CN201156345Y

CN201156345Y - Endoscope micro-wound simulating system

Info

Publication number: CN201156345Y
Application number: CNU200820030701XU
Authority: CN
Inventors: 傅强; 胡三元; 凌斌
Original assignee: Individual
Current assignee: Individual
Priority date: 2008-01-10
Filing date: 2008-01-10
Publication date: 2008-11-26
Anticipated expiration: 2018-01-10

Abstract

The utility model relates to a computer simulation technology which is an endoscope minimally invasive operation simulation system. The utility model comprises a surgical instrument simulator, a space alignment sensor, a data acquisition and transmitting communication hardware, a data processing center server and a display device. The space alignment sensor is fixed on the surgical instrument simulator. The space displacement of the surgical instrument simulator is converted into electrical signals by the space alignment sensor. After being processed by the data acquisition and transmitting communication hardware, the signals are transmitted to the data processing center server. After processing the data, the data processing center server produces three-dimensional simulation image which is then transmitted to the display device. The endoscope minimally invasive operation simulation system overcomes the defects that the endoscope operation training is not real enough and the training effect is not ideal in prior art, and has the advantages of lifelike training, a plurality of functions, low cost and so on.

Description

Endoscope Minimally Invasive Surgery analogue system

Technical field

The utility model relates to computer simulation technique, is a kind of endoscope Minimally Invasive Surgery analogue system.

Background technology

Existing endoscopy training, mainly based on the simulated operation case, control box is exactly anthropomorphic dummy's body cavity body, and the control box the inside is placed article such as some soya beans, line, bead and is come virtual human body inside.Use real apparatus in control box, to practise various fundamental hand works or operation segment.Such training method does not intuitively present human body inside cavity actual configuration.For fundamental hand work even can mislead, the minimally invasive surgery apparatus of part can not be practised.Clinical real minimally invasive surgery also has many X factors, can not show in the simulated operation case.

The utility model content

Technical problem to be solved in the utility model provides a kind of endoscope Minimally Invasive Surgery analogue system that is used for the endoscopy training.

The technical scheme that the utility model adopted is: endoscope Minimally Invasive Surgery analogue system comprises operating theater instruments simulator, space orientation sensor, data acquisition and sends communication hardware, data processing centre's server, display device; The space orientation sensor is fixed on the operating theater instruments simulator, the space displacement of operating theater instruments simulator converts electric signal to through the space orientation sensor, through being sent to data processing centre's server after data acquisition and the processing of transmission communication hardware, producing the three-dimensional artificial image after data processing centre's server is handled data and deliver to the display device demonstration.

Good effect of the present utility model is: present technique can produce scope wide and annex variation and imaging working environment true to nature, vision and sensuously all with operate on one's body patient really the same, to such an extent as to be difficult to tell both differences.In addition, native system also has the following advantages;

1, cost is low, and is reusable;

2, owing to adopting modularization, so safeguard that simple and fast is convenient;

3, can be applicable to the simulated training of multi-series minimally invasive surgery;

4, avoid with human body exercise operation, organ is avoided damage in the protection human body;

5, clear each internal organs that present of stage construction;

6, use real puncture needle and instrument;

Sense of touch when 7, the different tissues layer punctures;

8, multiple parameter instructs operation to finish smoothly;

9, real-time evaluation operation person's exercise horizontal capability;

10, dissect variation and different clinical conditions.

Description of drawings

Fig. 1 is a hardware structure diagram of the present utility model,

Fig. 2 is a software flow pattern of the present utility model.

Embodiment

Below in conjunction with accompanying drawing the utility model is further described.

As shown in Figure 1, endoscope Minimally Invasive Surgery analogue system comprises operating theater instruments simulator 1, space orientation sensor 2, data acquisition and sends communication hardware 3, data processing centre's server 4, display device 5; Space orientation sensor 2 is fixed on the operating theater instruments simulator 1, the space displacement of operating theater instruments simulator 1 converts electric signal to through space orientation sensor 2, through being sent to data processing centre's server 4 after data acquisition and 3 processing of transmission communication hardware, producing the three-dimensional artificial image after 4 pairs of data of data processing centre's server are handled and deliver to display device 5 demonstrations.

This system is made up of hardware and software two parts, and details are as follows for hardware components:

1. operating theater instruments analog meter:

Simulation system is wanted perception operation technique person's intention, the necessary current state of measuring each operating theater instruments.For example: the unicity identification sequence number of various operating theater instruments, the opening and closing of surgical scissors, pressure of pneumoperitoneum apparatus or the like.Any one state of these systems all is under " supervision " of computing machine.

2.6 the space orientation of degree of freedom and accurately measurement:

The accurate location of operating theater instruments needs the space variable parameter of 6 degree of freedom aspects, horizontal shift-X, and perpendicular displacement-Y, height displacement-Z, around the angle of X-axis---θ x, around the angle of X-axis---θ y, around the angle of X-axis---θ z.Each degree of freedom is the space orientation sensor of custom-designed autonomous channel all, and these sensors are the accurate space variable parameter of Displacement Measurement not only, acceleration that also can the accurate Calculation space displacement, thereby true reappearance operator's intention.High-precision displacement transducer can conveniently go out the space variable of 1mm and 0.10 angular transformation, and has good repeatability.

3. the transmission of data:

Locus and translational acceleration by the accurate measure analog instrument of 6DOF space positioning system, and with these numerals (operation technique person action intention) by the RS485 data communication bus computing machine of uploading onto the server, after server computer receives data, on the one hand reduction of data is become operator's operation intention, on the one hand according to operator's intention, call the database and the 3D simulation software of Minimally Invasive Surgery in addition.Generate an interactive fully patient's environment and a state of an illness by computing machine,, create the advanced person's of the world today collection vision, the medical science virtual system that the sense of hearing is one by the perfect adaptation of computer software and space positioning apparatus.

4, data processing centre's server

Stored various case simulated datas in data processing centre's server, these data and input data have been carried out just can producing after the overall treatment 3-D view of various endoscopy.

5, display device

The real-time operation emulating image that data processing centre's server produces shows that by display device sight is true to nature, is difficult to difference with true operation.

Hardware components has following characteristics:

The operating theater instruments analog meter that fidelity is high, the accurate 6DOF space orientation of high measurement instrument, highly sensitive sensor, stable data Acquisition Circuit, the RS485 data communication bus of high-fidelity distant signal transmission etc.By mode bus each several part is coupled together, the benefit of mode bus has response speed fast, and data capacity is big, the multiple advantage of each several part circuit module stable bond.

Surgical simulation instrumentation wear resistant resin is made, and can increase the service life and have the weight and the feel of class vraisemblance apparatus, also is an important consideration for effective shielding of circuit insulation and electronic signal.High precision 16 degree of freedom space orientation instrument uses the alloy casting, has wear-resistingly, and accurate positioning is not easy to produce the physics shake, can not cause misoperation to the true operation of operation simulated instrument.Sensor uses the dragline type displacement structure, this structure sensor is encapsulated in oscillator differential transformer and phase-sensitive demodulator in the housing that stainless steel material makes, have good anti-vibration and shock resistance, high-protection level IP68, precision 0.01%, the movement velocity of measured displacement is up to 20m/s, have easy, firm, outstanding features such as compactness are through accurately demarcating good measuring steel wire, measuring steel wire coiling hoop, measurement axis, spring motor, angle sensor element and selectable electronic component.Acquisition Circuit adopts response speed fast, and incoming level is low, and the BiCMOS low-voltage and low-power dissipation large-scale digital ic that heat is little is a core, and peripheral circuit is simple, the integrated level height, and lead-in wire is short, the advantage that antijamming capability is strong.And the communication interface between the software is used the RS-485 interface modes, and the data maximum transmission rate is 10Mbps.The RS-485 interface is the combination of adopting balance driver and differential receiver, anti-common mode is done ability and is strengthened, and promptly noise immunity is good, and the maximum transmission distance standard value is 4000 feet, in fact can reach 3000 meters, the more important thing is that the RS-485 interface allows to connect nearly 128 transceivers on bus.Promptly have the multistation ability, can utilize single RS-485 interface to set up a plurality of surgical simulation training equipments easily like this, reduce hardware cost.

Software section receives the module of data module, analyzing and processing data, the basic module of simulating case, aggregation of data processing module, figure accelerating engine module, image display module etc. by software and forms.By this a series of hardware and software module group, will simulate case in the surgical action generation 3-D view that combines.Wherein, the action message that software receives the operating theater instruments simulator that data module received is passed to the data analysis processing module, the aggregation of data processing module is delivered in the output of data analysis processing module and case analog module jointly, the process of synthetic sham operated is delivered to image display module display through figure accelerating engine module again.

Software section is to cooperate with medical expert, creates virtual case and medical history, and laboratory diagnosis result and imaging effect are all based on real medical data.

The groundwork process of software is as follows:

1. system initialization and System self-test are waited for the selection operation content.

2. after choosing content, system to the operation item initialization, finishes original state once more, generates original state 3D imaging.

3. fixed interval sends the request msg instruction to hardware, obtains current hardware state data set.

4. by the hardware state data set, relatively normal data draws operating result, and whether obtain the hardware displacement reasonable.

5. by hardware state data set and operating result, utilize 3D emulation technology real time imagery.Immediately operator's intention and operating result are reflected to monitor.

6. the complete operation project is carried out fuzzy evaluation according to operator's operating accuracy, science, and automated intelligent calculates achievement.

7. finish, the selection operation content is waited in system reset.

Claims

1, endoscope Minimally Invasive Surgery analogue system, comprise operating theater instruments simulator [1], space orientation sensor [2], data acquisition and transmission communication hardware [3], data processing centre's server [4], display device [5], it is characterized in that: space orientation sensor [2] is fixed on the operating theater instruments simulator [1], the space displacement of operating theater instruments simulator [1] converts electric signal to through space orientation sensor [2], through being sent to data processing centre's server [4] after data acquisition and transmission communication hardware [3] processing, producing the three-dimensional artificial image after data processing centre's server [4] is handled data and deliver to display device [5] demonstration.