CN104778894A - Virtual simulation bone-setting manipulation training system and establishment method thereof - Google Patents
Virtual simulation bone-setting manipulation training system and establishment method thereof Download PDFInfo
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Abstract
The invention discloses a virtual simulation bone-setting manipulation training system and an establishment method thereof. The virtual simulation bone-setting manipulation training system comprises a data collection module, a display module, a three-dimensional modeling module, a collision detection module, a deformation calculation module, a bone-setting standard manipulation database and a comparison module. According to the virtual simulation bone-setting manipulation training system and the establishment method thereof, a three-dimensional model of the bone fracture and breakage portion and a three-dimensional model of a virtual hand are established through the three-dimensional modeling module, the data collection module collects hand gestures of an operator and conducts demonstration through the virtual hand displayed through the display module, the collision detection module detects whether collision exists between the virtual hand and the bone fracture portion or not in real time, the deformation calculation module calculates the skin deformation condition of the collision portion, the comparison module conducts comparison between the hand gestures of the operator and the standard manipulations of the bone-setting standard manipulation database simultaneously, faults and defects of the operator are detected, and then the faults and the defects of the operator are displayed through the display module, so that the operator learns and improves the hand gestures.
Description
Technical field
The present invention relates to Virtual Simulation field, more particularly, particularly a kind of virtual emulation bone-setting manipulation training system and method for building up thereof.
Background technology
TCM bone-setting skills is with the characteristic of " do not operate on, rehabilitation is fast, spend less ", and the bone diseases such as treatment fracture, stremma, deeply by the welcome of extensive patients.But at present many hospital, even institute of traditional Chinese medicine abandon this therapy substantially, regular bone-correcting skill only north group, south group less than ten hospitals in pass on.In these hospitals, also only have auld, retired doctor to be familiar with traditional Chinese medical science bone-correcting skill, other doctors adopt operation to wait western medicine therapy treating bone fracture.Traditional Chinese medical science traditional bonesetting is just encountered awkwardness, and has difficulty in taking a step, and is on the verge of lost.
Cause one of the reason in this condition, what be that traditional bonesetting teaching adopts is that traditional medical practitioner is with on foot, man-to-man form of teaching, directly carry out manipulation exercise with it at fracture patient, add patient's misery and bring new damage because of faulty operation to patient, also make student because coming to the anxiety of patient's generation and flurried sense personally, learning cycle is long, weak effect simultaneously.On the other hand, for storage and the propagation of bone-setting manipulation, traditional approach carries out record by word and picture, but cannot represent the whole process of bone-setting manipulation enforcement visually; Preserve by making animate, each animation made all can not reuse in next time, causes the very serious wasting of resources; By the implementation process of video record record bone-setting manipulation, often existing cannot from the enforcement of multiple angle recordings gimmick, cannot reflect and suffer from bone cannot experience bonesetting process by mutual mode problem in the situation of therapeutic process and spectators, and the 3rd reason is, TCM bone-setting skills not yet forms standard, objective working specification so far, also greatly have impact on the succession of the experience of well-known doctor.
Virtual reality technology (Virtual Reality, be called for short VR) be the priority research areas of Computer Subject, relate to the real-time computing technique of computer graphics, multimedia technology, artificial intelligence, human-machine interface technology, sensor technology and highly-parallel, also comprise the multinomial gordian techniquies such as the praxiology research of people.Virtual reality can give user with experience more true to nature, and the motion change rule being not easy to directly observe things for exploring macrocosm and microworld and various reasons provides a great convenience.Also this advantage just, makes virtual reality technology get the attention in medical domain, has been applied to the aspects such as medical teaching, medical diagnosis on disease, surgical simulation, rehabilitation medical, tele-medicine.The people such as the Uwe G.K hnapfel in the research centre, Karlsruhe (Forschungszentrum Karlsruhe) of Germany succeeded in developing virtual laparoscopic surgery training system Karlsruhe Endoscopic Surgery Trainer in 1997.They develop the kernel software of powerful 3D simulation softward KISMET as training system, can complete the simulation of real-time physics, kinematic Simulation and the function such as 3D graph rendering fast.This training system adopts the soft tissue deformation such as spring oscillator (mass spring) modeling uterus, the node of object both sides is made to produce contact by adding father node, make surface model deformation show body behavior, meet the requirement of real-time and verisimilitude; This research centre was proposed again serial system VSOne in 2002.
The system of virtual operation that boston, u.s.a dynamics research center (Boston Dynamics) is developed not only can produce be really true to life blood vessel, heart, brain medical 3 D image, and there is accurate force feedback effect.Just can virtual operation training after the human-computer interaction device of this system of the raw use of surgical medicine.Operative training person, when using this system, can use the operation tool such as " virtual tweezers ", " virtual suture needle ", carry out " virtual blood vessel " suture operation.By polarising glass and 3 d display device, trainer is used to obtain as the impression carrying out vascular suture operation at true surgical environments.
Studies in China gap compared with is abroad larger, Tsing-Hua University, Zhejiang University, the Central China University of Science and Technology, Nanfang Medical Univ, the National University of Defense technology, PLA's air force general hospital, automation research Suo Deng unit of the Chinese Academy of Sciences are actively developing the research in virtual surgery and operative training, and research is most concentrates on collision detection in the three-dimensionalreconstruction of medical images data and visual, deformation simulation, virtual operation and the aspect such as rules for grasping and surgical assistant system.As the 3 d medical images system of Tsing-Hua University's exploitation, the D medical visualization analysis platform of Northwest University's development, the 3 d medical images disposal system that Chinese Academy of Sciences's automation research is developed, the System of Virtual Surgery Simulation with Knee Arthroscope of the National University of Defense technology.
It is at present, domestic that by virtual reality technology, the research be applied in the traditional Chinese medical science mainly contains following aspect: (1) remote traditional Chinese medical diagnosis by feeling the pulse system; (2) type talus needle virtual teaching system; (3) Chinese medicine acupuncture tutoring system.
Research based on the remote traditional Chinese medical diagnosis by feeling the pulse of virtual reality technology adopts virtual reality technology to be the virtual environment that core generates the particular range of vision, hearing, touch feel integration, user can carry out reciprocation with the object in virtual environment, interact in a natural manner by the equipment of necessity, enable patient work in coordination with doctor and complete feeling the pulse process, doctor can obtain the finger tip impression of patient's pulse condition, thus produces impression and the experience of coming to equivalent true environment personally.Make full use of virtual reality technology and advantage that is abstract and that recur is carried out to the essential attribute of objective system, effectively promote that pulse wave spectrum is scientific and objectify.Document devises the remote traditional Chinese medical diagnosis by feeling the pulse system based on virtual reality technology, mainly solves three critical aspects problems that remote traditional Chinese medical diagnosis by feeling the pulse system realizes: 1) patient can work in coordination with doctor and complete feeling the pulse process; 2) doctor can obtain the finger tip impression of patient's pulse condition; 3) expert decision system assists illness decision-making.
Document [Yang Yuhang, Li Zhizhong, Ren Xiaodan, He Xin, Su Mandi, based on the Chinese medicine acupuncture tutoring system of virtual reality technology, Journal of System Simulation, 2007, 19 (10): 2379-2383] virtual reality technology is applied in Chinese medicine acupuncture English majours, use the method for 3-D scanning and reverse-engineering, research establishes the vrml file of a three-dimensional (3 D) manikin, setting up VRML form bead to represent the acupuncture point point on model, 14 channels and collaterals on human body are represented with 14 fine rules, by manikin, acupuncture point bead, the supporting paper at flow routes of the meridians and acupuncture point combines, complete the exploitation of acupuncture teaching backup system.This system can the study of assistance of acupuncture teacher, simultaneously for ruck provides a reference of seeking medical advice.
Document [Wang Shiyong, Luo Hong, tension force, based on the design and implimentation of the type talus needle virtual teaching system of Three-Dimensional Interaction Technology, Chinese medicine education skill, 2007,21 (3): 230-233] virtual reality technology is utilized to construct type talus needle virtual teaching system, visual in image expression is carried out to the subregion of health, these two focal points contents of location of acupuncture points, realize learner's freely manipulating three-dimensional (3 D) manikin, make learner can unrestricted choice viewing angle, viewing distance, the subregion of carpus-ankle acupuncture health and acupuncture points position are observed.In conjunction with concrete case, use virtual reality technology diagnosis and treatment process that is virtually reality like reality.Namely learner is according to concrete case, the method that express fact by fiction is tested, and carries out acupuncture points selection, and simulate inserting needle gimmick to the three-dimensional virtual human body Model of system creation.Simultaneity factor can according to the operation of learner, provides acupuncture points to select the information feed back of whether correct and relative depth of needle, to correct the faulty operation of learner in time.By the Simulated therapy of different case, continually strengthen learner to the grasp of teaching point and understanding.
Virtual reality technology is mainly used in Bones and joints surgery in orthopaedics, the image datas such as CT, MRI of preoperative collection can be carried out three-dimensional reconstruction at the workbench of virtual reality, and carry out three-dimensional visualization, part has achieved rotation, movement, has simulated deep, osteotomy, has inserted the functions such as apparatus.But drafting speed is comparatively slow mostly, is difficult to reality in reflection art, lacks real-time, high to the requirement of computer hardware, and expensive.From current status both at home and abroad, virtual reality technology is applied to traditional Chinese medical science bonesetting, provides interactively bonesetting virtual emulation also not carry out for the research of imparting knowledge to students.
Summary of the invention
The first object of the present invention be for traditional Chinese medical science bonesetting method of the prior art also cannot virtual emulation teaching problem, a kind of virtual emulation bone-setting manipulation training system is provided.
The second object of the present invention is the method for building up providing a kind of above-mentioned virtual emulation bone-setting manipulation training system.
In order to reach above-mentioned first object, the technical solution used in the present invention is as follows:
A kind of virtual emulation bone-setting manipulation training system, comprising:
Data acquisition module, for the tracking of position, place that the operator visual human hand position of bonesetting process and fractured bones are broken, and be shown in a display picture by display module, namely position tracking device is passed through, bonesetting process traditional Chinese physician hand position and fracture end positions are all tracked, the action Six Degrees delta data of recording, tracking target, Accuracy Displacement within 1 millimeter, space angle within 1 degree, to reduce the degree of error of tracing process;
Display module, to break place and the dynamic model at virtual staff place for showing fractured bones;
Three-dimensional modeling module, to break place and the static model of virtual staff and dynamic model for building fractured bones;
Collision detection module, is used for detecting the virtual staff handled of user and whether there occurs collision with the skin of patient in virtual scene;
Deformation calculation module, for simulating at the motion process of bonesetting and the deformation of skin;
Bonesetting standard gimmick database, for storing the standard gimmick of bone-setting manipulation and storing the common injury of the bone and fracture face form;
Comparison module, compares for the bone-setting manipulation user handled and standard gimmick;
Described three-dimensional modeling module respectively with data acquisition module, display module, collision detection module, deformation calculation module, comparison module are connected, described comparison module is also connected with bonesetting standard gimmick database, display module respectively, and described collision detection module is also connected with deformation calculation module.
Further, described three-dimensional modeling module comprises static model control device and model controlling device, described static model control device to break place and the Bone and soft tissue structure at virtual staff place for generating fractured bones, and model controlling device is for building the dynamic model of Bone and soft tissue.
Further, described bonesetting standard gimmick database is by collecting the gimmick of expert, and the data of collection comprise the data of the human body attitude of bone-setting manipulation, the attitude of hand, force mechanism and force size.
Further, the detection of described collision detection module through in the whole process of bonesetting emulation, and completes the collision detection between skin and virtual staff, fracture site two bone section in a certain time interval.
Further, in described deformation calculation module, in the collision model calculating finger, use spheroid to scan body, in the collision model calculating palm, use combinations of directions bounding volume method.
In order to reach above-mentioned second object, the technical solution used in the present invention is as follows:
According to a method for building up for above-mentioned virtual emulation bone-setting manipulation training system, comprise the following steps,
The modeling of S1, virtual staff and Dynamic controlling,
Realized virtual staff modeling and Dynamic controlling by three-dimensional software, the basic hand motion in joint can be completed;
The modeling of S2, fracture end and skin,
For the structure of the geometric model of typical fracture site;
The collision detection of S3, hand model,
Bounding box body is used to replace original model to carry out the calculating of body collision;
S4, employing finite element method carry out deformation detection,
Finite element analysis software is used to solve deformation;
S5, set up bonesetting standard gimmick database,
For the fracture of same type, carry out manipulative reduction demonstration by expert, obtain the action data of hand, and relevant gimmick data are deposited in bonesetting standard gimmick database.
Further, in described step S1, the shape of virtual staff only comprises wrist, palm, finger and articular portion, and first the structure of geometric model is completed by 3dsMax modeling tool, call 3dsMax model by OpenGL again to redraw, and select when drawing geometric model the mode of triangular mesh to draw virtual staff.
Further, in described step S1, during visual human's hand Dynamic controlling, the motion of virtual staff includes the motions such as movement, rotation, swing.These motions are subject to the constraint in each joint.
Further, in described step S2, skin, muscle, fat being set as same soft tissue, when observing skin appearance, adopting surface model to carry out modeling, when the simulation process section animation display of the fractured bones broken ends of fractured bone, adopt body Model modeling.
Further, in described step S4, when gathering expert's manipulative reduction action, obtain the action data of hand, with statistical method by data fitting, generate a standard operation track, calculate the waving interval of expert's repeatedly gimmick, to different gimmick and fracture site, according to the crucial point of application, gimmick process is divided into multiple stage.
Compared with prior art, the invention has the advantages that: to be broken the three-dimensional model at place and the three-dimensional model of virtual staff by three-dimensional modeling module construction fractured bones, operator by viewing display module display fractured bones break place emulated interface carry out bonesetting operation, the hand motion of data collecting module collected operator the virtual staff shown by display module are with demonstration, in the process of demonstration, collision detection module detects virtual staff in real time and whether fracture has collision, deformation calculation module calculates the skin deformation having collision place, the virtual screen after collision deformation is shown again by display module, and the hand motion of operator and the standard gimmick in bonesetting standard gimmick database contrast by comparison module simultaneously, detect the mistakes and short comings of operator, shown by display module again, make operator's learning improvement.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the structural representation of virtual emulation bone-setting manipulation training system of the present invention;
Fig. 2 is the Method And Principle figure of the method for building up of virtual emulation bone-setting manipulation training system of the present invention.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail, can be easier to make advantages and features of the invention be readily appreciated by one skilled in the art, thus more explicit defining is made to protection scope of the present invention.
Consult shown in Fig. 1, the invention provides a kind of virtual emulation bone-setting manipulation training system and comprise:
Data acquisition module 1, for the tracking of position, place that the operator visual human hand position of bonesetting process and fractured bones are broken, and be shown in a display picture by display module 2, namely position tracking device is passed through, bonesetting process traditional Chinese physician hand position and fracture end positions are all tracked, the action Six Degrees delta data of recording, tracking target, Accuracy Displacement within 1 millimeter, space angle within 1 degree, to reduce the degree of error of tracing process;
Display module 2, to break place and the dynamic model at virtual staff place for showing fractured bones;
Three-dimensional modeling module 3, to break place and the static model of virtual staff and dynamic model for building fractured bones;
Collision detection module 4, is used for detecting the virtual staff handled of user and whether there occurs collision with the skin of patient in virtual scene;
Deformation calculation module 5, for simulating at the motion process of bonesetting and the deformation of skin;
Bonesetting standard gimmick database 6, for storing the standard gimmick of bone-setting manipulation and storing the common injury of the bone and fracture face form;
Comparison module 7, compares for the bone-setting manipulation user handled and standard gimmick;
Three-dimensional modeling module 3 respectively with data acquisition module 1, display module 2, collision detection module 4, deformation calculation module 5, comparison module 7 are connected, comparison module 7 is also connected with bonesetting standard gimmick database 6, display module 2 respectively, and collision detection module 4 is also connected with deformation calculation module 5.
In the present invention, data acquisition module 1 adopts the method for " mechanics collection " and " location tracking " to obtain data.Below that the gimmick data acquisition being object with Colles fracture is illustrated:
One, the method for " mechanics collection " data:
(1) case selection
Select the whole 30 routine patients meeting Colles fracture clinical research standard.Patient all has trauma history, and wrist pain also swelling rapidly after wound, dinner-fork deformity appears in severe one.Wrist joint, the activity of forearm rotary motion, finger is all limited because of pain.X-ray check: bone distal bone folded block support or oppose side, oar side displacement, fracture to palmar angulation, radial shortening, fracture dorsal part sclerotin embed or comminuted fracture, the supination of outside far end bone of radius folded block.Measure after the patient participating in studying all signs Informed Consent Form.
1. diagnostic criteria (see annex 1)
2. case inclusive criteria (see annex 1)
3. case exclusion standard (see annex 1)
(2) concrete grammar
1. acquisition index: carry the mechanics parameter by operation---each finger acting force average, peak value, action time.
2. bone-setting manipulation reset operation: the expert inviting to be engaged in manual reduction treating implements Colles fracture and carries by method reset operation, and content is as follows:
(1) help patient to slough suffering limb clothes, explain method and the object for the treatment of, alleviate patient apprehension's psychology, obtain the cooperation of patient.
(2) according to the image of cacomelia and x-ray photo, first its fractures is touched with hand, heavy after gimmick is first light, from top to bottom, proximally arrive far-end, understanding displacement fracture situation.
(3) patient lies supine position, ancon flexing 90 °, forearm neutral position.One assistant holds upper arm, the large muscle of hypothenar of another assistant two hand fastening, pulling of first taking advantage of a situation.
(4) patient's both hands thumb is placed on fracture distal dorsal, the remaining palmar referring to be placed in near-end of both hands, and thumb press, remaining sensing dorsal part end are carried, and carpometacarpal is bent by the assistant of handshake part simultaneously, chi is inclined.
3. collecting device:
Adopt Tekscan hyperchannel single-point dynamometry acquisition system (MELF system).This system is developed by Tekscan company of the U.S., is made up of hyperchannel Computer aided analysis, data acquisition unit, Flexiforee sensor three part.Flexiforee sensor is made up of two-layer very thin mylar, and every layer film lays silver conductor and coats special pressure-sensitive semiconductor material, two panels film laminating forms sensor together.Silver conductor extends to the link of sensor from sensing point, and sensor points plays resistance effect in circuit.Stressed when being zero, resistance is maximum; Power is larger, and resistance is less.When on External Force Acting to sensing point, the inverse of the resistance of sensing point is with external force change in direct ratio.
4. acquisition method:
Use MELF system collection to carry and refer to apply patient size and the time of strength by patient's both hands 1-4 in method reset Colles Fracture.First the 1-4 of one pair of No. 7.5 emgloves is referred to from middle joint interphalangeal joint far to cut, by the finger belly of 8 A401 sensor double faced adhesive tapes at fingerstall inner face, with fingerstall, sensor is fixed on each finger force application part, signal wire is drawn from the back of the hand portion, connect data acquisition unit, patient's ulnar artery in lower-middle forearm is fixed on elastic force wrister, the USB interface of 8 data acquisition units is connected with computing machine by HUB, then, open hyperchannel Computer aided analysis, load calibration file, check that situation connected by each sensor, measure afterwards in order.
Patient lies supine position, ancon flexing 90 °, forearm neutral position.One assistant holds upper arm, the large muscle of hypothenar of another assistant two hand fastening, pulling of first taking advantage of a situation; Open the input function of software, the patient's both hands thumb wearing sensor is placed on fracture distal dorsal, the remaining palmar referring to be placed in near-end of both hands, and thumb press, remaining sensing dorsal part end are carried, and handshake part assistant is simultaneously inclined by cubit.After gimmick terminates, stop data inputting, preserve data.
Two, the method for " location tracking " image data:
In order to reach the object of the reduction of the fracture, doctor for fracture site, displacement mode difference and use specific gimmick, these gimmicks are also a kind of motion of human body in essence, and it follows kniesiological rule.For understanding the movement characteristic of bone-setting manipulation in the Colles reduction of the fracture, we first determine the key point of expert and assistant's hand exercise, in reseting procedure, the movement locus of these key points is gathered, analyzed, draw out path curves, the fitting function equation of the averaged curve of these geometric locuses, the waving interval of curve similarity and averaged curve is tried to achieve with algorithm, tentatively set up the mathematics appraisal of this curve, realize the objectifying of this gimmick movement locus, digitizing and can evaluation; The object of cooperation position tracker is the data that real-time collecting gimmick produces, the method that lower mask body introduction is real-time.
(1) case selection (ditto)
1. diagnostic criteria is with (see annex 1)
2. case inclusive criteria (see annex 1)
(2) concrete grammar
1. acquisition index: carry the movement locus by bone-setting manipulation operator thumb and assistant's the back of the hand and time.
2. bone-setting manipulation reset operation: (ditto)
3. collecting device:
Adopt trakSTAR position tracker (Ascension company of the U.S.), it is a small-sized magnetic field sensing tracker, principle is that sensor produces micro-electric current in the magnetic field of certain limit, obtains residing locus XYZ and three deflection angle after treatment.
4. acquisition method:
The two thumbnail of operator and handshake part assistant's the back of the hand the 3rd metacarpal bone midpoint is fixed on adhesive tape respectively by after four sensor numbers.The left thumb of operator is S1, and right thumb is S2, and assistant's left hand back of the body is S3, and the right hand back of the body is S4.4 sensors and magnetic wave generator connect with main frame, then are connected with computing machine by USB interface, and data acquisition software and hardware are connected, acquisition time interval is set to 10 milliseconds.Patient lies supine position, ancon flexing 90 °, forearm neutral position.One assistant holds upper arm, the large muscle of hypothenar of another assistant two hand fastening, pulling of first taking advantage of a situation; Open the input function of software, patient and assistant implement to carry and operate by bone-setting manipulation.After gimmick terminates, stop data inputting, preserve data.
The three dimensions point coordinate of free order is formed four-dimensional data decomposition become with the time as X-axis, three coordinate figures of three-dimensional curve are respectively as three groups of 2-D datas of Y-axis, import averaged curve and similarity algorithm program respectively, obtain the similarity waving interval of averaged curve data and averaged curve and each curve.
In the present invention, build fractured bones by three-dimensional modeling module 3 to break the three-dimensional model at place and the three-dimensional model of virtual staff, three-dimensional model passes to display module 2 and shows, operator by viewing display module 2 in display fractured bones break place emulated interface carry out bonesetting operation, the hand motion of data acquisition module 1 acquisition operations person the virtual staff shown by display module 2 are with demonstration, in the process of demonstration, collision detection module 4 detects virtual staff in real time and whether fracture has collision, deformation calculation module 5 calculates the skin deformation having collision place, the virtual screen after collision deformation is shown again by display module 2, and the hand motion of operator and the standard gimmick in bonesetting standard gimmick database 6 contrast by comparison module 7 simultaneously, detect the mistakes and short comings of operator, shown by display module again, make operator's learning improvement, by this virtual emulation bone-setting manipulation training system, can effectively by the method for virtual emulation, the method of traditional Chinese medical science bonesetting is imparted knowledge to students.
In the present embodiment, three-dimensional modeling module 3 comprises static model control device and model controlling device, static model control device to break place and the Bone and soft tissue structure at virtual staff place for generating fractured bones, model controlling device is for building the dynamic model of Bone and soft tissue, the model of virtual staff need and data acquisition module 1 mutual, cooperation position tracker (optical position tracker or electromagnetic position tracker), obtain gesture information and the positional information of staff, thus virtual staff is controlled.Except carrying out except modeling to the disconnected place of fractured bones and virtual staff, modeling can also be carried out to virtual bonesetting scene, as models such as bonesetting platform, bonesetting chair, supports.Carry out simplify processes to tissues such as skin, muscle, fat, think that they are same soft tissues, main employing surface model and body Model combine and carry out Geometric Modeling, when observing skin appearance, adopt surface model to carry out modeling; When the multiple positive simulation process section animation display of the fractured bones broken ends of fractured bone, adopt body Model modeling.The physical model of soft tissue adopts mass-spring model.Soft tissue is regarded as a Tuned mass damper system.
Bonesetting standard gimmick database 6 is by collecting the gimmick of expert, and the data of collection comprise the data of the human body attitude of bone-setting manipulation, the attitude of hand, force mechanism and force size.Carry out manipulative reduction by expert, obtain the action data of hand, with statistical method by data fitting, generate a standard operation track, calculate the waving interval of expert's repeatedly gimmick.To different gimmick and fracture site, according to the crucial point of application, gimmick process is divided into multiple stage, and will carries out abstract to expert's direction of action of the crucial point of application, set up gimmick database schema and relevant gimmick data are deposited into database.
The detection of collision detection module 4 through in the whole process of bonesetting emulation, and completes the collision detection between skin and virtual staff, fracture site two bone section in a certain time interval.
In the collision model calculating finger, use spheroid to scan body in deformation calculation module 5, in the collision model calculating palm, use combinations of directions bounding volume method.In order to show the process of distortion, quality and damping being added in model, deformation process being regarded as a dynamic Finite Element Analysis of Elastic Bodies system, solving deformation by numerical evaluation.
Consult shown in Fig. 2, the present invention also provides a kind of method for building up according to above-mentioned virtual emulation bone-setting manipulation training system, comprises the following steps,
The modeling of S1, virtual staff and Dynamic controlling,
Realized virtual staff modeling and Dynamic controlling by three-dimensional software, the basic hand motion in joint can be completed; Accomplish that the modeling of data acquisition module 1 and virtual staff is except needs build geometric model, also need the motion built to carry out modeling, this relate to bone volume and centroid calculation scheme, bone scheme of rotation, joint constraint scheme, skin stretcher strain modeling scheme research and choose.Staff is regarded as the structure of the many hinges of many bars, on articulated chain, the joint of different parts realizes the motion of different stage, and has transmission characteristic from top to bottom, forms hand model, palm model, finger model, the hierarchical relationship of joint model and incidence relation.The joint of same rank has same or analogous feature, and the joint of different stage has the level relations of dependence of the superior and the subordinate, is formed and has horizontal and vertical correlativity and irrelevance.Relevance is mainly reflected in the correlativity of figure coordinate system.The coordinate origin of virtual staff is set in the fulcrum place of Wrist-sport, and the joint of setting finger is as the true origin of finger dactylus model.The global coordinate system of virtual staff and associating of local coordinate system.The motion of virtual staff includes the motions such as movement, rotation, swing.These motions are subject to the constraint in each joint.The motion of virtual staff is made up of virtual staff motion as a whole itself and the gesture motion that is composited by the simple motion in multiple joint.Final compound motion can be regarded as by being formed by stacking through several times such as simple movement, rotation, swing.In order to the gesture information that data acquisition module 1 is gathered passes to virtual staff, in the joint of the sensor of data acquisition module 1 and virtual hand, the mapping establishing mapping relations one to one between hand and wrist etc., change the gesture of virtual hand in real time, control its motion.Model needs to verify model after setting up, can control very flexibly hand model in verification system, substantially the actual posture that can complete of staff can be accomplished, model also can complete, for actual, more highly difficult action also can complete more even, that is, the degree of freedom of the hand in demo system in the degree of freedom of hand model and reality is as good as.So hand model can complete shape as captured, bending, the basic hand motion such as to clench fist.
The modeling of S2, fracture end and skin,
For the structure of the geometric model of typical fracture site; This needs to compile analysis to the section of the common injury of the bone, extracts typical fracture face form.And fractured bones section motion conditions under stressing conditions will be simulated, need the physical model building fracture site on the basis of geometric model.
By the structure of the geometric model for typical fracture site, the image datas such as CT, MRI of adopting carry out three-dimensional reconstruction at the workbench of virtual reality, model is imported to 3dsMax instrument to be further processed, obtaining can by the model of OpenGL process again.And carry out simplify processes to tissues such as skin, muscle, fat, think that they are same soft tissues, main employing surface model and body Model combine and carry out Geometric Modeling, when observing skin appearance, surface model is adopted to carry out modeling; When the multiple positive simulation process section animation display of the fractured bones broken ends of fractured bone, adopt body Model modeling.The physical model of soft tissue adopts mass-spring model.Soft tissue is regarded as a Tuned mass damper system.
The collision detection of S3, hand model,
Bounding box body is used to replace original model to carry out the calculating of body collision; Scan the bounding box of body (cylindrical two ends are given prominence to semisphere) as finger with careful spheroid, palm portion then can use the oriented bounding box method of combination.But scan body owing to have employed spheroid, the complexity of calculating increases greatly.So use the method for bounding volume hierarchy (BVH), maximizedly simplify operation times, make whole demo system while guarantee degree of accuracy, efficiency also can reach a balance.The overall thought of hierarchical wrap box technology is first surrounded by whole body with the simplest bounding box, and initial need calculate these simple bounding boxs and directly collide, if result is shown as collision, then carry out the detection computations of follow-up bounding box part of more fitting again.When detect collide time, just according to the closest approach line between two collision bounding boxs, the point of impingement on model can be obtained.After obtaining the point of impingement, just can carry out follow-up deformation work.
S4, employing finite element method carry out deformation detection,
Finite element analysis software is used to solve deformation; In order to the process showing distortion is added in model quality and damping, deformation process is regarded as a dynamic Finite Element Analysis of Elastic Bodies system, solve deformation by numerical evaluation.Finite element model is made up of interconnective subdomain (unit), its model gives burst (subdomain) approximate solution of fundamental equation, because non-individual body (or object) can be partitioned into various shape and the unit (subdomain) of the size that varies in size, so it can adapt to the boundary condition of complicated geometric configuration, complicated material behavior and complexity.Adopting finite element method to calculate deformation process in prior art has been that prior art does not do deposited stating at this.
S5, set up bonesetting standard gimmick database,
For the fracture of same type, carry out manipulative reduction demonstration by expert, obtain the action data of hand, and relevant gimmick data are deposited in bonesetting standard gimmick database 6.For the fracture of same type, select many cases patients, carry out skill of imitation reset by expert, obtain the action data of hand, with statistical method by data fitting, generate a standard operation track, calculate the waving interval of expert's repeatedly gimmick.
To different gimmick and fracture site, according to the crucial point of application, gimmick process is divided into multiple stage, and will carries out abstract to expert's direction of action of the crucial point of application, set up gimmick database schema and relevant gimmick data are deposited into database.
Step S5 can comprise the following steps again,
S51, respectively point force suffering limb applied in patient's reseting procedure when using dynamometry acquisition system to obtain expert's simulated operation, sum up the mechanical characteristics carried by manipulation;
The movement locus of hand key point in reseting procedure during S52, deployed position tracker acquisition expert's simulated operation;
S54, the mechanical model setting up expert's gimmick and evaluation model; Set up this operator and carry movement locus model by gimmick and evaluation model;
S55, the three dimensional virtual models setting up patients with fractures's arm and solid model; Set up operator's hand model, realize the three-dimensional visualization virtual restoration carried by gimmick.
Although describe embodiments of the present invention by reference to the accompanying drawings; but patent owner can make various distortion or amendment within the scope of the appended claims; as long as be no more than the protection domain described by claim of the present invention, all should within protection scope of the present invention.
Annex 1: the relevant criterion such as diagnostic criteria, include in/get rid of/rejecting standard;
Colles diagnosis of fracture standard
Type colles' fracture is stretched with reference to State Administration of Traditional Chinese Medicine's " Chinese medical disease Standardization of diagnosis and curative effect ":
(1) there is trauma history, mostly be caused by indirect violence;
(2) swelling around wrist joint, pain after wound, forearm lower end is deformity in " table fork sample ", and wrist dorsal part can be laid one's hand on and fracture far-end apophysis, and tenderness is obvious, bracket movable function obstacle;
(3) x-ray is taken the photograph sheet inspection and is fractured far-end as seen to dorsal displacement.
Case inclusive criteria
(1) above-mentioned Western medicine diagnose standard and tcm diagnosis standard person is met;
(2) without any method curer;
(3) adult, men and women does not all limit;
(4) person that accepts manual reduction treating voluntarily;
After (5) manipulative reductions, fracture end reaches dissection and functional reduction person.
Case exclusion standard
(1) incomplete fracture, greendstick fracture;
(2) gestation or women breast-feeding their children;
(3) open fracture person;
(4) cardiovascular, liver, the severe primary disease such as kidney and hemopoietic system is associated with, cyclothymic;
(5) with skin injury person.Fracture peripheral vessels, flesh key, nerve damage is hindered;
(6) curer is mismatched;
(7) old fracture;
(8) pathologic fracture;
(9) manipulative reductions do not reach functional reduction person.
Claims (10)
1. a virtual emulation bone-setting manipulation training system, is characterized in that, comprising:
Data acquisition module (1), pass through position tracking device, bonesetting process traditional Chinese physician hand position and fracture end positions are all tracked, the action Six Degrees delta data of recording, tracking target, and be shown in a display picture by display module (2);
Display module (2), to break place and the dynamic model at virtual staff place for showing fractured bones;
Three-dimensional modeling module (3), to break place and the static model of virtual staff and dynamic model for building fractured bones;
Collision detection module (4), is used for detecting the virtual staff handled of user and whether there occurs collision with the skin of patient in virtual scene;
Deformation calculation module (5), for simulating at the motion process of bonesetting and the deformation of skin;
Bonesetting standard gimmick database (6), for storing the standard gimmick of bone-setting manipulation and storing the common injury of the bone and fracture face form;
Comparison module (7), compares for the bone-setting manipulation user handled and standard gimmick;
Described three-dimensional modeling module (3) respectively with data acquisition module (1), display module (2), collision detection module (4), deformation calculation module (5), comparison module (7) are connected, described comparison module (7) is also connected with bonesetting standard gimmick database (6), display module (2) respectively, and described collision detection module (4) is also connected with deformation calculation module (5).
2. virtual emulation bone-setting manipulation training system according to claim 1, it is characterized in that: described three-dimensional modeling module (3) comprises static model control device and model controlling device, described static model control device to break place and the Bone and soft tissue structure at virtual staff place for generating fractured bones, and model controlling device is for building the dynamic model of Bone and soft tissue.
3. virtual emulation bone-setting manipulation training system according to claim 2, it is characterized in that: described bonesetting standard gimmick database (6) is by collecting the gimmick of expert, and the data of collection comprise the data of the human body attitude of bone-setting manipulation, the attitude of hand, force mechanism and force size.
4. virtual emulation bone-setting manipulation training system according to claim 3, it is characterized in that: the detection of described collision detection module (4) through in the whole process of bonesetting emulation, and completes the collision detection between skin and virtual staff, fracture site two bone section in a certain time interval.
5. virtual emulation bone-setting manipulation training system according to claim 3, it is characterized in that: in described deformation calculation module (5), in the collision model calculating finger, use spheroid to scan body, in the collision model calculating palm, use combinations of directions bounding volume method.
6. the method for building up of virtual emulation bone-setting manipulation training system according to claim 1, is characterized in that: comprise the following steps,
The modeling of S1, virtual staff and Dynamic controlling,
Realized virtual staff modeling and Dynamic controlling by three-dimensional software, the basic hand motion in joint can be completed;
The modeling of S2, fracture end and skin,
For the structure of the geometric model of typical fracture site;
The collision detection of S3, hand model,
Bounding box body is used to replace original model to carry out the calculating of body collision;
S4, employing finite element method carry out deformation detection,
Finite element analysis software is used to solve deformation;
S5, set up bonesetting standard gimmick database,
For the fracture of same type, carry out manipulative reduction demonstration by expert, obtain the action data of hand, and relevant gimmick data are deposited in bonesetting standard gimmick database (6).
7. the method for building up of virtual emulation bone-setting manipulation training system according to claim 6, it is characterized in that: in described step S1, the shape of virtual staff only comprises wrist, palm, finger and articular portion, and first the structure of geometric model is completed by 3dsMax modeling tool, call 3dsMax model by OpenGL again to redraw, and select when drawing geometric model the mode of triangular mesh to draw virtual staff.
8. the method for building up of virtual emulation bone-setting manipulation training system according to claim 7, is characterized in that: in described step S1, and during visual human's hand Dynamic controlling, the motion of virtual staff includes the motions such as movement, rotation, swing.These motions are subject to the constraint in each joint.
9. the method for building up of virtual emulation bone-setting manipulation training system according to claim 8, it is characterized in that: in described step S2, skin, muscle, fat are set as same soft tissue, when observing skin appearance, surface model is adopted to carry out modeling, when the simulation process section animation display of the fractured bones broken ends of fractured bone, adopt body Model modeling.
10. the method for building up of virtual emulation bone-setting manipulation training system according to claim 9, it is characterized in that: in described step S5, when gathering expert's manipulative reduction action, obtain the action data of hand, with statistical method by data fitting, generate a standard operation track, calculate the waving interval of expert's repeatedly gimmick, to different gimmick and fracture site, according to the crucial point of application, gimmick process is divided into multiple stage, so that contrast judges the right and wrong of bone-setting manipulation.
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