JP2001005377A - Human phantom - Google Patents
Human phantomInfo
- Publication number
- JP2001005377A JP2001005377A JP11177123A JP17712399A JP2001005377A JP 2001005377 A JP2001005377 A JP 2001005377A JP 11177123 A JP11177123 A JP 11177123A JP 17712399 A JP17712399 A JP 17712399A JP 2001005377 A JP2001005377 A JP 2001005377A
- Authority
- JP
- Japan
- Prior art keywords
- human body
- unit
- phantom
- human
- 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.)
- Granted
Links
- 239000000463 material Substances 0.000 claims abstract description 15
- 230000037237 body shape Effects 0.000 claims description 20
- 238000001514 detection method Methods 0.000 claims description 13
- 238000003384 imaging method Methods 0.000 claims description 6
- 238000003325 tomography Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000002059 diagnostic imaging Methods 0.000 claims description 4
- 238000005259 measurement Methods 0.000 claims 1
- 210000003928 nasal cavity Anatomy 0.000 abstract description 16
- TZCXTZWJZNENPQ-UHFFFAOYSA-L barium sulfate Chemical compound [Ba+2].[O-]S([O-])(=O)=O TZCXTZWJZNENPQ-UHFFFAOYSA-L 0.000 abstract description 8
- 210000004400 mucous membrane Anatomy 0.000 abstract description 5
- 229920002379 silicone rubber Polymers 0.000 abstract description 5
- 238000001356 surgical procedure Methods 0.000 abstract description 5
- 238000003745 diagnosis Methods 0.000 abstract description 3
- 230000035807 sensation Effects 0.000 abstract description 3
- 239000004945 silicone rubber Substances 0.000 abstract description 3
- 239000003086 colorant Substances 0.000 abstract 1
- 230000015541 sensory perception of touch Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 11
- 210000000988 bone and bone Anatomy 0.000 description 5
- 210000000056 organ Anatomy 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000003128 head Anatomy 0.000 description 3
- 210000003625 skull Anatomy 0.000 description 3
- 229920002803 thermoplastic polyurethane Polymers 0.000 description 3
- 230000002411 adverse Effects 0.000 description 2
- 239000002131 composite material Substances 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 210000001835 viscera Anatomy 0.000 description 2
- 230000000052 comparative effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003695 paranasal sinus Anatomy 0.000 description 1
- 239000010409 thin film Substances 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Landscapes
- Endoscopes (AREA)
- Instructional Devices (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、内視鏡を用いて診
断、手術など高度な技能が要求される分野における医者
の技能修得用トレーニング等に用いる人体模型に関する
ものであり、特に、内視鏡による鼻腔内の診断、手術な
ど技能修得用トレーニング等に用いる人体模型に関する
ものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a human phantom for training a doctor in skills requiring advanced skills, such as diagnosis and surgery, using an endoscope. The present invention relates to a human body model used for training for acquiring skills such as diagnosis in a nasal cavity and surgery using a mirror.
【０００２】[0002]
【従来技術】従来より医療トレーニング用の人体模型と
しては、種々の模型が知られている。しかし、従来の医
療トレーニング用の人体模型は、単に、人体の形状のみ
を再現した立体的な形状モデルであったため、実際の臓
器と模型との機械力学的特性、具体的には硬さや弾性が
大きく異なっていた。そのため、手術器具を用いたトレ
ーニングには不向きであった。また、従来の医療トレー
ニング用人体模型を構成する材料については、医用画像
装置による撮像可能性を考慮していないため、医用画像
装置を併用したトレーニングには不向きであった。更
に、従来の人体模型では、部分的な交換可能性を考慮し
ておらず、人体模型自身の破壊を伴うトレーニングや症
例による部品交換は不可能である。また従来技術では、
実際の人体の場合では悪影響を与えるような無理な力が
人体模型にかかった場合に、それを検出することが不可
能であった。また従来技術では、人体臓器に多く見られ
る中空形状などは製造上不可能である場合が多く、例え
製造できたとしても、その形状を用途に合わせて随時交
換するのは不可能である。これと関連して従来技術で製
造される人体模型では、その一部分を一時的に透かして
内部を観察することも不可能であった。更に従来技術で
は、前記のような製造上不可能であった部分について
は、製造されていない以上、その機械力学的特性を再現
することも不可能である。2. Description of the Related Art Conventionally, various human body models for medical training have been known. However, the conventional human body model for medical training is a three-dimensional shape model that simply reproduces the shape of the human body, so the mechanical mechanical properties of the actual organ and model, specifically, hardness and elasticity, It was very different. Therefore, it was not suitable for training using surgical instruments. In addition, the material constituting the conventional medical training manikin is not suitable for training using a medical image device in combination, since the possibility of imaging by a medical image device is not considered. Further, in the conventional human phantom, partial exchangeability is not considered, and training involving destruction of the human phantom itself and part replacement by case are impossible. In the prior art,
In the case of a real human body, it has been impossible to detect when an undue force that exerts an adverse effect is applied to the phantom. Further, in the prior art, hollow shapes and the like often found in human organs cannot be manufactured in many cases, and even if they can be manufactured, it is impossible to change the shape at any time according to the application. In connection with this, in the phantom manufactured by the prior art, it was not possible to observe the inside by temporarily seeing through a part thereof. Further, in the prior art, it is impossible to reproduce the mechanical characteristics of the portion which was impossible in the production as described above, since it is not manufactured.
【０００３】以上述べたように、従来の人体模型は実際
の人体とは程遠く、従来の人体模型を用いた医療トレー
ニングでは、その実効を挙げることは難しかった。その
ため、手術者は技術修得のためには熟練者のそばで実際
の手術を観察しているしか手段がなかった。これでは、
技能習得の機会は制限されるため内視鏡を用いた高度な
手術は患者にとって負担が少ないにも関わらず、広く普
及するには至っていなかった。[0003] As described above, the conventional human body model is far from the actual human body, and it has been difficult to achieve its effect in medical training using the conventional human body model. Therefore, the only way for the surgeon to learn the technique was to observe the actual operation near a skilled person. In this,
Because of limited opportunities for skill acquisition, advanced surgery using an endoscope has not yet become widespread, despite less burden on patients.
【０００４】[0004]
【発明が解決しようとする課題】そこで、本発明者等は
上記の欠点を排除し、種々検討した結果、本発明を完成
したもので、本発明の目的は、内視鏡を用いて診断、手
術など高度な技能が要求される分野における医者の技能
修得用トレーニング等に適した人体模型を提供すること
である。さらに、医用画像装置による撮像を可能にし、
これによって医用画像装置を併用したトレーニングをで
きるような人体模型を提供することである。Accordingly, the present inventors have eliminated the above-mentioned drawbacks and made various studies, and as a result, completed the present invention. The object of the present invention is to provide a diagnostic system using an endoscope. An object of the present invention is to provide a human body model suitable for training for acquiring skills of a doctor in a field requiring advanced skills such as surgery. Furthermore, imaging by a medical imaging device is enabled,
Accordingly, it is an object of the present invention to provide a human body model capable of performing training using a medical image device.
【０００５】[0005]
【課題を解決するための手段】本発明の要旨は、人体の
表面や内部構造に合わせた形状を有する人体模型であっ
て、前記人体の機械力学的特性に近い材質からなること
を特徴とする人体模型である。即ち、本発明は内視鏡操
作トレ−ニングする者が実際の生体と類似した触感感覚
を感じられるようにするために、人体模型の材料の弾性
率や表面の色、粘性などを生体に近付けるだけでなく、
内部構造もより正確に人体の機械的特性と合わせるため
に複数の材質を用いで複合させた構造とするのである。SUMMARY OF THE INVENTION The gist of the present invention is a human phantom having a shape adapted to the surface and internal structure of a human body, wherein the human phantom is made of a material close to the mechanical characteristics of the human body. It is a human body model. That is, according to the present invention, the elastic modulus, surface color, viscosity, and the like of the material of the phantom are brought close to the living body so that the person who trains the endoscope can feel a tactile sensation similar to that of the real living body. not only,
The internal structure is also a composite structure using a plurality of materials to more accurately match the mechanical characteristics of the human body.
【０００６】[0006]
【発明の実施の形態】本発明について詳細に説明する。
本発明の人体模型は、人体の表面や内部構造に合わせた
形状を有する人体模型である。例えば、人体の頭部模型
にあっては、成人男性の頭蓋骨から形状を採取し、ＣＴ
画像デ−タからの光造形モデルも参考にして作成し、骨
厚、副鼻腔構造など可能な限り忠実に再現されるように
した人体模型とする。そして、人体の機械力学的特性と
は、具体的に硬さや弾性等を意味するものであって、頭
蓋と副鼻腔の骨に相当する部分は、例えばウレタン樹脂
で製作し、通常の骨標本と同様にいくつかの部分に分割
することが出来るようにし、鼻腔部はリアリティを増す
ために、例えば粘膜色に着色したシリコンゴムで粘膜部
分を再現する等の手段を施すのである。そして、この頭
部模型はボデイの形状をした固定部分に固定用スタンド
に固定し、前後左右に可動するようにする。DETAILED DESCRIPTION OF THE INVENTION The present invention will be described in detail.
The phantom of the present invention is a phantom having a shape adapted to the surface and internal structure of the human body. For example, in the case of a human head model, a shape is sampled from the skull of an adult man and CT
A human body model is also created with reference to the stereolithography model from the image data so that bone thickness, sinus structure, etc. are reproduced as faithfully as possible. The mechanical properties of the human body specifically mean hardness, elasticity, etc., and the portions corresponding to the bones of the skull and sinuses are made of, for example, urethane resin, and are used as ordinary bone specimens. Similarly, in order to make it possible to divide the nasal cavity into several parts, and to increase the reality, the nasal cavity is provided with a means such as reproducing the mucous membrane part with silicone rubber colored mucous membrane. The head model is fixed to a fixing stand on a fixed part in the shape of a body so that it can move forward, backward, left and right.
【０００７】この人体模型において、エックス線撮影装
置またはＸ線ＣＴ断層装置またはＭＲＩ（磁気共鳴断層
装置）または超音波診断装置などの医療診断用撮影装置
による前記人体模型の形状計測が可能となる材質および
構造を有することが好ましい。このようなＸ線ＣＴを撮
影可能とするための材質としては、粘膜に相当するシリ
コンゴムに例えば硫酸バリウムを混入する。そして、Ｘ
線ＣＴにて、例えばウレタン樹脂で制作した骨と硫酸バ
リウムを混入したシリコンゴムで制作した粘膜戸を分離
して形状計測することによってそれぞれの形状のデジタ
ルデ−タを得ることが出来る。[0007] In this human phantom, a material and a material enabling the shape of the human phantom to be measured by a medical diagnostic imaging apparatus such as an X-ray imaging apparatus, an X-ray CT tomography apparatus, an MRI (magnetic resonance tomography apparatus), or an ultrasonic diagnostic apparatus. It preferably has a structure. As a material for enabling such X-ray CT to be imaged, for example, barium sulfate is mixed into silicon rubber corresponding to the mucous membrane. And X
Digital data of each shape can be obtained by separating and measuring the shape of the bone made of urethane resin and the mucous door made of silicon rubber mixed with barium sulfate by line CT.
【０００８】また、この人体模型は、人体模型の一部又
は複数部分を、前記部分と形状が同一又は異なる部品と
交換可能できるようにすることが好ましい。例えば内視
鏡を使用するときに大きな力が加わる恐れがある部分を
含んだ分割模型に例えば薄膜型あるいは円盤型の小型圧
力センサ−を装着することにより、患者の苦痛を定量的
に評価することが出来るシュミレ−タとしての役割を果
たすように設定することもできるからである。[0008] Further, it is preferable that the phantom is configured such that a part or a plurality of parts of the phantom can be replaced with a part having the same shape or a different shape from the part. For example, to quantitatively evaluate the pain of a patient by mounting a small pressure sensor, for example, a thin film type or a disk type, on a divided model including a portion where a large force may be applied when using an endoscope. This is because it can be set so as to play a role as a simulator.
【０００９】さらに、人体の三次元形状情報を有する人
体形状データ生成部と、指示部と、前記人体模型と前記
指示部の相対位置および方向を検出する指示部位置検出
部と、人体形状表示部を備え、前記人体形状データ生成
部が生成した人体形状データを、前記観察方向検出部自
身で検出された前記観察方向検出部の位置および方向か
ら観察された映像として前記人体形状表示部で表示する
ようにすることが好ましい。また、人体組織の機械力学
的情報を有する人体力学モデル生成部と、指示部と、指
示部位置検出部と、指示力検出部と、反力算出部と、反
力提示部を備え、前記指示部の前記人体模型に対する位
置を前記指示部位置検出部で検出し、前記指示部にかか
る外力を前記指示力検出部で検出し、前記反力算出部に
おいては前記人体力学モデルに基づいて前記検出した位
置において前記外力に応じた前記指示部の受ける反力を
算出し、前記算出された反力を前記反力提示部にて提示
しても良い。Further, a human body shape data generating unit having three-dimensional shape information of a human body, an indicating unit, an indicating unit position detecting unit for detecting a relative position and a direction of the human body model and the indicating unit, and a human body shape displaying unit The human body shape data generated by the human body shape data generation unit is displayed on the human body shape display unit as an image observed from the position and direction of the observation direction detection unit detected by the observation direction detection unit itself. It is preferable to do so. A human body mechanical model generating unit having mechanical mechanical information of a human body tissue, an indicating unit, an indicating unit position detecting unit, an indicating force detecting unit, a reaction force calculating unit, and a reaction force presenting unit; The position of the portion with respect to the human body model is detected by the pointing portion position detecting portion, the external force applied to the pointing portion is detected by the pointing force detecting portion, and the reaction force calculating portion detects the external force based on the human body dynamic model. A reaction force received by the instruction unit in accordance with the external force may be calculated at the determined position, and the calculated reaction force may be presented by the reaction force presentation unit.
【００１０】[0010]
【実施例及び比較例】以下、実施例として図面を参照し
ながら本発明を更に詳細に説明する。ここで示す実施例
は副鼻腔内の内視鏡操作トレーニングを目的とした人体
模型を例としているが、この例に限定されるものではな
い。図１は本発明の請求項１に関わる実施形態の一実施
例を示す図である。模型の頭部は成人男性の頭蓋骨から
形状を採取し、ＣＴ画像データからの光造形モデルも参
考にして制作し、骨厚、副鼻腔構造など可能な限り忠実
に再現されるようにする。内視鏡操作トレーニングする
者が実際の生体と類似した触覚感覚を感じられるように
するために、模型材料の弾性率や表面の色、粘性などを
生体に近づけるだけでなく、内部構造もより正確に人体
の機械的特性と合わせるために複数の材質を用いて複合
させた構造とする。例えば図１において人体模型１０１
は骨格部分１０２と鼻腔部分１０３からなり、骨格部分
１０２は例えば硬いウレタン樹脂で、鼻腔部分１０３は
例えば粘膜色に着色したシリコンゴムで形成し、実際の
人体と似た硬度を持たせる。Examples and Comparative Examples Hereinafter, the present invention will be described in more detail as examples with reference to the drawings. Although the embodiment shown here is an example of a phantom for endoscope operation training in a paranasal sinus, it is not limited to this example. FIG. 1 is a diagram showing an example of an embodiment according to claim 1 of the present invention. The head of the model is sampled from the skull of an adult man, and is also created with reference to a stereolithography model from CT image data so that bone thickness, sinus structure, etc. are reproduced as faithfully as possible. In order for the trainees to feel the tactile sensation similar to the actual living body, not only the elasticity of the model material, the color and viscosity of the surface, etc., but also the internal structure are more accurate. In order to match the mechanical characteristics of the human body, a composite structure using a plurality of materials is adopted. For example, in FIG.
Is composed of a skeletal portion 102 and a nasal cavity portion 103. The skeletal portion 102 is made of, for example, a hard urethane resin, and the nasal cavity portion 103 is made of, for example, a silicone rubber colored in a mucous membrane color, and has a hardness similar to that of an actual human body.
【００１１】請求項２に関わる実施形態の一実施例とし
ては、実体模型１０１に適度なＸ線吸収率を有する素材
を用いる。これにより、Ｘ線ＣＴによる撮像が可能とな
る。例えば鼻腔部分１０３には硫酸バリウムを混入する
と、図２に示すように断面１０４での断面図１０５が撮
影可能である。１０６は骨格部分１０２の、１０７は鼻
腔部分１０３の断層である。In one embodiment of the second embodiment, a material having an appropriate X-ray absorptivity is used for the real model 101. Thereby, imaging by X-ray CT becomes possible. For example, when barium sulfate is mixed into the nasal cavity 103, a cross-sectional view 105 of a cross-section 104 can be taken as shown in FIG. 106 is a slice of the skeletal portion 102 and 107 is a slice of the nasal cavity portion 103.
【００１２】図３は本発明の請求項３に関わる実施形態
の一実施例を示す図である。ここでは人体模型１０１に
おいて鼻腔部分１０３が取り外し式になっており、これ
とは異なる形状の鼻腔部分１０３ｂと取り替えて骨格部
分１０２に装着するものである。図４は本発明の請求項
４に関わる実施形態の一実施例を示す図である。これ
は、図３で示した実施例において、骨格部分１０２と鼻
腔部分１０３との間隙に圧力検知装置１０８を装着する
ことにより、鼻腔部分１０３にかかる圧力を検知し、圧
力表示装置１０９に表示することができる。鼻腔部分１
０３に圧力をかけるものとしては、例えば内視鏡や鉗子
といった手術器具が挙げられる。FIG. 3 is a diagram showing an example of an embodiment according to claim 3 of the present invention. Here, the nasal cavity portion 103 of the phantom 101 is of a detachable type, and is replaced with a nasal cavity portion 103b having a different shape, and is mounted on the skeleton portion 102. FIG. 4 is a diagram showing an example of an embodiment according to claim 4 of the present invention. This is because, in the embodiment shown in FIG. 3, the pressure applied to the nasal cavity 103 is detected by mounting the pressure detecting device 108 in the gap between the skeleton 102 and the nasal cavity 103 and displayed on the pressure display device 109. be able to. Nasal cavity part 1
Examples of a device that applies pressure to 03 include surgical instruments such as an endoscope and forceps.
【００１３】図５は本発明の請求項５に関わる実施形態
の一実施例を示す図である。人体形状データ生成部１１
０は、内部臓器を含む人体の形状データを有するもので
ある。指示部位置検出部１１１は、人体模型１０１と指
示部１１３の相対的位置・方向を計測し、人体形状表示
部１１２に送信する。人体形状表示部１１２は人体形状
データ生成部１１０より人体形状データを読み取り、指
示部位置検出部１１１から人体模型１０１を観察した方
向に対応して、人体形状データを表示する。ここで人体
形状データとして、例えば人体模型１０１をＸ線ＣＴ装
置で撮影してえられた三次元形状座標情報が挙げられ
る。また指示部１１３として内視鏡が、指示部位置検出
部１１１として位置センサーが挙げられる。また人体形
状表示部１１２としては三次元コンピュータグラフィッ
クスの表示が可能な計算機が挙げられる。FIG. 5 is a diagram showing an example of an embodiment according to claim 5 of the present invention. Human body shape data generation unit 11
0 has shape data of a human body including internal organs. The pointing unit position detecting unit 111 measures the relative position and direction of the human body model 101 and the pointing unit 113 and transmits the same to the human body shape displaying unit 112. The human body shape display unit 112 reads the human body shape data from the human body shape data generation unit 110 and displays the human body shape data according to the direction in which the pointing unit position detection unit 111 observes the human body model 101. Here, as the human body shape data, for example, three-dimensional shape coordinate information obtained by capturing an image of the human body model 101 with an X-ray CT apparatus is used. An endoscope is used as the instruction unit 113, and a position sensor is used as the instruction unit position detection unit 111. As the human body shape display unit 112, a computer capable of displaying three-dimensional computer graphics can be used.
【００１４】図６は本発明の請求項６に関わる実施形態
の一実施例を示す図である。人体力学モデル生成部１１
４は、内部臓器を含む人体の力学的データである。指示
部位置検出部１１１は、人体模型１０１と指示部１１３
の相対的位置・方向を計測し、反力算出部１１５に送信
する。指示力検出部１１６では指示部１１３に外部から
かけられる力を検出し、反力算出部１１５に送信する。
反力算出部１１５は人体力学モデル生成部１１４より人
体力学モデルを使用して、指示部位置検出部１１１から
送られた位置データおよび指示力検出部１１６から送信
された外力データをもとに、指示分位置における反力を
算出し、反力提示部１１７に送信する。反力提示部１１
７は反力を使用者に提示する。FIG. 6 is a diagram showing an example of an embodiment according to claim 6 of the present invention. Human body model generation unit 11
4 is mechanical data of a human body including internal organs. The pointing unit position detecting unit 111 includes the manikin 101 and the pointing unit 113.
Are measured and transmitted to the reaction force calculation unit 115. The pointing force detecting unit 116 detects a force applied to the pointing unit 113 from the outside, and transmits the detected force to the reaction force calculating unit 115.
The reaction force calculation unit 115 uses the human body dynamic model from the human body dynamic model generation unit 114, based on the position data transmitted from the pointing unit position detection unit 111 and the external force data transmitted from the pointing force detection unit 116. The reaction force at the designated position is calculated and transmitted to the reaction force presentation unit 117. Reaction force presenting unit 11
7 presents the reaction force to the user.
【００１５】ここで人体の力学的データは、例えば臓器
別の弾性係数やポアソン比が挙げられる。また指示部１
１３として内視鏡が、指示部位置検出部１１１として位
置センサーが挙げられる。指示力検出部１１６として
は、例えば力センサーやバネが挙げられる。反力算出部
としては、機械力学的アルゴリズムに基づいて反力を算
出する計算機や、バネ・ダンパーなどの機械要素でくみ
上げられた力学的入出力装置が挙げられる。また反力提
示部１１７としては三次元コンピュータグラフィックス
の表示が可能な計算機による画像表示や、反力に応じた
駆動力を発する機構が挙げられる。後者の場合、反力提
示部１１７が指示部１１３に直結することで、指示部を
把持する使用者に反力を力覚にて提示することも考えら
れる。更に、指示部・指示部位置検出部・指示力検出部
・反力提示部が一体となった、いわゆる力覚フィードバ
ック装置を用いることも考えられる。Here, the mechanical data of the human body include, for example, the elastic coefficient and Poisson's ratio for each organ. Instruction unit 1
13 is an endoscope, and the pointing unit position detecting unit 111 is a position sensor. Examples of the pointing force detection unit 116 include a force sensor and a spring. Examples of the reaction force calculating unit include a computer that calculates a reaction force based on a mechanical dynamic algorithm, and a mechanical input / output device that is pumped up by a mechanical element such as a spring and a damper. Examples of the reaction force presentation unit 117 include an image display by a computer capable of displaying three-dimensional computer graphics, and a mechanism for generating a driving force according to the reaction force. In the latter case, it is conceivable that the reaction force presenting unit 117 is directly connected to the instruction unit 113 to present the reaction force to the user holding the instruction unit with a force sense. Further, it is also conceivable to use a so-called force feedback device in which the indicating unit, the indicating unit position detecting unit, the indicating force detecting unit, and the reaction force presenting unit are integrated.
【００１６】[0016]
【発明の効果】以上のように本発明の人体模型では、各
請求項において以下の効果が得られる。本発明の請求項
１においては、実際の臓器との機械力学的特性が類似し
た人体模型であるため、手術器具を用いたトレーニング
に向いている。請求項２においては、医療診断用撮影装
置による撮像が可能であるため、人体模型の内部構造画
像を用いたトレーニングが可能となる。請求項３におい
ては、一部分又は複数部分を交換することで、破壊を伴
うトレーニングでも破壊された部分を取り替えるだけで
再利用できるほか、症例によって異なる内部構造に対応
することが可能となる。請求項４においては、人体であ
れば人体臓器に悪影響を与えかねない操作を、感知する
ことができる。請求項５および６は、実際の人体模型内
には製造工程その他の理由で存在しない仮想的な臓器に
ついて、その形状や機械力学的特性を提示するものであ
る。請求項５においては、コンピュータグラフィックス
像などにより、仮想的な臓器の形状を表現するものであ
る。請求項６においては、手術器具と仮想的な臓器との
反力を算出し、算出した反力を医師に提示することがで
きる。As described above, the phantom of the present invention has the following effects in each claim. The first aspect of the present invention is suitable for training using a surgical instrument because it is a human body model having similar mechanical mechanical characteristics to actual organs. According to the second aspect, since imaging by the medical diagnostic imaging apparatus is possible, training using the internal structure image of the human phantom can be performed. According to the third aspect, by exchanging a part or a plurality of parts, it is possible to reuse even by training with destruction simply by replacing the destructed part, and it is possible to cope with an internal structure different depending on a case. According to the fourth aspect, it is possible to detect an operation which may adversely affect a human body organ in the case of a human body. Claims 5 and 6 present the shape and mechanical characteristics of a virtual organ that does not exist in the actual human phantom for a manufacturing process or other reasons. In claim 5, the shape of a virtual organ is represented by a computer graphics image or the like. In claim 6, the reaction force between the surgical instrument and the virtual organ can be calculated, and the calculated reaction force can be presented to the doctor.
【図１】本発明の請求項１に関わる実施形態の一実施例
を示す図である。FIG. 1 is a diagram showing an example of an embodiment according to claim 1 of the present invention.
【図２】本発明の請求項２に関わる実施形態の一実施例
において、Ｘ線ＣＴによって撮影された人体模型の画像
の例を示す図である。FIG. 2 is a diagram showing an example of an image of a human phantom taken by X-ray CT in an example of the embodiment according to claim 2 of the present invention.
【図３】本発明の請求項３に関わる実施形態の一実施例
を示す図である。FIG. 3 is a diagram showing an example of an embodiment according to claim 3 of the present invention.
【図４】本発明の請求項４に関わる実施形態の一実施例
を示す図である。FIG. 4 is a diagram showing an example of an embodiment according to claim 4 of the present invention.
【図５】本発明の請求項５に関わる実施形態の一実施例
を示す図である。FIG. 5 is a diagram showing an example of an embodiment according to claim 5 of the present invention.
【図６】本発明の請求項６に関わる実施形態の一実施例
を示す図である。FIG. 6 is a diagram showing an example of an embodiment according to claim 6 of the present invention.
１０１ 人体模型 １０２ 骨格部分 １０３
鼻腔部分 １０４ 断面 １０５ 断面図 １０６ 骨格
部分の断層 １０７ 鼻腔部分の断層 １０８ 圧力検知装置 １０９ 圧力表示装置 １１０ 人体形状データ生
成部 １１１ 指示部位置検出部 １１２ 人体形状表示
部 １１３ 指示部 １１４ 人体力学モデル生成部 １１５ 反力算出部 １１６ 指示力検出部 １１７ 反力提示部101 human body model 102 skeleton part 103
Nasal cavity 104 Cross section 105 Cross sectional view 106 Skeletal tomography 107 Nasal cavity tomography 108 Pressure detection device 109 Pressure display device 110 Human body shape data generation unit 111 Pointing unit position detection unit 112 Human body shape display unit 113 Pointing unit 114 Human body mechanical model generation Unit 115 reaction force calculation unit 116 instruction force detection unit 117 reaction force presentation unit
───────────────────────────────────────────────────── フロントページの続き (72)発明者 福井 幸男 茨城県つくば市東１丁目１番３ 工業技術 院 生命工学工業技術研究所内 (72)発明者 持丸 正明 茨城県つくば市東１丁目１番３ 工業技術 院 生命工学工業技術研究所内 (72)発明者 山下 樹里 茨城県つくば市東１丁目１番３ 工業技術 院 生命工学工業技術研究所内 (72)発明者 森川 治 茨城県つくば市東１丁目１番３ 工業技術 院 生命工学工業技術研究所内 (72)発明者 横山 和則 茨城県土浦市真鍋新町11−７ 総合病院 土浦協同病院内 (72)発明者 宇野 廣 山形県鶴岡市宝田１−18−36 株式会社高 研鶴岡工場内 Ｆターム(参考） 2C032 CA01 4C061 AA08 BB00 CC00 DD00 GG11 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Yukio Fukui 1-1-3 Higashi, Tsukuba, Ibaraki Pref. Institute of Biotechnology Industrial Technology Research Institute (72) Inventor Masaaki Mochimaru 1-3-1 Higashi, Tsukuba, Ibaraki Pref. Institute of Biotechnology, Institute of Biotechnology (72) Inventor Juri Yamashita 1-3-1, Higashi, Tsukuba, Ibaraki Prefecture Industrial Technology Institute of Biotechnology, Institute of Biotechnology (72) Inventor Osamu Morikawa 1-3-1, Higashi, Tsukuba, Ibaraki Industrial Technology (72) Inventor Kazunori Yokoyama 11-7 Manabe Shinmachi, Tsuchiura City, Ibaraki Prefecture General Hospital Tsuchiura Kyodo Hospital (72) Inventor Hiro Uno 1-18-36 Takarada, Tsuruoka City, Yamagata Prefecture F-term in Tsuruoka factory (reference) 2C032 CA01 4C061 AA08 BB00 CC00 DD00 GG11
Claims (6)
有する人体模型であって、前記人体の機械力学的特性に
近い材質からなることを特徴とする人体模型。1. A human phantom having a shape adapted to the surface and internal structure of the human body, wherein the human phantom is made of a material close to the mechanical characteristics of the human body.
クス線撮影装置またはＸ線ＣＴ断層装置またはＭＲＩ
（磁気共鳴断層装置）または超音波診断装置などの医療
診断用撮影装置による前記人体模型の形状計測が可能と
なる材質および構造を有することを特徴とする人体模
型。2. The phantom according to claim 1, wherein the X-ray imaging apparatus, the X-ray CT tomography apparatus, or the MRI is used.
A human body model having a material and a structure that enable the shape measurement of the human body model by a medical diagnostic imaging apparatus such as a (magnetic resonance tomography apparatus) or an ultrasonic diagnostic apparatus.
て、前記人体模型の一部又は複数部分を、前記部分と形
状が同一又は異なる部品と交換可能であることを特徴と
する人体模型。3. The phantom according to claim 1, wherein a part or a plurality of parts of the phantom can be replaced with a part having the same or different shape as the part.
型において、圧力検知部を備え、前記人体模型に外部か
らかかる圧力を検出することを特徴とする人体模型。4. The human phantom according to claim 1, further comprising a pressure detecting unit, wherein a pressure applied from outside to the human phantom is detected.
型において、さらに、人体の三次元形状情報を有する人
体形状データ生成部と、指示部と、前記人体模型と前記
指示部の相対位置および方向を検出する指示部位置検出
部と、人体形状表示部を備え、前記人体形状データ生成
部が生成した人体形状データを、前記観察方向検出部自
身で検出された前記観察方向検出部の位置および方向か
ら観察された映像として前記人体形状表示部で表示する
ことを特徴とする人体模型。5. The human body model according to claim 1, further comprising a human body shape data generation unit having three-dimensional shape information of the human body, an indicating unit, and a relative position between the human body model and the indicating unit. An instructing unit that detects a position and a direction, comprising a human body shape display unit and a human body shape data generated by the human body shape data generation unit, the observation direction detection unit detected by the observation direction detection unit itself. A human body model, which is displayed on the human body shape display unit as an image observed from a position and a direction.
体模型において、さらに、人体組織の機械力学的情報を
有する人体力学モデル生成部と、指示部と、指示部位置
検出部と、指示力検出部と、反力算出部と、反力提示部
を備え、前記指示部の前記人体模型に対する位置を前記
指示部位置検出部で検出し、前記指示部にかかる外力を
前記指示力検出部で検出し、前記反力算出部においては
前記人体力学モデルに基づいて前記検出した位置におい
て前記外力に応じた前記指示部の受ける反力を算出し、
前記算出された反力を前記反力提示部にて提示すること
を特徴とする人体模型。6. The human body model according to claim 1, further comprising a human body mechanical model generation unit having mechanical mechanical information of a human body tissue, an indicating unit, and an indicating unit position detecting unit. A pointing force detecting unit, a reaction force calculating unit, and a reaction force presenting unit. The pointing unit position detecting unit detects a position of the pointing unit with respect to the human body model, and detects an external force applied to the pointing unit by the pointing force. Detected by the detection unit, the reaction force calculation unit calculates the reaction force received by the indicating unit according to the external force at the detected position based on the human body dynamic model,
A human phantom, wherein the calculated reaction force is presented by the reaction force presentation unit.
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| JP17712399A JP3845746B2 (en) | 1999-06-23 | 1999-06-23 | Human body model |
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|---|---|---|---|
| JP17712399A JP3845746B2 (en) | 1999-06-23 | 1999-06-23 | Human body model |
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| JP3845746B2 JP3845746B2 (en) | 2006-11-15 |
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