CN111380500A - A method and equipment for simulating scalpel spatial positioning - Google Patents

Abstract

The invention provides a space positioning method and equipment for a simulated scalpel, wherein the equipment comprises movable arms S1, S2 and S3; a simulated scalpel S4; the universal rotating shaft S5, S6, S7, S8 and the fixed seat S9; the movable arms and the movable arms are connected with the simulated scalpel through universal rotating shafts, each section of movable arm is internally provided with an attitude detection module, and the simulated scalpel is internally provided with an attitude detection module and a calibration key; the universal rotating shaft can rotate around the shaft center in a three-dimensional space at a large angle, the gesture of the movable arm in the motion process is captured by the gesture detection module of the movable arm, the gesture of the simulated scalpel S4 in the motion process is captured by the gesture detection module of the simulated scalpel S4, the length of the movable arm and the length of the simulated scalpel S4 are combined, the function of positioning the virtual scalpel in virtual reality is achieved, and the requirements of performing operations at different angles in virtual reality simulated operation are met.

Description

A method and equipment for simulating scalpel spatial positioning

technical field

The invention relates to the technical field of spatial positioning, in particular to a method and equipment for spatial positioning of a simulated scalpel.

Background technique

The existing virtual reality space positioning device has the problems of many additional equipment, high price and complicated operation, which is a big defect for the application of medical experiment virtual reality scene. With the development of virtual reality technology in the application of medical simulation surgery , there is an urgent need for some spatial position tracking equipment with less additional equipment, convenient operation, low price and high spatial positioning accuracy to meet the needs of virtual scalpel operation in virtual reality simulation surgery.

SUMMARY OF THE INVENTION

In view of the above technical problems, the present invention provides a solution of a simulated scalpel spatial positioning device, which can better solve the aerial positioning requirements of simulated scalpels in the application of medical simulated surgery.

1. The present invention provides a simulated scalpel space positioning device, the device,

It consists of movable arm S1, movable arm S2, movable arm S3, simulated scalpel S4, universal rotation axis S5, universal rotation axis S6, universal rotation axis S7, universal rotation axis S8 and fixed seat S9;

The movable arm S1 is connected to the fixed seat S9 through the universal rotation axis S5, the movable arm S1 is connected to the movable arm S2 through the universal rotation axis S6, and the movable arm S2 is connected to the movable arm S2 through the universal rotation axis S6. The universal rotation axis S7 is connected with the movable arm S3, and the movable arm S3 is connected with the simulated scalpel S4 through the universal rotation axis S8;

The movable arm S1 includes an attitude detection module S101, a Bluetooth SOC processor module S102, and a power supply module S103; the attitude detection module S101 adopts a nine-axis motion attitude detection sensor for capturing the aerial attitude during the movement of the movable arm S1; The bluetooth SOC processor module S102 is used to obtain the motion attitude data of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, perform data fusion calculation, and obtain the aerial position positioning information of the simulated scalpel S4, and Sending the air position positioning information to other application systems for use through Bluetooth communication;

The movable arm S2 includes a posture detection module for capturing the posture during the movement of the movable arm S2;

The movable arm S3 includes a posture detection module for capturing the posture during the movement of the movable arm S3;

The simulated scalpel S4 includes a posture detection module and a calibration button for capturing the posture during the movement of the simulated scalpel S4, and the calibration button is used to calibrate the initial position of the spatial positioning device of the simulated scalpel S4;

The attitude detection module uses a nine-axis inertial sensor, and the nine-axis inertial sensor includes a three-axis acceleration sensor, a three-axis gyroscope sensor and a three-axis magnetic sensor;

The universal rotation shaft is used to provide the movable arm with a large range of rotation around the universal rotation axis in three-dimensional space;

The bluetooth SOC processor module is a single SOC chip that integrates the MCU central processing unit and the bluetooth communication function, and is used to collect the data of the three attitude detection modules in the rotating arm and the encoded signal of the grating coding module to perform simulated surgery The spatial positioning algorithm of the knife S4 is processed, and the calculated spatial positioning information of the simulated scalpel S4 is sent to the external application system through Bluetooth communication;

The attitude detection module S101, the attitude detection module S201, the attitude detection module S301, the attitude detection module S401, the calibration button S402, and the power supply module S103 are connected to the Bluetooth SOC processor module S102 through wires.

2. a method for simulating scalpel space positioning, characterized in that,

Include the following steps,

Step 1, keep the movable arm S1, movable arm S2, movable arm S3 and simulated scalpel S4 of the simulated scalpel S4 spatial positioning device horizontal and make the movable arm S1, movable arm S2, movable arm S3 and simulated scalpel S4 On the same axis, a straight line is formed, and at the same time, the posture detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the posture detection module built in the simulated scalpel S4 are all kept facing upwards; start the simulated scalpel S4 space When the positioning equipment is working, press the calibration button of the simulated scalpel S4 to calibrate the initial position and attitude of the simulated scalpel S4 spatial positioning equipment;

Step 2: Obtain the quaternion attitude data of each attitude detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, convert it into Euler angle attitude data, and determine the movable arm according to the Euler angle attitude data. S1, the aerial posture and direction of the movable arm S2, the movable arm S3 and the simulated scalpel S4;

Step 3: Acquire the gravitational acceleration data of each posture detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4. According to the vector components of gravity on the three axes of the acceleration sensor, each of the The angle between the movable arm and the horizontal plane and the angle between the simulated scalpel S4 and the horizontal plane;

Suppose the included angle between the movable arm S1 and the horizontal plane is α, the included angle between the movable arm S2 and the horizontal plane is β, the included angle between the movable arm S3 and the horizontal plane is δ, and the included angle between the simulated scalpel S4 and the horizontal plane is θ;

According to the connection relationship between the movable arm S1, the movable arm S2, the movable arm S3, the simulated scalpel S4 and the universal rotating shaft,

Suppose the fixed seat S9 is point O, the universal rotation axis S6 is point A, the universal rotation axis S7 is point B, the universal rotation axis S8 is point C, the movable end of the simulated scalpel S4 is D, and O is the origin of the coordinate system. The coordinate system xOy of the included angle of each part of the equipment of the invention technical solution;

Let the angle between the movable arm S1 and the x-axis be α, the angle between the movable arm S2 and the x-axis is β, the angle between the movable arm S3 and the x-axis is δ, and the angle between the simulated scalpel S4 and the x-axis is θ;

Let the angle between AB and BO be , the angle between BO and y-axis is , the angle between BO and x-axis is q, the angle between CO and x-axis is Ψ, and the angle between BO and CO is p;

Suppose the lengths of the movable arm S1, the movable arm S2, and the movable arm S3 are all L, the length of the simulated scalpel S4 is H, the distance from the top of the movable arm S2 to the fixed seat S9 is M, and the distance from the top of the movable arm S3 to the fixed seat S9 is N, and the distance from the top of the simulated scalpel S4 to the fixed seat S9 is X;

According to the triangle angle relationship in the coordinate system xOy, the following formula holds:

--（1）

--(1)

--（2）

--(2)

---（3）

---(3)

---（4）

---(4)

---（5）

---(5)

---（6）

---(6)

---(7)

---(8)

From formula (1) to formula (8), M, N and X can be calculated. According to the described simulation scalpel S4, movable arm S1, movable arm S2, movable arm S3 and the fixed seat, there is a rigid connection. The attitude data captured in real time by the attitude detection module in the scalpel S4 and the movable arm S1, the movable arm S2, and the movable arm S3 realizes the accurate positioning of the spatial position of the simulated scalpel S4.

Through the above method, the simulated surgery can be quickly and accurately positioned in the air, which can be widely used in the virtual scalpel operation and positioning requirements in the virtual reality simulated surgery. At the same time, the invention has the advantages of less additional equipment, convenient operation, low price, and aerial position positioning. The advantage of high precision.

Description of drawings

Fig. 1 is the technical scheme structural representation of the present invention;

2 is a schematic diagram of the coordinate system of the technical solution of the present invention;

FIG. 3 is a block diagram of a hardware system of the technical solution of the present invention.

Detailed ways

In order to better illustrate the technical solutions of the present invention, the principles and features of the present invention are described in detail below with reference to the accompanying drawings;

As shown in FIG. 1 , the present invention provides a simulated scalpel space positioning device, which includes a movable arm S1, a movable arm S2, a movable arm S3, a simulated scalpel S4, a universal rotation axis S5, a universal rotation axis S6, The universal rotation shaft S7, the universal rotation shaft S8 and the fixed seat S9 are composed;

The movable arm S1 is connected to the fixed seat S9 through the universal rotation axis S5, the movable arm S1 is connected to the movable arm S2 through the universal rotation axis S6, and the movable arm S2 is connected to the movable arm S2 through the universal rotation axis S6. The universal rotation axis S7 is connected with the movable arm S3, and the movable arm S3 is connected with the simulated scalpel S4 through the universal rotation axis S8;

The movable arm S1 includes an attitude detection module S101, a Bluetooth SOC processor module S102, and a power supply module S103; the attitude detection module S101 adopts a nine-axis motion attitude detection sensor for capturing the aerial attitude during the movement of the movable arm S1; The bluetooth SOC processor module S102 is used to obtain the motion attitude data of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, perform data fusion calculation, and obtain the aerial position positioning information of the simulated scalpel S4, and Sending the air position positioning information to other application systems for use through Bluetooth communication;

The movable arm S2 includes a posture detection module for capturing the posture during the movement of the movable arm S2;

The movable arm S3 includes a posture detection module for capturing the posture during the movement of the movable arm S3;

The simulated scalpel S4 includes a posture detection module and a calibration button for capturing the posture during the movement of the simulated scalpel S4, and the calibration button is used to calibrate the initial position of the spatial positioning device of the simulated scalpel S4;

The attitude detection module uses a nine-axis inertial sensor, and the nine-axis inertial sensor includes a three-axis acceleration sensor, a three-axis gyroscope sensor and a three-axis magnetic sensor;

The universal rotation shaft is used to provide the movable arm with a large range of rotation around the universal rotation axis in three-dimensional space;

The bluetooth SOC processor module is a single SOC chip that integrates the MCU central processing unit and the bluetooth communication function, and is used to collect the data of the three attitude detection modules in the rotating arm and the encoded signal of the grating coding module to perform simulated surgery The spatial positioning algorithm of the knife S4 is processed, and the calculated spatial positioning information of the simulated scalpel S4 is sent to the external application system through Bluetooth communication;

The attitude detection module S101, the attitude detection module S201, the attitude detection module S301, the attitude detection module S401, the calibration button S402, and the power supply module S103 are connected to the Bluetooth SOC processor module S102 through wires.

2. a method for simulating scalpel space positioning, characterized in that,

Include the following steps,

Step 1, keep the movable arm S1, movable arm S2, movable arm S3 and simulated scalpel S4 of the simulated scalpel S4 spatial positioning device horizontal and make the movable arm S1, movable arm S2, movable arm S3 and simulated scalpel S4 On the same axis, a straight line is formed, and at the same time, the posture detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the posture detection module built in the simulated scalpel S4 are all kept facing upwards; start the simulated scalpel S4 space When the positioning equipment is working, press the calibration button of the simulated scalpel S4 to calibrate the initial position and attitude of the simulated scalpel S4 spatial positioning equipment;

Step 2: Obtain the quaternion attitude data of each attitude detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, convert it into Euler angle attitude data, and determine the movable arm according to the Euler angle attitude data S1, the aerial posture and direction of the movable arm S2, the movable arm S3 and the simulated scalpel S4;

Step 3: Acquire the gravitational acceleration data of each posture detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4. According to the vector components of gravity on the three axes of the acceleration sensor, each of the The angle between the movable arm and the horizontal plane and the angle between the simulated scalpel S4 and the horizontal plane;

According to the connection relationship between the movable arm S1, the movable arm S2, the movable arm S3, the simulated scalpel S4 and the universal rotating shaft,

Suppose the fixed seat S9 is point O, the universal rotation axis S6 is point A, the universal rotation axis S7 is point B, the universal rotation axis S8 is point C, the movable end of the simulated scalpel S4 is D, and O is the origin of the coordinate system. The schematic diagram of the angle coordinate system xOy of each part of the equipment of the invention technical solution is shown in Figure 2;

Let the angle between the movable arm S1 and the x-axis be α, the angle between the movable arm S2 and the x-axis is β, the angle between the movable arm S3 and the x-axis is δ, and the angle between the simulated scalpel S4 and the x-axis is θ;

Let the angle between AB and BO be , the angle between BO and y-axis is , the angle between BO and x-axis is q, the angle between CO and x-axis is Ψ, and the angle between BO and CO is p;

Suppose the lengths of the movable arm S1, the movable arm S2, and the movable arm S3 are all L, the length of the simulated scalpel S4 is H, the distance from the top of the movable arm S2 to the fixed seat S9 is M, and the distance from the top of the movable arm S3 to the fixed seat S9 is N, and the distance from the top of the simulated scalpel S4 to the fixed seat S9 is X;

As shown in Figure 2, according to the triangle angle relationship in the coordinate system, the following formula is established:

---（1）

---(1)

---（2）

---(2)

---（3）

---(3)

---（4）

---(4)

---（5）

---(5)

---（6）

---(6)

---(7)

---(8)

From formula (1) to formula (8), M, N and X can be calculated. According to the described simulation scalpel S4, movable arm S1, movable arm S2, movable arm S3 and the fixed seat, there is a rigid connection. The attitude data captured in real time by the attitude detection module in the scalpel S4 and the movable arm S1, the movable arm S2, and the movable arm S3 realizes the accurate positioning of the spatial position of the simulated scalpel S4.

Claims (2)

1. a simulating scalpel space positioning device, is characterized in that, It consists of movable arm S1, movable arm S2, movable arm S3, simulated scalpel S4, universal rotation axis S5, universal rotation axis S6, universal rotation axis S7, universal rotation axis S8 and fixed seat S9; The movable arm S1 is connected to the fixed seat S9 through the universal rotation axis S5, the movable arm S1 is connected to the movable arm S2 through the universal rotation axis S6, and the movable arm S2 is connected to the movable arm S2 through the universal rotation axis S6. The universal rotation axis S7 is connected with the movable arm S3, and the movable arm S3 is connected with the simulated scalpel S4 through the universal rotation axis S8; The movable arm S1 includes an attitude detection module S101, a Bluetooth SOC processor module S102, and a power supply module S103; the attitude detection module S101 adopts a nine-axis motion attitude detection sensor for capturing the aerial attitude during the movement of the movable arm S1; The bluetooth SOC processor module S102 is used to obtain the motion attitude data of the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, perform data fusion calculation, and obtain the aerial position positioning information of the simulated scalpel S4, and Sending the air position positioning information to other application systems for use through Bluetooth communication; The movable arm S2 includes a posture detection module for capturing the posture during the movement of the movable arm S2; The movable arm S3 includes a posture detection module for capturing the posture during the movement of the movable arm S3; The simulated scalpel S4 includes a posture detection module and a calibration button for capturing the posture during the movement of the simulated scalpel S4, and the calibration button is used to calibrate the initial position of the spatial positioning device of the simulated scalpel S4; The attitude detection module uses a nine-axis inertial sensor, and the nine-axis inertial sensor includes a three-axis acceleration sensor, a three-axis gyroscope sensor and a three-axis magnetic sensor; The universal rotation shaft is used to provide the movable arm with a large range of rotation around the universal rotation axis in three-dimensional space; The bluetooth SOC processor module is a single SOC chip that integrates the MCU central processing unit and the bluetooth communication function, and is used to collect the data of the three attitude detection modules in the rotating arm and the encoded signal of the grating coding module to perform simulated surgery The spatial positioning algorithm of the knife S4 is processed, and the calculated spatial positioning information of the simulated scalpel S4 is sent to the external application system through Bluetooth communication; The attitude detection module S101, the attitude detection module S201, the attitude detection module S301, the attitude detection module S401, the calibration button S402, and the power supply module S103 are connected to the Bluetooth SOC processor module S102 through wires. 2. a method for simulating scalpel space positioning, characterized in that, Include the following steps, Step 1, keep the movable arm S1, movable arm S2, movable arm S3 and simulated scalpel S4 of the simulated scalpel S4 space positioning device of claim 1 horizontally and make the movable arm S1, movable arm S2, movable arm S3 and the simulated scalpel S4 horizontally. The scalpel S4 is on the same axis, forming a straight line, and at the same time, the posture detection module built in the movable arm S1, movable arm S2, movable arm S3 and the posture detection module built in the simulated scalpel S4 are all kept facing upward; start the simulated surgery When the knife S4 spatial positioning equipment is working, press the calibration button of the simulated scalpel S4 to calibrate the initial position and attitude of the simulated scalpel S4 spatial positioning equipment; Step 2: Obtain the quaternion attitude data of each attitude detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, convert it into Euler angle attitude data, and determine the movable arm according to the Euler angle attitude data. S1, the aerial posture and direction of the movable arm S2, the movable arm S3 and the simulated scalpel S4; Step 3: Acquire the gravitational acceleration data of each posture detection module built in the movable arm S1, the movable arm S2, the movable arm S3 and the simulated scalpel S4, and calculate the movable arm according to the vector components of gravity on the three axes of the acceleration sensor. S1, the angle between the movable arm S2, the movable arm S3 and the simulated scalpel S4 and the horizontal plane; Suppose the included angle between the movable arm S1 and the horizontal plane is α, the included angle between the movable arm S2 and the horizontal plane is β, the included angle between the movable arm S3 and the horizontal plane is δ, and the included angle between the simulated scalpel S4 and the horizontal plane is θ; According to the connection relationship between the movable arm S1, the movable arm S2, the movable arm S3, the simulated scalpel S4 and the universal rotating shaft, Suppose the fixed seat S9 is point O, the universal rotation axis S6 is point A, the universal rotation axis S7 is point B, the universal rotation axis S8 is point C, the movable end of the simulated scalpel S4 is D, and O is the origin of the coordinate system. The coordinate system xOy of the included angle of each part of the equipment of the invention technical solution; Let the angle between the movable arm S1 and the x-axis be α, the angle between the movable arm S2 and the x-axis is β, the angle between the movable arm S3 and the x-axis is δ, and the angle between the simulated scalpel S4 and the x-axis is θ; Let the angle between AB and BO be , the angle between BO and y-axis is , the angle between BO and x-axis is q, the angle between CO and x-axis is Ψ, and the angle between BO and CO is p; Suppose the lengths of the movable arm S1, the movable arm S2, and the movable arm S3 are all L, the length of the simulated scalpel S4 is H, the distance from the top of the movable arm S2 to the fixed seat S9 is M, and the distance from the top of the movable arm S3 to the fixed seat S9 is N, and the distance from the top of the simulated scalpel S4 to the fixed seat S9 is X; According to the triangle angle relationship in the coordinate system xOy, the following formula holds:

--(1)

--(2)

---(3)

---(4)

---(5)

---(6)

---(7)

---(8) M, N and X can be calculated from formula (1) to formula (8), according to the rigid connection between the simulated scalpel S4, movable arm S1, movable arm S2, movable arm S3 and the fixed seat, combined with simulated surgery The attitude data captured in real time by the attitude detection module in the knife S4 and the movable arm S1, the movable arm S2 and the movable arm S3 realizes the precise positioning of the spatial position of the simulated scalpel S4; Among the steps of the above-mentioned method for simulating the S4 spatial positioning of the scalpel of the present invention, the sequence of certain steps can be exchanged, which does not affect the final result of the method for simulating the S4 spatial positioning of the scalpel.

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