JP2005189297A - Feather touch dentistry treatment training system entailing visualization of tactile force - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a feather touch dentistry treatment training system entailing visualization of tactile force enabling a trainee to judge whether a tooth is properly cut or not in the training of dental treatment. <P>SOLUTION: The system is provided with a computer system 5 capable of displaying a mouth and medical treatment equipment prepared in a virtual space and an operation means 8 for operating the medical treatment equipment, and is so constituted that the feather touch training can be conducted. The system is further provided with: a force information acquisition means 9 for acquiring the force information of feather touch by the operation of the operation means 8; a storage means 4 for storing the acquired force information of a skilled person; and a zone determination means Zo for determining, based on the stored force information of the skilled person, a safety zone indicating a zone whereon the force information concentrates. The computer system 5, based on the force information of an operator T, displays the process of treatment with the medical treatment equipment and also makes the form of visualization of the force information different according to whether the force information is within the safety zone or not. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a feather touch dental treatment training system with force-tactile visualization configured such that an operator can perform training to treat a virtual tooth with a virtual treatment device by operating an operation means.

In treating teeth, training is indispensable to improve treatment techniques and skill levels. Conventionally, practice using a mannequin or a dentition model has been performed prior to practice of treating teeth of trainees and patients (see, for example, Non-Patent Documents 1 and 2).
Ito Hiroshi “Occlusal Restoration by Crown Bridge”, Aichi Gakuin University School of Dentistry Dental Prosthesis 3rd Lecture, 1997, p. 45-52 Koji Kawasaki, Sansei Uemura, Masaki Kanbara, Yoshihiro Okamoto, Hiroshi Inoue, “Application and Concept of Tooth Cutting Computer Simulation System (DentSim)”, Japanese Journal of Dentistry, 2000, p. 52-59

However, in practice using a mannequin, the mannequin not only does not have a moving tongue, but also does not respond even when a treatment device hits the intraoral site (gingiva, buccal mucosa, tongue, etc.) other than the teeth. Therefore, when actually treating the patient's teeth, it is difficult to learn the dangers due to unexpected movement of the tongue, which hinders the improvement of the treatment technique and the skill level.
Also, in the practice using the dentition model, the teeth of the dentition model are formed of a material different from that of the actual teeth, so the feel when cutting is different, and it cannot be determined whether or not the teeth have been cut properly. . Therefore, when the patient's teeth were actually treated, the teeth were sometimes cut more than necessary. Moreover, it was able to cut only once, and the training could not be repeated.

  The present invention has been made in view of these points, and provides a feather touch dental treatment training system with force-tactile visualization that can achieve at least one of the following objects. In other words, the first purpose is to make it possible to learn the danger of unexpected movement. The second purpose is to make it possible to determine whether or not the tooth has been properly cut.

(1) Means for solving a problem (hereinafter simply referred to as “solution means”) 1 is a computer device capable of displaying an oral cavity and a treatment device produced in a virtual space, as schematically shown in FIG. 5 and an operation means 8 for operating the treatment device, and visualizing a force-tactile sensation configured to perform feather touch training for treating the teeth in the oral cavity with the treatment device by operating the operation means 8 A feather touch dental care training system with
Force information acquisition means 9 for acquiring force information of feather touch by the operation of the operation means 8 and force information of an expert (meaning a skilled operator) acquired by the force information acquisition means 9 are the same. Storage means 4 for storing, and zone determination means Zo for determining a safety zone representing a range in which the force information is concentrated based on the force information of the skilled person stored in the storage means 4,
The computer device 5 displays a process of treating with the treatment device based on the force information acquired by the force information acquisition unit 9 when the operator T operates the operation unit 8, and the acquired force The gist is that the visualization form of the force information is made different depending on whether the information is in the safety zone.

  According to the solution 1, since the computer device 5 creates the oral cavity and the treatment device in the virtual space, the oral cavity and the treatment device that can be viewed by the operator T (that is, a trainee or an expert) are virtual. The treatment device is a device used for dental treatment, for example, a handpiece, a dental mirror, a vacuum, or the like.

  First, an operator T as an expert (dentist) operates the operation means 8 that is regarded as a treatment device, and performs feather touch for treating teeth in the oral cavity. The operation means 8 shown in the example of FIG. 1 includes a right operation unit 8a for the right hand and a left operation unit 8b for the left hand. The force information acquisition unit 9 acquires the force information of the feather touch when operated, and stores the acquired expert force information in the storage unit 4. The force information acquisition means 9 shown in the example of FIG. 1 includes a right detection unit 9a provided in the right operation unit 8a and a left detection unit 9b provided in the left operation unit 8b. The skilled person's force information stored in the storage means 4 is determined by the zone determining means Zo with the range where the force information is concentrated as a safety zone. The determination method is arbitrary, but it may be determined by visually observing a range where the number of times of force information shown in a graph or the like is concentrated. When the force information follows a normal distribution, the average value ± σ and the average value ± You may determine in the range shown by 2 (sigma), average value +/- 3 (sigma) ((sigma) means a standard deviation.).

  Based on the safety zone determined as described above, an operator T as a trainer performs a feather touch training in which the operating means 8 is operated to treat teeth in the oral cavity. During this training, the computer device 5 displays the process of treating the teeth with the treatment device on the display 2 based on the virtual reality technology, and the magnitude of the force applied to the operation means 8 (that is, force information acquisition means 9). Depending on whether or not the force information obtained in (1) is in the safety zone, the visualization form of the force information is varied. As an example of changing the visualization form depending on the color, if the trainee's power information is in the safety zone, it is displayed in green, and if not, it is displayed in another color (red, blue, etc.). Other visualization forms include the length of a vector (including a simple line segment), numerical information display, graphic display, and the like. The trainer (operator T) who has recognized the content of the force information can easily grasp at a glance how much force is applied to handle the treatment device. Therefore, it can be determined whether or not the teeth have been properly cut. Further, since the above-described treatment training can be repeated many times, it is possible to improve the treatment technique and the skill level.

  Also, as shown in FIG. 1, not only the force information (for example, force Fb) of the feather touch by the operator T as a trainee is displayed, but also the force information (for example, the force Fa) of the feather touch operated by the operator T as an expert. ) Is also displayed. Therefore, since the operator T as a trainee can simultaneously recognize not only the force information of the feather touch by his own operation but also the force information of the feather touch operated by the expert, it is easier to understand because the strength of the force can be compared. It is possible to determine in real time whether or not the power to perform is appropriate.

(2) The solution means 2 is a feather touch dental treatment training system with visualization of a force / tactile sensation described in the solution means 1, and the computer device 5 displays the magnitude of the force information when the force information visualization is displayed as a vector. The gist is to change the form of the vector accordingly.

  According to the solving means 2, the computer apparatus 5 changes the form of the vector according to the content of the force information (magnitude of force, direction of force, etc.). The vector may be in any form as long as the operator T can recognize the change. For example, the length, thickness, color, and the like are applicable. For example, if the operating force increases, the vector is lengthened or thickened, or gradually changed from blue to red. Conversely, if the operating force is reduced, the vector is shortened, made thinner, or gradually changed from red to blue. The same applies when the direction of the operating force changes. The operator T who recognizes that the vector form has changed can determine in real time whether or not the direction and magnitude of the force applied when cutting is appropriate.

(3) The solving means 3 is a feather touch dental treatment training system with visualization of a force-tactile sensation described in the solving means 1 or 2, and includes a posture detecting means 1 for detecting the posture of the head of the operator T. The gist of the computer device 5 is to display the oral cavity and the treatment device visible to the operator T based on the posture detected by the posture detecting means 1.

  When the posture of the operator T's head changes, the angle at which the oral cavity and the treatment device are viewed also changes, so the appearance changes. According to the solving means 3, the posture detecting means 1 detects the posture of the head of the operator T. In the example shown in FIG. 1, a magnetic sensor device 3 having a magnetic generator 3a for generating magnetism, a magnetic sensor 3b installed at a predetermined position, and a magnetic sensor 3c attached to the head of the operator T is used. That is, since current flows when the magnetic sensors 3b and 3c are placed in the magnetic field generated by the magnetic generator 3a, the posture detection means 1 determines the posture (position, rotation, etc.) of the head of the operator T from the intensity of the current. Ask for. The computer device 5 displays the oral cavity and treatment equipment that can be seen by the operator T based on the posture detected by the posture detection means 1. Therefore, treatment training can be performed in the same way as when treating an actual patient. In this example, the posture of the head of the operator T is detected by the magnetic sensor device 3, but the posture of the head of the operator T is detected by another device (for example, an optical sensor device using infrared light, laser light, or the like). It is good also as a structure to detect.

(4) The solution means 4 is a feather touch dental treatment training system with force-tactile visualization described in any one of the solution means 1 to 3, wherein the computer device 5 includes a portion other than a tooth in the oral cavity. The gist of the invention is to have a contact detection means 6 for detecting contact with the treatment device and a notification means 7 for notifying when contact is detected by the contact detection means 6.

  According to the solution means 4, when the contact detection means 6 detects contact between a part other than the tooth and the treatment device, the notification means 7 notifies the contact. The detection of the contact is determined by, for example, whether or not the tip position of the treatment device has penetrated one surface of the polygon polygon. In addition, for example, a sound (for example, a sound, a sound effect, etc.) is output, and a figure, an image, a character, etc. are displayed. The operator T who has recognized the notification knows that a treatment error has occurred that the treatment device has touched a part other than the tooth during the operation (that is, during the treatment training). Knowing what kind of operation will cause treatment mistakes, you can learn the risks during treatment. Therefore, the operator T performs treatment training while being aware of danger avoidance, which leads to improvement in treatment technology and skill level.

(5) The solution means 5 is a feather touch dental treatment training system with visualization of force and tactile sensation described in the solution means 4, wherein the computer device 5 creates blood in a virtual space and makes contact by the contact detection means 6. The gist is to display the blood to appear at the detected site in the oral cavity.

  According to the solution 5, blood is produced in the virtual space in the computer device 5 in the same manner as the oral cavity and the treatment device, so that the blood that can be seen by the operator T is also virtual. When the operator T touches a part other than the tooth while the operator T is operating the operation means 8, the computer device 5 performs a display for causing blood to appear at the contact part. The operator T who has recognized the display of blood can know the occurrence of a treatment error with a sense of reality similar to that of the actual treatment, so that the danger at the time of treatment can be learned practically.

(6) The solution means 6 is a feather touch dental treatment training system with force-tactile visualization described in any one of the solution means 1 to 5, wherein the computer device 5 moves the tongue in the oral cavity at random. To display.

  An actual patient may suddenly move the tongue, which may result in a treatment error where the treatment device touches the tongue. According to the solution 6, the computer device 5 creates a tongue as a part of the oral cavity in the virtual space. And realistic movement is reproduced by moving the said tongue at random. Since the operator T has to treat the teeth in response to the tongue movement as it actually appears, the treatment can be performed in an environment close to treating an actual patient.

(7) The solution means 7 is a feather touch dental treatment training system with force-tactile visualization described in any one of the solution means 1 to 6, and the computer device 5 corresponds to a part of the oral cavity. The gist is to display an image by texture mapping.

  According to the solution 7, the image of the oral cavity actually captured by texture mapping is displayed for a part of the oral cavity. By this display, the oral cavity of the virtual patient can give a sense of reality, and the model can be simplified, so that the processing burden can be reduced. Therefore, the presence of the virtual oral cavity can be increased and the amount of data to be processed can be reduced.

(8) The solving means 8 is a feather touch dental treatment training system with force-tactile visualization described in any one of the solving means 1 to 7, and the computer device 5 displays a dental mirror as a treatment device. In this case, the gist is that the operator T obtains a direction vector reflected in the mirror based on the line-of-sight vector looking at the dental mirror and the normal vector of the mirror surface, and reverses and displays the image seen in the direction of the direction vector.

  A dental mirror is indispensable for treating teeth (especially the back of teeth). According to the solution 8, when a dental mirror is used as a virtual treatment device, an image reflected on the dental mirror is displayed. Therefore, treatment training can be performed in an environment close to actually treating teeth by looking at a dental mirror.

(9) The solution means 9 is a feather touch dental treatment training system with force-tactile visualization described in any one of the solution means 1 to 8, wherein the operation means 8 is a treatment device applied to a tooth in the oral cavity. The gist is that the reaction force received upon contact is transmitted to the operator T.

  Since teeth have a certain degree of hardness, when a treatment device (for example, a handpiece) comes into contact with the teeth during actual treatment, it receives a reaction force. If the reaction force is received, the possibility of overcutting increases unless the force applied when cutting the teeth is weakened. According to the solution means 9, the operation means 8 is configured to transmit the reaction force to the operator T. Therefore, when the operator T receives a reaction force from the operation means 8, the operator T can learn by training that the tooth is excessively sharpened unless the force is weakened. Therefore, treatment training can be performed in an environment close to actually treating teeth.

  According to the present invention, it becomes possible to learn the danger due to unexpected movement. Further, it is possible to determine whether or not the teeth have been properly cut.

  Next, the best mode for carrying out the present invention will be described with reference to examples.

  The present embodiment will be described with reference to FIGS. In FIG. 2, the structural example of the feather touch dental treatment training system with visualization of the force information concerning this invention is shown with a perspective view. 3 to 6 are flowcharts showing the procedure of the treatment training process. Between FIG. 3 and FIG. 6, the processing continues with connectors J2, J4, J6, J8, and J10. 7 to 11 show an example displayed on the display. Note that step S20 in FIG. 3 and step S30 in FIG. 4 correspond to the contact detection means 6, respectively, step S32 in FIG. 4 corresponds to the notification means 7, and step S38 in FIG. 4 corresponds to the zone determination means Zo.

  The feather touch dental treatment training system with visualization of force / tactile sense shown in FIG. 2 includes a computer main body 20 having a memory 34, an operation device 24 (for the left hand) having a force sensor 26, and an operation device having a force sensor 32. 30 (for the right hand), a stereoscopic head-mounted display 12 (so-called head-up display), a magnetic source 16, three-dimensional magnetic sensors 10, 18, a measuring device 14, and the like. The computer main body 20 and the display 12 correspond to the computer device 5, the memory 34 corresponds to the storage means 4, the operation devices 24 and 30 correspond to the operation means 8, respectively, and the magnetic source 16 and the three-dimensional magnetic sensor. Reference numerals 10 and 18 correspond to the magnetic sensor device 3, and the measuring device 14 corresponds to the posture detection means 1.

  In the memory 34, the shape data relating to the light source, viewpoint, face, oral cavity (including teeth), treatment device, blood, etc. to be created in the virtual space, image data displayed by texture mapping, operation by a trainee or expert, etc. It stores (records) feather touch force information detected by the force sensors 26, 32, relationship information that defines the relationship between the force information and reaction force, and the like. The memory 34 is a recording medium that can record and read these data, and uses, for example, a ROM, a RAM, a hard disk, a magneto-optical disk, or the like.

  The operation device 24 corresponding to the left operation unit 8b includes an operation lever 22 and a force sensor 26, and the operation device 30 corresponding to the right operation unit 8a includes an operation lever 28 and a force sensor 32. These operation levers 22 and 28 are regarded as treatment devices, and correspond to handpieces, dental mirrors, vacuums and the like in the virtual space. The operation device 24 outputs information (that is, device information) related to the position and orientation of the operation lever 22 when the operator T is operated to the computer main body 20, and the force sensor 26 detects the force applied during the operation. And output to the computer main body 20 as force information. The operation device 30 also has the same function as the operation device 24 and outputs device information and force information to the computer main body 20.

  The computer main body 20 is configured so that the operator T can perform feather touch training for treating teeth in the oral cavity with a treatment device by operating the operation levers 22 and 28. Specifically, the process of treating teeth using the oral cavity or treatment device created in the virtual space based on information (device information, force information, etc.) on the operation levers 22 and 28 operated by the operator T. While displaying on the display 12, the content of the detected force information is displayed on the display 12.

  The magnetic generation source 16 corresponding to the magnetic generator 3a and the three-dimensional magnetic sensors 10 and 18 corresponding to the magnetic sensors 3b and 3c all have three coils orthogonal to each other in the X-axis, Y-axis, and Z-axis directions. Consists of. The magnetism generation source 16 generates magnetism (magnetic field) by passing an electric current through the coil. When the three-dimensional magnetic sensors 10 and 18 are placed in the magnetism thus generated, a current flows, and the intensity of the current is determined by the distance and angle from the magnetic source 16. The measuring device 14 solves the simultaneous equations from the current values flowing through the magnetic source 16 and the three-dimensional magnetic sensors 10 and 18 based on nine 3 × 3 data, thereby obtaining the three-dimensional magnetic sensor 10 (that is, the operation). 3D position coordinates and Euler angles (roll, pitch, yaw) are calculated. Thus, since the posture of the operator T's head (that is, the three-dimensional coordinate position, rotation angle, elevation angle, etc.) is known, the measuring device 14 outputs the posture information to the computer main body 20.

  A treatment training process for realizing the present invention in the feather touch dental treatment training system with visualization of force / tactile sensation configured as described above will be described with reference to FIG. In FIG. 3, based on the data on the light source, viewpoint, face, oral cavity, treatment device, etc. stored in the memory 34 in the beginning, the face, oral cavity, treatment device, blood in the virtual space as “Metaphor”. The hand of the operator T is prepared [Step S10]. The production time does not matter, but it is necessary to finish the production at least before starting treatment training. In addition, the face, oral cavity, treatment device, etc. to be created in the virtual space are realized by polygons having a predetermined number of polygons. For example, the number of polygons of the tongue included in the oral cavity is 16, and the number of polygons of the handpiece including the diamond bar for tooth cutting is 216. Since the teeth need to be produced one by one, such as the shape of the front and back teeth in the oral cavity are different, the number of polygons is generally different.

During data acquisition, an acquisition environment (similar to a training environment described later) is set or changed as necessary [step S12]. For example, for a treatment device, a dental mirror may be selected and set, or a dental mirror that was originally a dental mirror may be set as a handpiece. Similarly, the appearance of the virtual patient is set or changed, such as whether the face can be seen or only the mouth including the oral cavity and its surroundings can be seen.
Further, in order to reproduce the same movement as that of the actual patient, the virtual patient's tongue is moved randomly [step S14]. Further, the posture information output from the measuring device 14 is acquired and stored in the memory 34 [step S16]. The device information and feather touch force information output from the operation devices 24 and 30 are acquired and stored in the memory 34 [step S18].

Based on the information (posture information, device information, force information, etc.) stored in the memory 34 in steps S16 and S18, when it is determined that the treatment device has touched the tooth (YES in step S20), the information is acquired in step S18. A reaction force is obtained from the force information according to the relationship information, and the reaction force is applied to the hand of the operator T through the operation devices 24 and 30 [step S22]. For example, this corresponds to a case where the treatment device is a hand piece and a diamond bar, a turbine, or the like attached to the hand piece hits a tooth.
Note that a reaction force may also be applied to a case where treatment training is performed using a treatment device other than the handpiece (for example, a dental mirror or a vacuum). Moreover, you may give reaction force also about the case where it contacts the intraoral site | parts (for example, hard palate, gums, etc.) other than a tooth | gear.

  When a dental mirror is used as a treatment device (YES in step S24), a reflection image to be displayed on the mirror of the dental mirror is created [step S26]. In general, a dental mirror as a treatment device displays the state of the back side that cannot be seen from the front, with the role of eliminating the tongue and cheek mucosa when shaving teeth. Since teeth are often treated while looking at a dental mirror even for an actual patient, it is necessary to treat teeth while looking at a dental mirror even when performing treatment training for a virtual patient. Accordingly, in step S26, a direction vector reflected in the mirror is obtained based on the line-of-sight vector when the operator T looks at the dental mirror and the normal vector of the mirror surface, and the video that appears in the direction of the direction vector is reversed and created. The line-of-sight vector can be calculated from the posture information acquired in step S16, and the normal vector of the mirror surface can be known from information (position, posture, etc.) on the dental mirror.

  4, the current state of the virtual patient, that is, the current state as a result of executing the above-described steps S12 to S26, is displayed on the display 12 [step S28]. Specifically, (a) a face, oral cavity, treatment device, etc. created in a virtual space, (b) an image of a part of the oral cavity by texture mapping, (c) content of force information of an expert, (d This corresponds to information required for training such as an image reflected in a mirror when a dental mirror is used as a treatment device, such as a reflection image created in step S26.

  The display contents of the face, oral cavity, treatment device, etc. shown in item (a) are the contents set in step S12 in FIG. 3, the posture information acquired in step S16 in FIG. 3, and the device information acquired in step S18 in FIG. And change according to force information. For example, according to the posture information, if the head of the operator T approaches the virtual patient, the virtual patient's face, oral cavity, and the like are displayed to be larger, and conversely, if the operator T's head moves away from the virtual patient. The virtual patient's face, oral cavity, and the like are displayed so as to be small. Similarly, according to the device information, for example, the treatment device in the virtual space is moved according to the degree to which the operator T moves the operation levers 22 and 28.

  The content of the skill information of the expert shown in the item (c) is the content of the force information stored in the memory 34 in step S18 of FIG. 3, and the operator T as an expert can operate the operation devices 24, 30 (specifically Is displayed in a vector format applied to the force in the opposite direction to the force applied to the operation levers 22, 28). It is desirable to change the length, thickness, color, etc. of the vector displayed in this way according to the magnitude of the force information. For example, when the magnitude of the force information is increased, the vector is lengthened, thickened, or gradually changed from blue to red. Conversely, when the magnitude of the force information is reduced, the vector is shortened, made thinner, or gradually changed from red to blue.

Further, when it is determined that the treatment device has contacted the intraoral site other than the tooth based on the information (posture information, device information, force information, etc.) stored in the memory 34 in steps S16 and S18 in FIG. YES in S30), blood is displayed on the contact site, or a sound (for example, a sound effect or voice) is heard to notify the operator T [Step S32].
Actually, there are a limited number of treatment devices in which blood comes into contact with the intraoral site, such as a handpiece having a diamond bar or a turbine. In step S30, whether or not the contact is made is determined by preparing a single colorless triangular polygon separately from the treatment device created in the virtual space and following the movement of the tip of the treatment device. And whether or not the triangular polygon is in contact with the polygon of the tongue. By performing contact determination using the simplest triangular polygon among polygons, the amount of calculation can be greatly reduced. Since the virtual blood (polygon) is prepared in advance in step S10 of FIG. 3 and arranged far from the virtual space, in step S32, the blood may be simply moved to the contact site. Therefore, the real-time property is not impaired when displaying on the display 12.

  The above-described processing is repeated until the data acquisition relating to the force information is completed [step S34]. In the example of the solid line shown in FIG. 3, the process is returned from step S <b> 12 so that the acquisition environment can be set or changed during data acquisition. On the other hand, in order to make it impossible to set or change the acquisition environment during data acquisition, it is only necessary to return from step S14 as indicated by a two-dot chain line.

  When the data acquisition is completed (YES in step S34), the force information stored in the memory 34 in step S18 in FIG. 3 is displayed on the display 12 (or other display) so that the force information can be visually recognized. Or printing [step S36]. The expression format of the force information is not limited, but it is desirable to express the force information applied to the operation levers 22 and 28 and the direction of the applied force. For example, a format represented by a graph is applicable.

  Then, based on the force information of the skilled person who can be visually recognized (or stored in the memory 34), a safety zone representing a range in which the force information (the magnitude and direction of the force) is concentrated is determined (step S38). . The method of determining the safety zone (upper limit value, lower limit value, etc.) is arbitrary, but for example, the range where the number of times force information represented in a graph or the like is concentrated may be determined by visual observation, and the force information follows a normal distribution Is determined to be a range indicated by an average value ± σ, an average value ± 2σ, an average value ± 3σ (σ means a standard deviation), or the force information is predetermined when the force information does not follow a normal distribution. You may determine in the range used more than the frequency | count (for example, 5 times, 10 times etc.). The reason why the range where the number of times of force information is concentrated is determined as the safety zone because the force for shaving the tooth is insufficient when the force is smaller than the range, and the tooth is excessively shaved when the force is larger than the range. .

In the above description, the process of acquiring feather touch force information for an expert has been shown. In the following description, feather touch training is performed by acquiring and displaying feather touch force information for a trainer (particularly a beginner). Show the process.
In addition, when a trainee trains, it is desirable to perform it in an environment equivalent to an environment for acquiring force information of feather touch for an expert. Except for differences described below, the processing contents from step S40 in FIG. 5 to step S62 in FIG. 6 are substantially the same as the processing contents from step S12 in FIG. 3 to step S34 in FIG. Therefore, in FIG. 5 and FIG. 6, in the case of the same processing content, the step number of the corresponding processing content is shown in parentheses.

The processing contents shown in FIGS. 5 and 6 are different from those shown in FIGS. 3 and 4 in the following differences.
(Difference α)
The point is that the subject becomes a trainee. Therefore, it is desirable that the acquisition environment and the training environment be the same environment. In that sense, it is desirable to store the contents set in step S12 in FIG. 3 in the memory 34 and reproduce (reset) the set contents in step S40 in FIG. When the training environment (especially the treatment device) is automatically reset in this way, the trainee can also learn which treatment device should be selected at what timing when treating the teeth.

(Difference β)
In step S46 of FIG. 5, device information and feather touch force information output when the operator T as a trainee operates the operation devices 24 and 30 are acquired. The acquired trainer power information may be stored in the memory 34 instead of the skill information of the skilled worker, or may be stored in the memory 34 after leaving the skill information of the skilled worker. In the latter case, the memory 34 stores force information concerning both the skilled person and the trainee.

(Difference γ)
This relates to the storage of the difference β. If it is stored in the memory 34 instead of the skill information of the skilled person, the form of the vector is made different depending on whether or not the power information of the trainee is in the safety zone in step S56 of FIG. For example, if the trainer's force information (magnitude) is smaller than the lower limit value of the safety zone, the vector is displayed in blue, and if it is within the safety zone range, the vector is displayed in green, and the upper limit of the safety zone is also displayed. If it is smaller than the value, the vector is displayed in red. In this way, the trainer (operator T) who has recognized the color of the vector can know at a glance whether the force applied is large, appropriate, or small.
On the other hand, when the skill information of the skilled person is stored in the memory 34, the above-described display may be performed. However, not only the power information of the trainee but also the skill information of the skilled person may be displayed at the same time. Good. Thus, if the force information concerning both the expert and the trainee is displayed at the same time, the trainee can perform the feather touch training while comparing with the force information of the expert.

  A display example realized by the display 12 by executing the treatment training process shown in FIGS. 3 to 6 will be described with reference to FIGS.

  First, in FIG. 7, the state where the training environment is set is shown in FIG. 7A, and the state where the oral cavity 52 is enlarged and displayed is shown in FIGS. 7B and 7C {FIG. Step S12, see Step S28 of FIG. 4}. In FIG. 7A, the face 40 applied to the virtual patient, the virtual treatment device (in this example, the vacuum 42, the dental mirror 46, and the handpiece 50), the virtual hand applied to the operator T (in this example, the left hand 44 and The right hand 48) is displayed on the display 12. The operator T who sees the display can easily grasp the state of the virtual patient's face 40 and what kind of treatment device has been selected. Note that the appearance of the display 12 shown in FIG. 7 also changes according to the posture information on the head of the operator T acquired in step S16 in FIG.

  When performing dental treatment training, it is easier to see that the oral cavity 52 is displayed in a larger size, so that it can be set to be enlarged and displayed as shown in FIGS. 7B and 7C {step of FIG. See S12}. A part of the oral cavity 52 shown in FIG. 7B (parts such as the palate, uvula, tonsils, and strait in this example) displays an image 54 relating to the part by texture mapping. In this display, it is possible to increase the presence of the virtual oral cavity 52 compared to FIG. 7C in which texture mapping is not performed. Further, since only the image 54 stored in advance in the memory 34 is displayed by texture mapping, the amount of data to be processed can be reduced.

  When the operator T operates the operation levers 22 and 28 and cuts the teeth 56 with the diamond bar 50a provided in the handpiece 50, a display as shown in FIG. 8 is performed {step S12 in FIG. 3, step S28 in FIG. See}. Here, FIG. 8A shows an example of cutting teeth 56 (dentition) arranged in the oral cavity 52, whereas FIGS. 8B, 8C, and 8D are shown. Shows an example in which only one tooth 56 is cut. In FIG. 8B, FIG. 8C, and FIG. 8D, the part corresponding to the caries is displayed in black.

  In the example shown in FIG. 8A, the force in the direction opposite to the force applied by the operator T to the operation levers 22 and 28 is displayed as a vector 58 {see step S28 in FIG. 4 and step S56 in FIG. 6}. . Since the force detected by the force sensor 26 and 32 in addition to the operation levers 22 and 28 by the operator T is equal to the pressing force, the force in the direction opposite to the vector 58 is obtained. If it is displayed in this direction, it will be unnatural, so the vector component in the opposite direction is obtained and displayed in order to visualize the force applied to the tooth 56.

  The vector 58 changes the length (or thickness) according to the force information (the magnitude of the force), and the force information of the operator T as a trainee changes the color depending on whether or not the safety information is in the safety zone. Change {see step S56 in FIG. 6}. For example, if the force information (magnitude of the force) is smaller than the lower limit value of the safety zone, the vector is displayed in blue. If the force information is within the range of the safety zone, the vector is displayed in green. If it is smaller than the upper limit, the vector is displayed in red. In this way, the trainer who has recognized the color of the vector 58 can know at a glance whether the applied force is large, appropriate, or small.

  In the example shown in FIGS. 8B, 8C, and 8D, the form of the vector 58 is changed according to the magnitude of the force applied to the operation levers 22 and 28 by the operator T. . That is, as the force applied by the operator T increases, the form of the vector 58 changes in the order of FIG. 8B → FIG. 8C → FIG. 8D. For example, if the force applied by the operator T is less than 7 [gf], a blue vector 58 is displayed as shown in FIG. Similarly, when the value is 7 [gf] or more and less than 26 [gf], the green vector 58 is displayed as shown in FIG. Further, when it is 26 [gf] or more, the red vector 58 is displayed as shown in FIG. In this way, the force component is not only displayed as the vector 58, but the form of the vector is changed according to the magnitude of the force, so that the operator T can determine the strength of the force when cutting the tooth 56 at a glance. I can grasp.

  In FIG.4 S30, the contact determination of intraoral site | parts (for example, tongue) other than the tooth | gear 56 and the diamond bar 50a is demonstrated, referring FIG. First, as shown in FIG. 9A, a triangular polygon 62 corresponding to the diamond bar 50a and a tongue polygon 60 corresponding to the intraoral site are prepared in a virtual space {see step S10 in FIG. 3}. Similarly, a virtual blood 64 is prepared in a virtual space as shown in FIG. 9B {see step S10 in FIG. 3}. Then, the triangular polygon 62 is moved following the movement of the diamond bar 50a (see step S16 in FIG. 3 and step S28 in FIG. 4), and whether or not the tip of the triangular polygon 62 contacts the surface of the tongue polygon 60 is determined. Make a decision.

  If it is determined that the tip of the triangular polygon 62 is in contact with the surface of the tongue polygon 60, the blood 64 is displayed as shown in FIG. 9C (see step S32 in FIG. 4). In the example of FIG. 9C, the blood 64 is displayed in the vicinity of the part where the tip of the triangular polygon 62 contacts the surface of the tongue polygon 60, that is, the part where the tooth 56 and the tongue 66 contact. Since the tongue 66 moves randomly (see step S14 in FIG. 3), the diamond bar 50a may come into contact. The operator T who has seen the blood 64 can easily grasp that the diamond bar 50 a has come into contact with the tongue 66. The same applies to the case where the entire oral cavity 52 is displayed. A display example when the tip of the triangular polygon 62 is not in contact with the surface of the tongue polygon 60 is shown in FIG. 10A, and a display example when the tip of the triangular polygon 62 is in contact with the surface of the tongue polygon 60 is shown in FIG. ).

  A display example when using a dental mirror as a treatment device will be described with reference to FIG. FIG. 11 shows an example in which a mirror image 70 is displayed on a dental mirror 46 and a mirror 46 a provided on the dental mirror 46. The mirror image 70 in this example is a reflection of the back side of the tooth 56. The direction vector reflected in the mirror is obtained based on the line-of-sight vector where the operator T looks at the dental mirror 46 and the normal vector of the mirror surface. This is an image obtained by inverting the image that appears in the direction {see step S26 in FIG. 3}. By displaying the mirror image 70, the operator T can perform treatment training in an environment close to actually treating a tooth by looking at a dental mirror.

  FIG. 12 shows an example of displaying on the display 12 after completing the treatment training. The distribution of the force applied by the operator T when cutting only one tooth 56 with the diamond bar 50a as shown in FIG. 8 (B), FIG. 8 (C) and FIG. 8 (D), The training result of the beginner (operator T) is shown by a bar graph in FIG. 12A, and the acquisition result of the expert is shown by a bar graph in FIG. Comparing FIG. 12 (A) and FIG. 12 (B), it can be seen that the beginner is cutting the tooth 56 by applying a stronger force than the expert. Thus, by comparing with the force applied by the expert, the beginner (operator T) can grasp whether the force applied when cutting the tooth 56 is large or small.

According to the embodiment described above, the following effects can be obtained.
(1) An operation device 24, 30 (operating means 8) that is regarded as a treatment device is operated by an operator T (expert, trainer) so that training for treating teeth in the oral cavity can be performed with the treatment device. As for the feather touch dental treatment training system with visualization of force haptics, the computer main body 20 and the display 12 (computer device 5) capable of displaying the oral cavity and the treatment device created in the virtual space, and the operation devices 24 and 30 are operated. Force sensors 26 and 32 (force information acquisition means 9) for detecting the force applied by the person T during operation, and a memory 34 (storage means 4) for storing the force information of the skilled person acquired by the force sensors 26 and 32 {See FIG. 2}, and based on the skill information of the skilled person stored in the memory 34, a safety zone representing a range in which the force information is concentrated is determined {zone Referring to step S38 of FIG. 4}; constant means Zo.
The computer main body 20 displays the process of treatment with the treatment device based on the force information acquired by the force sensors 26 and 32 when the operator T operates the operation devices 24 and 30, and the acquired force information The force information is visualized differently depending on whether or not is in the safety zone {see Step S40 in FIG. 5 to Step S56 in FIG. 6}. Thus, the operator T who has recognized the content of the force information can easily grasp how much force is applied in which direction and the treatment device is being handled, along with the skill of the skilled person. Therefore, it can be determined whether or not the teeth have been properly cut. In addition, since treatment training can be repeated many times, it is possible to improve treatment techniques and skill levels.

(2) When the force information is displayed as a vector, the computer body 20 changes the form of the vector according to the force information {see FIG. 8B, FIG. 8C and FIG. 8D} . The operator T who recognizes that the vector form has changed can determine in real time whether or not the direction and magnitude of the force applied when cutting is appropriate.

(3) A measuring device 14 corresponding to the posture detecting means 1 is provided {see FIG. 2}, and the computer main body 20 is visible to the operator T based on the posture of the head of the operator T detected by the measuring device 14 The oral cavity and the treatment device are displayed on the display 12 {see step S28 in FIG. 4, FIG. 7, etc.}. When the posture of the operator T's head changes, the angle at which the oral cavity and the treatment device are viewed also changes, so the appearance changes. In the example shown in FIG. 2, the measuring device 14 obtains the posture (position, rotation, etc.) of the head of the operator T, and the computer main body 20 displays the oral cavity and the treatment device visible to the operator T based on the detected posture. 12 is displayed. Therefore, treatment training can be performed in the same way as when treating an actual patient.
When the measuring device 14 detects the posture of the head of the operator T, a magnetic source 16 (magnetic generator 3a) for generating magnetism, a three-dimensional magnetic sensor 18 (magnetic sensor 3b), and the operator T's Three-dimensional magnetic sensors 10 and 18 (magnetic sensor 3c) attached to the head were used. According to this configuration, training can be performed in an environment similar to that of actual dental treatment without being bothered by the routing of a cord or the like.

(4) The computer main body 20 detects contact between a part other than the tooth in the oral cavity and the treatment device {contact detection means 6; see step S20 in FIG. 3 and step S30 in FIG. 4}, and detects the contact. At some time, {notification means 7; see step S32 in FIG. 3, FIG. 9, FIG. 10}. That is, when a part other than a tooth comes into contact with a treatment device during treatment training, contact is generated by displaying virtual blood or resembling a warning sound or sound to reproduce the same situation as in actual dental treatment. Was informed. The operator T who has recognized the notification knows that a treatment error has occurred that the treatment device has touched a part other than the tooth during the operation (that is, during the treatment training). Knowing what kind of operation will cause treatment mistakes, you can learn the risks during treatment. Therefore, the operator T performs treatment training while being aware of danger avoidance, which leads to improvement in treatment technology and skill level.

(5) The computer main body 20 creates blood in the virtual space, and realizes a display for causing blood to appear at the site in the oral cavity where contact is detected {steps S30, S32, FIG. 9, FIG. 10 in FIG. reference}. The operator T who has recognized the display of the blood can know the occurrence of a treatment error with a sense of reality similar to that of the actual treatment, so that the danger at the time of treatment can be learned practically.

(6) The computer main body 20 randomly moves the tongue in the oral cavity and displays it on the display 12 (see step S32 in FIG. 3). An actual patient may suddenly move the tongue, which may result in a treatment error where the treatment device touches the tongue. In treatment training, realistic movements are reproduced by randomly moving the tongue. Since the operator T has to treat the teeth corresponding to the movement of the tongue as it actually appears, training can be performed in an environment close to treating an actual patient. In this example, the tongue is moved randomly, but the upper and lower jaws may be moved randomly, or the entire patient's head may be moved randomly. Therefore, it becomes possible to learn the danger due to unexpected movement.

(7) The computer main body 20 displays a corresponding image for a part of the oral cavity by texture mapping {see step S28 in FIG. 4, FIG. 7, etc.}. By this display, the oral cavity of the virtual patient can give a sense of reality, and the model can be simplified, so that the processing burden can be reduced. Therefore, the presence of the virtual oral cavity can be increased and the amount of data to be processed can be reduced.

(8) When displaying a dental mirror as a treatment device, the computer body 20 obtains a direction vector reflected in the mirror based on the line-of-sight vector in which the operator T looks at the dental mirror and the normal vector of the mirror surface, and the direction of the direction vector The video that appears in the image is inverted and displayed (see step S26 in FIG. 3, step S28 in FIG. 4, and FIG. 11). A dental mirror is indispensable for treating teeth (especially the back of teeth). Since the image reflected on the dental mirror is displayed, training can be performed in an environment close to actually treating a tooth by looking at the dental mirror.

(9) The operation devices 24 and 30 are configured to transmit the reaction force received when the treatment device (particularly the diamond bar 50a) contacts the teeth to the operator T {Steps S20 and S22 in FIGS. 2 and 3 are performed. reference}. Since teeth have a certain degree of hardness, when a treatment device (for example, a handpiece) comes into contact with the teeth during actual treatment, it receives a reaction force. If the reaction force is received, the possibility of overcutting increases unless the force applied when cutting the teeth is weakened. When the operator T receives a reaction force from the operation devices 24 and 30, the operator T can learn by training that the tooth is excessively sharpened unless the force is weakened. Therefore, treatment training can be performed in an environment close to actually treating teeth.

Other examples

  As mentioned above, although the best form for implementing this invention was demonstrated according to the Example, this invention is not limited to the said Example at all. In other words, the present invention can be implemented in various forms without departing from the gist of the present invention. For example, the following forms may be realized.

(1) In the above-described embodiment, only the force applied when the operator T operates the operation levers 22 and 28 is displayed as a vector 58 {FIGS. 8A, 8B, 8C. ) And FIG. 8D}. Instead of this form, in addition to the vector 58 of the operator T, a force vector 74 applied when the skilled person operates the operation levers 22 and 28 as shown in FIG. The force indicated by the vector 74 is obtained by detecting the force applied by the skilled person to the operation levers 22 and 28 by the force sensors 26 and 32 and storing it in the memory 34 as force information. Not only the feather touch force information (vector 58 in this example) of the operator T who is currently operating, but also the feather touch force information (vector 74 in this example) by an expert's operation is displayed. The operator T knows whether it is stronger (larger) than the skill of the expert. Thus, the operator T who has recognized not only the content of the force information by the operation of the operator T itself but also the content of the force information operated by the expert can determine in real time whether or not the force for cutting is appropriate.

(2) In the above-described embodiment, the force information of feather touch that the operator T operates the operation levers 22 and 28 is displayed in a vector format {FIGS. 8A, 8B, and 8C. And see FIG. 8D}. Instead of (or in addition to) this form, the force information of feather touch with which the operator T operates the operation levers 22 and 28 may be displayed in another form. For example, as shown in FIG. 13, the magnitude of the force is displayed as a numerical value (10 [gf] in this example), or each vector component (X-axis direction component, Y-axis direction component, Z-axis direction component, etc.) is expressed numerically. Or display. The numerical value may be displayed together with the vector 58, or only the numerical value may be displayed.

(3) In the above-described embodiment, when it is determined that the treatment device has contacted the intraoral site, only the notification is performed {step S32 in FIG. 4, step S60 in FIG. 6, and FIG. 9 (C). Etc.}. In addition to this form, display may be performed in which the intraoral site (for example, the tongue) or the face of the virtual patient in contact with the treatment device is reflexively moved. When the treatment device actually touches the intraoral site, pain occurs in the patient, and the patient often moves reflexively to avoid the contact site or face from the pain. Therefore, the virtual patient can be trained to cope with a treatment error by causing the virtual patient to perform the same action as the actual patient.

(4) In the above-described embodiment, the force distribution applied by the operator T is displayed as a training result {see step S36 in FIG. 4 and FIG. 10}. Instead of (or in addition to) this form, a time-series change in force applied by the operator T may be displayed. In this way, the operator T can know how much strength is applied at what timing. In particular, if the time-series changes of the force applied by the skilled worker are displayed together, the operator T can easily grasp whether the force applied at each timing is stronger (larger) than the skilled worker. .

It is a block diagram showing the outline of the present invention typically. It is a perspective view which shows the structural example of the feather touch dental treatment training system with visualization of a force tactile sense. It is a flowchart showing the procedure of a treatment training process. It is a flowchart showing the procedure following FIG. It is a flowchart showing the procedure following FIG. It is a flowchart showing the procedure following FIG. It is a figure which shows the example of a display on a display. It is a figure which shows the example of a display on a display. It is a figure which shows the example of a display on a display. It is a figure which shows the example of a display on a display. It is a figure which shows the example of a display on a display. It is a figure which shows the example of a display on a display. It is a figure which shows the example of a display on a display.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Posture detection means 2 Display 3 Magnetic sensor apparatus 3a Magnetic generator 3b, 3c Magnetic sensor 4 Storage means 5 Computer apparatus 6 Contact detection means 7 Notification means 8 Operation means 8a Right operation part 8b Left operation part 9 Force information acquisition means 9a Right detector 9b Left detector Fa, Fb Force (force information)
T operator (expert, trainer)
Zo zone determination means 10, 18 Three-dimensional magnetic sensor (magnetic sensor)
12 Stereoscopic head-mounted display (computer device)
14 Measuring device (Attitude detection means)
16 Magnetic source (Magnetic generator)
20 Computer body (computer device)
22, 28 Operation lever (operation means)
24, 30 Operating device (operating means)
26, 32 Force sensor (force detection means)
34 Memory (storage means)

Claims (6)

A feather comprising a computer device capable of displaying an oral cavity and a treatment device produced in a virtual space, and an operation means for operating the treatment device, and treating the teeth in the oral cavity with the treatment device by operating the operation means A feather touch dental treatment training system with force-tactile visualization configured to allow touch training,
Force information acquisition means for acquiring force information of feather touch by operation of the operation means;
Storage means for storing the force information of the skilled person acquired by the force information acquisition means;
Zone determining means for determining a safety zone representing a range where the force information is concentrated based on the skill information of the skilled person stored in the storage means,
The computer device displays a process of treating with the treatment device based on the force information acquired by the force information acquisition unit when an operator operates the operation unit, and the acquired force information is the safety information. A feather touch dental treatment training system with force / tactile visualization, wherein the force information is visualized in different forms depending on whether or not it is in a zone. A feather touch dental treatment training system with force-tactile visualization according to claim 1,
When the computer apparatus displays force information visualization as a vector, the feather touch dental treatment training system with force tactile visualization is characterized in that the form of the vector is changed according to the magnitude of the force information. A feather touch dental care training system with force-tactile visualization according to claim 1 or 2,
Equipped with posture detection means for detecting the posture of the operator's head,
The computer device displays the oral cavity and the treatment device visible from the operator based on the posture detected by the posture detection means, and is a feather touch dental treatment training system with force-tactile visualization. A feather touch dental treatment training system with force-tactile visualization according to any one of claims 1 to 3,
The computer device includes a force detection sensation that includes contact detection means for detecting contact between a part other than a tooth in the oral cavity and a treatment device, and notification means for notifying when contact is detected by the contact detection means. Feather touch dental care training system with visualization. A feather touch dental care training system with force-tactile visualization according to claim 4,
Feather touch dental treatment training system with visualization of force / tactile sensation, characterized in that a computer device creates blood in a virtual space and displays the blood to appear at a site in the oral cavity where contact is detected by contact detection means . A feather touch dental treatment training system with force-tactile visualization according to any one of claims 1 to 5,
A computer-aided training system for feather touch dental treatment with visualization of force-tactile sensation, wherein the tongue in the mouth is moved and displayed at random.