CN103632595A

CN103632595A - Medical education training system of multiple intracavity therapeutic endoscopic surgeries

Info

Publication number: CN103632595A
Application number: CN201310659560.3A
Authority: CN
Inventors: 王洪; 杜鹏宇; 李景波; 冯重阳
Original assignee: Hefei De Electronics Co Ltd
Current assignee: Hefei De Electronics Co Ltd
Priority date: 2013-12-06
Filing date: 2013-12-06
Publication date: 2014-03-12
Anticipated expiration: 2033-12-06
Also published as: CN103632595B

Abstract

The invention relates to the field of design of medical training apparatus, in particular to a medical education training system of multiple intracavity therapeutic endoscopic surgeries. The system comprises an operating module, a processing module and a display module. The operating module comprises a handle and a support which supports the handle to move back and forth, up and down and side to side. A displacement sensor, a force feedback unit and a force feedback drive circuit are disposed between the handle and the support. The displacement sensor is used for acquiring location information of the handle and outputs the location information to the processing module; the processing module performs collision test for the handle and a virtual human organ and outputs a control signal to the force feedback drive circuit; the force feedback unit receives a drive signal output by the force feedback drive circuit and applies a feedback force to the handle through a wire; the processing module also receives an actuating signal input by a pedal, processes handle and virtual organ models, and outputs to the display module. The system and the model are independent of each other, and training for different subjects can be achieved just by setting different handle models and organ models in the processing module and changing the handle.

Description

Multiple intracavitary therapy endoscopic surgery doctor religion training system

Technical field

The present invention relates to medical training device design field, particularly one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system.

Background technology

Endoscope minimally invasive operation intern and basic hospital doctor, the scope training base that is necessary very much to have the training qualification that scope examination committee of the Ministry of Public Health assert gives training, cultivation to scope Wicresoft shell apparatus, from picking up scope that time, until last operation finishes, standardization step by step, the standard operation of these program modes seems basis, in fact very necessary, if the custom lasting for years of operation lack of standardization, not only affect medicine equipment quality, the cultivation of the new medicine equipment of doctor's its knowledge skill master is also done harm rather than good.Domestic conventional Minimally Invasive Surgery training system is generally all from external import at present, and it exists following not enough: 1, expensive; 2, do not possess versatility, often a training system is only for a kind of training subject.

Summary of the invention

The object of the present invention is to provide one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system, possess versatility, be applicable to the training of various training subjects.

For realizing above object, the technical solution used in the present invention is: one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system, comprise operational module, processing module and display module, described operational module comprises before and after handle and support handle, up and down, the support of side-to-side movement, between handle and support, be provided with displacement transducer, force feedback unit, force feedback driving circuit, described displacement transducer is for gathering the positional information of handle and exporting processing module to, processing module is to handle, virtual human body organ carries out collision detection and outputs control signals to force feedback driving circuit, the driving signal of force feedback unit reception feedback driving circuit output applies a feedback force by steel wire to handle, direction of motion before the direction that force feedback unit imposes on the feedback force of handle is touched with handle is contrary, processing module also receives the executive signal of foot-operated input, processing module is according to the signal of foot-operated input, display module is processed and exported to the result of collision detection to handle and virtual organ model.

Compared with prior art, there is following technique effect in the present invention: this system is independent mutually with model, for different training subjects, as long as different handle model, organ models is set in processing module and changes handle and can realize this section's object training.

Accompanying drawing explanation

Fig. 1 is theory diagram of the present invention;

Fig. 2 is structural representation of the present invention;

Fig. 3 is operational module structural representation of the present invention, does not comprise foot-operated.

Embodiment

Below in conjunction with Fig. 1 to Fig. 3, the present invention is described in further detail.

Consult Fig. 1, Fig. 2, one kind of multiple intracavitary therapy endoscopic surgeries doctor religion training system, comprise operational module 10, processing module 20 and display module 30, described operational module 10 comprises handle 11 and support handle 11 front and back, up and down, the support 12 of side-to-side movement, 12, handle 11 and support are provided with displacement transducer 13, force feedback unit 14, force feedback driving circuit 15, described displacement transducer 13 is for gathering the positional information of handle 11 and exporting processing module 20 to, 20 pairs of handles 11 of processing module, virtual human body organ carries out collision detection and outputs control signals to force feedback driving circuit 15, the driving signal of force feedback unit 14 reception feedback driving circuit 15 outputs applies a feedback force by steel wire to handle 11, direction of motion before the direction that force feedback unit 14 imposes on the feedback force of handle 11 is touched with handle 11 is contrary, processing module 20 also receives the executive signal of foot-operated 16 inputs, processing module 20 is according to the signal of foot-operated 16 inputs, display module 30 is processed and exported to the result of collision detection to handle 11 and virtual organ model.In processing module 20, store or import virtual organ model and handle model by the external world, when trainer carries out operating grip 11, processing module 20 is carried out collision detection according to handle 11 and virtual organ model, if do not bumped, directly export virtual organ model and the corresponding illustraton of model of handle 11 current location to display module 30 and shown; If there is collision, processing module 20 is exported two paths of signals simultaneously, one road signal exports force feedback driving circuit 15 to, allow its driving force feedback unit 14 move, also the virtual organ model bumping is carried out to deformation process simultaneously, export the model of the virtual organ model after deformation and handle 11 to display module 30 afterwards.As long as the position of handle 11 changes, processing module just need to be carried out collision detection and be processed.Because some section's object operation is comparatively complicated, except needs moving handle 11, also need other operation, such as holmium laser lithotripsy, need to use the foot-operated opening and closing of controlling laser, the foot-operated the present invention that is arranged so that can meet more multioperation.

The method of collision detection has a variety of, as the application's preferred version, adopts collision ball detection method here.Described processing module 20 comprises

Handle model storage unit 21, for storing the dummy model of various handles;

Organ model storage unit 22, for storing the dummy model of various organs;

Model preprocessing unit 23, receives the handle model of handle model storage unit 21 outputs, the organ model of organ model storage unit 22 outputs, and generates some stealthy spheroids according to handle model, organ model;

Collision detection unit 24, the positional information of received bit displacement sensor 13 output according to the positional information of this updating location information handle model is monitored the spacing between the stealthy spheroid of handle model and the stealthy spheroid of organ model simultaneously;

Model processing unit 25, the pitch information of Receiving collision detecting unit 24 outputs, the operation information of foot-operated 16 inputs, process and export to display module 30 to handle model, organ model, also outputs control signals to force feedback driving circuit 15 simultaneously.

Model preprocessing unit 23 is different with model processing unit 25, the former is mainly used in generating stealthy spheroid, be convenient to collision detection unit 24 and carry out collision detection, latter is mainly used in having the handle model, the organ model that deform to be reconstructed, and according to the different control signal of spacing size output of collision detection output, controls the size of feedback force.

The foundation of human organ model, can realize by software, department of general surgery's laparoscope take below as example, and the basic process that completes model emulation three-dimensional rendering is as follows: (1) data are prepared, and obtain the required basic concrete cavity of emulation three-dimensional visualization work, apparatus realistic model data.(2) log-on data model, proofread and correct at reference mark, can craft or automatic Verification.(3) perspective projection transformation, some panel datas, for by the reflecting of each point, need to carry out suitable perspective projection transformation, set up the perspective relation between three-dimensional plot picture point, can on screen, generate the perspective view under different visual angles condition too.Concrete model is determined by parameters such as viewpoint, visual angle, three-dimensional picture sizes.As the position of mathematical model change viewpoint, just can on screen, draw out the perspective view of observing ground in different azimuth.(4) illumination model, in order to reflect realistically emulation surface light and shade in cavity, change color, need to be according to color and the gray scale of each pixel of normal vector node-by-node algorithm of direction of illumination and node. the department of general surgery's emulation three-dimensional model that is then reflected to generation gets on, can manual verification, and in software parameter preset.A good illumination model evaluation is to produce good stereoscopic visual effect, and less calculated amount, to guarantee render speed faster.To the department of general surgery's emulation surface in scenery under laparoscope, in actual performance history, can first at 3DMAX, obtain basic data model processing, illumination model will consider the position of light source, the diffusing of the position of the intensity of light source, viewpoint, chamber intracorporeal organ, and apparatus is in the face of reflection of light and absorption characteristic, the manual verification the verifying results of virtual camera is being set, and is carrying out parameter correction in software is realized.(5) blanking and cutting, elimination of hidden has multiple maturation and effective algorithm, and more representational three kinds are: painter's algorithm (relative importance value method), depth-buffer method, Ray Tracing.The elimination of hidden adopting in the application is first to do once fast simple Ray Tracing scanning blanking, then in conjunction with Z-buffer algorithm process, finally when viewpoint switch moves, enables painter's algorithm blanking, reaches blanking effect rapidly and efficiently.Graphics Clipping is exactly according to the size of model vision area, to determine the not visible part of three-dimensional department of general surgery emulation, falls, thereby make display screen provide a complete three-dimensional picture picture by falling into the extraneous part figure of display automatic cutting.(6) graphic plotting and storage, draw and show various types of three-dimensional departments of general surgery analogous diagram according to various respective algorithms (as analog gray scale, fractal geometry, texture mapping etc.), and carrying out record with standard image file format.(7) aftertreatment of three-dimensional picture. on three-dimensional perspective, add various materials etc., carry out the processing such as color, brightness, contrast.In order to increase the sense of reality usability of three-dimensional department of general surgery analogous diagram, on the basis of generating three-dimensional figures, Overlapping display on the spot in region some major organs skin materials or blood vessel and relevant department of general surgery feature be very necessary, this need to set up model Materials Library at 3DMAX and realize under supporting.(8) analysis based on three-dimensional department of general surgery analogous diagram, in three-dimensional department of general surgery analogous diagram, according to relevant parameters, database or data file and Some Related Algorithms, carry out department of general surgery's model emulation.

In the present invention, adopt collision ball detection algorithm, to consider that its calculated amount is little, and by monitoring stealthy spherical ball in the heart apart from learning that the degree of touching occurs for handle 11 and virtual organ model, if the stealthy spheroid at handle model place and the stealthy spherical ball of virtual organ model are in the heart when equaling the radius sum of two stealthy spheroids, handle and organ model, just in critical point to be contacted, are less than explanation and touch.

Consult Fig. 3, guide rod 112 is arranged in support 12, is difficult for changing, and more preferably, described handle 11 comprises grip part 111, guide rod 112, and grip part 111 forms detachable cooperation with guide rod 112.Described support 12 comprises base 121, rotary support 122, turnover bracket 123, described rotary support 122 is fixed on base 121 by the first rotating shaft, rotary support 122 rotates in surface level around the first rotating shaft, described turnover bracket 123 is fixed on rotary support 122 by the second rotating shaft, turnover bracket 123 rotates in vertical plane around the second rotating shaft, described guide rod 112 forms along the slippage of bar length direction and coordinates with the slide rail of turnover bracket 123 interior settings, and bar length direction is perpendicular to the second rotating shaft.

Described force feedback unit 14 comprises the 3rd feedback unit arranging between the second feedback unit, turnover bracket 123 and the guide rod 112 arranging between the first feedback unit, rotary support 122 and the turnover bracket 123 arranging between base 121 and rotary support 122.The first feedback unit offers power clockwise or that counterclockwise rotate in rotary support 122 horizontal extents by motor, steel wire, the second feedback unit offers power clockwise or that counterclockwise rotate in turnover bracket 123 vertical range by motor, steel wire, and the 3rd feedback unit offers guide rod 112 along the rectangular power forward or backward of bar by motor, steel wire.When clockwise rotating in horizontal extent and bumping such as trainer's operating grip 11, the first feedback unit just offers rotary support 122 and rotates counterclockwise in horizontal extent, like this, trainer just can experience so-called feedback force, the power of other directions in like manner, no longer elaborates here.

Employing steel wire transmits, and its feedback force is more true.Motor drives rotary support 122, turnover bracket 123 to rotate by steel wire and is easy to realize, as long as steel wire is arranged to loop-like.Motor drives guide rod 112 to move along bar length direction by steel wire, also easily realize, linearity is pressed in steel wire two ends to be arranged, its two ends is fixed on the two ends of guide rod 112, and steel wire stage casing is walked around motor shaft and arranged, like this, motor shaft is when rotating, drive steel wire is subjected to displacement, and the two ends of steel wire and guide rod 112 fix, and has naturally also just driven guide rod 112 to move.

Claims

1. one kind of multiple intracavitary therapy endoscopic surgeries doctor teaches training system, it is characterized in that: comprise operational module (10), processing module (20) and display module (30), described operational module (10) comprises before and after handle (11) and support handle (11), up and down, the support of side-to-side movement (12), between handle (11) and support (12), be provided with displacement transducer (13), force feedback unit (14), force feedback driving circuit (15), described displacement transducer (13) is for gathering the positional information of handle (11) and exporting processing module (20) to, processing module (20) is to handle (11), virtual human body organ carries out collision detection and outputs control signals to force feedback driving circuit (15), the driving signal of force feedback unit (14) reception feedback driving circuit (15) output applies a feedback force by steel wire to handle (11), direction of motion before the direction that force feedback unit (14) imposes on the feedback force of handle (11) is touched with handle (11) is contrary, processing module (20) also receives the executive signal of foot-operated (16) input, processing module (20) is according to the signal of foot-operated (16) input, display module (30) is processed and exported to the result of collision detection to handle (11) and virtual organ model.

2. multiple intracavitary therapy endoscopic surgery doctor religion training system as claimed in claim 1, is characterized in that: described handle (11) comprises grip part (111), guide rod (112), and grip part (111) form detachable cooperation with guide rod (112).

3. multiple intracavitary therapy endoscopic surgery doctor religion training system as claimed in claim 1, is characterized in that: described processing module (20) comprises

Handle model storage unit (21), for storing the dummy model of various handles;

Organ model storage unit (22), for storing the dummy model of various organs;

Model preprocessing unit (23), receives the handle model of handle model storage unit (21) output, the organ model of organ model storage unit (22) output, and generates some stealthy spheroids according to handle model, organ model;

Collision detection unit (24), the positional information of received bit displacement sensor (13) output according to the positional information of this updating location information handle model is monitored the spacing between the stealthy spheroid of handle model and the stealthy spheroid of organ model simultaneously;

Model processing unit (25), the operation information of the pitch information of Receiving collision detecting unit (24) output, foot-operated (16) input, display module (30) is processed and exported to handle model, organ model, also output control signals to force feedback driving circuit (15) simultaneously.

4. multiple intracavitary therapy endoscopic surgery doctor as claimed in claim 2 teaches training system, it is characterized in that: described support (12) comprises base (121), rotary support (122), turnover bracket (123), described rotary support (122) is fixed on base (121) by the first rotating shaft, rotary support (122) rotates in surface level around the first rotating shaft, described turnover bracket (123) is fixed on rotary support (122) by the second rotating shaft, turnover bracket (123) rotates in vertical plane around the second rotating shaft, described guide rod (112) forms along the slippage of bar length direction and coordinates with the slide rail arranging in turnover bracket (123), bar length direction is perpendicular to the second rotating shaft.

5. multiple intracavitary therapy endoscopic surgery doctor religion training system as claimed in claim 4, is characterized in that: described force feedback unit (14) comprises the 3rd feedback unit arranging between the second feedback unit, turnover bracket (123) and the guide rod (112) arranging between the first feedback unit, rotary support (122) and the turnover bracket (123) arranging between base (121) and rotary support (122); The first described feedback unit offers power clockwise or that counterclockwise rotate in rotary support (122) horizontal extent by motor, steel wire, the second feedback unit offers power clockwise or that counterclockwise rotate in turnover bracket (123) vertical range by motor, steel wire, the 3rd feedback unit offers guide rod (112) along the rectangular power forward or backward of bar by motor, steel wire, and each motor is driven by force feedback driving circuit (15).