CN205845047U - A kind of surgical operation virtual emulation device - Google Patents
A kind of surgical operation virtual emulation device Download PDFInfo
- Publication number
- CN205845047U CN205845047U CN201620598239.8U CN201620598239U CN205845047U CN 205845047 U CN205845047 U CN 205845047U CN 201620598239 U CN201620598239 U CN 201620598239U CN 205845047 U CN205845047 U CN 205845047U
- Authority
- CN
- China
- Prior art keywords
- feedback
- force
- equipment
- virtual
- equipment handle
- 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.)
- Active
Links
Landscapes
- Instructional Devices (AREA)
Abstract
The utility model discloses a kind of surgical operation virtual emulation device, including: equipment handle, it is used for controlling virtual operation instrument, and the feedback force that reception feedback device sends, so that user perceives described feedback force by described equipment handle；The force feedback equipment being connected with described equipment handle, for being transferred to described equipment handle by feedback force；The computer being connected with described force feedback equipment, for being sent to described force feedback equipment by virtual human body harpoon to the feedback force of the operation of described virtual operation instrument；Visible, this utility model can simulate the stress of tissue and operating theater instruments realistically, and this stress is reflected into the equipment handle of user operation, doctor is made to perceive the feedback force of operation technique in training process, so that training is closer to the operation process in reality, and then reduce wrong deduction, thus ensure that clinical operation quality.
Description
Technical field
This utility model relates to Mechanics Simulation technical field, particularly to a kind of surgical operation virtual emulation device.
Background technology
Along with social economy and the development of science and technology, in order to allow doctor accumulate as far as possible before clinical operation
Many operation technique experiences, there has been proposed surgical operation virtual reality, especially for micro-wound surgical operation.Existing
In technology, the surgical operation dummy emulation system in surgical operation virtual reality can emulate according to real surgical scene
Going out in virtual surgical environments, in Surgery Simulation environment, doctor can carry out the operation of class vraisemblance operation, accumulates with this
Operation technique experience.
But, based on existing analogue system, doctor can only see by vision during surgical operation virtual training
Examine the state inferring in operation, it is impossible to perceive the feedback force of operation technique, the deduction that so may make mistake, to
During rear entrance clinical operation, also it is unfavorable for the carrying out of operation, it could even be possible to cause patients ' recovery to prolong because of the deduction of mistake
Delay, cause other pathological changes.Such as: during the clinical operation carrying out wound line stitching, anti-owing to lacking during training
The perception of feedback power, it is likely that the situation that bracing wire dynamics is too small or excessive occurs, and the too small meeting of bracing wire dynamics causes wound healing relatively
Slowly, bracing wire dynamics crosses conference excessive harm people soma, all can affect the postoperative rehabilitation of patient.
Therefore, how a kind of surgical operation virtual emulation device that can experience feedback force is provided, is people in the art
Member needs badly and solves the technical problem that.
Utility model content
The purpose of this utility model is to provide a kind of surgical operation virtual emulation device, so that doctor feels in training process
Know the feedback force of operation technique, and then reduce wrong deduction, thus ensure clinical operation quality.
For solving above-mentioned technical problem, this utility model provides a kind of surgical operation virtual emulation device, including:
Equipment handle, is used for controlling virtual operation instrument, and the feedback force that reception feedback device sends, so that user is led to
Cross described equipment handle and perceive described feedback force；
The force feedback equipment being connected with described equipment handle, for being transferred to described equipment handle by feedback force；
The computer being connected with described force feedback equipment, is used for virtual human body harpoon described virtual operation instrument
The feedback force of operation is sent to described force feedback equipment.
Wherein, described force feedback equipment is connected by communication cable with described computer.
Wherein, described equipment handle is arranged with described force feedback equipment one_to_one corresponding.
Wherein, described equipment handle is 2 with the number of described force feedback equipment.
Wherein, described surgical operation virtual emulation device also includes:
The suggestion device being connected with described computer, for the prompting user when described feedback force is more than threshold value.
Wherein, described suggestion device is specially display lamp.
Wherein, described computer is microcontroller.
Surgical operation virtual emulation device provided by the utility model, including: equipment handle, it is used for controlling virtual operation
Apparatus, and the feedback force that reception feedback device sends, so that user perceives described feedback force by described equipment handle；With
The force feedback equipment that described equipment handle is connected, for being transferred to described equipment handle by feedback force；With described force feedback equipment
The computer being connected, for being sent to described power by virtual human body harpoon to the feedback force of the operation of described virtual operation instrument
Feedback device；
Visible, this utility model can simulate the stress of tissue and operating theater instruments realistically, and by this
Stress is reflected into the equipment handle of user operation, makes doctor perceive the feedback force of operation technique in training process, from
And make training closer to the operation process in reality, and then reduce the deduction of mistake, thus ensure that clinical operation quality.With
Time, on the basis of ensureing clinical operation quality, the most also can improve patient's postoperative rehabilitation degree, reduce patient painful, contracting
Short rehabilitation duration and the satisfaction of raising patient.
Accompanying drawing explanation
In order to be illustrated more clearly that this utility model embodiment or technical scheme of the prior art, below will be to embodiment
Or the required accompanying drawing used is briefly described in description of the prior art, it should be apparent that, the accompanying drawing in describing below is only
It is embodiment of the present utility model, for those of ordinary skill in the art, on the premise of not paying creative work, also
Other accompanying drawing can be obtained according to the accompanying drawing provided.
The structured flowchart of the surgical operation virtual emulation device that Fig. 1 is provided by this utility model embodiment；
The scene graph of a kind of edge of a knife suture operation training that Fig. 2 provides for this utility model embodiment.
Detailed description of the invention
Core of the present utility model is to provide a kind of surgical operation virtual emulation device, so that doctor feels in training process
Know the feedback force of operation technique, and then reduce wrong deduction, thus ensure clinical operation quality.
For making the purpose of this utility model embodiment, technical scheme and advantage clearer, new below in conjunction with this practicality
Accompanying drawing in type embodiment, is clearly and completely described the technical scheme in this utility model embodiment, it is clear that retouched
The embodiment stated is a part of embodiment of this utility model rather than whole embodiments.Based on the enforcement in this utility model
Example, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into
The scope of this utility model protection.
Refer to the structural frames of the surgical operation virtual emulation device that Fig. 1, Fig. 1 are provided by this utility model embodiment
Figure；This device may include that
Equipment handle 1, is used for controlling virtual operation instrument, and the feedback force that reception feedback device 2 sends, so that user
Described feedback force is perceived by described equipment handle 1；
The force feedback equipment 2 being connected with described equipment handle 1, for being transferred to described equipment handle 1 by feedback force；
The computer 4 being connected with described force feedback equipment 2, is used for virtual human body harpoon described virtual operation instrument
The feedback force of operation be sent to described force feedback equipment 2.
Optionally, described equipment handle 1 and described force feedback equipment 2 one_to_one corresponding.Owing to each equipment handle 1 is
By operation doctor's manipulation, in order to make operation doctor realize feedback force, and then each equipment handle 1 and force feedback equipment 2
Occur in pairs.Wherein, computer 4 can connect many group equipment handles 1 and force feedback equipment 2；Computer 4 has only to feedback force
Pass to the feedback force equipment 2 of correspondence.Wherein, described equipment handle is 2 with the number of described force feedback equipment.
Wherein, computer 4 is integrated with surgical operation dummy emulation system (abbreviation analogue system), in actual applications,
This analogue system is mainly used in surgical operation virtual reality (abbreviation training system), for the ease of those skilled in the art
Understand technical solutions of the utility model with more having scene, this utility model herein below when needed can be as a example by training system
Illustrate.
This analogue system carries out emulation by the parts that can relate to other operations such as tissue, operating theater instruments and builds
Mould, forms virtual surgical environment with this, and this virtual surgical environment at least includes virtual human body tissue and virtual operation instrument；With
Time, in order to set up the contact of virtual surgical environment and user's (i.e. operating doctor), this utility model provides for controlling virtual
In surgical environments, the equipment handle 1 of virtual operation instrument, i.e. user control virtual operation instrument by operation equipment handle 1,
And then operation virtual operation instrument virtual human body tissue is performed the operation.
For the position and attitude parameter of equipment handle 1, it mainly characterizes equipment handle 1 location state, specifically
In implementation process, user carries out different operations to equipment handle 1, has different position and attitude parameter and produces, by it
Situation of change may determine that operation that equipment handle 1 carries out by user specifically what, and then the most just can determine that user wants to allow void
Intend operating theater instruments and virtual human body tissue is carried out what kind of operation technique, so in whole virtual surgical environment, this is performed the operation
Operation carries out display and the operation synchronized, the purpose reaching user carries out virtual operation experience with this.
In specific implementation process, first start the analogue system in computer 4, then whole virtual surgical environment is carried out
Initialize, i.e. the position and attitude of restorer handle 1 is default original state, the namely position of initialization apparatus handle 1
Attitude parameter；Meanwhile, respectively virtual human body tissue and virtual operation instrument are placed in virtual surgical environment preset initial
Position.After completing initialization procedure, the position and attitude parameter of the equipment handle 1 of analogue system user in real operation.
Specifically, after the position and attitude parameter getting equipment handle 1, in conjunction with Kinematics Simulation algorithm, according to position
Put attitude parameter to determine virtual operation instrument position in virtual surgical environment, in this process, can be according to user couple
The operation of equipment handle 1 by virtual operation instrument in virtual surgical environment synchronized update to corresponding position.
After determining the position of virtual operation instrument, it is judged that whether the position of virtual operation instrument is in virtual human body tissue
In the range of, it is, judge whether virtual operation instrument touches virtual human body tissue；When virtual operation instrument touches void
During anthropomorphic soma, it is determined that virtual human body tissue is being operated by virtual operation instrument；Certainly, do not have when virtual operation instrument
When touching virtual human body tissue, it is believed that virtual human body tissue is not being operated by virtual operation instrument.
When virtual operation instrument touches virtual human body tissue, simulated force will be produced in simulated environment physical layer, i.e.
The situation of change of the position and attitude parameter that detection user operation equipment handle 1 produces, may determine that void according to this situation of change
Intending the operating theater instruments operating force to virtual human body tissue, at this moment, in simulating reality, tissue is to this operation and operating physical force
In conjunction with mechanical analysis algorithm, the feedback of degree, determines that virtual human body tissue is to this operation and the feedback force of operating force.
After computer 4 determines the virtual human body tissue feedback force to this operation and operating force, calculate in conjunction with mechanical analysis
Feedback force is decomposed to force feedback equipment 2 by method, force feedback equipment 2 this feedback force is transferred to equipment handle 1, due to user
Being that hand-held operation equipment handle, therefore user can perceive that feedback force on equipment handle.It practice, simultaneously,
It is understood that operation doctor's controlling equipment handle 1, can be transferred to calculate by manipulation force by this force feedback equipment 2
Virtual surgical environment in machine 4, produces the impact of power to virtual surgical environment, it is seen then that this utility model analogue system is using
During the physical layer of the virtual human body tissue that is embodied in virtual surgical environment and virtual operation instrument with on vision layer, i.e. use
Tissue and the stressing conditions of operating theater instruments in operation can be experienced in family, thus obtains more life-like surgery training effect
Really, train closer to the operation process in reality, for the experience that clinical operation accumulation is valuable.
Optionally, described force feedback equipment 2 is connected by communication cable with described computer 4.Can ensure that force feedback sets
Reliability for 2 with the communication of described computer 4.
With reference to Fig. 1, computer 4 (operation has analogue system) and force feedback equipment 2, force feedback equipment 6 pass through communication respectively
Cable 3, communication cable 5 link together, and form hardware system.Training during, operation doctor by equipment handle 1,
The existence of feedback force in equipment handle 7 perception virtual surgical environment.
Further, as a example by edge of a knife suture operation training, in conjunction with the edge of a knife suture operation training shown in Fig. 1 and Fig. 2
Scene graph, operation doctor's left hand, the right hand holding equipment handle 1, equipment handle 7 respectively, control the virtual hand in virtual surgical environment
Art apparatus 15, virtual operation instrument 16 do edge of a knife suture operation training, and virtual operation instrument 16 is held sewing needle 18 and penetrated visual human
(sewing up scalpel edge 19 with operation suture thread 17) during soma, operation doctor is experienced by equipment handle 7
Penetrate the stress change of virtual human body tissue to sewing needle 18, sewing needle 18 is pulled out by virtual operation instrument 15 from virtual human body tissue
During going out, operation doctor experiences, by equipment handle 1, the stress change that sewing needle 18 is extracted from virtual human body tissue.?
In edge of a knife suture operation training, operation doctor can experience and most preferably sew up stressing conditions, closer to the operation process in reality,
Accumulate valuable experience for clinical operation.
Visible, during user's (i.e. operating doctor) carries out virtual training, this utility model can simulate realistically
In reality, tissue and the stress of operating theater instruments, be then reflected into the equipment handle of user operation by this stress
1, make operation doctor perceive the feedback force of operation technique in training process, thus obtain more life-like surgery training effect
Really, train closer to the operation process in reality, and then reduce wrong deduction, thus ensure that clinical operation quality.Meanwhile,
On the basis of ensureing clinical operation quality, the most also can improve patient's postoperative rehabilitation degree, reduce patient painful, shorten health
Multiple time and the satisfaction of raising patient.
Based on technique scheme, this device also includes:
The suggestion device being connected with described computer 4, for the prompting user when described feedback force is more than threshold value.
Concrete, described suggestion device is specially display lamp.
Wherein, may remind the user that it is the most excessive by suggestion device, in order to user can watch out for the power of oneself operation
Degree.
Optionally, described computer 4 is microcontroller.
Wherein, the surgical operation dummy emulation system run by microcontroller implementation above computer 4 is called for short emulation system
System.Microcontroller is advantageous in that and can carry out integrated more easily, arranges position the most flexible, thus enhances this dress
The reliability put and the convenience of the use of user, strengthen the convenience of user operation.
Above surgical operation virtual emulation device provided by the utility model is described in detail.Used herein
Principle of the present utility model and embodiment are set forth by specific case, and the explanation of above example is only intended to help
Understand method of the present utility model and core concept thereof.It should be pointed out that, for those skilled in the art,
On the premise of this utility model principle, it is also possible to this utility model is carried out some improvement and modification, these improve and
Modification also falls in this utility model scope of the claims.
Claims (7)
1. a surgical operation virtual emulation device, it is characterised in that including:
Equipment handle, is used for controlling virtual operation instrument, and the feedback force that reception feedback device sends, so that user passes through institute
State equipment handle and perceive described feedback force；
The force feedback equipment being connected with described equipment handle, for being transferred to described equipment handle by feedback force；
The computer being connected with described force feedback equipment, for by the operation to described virtual operation instrument of the virtual human body harpoon
Feedback force be sent to described force feedback equipment.
2. surgical operation virtual emulation device as claimed in claim 1, it is characterised in that described force feedback equipment and described meter
Calculation machine is connected by communication cable.
3. surgical operation virtual emulation device as claimed in claim 2, it is characterised in that described equipment handle is anti-with described power
Feedback equipment one_to_one corresponding is arranged.
4. surgical operation virtual emulation device as claimed in claim 3, it is characterised in that described equipment handle is anti-with described power
The number of feedback equipment is 2.
5. surgical operation virtual emulation device as claimed in claim 4, it is characterised in that also include:
The suggestion device being connected with described computer, for the prompting user when described feedback force is more than threshold value.
6. surgical operation virtual emulation device as claimed in claim 5, it is characterised in that described suggestion device is specially instruction
Lamp.
7. surgical operation virtual emulation device as claimed in claim 6, it is characterised in that described computer is microcontroller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620598239.8U CN205845047U (en) | 2016-06-17 | 2016-06-17 | A kind of surgical operation virtual emulation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620598239.8U CN205845047U (en) | 2016-06-17 | 2016-06-17 | A kind of surgical operation virtual emulation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205845047U true CN205845047U (en) | 2016-12-28 |
Family
ID=58153057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620598239.8U Active CN205845047U (en) | 2016-06-17 | 2016-06-17 | A kind of surgical operation virtual emulation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205845047U (en) |
-
2016
- 2016-06-17 CN CN201620598239.8U patent/CN205845047U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103971574B (en) | Ultrasonic guidance tumor puncture training simulation system | |
| US8834170B2 (en) | Devices and methods for utilizing mechanical surgical devices in a virtual environment | |
| US7731500B2 (en) | Vascular-access simulation system with three-dimensional modeling | |
| CN105931517A (en) | Surgical operation virtual simulation method and system | |
| WO2020091225A1 (en) | Virtual reality-based educational cataract surgery simulation system | |
| CN107067856A (en) | A kind of medical simulation training system and method | |
| RU128762U1 (en) | HYBRID MEDICAL SIMULATOR LAPAROSCOPY | |
| CN103456223A (en) | Laparoscopic surgery simulation system based on force feedback | |
| WO2014077732A1 (en) | Hybrid laparoscopic simulator | |
| CN104722056A (en) | Rehabilitation training system and method using virtual reality technology | |
| CN111026269B (en) | Haptic feedback method, device and equipment for biological tissue structure based on force feedback | |
| AU2013375297B2 (en) | Surgical training system | |
| Park et al. | Safety of nondominant-hand ophthalmic surgery | |
| CN112071149A (en) | Wearable medical simulation puncture skill training system and method | |
| JP2004344491A (en) | Virtual surgery simulation system | |
| CN104517016A (en) | Surgery simulation system using motion sensing technology and virtual reality technology | |
| CN205845047U (en) | A kind of surgical operation virtual emulation device | |
| Manoharan et al. | Design and validation of an epidural needle insertion simulator with haptic feedback for training resident anaesthesiologists | |
| CN103456221A (en) | Two-hand cooperation moving locating training method and system based on laparoscopic surgery analog system | |
| CN107221032B (en) | Teaching method and system for virtual laparoscopic liver cyst excision windowing operation | |
| CN114402378B (en) | Surgical simulator system and method | |
| KR102143784B1 (en) | System for estimating otorhinolaryngology and neurosurgery surgery based on simulator of virtual reality | |
| CN103456224A (en) | Lens operation training method and system based on laparoscopic surgery analog system | |
| CN108062980B (en) | Virtual laparoscopic liver cyst excision windowing operation demonstration method and system | |
| CN103258469A (en) | Shoulder arthroscopy knotting simulation simulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A virtual simulation device for surgical operation Effective date of registration: 20210126 Granted publication date: 20161228 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2021500000004 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220214 Granted publication date: 20161228 Pledgee: Agricultural Bank of China Limited Chongqing Yubei sub branch Pledgor: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. Registration number: Y2021500000004 |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220825 Address after: 401120 No.18, Cuiping Lane 2, Huixing street, Yubei District, Chongqing Patentee after: CHONGQING JINSHAN MEDICAL ROBOT Co.,Ltd. Address before: 401120 18 neon Road, two Road Industrial Park, Yubei District, Chongqing Patentee before: CHONGQING JINSHAN SCIENCE & TECHNOLOGY (GROUP) Co.,Ltd. |