CN105608945B - A kind of adaptive pose virtual operation training platform of immersion - Google Patents

Abstract

A kind of adaptive pose virtual operation training platform of immersion, is made of four parts such as upper end display module, middle-end console component, lower end support component and lateral support components.Upper end display module meets human body face structure according to ergonomic design, and observation central space size can be adjusted by knob to adapt to different size of human body brain, allows brain to be more bonded with platform, enhances feeling of immersion.Can automatic adjusument pose, training is operated with the posture that oneself is suitble to, improves comfort level, lessen fatigue sense.Entire operative training process is watched by the external 3D display device of upper end display module, training effect can be evaluated and tested.This platform can be used for simulating all kinds of operative processes such as cranial surgery, liver, kidney, mammary gland, allow learn on the job operative doctor or medic repeatedly, it is lossless, easily carry out operative training, solve the problems such as cycle of training is long, efficiency is low, costly, training object is deficient present in conventional surgical doctor training.

Description

An immersive adaptive pose virtual surgery training platform

technical field

The invention relates to a virtual surgery training device based on computer virtual reality technology

Background technique

Based on computer simulation virtual reality technology, computer reconstruction is used to generate one or a certain type of two-dimensional or three-dimensional virtual scene in reality. The same realistic hearing, vision, smell, force and other multi-sense.

The traditional training method of surgeons adopts the apprenticeship mode of "passing, helping and leading". This method has problems such as long cycle, high cost, low efficiency, and lack of corpse sources. Even though animals are often used in medical experiments as the training objects of surgeons, there are ethical problems, and the organizational structure of animals is bound to be different from that of humans.

In order to solve these problems in the training of surgeons, the research and development of virtual surgery simulation training system based on virtual reality technology has become a hot and frontier topic in the medical field. Led by the National Research Council of Canada (NRC), it has united several research groups and well-known hospitals, and spent 9.1 million US dollars. More than 50 experts, scholars, clinicians, and engineers have jointly developed the brain over a period of three years. The surgical simulator prototype NeuroTouch is currently the world's most advanced virtual surgery training system for brain surgery. First, a high-resolution 3D human brain tissue model is reconstructed using the patient's functional magnetic resonance imaging (fMRI) image data, which is based on a finite element mesh. Then, the finite element model is read and the reality is rendered. Then, the user interacts with the virtual model by operating a scalpel-like force feedback device (using Sensable's Phantom OMNI). This device has 6 degrees of freedom and can Real-time feedback of the force generated by different parts of the device and brain tissue or after different operations. At the same time, users can observe the interaction results between the force feedback device and the virtual model through the screen, including tissue deformation, gray matter hemorrhage and pulsation. NeuroTouch is characterized by its realistic simulation of soft tissue deformation, cutting, bleeding and other physiological phenomena. However, the 3D display effect of the system is mainly through three fixed display screens, which cannot be adjusted according to the needs of different human bodies. Immersion and comfort cannot be satisfied.

In the prior art, the patent ZL200910242042.5 discloses a virtual reality dental surgery tactile training support platform, but this device is designed for human tooth tissue, teeth are rigid substances, and the data processing in the process of modeling and interaction Both are simpler than human brain tissue (soft tissue). Moreover, the system intelligently simulates the simulation of dental surgery, and its scalability is not strong. Patent ZL201010173563.2 discloses a virtual flexible body deformation surgery simulation system that supports force tactile feedback. The invention utilizes the force tactile modeling method of equal-pitch conical coil springs to calculate the deformation amount of each layer of equal-pitch conical coil springs. The superposition of and to simulate the deformation of the surface of the flexible body. This method is not a real physical model, there are no material parameters that reflect the physiological characteristics of soft tissue, and it is not a three-dimensional display, so the simulation effect is not realistic enough. ZL201110150678.4 discloses a robotic minimally invasive surgery simulation system based on force feedback. This invention is mainly designed for minimally invasive surgery. The graphics processing module in it can convert image data into three-dimensional volume data and display it through a three-dimensional display device. However, the system does not have a dedicated virtual surgical operation platform, and the operator is easily disturbed by ambient sound, light, people and other things, and the sense of immersion is not strong. Therefore, in order to solve the problem of traditional surgical training for surgeons and break the monopoly position of foreign countries in this field, a virtual surgical training platform with realistic virtual surgical simulation immersion and adaptive pose that can improve the comfort of surgical trainers was invented. is an important and urgent issue.

Contents of the invention

Aiming at the problems of long training period, high cost, low efficiency, lack of training objects and violation of ethics and morals in traditional surgeon training, the present invention discloses an immersive adaptive pose virtual surgery training platform, which is a training platform for trainees. Trainers such as surgeons or medical students provide a training platform for virtual reality surgical operations.

The platform is composed of four parts: the upper display platform, the middle console, the lower support platform and the side support plate assembly. The upper display platform mainly includes two 3D monitors, 3D glasses components, and six cover plates of upper, lower, front, rear, left and right; among them, the 3D monitor placed inside is for trainers, and the external 3D monitor is for other people Watch to evaluate the trainer's training process; the 3D glasses assembly clamps and fixes the 3D glasses lenses in the middle; the upper, lower, front, back, left, and right six cover plates form a closed space to prevent the trainer from receiving light , sound, brain rotation and other factors to enhance the trainer's sense of immersion.

The mid-end console integrates the necessary control buttons needed in the virtual surgery training process, including power switch, system switch, rotation control of the upper display components, etc.; the 10-inch touch LCD screen placed in the middle is used for surgical procedures The control operation of the software system in the middle, including the transformation of surgical instruments, the startup and shutdown of the virtual surgery software system, the adjustment of the viewing angle, etc.

The lower support platform is mainly used to place the graphics workstation required by the virtual surgery system, install foot pedals, etc.

The side support plate assembly is used to connect and support the upper display assembly, the middle console assembly, and the lower support assembly. The trainer uses the force feedback device to touch, suck, cut and other surgical operations on the platform and the soft tissue reconstructed in the virtual world. At the same time, the force feedback device will give the trainer real tactile feedback according to the trainer's different surgical operation types and operating strength, making the user feel as if he is performing a real operation. The platform provides trainers with a highly immersive, comfortable and convenient surgical training environment.

An immersive adaptive pose virtual surgery training platform, characterized in that:

The virtual surgery training platform of the present invention consists of four parts: an upper display table (1), a middle console (2), a lower support table (3) and a side support plate assembly (4);

The upper display stand (1) includes an upper left cover (11B), an upper right cover (11A), an upper upper cover (121), an upper lower cover (124), an upper rear cover (122), Upper front cover (17), two 3D displays (16A, 16B), external 3D display mounting device (13), internal 3D display mounting device (14), 3D lens mounting assembly (15), electric rotation assembly (18) ;

Upper end left cover plate (11B), upper end right cover plate (11A), upper end upper cover plate (121), upper end lower cover plate (124), upper end rear cover plate (122) and upper end front cover plate (17) form an airtight space, the trainer can observe the virtual surgical scene displayed on the 3D display (16A) placed on the internal 3D display installation device (14) through the 3D lens assembly (15);

Upper end left cover plate (11B) and upper end right cover plate (11A) structure are identical; There is a rotating component left through hole (114B) on the upper end left cover plate (11B), is used for installing by left rotating shaft (111B), left The left rotation assembly composed of the position fixing screw hole (112B) and the left rotation gasket (113B); there is a right through hole (114A) of the rotation assembly at the center of the upper right cover plate (11A), which is used to install the right rotation shaft (111A), the right position fixing screw hole (112A) and the right rotation washer (113A) constitute the right rotation assembly; wherein, the left rotation shaft (111B) and the right rotation shaft (111A) have the same structure; the left position The fixed screw hole (112B) has the same structure as the right position fixed screw hole (112A); the left rotation gasket (113B) has the same structure as the right rotation gasket (113A);

The external 3D display installation device (13) consists of a bottom horizontal support beam (137), a horizontal fixture (135), a longitudinal support beam (134), a vertical fixture (133), a display connector (136) with a slot, a structure The same left-hand tightening screw (131B) and right-hand tightening screw (131A), the same structure of the left position fixing gasket 1 (132B) and the right position fixing gasket 1 (132A); the display connector with a card slot (136) The vertical fixing member (133) can be rotated within 10 degrees up and down, so that the external 3D display installation device (13) can adjust its position up and down, making it convenient for observers to watch the content displayed on the external 3D display (16A);

The internal 3D display installation device (14) cooperates with the internal 3D display fixed metal block (125) and is fixed on the internal support beam (123); The display connector (143), the left locking screw (141B) and the right locking screw (141A) with the same structure, the second left position fixing gasket (142B) and the right position fixing gasket two (142A) with the same structure , cannot rotate;

Two groups of 3D lens mounting devices (15) consist of a left front lens fixing frame (151B) and a right front fixing frame (151A) with the same structure, a left eye 3D lens (152B) and a right eye 3D lens (152A) with the same structure, The same left rear lens fixed frame (153B) and right rear lens fixed frame (153A) are formed; the left eye 3D lens (152B) is installed on the left front lens fixed frame (151B) and the left rear lens fixed frame (153B) ) in the middle of the 3D lens mounting left through hole (174B); install the right eye 3D lens (152A) in the middle of the right front lens fixing frame (151A) and the right rear lens fixing frame (153A), and fix them together Installed on the right through hole (174A) where the 3D lens is installed;

The upper front cover (17) of the upper display platform (1) is designed according to ergonomics and conforms to the physiological structure of the human face. When the trainer is training, the entire face can be fully extended into the central observation area (172), and the left side is blocked. The plate (171B) and the right side baffle (171A) are designed according to the structure of the left and right side faces of the human body, which can completely wrap the human ear. The trainer has room to breathe to prevent shortness of breath during the training process; therefore, the trainer can fully penetrate the entire head into the platform during virtual surgery training, without being affected by surrounding light, sound and other interference sources, which enhances virtual simulation At the same time, after the head is wrapped by the platform, it is not easy to swing left and right under the influence of other things, so that it can be more involved in virtual simulation training, further enhancing the sense of immersion;

The electric rotation assembly (18) is installed on the side of the upper right cover plate (11A); the electric rotation assembly (18) consists of a control box (181), a hub (182), an upper limit switch (183A) and a lower limit switch (183B) with the same structure ), stepper motor (184), drive rod (185), connecting screw (186) and threaded steel rod (187) and other components; one end of threaded steel rod (187) is connected with the rotating shaft of stepper motor (184), The other end of the threaded steel rod (187) is connected with the driving rod (185); one end of the driving rod (185) is fixed on the upper right cover plate (11A), and the other end is connected to the upper right cover plate through the connecting screw (186). (11A) on the right turning shaft (111A); the upper limit switch (183A) and the lower limit switch (183B) are installed on the upper right cover plate (11A) near the inner edge, and are respectively located at the two ends of the drive rod (185) side of the threaded steel bar (187); the control box (181) and the hub (182) are installed on the upper part of the upper right cover (11A), wherein the control box (181), upper limit switch (183A), lower limit switch (183B) and stepper motor (184) control line and power line are all connected on the hub (182); The upper end display assembly is connected with the downward movement button (23B); when the trainer adjusts the upper end display platform (1) position, if the up button (23A) is pressed, the stepping motor (184) will start to rotate and drive the threaded steel rod ( 187) rotate upwards, the side of the drive rod (185) connected to the threaded steel rod (187) will rotate downwards, and the upper end display table (1) connected by the connecting screw (186) will rotate upwards; if the down button is pressed (23B) stepper motor (184) will start to rotate and drive threaded steel rod (187) to rotate downwards, and the side of driving bar (185) connecting threaded steel rod (187) will turn upwards, and by connecting screw (186) One side of the connected upper display table (1) will move downward; the rotation of the stepper motor can make the upper display table (1) rotate up and down; the upper limit switch (183A), the lower limit switch (183B) Can control the angle range that the upper display platform (1) rotates in space; According to the maximum value of the daily pitch and elevation angles of the human brain, the present invention sets the upper and lower rotation range of the upper display platform (1) to be 30 degrees; Prevent the potential danger caused by the excessive angle of the upper and lower rotation of the upper display platform (1) due to misoperation by the trainer; the control box (181) has two functions, one of which is to control the rotation speed of the stepper motor (184), It can be adjusted by the speed control knob (1811); the second function is to control the turning on and off of the stepper motor (184), which can be operated by the electric rotary switch (1812);

The middle console (2) consists of an inner groove flat table (27), a support plate (28), a power switch button (21), a system start button (22), and an upward movement button (23A) for controlling the upper display assembly. , control the upper display component downward movement button (23B) and a 10-inch LCD touch screen;

The operation buttons required in the virtual surgery process are installed on the inner groove flat table top (27) of the middle console (2): power switch button (21), system start button (22), control upper display components with the same structure Upward movement button (23A) and the 10 inch liquid crystal touch screen installed in the downward movement button (23B) of control upper end display assembly, touch screen installation groove (29); Open and close; System start button (22) is connected with computer graphic work station (32) by cable, controls the opening and close of this work station; Control upper end display component upward movement button (23A) is connected with hub (182) by cable, and hub (182) Connect with stepper motor (184) again, control upper end display stand (1) to move upward; Control upper end display assembly downward movement button (23B) is also connected with hub (182) by cable, hub (182) is connected with stepper motor again Connect (184) to control the downward movement of the upper display component (1); the 10-inch LCD touch screen is used for switching surgical instruments (scalpels, palpation sticks) during virtual surgery training, adjusting the viewing angle, and creating and deleting training file data and save;

In addition, a force feedback device installation groove 1 (26A) and a force feedback device installation groove 2 (26B) with the same structure are designed on the left and right sides of the inner groove flat table top (27) of the mid-end console (2). ; The left and right force feedback devices with the same structure are respectively placed in the force feedback device installation groove 2 (26B) and the force feedback device installation groove 1 (26A), and the communication cables of the left and right force feedback devices pass through the two respectively. A through hole two (25B) and a through hole one (25A) with the same structure are connected on the USB interface of the workstation (32);

There are six holes with the same structure on the left and right sides of the support plate (28) on the mid-end console (2), which are respectively described as: hole nine (28A), hole ten (28B), hole eleven (28C), hole ten Two (28D), hole thirteen (28E), hole fourteen (28F); wherein, hole nine (28A), hole ten (28B) and hole eleven (28C) on the right side of the support plate (28) are used for the lower end For the fixing of the right support plate (41A), the holes twelve (28D), thirteen holes (28E) and fourteen holes (28F) on the left side of the support plate (28) are used for the lower left support plate (41B) fixed;

There are four through holes with the same structure on the underside of the support plate (28), which are respectively described as: three through holes (28G), four through holes (28H), five through holes (28I) and six through holes (28J); There are four holes with the same structure behind the inner groove plate table top (27) on the end console (2), described as: hole fifteen (28K), hole sixteen (28L), hole seventeen (28M) and Hole 18 (28N); Fixing screw is inserted in the back four holes of inner groove plate table top (27) after these four structurally identical through holes of the underside of the support plate (28) respectively, and the support plate ( 28) Fixed on the control panel;

After the virtual surgery training starts, the trainer first presses the power switch button (21) to open the power supply of the whole virtual surgery training platform; then, presses the system power button (22) to start the computer graphics workstation (32); The 10-inch touch screen in the installation groove (29) opens the virtual surgery training system; the trainer can adjust the upper display platform (1) by controlling the upper display assembly upward movement button (23A) and controlling the upper display assembly downward movement button (23B) position to obtain the best observation position for virtual surgery training; during the training process, the trainer can switch the surgical instrument (scalpel, palpation stick) and view angle through the 10-inch LCD touch screen installed in the touch screen installation groove (29). Adjustment, creation, deletion and preservation of training file data, etc.;

Described lower end supporting platform (3) is made up of the upper part (31A) of the arc-shaped lower end front cover plate, the lower part (31B) of the rectangular lower end front cover plate, the lower end rear cover plate upper part (36A) of the same structure and The middle part of the lower rear cover (36B), the lower part of the curved lower rear cover (36C), the supporting steel bar (33), the support beam with grooves (34), the lower supporting component (35) and the computer graphics workstation (32) composition;

The lower part (31B) of the front cover plate at the lower end can be inserted in the support beam (34) with grooves; 36A), the middle part of the lower rear cover (36B) and the lower part of the lower rear cover (36C) are connected together by hinges for easy opening;

The lower support assembly (35) includes: bottom metal support parts (355A, 355B), footboards (351, 352), fixed gaskets (353A, 353B, 354A, 354B); wherein, the left bottom metal support part (355B) and The right bottom metal support (355A) has the same structure, and the two bottom supports all have rotatable pulleys to facilitate the movement of the entire platform; the left end of the grooved footboard (351) passes through the left fixed gasket ( 353B) is fixed on the left side of the left bottom metal support (355B), and the right end of the grooved footboard (351) is fixed on the right side of the right bottom support metal piece (355A) through the right fixing gasket (353A) of the grooved footboard. Side; the left end of the rear footboard (352) is fixed on the left side of the left bottom support metal part (355B) through the left footboard fixing pad (354B), and the right end of the rear footboard (352) is fixed on the left side of the footboard right fixing pad The sheet (354A) is fixed on the right side of the right bottom metal support (355A);

The computer graphics workstation (32) is used to run 3D real-time virtual surgery simulation software to construct a three-dimensional virtual surgery scene. The trainer can perform virtual surgery interaction with various virtual tissues and organs in the virtual surgery scene through the force feedback device. The sense of touch acquires experience, learning and training in the surgical training process.

The side support plate assembly (4) includes two support plates (41A, 41B), fixing screws (44A-1, 44B-1, 44C-1, 44D-1, 44E-1, 44F-1), fixing Nuts (44A-2, 44B-2, 44C-2, 44D-2, 44E-2, 44F-2), fixed pins (45A, 45B, 45C, 45D, 45E, 45F, 45G, 45H), lower end rotation Components (42A, 43A and 42B, 43B); wherein the lower end left support plate (41B) has the same structure as the lower end right support plate (41A); fixed screw one (44A-1), fixed screw two (44B-1), Fixed screw three (44C-1), fixed screw four (44D-1), fixed screw five (44E-1) and fixed screw six (44F-1) have the same structure; fixed nut one (44A-2), fixed screw Cap two (44B-2), three fixed nuts (44C-2), four fixed nuts (44D-2), five fixed nuts (44E-2) and six fixed nuts (44F-2) have the same structure; The lower right rotating shaft (42A) and the lower left rotating shaft (42B) have the same structure, and the lower right fixing screw (43A) and the lower left fixing screw (43B) have the same structure;

Fixing screw one (44A-1) and fixing nut one (44A-2), fixing screw two (44B-1) and fixing nut two (44B-2), fixing screw three (44C-1) and fixing nut Two pairs of three (44C-2) are used in pairs, respectively go through through hole seven (46A), through hole eight (46B) and through hole nine (46C) on the lower right support plate (41A), and then insert Go to hole nine (28A), hole ten (28B) and hole eleven (28C) on the right side of the support plate (28) of the middle console (2), and fix the lower right support plate (41A);

Set screw four (44D-1) and set nut four (44D-2), set screw five (44E-1) and set nut five (44E-2), set screw six (44F-1) and set nut six (44F-2) to be used in pairs, first pass through hole ten (46D), through hole eleven (46E) and through hole twelve (46F) on the left support plate (41B) at the lower end respectively, and then Insert them into holes 12 (28D), 13 (28E) and 14 (28F) on the left side of the support plate (28) of the middle console (2), and fix the lower left support plate (41B) live;

One end of the right fixed pin 1 (45A), fixed pin 2 (45B), fixed pin 3 (45C) and fixed pin 4 (45D) of the lower right support plate (41A) are respectively inserted into the lower right support plate (41A ) in holes nineteen (47A), hole twenty (47B), hole twenty-one (47C) and hole twenty-two (47D), the other ends of which are respectively inserted into the recesses of the mid-end console (2) In the holes 1 (24A), 2 (24B), 3 (24C) and 4 (24D) on the right side of the slot plate table top (27), fix the right end of the mid-end console (2) on the lower right side of the support on board (41A);

One end of the left fixed pin five (45E), fixed pin six (45F), fixed pin seven (45G) and fixed pin eight (45H) of the lower left support plate (41B) is respectively inserted into the lower left support plate (41B ) on the hole twenty-three (47E), hole twenty-four (47F), hole two twenty-five (47G), hole twenty-six (47H), and insert the other end into the center console (2) In hole five (24E), hole six (24F), hole seven (24G), hole eight (24H), fix the left end of the middle end console (2) on the lower left support plate (41B);

Like this, the lower end right support plate (41A) and the lower end left support plate (41B) form an H shape with the middle end console (2), making the whole virtual surgery training platform more stable;

The lower right rotation shaft (42A), the lower left rotation shaft (42B), the lower right fixing screw (43A) and the lower left fixing screw (43B) in the side support plate assembly (4) are used for the upper display stand ( 1) rotation; when the trainer presses the upward movement button (23A), the stepper motor (184) will start to rotate and drive the threaded steel rod (187) to rotate upwards, and the drive rod (185) is connected to the threaded steel rod (187) One side will rotate downward, and the other side will drive the lower right rotating shaft (42A), the lower left rotating shaft (42B), the lower right fixing screw (43A) and the lower left fixing screw through the connecting screw (186) (43B) rotates, and realizes that upper end display platform (1) is upwardly adjusted; When the trainer presses downward movement button (23B) stepping motor (184) will start to rotate and drive threaded steel rod (187) to rotate downwards, drive rod (185) One side connected to the threaded steel rod (187) will rotate upwards, and the other side drives the lower end right rotation shaft (42A), the lower left rotation shaft (42B) and the lower right fixing screw through the connecting screw (186) (43A) and the fixing screw (43B) on the left side of the lower end to realize the downward adjustment of the upper display table (1);

The upper display platform (1) of the immersive adaptive pose virtual surgery training platform of the present invention is designed according to ergonomics and conforms to the structural characteristics of the human brain, and the trainer can completely penetrate the brain into the platform during training. In the middle, it is integrated with the platform to enhance the immersion of the trainer;

The immersive adaptive posture virtual surgery training platform of the present invention can provide the trainer with an interactive 3D dynamic visual scene fused with multi-source information such as force sense, vision, touch, etc., so that the trainer is completely immersed in the virtual surgery training system In order to quickly and efficiently improve the surgical level of trainees.

The upper end display table (1) of the immersive self-adaptive pose and posture virtual surgery training platform of the present invention is equipped with a 3D lens assembly (15), and the trainer does not need to wear 3D glasses. It is more convenient and comfortable for the trainer to operate;

The immersive self-adaptive pose and posture virtual surgery training platform of the present invention can adaptively adjust the pose according to the trainer's height and habitual surgical posture, so that the trainer can perform surgery according to his own habitual posture, which improves the training of the trainer. comfort.

The upper end display platform (1) of the immersive self-adaptive pose virtual surgery training platform of the present invention is equipped with a limit switch, and when the position of the upper end display assembly is too high or low due to misoperation by the trainer, it will automatically stop to prevent danger. occur;

Trainers are not limited by time and space when training on the immersive adaptive pose virtual surgery training platform, and can perform virtual surgery training repeatedly, without loss and without distortion.

By using the immersive self-adaptive pose and posture virtual surgery training platform of the present invention, the testers can watch the trainer's training process through the external 3D display (16B) of the upper display platform (1), and guide the trainer in a timely manner . At the same time, the entire training process of the trainer can be saved, and the evaluation personnel can open the saved training file anytime and anywhere to evaluate the training effect of the trainer.

Features of an immersive adaptive pose virtual surgery training platform of the present invention:

(1) The platform design is based on the human face structure, which conforms to ergonomics and has a strong sense of immersion. The upper front cover plate (17) of the upper end display platform (1) is designed according to the physiological structure of the human face, which conforms to ergonomics, and the trainer can completely embed the entire face in the central observation area (172) when training, and the left and right sides The baffles (171A, 171B) are designed according to the structure of the human ear and can completely wrap the human ear. The imitation human nose bridge device (173) is designed to imitate the human nose bridge, and is recessed inward to prevent unsmooth breathing during training. Therefore, the trainer can fully penetrate the whole head into the platform during training, without being affected by surrounding light, sound and other interference sources, which enhances the immersion of virtual simulation; at the same time, the head is not easily affected by other things after being wrapped by the platform And swing left and right, so that you can be more involved in virtual simulation training, further enhancing the sense of immersion. Through the two force feedback devices on the left and right, the trainer can truly feel the different operations of the device in the virtual environment, and the different feedback forces when touching different tissues, so that the trainer can experience the force feeling like a real operation. This fully immerses the trainer in the reconstructed virtual environment through multi-sensory perception.

(2) Adaptive pose, comfortable operation. The height of the virtual surgical platform can be automatically adjusted according to the different heights of the trainees and the habitual surgical postures. The adjustment buttons are set on the middle console, which is convenient for adjustment. At the same time, the operation of the system (including switching of virtual surgical instruments, creation, saving, deletion of training files, and adjustment of system viewing angle) is completed on the 10-inch LCD touch screen of the mid-end console, allowing trainers to conveniently operate the system.

(3) It can simulate a realistic surgical process. The trainer can interact with the human soft tissue in the virtual world through the force feedback device, which can simulate the palpation, cutting, tearing and other surgical operations in the real operation. Physiological phenomena of the human body such as bleeding and pulse beating. In addition, in order to further enhance the trainer's sense of reality, the system embeds the sound of heart beating and pulse beating collected during the real operation, allowing the trainer to experience multiple information perceptions such as touch, vision, and hearing, as if performing a real operation.

(4) Strong scalability: First, the force feedback device of an immersive adaptive pose virtual surgery training platform disclosed in the present invention is not dedicated. You can choose the cost-effective Phantom-OMNI force feedback device with six degrees of freedom, and you can also choose other force feedback devices according to your needs. Secondly, the design of the platform is not specific to a certain type of surgery, so that it will be very convenient when other types of surgery need to be expanded on the system. Different types of surgery mainly depend on the design of the virtual surgery training software.

(5) It can observe and evaluate the trainer's operation process in the whole process. The present invention designs double 3D display screens, one display screen is located inside the platform for the trainer to use, and the other display screen is located on the outside top of the platform for other personnel to watch, and the examiners can observe, guide and evaluate the entire operation of the trainer , which is conducive to the rapid improvement of the trainer's surgical operation level.

Description of drawings

Figure 1 is a structural diagram of an immersive adaptive pose virtual surgery training platform.

Figure 2 is a structural diagram of the upper display platform.

Fig. 3 is an exploded view of the upper display stand.

Fig. 4 is a structural diagram of the left and right cover plates of the upper display platform.

Fig. 5 is an exploded view of the left and right cover plates of the upper display stand.

Fig. 6 is a structural view of the upper, lower and rear cover plates of the upper display platform.

Fig. 7 is a structural diagram of an external 3D display installation device.

Fig. 8 is a structural diagram of an internal 3D display installation device.

Fig. 9 is a structural diagram of a 3D glasses lens mounting device.

Fig. 10 is an exploded view of the 3D glasses lens installation device.

Figure 11 is a 3D display.

Fig. 12 is a structural view of the front cover of the upper display stage.

Fig. 13 is a structural diagram of the electric rotating assembly.

Figure 14 is an exploded view of the electric rotating assembly.

Fig. 15 is a structural diagram of the mid-end console.

Figure 16 is an exploded view of the mid-end console.

Fig. 17 is a structural view of the lower support platform.

Fig. 18 is an exploded view of the lower support platform.

Figure 19 is a structural diagram of the side support plate assembly.

Figure 20 is an exploded view of the side support plate assembly.

In the figure: 1 is the upper display table, 11A is the upper right cover, 11B is the upper left cover, 111A is the right rotation shaft, 111B is the left rotation shaft, 112A is the right position fixing screw hole, 112B is the left position fixing Screw hole, 113A is the right rotation gasket, 113B is the left rotation gasket, 114A is the right through hole of the rotation assembly, and 114B is the left through hole of the rotation assembly.

121 is an upper cover plate, 122 is an upper rear cover plate, 123 is an internal support beam, 124 is an upper lower cover plate, and 125 is a fixing metal block of an internal 3D display.

13 is an external 3D display installation device, 131A is a left-handed fastening screw, 131B is a right-handed fastening screw, 132A is a fixed spacer 1 in the left position, 132B is a fixed spacer 1 in the right position, 133 is a vertical fixing piece, and 134 is a vertical support beam , 135 is a horizontal fixing piece, 136 is a display connector with a card slot, and 137 is a bottom horizontal support beam.

14 is the internal 3D display installation device, 141A is the right locking screw, 141B is the left locking screw, 142A is the second fixing spacer at the right position, 142B is the second fixing spacer at the left position, and 143 is a display connector with a slot, 144 is the bottom transverse support beam.

15 is the 3D lens mounting assembly, 151A is the right front lens fixing frame, 151B is the left front lens fixing frame, 152B is the left eye 3D lens, 152A is the right eye 3D lens, 153A is the right rear lens fixing frame, 153B is the left rear Internal lens holder.

16A is an internal 3D display, and 16B is an external 3D display.

17 is the upper front cover, 171A is the right side baffle, 171B is the left side baffle, 172 is the central observation area, 173 is the imitation human nose bridge device, 174A is the right through hole for installing the 3D lens, 174B is the left through hole for installing the 3D lens hole.

18 is an electric rotary assembly, 181 is a control box, 1811 is a speed control knob, 1812 is an electric rotary switch, 182 is a hub, 183A is an upper limit switch, 183B is a lower limit switch, 184 is a stepping motor, 185 is a driving rod, 186 For connecting screws, 187 is a threaded steel rod.

2 is the mid-end console, 21 is the power switch button, 22 is the system start button, 23A is the button for controlling the upward movement of the upper display component, 23B is the button for controlling the downward movement of the upper display component, 24A is hole 1, 24B is hole 2, 24C is the third hole, 24D is the fourth hole, 24E is the fifth hole, 24F is the sixth hole, 24G is the seventh hole, 24H is the eighth hole, 25A is the first through hole, 25B is the second through hole, and 26A is the installation groove of the force feedback device 1. 26B is the force feedback device installation groove 2, 27 is the inner groove flat table, 28 is the support plate, 28A is hole nine, 28B is hole ten, 28C is hole eleven, 28D is hole twelve, and 28E is hole Thirteen, 28F is hole fourteen, 28G is through hole three, 28H is through hole four, 28I is through hole five, 28J is through hole six, 28K is hole fifteen, 28L is hole sixteen, 28M is hole seventeen , 28N is hole eighteen, and 29 is a touch screen installation groove.

3 is the lower support platform, 31A is the upper part of the lower front cover, 31B is the lower part of the lower front cover, 32 is the computer graphics workstation, 33 is the supporting steel rod, 34 is the grooved support beam, 35 is the lower support assembly , 351 is the tread plate with groove, 352 is the rear tread plate, 353A is the right fixed gasket of the tread plate with groove, 353B is the left fixed gasket of the tread plate with groove, 354A is the right fixed gasket of the tread plate, 354B is 355A is the right bottom metal support, 355B is the left bottom metal support, 36A is the upper part of the lower rear cover, 36B is the middle part of the lower rear cover, and 36C is the lower part of the lower rear cover.

4 is the side support plate assembly, 41A is the lower right support plate, 41B is the lower left support plate, 42A is the lower right rotation shaft, 42B is the lower left rotation shaft, 43A is the lower right fixing screw, 43B is the lower end Left fixing screw, 44A-1 is fixing screw one, 44B-1 is fixing screw two, 44C-1 is fixing screw three, 44D-1 is fixing screw four, 44E-1 is fixing screw five, 44F-1 is fixing Screw six, 44A-2 is fixed nut one, 44B-2 is fixed nut two, 44C-2 is fixed nut three, 44D-2 is fixed nut four, 44E-2 is fixed nut five, 44F-2 is fixed nut six , 45A is the first fixed pin, 45B is the second fixed pin, 45C is the third fixed pin, 45D is the fourth fixed pin, 45E is the fifth fixed pin, 45F is the sixth fixed pin, 45G is the seventh fixed pin, 45H is the eighth fixed pin, 46A Through hole seven, 46B is through hole eight, 46C is through hole nine, 46D is through hole ten, 46E is through hole eleven, 46F is through hole twelve, 47A is hole nineteen, 47B is hole twenty, 47C It is hole twenty-one, 47D is hole twenty-two, 47E is hole twenty-three, 47F is hole twenty-four, 47G is hole twenty-five, and 47H is hole twenty-six.

Detailed ways

The present invention will be further described in detail in conjunction with the accompanying drawings and specific embodiments.

The present invention is an immersive adaptive posture virtual surgery training platform. As shown in Figure 1, the platform consists of four parts: an upper display platform 1, a middle console 2, a lower support platform 3 and a side support plate assembly 4. . In the present invention, at least one computer graphics workstation and two force feedback devices should be included.

Figure 1-Figure 14 shows the detailed connection and assembly diagrams of the upper display components, and the specific description is as follows:

As shown in Figures 2 and 3, the upper display stand 1 includes an upper left cover 11B, an upper right cover 11A, an upper upper cover 121, an upper lower cover 124, an upper rear cover 122, and an upper front cover 17. , an internal 3D display 16A, an external 3D display 16B, an external 3D display installation device 13 , an internal 3D display installation device 14 , a 3D lens installation assembly 15 , and an electric rotation assembly 18 . Wherein, the upper left cover plate 11B and the upper right cover plate 11A have the same structure.

As shown in Fig. 2 and Fig. 3, upper end left cover plate 11B, upper end right cover plate 11A, upper end upper cover plate 121, upper end lower cover plate 124, upper end rear cover plate 122 and upper end front cover plate 17 form a closed space, training The operator can observe the virtual surgical scene displayed on the internal 3D display 16A placed on the internal 3D display installation device 14 through the 3D lens assembly 15 .

As shown in Figures 4 and 5, the upper left cover plate 11B has a left through hole 114B of the rotating assembly, which is used to install the left rotating shaft 111B, the left position fixing screw hole 112B and the left rotating washer 113B. moving components. The center position of the upper right cover plate 11A has a right through hole 114A of the rotating assembly, which is used to install the right rotating assembly composed of the right rotating shaft 111A, the right position fixing screw hole 112A and the right rotating washer 113A. Wherein, the left rotating shaft 111B has the same structure as the right rotating shaft 111A; the left position fixing screw hole 112B has the same structure as the right position fixing screw hole 112A; the left rotating washer 113B has the same structure as the right rotating washer 113A.

As shown in Fig. 3, Fig. 7 and Fig. 11, the external 3D display installation device 13 consists of a bottom transverse support beam 137, a transverse fixing member 135, a longitudinal support beam 134, a longitudinal fixing member 133, a display connector 136 with a slot, a left-handed Tightening screw 131B, right-handed tightening screw 131A, left position fixed washer 132B, right position fixed washer 132A are formed. Among them, the left-hand tightening screw 131B has the same structure as the right-hand tightening screw 131A; the left position fixing gasket 132B has the same structure as the right position fixing gasket 132A; Rotate within the range, so that the external 3D display 13 can adjust its position up and down, which is convenient for observers to watch the content displayed on the external 3D display 16A;

As shown in Fig. 3, Fig. 6 and Fig. 8, the internal 3D display installation device 14 cooperates with the internal 3D display fixed metal block 125 and is fixed on the internal support beam 123; the internal 3D display installation device 14 consists of a bottom lateral support beam 144, The display connector 143 of the card slot, the left locking screw 141B with the same structure and the right locking screw 141A, the left position fixing gasket 2 142B and the right position fixing gasket 2 142A with the same structure, cannot be rotated;

As shown in Fig. 2, Fig. 3, Fig. 9, Fig. 10 and Fig. 12, the two groups of 3D lens mounting devices 15 for the left and right eyes consist of a left front lens fixing frame 151B with the same structure, a right front fixing frame 151A, and a left eye 3D lens with the same structure. Glasses 152B and right eye 3D glasses 152A, left rear portion lens fixing frame 153B and right rear portion lens fixing frame 153A of identical structure are formed; In the middle of 153B, they are fixedly installed on the left through hole 174B for installing the 3D lens together; the right eye 3D lens 152A is installed between the right front lens fixing frame 151A and the right rear lens fixing frame 153A, and are fixedly installed together in the right through hole for installing the 3D lens 174A;

As shown in Figure 12, the upper front cover 17 of the upper display stand 1 is designed according to ergonomics and conforms to the physiological structure of the human face. When training, the trainer can fully extend the entire face into the central observation area 172, and the left side is blocked. The plate 171B and the right side baffle 171A are designed according to the structure of the left and right side faces of the human body, which can completely wrap the human ears. The front device 173 imitates the human nose bridge design, and is sunken inward, leaving room for virtual surgery trainers. Space to breathe to prevent shortness of breath during training. Therefore, during the virtual surgery training, the trainer can fully penetrate the whole head into the platform, without being affected by the surrounding light, sound and other interference sources, which enhances the immersion of virtual simulation; at the same time, the head is not easily affected by the platform after being wrapped Other things affect and swing left and right, so that you can be more involved in virtual simulation training and further enhance the sense of immersion;

As shown in Fig. 13, Fig. 14, Fig. 16 and Fig. 2, the electric rotation assembly 18 is installed on the side of the upper right cover plate 11A; Switch 183B, stepper motor 184, drive rod 185, connecting screw 186 and threaded steel rod 187 etc.; The other end is connected with the drive rod (185); one end of the drive rod (185) is fixed on the upper right cover plate (11A), and the other end is connected to the upper right cover plate (11A) through the connecting screw (186) for right rotation. On the shaft (111A); the upper limit switch (183A) and the lower limit switch (183B) are installed on the upper right cover plate (11A) near the inner edge, respectively located on both sides of the drive rod (185), and at the same time on the threaded steel rod One side of (187); control box (181) and hub (182) are all installed on the upper part of upper right cover plate (11A), wherein, control box (181), upper limit switch (183A), lower limit switch (183B) and stepper motor (184) control line and power line are all connected on the hub (182); Hub (182) and control upper end display assembly upward movement button (23A) and control upper end display assembly downward movement button (23B) are connected; after the start of the virtual surgery training, the trainer is according to the height and posture during operation. When the trainer adjusts the position of the upper display platform 1, if he presses the up button 23A, the stepper motor 184 will start to rotate and drive the threaded steel rod 187 to rotate upwards, and the side of the drive rod 185 connected to the threaded steel rod 187 will rotate downwards. And the upper end display stand 1 that connects by connecting screw 186 will upwards rotate; The side will turn upwards, and the upper display unit 1 side connected by the connecting screw 186 will move downward; the rotation of the stepper motor can make the upper display assembly 1 rotate up and down; the upper limit switch 183A and the lower limit switch 183A Switch 183B can control the angle range that the upper display assembly 1 rotates in space; according to the maximum value of the daily pitch and elevation angles of the human brain, the present invention sets the upper and lower rotation range of the upper display platform 1 to be 30 degrees; this can prevent training Or the potential danger caused by the excessive upward and downward rotation angle of the upper display table 1 due to misoperation; the control box 181 has two functions, one of which is to control the rotation speed of the stepping motor 184, which can be adjusted through the speed control knob 1811 ; The second function is to control the turning on and off of the stepper motor 184, which can be operated by the electric rotary switch 1812;

As shown in Fig. 1, Fig. 15 and Fig. 16, the mid-end console 2 is composed of an inner groove flat table top 27, a support plate 28, a power switch button 21, a system start button 22, an upward movement button 23A of the control upper display assembly, and a control upper end. The display assembly is composed of a downward movement button 23B and a 10-inch liquid crystal touch screen; in the present invention, the mid-end console 2 is designed as a concave, and two force feedback devices are placed on the inner groove flat table top 27 of the mid-end console 2, Trainers can choose to stand for surgical training according to the actual operation situation, or they can add a seat and sit for surgical training. When standing, the trainer can deepen the waist in the flat table top 27 of the inner groove; when sitting and training, the chest can be deepened in the flat table top 27 of the inner groove, which is convenient for operation.

As shown in Fig. 1, Fig. 13, Fig. 14, Fig. 15 and Fig. 16, the middle-end console 2 places all the operation buttons required in the virtual operation process on the inner groove flat table top 27, including: power switch button 21 , System power-on button 22, control upper display unit 1 upward movement button 23A, control upper display assembly 1 downward movement button 23B, 10-inch LCD touch screen for training system control;

The power switch button 21 is connected to the power supply through a cable, and the power switch button is used to control the power on and off of the whole virtual surgery training platform; the system power button 22 is connected with the computer graphics workstation 32 through a cable, and controls the opening and closing of the workstation; The upward movement button 23A of the display assembly is connected to the hub 182 through a cable, and the hub 182 is connected with the stepper motor 184 to control the upward movement of the upper display unit 1; the downward movement button 23B of the control upper display assembly is also connected to the hub 182 through a cable, and the hub 182 is connected with the stepper motor 184 again to control the downward movement of the upper display assembly 1; wherein, the upward movement button 23A of the connection control upper display platform 1 has the same structure as the downward movement button 23B of the connection control upper display platform 1; the touch screen installation groove 29 A 10-inch LCD touch screen is installed in the center, and the 10-inch LCD touch screen is used to control the switching of surgical instruments (scalpel and palpation stick) during virtual surgery training, the adjustment of viewing angle, and the creation, deletion and preservation of training file data;

As shown in Fig. 15 and Fig. 16, a groove (26A, 26B) for placing a force feedback device is respectively designed on the left and right sides of the inner groove flat plate table top 27; The equipment installation groove 2 26B has the same structure; the left and right force feedback devices with the same structure are respectively placed in the force feedback device installation groove 2 26B and the force feedback device installation groove 1 26A, and the communication cables of the left and right force feedback devices are respectively Connect to the USB interface of the workstation 32 through the second through hole 25B and the first through hole 25A; wherein, the first through hole 25A has the same structure as the second through hole 25B;

As shown in Figure 16, there are six holes with the same structure on the left and right sides of the support plate 28, which are respectively described as: hole nine 28A, hole ten 28B, hole eleven 28C, hole twelve 28D, hole thirteen 28E, hole ten Four 28F; Among them, hole nine 28A, hole ten 28B and hole eleven 28C on the right side of the support plate 28 are used for fixing the support plate 41A on the right side of the lower end, and hole twelve 28D and hole thirteen 28E on the left side of the support plate 28 And hole fourteen 28F is used for fixing the support plate 41B on the left side of the upper end; the fixing screws pass through the three through holes 28G, four through holes 28H, five through holes 28I and six through holes 28J of the support plate 28. These four structures are the same After inserting the through holes of the inner groove plate table top 27 rear portions, the four holes with the same structure are the holes fifteen 28K, holes sixteen 28L, holes seventeen 28M and holes eighteen 28N, and the support plate 28 is fixed on On the flat table top 27 of the inner groove;

After virtual surgery training starts, the trainer first presses the power switch button 21 to open the power supply of the whole platform device; then, presses the system power button 22 to start the computer graphics workstation 32; then, opens the virtual surgery training system through the touch screen; the trainer can pass Control the upward movement button 23A of the upper display assembly and control the downward movement button 23B of the upper display assembly to adjust the position of the upper display platform 1 to find the best observation position; 1-inch LCD touch screen to switch surgical instruments (scalpel, palpation stick), adjust the viewing angle, create, delete and save training file data, etc.; force feedback equipment is used for real-time numerical calculation of the deformation process of surgical instruments and soft tissues , to simulate the deformation of the soft tissue and the stress state of the device and give feedback to the trainer.

As shown in Fig. 1, Fig. 17 and Fig. 18, the lower support platform 3 is composed of lower front cover plates (31A, 31B), lower end rear cover plates (36A, 36B, 36C), supporting steel rods 33, grooved support beams 34 and The lower support assembly 35 is formed; wherein, the upper part 31A of the lower front cover is arc-shaped, and the lower part 31B of the lower front cover is rectangular; the lower part 31B of the lower front cover can be inserted into the support beam 34 with grooves; the lower rear cover The upper part 36A of the plate has the same structure as the middle part 36B of the lower end rear cover, and the lower part 36C of the lower rear cover is arc-shaped and can be inserted into the groove of the tread plate 351 with grooves, and the three parts are connected together by hinges for easy opening; the lower part The support assembly 35 includes: bottom supports (355A, 355B), footboards (351, 352), fixed gaskets (353A, 353B, 354A, 354B); wherein, the left bottom metal support 355B and the right bottom metal support 355A The structure is the same, the two bottom supports have rotatable pulleys to facilitate the movement of the whole platform; the grooved tread plate 351 is fixed on the left side of the left bottom metal support 355B through the left fixed gasket 353B of the grooved tread plate , is fixed on the right side of the right bottom support metal part 355A through the right fixed washer 353A of the tread plate with grooves; The right fixing gasket 354A of the pedal is fixed on the right side of the metal support member 355A at the right bottom;

As shown in Fig. 1, Fig. 19 and Fig. 20, the side support board assembly 4 comprises two special-shaped support boards (41A, 41B), fixing screws (44A-1, 44B-1, 44C-1, 44D-1, 44E-1, 44F-1), retaining nuts (44A-2, 44B-2, 44C-2, 44D-2, 44E-2, 44F-2), retaining pins (45A, 45B, 45C, 45D, 45E . 1. Fixed screw three 44C-1, fixed screw four 44D-1, fixed screw five 44E-1 and fixed screw six 44F-1 have the same structure; fixed nut one 44A-2, fixed nut two 44B-2, fixed screw Cap three 44C-2, fixed nut four 44D-2, fixed nut five five 44E-2 and fixed nut six 44F-2 have the same structure;

As shown in Figure 16 and Figure 20, fixed screw rod one 44A-1 and fixed nut one 44A-2, fixed screw rod two 44B-1 and fixed nut two 44B-2, fixed screw rod three 44C-1 and fixed nut three 44C-2 are used in pairs, and are inserted into hole 9 on the right side of the support plate 28 of the middle console 2 through through hole 7 46A, through hole 8 46B and through hole 9 46C on the support plate 41A on the lower right side respectively. 28A, hole 10 28B and hole 11 28C fix the lower right support plate 41A; fixing screw 44D-1 and fixing nut 44D-2, fixing screw 5 44E-1 and fixing nut 5 44E-2 , Fixing screw 6 44F-1 and fixing nut 6 44F-2 are used in pairs, and are inserted through the through hole 10 46D, through hole 11 46E and through hole 12 46F on the support plate 41B on the left side of the lower end respectively. The left side support plate 41B of the lower end is fixed in the left side hole 12 28D, hole 13 28E, and hole 14 28F of the support plate 28 of the end console 2;

As shown in Figure 16 and Figure 20, one end of the right fixed pin 45A, the second fixed pin 45B, the third fixed pin 45C, and the fourth 45D of the right side support plate 41A are inserted into the hole nineteen ( 47A), hole 20 47B, hole 21 47C, hole 22 47D, one end is inserted into the right side hole 24A, hole 2 24B, hole three 24C, In the hole four 24D, the right end of the middle end console 2 is fixed on the lower right support plate 41A; the left side support plate 41B has five fixed pins 45E, six fixed pins 45F, seven fixed pins 45G, and eight fixed pins 45H One end is inserted into the hole twenty-three 47E, hole twenty-four 47F, hole twenty-five 47G, hole twenty-six 47H on the support plate 41B on the left side of the lower end, and one end is inserted into the inner groove flat table top 27 left of the middle console 2 In hole five 24E, hole six 24F, hole seven 24G, and hole eight 24H on the side, the left end of the middle end console 2 is fixed on the lower left side support plate 41B; like this, the right side support plate 41A and the left side support plate 41B It forms an H shape with the mid-end console component 2, making the entire virtual surgery training platform more stable;

As shown in Fig. 1, Fig. 13, Fig. 14 and Fig. 20, the lower end right rotating shaft 42A in the side support plate assembly 4, the lower end left rotating shaft 42B, the lower end right fixing screw 43A and the lower end left fixing screw 43B are used Rotation of table 1 is displayed at the upper end. After the trainer presses the upward movement button 23A, the stepper motor 184 will start to rotate and drive the threaded steel rod 187 to rotate upwards, and the side of the drive rod 185 connected to the threaded steel rod 187 will rotate downwards, and the other side will be connected by the connecting screw 186. Drive the lower end right side rotation shaft 42A, the lower end left side rotation shaft 42B, the lower end right side fixing screw 43A) and the lower end left side fixing screw 43B to rotate to realize the upward adjustment of the upper display platform 1; when the trainer presses the downward movement button 23B, The stepper motor 184 will start to rotate and drive the threaded steel rod 187 to rotate downwards, the side of the drive rod 185 connected to the threaded steel rod 187 will rotate upwards, and the other side will drive the lower right side rotating shaft (42A) and the lower end through the connecting screw 186. The left rotation shaft 42B, the lower right fixing screw 43A and the lower left fixing screw 43B realize the downward adjustment of the upper display table 1;

The upper display platform 1 of the immersive adaptive pose virtual surgery training platform is designed according to ergonomics and conforms to the structural characteristics of the human brain. When training, the trainer can fully penetrate the brain into the platform and integrate with the platform. Integrate to enhance the immersion of the trainer; the upper display table 1 of the immersive adaptive pose virtual surgery training platform consists of an upper right cover 11A, an upper left cover 11B, an upper upper cover 121, an upper lower cover 124, The upper rear cover 122 and the upper front cover 17 form a completely enclosed space, and light cannot penetrate into it. The trainer can concentrate on observing the virtual surgery scene displayed on the internal 3D display 16A, further enhancing the trainer's sense of immersion; the immersive The adaptive pose virtual surgery training platform can provide trainers with an interactive 3D dynamic view of force, vision, touch and other multi-source information fusion, allowing trainers to fully immerse themselves in the virtual surgery training system, thereby quickly and efficiently Improve the operation level of the trainer; the upper display table 1 of the immersive adaptive posture virtual surgery training platform is equipped with a 3D lens assembly 15, and the trainer does not need to wear 3D glasses. It is more convenient and comfortable for the trainer to operate; the immersive adaptive The position and posture virtual surgery training platform can adaptively adjust the posture according to the trainer's height and habitual surgical posture, so that the trainer can perform surgery according to his habitual posture, which improves the comfort of the trainer's training; the immersive self-adaptive A limit switch is installed on the upper display platform 1 of the posture virtual surgery training platform, and when the position of the upper display component is too high or low due to misoperation by the trainer, it will automatically stop to prevent danger from happening; The training on the posture virtual surgery training platform is not limited by time and space, and virtual surgery training can be performed repeatedly, non-destructively, and without distortion.

By using the immersive adaptive pose virtual surgery training platform, the testers can watch the trainer's training process through the external 3D display 16B of the upper display platform 1 and guide the trainer in a timely manner. At the same time, the entire training process of the trainer can be saved, and the evaluation personnel can open the saved training file anytime and anywhere to evaluate the training effect of the trainer.

The present invention is described by taking the virtual operation of brain surgery as a specific example. After the training starts, the trainer at first presses the power switch button 21 to switch on the power supply of the entire platform device; then, presses the system power button 22 to start the computer graphics workstation 32; then, opens the virtual surgery training system through a 10-inch LCD touch screen; the system After opening, the first step for trainers is to create a new training file, and the system sets the shortcut key for creating a new file as Ctrl+N. The second step is to name the newly created training file. The recommended naming method is: date + the first letter of the trainer's name. For example, on November 8, 2015, the trainer "Cheng Da" conducted virtual surgery training, then the training file can be named Name: 20151108CD. The advantage of this is that it is convenient to search for your own training files in the future. In the third step, the trainer conducts virtual surgery training. The trainer interacts with the virtual training system by operating the two force feedback devices placed on the left and right sides of the mid-end console 2, and the trainer can perform operations such as palpation, cutting, tearing, and suction on the virtual soft tissue in the virtual environment , the force feedback device will feed back different feedback forces to the trainer according to different operations of the trainer and different parts of the soft tissue touched, so that the trainer can experience the same force feeling as the real surgical operation; at the same time, the upper display platform 1 The internal 3D display 16A of the trainer displays the 3D visual effect after the interaction between the force feedback device and the soft tissue. The trainer can observe the soft tissue deformation of the soft tissue after being palpated by the force feedback device, the unfolding of the cut soft tissue, and the tearing of the soft tissue. The visual effects of different operations such as the disappearance of soft tissue after dehiscence and suction; in order to further enhance the visual reality of the virtual system, the bleeding phenomenon and pulse beating in the real surgical operation are also simulated; in terms of hearing, the real surgical operation collected in advance During the process, the patient's heart beating sound and pulse beating sound are embedded in the system, and different sounds are played according to different simulation scenarios during training, so that trainers can experience the real auditory experience. In this way, during the training process, the trainer can fully experience the interactive 3D dynamic vision of the fusion of force, vision, hearing and other multi-source information just like real surgery, so that the trainer is completely immersed in the virtual surgical training system In order to quickly and efficiently improve the surgical level of trainees.

In the present invention, the trainer is not limited by time and space during training, and can perform virtual surgery training repeatedly, without damage and without distortion.

In the present invention, the testers can watch the trainer's training process throughout the whole process through the external 3D display 16B of the upper display platform 1, and give guidance in time. At the same time, the entire training process of the trainer can be saved, and the evaluation personnel can open the saved training file anytime and anywhere to evaluate the training effect of the trainer.

Claims (1)

1. a kind of adaptive pose virtual operation training platform of immersion, feature is by upper end display station (1), middle-end console (2), (4) four parts of lower end supporting table (3) and lateral bolster bracing plate assembly form；

The upper end display station (1) include upper end left cover (11B), upper end right cover plate (11A), upper end upper cover plate (121), on Hold lower cover (124), upper end back shroud (122), upper end front shroud (17), two 3D display devices (16A, 16B), external 3D display Device mounting device (13), internal 3D display device mounting device (14), 3D eyeglasses mounting assembly (15), rotary electric component (18)；

Upper end left cover (11B), upper end right cover plate (11A), upper end upper cover plate (121), upper end lower cover (124), upper end rear cover Plate (122) and upper end front shroud (17) form a confined space；

External 3D display device mounting device (13) is by bottom transverse direction supporting beam (137), lateral fixing piece (135), longitudinal support beam (134), longitudinally fixed part (133), the display connector (136) with card slot, the identical left screwing screw (131B) of structure with Right screwing screw (131A), the identical left position of structure set setting-up piece (132B) and right position setting-up piece (132A)；Band card slot Display connector (136) can be rotated within the scope of longitudinally fixed part (133) up and down 10 degree, make external 3D display device installation dress Setting (13) can up and down adjustment position；

Internal 3D display device mounting device (14) matches with internal 3D display device fixation metal derby (125) and is fixed on internal support On beam (123)；Internal 3D display device mounting device (14) is by bottom transverse direction supporting beam (144), the display connector with card slot (143), setting-up piece is set in the identical left lock screw (141B) of structure left position identical with right lock screw (141A), structure (142B) is formed with right position setting-up piece (142A)；

3D lens attachments (15) by the identical left front lens fixed frame (151B) of structure and right front portion fixed frame (151A), The identical left eye 3D eyeglasses (152B) of structure left back portion's eyeglass fixed frame (153B) identical with right eye 3D eyeglasses (152A), structure It is formed with right rear portion eyeglass fixed frame (153A)；By left eye 3D eyeglasses (152B) be mounted on left front lens fixed frame (151B) with Left back portion's eyeglass fixed frame (153B) is intermediate, is rigidly mounted together to 3D eyeglasses and installs on left through-hole (174B)；By right eye 3D mirrors Piece (152A) is mounted on right front portion eyeglass fixed frame (151A) among right rear portion eyeglass fixed frame (153A), is fixedly mounted together It is installed on right through-hole (174A) in 3D eyeglasses；

Rotary electric component (18) is mounted on the side upper end right cover plate (11A)；Rotary electric component (18) by control cabinet (181), Hub (182), the identical upper limit position switch of structure (183A) and lower position switch (183B), stepper motor (184), drive rod (185), connecting screw (186) and screw thread rod iron (187) composition；One end of screw thread rod iron (187) turns with stepper motor (184) Axis is connected, and the other end of screw thread rod iron (187) is connected with drive rod (185)；Drive rod (185) one end is fixed on upper end right cover On plate (11A), the other end and it is connected on the right rotation shafts (111A) of upper end right cover plate (11A) by connecting screw (186)；On Limit switch (183A), lower position switch (183B) are mounted on upper end right cover plate (11A) close to inside edge, are located at The both sides of drive rod (185), while positioned at the side of screw thread rod iron (187)；Control cabinet (181) and hub (182) are all installed In the upper portion of upper end right cover plate (11A), wherein control cabinet (181), upper limit position switch (183A), lower position switch The control line and power cord of (183B) and stepper motor (184) are all connected on hub (182)；Hub (182) again with control Upper end display module processed moves upwards button (23A) and moves downward button (23B) with control upper end display module and be connected；

The middle-end console (2) is by inner groovy tablet table top (27), support plate (28), power switch button (21), system Power on button (22), control upper end display module move upwards button (23A), control upper end display module moves downward button (23B) and liquid crystal touch screen form；

Power switch button (21), system boot button are installed on the inner groovy tablet table top (27) of middle-end console (2) (22), control upper end display module moves upwards button (23A), control upper end display module moves downward button (23B), installation Liquid crystal touch screen in touch screen installation groove (29)；Power switch button (21) is connected to by cable on power supply, control electricity The opening and closing in source；System boot button (22) is connect by cable with computer graphical work station (32), and opening for the work station is controlled It closes；Control upper end display module moves upwards button (23A) and is connect with hub (182) by cable, hub (182) again with Stepper motor (184) connects, and control upper end display station (1) moves upwards；Control upper end display module moves downward button (23B) It is connect with hub (182) also by cable, hub (182) is connect with stepper motor (184) again, controls upper end display module (1) it moves downward；

Respectively there are one the identical force feedbacks of structure for design for the right and left on the inner groovy tablet table top (27) of middle-end console (2) Equipment installation groove one (26A) and force feedback equipment installation groove two (26B)；The identical force feedback equipment of two structures is put respectively In force feedback equipment installation groove two (26B) and force feedback equipment installation groove one (26A), the communication of two force feedback equipments Cable, which is each passed through, to be connected to the USB of work station (32) after the identical through-hole two (25B) of two structures and through-hole one (25A) and connects On mouth；

Hole nine (28A), hole ten (28B) and Kong Shiyi (28C) on the right side of support plate (28) is for lower end Right side support plate (41A) Fixed, hole 12 (28D), Kong Shisan (28E) and Kong Shisi (28F) on the left of support plate (28) are used for lower end Left-side support plate The fixation of (41B)；

The downside of support plate (28) is there are four the identical through-hole of structure, the inner groovy tablet table top (27) on middle-end console (2) There are four the identical holes of structure below, after fixing screws are each passed through this identical through-hole of four structures of the downside of support plate (28) It is inserted into subsequent four holes of inner groovy tablet table top (27), support plate (28) is fixed on control table top；

The lower end supporting table (3) is by the upper part (31A) of lower end front shroud of arc shape, rectangular-shaped lower end front shroud After lower part (31B), structure identical lower end back shroud top (36A) hold end with lower end back shroud middle part (36B), arc Cover board lower part (36C), support rod iron (33), trough of belt supporting beam (34), lower support component (35) and computer graphical work station (32) it forms；

Lower end front shroud lower part (31B) is inserted into trough of belt supporting beam (34)；Lower end back shroud lower part (36C) is inserted into groove In the groove of foot pedal (351), (36B) and lower end back shroud lower part in the middle part of lower end back shroud top (36A), lower end back shroud These three parts (36C) are connected together through the hinges；

Lower support component (35) includes：Bottom metal support element (355A, 355B), foot pedal (351,352), setting-up piece (353A、353B、354A、354B)；Wherein, bottom left metallic supports (355B) and right bottom metal support element (355A) structure Identical, two bottom supports all carry rotatable pulley, drive the movement of entire platform；Band groove foot pedal (351) is left End passes through the left side that bottom left metallic supports (355B) is fixed on the left setting-up piece of groove foot pedal (353B), and band groove is stepped on Sole (351) right end with the right setting-up piece of groove foot pedal (353A) by being fixed on the right side that right bottom supports metalwork (355A) Side；The left end of rear foot pedal (352) is fixed on bottom left by the left setting-up piece of foot pedal (354B) and supports metalwork (355B) Left side, the right end of rear foot pedal (352) is fixed on right bottom metal support element by the right setting-up piece of foot pedal (354A) The right side of (355A)；

The lateral bolster bracing plate assembly (4) includes two pieces of support plates, lower end Left-side support plate (41B) and lower end Right side support plate (41A) structure is identical；Standing screw one (44A-1), standing screw two (44B-1), standing screw three (44C-1), standing screw Four (44D-1), standing screw five (44E-1) are identical with (44F-1) structure of standing screw six；Hold-doun nut one (44A-2) is fixed Nut two (44B-2), hold-doun nut three (44C-2), hold-doun nut four (44D-2), hold-doun nut five (44E-2) and hold-doun nut Six (44F-2) structures are identical；Rotation axis (42A) is identical with lower end left pivot movement axis (42B) structure on the right side of lower end, solid on the right side of lower end It is identical with fixed screw (43B) structure on the left of lower end to determine screw (43A)；

Two (44B- of standing screw one (44A-1) and hold-doun nut one (44A-2), standing screw two (44B-1) and hold-doun nut 2), standing screw three (44C-1) and hold-doun nut three (44C-2) are used cooperatively in pairs, initially pass through branch on the right side of lower end respectively Through-hole seven (46A), through-hole eight (46B) on fagging (41A) and through-hole nine (46C), are then inserted into the branch of middle-end console (2) In hole nine (28A), hole ten (28B), Kong Shiyi (28C) on the right side of fagging (28), lower end Right side support plate (41A) is fixed；

Five (44E- of standing screw four (44D-1) and hold-doun nut four (44D-2), standing screw five (44E-1) and hold-doun nut 2), standing screw six (44F-1) and fixing nut six (44F-2) are used cooperatively in pairs, initially pass through branch on the left of lower end respectively Through-hole ten (46D), through-hole 11 (46E) on fagging (41B) and through-hole 12 (46F), are then inserted into middle-end console (2) Support plate (28) on the left of hole 12 (28D), in Kong Shisan (28E) and Kong Shisi (28F), by lower end Left-side support plate (41B) is fixed；

Right side Fixed latches one (45A), Fixed latches two (45B), the Fixed latches three (45C) of lower end Right side support plate (41A) Kong Shijiu (47A), the Kong Ershi being inserted into respectively with the respective one end Fixed latches four (45D) on lower end Right side support plate (41A) In (47B), Kong Ershi mono- (47C) and Kong Ershi bis- (47D), the respective other end is inserted into the indent of middle-end console (2) respectively In hole one (24A), hole two (24B), hole three (24C) and Kong Si (24D) on the right side of slot tablet table top (27), by middle-end console (2) right end is fixed on lower end Right side support plate (41A)；

Left side Fixed latches five (45E), Fixed latches six (45F), the Fixed latches seven (45G) of lower end Left-side support plate (41B) It is inserted into Kong Ershi tri- (47E) on lower end Left-side support plate (41B), hole two respectively with the respective one end Fixed latches eight (45H) In 14 (47F), hole 2 two ten five (47G), Kong Ershi six (47H), the respective other end is inserted into the hole on middle-end console (2) In five (24E), hole six (24F), hole seven (24G), hole eight (24H), the left end of middle-end console (2) is fixed on branch on the left of lower end On fagging (41B)；

Lower end Right side support plate (41A) and lower end Left-side support plate (41B) constitute H-type with middle-end console (2)；

Rotation axis (42A), lower end left pivot movement axis (42B), lower end right side are fixed on the right side of lower end in lateral bolster bracing plate assembly (4) Fixed screw (43B) is used for the rotation of upper end display station (1) on the left of screw (43A) and lower end；It is moved upwards when trainer presses After button (23A), stepper motor (184) will start to rotate and screw thread rod iron (187) driven to be rotated up, and drive rod (185) is even Connecing the side of screw thread rod iron (187) will rotate down, and the other side drives rotation axis on the right side of lower end by connecting screw (186) Fixed screw (43A) and lower end left side fixed screw (43B) rotate on the right side of (42A), lower end left pivot movement axis (42B), lower end, real Existing upper end display station (1) is adjusted up；After trainer, which presses, moves downward button (23B), stepper motor (184) will start to turn It moves and screw thread rod iron (187) is driven to rotate down, the side of drive rod (185) connection screw thread rod iron (187) will be rotated up, separately Side drives rotation axis (42A) on the right side of lower end, lower end left pivot movement axis (42B), lower end right side fixed by connecting screw (186) Fixed screw (43B) rotates on the left of screw (43A) and lower end, realizes that upper end display station (1) is adjusted downwards.