CN118334952A - Mongolian medicine three-edged needle-punched knee-eye acupoint virtual-real combined training system - Google Patents
Mongolian medicine three-edged needle-punched knee-eye acupoint virtual-real combined training system Download PDFInfo
- Publication number
- CN118334952A CN118334952A CN202410576268.3A CN202410576268A CN118334952A CN 118334952 A CN118334952 A CN 118334952A CN 202410576268 A CN202410576268 A CN 202410576268A CN 118334952 A CN118334952 A CN 118334952A
- Authority
- CN
- China
- Prior art keywords
- needle
- virtual
- training
- unit
- dimensional model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012549 training Methods 0.000 title claims abstract description 65
- 239000003814 drug Substances 0.000 title claims abstract description 18
- 238000000034 method Methods 0.000 claims abstract description 48
- 210000000629 knee joint Anatomy 0.000 claims abstract description 31
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 17
- 210000001519 tissue Anatomy 0.000 claims abstract description 17
- 238000010276 construction Methods 0.000 claims abstract description 8
- 238000003780 insertion Methods 0.000 claims abstract description 6
- 230000037431 insertion Effects 0.000 claims abstract description 6
- 238000003860 storage Methods 0.000 claims description 18
- 238000004422 calculation algorithm Methods 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 14
- 230000007812 deficiency Effects 0.000 claims description 14
- 210000003127 knee Anatomy 0.000 claims description 14
- 238000009877 rendering Methods 0.000 claims description 12
- 230000006870 function Effects 0.000 claims description 11
- 238000001467 acupuncture Methods 0.000 claims description 9
- 238000007781 pre-processing Methods 0.000 claims description 9
- 238000005070 sampling Methods 0.000 claims description 9
- 238000013500 data storage Methods 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 6
- 239000013598 vector Substances 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 5
- 230000035515 penetration Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000003707 image sharpening Methods 0.000 claims description 3
- 230000001788 irregular Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 210000003491 skin Anatomy 0.000 description 9
- 238000004659 sterilization and disinfection Methods 0.000 description 9
- 210000003205 muscle Anatomy 0.000 description 7
- 230000000875 corresponding effect Effects 0.000 description 6
- 230000000149 penetrating effect Effects 0.000 description 6
- 230000001954 sterilising effect Effects 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 210000004872 soft tissue Anatomy 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 238000002360 preparation method Methods 0.000 description 3
- 238000005520 cutting process Methods 0.000 description 2
- 210000002615 epidermis Anatomy 0.000 description 2
- 238000011156 evaluation Methods 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 230000014759 maintenance of location Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 210000004417 patella Anatomy 0.000 description 2
- 230000004224 protection Effects 0.000 description 2
- 238000004080 punching Methods 0.000 description 2
- 210000002303 tibia Anatomy 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- CBENFWSGALASAD-UHFFFAOYSA-N Ozone Chemical compound [O-][O+]=O CBENFWSGALASAD-UHFFFAOYSA-N 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 description 1
- 230000006750 UV protection Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 210000001264 anterior cruciate ligament Anatomy 0.000 description 1
- 230000004071 biological effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 230000008451 emotion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000000981 epithelium Anatomy 0.000 description 1
- 230000008921 facial expression Effects 0.000 description 1
- 210000004392 genitalia Anatomy 0.000 description 1
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 description 1
- 229910052737 gold Inorganic materials 0.000 description 1
- 239000010931 gold Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000003041 ligament Anatomy 0.000 description 1
- 230000005499 meniscus Effects 0.000 description 1
- 210000000944 nerve tissue Anatomy 0.000 description 1
- 230000037311 normal skin Effects 0.000 description 1
- 230000003647 oxidation Effects 0.000 description 1
- 238000007254 oxidation reaction Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 210000002967 posterior cruciate ligament Anatomy 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 229910052709 silver Inorganic materials 0.000 description 1
- 239000004332 silver Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009278 visceral effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Abstract
The invention discloses a Mongolian medicine three-edged needle-punched knee-eye acupoint deficiency-excess combination training system, which comprises: the model construction module acquires CT image data of the knee joint and constructs a virtual skeleton three-dimensional model; the virtual-real combination module is used for carrying out virtual-real combination on the virtual skeleton three-dimensional model and the real skeleton three-dimensional model based on the MR mixed reality helmet; the needle application training module is used for generating a needle application scheme by combining the theoretical knowledge of the knee joint, then performing needle application training on a real bone three-dimensional model, and giving an alarm when the needle application operation is not standard; the demonstration learning module is used for calling a model instance of the knee joint needle application and performing observation learning; and the autonomous display module is used for retrieving the virtual skeleton three-dimensional model in the needle application training process, and displaying the name and the form of human tissues, the needle insertion angle and the depth in real time through scaling operation. The invention enables a learner to feel needling scenes in reality, realizes repeatability and standardization of needling manipulation operation of students, and thus is skilled in grasping needling manipulation.
Description
Technical Field
The invention belongs to the technical field related to Mongolian medicine three-edged needle training, and particularly relates to a Mongolian medicine three-edged needle-punched knee-eye acupoint deficiency and excess combined training system.
Background
The three-edged needle-punching knee-eye acupoint therapy is an important component of Mongolian medicine, wherein the three-edged needle-punching technique is a teaching key point. In traditional Mongolian medical teaching, human body models are utilized to assist acupuncture teaching, the method can clearly explain the positions of acupoints for students, so that the students can practice acupuncture and moxibustion techniques, but cannot three-dimensionally show human body structures, cannot give corresponding feedback, can only stay in practice of the techniques for teaching purposes, and cannot train the clinical thinking ability of the students in traditional Chinese medicine. Meanwhile, the human body model has higher cost, poor reusability and higher cost, and students cannot practice repeatedly in real time. Aiming at the problems, the application of the current acupuncture teaching software is gradually wide, the effect of repeated exercise can be achieved, but the courseware only can help students to know relevant knowledge points, but the students cannot practice acupuncture, and cannot feel the actual changes and differences of acupuncture directions, forces and manipulations, so that the application of the teaching software to clinic still has a certain risk.
In order to solve the above problems, it is needed to provide a training system for combining deficiency and excess of the knee and eye acupoints by using the triangular needle in the Mongolian medicine, and the repeatability and standardization of the operation of the needling technique are realized by combining deficiency and excess, so as to achieve the purpose of mastering the therapy of the knee and eye acupoints by using the triangular needle.
Disclosure of Invention
In order to solve the technical problems, the invention provides a system for training the combination of the deficiency and the excess of knee and eye acupoints by using a Mongolian medical triangular needle, which aims to solve the problems in the prior art.
In order to achieve the above purpose, the invention provides a system for training the combination of knee and eye acupoints by using a Mongolian medicine three-edged needle, comprising:
The model construction module is used for acquiring CT image data of the knee joint, performing volume rendering on the CT image data based on a ray projection algorithm to obtain an initial three-dimensional model, and then performing surface reconstruction on the initial three-dimensional model based on a moving cube algorithm to obtain a virtual skeleton three-dimensional model;
The virtual-real combination module is connected with the model construction module and is used for carrying out virtual-real combination on the virtual skeleton three-dimensional model and the real skeleton three-dimensional model based on the MR mixed reality helmet;
the needle application training module is connected with the virtual-real combination module and is used for generating a needle application scheme by combining with the theoretical knowledge of the knee joint, performing needle application practice on a real bone three-dimensional model based on the needle application scheme, and alarming when needle application operation is not standard or a dangerous tissue structure is needled;
the demonstration learning module is connected with the needling training module and is used for calling the model instance of the knee joint needling to perform observation learning;
and the autonomous display module is connected with the demonstration learning module and is used for retrieving a corresponding virtual skeleton three-dimensional model in the needle application training process, and displaying the name and the form of human tissues, the needle insertion angle and the depth in real time through scaling operation.
Optionally, the model building module comprises a preprocessing unit, an initial modeling unit and a reconstruction model unit;
The preprocessing unit is used for acquiring CT image data of the knee joint and performing preprocessing operations of histogram equalization, denoising and image sharpening on the CT image data;
The initial modeling unit is used for reading the preprocessed CT image data, and performing volume rendering on the CT image data based on a ray projection algorithm to obtain a plurality of sampling points; acquiring a color value and opacity of each sampling point based on a tri-linear interpolation algorithm, and combining and rendering all the sampling points to obtain an initial three-dimensional model;
The reconstruction module unit is used for reading CT image data adjacent to the outer surface of the initial three-dimensional model based on a moving cube algorithm and constructing a three-dimensional space data field; obtaining a voxel node and an isosurface in the three-dimensional space data field, obtaining intersection point coordinates of the voxel node and the isosurface based on a linear interpolation method, carrying out interpolation calculation on each vertex gradient vector and intersection point of the isosurface based on the intersection point coordinates, obtaining normal vectors of the isosurface, and carrying out visual rendering to obtain a virtual skeleton three-dimensional model, wherein the knee joint three-dimensional model comprises a skin layer, a fat layer, a muscle layer and a skeleton layer.
Optionally, the virtual-real combination module comprises a virtual-real combination unit and a gesture operation unit;
The virtual-real combination unit is used for completely overlapping the virtual skeleton three-dimensional model and the real skeleton three-dimensional model to realize virtual-real combination;
The gesture operation unit is used for zooming, rotating and grabbing the virtual skeleton three-dimensional model through clicking or touching.
Optionally, the needle application training module comprises a consultation unit and a training unit;
the inquiry unit is used for carrying out inquiry by combining the theoretical knowledge of the knee joint, and generating an needle applying scheme based on the inquiry result;
The training unit is used for performing needle application based on the needle application scheme on the virtual-real combined real bone three-dimensional model, acquiring the friction resistance of needling through a sensor, presetting a friction threshold, and performing early warning when the friction resistance exceeds the friction threshold.
Optionally, the training unit comprises Shi Zhenzi units, an induction subunit, a correction subunit and an alarm subunit;
the Shi Zhenzi unit is used for applying needles on the bone three-dimensional model based on the needle application scheme;
The induction subunit is used for acquiring the friction resistance of needling based on the sensor;
the correcting subunit is used for acquiring a needle inserting angle and depth based on the virtual skeleton three-dimensional model, comparing the needle inserting angle with a preset standard needle inserting angle and depth, and correcting a needle applying method in time;
The alarm subunit is used for presetting a friction threshold, and carrying out early warning when friction resistance exceeds the friction threshold, or when dangerous acupuncture points are subjected to irregular needling operation, or when dangerous tissue structures are needled; wherein the friction threshold is obtained based on a normalized needle penetration angle and depth.
Optionally, the demonstration learning module comprises an example watching unit and a heel training learning unit;
the example watching unit is used for calling a model case of the knee joint needle application to conduct observation and study, and zooming, rotating and grabbing the virtual skeleton three-dimensional model in the example can be conducted through clicking or touching to conduct needle application detail observation and study;
the heel training learning unit is used for displaying the model cases on the same screen with the needle application training window in a popup window or split screen mode, and performing simulation training according to operations in the model cases.
Optionally, the autonomous display module comprises a functional display unit and a gesture control unit;
the function display unit is used for displaying related function buttons of the training system in real time;
The gesture control unit is used for automatically displaying a virtual picture by clicking a function button, and can zoom, rotate and grab the virtual picture.
Optionally, the virtual-real combined training system further comprises a data storage module, wherein the data storage module comprises a theoretical knowledge storage unit, a model example storage unit and an error correction operation storage unit;
The theoretical knowledge storage unit is used for storing the related theoretical knowledge of knee joint needle application;
The model example storage unit is used for storing a model example of knee joint needle application;
the error correction operation storage unit is used for storing error operation methods and corresponding correction operation methods in the training process.
Compared with the prior art, the invention has the following advantages and technical effects:
According to the invention, by means of virtual-real combination of the virtual skeleton three-dimensional model and the real skeleton three-dimensional model, simulation teaching of the three-edged needle-punched knee-eye acupoint therapy is implemented, and practical opportunity of a learner is increased; meanwhile, the virtual skeleton three-dimensional model is combined with the real skeleton three-dimensional model in a virtual-real mode, so that the fault tolerance is high, a learner can overcome tension emotion during skill operation, and the memory of the operation process is enhanced and the skill operation method is standardized through repeated exercises.
The invention effectively solves the problems of safety, standardization, repeatability and the like in the needling technique teaching, leads a learner to feel the needling situation in reality, realizes the repeatability and standardization of the needling technique operation, and achieves the aim of mastering the triangular needle needling knee-eye acupoint therapy.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
Fig. 1 is a schematic structural diagram of a training system for combining deficiency and excess of knee and eye acupoints by using a Mongolian triangular needle according to an embodiment of the present invention.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
Example 1
As shown in fig. 1, in this embodiment, a training system for combining deficiency and excess of knee and eye acupoints by using a Mongolian medical triangular needle is provided, which includes:
The model construction module is used for acquiring CT image data of the knee joint, performing volume rendering on the CT image data based on a ray projection algorithm to obtain an initial three-dimensional model, and then performing surface reconstruction on the initial three-dimensional model based on a moving cube algorithm to obtain a virtual skeleton three-dimensional model;
The virtual-real combination module is connected with the model construction module and is used for carrying out virtual-real combination on the virtual skeleton three-dimensional model and the real skeleton three-dimensional model based on the MR mixed reality helmet;
the needle application training module is connected with the virtual-real combination module and is used for generating a needle application scheme by combining with the theoretical knowledge of the knee joint, performing needle application practice on a real bone three-dimensional model based on the needle application scheme, and alarming when needle application operation is not standard or a dangerous tissue structure is needled;
the demonstration learning module is connected with the needling training module and is used for calling the model instance of the knee joint needling to perform observation learning;
and the autonomous display module is connected with the demonstration learning module and is used for retrieving a corresponding virtual skeleton three-dimensional model in the needle application training process, and displaying the name and the form of human tissues, the needle insertion angle and the depth in real time through scaling operation.
The model building module comprises a preprocessing unit, an initial modeling unit and a reconstruction model unit; the preprocessing unit is used for acquiring CT image data of the knee joint and performing preprocessing operations of histogram equalization, denoising and image sharpening on the CT image data; the initial modeling unit is used for reading the preprocessed CT image data, and performing volume rendering on the CT image data based on a ray projection algorithm to obtain a plurality of sampling points; acquiring a color value and opacity of each sampling point based on a tri-linear interpolation algorithm, and combining and rendering all the sampling points to obtain an initial three-dimensional model; the reconstruction module unit is used for reading CT image data adjacent to the outer surface of the initial three-dimensional model based on a moving cube algorithm and constructing a three-dimensional space data field; and obtaining voxel nodes and isosurfaces in the three-dimensional space data field, obtaining intersection point coordinates of the voxel nodes and the isosurfaces based on a linear interpolation method, carrying out interpolation calculation on each vertex gradient vector and intersection point of the isosurfaces based on the intersection point coordinates, obtaining normal vectors of the isosurfaces, and carrying out visual rendering to obtain the virtual skeleton three-dimensional model.
As a specific embodiment, in order to realize virtual-real combination, the embodiment adopts a 3D printing technology to construct a real bone three-dimensional model, wherein the real bone three-dimensional model is divided into a skin layer, a fat layer, a muscle layer and a bone layer, and the hand feeling is lifelike. Wherein, skin layer material performance parameter: the tensile strength of the flexible silica gel is less than or equal to 1120psi, the tearing strength is less than or equal to 122pli, and the hardness is: 00-10, shrinkage <0.001, color: normal skin tone, temperature range: -65-450 ℃, fat and muscle layer material performance parameters: soft two-component foam, specific gravity: 0.24 g/ml, foam density 15kg/m 3, high heat resistance, water resistance, ultraviolet resistance, oxidation resistance and ozone degradation resistance. Bone material performance parameters: PLA material. The bone, fat and muscle layers are integrally formed, and the spinous process can be touched with vivid hand feeling.
The virtual-real combination module comprises a virtual-real combination unit and a gesture operation unit; the virtual-real combination unit is used for matching with the MR mixed reality helmet, and can automatically and accurately align the virtual three-dimensional knee joint to the knee joint model only by manually configuring 4 space anchor coordinates, so that the virtual bone three-dimensional model and the real bone three-dimensional model are completely overlapped, and virtual-real combination is realized; the gesture operation unit is used for zooming, rotating and grabbing the virtual skeleton three-dimensional model through clicking or touching, the operation is quite natural, as in true existing reality, objects can be grabbed by virtue of the gesture operation unit, or a menu is clicked remotely, and the control capability of virtual three-dimensional information is greatly enhanced. The three-dimensional positioning accuracy of the embodiment can reach the millimeter level.
The needle application training module comprises a consultation unit and a training unit; the inquiry unit is used for carrying out inquiry by combining the theoretical knowledge of the knee joint, and generating an needle applying scheme based on the inquiry result; the training unit is used for performing needle application based on the needle application scheme on the virtual-real combined real bone three-dimensional model, acquiring the friction resistance of needling through a sensor, presetting a friction threshold, and performing early warning when the friction resistance exceeds the friction threshold.
In practice, the training unit comprises Shi Zhenzi units, an induction subunit, a correction subunit and an alarm subunit; the Shi Zhenzi unit is used for applying needles on the bone three-dimensional model based on the needle application scheme; the induction subunit is used for acquiring the friction resistance of needling based on the sensor; the correcting subunit is used for acquiring a needle inserting angle and depth based on the virtual skeleton three-dimensional model, comparing the needle inserting angle with a preset standard needle inserting angle and depth, and correcting a needle applying method in time; the alarm subunit is used for presetting a friction threshold, and carrying out early warning when friction resistance exceeds the friction threshold, or when dangerous acupuncture points are subjected to irregular needling operation, or when dangerous tissue structures are needled; wherein the friction threshold is obtained based on a normalized needle penetration angle and depth.
As a specific embodiment, referring to the process of the surgical needle penetrating soft tissue, the process of penetrating the knee and eye acupoints by the three-edged needle penetrating technique can be divided into 2 stages before and after penetrating skin tissue, and the 2 stages analyze the stress modes of the needle and the entered tissue positions, so that completely different results can be achieved. If the three-edged needle is used as a research object, the force applied by the three-edged needle when penetrating into the skin can be divided into the needle point force and the needle bar force according to whether the force applied by the three-edged needle extends along the direction of the needle bar. The needle before puncturing the skin receives only elastic force from the skin surface, and as the needle for acupuncture further penetrates the tissue, the epidermis breaks and the needle tip is forced significantly downward when the force applied to the epidermis by the needle tip reaches a limit. And after the needle penetrates the tissue, the force applied to the needle body includes the cutting force of the needle to separate the tissue, the friction force applied to the needle body by the tissue and the pressure of the soft tissue around the needle shaft on the needle shaft. The mechanical model of soft tissue needling can be expressed as:
Wherein X is the displacement of the needle, F is the sum of forces applied to the needle, F stif is the elastic force, F fric is the friction force, F cut is the cutting force, F rad is the radial force, F c is the force applied to the penetration point on the soft tissue, and F b is the radial force limit that skin tissue can withstand.
The demonstration learning module comprises an example watching unit and a heel training learning unit; the example watching unit is used for calling a model case of the knee joint needle application to conduct observation and study, and zooming, rotating and grabbing the virtual skeleton three-dimensional model in the example can be conducted through clicking or touching to conduct needle application detail observation and study; the heel training learning unit is used for displaying the model cases on the same screen with the needle application training window in a popup window or split screen mode, and performing simulation training according to operations in the model cases. The embodiment supports the real-time repeated operation and return operation aiming at each flow during exercise, and consolidates difficult points.
The autonomous display module comprises a functional display unit and a gesture control unit; the function display unit is used for displaying related function buttons of the training system in real time; the gesture control unit is used for automatically displaying a virtual picture by clicking a function button, and can zoom, rotate and grab the virtual picture, wherein the human body model can be rotated and observed by 360 degrees. The embodiment supports the viewing of the distribution of muscles, blood vessels and nerve vessels in the form of free viewing angles, and supports the selective hiding and selective display viewing modes of skin, muscles, nerve vessels and dressing.
As specific examples, knee joints include femur, patella, tibia, anterior cruciate ligament, posterior cruciate ligament, meniscus ligament. The virtual skeleton three-dimensional model can intuitively display and introduce femur, patella and tibia through voice, and the model can be checked through 360-degree rotation.
Specifically, the display used in this embodiment is a transparent holographic lens, a resolution 2k,3:2 light engine, and a holographic density >2.5k radiation points (light points of each radian), which can be optimized for 3D display based on eye position.
The virtual-real combined training system comprises a data storage module, wherein the data storage module comprises a theoretical knowledge storage unit, a model example storage unit and an error correction operation storage unit; the theoretical knowledge storage unit is used for storing the related theoretical knowledge of the knee joint needling, and a learner can complete preparation before needling operation, such as a disinfection method of hands of the learner and the selection of body positions of a patient, local disinfection, needle selection and needle holding methods, needle insertion and needle running, and the grasp of related knowledge points of various needling methods and effects, and can also evaluate the skill operation capability of the learner, provide feedback error correction, intelligent guidance and intelligent evaluation, and help the learner grasp the correct and complete flow of needling operation; the model example storage unit is used for storing a model example of knee joint needle application; the error correction operation storage unit is used for storing error operation methods and corresponding correction operation methods in the training process.
The specific implementation process of the system flow is as follows:
1. Theory study of needling manipulations:
(1) When students wear MR mixed reality helmets and play together with a huge curtain, the students know the fine movement path and biological effect generated after the needle body enters the knee-eye acupoint when the manipulation of the Mongolian medicine, namely the three-edged needle needling the knee-eye acupoint is realized, the clinical needling situation is felt, and the perceptual knowledge of theoretical learning is enhanced.
(2) Students can wear MR mixed reality helmets or independently watch 3D demonstration videos by using naked eye 3D mobile phones, and conduct technical learning.
2. Preparation: preparing articles, preparing personnel and checking patients;
3. Training the needling technique:
(1) Preparing a real skeleton three-dimensional model of needling simulation, transmitting the needling technique acquired in real time and the analysis results of the functions of all parameters thereof to an MR virtual scene in real time, and displaying the results;
(2) And the students wear the MR helmet, and the virtual bone three-dimensional model and the real bone three-dimensional model are combined in a virtual-real mode, so that the positioning is completed.
(3) The operation process comprises the following steps: filiform needle selection, body position, disinfection, needling method, needle retention and needle lifting.
Filiform needle selection: stainless steel needle, gold needle, silver needle.
Body position: the patient can be selected from supine position, prone position, lateral position, leaning seat, prone seat, and lateral seat.
And (3) disinfection: needle sterilization, acupoint sterilization, and medical sterilization.
The needling method comprises the following steps: transverse, straight, (oblique, flat) lower, upper, cross, penetrating, avoiding visceral and external genitalia and vital parts. The needling technique includes various needling techniques such as single-hand needling, double-hand needling, and tubular needling.
The software can prompt what part (epithelial tissue, muscle tissue and nerve tissue) to enter along with the needle inserting depth, and rotate the triangular needle after the needle is penetrated to the treatment depth, and the software can display the number of turns in real time, so that the treatment is carried out for 25-40 minutes.
Needle retention: and displaying the needle-left content through the three-dimensional virtual simulation animation. The needle is left for 25-40 minutes according to the illness state and the physique of the patient, and the facial expression of the patient is closely observed in the treatment process to inquire the feeling of the patient.
And (3) needle lifting: and displaying the needle-up content through the three-dimensional virtual simulation animation.
(4) The needling technique and various parameters in the operation process are fed back to a virtual scene in the helmet in real time, and a virtual patient is instructed to give a corresponding effect through a preset script.
(5) The needling simulator is used for training different Shi Zhen cases of manipulations, displaying the needle inserting angle and depth in real time, and helping students correct the manipulations in time by comparing the needle inserting angle and depth with the preset standard needling manipulations, so that the students can master the correct and standard needling manipulation skills finally.
The whole needling process is simulated in a full three-dimensional animation mode, students interact with the system in a virtual-real combination mode, and the preparation before needling operation (a sterilization method of hands of doctors and body position selection of patients), local sterilization, needle selection and needle holding operation, needle insertion, needle running and the grasp of relevant knowledge points of various needling operations and effects are completed; and the skill operation capability is evaluated, feedback error correction, intelligent guidance and intelligent evaluation are provided, and students are helped to master the correct and complete flow of the needling operation.
The present application is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present application are intended to be included in the scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.
Claims (8)
1. The utility model provides a combination training system of knee-eye acupoint deficiency and excess is needled to triangular needle of Mongolian medicine which characterized in that includes:
The model construction module is used for acquiring CT image data of the knee joint, performing volume rendering on the CT image data based on a ray projection algorithm to obtain an initial three-dimensional model, and then performing surface reconstruction on the initial three-dimensional model based on a moving cube algorithm to obtain a virtual skeleton three-dimensional model;
The virtual-real combination module is connected with the model construction module and is used for carrying out virtual-real combination on the virtual skeleton three-dimensional model and the real skeleton three-dimensional model based on the MR mixed reality helmet;
the needle application training module is connected with the virtual-real combination module and is used for generating a needle application scheme by combining with the theoretical knowledge of the knee joint, performing needle application practice on a real bone three-dimensional model based on the needle application scheme, and alarming when needle application operation is not standard or a dangerous tissue structure is needled;
the demonstration learning module is connected with the needling training module and is used for calling the model instance of the knee joint needling to perform observation learning;
and the autonomous display module is connected with the demonstration learning module and is used for retrieving a corresponding virtual skeleton three-dimensional model in the needle application training process, and displaying the name and the form of human tissues, the needle insertion angle and the depth in real time through scaling operation.
2. The system for training the combination of the deficiency and the excess of the knee and the eye acupoints by the Mongolian medicine three-edged needle according to claim 1,
The model construction module comprises a preprocessing unit, an initial modeling unit and a reconstruction model unit;
The preprocessing unit is used for acquiring CT image data of the knee joint and performing preprocessing operations of histogram equalization, denoising and image sharpening on the CT image data;
The initial modeling unit is used for reading the preprocessed CT image data, and performing volume rendering on the CT image data based on a ray projection algorithm to obtain a plurality of sampling points; acquiring a color value and opacity of each sampling point based on a tri-linear interpolation algorithm, and combining and rendering all the sampling points to obtain an initial three-dimensional model;
The reconstruction module unit is used for reading CT image data adjacent to the outer surface of the initial three-dimensional model based on a moving cube algorithm and constructing a three-dimensional space data field; and obtaining voxel nodes and isosurfaces in the three-dimensional space data field, obtaining intersection point coordinates of the voxel nodes and the isosurfaces based on a linear interpolation method, carrying out interpolation calculation on each vertex gradient vector and intersection point of the isosurfaces based on the intersection point coordinates, obtaining normal vectors of the isosurfaces, and carrying out visual rendering to obtain the virtual skeleton three-dimensional model.
3. The system for training the combination of the deficiency and the excess of the knee and the eye acupoints by the Mongolian medicine three-edged needle according to claim 1,
The virtual-real combination module comprises a virtual-real combination unit and a gesture operation unit;
The virtual-real combination unit is used for completely overlapping the virtual skeleton three-dimensional model and the real skeleton three-dimensional model to realize virtual-real combination;
The gesture operation unit is used for zooming, rotating and grabbing the virtual skeleton three-dimensional model through clicking or touching.
4. The system for training the combination of the deficiency and the excess of the knee and the eye acupoints by the Mongolian medicine three-edged needle according to claim 1,
The needle application training module comprises a consultation unit and a training unit;
the inquiry unit is used for carrying out inquiry by combining the theoretical knowledge of the knee joint, and generating an needle applying scheme based on the inquiry result;
The training unit is used for performing needle application based on the needle application scheme on the virtual-real combined real bone three-dimensional model, acquiring the friction resistance of needling through a sensor, presetting a friction threshold, and performing early warning when the friction resistance exceeds the friction threshold.
5. The system for training the combination of the deficiency and the excess of the knee and the eye acupoints by the Mongolian medicine three-edged needle according to claim 4,
The training unit comprises Shi Zhenzi units, an induction subunit, a correction subunit and an alarm subunit;
the Shi Zhenzi unit is used for applying needles on the bone three-dimensional model based on the needle application scheme;
The induction subunit is used for acquiring the friction resistance of needling based on the sensor;
the correcting subunit is used for acquiring a needle inserting angle and depth based on the virtual skeleton three-dimensional model, comparing the needle inserting angle with a preset standard needle inserting angle and depth, and correcting a needle applying method in time;
The alarm subunit is used for presetting a friction threshold, and carrying out early warning when friction resistance exceeds the friction threshold, or when dangerous acupuncture points are subjected to irregular needling operation, or when dangerous tissue structures are needled; wherein the friction threshold is obtained based on a normalized needle penetration angle and depth.
6. The system for training the combination of the deficiency and the excess of the knee and the eye acupoints by the Mongolian medicine three-edged needle according to claim 1,
The demonstration learning module comprises an example watching unit and a heel training learning unit;
the example watching unit is used for calling a model case of the knee joint needle application to conduct observation and study, and zooming, rotating and grabbing the virtual skeleton three-dimensional model in the example can be conducted through clicking or touching to conduct needle application detail observation and study;
the heel training learning unit is used for displaying the model cases on the same screen with the needle application training window in a popup window or split screen mode, and performing simulation training according to operations in the model cases.
7. The system for training the combination of the deficiency and the excess of the knee and the eye acupoints by the Mongolian medicine three-edged needle according to claim 1,
The autonomous display module comprises a function display unit and a gesture control unit;
the function display unit is used for displaying related function buttons of the training system in real time;
The gesture control unit is used for automatically displaying a virtual picture by clicking a function button, and can zoom, rotate and grab the virtual picture.
8. The system for training the combination of the deficiency and the excess of the knee and the eye acupoints by the Mongolian medicine three-edged needle according to claim 1,
The virtual-real combined training system also comprises a data storage module, wherein the data storage module comprises a theoretical knowledge storage unit, a model example storage unit and an error correction operation storage unit;
The theoretical knowledge storage unit is used for storing the related theoretical knowledge of knee joint needle application;
The model example storage unit is used for storing a model example of knee joint needle application;
the error correction operation storage unit is used for storing error operation methods and corresponding correction operation methods in the training process.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118334952A true CN118334952A (en) | 2024-07-12 |
Family
ID=
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10417936B2 (en) | Hybrid physical-virtual reality simulation for clinical training capable of providing feedback to a physical anatomic model | |
| US7731500B2 (en) | Vascular-access simulation system with three-dimensional modeling | |
| AU762444B2 (en) | Endoscopic tutorial system | |
| CN105069301B (en) | Support the lumbar puncture virtual emulation and training system of dynamic sensing interexchanging | |
| US20040234933A1 (en) | Medical procedure training system | |
| CN109410680A (en) | A kind of virtual operation training method and system based on mixed reality | |
| CN104778894A (en) | Virtual simulation bone-setting manipulation training system and establishment method thereof | |
| CN104658394A (en) | Virtual teaching training system for puncture | |
| Meglan | Making surgical simulation real | |
| JP4590627B2 (en) | Acupuncture training system using force and touch | |
| KR100446548B1 (en) | Oriental medicine acupuncture system in virtual reality environment | |
| RU2687564C1 (en) | System for training and evaluating medical personnel performing injection and surgical minimally invasive procedures | |
| Tai et al. | Tissue and force modelling on multi-layered needle puncture for percutaneous surgery training | |
| CN116631252A (en) | Physical examination simulation system and method based on mixed reality technology | |
| KR102143784B1 (en) | System for estimating otorhinolaryngology and neurosurgery surgery based on simulator of virtual reality | |
| Jang et al. | Trends in acupuncture training research: focus on practical phantom models | |
| CN118334952A (en) | Mongolian medicine three-edged needle-punched knee-eye acupoint virtual-real combined training system | |
| CN115421594A (en) | Device and method based on virtual training and examination scoring | |
| Sun et al. | Design and development of a mixed reality acupuncture training system | |
| Brazil et al. | A virtual environment for breast exams practice with haptics and gamification | |
| Dumay | Medicine in virtual environments | |
| Machado et al. | Development and evaluation of a simulator of invasive procedures in pediatric bone marrow transplant | |
| Hon | Medical reality and virtual reality | |
| RU2799123C1 (en) | Method of learning using interaction with physical objects in virtual reality | |
| KR102624918B1 (en) | simulator and method for medical practice based on haptic for providing customized patient type |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication |