JP4129527B2 - Virtual surgery simulation system - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a virtual operation simulation system for enabling a surgical operation to be performed without using an actual human body for surgical skill training, preliminary examination of operation, and the like.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a method of performing an operation on a simulated object (for example, an animal) simulating a human body is known as a method of performing a simulation in a surgical skill training by a student. However, from the viewpoint of animal welfare, it has become difficult to use animals as mimics, and even when artificial mimics are used, there are problems such that it is difficult and expensive to use the mimics repeatedly.
[0003]
In order to improve this problem, a virtual human body simulating a patient and a three-dimensional image of a virtual surgical tool simulating a surgical tool are drawn and displayed on a monitor screen, and provided at the front of the monitor screen by the user. The virtual surgical simulation system displays the virtual surgical tool in conjunction with the operation of the simulated surgical tool and reflects the action of the virtual surgical tool on the virtual human body. A method of performing an operation on a virtual human body is known (see Patent Document 1).
[0004]
[Patent Document 1]
Japanese Patent No. 3198130 [0005]
[Problems to be solved by the invention]
However, in the conventional virtual surgery simulation system, the virtual human body in the image displayed on the monitor screen is operated, and the user's line of sight is different from the actual surgery. There is a problem that it is difficult to grasp.
[0006]
Moreover, in actual surgery, there are cases where the state of the affected area is looked into from each direction by itself, and the state is confirmed. In contrast, in such a case, the conventional virtual surgery simulation system uses a joystick to display the monitor screen. There is a gap with actual surgical work, such as confirmation by switching the display range.
[0007]
The present invention has been made in view of these problems, and provides a virtual operation simulation system that can simulate an operation of an operation without using a simulant with the same line of sight as an actual operation. Objective.
[0008]
[Means for Solving the Problems]
The virtual operation simulation system according to claim 1, which has been made to achieve the above object, simulates a part or all of a patient in a virtual space, and an image display means for displaying a stereoscopic image in a predetermined virtual space. The human body model data for displaying the virtual human body and the surgical tool model data for displaying the virtual surgical tool simulating the surgical tool in the virtual space include the position information of the position to be displayed in the virtual space. Stored storage means.
[0009]
Then, the position detecting means detects the position of the user's hand or finger in the virtual space, and the position information update means is positioned at the position of the user's hand or finger detected by the position detecting means. When the position information of the virtual surgical tool is updated so that the position of the virtual surgical tool is in contact with the virtual human body is updated. The model data updating means calculates the action on the human body when the actual surgical tool is brought into contact with the actual human body in this positional relationship, and reflects the calculation result in the human body model data.
[0010]
Further, the line-of-sight detection means detects the user's line-of-sight position and line-of-sight direction, and the video control means uses the latest human body model data and surgical tool model data to convert the virtual human body and virtual surgical tool to the line-of-sight detection means. The image is displayed as a stereoscopic image in the virtual space observed from the detected line-of-sight position and line-of-sight direction.
[0011]
As a result, according to the virtual surgery simulation system of the present invention, the virtual human body and the virtual surgical tool are displayed in a stereoscopic image according to the user's line-of-sight position and line-of-sight direction, and the user moves the position of the hand or finger. Thus, the virtual surgical tool can be moved, the virtual surgical tool can be brought into contact with the virtual human body, and the virtual human body can be changed as if it was actually operated.
[0012]
For this reason, for the purpose of surgical skill training and examination of preoperative surgical methods, the user must use the same line of sight as the actual operation without using a simulated object. Or you can move your finger to perform simulated surgery. In addition, by simply returning the human body model data to the original state, it is possible to easily repeat the operation simulation.
[0013]
The location where the position is detected by the position detection means is a hand or a finger. If the location to be detected is a hand, this position is set as the position of the hand holding the surgical instrument, that is, the position of the virtual surgical instrument. Update the position of the surgical tool. If the position detected by the position detection means is the position of the finger, the finger may be used as a surgical tool, and depending on the detected position of several fingers, a forceps or the like of the virtual surgical tool may be The position information updating means may be used to update the position of the virtual surgical tool as if operated by a finger.
[0014]
Further, there may be two or more virtual surgical tools. In this case, the same type of surgical tool may be simulated, or different types of surgical tools may be simulated. Two or more virtual surgical tools can be used by a plurality of people.
Further, there may be a plurality of positions detected by the position detecting means according to the number of virtual surgical tools, or a plurality of positions may be detected for one virtual surgical tool.
[0015]
Next, the virtual surgery simulation system according to the present invention includes a sensation means for applying a repulsive force to a user's hand or finger whose position is detected by the position detection means, as described in claim 2. When calculating the action on the actual human body, the model data updating means calculates the repulsive force on the actual surgical tool, and gives the repulsive force to the user's hand or finger through the sensation means based on the calculation result. You may comprise as follows.
[0016]
In other words, in this way, in addition to the vision simulated by a stereoscopic image, the tactile sensation is simulated by the repulsive force generated on the user's hand or finger according to the action on the virtual human body by the virtual surgical tool by the sensation means. Thus, a virtual surgery simulation system with a more realistic feeling can be obtained.
[0017]
In order to obtain a more realistic feeling, it is better to simulate the auditory sense in addition to the visual sense and the tactile sense so as to generate sound according to the action of the virtual surgical tool.
By the way, there are various surgical tools used in surgery, such as scalpels, forceps, suture needles, and human fingers. The action of these surgical tools on the human body varies depending on the shape of the portion of the surgical tool that comes into contact with the human body.
[0018]
In order to simulate such various effects on the human body by the surgical tool, the virtual surgery simulation system according to claim 1 or 2, the model data updating means as described in claim 3, For each type of shape of the virtual surgical tool in contact with the virtual human body, a plurality of calculation patterns for calculating the action on the actual human body are provided, and when calculating the action on the actual human body, It is preferable to select a plurality of calculation patterns corresponding to the shape of the contact portion of the surgical tool and calculate the actual action on the human body using the calculation patterns.
[0019]
In other words, with this configuration, the action on the virtual human body can be changed according to the type of virtual surgical tool, how to use the virtual surgical tool, etc. Can be simulated.
In addition, in the operation on the human body by the surgical tool in the operation, an action of elastically deforming by pushing or pulling a part of the human body with forceps or a finger, an action of cutting such as laparotomy or excision with a scalpel, or suturing And piercing with a suture needle during anastomosis. The model data update means may include a calculation pattern for simulating these actions.
[0020]
Moreover, in the virtual surgery simulation system according to any one of claims 1 to 3, various specific configurations of the stereoscopic display means are conceivable. As the stereoscopic display means, for example, as shown in claim 4, parallax In the image display device, the virtual human body and the virtual surgical tool are displayed as two parallax images with parallax on the upper surface of the table corresponding to the operating table, and the parallax image is stereoscopically displayed with stereoscopic glasses worn in front of the user's eyes. It is good to make it see.
[0021]
In other words, when the stereoscopic display means is configured in this way, the user can only wear stereoscopic glasses, and the video can be displayed like a head-mounted display which is another configuration for displaying stereoscopic video. It is not necessary to wear a large-scale device for displaying the image on the head, and the surgical operation can be experienced in a more natural state.
[0022]
In addition, the storage means of the virtual surgery simulation system according to any one of claims 1 to 4 stores human body model data generated from data acquired from an actual patient as described in claim 5. Also good.
In other words, in this way, the operation work using the virtual operation simulation system confirms in advance whether there is a problem with the operation method, raises the skill level of the operating doctor's operation work, and generates human body model data Can increase the success rate when operating on patients.
[0023]
In addition, the virtual operation simulation system according to claim 5 is used as detected by the position detection means by the external output means, as in claim 6, in order to cause the surgical tool to act on a patient existing in the real space. The position of the person's hand or finger may be configured to be output to a predetermined outside.
[0024]
That is, with this configuration, if the output destination of the external output means is a device such as a robot that controls and moves the surgical tool according to the output position, it is assumed that the human body model data is acquired from an actual patient, By performing a surgical operation by a doctor in a surgical simulation system and a surgical operation by a robot, the operation can be performed on a patient at a remote place. That is, the virtual surgery simulation system can be used as an input device for a so-called telesurgery system.
[0025]
In addition, the virtual surgery simulation system is used as an input device for a microsurgery system for performing surgery in the micro world, the output destination of the external output means is a micro medical robot, and the affected part of the virtual human body to be displayed is enlarged and displayed. It is also possible for a user to enter a microscopic world and perform an operation.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
The overall configuration of the virtual surgery simulation system 1 of this embodiment is shown in FIG.
As shown in FIG. 1, the virtual surgery simulation system 1 includes a stereoscopic video display device 10, a main personal computer (hereinafter referred to as main PC) 20, and a video processing workstation (hereinafter referred to as video processing WS). 30, liquid crystal shutter glasses 40, a position sensor 45, and a haptic device 50, and for the purpose of skill training, a virtual human body simulating a patient is displayed in a predetermined space in a predetermined space as a stereoscopic image. However, this is a system for performing a virtual operation on this virtual human body.
[0027]
In the three-dimensional image display device 10, two hemispherical dome-shaped and translucent spherical displays 12 are mounted on an open portion of the upper portion of the box-shaped console 11 with the spherical surface facing upward, and two images are projected and displayed. The liquid crystal projectors 13 and 14 are mounted below the spherical display 12 in the console 11 so that the light projecting parts are directed so as to project images on the inner surface of the spherical display 12, respectively. Mechanical shutters 15 and 16 are disposed in front of the respective parts.
[0028]
Further, the mechanical shutters 15 and 16 receive the synchronization signal from the main PC 20, and according to this, open and close the shutters alternately every predetermined time (for example, every 1/60 seconds). As described above, the images projected by the liquid crystal projectors 13 and 14 are alternately projected onto the inner surface of the spherical display 12 at predetermined time intervals and displayed on the outer surface of the spherical display 12.
[0029]
Further, the liquid crystal shutter glasses 40 are liquid crystal shutters whose left and right lens portions are opened and closed by electrical signals, respectively, and a synchronization signal having the same timing as the mechanical shutters 15 and 16 is input from the main PC 20 by infrared rays or the like. In accordance with this, the liquid crystal shutters are opened alternately on the left and right. Therefore, the opening / closing timings of the liquid crystal shutter glasses 40 and the mechanical shutters 15 and 16 are synchronized.
[0030]
As described above, when the user views the image displayed on the spherical display 12 through the liquid crystal shutter glasses 40, one of the user's eyes (for example, the right eye) can only see the image from the liquid crystal projector 13. Instead, the other eye (for example, the left eye) can only see the image from the liquid crystal projector 14.
[0031]
For this reason, of the two images having parallax for displaying a stereoscopic image, the right-eye image is input to the liquid crystal projector 13 and the left-eye image is input to the liquid crystal projector 14, and the spherical display 12 of the stereoscopic image display device 10 is displayed. Since the user views the right-eye image with the right eye and the left-eye image with the left eye, the image displayed on the spherical display 12 appears as a stereoscopic image (so-called stereoscopic image). Sight).
[0032]
In the case of stereoscopic viewing, it is ideal to display an image in a direction orthogonal to the line of sight. In this regard, in the stereoscopic video display device 10, the spherical display 12 that projects the video has a hemispherical shape. Even if viewed from any direction on the top surface of the console 11, an image in the orthogonal direction can be displayed and stereoscopically viewed.
[0033]
The position sensor 45 has a built-in orthogonal coil and is mounted on the liquid crystal shutter glasses 40. Next, a transmitter 46 which is composed of orthogonal coils and generates magnetism when an alternating current is applied is placed beside the stereoscopic image display device 10, and the position sensor 45 is induced current when placed in a magnetic field by the transmitter 46. This is measured in a time-sharing manner by the detection circuit 47, and the three-dimensional coordinate values of X, Y, and Z (that is, the line-of-sight position) and the Euler angles of pitch, yaw, and roll (that is, the line-of-sight direction) are measured. The signal is output to the main PC 20.
[0034]
The force sense device 50 is arranged on the upper surface of the console 11 with a structure in which a grip 51 held by a user is supported by an articulated support member 52 so as to be movable in the X, Y, and Z axis directions. Is done. Then, the three-dimensional coordinate position of the tip of the grip 51 is detected by an encoder or the like provided at each joint, and the detected position signal is output to the main PC 20. Each joint of the force sense device 50 is provided with a DC motor, and receives a driving current for the DC motor from the main PC 20 to generate a repulsive force in the direction of three degrees of freedom with respect to the grip 51.
[0035]
The main PC 20 is composed of a well-known personal computer including a CPU, ROM, RAM, external storage device, I / O, and the like, and inputs signals from the force sense device 50 and the position sensor 45 to receive mechanical shutters 15, 16 and the synchronization signal to the liquid crystal shutter 40, the driving current to the force sense device 50, and two parallax images generated by providing parallax so as to stereoscopically display the virtual human body and the virtual surgical tool to the video processing WS30. Outputs analog RGB signals. Note that the main PC 20 has a sufficiently high processing capability so that an image displayed on the stereoscopic video display device 10 is displayed in real time according to each input.
[0036]
The video processing WS 30 is configured by a well-known workstation, and two input parallax images are images to be displayed on a square display, and therefore when projected onto the inner surface of the spherical spherical display 12. The video signal is subjected to video correction processing so as not to be distorted video, and is output to the liquid crystal projectors 13 and 14 of the stereoscopic video display device 10.
[0037]
The video processing WS 30 includes a video signal converter 31, and a parallax image based on an analog RGB signal sent from the main PC 20 passes through the video signal converter 31 and is input as a video signal.
By the way, the range in which the image is stereoscopically displayed by the stereoscopic image display device 10 is a virtual space, and the human body model data representing the state of the virtual human body displayed at a predetermined location in the virtual space is the same as the predetermined in the virtual space. The surgical tool model data representing the state of the virtual surgical tool displayed at the location is stored on the RAM including the respective position information based on the basic data stored in the external storage device of the main PC 20. .
[0038]
The basic data of the human body model data is obtained by extracting contour lines from medical images such as CT (Computer Tomography) or MRI (Nuclear Magnetic Resonance Imaging), which are images of a part of the human body. The three-dimensional shape data including information on the inside of the human body, which is generated by generating the surface between the contour lines using the Voronoi diagram, includes various information on the characteristics of the human body such as the elastic coefficient for each tissue.
[0039]
The surgical tool model data is composed of a plurality of three-dimensional shape data obtained by converting the shape of a surgical tool such as a scalpel or a suture needle. Each part of each virtual surgical tool is classified by type, The shape characteristic data is classified into the type “B” for the blade-like shape portion, the type “C” for the needle-like shape portion such as a suture needle, and the type “A” for the other.
[0040]
Then, the operation | movement of the virtual surgery simulation system 1 is demonstrated with the flowchart shown in FIG. 2 with the process sequence in main PC20.
First, in S100 (S represents a step), the position signal of the grip 51 is acquired from the force sense device 50, and the position of this position signal is set as the display position of the virtual surgical tool (that is, overlapped with the grip 51 to perform virtual surgery). Change the position information of the surgical tool model data (so that the tool is displayed).
[0041]
Next, in S110, it is determined from the surgical instrument model data and the human body model data whether the area where the virtual surgical instrument is displayed on the stereoscopic video display device 10 touches the area where the virtual human body is displayed. If these areas are in contact, the process proceeds to S120, and if not, the process proceeds to S190.
[0042]
Next, in S120, the type of the shape of the portion of the displayed virtual surgical tool that contacts the virtual human body is determined. If the shape type is “A”, the process proceeds to S130. If the shape type is “B”, which is a blade, the process proceeds to S150. If the shape type is “C”, the process proceeds to S170.
[0043]
In S130, the virtual human body in contact with the virtual surgical tool is used as an elastic body, and the state of the virtual human body deformed by the virtual surgical tool is calculated using a model combining a finite element method and Newton's equation of motion. The human body model data is changed to be a virtual human body reflecting the above. In S140, the elastic force corresponding to the calculated deformation amount is obtained in S130 as the repulsive force for the virtual surgical tool, and the process proceeds to S190.
[0044]
In S150, the human body model data is changed so that the virtual human body part that is in contact with the blade-like shape of the virtual surgical tool has a smooth cut surface by a vertex rearrangement method as a phase deformation method, and in S160, the virtual operation is performed. The repulsive force at the time of cutting calculated in S150 as the repulsive force on the tool is obtained, and the process proceeds to S190.
[0045]
In S170, the human body model data is changed to generate a puncture hole by rearranging and multiplying the virtual human body portion where the needle-like shape of the virtual surgical tool overlaps, The piercing resistance of the piercing hole in S180 resulting from the tightening force is obtained, and the process proceeds to S190.
[0046]
Next, in S190, signals of the line-of-sight position and line-of-sight direction from the position sensor 45 are acquired.
Next, in S200, based on the human body model data and the surgical tool model data, the virtual human body and the virtual surgical tool to be displayed at the respective position information positions are viewed from the line-of-sight position and the line-of-sight direction acquired in S190. Two parallax images are generated by giving parallax to a three-dimensional image.
[0047]
Next, in S210, the image generated in S200 is output to the video processing WS 30 and displayed on the stereoscopic video display device 10, and the driving current based on the repulsive force calculated in S140, S160, or S180 is displayed as the haptic device. Output to 50 and return to S100. When another virtual surgical tool is displayed side by side at a predetermined position above the console 11 and the grip 51 is overlaid on the virtual surgical tool by the user, the virtual surgical tool is displayed over the grip 51. It replaces and displays the virtual surgical tool that is used.
[0048]
As a result, when the user stands in front of the stereoscopic image display device 10, puts the liquid crystal shutter glasses 40, and moves the grip 51, the virtual surgery simulation system 1 places the virtual human body and the virtual surgical tool in front of the user's eyes. When the virtual surgical tool is superimposed on the grip 51 and the virtual surgical tool comes into contact with the virtual human body, the virtual surgical tool is elastically deformed, cut, or inserted according to the shape of the portion of the virtual surgical tool that comes into contact with the virtual human body. The virtual human body is deformed and displayed as it passes, and a repulsive force is generated on the grip 51. For example, when the virtual surgical tool is a virtual knife, when the grip 51 is moved and the blade-shaped portion of the virtual knife is in contact with the virtual human body, the virtual human body is deformed and displayed in a shape cut at the portion touched by the virtual knife, A repulsive force such as cutting with a scalpel is generated by the force sense device 50, and the user feels that the virtual scalpel is cutting the virtual human body.
[0049]
As described above, according to the virtual surgery simulation system 1, the user can visually recognize the virtual human body and the virtual surgical tool displayed in a stereoscopic image according to the user's line of sight, as in the case of performing actual surgery. The virtual surgical tool can be applied to the virtual human body by moving the grip 51 so as to operate the virtual surgical tool. Further, since the repulsive force when the virtual surgical tool acts on the virtual human body is generated in the grip 51, the user can feel as if the virtual human body is actually present in a tactile sense.
[0050]
As described above, the virtual operation simulation 1 can cause the user to perform the operation simulation operation without using the simulation object with the same line of sight as the actual operation for the skill training of the user.
In addition, as the operation of the surgical tool on the virtual human body, one of the calculation patterns of elastic deformation, cutting, and piercing is selected and calculated according to the shape of the surgical tool, so that various operations using various virtual surgical tools The action on the virtual human body can be simulated.
[0051]
In addition, if the human body model data is data from a patient who actually performs an operation, and if the operation of the operation is performed before the operation in the virtual operation simulation system 1, it is confirmed whether there is a problem in performing the operation, The skill level for the operation of the operation can be increased, and the success rate of the operation can be increased.
[0052]
[Relationship with the present invention]
The video processing WS 30 and the stereoscopic video display device 10 of the present embodiment correspond to the parallax image display device of the present invention, the liquid crystal shutter glasses 40 correspond to the stereoscopic glasses, and the RAM of the main PC 20 corresponds to the storage means, The haptic device 50 corresponds to position detection means and sensation means, the position sensor 45 corresponds to line-of-sight detection means, the processing in S100 in the main PC 20 corresponds to position information update means, and the processing in S110 to S180 in the main PC 20 The processing corresponds to model data updating means, and the processing in S190 to S210 in the main PC 20 corresponds to video control means.
[0053]
[Modification]
As mentioned above, although embodiment of this invention was described, this invention is not limited to said specific embodiment, It can implement with a various form besides this.
For example, in the present embodiment, the stereoscopic image of the virtual human body is displayed on the console 11, but the stereoscopic image may be displayed by other methods, for example, in front of the eyes by a head mounted display. The virtual space may be three-dimensionally displayed as a three-dimensional image. However, in the method of displaying an image on the console 11 according to the present embodiment, a large-scale device that displays an image, such as a head-mounted display, does not need to be attached to the head, so that a more natural operation can be performed. You can experience it.
[0054]
In this embodiment, only one haptic device 50 is mounted and one virtual surgical tool is operated in the state of the grip 51. However, even if a plurality of haptic devices 50 are provided. Well, with such a configuration, a virtual surgical tool such as a forceps can be operated by simulating an operation performed by a plurality of virtual surgical tools by both hands or by a plurality of persons or by operating a plurality of force sense devices 50 with a fingertip. It is possible to simulate various states of surgery, such as by operating with the movement of a finger, or enabling a surgical operation with a finger.
[0055]
In addition, the position signal from the force sense device 50 may be output to the outside by the external output device 90. In this way, the human body model data is that of an actual patient, and the external output device 90 By using the virtual surgical simulation system 1 as a robot that moves the actual surgical tool in accordance with the position signal, the position signal output destination of the robot is operated on the patient by operating the robot. It can be performed. Such an input device of a telesurgery system can be obtained.
[0056]
In addition, as an input device for a microsurgery system that operates in the micro world, the position signal from the haptic device 50 is input to the micro medical robot by the external output device 90, and the affected part is enlarged by a virtual human body to be displayed. By displaying, you can actually enter the microscopic world and perform surgery.
[Brief description of the drawings]
FIG. 1 is a diagram illustrating an overall configuration of a virtual surgery simulation system 1 according to the present embodiment.
FIG. 2 is a flowchart of a processing procedure of the main PC according to the present embodiment.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Virtual surgery simulation system, 10 ... Stereoscopic image display apparatus, 11 ... Console, 12 ... Spherical display, 13, 14 ... Liquid crystal projector, 15, 16 ... Mechanical shutter, 20 ... Main personal computer, 30 ... Workstation for image processing 40 ... liquid crystal shutter glasses, 45 ... position sensor, 46 ... transmitter, 50 ... force sense device, 90 ... external output device.

Claims (6)

Video display means for displaying a stereoscopic video in a predetermined virtual space;
Human body model data for displaying a virtual human body that simulates a part or all of a patient in the virtual space, and surgical tool model data for displaying a virtual surgical tool that simulates a surgical tool in the virtual space, Storage means stored including the position information of the position to be displayed in the virtual space;
Position detecting means for detecting the position of the user's hand or finger in the virtual space, and the virtual surgical tool being displaced to the position of the user's hand or finger detected by the position detecting means. , Position information update means for updating the position information of the virtual surgical tool;
When it is determined that the virtual surgical tool whose positional information has been updated by the positional information updating means has reached a positional relationship in contact with the virtual human body, the actual surgical tool is replaced with the actual human body by the positional relationship. A model data updating means for calculating an action on the human body in a contact state and reflecting the calculation result on the human body model data;
Gaze detection means for detecting the gaze position and gaze direction of the user;
Based on the latest human body model data and surgical tool model data, the virtual human body and the virtual surgical tool are viewed as stereoscopic images in the virtual space observed from the line-of-sight position and the line-of-sight direction detected by the line-of-sight detection means. Video control means for displaying by the video display means;
A virtual surgery simulation system comprising: It has a sensation means for giving a repulsive force to the user's hand or finger whose position is detected by the position detection means,
The model data updating means calculates a repulsive force against the actual surgical tool when calculating the action on the actual human body, and based on the calculation result, the user's hand or finger is calculated via the sensory means. Give repulsion to
The virtual surgery simulation system according to claim 1. The model data update means includes
For each type of shape of the virtual surgical tool in contact with the virtual human body, a plurality of calculation patterns for calculating the action in the actual human body,
When calculating the action on the actual human body, the plurality of calculation patterns corresponding to the shape of the contact position of the virtual surgical tool with respect to the virtual human body are selected, and the action on the actual human body is calculated using the calculation pattern. Calculate,
The virtual surgery simulation system according to claim 1 or 2, wherein The stereoscopic display means includes:
A parallax image display device that displays the virtual human body and the virtual surgical tool as two parallax images provided with parallax on a table top corresponding to an operating table;
Stereoscopic glasses worn in front of the user and stereoscopically viewing the parallax image;
The virtual surgery simulation system according to claim 1, wherein the virtual surgery simulation system is configured as follows. In the storage means,
The virtual operation simulation system according to any one of claims 1 to 4, wherein human body model data generated from data acquired from an actual patient is stored. In order to make a surgical tool act on a patient who actually exists in the real space, the apparatus includes an external output means for outputting the position of the user's hand or finger detected by the position detection means to a predetermined outside. The virtual surgery simulation system according to claim 5.

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