CN204029245U - A kind of surgery simulation system - Google Patents
A kind of surgery simulation system Download PDFInfo
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- CN204029245U CN204029245U CN201420434174.4U CN201420434174U CN204029245U CN 204029245 U CN204029245 U CN 204029245U CN 201420434174 U CN201420434174 U CN 201420434174U CN 204029245 U CN204029245 U CN 204029245U
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- operating theater
- theater instruments
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Abstract
The utility model relates to a kind of surgery simulation system, and its surgery simulation system comprises: analog platform, analog platform is provided with for simulating human organ for the physical model cut and/or puncture; Force feedback device, force feedback device is provided with FORCE FEEDBACK actuator and operating theater instruments link, and operating theater instruments link is dismountable is connected with described operating theater instruments; Three-dimensional tracker, three-dimensional tracker is for following the tracks of operating theater instruments; Display device, for showing virtual organ and/medical image; Control module, control module is connected with force feedback device, three-dimensional tracker and display device electric signal, and control module also shows corresponding image on the display apparatus according to the signal control feedback device of three-dimensional tracker.The mode that surgery simulation system of the present utility model adopts force feedback device and physical model to combine carries out surgical simulation, and the scene of Reality simulation operation that can be more true to nature, grasps surgical skills fast to help medical worker.
Description
Technical field
The utility model relates to virtual operation technical field, more particularly, relates to a kind of surgery simulation system, especially with human organ puncture or the cutting operation simulation system of tactile feedback.
Background technology
Puncture and cutting are operations very common in operation, are also almost one of basic conventional technical ability that each doctor should grasp.For operations such as picture intervention tumour, fetal diagnosis, radio frequency tumour ablation, local anaesthesia, the insertion of percutaneous puncture conduit and endoscopes, because operating difficulty is higher, need consummate technology.And the technology of exquisiteness needs to obtain through a large amount of trainings, such as, surgeon may need could grasp this technical ability in the practice of tens place patient, but all has very high risk owing to much performing the operation, therefore, by being obviously infeasible in patient practice to grasp these technical ability.Human body emulated physics model is used to have a long history carrying out medical science training, human emulation physical model is the object of a Reality simulation organ, it can provide the situation in similar practical operation, but, due to the limitation of model, truly cannot rebuild the actual configuration of inside of human body, even can bring misleading to basic operation.
Utility model content
The purpose of this utility model is to provide a kind of surgery simulation system, may be used for surgical simulation training, grasps the technical ability such as cutting or puncture fast to help doctor.
Surgery simulation system of the present utility model comprises: analog platform, described analog platform is provided with for simulating human organ for the physical model cut and/or puncture;
Force feedback device, described force feedback device is provided with FORCE FEEDBACK actuator and operating theater instruments link, the position of described FORCE FEEDBACK actuator is detected and record by internal or external three-dimension sensor, and described operating theater instruments link is dismountable is connected with described operating theater instruments;
Three-dimensional tracker, described three-dimensional tracker is depth camera, optical tracker or electromagnetism tracker, for following the tracks of position and the direction of the exposed parts of described operating theater instruments, detect and record the cutting of described operating theater instruments on physical model and/or the position of point of puncture;
Control module, described control module is connected with described force feedback device, three-dimensional tracker and display device electric signal, and described control module controls described force feedback device according to the signal of described FORCE FEEDBACK actuator and described three-dimensional tracker and shows corresponding image on the display apparatus.
In surgery simulation system described in the utility model, before described operating theater instruments inserts described physical model, provide feedback force by described force feedback device; When described operating theater instruments thrusts described physical model, provide feedback force together by described force feedback device and described physical model; When described operating theater instruments operates in described physical model, provide feedback force together by the friction of described force feedback device and described physical model inside.
In surgery simulation system described in the utility model, described operating theater instruments is for puncture is or/and cutting device, and described operating theater instruments comprises rotatable handle and the syringe needle be arranged on handle or the knife edge.
In surgery simulation system described in the utility model, described display device is for showing virtual organ and/medical image.
In surgery simulation system described in the utility model, described physical model is made up of the film with soft-surface and is repeatedly cut for described operating theater instruments and/or puncture, and described physical model inside is filled with soft material to provide friction force when described operating theater instruments is inserted and to limit the path after described operating theater instruments is inserted.
Implement surgery simulation system of the present utility model, there is following beneficial effect: the mode that surgery simulation system of the present utility model adopts force feedback device and physical model to combine carries out surgical simulation, the scene of Reality simulation operation that can be more true to nature, grasps surgical skills fast to help medical worker.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1 is the schematic diagram of surgery simulation system of the present utility model.
Wherein: 101, force feedback device, 102, FORCE FEEDBACK actuator, 103, operating theater instruments link, 201, operating theater instruments, 202, the part be inserted in physical model of operating theater instruments, 301, physical model, 302, analog platform, 303, point of puncture, 401, display device, 402, image is shown, 403, three-dimensional tracker.
Embodiment
In order to there be understanding clearly to technical characteristic of the present utility model, object and effect, now contrast accompanying drawing and describe embodiment of the present utility model in detail.
As shown in Figure 1, be the schematic diagram of surgery simulation system of the present utility model, it is for the simulation of puncturing and/cutting waits basic operative to operate.As shown in the figure, this surgery simulation system comprises analog platform 302, force feedback device 101, three-dimensional tracker 403, display device 401 and control module.
Wherein, analog platform 302 is as carrying out the platform of simulating puncture and/cutting operation, analog platform 302 is arranged physical model 301, physical model 301 is for simulating human organ, for carrying out puncture and/cutting operation, physical model 301 can be changed as required, to provide different operation technique simulations.
Force feedback device 101, for acting on the feedback force of operator during sham operated, force feedback device 101 is provided with FORCE FEEDBACK actuator 102 and operating theater instruments link 103.FORCE FEEDBACK actuator 102 comprises stepper motor and/or positional actuator, and for the feedback force that operator during sham operated experiences, be also resistance, the position of FORCE FEEDBACK actuator 102 is detected and record by internal or external three-dimension sensor.Operating theater instruments link 103 is dismountable is connected with described operating theater instruments 201, and operating theater instruments can be for puncturing and the operating theater instruments of/cutting, or carrying out the operating theater instruments of other operation techniques.
Three-dimensional tracker 403 can be depth camera, the senser elements such as optical tracker or electromagnetism tracker, for following the tracks of position and the direction of the exposed parts of operating theater instruments 201, detect and record the cutting of operating theater instruments 201 on physical model 301 and/or the position of point of puncture, three-dimensional tracker 403 is by the motion of operating theater instruments 201, and by the information transmission of acquisition to control module, control module is by visual analysis algorithm, the utility model adopts the method for template matches to identify the part of thrusting physical model 301 of operating theater instruments 201, the syringe needle of such as operating theater instruments 201 or the knife edge, in order to distortion and the touching simulation of accurate Calculation virtual organ and operating theater instruments, thus the degree of accuracy of calculating can be strengthened, and estimate the degree of crook of the operating theater instruments after inserting.
Display device 401 can be general display device or the display device with touch-screen, and it is for showing virtual organ and/medical image 402.
Control module can be computing machine or server, for the control of whole surgery simulation system, control module is connected with force feedback device 101, three-dimensional tracker 403 and display device 401 electric signal respectively, control module is according to the signal control feedback device 101 of FORCE FEEDBACK actuator 102 and three-dimensional tracker 403 and show corresponding image in display device 401, the feedback force size of force feedback device, is carried out calculating rear acquisition according to the signal of three-dimensional tracker 403 by control module.
Puncture and the/power model of cutting operation calculate and can take into account the path restraint and the power model in other each stages that analog platform receives.Before operating theater instruments 201 inserts physical model 301, provide feedback force by force feedback device 101; When operating theater instruments 201 thrusts physical model 301, provide feedback force together by force feedback device 101 and physical model 301; When operating theater instruments 201 operates in physical model 301, provide feedback force together by the friction of force feedback device 101 and physical model 301 inside.
The operating theater instruments 201 of surgery simulation system of the present utility model can be puncture instrument, cutting device or other operating theater instruments, the wherein puncture instrument syringe needle that comprises rotatable handle and be arranged on handle, the knife edge that cutting device comprises rotatable handle and is arranged on handle.
In order to better simulate human organ, physical model 301 is made for the multiple cutting of operating theater instruments 201 and/or puncture by the film with soft-surface, can at the inner filled soft material of physical model 301 to provide friction force when operating theater instruments 201 is inserted and to limit the path after operating theater instruments 201 is inserted.
The control module of surgery simulation system of the present utility model also provides an evaluation module to evaluate the performance of operator, and operator can be helped like this to examine oneself performance and training situation.
The utility model additionally provides a kind of surgical simulation method, comprising: provide analog platform 302, analog platform 302 is provided with for simulating human organ for the physical model 301 cut and/or puncture;
By the feedback force being applied to operating personnel produced during force feedback device 101 sham operated, force feedback device 101 is provided with FORCE FEEDBACK actuator 102 and operating theater instruments link 103, the position of FORCE FEEDBACK actuator 102 is detected and record by internal or external three-dimension sensor, and operating theater instruments link 103 is dismountable is connected with described operating theater instruments 201;
With three-dimensional tracker 403 for following the tracks of position and the direction of the exposed parts of operating theater instruments 201, detecting and recording the cutting of operating theater instruments 201 on physical model 301 and/or the position of point of puncture;
Virtual organ and/medical image 402 is shown by display device 401;
Corresponding image is shown by display device 401 according to the signal control feedback device 101 of FORCE FEEDBACK actuator 102 and three-dimensional tracker 403 by control module.
In this surgical simulation method, before operating theater instruments 201 inserts physical model 301, provide feedback force by force feedback device 101; When operating theater instruments 201 thrusts physical model 301, provide feedback force together by force feedback device 101 and physical model 301; When operating theater instruments 201 operates in physical model 301, provide feedback force together by the friction of force feedback device 101 and physical model 301 inside.
When utilizing surgery simulation system of the present utility model and method to carry out surgery training, whenever the shift in position of operating theater instruments 201, control module according to the input of three-dimensional tracker 403 to this variation, make the position of virtual and true operating theater instruments 201 and attitude synchronous.When tracing into the physical model 301 that operating theater instruments 201 is thrust on analog platform 302, control module will calculate distortion and the touching simulation of virtual organ and operating theater instruments.Point of puncture 303 also may be used for the degree of crook of estimation and sham operated apparatus.Meanwhile, analog platform is that the FORCE FEEDBACK after running through provides extra restraint, greatly can improve tactile experience.The visual effect of surgical simulation can be shown by display device 401.The evaluation module of the control module of surgery simulation system can provide analysis to the accuracy of operation simulated operation and time management after simulated operation terminates, and improves to help operator.
Surgical simulation method of the present utility model, can select arbitrarily the diverse location on simulated patient health to open the through hole making surgical pathway, can repeat the through hole opened and make difference in same body part (as chest, abdomen, neck, four limbs).
By reference to the accompanying drawings embodiment of the present utility model is described above; but the utility model is not limited to above-mentioned embodiment; above-mentioned embodiment is only schematic; instead of it is restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; do not departing under the ambit that the utility model aim and claim protect, also can make a lot of form, these all belong within protection of the present utility model.
Claims (5)
1. a surgery simulation system, is characterized in that, comprising:
Analog platform (302), described analog platform (302) is provided with for simulating human organ for the physical model (301) cut and/or puncture, described physical model (301) allows operating theater instruments (201) physically cut and/or puncture;
Force feedback device (101), described force feedback device (101) is provided with FORCE FEEDBACK actuator (102) and operating theater instruments link (103), the position of described FORCE FEEDBACK actuator (102) is detected and record by internal or external three-dimension sensor, and described operating theater instruments link (103) is dismountable is connected with described operating theater instruments (201);
Three-dimensional tracker (403), described three-dimensional tracker (403) is depth camera, optical tracker or electromagnetism tracker, for following the tracks of position and the direction of the exposed parts of described operating theater instruments (201), detect and record the cutting of described operating theater instruments (201) on physical model (301) and/or the position of point of puncture;
Control module, described control module is connected with described force feedback device (101), three-dimensional tracker (403) and display device (401) electric signal, and described control module controls described force feedback device (101) according to the signal of described FORCE FEEDBACK actuator (102) and described three-dimensional tracker (403) and above shows corresponding image in display device (401).
2. surgery simulation system according to claim 1, is characterized in that, before described operating theater instruments (201) inserts described physical model (301), provides feedback force by described force feedback device (101); When described operating theater instruments (201) thrusts described physical model (301), provide feedback force together by described force feedback device (101) and described physical model (301); When described operating theater instruments (201) operates in described physical model (301), provide feedback force together by the friction of described force feedback device (101) and described physical model (301) inside.
3. surgery simulation system according to claim 1, it is characterized in that, described operating theater instruments (201) is for puncture is or/and cutting device, and described operating theater instruments (201) comprises rotatable handle and the syringe needle be arranged on handle or the knife edge.
4. the surgery simulation system suffered by claim 1, is characterized in that, described display device (401) is for showing virtual organ and/medical image (402).
5. surgery simulation system according to claim 1, it is characterized in that, described physical model is made up of the film with soft-surface and is repeatedly cut for described operating theater instruments (201) and/or puncture, and described physical model (301) inside is filled with soft material to provide friction force when described operating theater instruments (201) is inserted and to limit the path after described operating theater instruments (201) is inserted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420434174.4U CN204029245U (en) | 2014-08-01 | 2014-08-01 | A kind of surgery simulation system |
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| CN201420434174.4U CN204029245U (en) | 2014-08-01 | 2014-08-01 | A kind of surgery simulation system |
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| CN204029245U true CN204029245U (en) | 2014-12-17 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104658393A (en) * | 2015-02-10 | 2015-05-27 | 上海理工大学 | Evaluation system and method for training of laparoscopic surgery simulation |
| CN104952344A (en) * | 2015-06-18 | 2015-09-30 | 青岛大学附属医院 | Neurosurgery virtual operation training system |
| WO2016015560A1 (en) * | 2014-08-01 | 2016-02-04 | 卓思生命科技有限公司 | Surgery simulation system and method |
| CN107067856A (en) * | 2016-12-31 | 2017-08-18 | 歌尔科技有限公司 | A kind of medical simulation training system and method |
| CN108335599A (en) * | 2018-01-19 | 2018-07-27 | 武汉康慧然信息技术咨询有限公司 | Operation model training method based on three-dimensional modeling image technology |
| CN109285434A (en) * | 2017-07-20 | 2019-01-29 | 上海健康医学院 | A kind of interdynamic learning system of human body respiration form |
| CN113205740A (en) * | 2021-04-27 | 2021-08-03 | 浙江大学医学院附属邵逸夫医院 | Education system and simulation device for surgical body positions |
-
2014
- 2014-08-01 CN CN201420434174.4U patent/CN204029245U/en not_active Expired - Fee Related
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016015560A1 (en) * | 2014-08-01 | 2016-02-04 | 卓思生命科技有限公司 | Surgery simulation system and method |
| CN105321415A (en) * | 2014-08-01 | 2016-02-10 | 卓思生命科技有限公司 | Surgery simulation system and method |
| CN104658393A (en) * | 2015-02-10 | 2015-05-27 | 上海理工大学 | Evaluation system and method for training of laparoscopic surgery simulation |
| CN104952344A (en) * | 2015-06-18 | 2015-09-30 | 青岛大学附属医院 | Neurosurgery virtual operation training system |
| CN107067856A (en) * | 2016-12-31 | 2017-08-18 | 歌尔科技有限公司 | A kind of medical simulation training system and method |
| CN109285434A (en) * | 2017-07-20 | 2019-01-29 | 上海健康医学院 | A kind of interdynamic learning system of human body respiration form |
| CN108335599A (en) * | 2018-01-19 | 2018-07-27 | 武汉康慧然信息技术咨询有限公司 | Operation model training method based on three-dimensional modeling image technology |
| CN113205740A (en) * | 2021-04-27 | 2021-08-03 | 浙江大学医学院附属邵逸夫医院 | Education system and simulation device for surgical body positions |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141217 Termination date: 20200801 |