JP6895880B2 - Method for processing the position information of the surgical operation tool and the position information processing device - Google Patents

Description

The present invention relates to an evaluation method and an evaluation device for the operation of a surgical operation tool.

Advances in medical technology and medical equipment have led to endoscopic surgery on the abdomen and the like. Since endoscopic surgery is performed while observing tissues such as three-dimensional organs or blood vessels in a two-dimensional image display in a limited field of view, training is indispensable for the acquisition.

As a device for training the operation of a surgical operation tool in endoscopic surgery, an endoscopic training box using an actual surgical operation tool has been proposed.

In the endoscope training box, a simulated tissue is placed inside the housing, and the endoscope and surgical operating tools are inserted through the holes in the upper part of the housing, and surgery is performed while looking at the screen imaged by the endoscope. Operate the operating tool.

Further, Patent Document 1 provides a simulated organ formed of a soft material that can be elastically deformed, and a sensor for measuring a state quantity in the orthogonal triaxial direction due to the elastic deformation of the soft material. We are proposing a medical procedure evaluation system that obtains evaluation values.

International Publication No. 2008/041456

When training the operation of a surgical operation tool using the endoscopic training box or the medical procedure evaluation system described above, it is preferable to objectively evaluate the trained content and grasp the skill level of the operation.

However, in the endoscopic training box, although it is possible to evaluate a simple index based on the operation time of the operation, it is easy to make a subjective evaluation about how the operation tool is moved, and the operation tool is easy to evaluate. It is difficult to quantitatively evaluate the skill level of the operation of.

Further, in the medical procedure evaluation system proposed by Patent Document 1, since the deformation of the simulated organ is measured by a sensor, the operation of the surgical operation tool is not directly measured.

As an index of the skill level of the operation of the surgical operation tool, for example, there is little wobbling of the tip of the surgical operation tool, and there is no waste in moving the surgical operation tool during the operation.

However, in the above-mentioned conventional technique, the skill level of the operation of the surgical operation tool is not quantitatively evaluated by paying attention to the movement of the position of the surgical operation tool during the operation.

Therefore, in the present specification, it is an object of the present invention to provide an evaluation method and an evaluation device for the operation of the surgical operation tool, which can quantitatively evaluate the technical degree of the operation of the surgical operation tool based on the movement of the position of the surgical operation tool. To do.

According to the first aspect of the method for evaluating the operation of the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. The difference between obtaining the average value of the position information within the time and the difference between the position information within the predetermined time and the average value of the position information within the predetermined time at each predetermined time interval. Obtaining position information, converting the difference position information within the predetermined time from the time domain display to the frequency domain display at each predetermined time interval, and frequency domain at each predetermined time interval. Includes finding the power, which is the sum of the squares of the above difference position information in the frequency domain display.

According to the second aspect of the method for evaluating the operation of the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. Obtaining the average value of the above-mentioned position information within the time, and obtaining the difference position information which is the difference between the above-mentioned position information and the average value of the above-mentioned position information within the predetermined time at each predetermined time interval. This includes obtaining the power that is the sum of the squares of the difference position information within the predetermined time at each predetermined time interval.

According to the third aspect of the method for evaluating the operation of the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. Obtaining the regression line of the position information in time and the difference position information which is the difference between the position information in the predetermined time and the regression line in the predetermined time at each predetermined time interval. Obtaining, converting the difference position information within the predetermined time from the time domain display to the frequency domain display at each predetermined time interval, and the frequency within the frequency domain at each predetermined time interval. Includes finding the power, which is the sum of the squares of the difference position information in the area display.

According to the fourth aspect of the method for evaluating the operation of the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. Obtaining the regression line of the position information in time and the difference position information which is the difference between the position information in the predetermined time and the regression line in the predetermined time at each predetermined time interval. Includes the determination and the determination of the electric power which is the sum of the squares of the difference position information within the predetermined time at each predetermined time interval.

According to the first embodiment of the operation evaluation device for the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. The difference between obtaining the average value of the position information within the time and the difference between the position information within the predetermined time and the average value of the position information within the predetermined time at each predetermined time interval. Obtaining position information, converting the difference position information within the predetermined time from the time domain display to the frequency domain display at each predetermined time interval, and frequency domain at each predetermined time interval. It is provided with a processing unit that obtains and executes power, which is the sum of squares of the above difference position information of the frequency domain display in the inside.

According to the second embodiment of the operation evaluation device for the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. The difference between obtaining the average value of the position information within the time and the difference between the position information within the predetermined time and the average value of the position information within the predetermined time at each predetermined time interval. It is provided with a processing unit that executes position information and power, which is the sum of squares of the difference position information within the predetermined time, at each predetermined time interval.

According to the third embodiment of the operation evaluation device for the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. Obtaining the regression line of the position information in time and the difference position information which is the difference between the position information in the predetermined time and the regression line in the predetermined time at each predetermined time interval. Obtaining, converting the difference position information within the predetermined time from the time domain display to the frequency domain display at each predetermined time interval, and the frequency within the frequency domain at each predetermined time interval. It is provided with a processing unit that obtains and executes power, which is the sum of squares of the difference position information in the area display.

According to the fourth embodiment of the operation evaluation device for the surgical operation tool disclosed in the present specification, the predetermined time interval is based on the time series data of the position information indicating the position of the surgical operation tool. Obtaining the regression line of the position information in time and the difference position information which is the difference between the position information in the predetermined time and the regression line in the predetermined time at each predetermined time interval. It is provided with a processing unit that executes the determination and the determination of the power that is the sum of the squares of the difference position information within the predetermined time at each predetermined time interval.

According to each form of the method for evaluating the operation of the surgical operation tool disclosed in the present specification described above, the technical degree of operation of the surgical operation tool can be quantitatively evaluated based on the movement of the position of the surgical operation tool.

Further, according to each form of the operation evaluation device for the surgical operation tool disclosed in the present specification described above, the technical degree of operation of the surgical operation tool can be quantitatively evaluated based on the movement of the position of the surgical operation tool. ..

It is a figure which shows the structure of one Embodiment of the operation simulator disclosed in this specification. (A) is a diagram for explaining the processing unit of the simulator main body, and (B) is a diagram for explaining the storage unit. (A) to (C) are diagrams for explaining the first operation example of the operation simulator. (A) is a diagram showing a frequency spectrum, and (B) is a diagram showing a frequency spectrum from which hum noise has been removed. It is a figure which shows the time-dependent change of electric power. (A) to (C) are diagrams for explaining a second operation example of the surgery simulator. (A) to (C) are diagrams for explaining a third operation example of the surgery simulator. (A) to (C) are diagrams for explaining a fourth operation example of the surgery simulator.

Hereinafter, a preferred embodiment of the surgical simulator disclosed in the present specification will be described with reference to the drawings. However, the technical scope of the present invention is not limited to those embodiments, but extends to the inventions described in the claims and their equivalents.

FIG. 1 is a diagram showing a configuration of an embodiment of a surgical simulator disclosed in the present specification. FIG. 2A is a diagram for explaining a processing unit of the simulator main body, and FIG. 2B is a diagram for explaining a storage unit.

The surgery simulator 1 of the present embodiment is a device for simulating an endoscopic surgery. The surgery simulator 1 includes a simulator main body 10 and a force sense unit 20.

The simulator main body 10 includes a processing unit 11, a storage unit 12, a display unit 13, an input unit 14, and a communication unit 15. The force sense unit 20 has a simulated forceps 21 and a simulated endoscope 22 as simulated surgical operation tools. Further, the force sense unit 20 reacts to the position acquisition unit (not shown) for acquiring the position of the simulated forceps 21 and the simulated endoscope 22 in the simulated surgical space, and the simulated forceps 21 and the simulated endoscope 22. Has a mechanism (not shown) to add.

The surgery simulator 1 generates a simulated tissue such as an organ or a blood vessel in the simulated surgery space that reproduces the actual body and displays it on the display unit 13. The surgeon operates the simulated forceps 21 and the simulated endoscope 22 while observing the simulated tissue displayed on the display unit 13 according to a predetermined scenario, and performs endoscopic surgery corresponding to the prospective surgeon. Training.

Further, the surgery simulator 1 quantitatively evaluates the skill level of the operation of the simulated forceps 21 by the trainee based on the movement of the position of the simulated forceps 21 in the simulated surgery space.

As a model operation of the surgical operation tool, the surgical operation tool is moved linearly from the current position to the target position.

The surgery simulator 1 quantitatively evaluates the skill level of the operation of the surgical operation tool by the trainee based on the movement of the position of the simulated surgical operation tool. Based on this evaluation result, it is possible to objectively judge whether or not the trainee is moving the surgical operation tool linearly from the current position to the target position.

Hereinafter, the simulator main body 10 will be described in more detail.

The simulator main body 10 has three-dimensional volume data that reproduces the body / organ of a patient with a disease for endoscopic surgery. Further, the simulator main body 10 calculates and calculates the reaction force of the simulated tissue due to the movement of the simulated surgical operation tool in the force sense unit 20 and the contact between the simulated surgical operation tool and the simulated tissue based on the three-dimensional volume data. The generated reaction force is applied to the force sensation unit 20, and the position due to the movement of the simulated tissue is calculated. Here, the simulator main body 10 acquires the position information of the tip of the simulated forceps 21, which is a simulated surgical operation tool, and generates and stores time-series data of the position information of the tip.

Further, the simulator main body 10 generates a simulated image of the simulated tissue and the simulated forceps 21 imaged from the simulated endoscope 22 based on the calculated position of the simulated tissue and the position of the simulated forceps 21, and displays the simulated image on the display unit 13. indicate. The simulated tissue and the simulated forceps 21 displayed on the display unit 13 are images obtained by meshing the three-dimensional volume data of the tissue to generate polygons and displaying the images three-dimensionally based on the polygons.

The processing unit 11 has one or a plurality of central arithmetic circuits, a register, a cache memory, and peripheral circuits such as an interface. The processing unit 11 controls each hardware component of the simulator main body 10 and performs various processes according to a predetermined computer program 12a stored in the storage unit 12 in advance, and temporarily stores the data generated during the process. The storage unit 12 is used.

As shown in FIG. 2A, the processing unit 11 described above includes a surgery simulation unit 11a, a position information acquisition unit 11b, and an evaluation unit 11c.

Each unit included in the processing unit 11 is, for example, a functional module realized by a computer program running on the processing unit 11. Each of these units included in the processing unit 11 may be mounted on the simulator main body 10 as a separate circuit.

The surgical simulation unit 11a generates three-dimensional volume data of the tissue based on the medical image data 12b stored in the storage unit 12, controls the force sense unit 20, creates and displays a simulated image, and the like. Execute each process associated with the simulation.

The position information acquisition unit 11b acquires the position information of the tip of the simulated forceps 21 in the simulated operation space operated by the trainee, generates time-series data of the position information of the tip, and stores it in the storage unit 12. The position information acquisition unit 11b may acquire position information of a portion other than the tip of the simulated forceps 21 to create time-series data. Further, the position information acquisition unit 11b may acquire the position information of the surgical operation tool other than the simulated forceps. The details of the operation of the position information acquisition unit 11b will be described later.

The evaluation unit 11c quantitatively evaluates the skill level of the operation of the simulated forceps 21 by the trainee based on the time series data of the position information of the tip of the simulated forceps 21. The details of the operation of the evaluation unit 11c will be described later.

The storage unit 12 may have a semiconductor memory such as a random access memory (RAM) or a read-only memory (ROM), or a non-volatile memory such as a magnetic disk or a flash memory. Further, the storage unit 12 may have a drive (not shown) that can read the computer program stored in the non-temporary storage medium.

As shown in FIG. 2B, the storage unit 12 stores the computer program 12a, the medical image data 12b, and the time-series data 12c of the position information of the tip of the simulated forceps 21.

The display unit 13 is controlled by the processing unit 11 and can display various information accompanying the operation of the simulator main body 10 on the screen. As the display unit 13, for example, a liquid crystal display can be used.

The input unit 14 can be operated by the user of the simulator main body 10 to input the operation. As the input unit 14, for example, a keyboard or a mouse can be used.

The communication unit 15 communicates with the force sense unit 20. Further, the communication unit 15 may be configured to connect to an external network (not shown).

The force sense unit 20 has a simulated forceps 21 and a simulated endoscope 22 as simulated surgical operation tools. The force sense unit 20 is controlled by the simulator main body 10 to generate a reaction force of the simulated tissue according to the position of the simulated forceps 21 and the simulated endoscope 22 operated by the surgical trainee and the contact position with the simulated tissue. .. The surgeon operates the simulated forceps 21 and the simulated endoscope 22 to treat the simulated tissue displayed on the display unit 13. The reaction force due to the movement of the simulated tissue accompanying the procedure is fed back to the trainee via the simulated forceps 21 and the simulated endoscope 22.

Next, an example of the first operation in which the operation simulator 1 described above evaluates the skill level of the operation of the simulated forceps 21 will be described below with reference to FIG.

First, the surgeon in surgery operates the simulated forceps 21 and the simulated endoscope 22 to treat the simulated tissue displayed on the display unit 13 according to a predetermined scenario. The position information acquisition unit 11b of the processing unit 11 of the simulator main body 10 acquires the position information of the tip of the simulated forceps 21 in the simulated operation space, generates time-series data 12c of the position information of the tip, and stores it in the storage unit 12. Remember. The time-series data 12c includes the position information of the tip of the simulated forceps 21 from the start time when the trainee starts the operation of the simulated forceps 21 to the end time when the operation of the simulated forceps 21 is finished. The position information of the tip of the simulated forceps 21 is, for example, the x-coordinate, the y-coordinate, and the z-coordinate in the simulated surgical space when displayed in the Cartesian coordinate system.

In the present embodiment, the position information acquisition unit 11b acquires the position information of the tip of the simulated forceps 21 as time-series data 12c at equal intervals, but the position information acquisition unit 11b acquires the position information of the tip of the simulated forceps 21. May be acquired as time-series data 12c at unequal intervals.

FIG. 3A shows a time-series change in the x-coordinate of the tip of the simulated forceps 21 in the simulated surgical space. Although not shown, the time series data 12c also has y-coordinates and z-coordinates in the simulated surgical space at the tip of the simulated forceps 21. Hereinafter, it will be described that the evaluation value of the skill level of the operation of the simulated forceps 21 is obtained based on the x-coordinate in the simulated operation space of the tip of the simulated forceps 21, but this explanation is based on the y-coordinate and the z-coordinate. , It is also appropriately applied to obtain an evaluation value of the skill level of the operation of the simulated forceps 21.

The time-series data 12c provides position information of the tip of the simulated forceps 21 in the simulated surgical space _{from the start time t 1} when the trainee starts the operation of the simulated forceps 21 to the end time t _{m when the trainee finishes the operation of the simulated forceps 21.} Have.

Evaluation unit 11c of the processor 11 of the simulator main body 10, the time-series data 12c, is divided into N phases intervals _S 1 to S _N by a predetermined time interval. In the present embodiment, the section S ₁ to S _N has been divided into the same length of time, the interval S ₁ to S _N may be divided into different lengths of time. The evaluation unit 11c, the segment _S 1 to S _N, is divided as part of an adjacent segment overlap. The overlap rate α, which is the overlapping ratio of adjacent sections, can be, for example, 0.5. The evaluation unit 11c may be divided (α = 0) so that adjacent sections do not overlap.

Each section S _r (r = 1 to N) has n time-point position information of _{t 1 to t n.} Assuming that the time interval for acquiring the position information is Δt (= t _{n + 1} −t _n ), the length of time in one section S _r (r = 1 to N) is Δt × n. That is, the evaluation unit 11c divides the time series data 12c at intervals of Δt × n.

The start time of the location information included in one section _S r (r = _1~N) as _{t a,} end time and _{t b.}

Next, in step S301 (see FIG. 3B), the evaluation unit 11c obtains the average value of the x-coordinates in _{each section S r} (r = 1 to N) in the section S _r. The evaluation unit 11c, in each section _S r (r = 1 to N), the difference _x ^{i m} and the average value of x-coordinate and x-coordinate at time _{t i} in the section _{S r,} the following equation (1) To be calculated using.

（１）

(1)

3 (B) is in the interval S _1, an example of a relationship between the average value of x-coordinate and x-coordinate.

Next, the evaluation unit 11c, in step S302, in each section _S r (r = _1~N), the product of the difference _x ^{i m} and window function w _{(t i)} at time _{t i} in the section _{S r} , Obtained using the following formula (2).

（２）

(2)

As the window function w (t _i), for example, can be used Hanning window function represented by the following formula (3). In addition, other window functions may be used.

（３）

(3)

Next, the evaluation unit 11c, in step S303, in each section _S r (r = _1~N), the product of the difference _x ^{i m} and window function w _{(t i)} in the section in the _{S r,} time domain Convert from display to frequency domain display. In this embodiment, the evaluation unit 11c transforms using a fast Fourier transform (FFT). Instead of using the fast Fourier transform, for example, the discrete wavelet transform may be used.

The Fourier component (frequency component) obtained by the fast Fourier transform is shown in the following equation (4).

ｉ＝１〜ｎ （４）

i = 1-n (4)

FIG. 4A shows a frequency spectrum 400 showing the relationship between the frequency component (Fourier component) obtained by using the above equation (4) and time in all the intervals S _{r (r = 1 to N).} Shown.

Here, the frequency spectrum 400 has hum noise due to the power supply frequency. Such noise has nothing to do with the operation of the simulated forceps 21 by the trainee. Therefore, it is preferable that the evaluation unit 11c removes the frequency component caused by the known noise such as hum noise from the frequency spectrum. The evaluation unit 11c removes the designated frequency component by filtering.

FIG. 4B is a diagram showing a frequency spectrum 401 in which hum noise is removed from the frequency spectrum 400. In the frequency spectrum 401, the frequency component including the noise caused by the hum noise is removed.

Next, the evaluation unit 11c, in step S304, in each section _S r (r = 1 to N), the square sum of the frequency domain (i = 1 to n) definitive frequency domain representation of the frequency component (Fourier components) A certain power component Px is obtained by using the following formula (5). The power component Px is a power component obtained based on the x-coordinate of the tip of the simulated forceps 21 in the simulated surgical space.

（５）

(5)

Here, F is _{a matrix having a frequency component (Fourier component) in each interval S r} (r = 1 to N) as a component, and is represented by the following equation (6). ^{The F bar T} in the above equation (6) is a conjugate transposed matrix of F.

（６）

(6)

FIG. 3C shows the change over time of the power component Px.

The evaluation unit 11c obtains the power component Py and the power component Pz based on the y-coordinate and the z-coordinate of the tip of the simulated forceps 21 in the simulated operation space in the same manner as the power component Px is obtained.

Power ^{P r} of the one segment _S r (r = _1~N), the power component Px, is the sum of the power component Py and power components ^Pz, represented by P r = Px + Py + Pz .

FIG. 5 is a diagram showing changes over time in electric power. The power varies based on the frequency components generated when the trainee operates the simulated forceps 21. When the trainee moves the simulated forceps 21 while shaking it in a stray manner, the electric power tends to increase, and when there is little shaking movement, the electric power tends to decrease.

The evaluation unit 11c, based on each section _S r (r = 1~N) power ^P r determined for (r = 1 to N), the power over the entire time of the time series data summation power The _PT is calculated using the following formula (7).

（７）

(7)

The total power _PT corresponds to the area represented by the diagonal line in FIG.

Here, in the total power _PT , the time series data in each section S _r (r = 1 to N) are overlapped by the overlap rate α, and the power is obtained. For example, if α = 0, the total power _PT is the sum of the non-overlapping powers in the time series data.

As the trainee moves the tip of the simulated forceps 21 linearly, the frequency component decreases, so that the power Pt decreases. Therefore, _{it is considered that the smaller the total power PT, the} higher the skill level of the trainee's operation of the simulated forceps 21. On the other hand, _{it is considered that the larger the total power PT, the} lower the skill level of the trainee's operation of the simulated forceps 21.

Next, the evaluation unit 11c, based on each section _S r (r = 1~N) power ^P r determined for (r = 1 to N), the power over the entire time-series data average The average power _PAV is obtained.

The evaluation unit 11c relative to the average power _{P AV,} for example 30dB lower value is determined as the threshold value _{P TH.}

The evaluation unit 11c, the sum of the power ^P r determined for each section _{S r (r = 1~N) (} r = 1~N) is, the threshold value _{P TH} or less is time (Δt × n) finding an operation stop total time T _S is. Evaluation unit 11c, the operation stop total time _{T S,} determined by the product of the number of power ^P r (r = ^1~N) the threshold _{P TH} or less is interval _{S r,} the length of time of one period.

The power P ^{r (r} = 1~N) the threshold P _TH or less is time corresponds to the time the trainee is substantially stopped the tip of the simulated forceps 21. From the viewpoint of promptly performing the operation, it is preferable that the trainee stops the tip of the simulated forceps 21 for a short time. Therefore, the shorter the operation stop total time T _S, is believed to have a high technical level of operations trainee simulated forceps 21. On the other hand, the operation stop total time T _S is longer, techniques of manipulation of trainee simulated forceps 21 is considered low.

Next, the evaluation unit 11c trainee seek end t _m to the simulated forceps 21 have been engineered manipulation total time T _ALL from the starting time t ₁ that initiated the operation of the simulated forceps 21. Evaluation unit 11c, the operation total time _{T ALL,} determined as the difference of the start time _{t 1} from the end _{t m.}

From the viewpoint of performing the operation promptly, it is preferable that the _{total operation time TALL is short.} Therefore, the shorter the operation total time T _ALL, is considered to be high technology of operation of the trainee simulated forceps 21. On the other hand, the longer the operation sum total time T _ALL, technology of the operation of the trainee of the simulated forceps 21 is considered to be low.

Next, the evaluation unit 11c, the value obtained by dividing the total power _{P T} of the reference sum power _{P TR,} a value obtained by dividing the operation stop total time _{T S} the reference operation stop total time _{T SR,} the operation total time _{T ALL} determine the relative evaluation value E _R is the sum of a value obtained by dividing the reference operation total time T _allr.

The reference total power _PTR can be, for example, the reference total power when a teacher-like instructor having a high degree of skill in operating the simulated forceps 21 operates the same simulated operation as the trainee. The reference operation stop total time _TSR can be, for example, the operation stop total time when the above-mentioned instructor operates the same simulated operation as the trainee. The reference total operation time T _ALLR can be, for example, the total operation time when the above-mentioned instructor operates the same simulated operation as the trainee.

By using the relative evaluation value E _R, for example, it is easy to relatively compare the technology of the operation of the simulated forceps 21 between a plurality of training who performed the surgical simulation along the same scenario. Incidentally, a value obtained by dividing the total power _{P T} of the reference sum power _{P TR,} a value obtained by dividing the operation stop total time _{T S} the reference operation stop total time _{T SR,} the operation total time _{T ALL} reference operation total time _{T allr} At least one of the values divided by is obtained, and based on the obtained values, the simulated forceps 21 among a plurality of trainees may be relatively compared in the skill level of operation.

According to the first operation example of the operation simulator of the present embodiment described above, the trainee can operate the simulated surgery operation tool to perform the training of the endoscopic surgery, and the position of the simulated surgery operation tool. Based on the movement, the skill level of the operation of the surgical operation tool by the trainee can be quantitatively evaluated.

Next, a second operation example in which the operation simulator 1 of the present embodiment evaluates the skill level of the operation of the simulated forceps 21 will be described below with reference to FIG.

First, the surgeon trainee operates the simulated forceps 21 and the simulated endoscope 22 using the surgical simulator 1 to treat the simulated tissue displayed on the display unit 13 according to a predetermined scenario. The position information acquisition unit 11b acquires the position information of the tip of the simulated forceps 21 in the simulated operation space, generates time-series data 12c of the position information of the tip, and stores it in the storage unit 12. FIG. 6A shows the time-series change of the x-coordinate of the tip of the simulated forceps 21 in the simulated surgical space.

Next, in step S601 (see FIG. 6B), the evaluation unit 11c obtains the average value of the x-coordinates in _{each section S r} (r = 1 to N) in the section S _r. The evaluation unit 11c, the differences _x ^{i m} and the average value of x-coordinate and x-coordinate at time _{t i} in each interval _S r (r = 1 to N), determined using the following equation (8).

（８）

(8)

FIG. 6 (B) in the interval S _1, an example of a relationship between the average value of x-coordinate and x-coordinate.

Next, the evaluation unit 11c, in step S602, the product of each segment _S r (r = _1~N), with the section _S difference _x at time _{t i} in _r ^{i m} and window function w _{(t i)} Is calculated using the following formula (9).

（９）

(9)

Next, the evaluation unit 11c, in step S603, the product of each segment _S r (r = _1~N), with the section _S difference _x at time _{t i} in _r ^{i m} and window function w _{(t i)} The power component Px, which is the sum of the squares of, is calculated using the following equation (10).

（１０）

(10)

Here, X is a matrix in each section _S r (r = _1~N), the difference _x ^{i m} and window function w _{(t i)} the product of the components at time _{t i,} the following equation (11 ). ^XT is the transposed matrix of X.

（１１）

(11)

FIG. 6C shows the change over time of the power component Px.

The evaluation unit 11c obtains the power component Py and the power component Pz based on the y-coordinate and the z-coordinate of the tip of the simulated forceps 21 in the simulated operation space in the same manner as the power component Px is obtained.

Power ^{P r} of the one segment _S r (r = _1~N), the power component Px, is the sum of the power component Py and power components ^Pz, represented by P r = Px + Py + Pz .

The evaluation unit 11c, based on each section _S r (r = 1~N) power ^P r determined for (r = 1 to N), the power over the entire time of the time series data summation power The _PT is calculated using the following formula (12). The total power _PT of this operation example is equivalent to the power obtained by removing the frequency component of zero frequency as compared with the power obtained in the first operation example.

（１２）

(12)

The evaluation unit 11c, similarly to the first operation example, power and total power P _T of over the entire time of the time-series data, average power P _AV is the average value of the power over the entire time-series data determines an operation stop total time _{T S,} the operation total time _{T ALL.} Furthermore, the evaluation unit 11c obtains the relative evaluation value _{E R.}

According to the second operation example of the operation simulator of the present embodiment described above, since the electric power is represented by the time domain display, the electric power when the tip of the simulated forceps 21 is stopped becomes zero, so that the simulated forceps 21 Can be more clearly understood that is stopped. Further, in the second operation example, the Fourier transform processing performed in the first operation example described above becomes unnecessary, so that the processing speed for obtaining _{the total power PT can be increased.} Further, according to the second operation example, the same effect as that of the first operation example described above is obtained.

Next, a third operation example in which the operation simulator 1 of the present embodiment evaluates the skill level of the operation of the simulated forceps 21 will be described below with reference to FIG. 7.

First, the surgeon trainee operates the simulated forceps 21 and the simulated endoscope 22 using the surgical simulator 1 to treat the simulated tissue displayed on the display unit 13 according to a predetermined scenario. The position information acquisition unit 11b acquires the position information of the tip of the simulated forceps 21 in the simulated operation space, generates time-series data 12c of the position information of the tip, and stores it in the storage unit 12. FIG. 7A shows the time-series change of the x-coordinate of the tip of the simulated forceps 21 in the simulated surgical space.

Next, in step S701 (see FIG. 7B), the evaluation unit 11c obtains a regression line (x = at + b) of the x coordinate in _{each section S r} (r = 1 to N) in the section S _r. .. The evaluation unit 11c obtains the slope a by using the following equation (13), for example, by using the least squares method.

（１３）

(13)

Further, the evaluation unit 11c obtains the intercept b by using the following formula (14), for example, by using the method of least squares.

（１４）

(14)

The evaluation unit 11c, the differences _x ^{i m} of the regression line x-coordinate and x-coordinate at time _{t i} in each interval _S r (r = 1 to N), determined using the following equation (15).

（１５）

(15)

7 (B) shows the section S _1, showing an example of the relationship between the regression line x-coordinate and x-coordinate.

Next, the evaluation unit 11c, in step S702, in each section _S r (r = _1~N), the product of the _S difference _x at time _{t i} in _r ^{i m} and window function w _{(t i)} , Obtained using the following formula (16).

（１６）

(16)

Next, the evaluation unit 11c, in step S703, in each section _S r (r = _1~N), the product of the difference _x ^{i m} and window function w _{(t i)} in the section in the _{S r,} time domain Convert from display to frequency domain display. In this embodiment, the transformation is performed using a fast Fourier transform (FFT).

The Fourier component obtained by the fast Fourier transform is shown in the following equation (17).

ｉ＝１〜ｎ （１７）

i = 1-n (17)

Here, the evaluation unit 11c preferably removes frequency components caused by known noise such as hum noise from the frequency spectrum.

Next, the evaluation unit 11c in step S704, in each section _S r (r = _1~N), in the frequency domain (i = 1 to n) is the square sum of the Fourier components of the definitive frequency domain representation power component Px Is calculated using the following formula (18). The power component Px is a power component obtained based on the x-coordinate of the tip of the simulated forceps 21 in the simulated surgical space.

（１８）

(18)

Here, F is _{a matrix having the Fourier component of each frequency in each interval S r} (r = 1 to N) as a component, and is represented by the following equation (19).

（１９）

(19)

FIG. 7C shows the change over time of the power component Px.

The evaluation unit 11c obtains the power component Py and the power component Pz based on the y-coordinate and the z-coordinate of the tip of the simulated forceps 21 in the simulated operation space in the same manner as the power component Px is obtained.

Power ^{P r} of the one segment _S r (r = _1~N), the power component Px, is the sum of the power component Py and power components ^Pz, represented by P r = Px + Py + Pz .

The evaluation unit 11c, based on each section _S r (r = 1~N) power ^P r determined for (r = 1 to N), the power over the entire time of the time series data summation power The _PT is calculated using the following formula (20).

（２０）

(20)

The evaluation unit 11c, similarly to the first operation example, power and total power P _T of over the entire time of the time-series data, average power P _AV is the average value of the power over the entire time-series data determines an operation stop total time _{T S,} the operation total time _{T ALL.} Furthermore, the evaluation unit 11c obtains the relative evaluation value _{E R.}

In the first operation example described above, when the trainee moves the tip of the simulated forceps 21 at a high speed, this is counted as a power component. For example, a highly skilled trainer may operate the simulated forceps 21 at a high speed in order to quickly perform an operation. In this case, the power as an evaluation value may increase.

On the other hand, according to the third operation example of the surgical simulator of the present embodiment described above, even when the trainee moves the tip of the simulated forceps 21 at a high speed, the electric power is applied based on the difference between the position information and the regression line. Since it is required, the power does not increase as compared with the first operation example. Therefore, according to the third operation example, the skill level of the operation of the simulated forceps 21 of the trainee can be evaluated more accurately. Further, according to the third operation example, the same effect as that of the first operation example described above is obtained.

Next, a fourth operation example in which the operation simulator 1 of the present embodiment evaluates the skill level of the operation of the simulated forceps 21 will be described below with reference to FIG.

First, the surgeon trainee operates the simulated forceps 21 and the simulated endoscope 22 using the surgical simulator 1 to treat the simulated tissue displayed on the display unit 13 according to a predetermined scenario. The position information acquisition unit 11b acquires the position information of the tip of the simulated forceps 21 in the simulated operation space, generates time-series data 12c of the position information of the tip, and stores it in the storage unit 12. FIG. 8A shows the time-series change of the x-coordinate of the tip of the simulated forceps 21 in the simulated surgical space.

Next, in step S801 (see FIG. 8B), the evaluation unit 11c obtains a regression line (x = at + b) of the x coordinate in _{each section S r} (r = 1 to N) in the section S _r. .. The evaluation unit 11c obtains the slope a by using the following equation (21), for example, by using the least squares method.

（２１）

(21)

Further, the evaluation unit 11c obtains the intercept b by using the following formula (22), for example, by using the method of least squares.

（２２）

(22)

The evaluation unit 11c, the differences _x ^{i m} of the regression line x-coordinate and x-coordinate at time _{t i} in each interval _S r (r = 1 to N), determined using the following equation (23).

（２３）

(23)

FIG. 8 (B) in the interval S _1, showing an example of the relationship between the regression line x-coordinate and x-coordinate.

Next, the evaluation unit 11c, in step S802, the product of each segment _S r (r = _1~N), with the section _S difference _x at time _{t i} in _r ^{i m} and window function w _{(t i)} Is calculated using the following formula (24).

（２４）

(24)

Next, the evaluation unit 11c, in step S803, the product of each segment _S r (r = _1~N), with the section _S difference _x at time _{t i} in _r ^{i m} and window function w _{(t i)} The power component Px, which is the sum of the squares of, is calculated using the following equation (25).

（２５）

(25)

Here, X is a matrix in each section _S r (r = _1~N), the difference _x ^{i m} and window function w _{(t i)} the product of the components at time _{t i,} the following equation (26 ).

（２６）

(26)

FIG. 8C shows the change over time of the power component Px.

The evaluation unit 11c obtains the power component Py and the power component Pz based on the y-coordinate and the z-coordinate of the tip of the simulated forceps 21 in the simulated operation space in the same manner as the power component Px is obtained.

Power ^{P r} of the one segment _S r (r = _1~N), the power component Px, is the sum of the power component Py and power components ^Pz, represented by P r = Px + Py + Pz .

The evaluation unit 11c, based on each section _S r (r = 1~N) power ^P r determined for (r = 1 to N), the power over the entire time of the time series data summation power _PT is calculated using the following formula (27).

The total power _PT of this operation example is equivalent to the power obtained by removing the frequency component of zero frequency as compared with the power obtained in the third operation example.

（２７）

(27)

The evaluation unit 11c, similarly to the first operation example, power and total power P _T of over the entire time of the time-series data, average power P _AV is the average value of the power over the entire time-series data determines an operation stop total time _{T S,} the operation total time _{T ALL.} Furthermore, the evaluation unit 11c obtains the relative evaluation value _{E R.}

According to the fourth operation example of the operation simulator of the present embodiment described above, the skill level of the operation of the simulated forceps 21 of the trainee can be evaluated more accurately for the same reason as the third operation example described above. Further, according to the fourth operation example, since the electric power is represented by the time domain display, the electric power when the tip of the simulated forceps 21 is stopped becomes zero, so that the simulated forceps 21 is stopped. It can be grasped more clearly. Further, in the fourth operation example, the Fourier transform processing performed in the third operation example described above becomes unnecessary, so that the processing speed for obtaining _{the total power PT can be increased.} Further, according to the fourth operation example, the same effect as that of the first operation example described above is obtained.

In the present invention, the evaluation method and the evaluation device for the operation of the surgical operation tool of the above-described embodiment can be appropriately changed as long as the gist of the present invention is not deviated.

For example, in the above-described embodiment, the skill level of the operation of the simulated surgical operation tool by the trainee in the surgical simulator was evaluated, but the evaluation method and the evaluation device for the operation of the surgical operation tool disclosed in the present specification are actually evaluated. The skill level of the operation of the surgical operation tool by the operator in the operation of the operation may be evaluated. In this case, by obtaining the position of the surgical operation tool based on the output value of the sensor for obtaining the acceleration of the surgical operation tool such as inertial type, magnetic type or mechanical type, a time series of position information indicating the position of the surgical operation tool is obtained. You can get the data. Alternatively, the movement of the surgical operating tool may be imaged, and time-series data of position information indicating the position of the surgical operating tool may be acquired based on the captured image.

In addition, the evaluation method and evaluation device for the operation of the surgical operation tool disclosed in the present specification are used to evaluate the skill level of the operation of the surgical operation tool by the surgical operation robot when the surgical operation robot performs the actual operation. You may.

1 Surgical simulator 10 Simulator body 11 Processing unit 12 Storage unit 13 Display unit 14 Input unit 15 Communication unit 20 Power sense unit 21 Simulated forceps 22 Simulated endoscope

Claims (13)

The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the average value of the position information is obtained for each section.
For each section, the difference position information, which is the difference between the position information at a certain time in the section and the average value of the position information in the section, is obtained.
For each section, the difference position information at a certain time in the section is converted from the time domain display to the frequency domain display.
For each of the sections, the power that is the sum of the squares of the difference position information of the frequency domain display in the frequency domain is obtained.
A method of processing the position information of a surgical operating tool including. The method for processing the position information of a surgical operation tool according to claim 1, which includes obtaining the total electric power of the electric power over the entire time of the time series data based on the electric power obtained for each section. The method for processing the position information of a surgical operation tool according to claim 2, which includes obtaining the total operation stop time, which is the total time when the electric power obtained for each section is equal to or less than a predetermined value. This includes obtaining an average power that is an average value of the power over the entire time series data based on the power obtained for each section, and determining the predetermined value based on the average power. The method for processing the position information of the surgical operation tool according to claim 3. The time-series data includes the position information between the start time when the operation of the surgical operation tool is started and the end time when the operation of the surgical operation tool is finished.
The method for processing the position information of the surgical operation tool according to claim 3 or 4, which includes obtaining the total operation time of operating the surgical operation tool from the start time point to the end time point. The value obtained by dividing the total power by the reference total power, the value obtained by dividing the total operation stop time by the reference total operation stop time, or the value obtained by dividing the total operation time by the reference total operation time is obtained. The method for processing the position information of the surgical operation tool according to claim 5, which includes the request. The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the average value of the position information is obtained for each section.
For each of the sections, obtaining the difference position information which is the difference between the position information at a certain time in the section and the average value of the position information in the section.
Obtaining the power that is the sum of the squares of the difference position information for each of the sections,
A method of processing the position information of a surgical operating tool including. The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the regression line of the position information is obtained for each section.
For each section, the difference position information, which is the difference between the position information at a certain time in the section and the regression line in the section, is obtained.
For each section, the difference position information at a certain time in the section is converted from the time domain display to the frequency domain display.
For each of the sections, the power that is the sum of the squares of the difference position information of the frequency domain display in the frequency domain is obtained.
A method of processing the position information of a surgical operating tool including. The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the regression line of the position information is obtained for each section.
For each section, the difference position information, which is the difference between the position information at a certain time in the section and the regression line in the section, is obtained.
Obtaining the power, which is the sum of the squares of the difference position information, for each of the sections,
A method of processing the position information of a surgical operating tool including. The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the average value of the position information is obtained for each section.
For each section, the difference position information, which is the difference between the position information at a certain time in the section and the average value of the position information in the section, is obtained.
For each section, the difference position information at a certain time in the section is converted from the time domain display to the frequency domain display.
For each section, the power that is the sum of the squares of the difference position information of the frequency domain display in the frequency domain is obtained.
A processing device for position information of a surgical operation tool including a processing unit for executing. The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the average value of the position information is obtained for each section.
For each section, the difference position information, which is the difference between the position information at a certain time in the section and the average value of the position information in the section, is obtained.
Obtaining the power, which is the sum of the squares of the difference position information, for each of the sections,
A processing device for position information of a surgical operation tool including a processing unit for executing. The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the regression line of the position information is obtained for each section.
For each section, the difference position information, which is the difference between the position information in the section and the regression line in the section, is obtained.
For each section, the difference position information at a certain time in the section is converted from the time domain display to the frequency domain display.
For each of the sections, the power that is the sum of the squares of the difference position information of the frequency domain display in the frequency domain is obtained.
A processing device for position information of a surgical operation tool including a processing unit for executing. The time-series data of the position information indicating the position of the surgical operation tool is divided into a plurality of sections at predetermined time intervals, and the regression line of the position information is obtained for each section.
For each section, the difference position information, which is the difference between the position information in the section and the regression line in the section, is obtained.
Obtaining the power, which is the sum of the squares of the difference position information, for each of the sections,
A processing device for position information of a surgical operation tool including a processing unit for executing.

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