
wherein s is 1 Sum s 2 Representing the rate attenuation coefficient and the viscoelastic control coefficient, p i Andrespectively representing the current particle position and the initial position, deltaV ij Indicating the relative velocity change of the mass points at the two ends of the spring.
In one embodiment, the nonlinear spring coefficient is calculated by the following formula:
wherein, the elastic coefficient of the nonlinear spring under the linear condition is represented, and k2 represents the elastic coefficient under the nonlinear condition.
In one embodiment, the deformation recovery spring coefficient is calculated by the following formula:
wherein k is n Representing the rate, θ, of the bending spring ij Indicating the angle between the current position and the initial position of the spring,indicating the initial distance between the two ends of the spring, ">Representing the current position and initial position of the endpointAnd (5) a vector.
In one embodiment, different behavior modules are preset based on different surgical instrument models.
According to the embodiment of the invention, various necessary actions, states, performances and the like in the operation process are packaged into the module, so that the problem of difficult construction of an operation environment caused by various systems which are excessively coupled is avoided, and the effect of quickly constructing an operation scene in an operation simulation environment is realized. In addition, as the coupling degree among the modules is reduced, whether effective linkage can be formed among the simulation modules is judged through logic processing, and the required operation simulation environment can be quickly generated according to the added simulation modules, so that the quick reconstruction of the operation scene is effectively improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
FIG. 1 is a flow chart of steps of a modular method of virtual surgery-based surgical procedure in accordance with an embodiment of the present invention;
FIG. 2 is a system flow diagram of a virtual surgery-based surgical procedure modularization method in accordance with an embodiment of the present invention;
FIG. 3 is a system frame diagram of a virtual surgery-based surgical procedure modularization method in accordance with an embodiment of the present invention;
fig. 4 is a flowchart of a logic process in an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention, and that well-known modules, units and their connections, links, communications or operations with each other are not shown or described in detail. Also, the described features, architectures, or functions may be combined in any manner in one or more implementations. It will be appreciated by those skilled in the art that the various embodiments described below are for illustration only and are not intended to limit the scope of the invention. It will be further appreciated that the modules or units or processes of the embodiments described herein and illustrated in the drawings may be combined and designed in a wide variety of different configurations. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to 4, an embodiment of the present invention discloses a method for modularizing a surgical procedure based on virtual surgery, which is characterized by comprising:
101, establishing a model library, wherein the model library comprises a human tissue model and a surgical instrument model;
102, packaging a simulation module according to a real operation process, wherein the simulation module comprises a performance module, a behavior module and a state module; specifically, the expression module is mainly responsible for visual presentation of human organs after being operated by instruments, and mainly comprises: plastic deformation, elastic deformation, cutting, suturing, puncturing, rupturing, blood flow, etc.; the behavior module is mainly responsible for various behaviors of the surgical instrument on human organs and behaviors of the surgical instrument, and mainly comprises: surgical instrument control, stretching, pressing, washing, expanding, aspiration, cutting, suturing, etc.; the state module is mainly responsible for presenting abnormal states of human organs, and mainly comprises: swelling, ecchymosis, infection, fluid accumulation, etc. It can be understood that by adding the expression module and the state module to the organ in the human organ library, adding the behavior module to the surgical instrument model, determining the surgical operation of the instrument by performing logic judgment between the modules, for example, adding the elastic deformation module to the soft tissue model, adding the stretching module to the instrument model, and when performing logic processing, the two modules meet the requirement of stretching the soft tissue, so that the instrument can stretch the soft tissue and the soft tissue can be elastically deformed.
103, constructing a surgery simulation environment by using the model library, and adding a simulation module into the surgery simulation environment; and adding a performance module and a state module into the human tissue model, and adding a behavior module into the surgical instrument model.
In one embodiment, when the operation simulation environment is built, the method further comprises:
adding a human tissue model and a surgical instrument model, and adjusting the pose of the human tissue model and the surgical instrument model;
configuring one or more of a performance module and a status module in the human tissue model and/or configuring a behavior module on the surgical instrument model;
and configuring attribute values of the simulation module so that the simulation module acts according to preset attribute values when the human tissue model and the surgical instrument model collide.
In one embodiment, different behavior modules are preset based on different surgical instrument models. Ensuring that the behavior module which can be called by the surgical instrument model accords with the actual operation.
104, responding to an action signal of the force feedback equipment, enabling the simulation modules to act, carrying out logic processing on the simulation modules according to preset rules to judge whether logic conflict exists among the simulation modules, giving an alarm if the logic conflict exists, and enabling the human body organization model to carry out deformation action according to the simulation modules if the logic conflict does not exist.
Specifically, in one embodiment, when the behavior module is configured on the surgical instrument model, the method further includes: based on the type of the behavior module, an effective collision point of the surgical instrument model is configured, and when the effective collision point contacts the human tissue model, the corresponding performance module and the state module are triggered. The behavior module is mainly used for defining the behavior of the user operation and defining the collision point of the behavior operation, for example, a pressing module is added in the appliance, the pressing is the behavior attribute which can be made by the appliance, and the user needs to define the collision point which can trigger the behavior. For example, an elongated instrument, typically collides with the organ at the end of the instrument and deforms accordingly, so that the point of collision may be located at the end of the instrument, and only if the point of collision collides with the organ, the corresponding deformation operation is triggered. When the surgical instrument is contacted with the organ, logic judgment is triggered to judge whether the modules can accord with the behavior of certain surgical operation, and if so, the organ model can display the effect according to the set modules.
As shown in fig. 4, when the simulation module is logically processed according to a preset rule, the method further includes:
building logic combinations comprising different expression modules and behavior modules in the preset rules; the logic combination comprises a performance module, a behavior module and a state module;
judging whether the added simulation module, the expression module and the behavior module can be matched with the logic combination, if so, calling a corresponding state module, otherwise, outputting the logic failure.
It can be appreciated that the logic determination process is as follows: the logic processor acquires the labels in the expression module and the behavior module, and judges whether the two labels can trigger a certain organ to present logic when interacting, for example, when the expression module comprises a deformation label, and the behavior module comprises a pressing label, the deformation logic can be established, which indicates that the organ model needs to be prepared for deformation according to the set attribute value when the surgical instrument collides.
In one embodiment, since the deformation of the human organ is generally classified into plastic deformation and elastic deformation, the plastic deformation and the elastic deformation have a large difference in the deformation recovery capability. The spring proton model is used as a basis of deformation, has good real-time performance and can adapt to most simulation works. According to different deformation types, the expression module is abstracted into three basic attributes: deformation nonlinearity, viscoelasticity, and quasi-incompressibility. The three basic attributes have the rigidity coefficients of the corresponding springs, the rigidity coefficients are used as adjustable parameter interfaces, and the rigidity coefficients can be adjusted according to requirements, so that deformation simulation of different organ models is realized.
1. Viscoelasticity: viscoelasticity is a property of viscous fluids and elastic solids exhibited by soft tissues under external forces, and is manifested by creep, relaxation, and hysteresis. The viscoelasticity of the human body organ is simulated by adopting a damping spring, and the damping spring coefficient is calculated by the following formula:
wherein s is 1 Sum s 2 Representing the rate attenuation coefficient and the viscoelastic control coefficient, p i Andrespectively representing the current particle position and the initial position, deltaV ij Indicating the relative velocity change of the mass points at the two ends of the spring.
2. Since the deformation of most soft tissues in human organs has nonlinear characteristics, i.e. the deformation process is not applicable to hooke's law, the linear deformation in the traditional spring proton model cannot be used for simulating the deformation process. The human organ model is simulated by adopting a nonlinear spring, and the nonlinear spring coefficient is calculated by the following formula:
wherein, the elastic coefficient of the nonlinear spring under the linear condition is represented, and k2 represents the elastic coefficient under the nonlinear condition.
3. The human body organs mainly comprise fat, muscle, viscera, blood vessels, bones and the like, when the external force is applied, different organs have different deformation expressions, certain organs have good deformation recovery capability, and certain organs are plastically deformed and cannot be recovered. Thus, a novel bending spring force is introduced, which characterizes the deformation recovery capacity of the organ by setting the bending spring parameters, which are calculated by the following formula:
wherein k is n Representing the rate, θ, of the bending spring ij Indicating the angle between the current position and the initial position of the spring,indicating the initial distance between the two ends of the spring, ">A vector representing the current position of the endpoint and the initial position.
Because of the differences of physical properties of human organs, such as viscoelasticity, deformation recoverability and the like, in order to be capable of representing the physical properties of different organs, the physical properties of the physical organs are abstracted into attributes in a representation module for a user to debug the attributes of the representation module, wherein the attributes comprise adjustable damping spring coefficients, nonlinear spring coefficients and deformation recovery spring coefficients, and the organs have different effects when representing by setting different attribute values, so that the deformation functions such as plastic deformation, elastic deformation and the like can be realized.
In one embodiment, when the human tissue model performs deformation according to the simulation module, the method further comprises responding to the operation of the force feedback device in the operation simulation environment, obtaining the operation force of the behavior module of the surgical instrument model on the human tissue model, and calculating the feedback force of the human tissue model on the surgical instrument model according to the deformation of the human tissue model; the feedback force is input to the force feedback device.
It can be understood that the user can also move correspondingly in the operation in the virtual environment by manipulating the force feedback device, and when the operation instrument in the virtual environment receives acting force, the magnitude of the acting force can be calculated and fed back into the force feedback device, so that the user can feel the reaction force of the organ to the operation instrument when the operation is performed, and the operator can feel feedback to the operation more intuitively.
According to the embodiment of the invention, various necessary actions, states, performances and the like in the operation process are packaged into the module, so that the problem of difficult construction of an operation environment caused by various systems which are excessively coupled is avoided, and the effect of quickly constructing an operation scene in an operation simulation environment is realized. In addition, as the coupling degree among the modules is reduced, whether effective linkage can be formed among the simulation modules is judged through logic processing, and the required operation simulation environment can be quickly generated according to the added simulation modules, so that the quick reconstruction of the operation scene is effectively improved.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
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. A virtual surgery-based surgical procedure modularization method, comprising:
establishing a model library, wherein the model library comprises a human tissue model and a surgical instrument model;
the simulation module is packaged according to the actual operation process and comprises a performance module, a behavior module and a state module;
building a surgery simulation environment by using the model library, and adding a simulation module into the surgery simulation environment;
responding to an action signal of the force feedback equipment, enabling the simulation modules to act, carrying out logic processing on the simulation modules according to preset rules to judge whether logic conflict exists among the simulation modules, giving an alarm if the logic conflict exists, and enabling the human body organization model to carry out deformation action according to the simulation modules if the logic conflict does not exist.
2. The method of claim 1, wherein when constructing the surgical simulation environment, further comprising:
adding a human tissue model and a surgical instrument model, and adjusting the pose of the human tissue model and the surgical instrument model;
configuring one or more of a performance module and a status module in the human tissue model and/or configuring a behavior module on the surgical instrument model;
and configuring attribute values of the simulation module so that the simulation module acts according to preset attribute values when the human tissue model and the surgical instrument model collide.
3. The method of claim 2, further comprising, when logically processing the simulation module according to a predetermined rule:
building logic combinations comprising different expression modules and behavior modules in the preset rules; the logic combination comprises a performance module, a behavior module and a state module;
judging whether the added simulation module, the expression module and the behavior module can be matched with the logic combination, if so, calling a corresponding state module, otherwise, outputting the logic failure.
4. The method of claim 3, wherein the properties of the performance module include an adjustable damping spring rate, a non-linear spring rate, and a deformation recovery spring rate.
5. The method of claim 3, wherein when the human tissue model performs a deformation action according to the simulation module, further comprising:
responding to the operation of the force feedback equipment in the operation simulation environment, obtaining the operation force of the behavior module of the operation instrument model on the human tissue model, and calculating the feedback force of the human tissue model on the operation instrument model according to the deformation of the human tissue model;
the feedback force is input to the force feedback device.
6. The method of claim 2, wherein configuring the behavior module on the surgical instrument model further comprises: based on the type of the behavior module, an effective collision point of the surgical instrument model is configured, and when the effective collision point contacts the human tissue model, the corresponding performance module and the state module are triggered.
7. The method of claim 5, wherein the damping spring rate is calculated by the formula:
wherein s is 1 Sum s 2 Representing the rate attenuation coefficient and the viscoelastic control coefficient, p i Andrespectively representing the current particle position and the initial position, deltaV ij Indicating the relative velocity change of the mass points at the two ends of the spring.
8. The method of claim 5, wherein the nonlinear spring coefficient is calculated by the following equation:
wherein, the elastic coefficient of the nonlinear spring under the linear condition is represented, and k2 represents the elastic coefficient under the nonlinear condition.
9. The method of claim 5, wherein the deformation recovery spring coefficient is calculated by the formula:
wherein k is n Representing the rate, θ, of the bending spring ij Indicating the angle between the current position and the initial position of the spring,indicating the initial distance between the two ends of the spring, ">A vector representing the current position of the endpoint and the initial position.
10. The method of claim 5, wherein different behavior modules are preset based on different models of the surgical instrument.
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102568288A (en) * | 2010-12-23 | 2012-07-11 | 于福东 | Endoscopy virtual surgery system with force feedback |
| CN110289103A (en) * | 2019-06-19 | 2019-09-27 | 南京信息工程大学 | Soft tissue Local Contraction deformation analogy method |
| JP2021506526A (en) * | 2017-09-18 | 2021-02-22 | 西凉 ▲聶▼ | Semi-elastic modulus and elasticity measurement method of human tissue and its device |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102568288A (en) * | 2010-12-23 | 2012-07-11 | 于福东 | Endoscopy virtual surgery system with force feedback |
| JP2021506526A (en) * | 2017-09-18 | 2021-02-22 | 西凉 ▲聶▼ | Semi-elastic modulus and elasticity measurement method of human tissue and its device |
| CN110289103A (en) * | 2019-06-19 | 2019-09-27 | 南京信息工程大学 | Soft tissue Local Contraction deformation analogy method |
Non-Patent Citations (1)
| Title |
|---|
| 李艳东等: "基于局部动态模型的软组织形变建模与仿真", 计算机科学, vol. 40, no. 10, 31 October 2013 (2013-10-31), pages 283 - 288 * |
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