CN111613122A - Vascular interventional surgery simulation system based on virtual reality fusion - Google Patents

Abstract

The invention discloses a virtual-real fused vascular interventional operation simulation system, which comprises a solid simulator, wherein a force feedback device is arranged in the solid simulator; an interventional surgical device; a spatial localization device for detecting a position and/or an angle of an interventional surgical device; the data host is used for building a teaching management platform and a surgery virtual environment, calling case data according to teaching contents, building a three-dimensional data model, and carrying out vascular intervention surgery simulation and flow prompting and guiding of surgery operation according to signals from the force feedback equipment and the space positioning equipment; and the holographic image equipment is in communication connection with the data host and is used for receiving and playing the image data from the data host and performing man-machine interaction. The method is beneficial to the special training and examination of the vascular interventional operation and the popularization of operation education, simulates an immersive virtual operation environment, cultivates clinical thinking and improves the abundance of case data.

Description

Vascular interventional surgery simulation system based on virtual reality fusion

technical field

The invention relates to the technical field of simulated medicine, in particular to a virtual-real fusion vascular intervention operation simulation system.

Background technique

Cardiovascular and cerebrovascular disease is the first cause of death in our country, and the clinical application of vascular interventional surgery as an important therapy for the treatment of cardiovascular and cerebrovascular diseases is becoming more and more extensive. At present, the learning of vascular interventional surgery mainly adopts the apprenticeship teaching mode, that is, young doctors practice teaching directly on patients under the guidance of superior doctors, which may increase the risk of surgical complications.

Through the simulation of medical education, it is possible to avoid directly facing patients in teaching and reduce medical errors. However, the existing vascular interventional surgery simulation teaching equipment has the following problems:

1) Insufficient sense of reality, immersion and interaction, lack of immersive surgical environment, single training scene, etc.;

2) Lack of clinical thinking training, lack of process prompts and guidance for clinical vascular surgery operations in surgical simulation, insufficient human-computer interaction functions, and inability to correct erroneous operations in time;

3) The number of cases is limited and individual case data is lacking.

SUMMARY OF THE INVENTION

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the present invention proposes a vascular intervention operation simulation system integrating virtual and real, which can realize the simulation simulation of vascular intervention operation.

The virtual-real fusion vascular interventional surgery simulation system according to the embodiment of the present invention includes a physical simulator with a built-in force feedback device, and the physical simulator is used as a simulation object for vascular interventional surgery; an interventional surgery device is used for simulating the entity A person performs vascular intervention simulation surgery; a spatial positioning device is used to detect the position and/or angle of the interventional surgery device; a data host is electrically connected to the force feedback device and the spatial positioning device, respectively, and the data host It is used to build a teaching management platform and a surgical virtual environment, call case data and build a three-dimensional volume data model according to the teaching content, and perform vascular interventional surgery simulation and surgical operations according to the signals from the force feedback device and the spatial positioning device. Process prompt and guidance; a holographic image device, communicated and connected with the data host, and the holographic image device is used for receiving and playing image data from the data host and performing human-computer interaction.

The virtual-real fusion vascular intervention operation simulation system according to the embodiment of the present invention has at least the following beneficial effects:

Building a teaching management platform for vascular interventional surgery based on holographic imaging technology is conducive to the special training and assessment of vascular interventional surgery and the promotion of surgical education. According to the data host, a three-dimensional virtual surgical environment is constructed and projected through holographic imaging equipment, which can simulate immersive The virtual surgical environment, which prompts and guides the process of surgical operation during the simulated surgery, is conducive to cultivating clinical thinking. Calling different case data and building a three-dimensional volume data model according to the teaching content is conducive to improving the richness of case data.

According to some embodiments of the present invention, the teaching management platform includes at least one of a distance teaching module, a collaborative teaching module, a training module and an assessment module.

According to some embodiments of the present invention, the training module includes a holographic image prompting unit, an object selection unit and an information extraction unit, the holographic image prompting unit performs teaching prompts through voice and/or pictures, and the object selection unit is based on the exerciser. The hand motion of the selected interactive object is selected, and the information extraction unit is used to read and display the preset information of the selected object.

According to some embodiments of the present invention, the training module further includes a labeling unit, and the labeling unit is configured to label the selected object.

According to some embodiments of the present invention, the holographic imaging device has a camera, and the camera is used to capture the hand motion information of the practitioner, and send the hand motion information to the data host.

According to some embodiments of the present invention, the vascular intervention simulation system further includes a hand positioning module communicatively connected with the data host, the hand positioning module is used to detect the hand movements of the practitioner, and send the detection results to the the data host.

According to some embodiments of the present invention, the data host is provided with a built-in or external memory, and the memory is used to store at least one of a case database, a teaching case, and training information.

According to some embodiments of the present invention, the spatial positioning device employs an electromagnetic positioning system.

According to some embodiments of the present invention, the three-dimensional volume data model is a polygonal surface model edited by an edge definition algorithm and rendered by a three-dimensional image engine or a three-dimensional image tool according to the case data.

Additional aspects and advantages of the present invention will be set forth, in part, from the following description, and in part will be apparent from the following description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of embodiments taken in conjunction with the accompanying drawings, wherein:

1 is a schematic structural diagram of a virtual-real fusion vascular interventional surgery simulation system according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a teaching management screen of the virtual-real fusion vascular interventional surgery simulation system shown in FIG. 1 .

Detailed ways

The following describes in detail the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary, only used to explain the present invention, and should not be construed as a limitation of the present invention.

In the description of the present invention, unless otherwise clearly defined, terms such as setting, connection, electrical connection, and communication connection should be understood in a broad sense. Those skilled in the art can reasonably determine that the above terms are in the present invention in combination with the specific content of the technical solution. specific meaning.

Referring to FIG. 1 , this embodiment discloses a virtual-real fusion vascular interventional surgery simulation system, including a physical simulator 100 , an interventional surgery device 200 , a spatial positioning device 300 , a data host 400 and a holographic imaging device 500 , and the physical simulator 100 It is used as a simulation object for vascular interventional surgery. The physical simulator 100 refers to a 1:1 human body model. The physical simulator 100 has a built-in force feedback device, and uses materials with the same hardness as human blood vessels to simulate real human blood vessels, so that practitioners can experience When performing a simulated operation, it has the feel of a clinical operation. The interventional operation device 200 includes catheters, guide wires, and microcatheters that are commonly used in vascular interventional operations. The manikin 100 can simulate the real human body. The built-in force feedback device of the physical manikin 100 senses the blocking sensation of the hand during interventional surgery, and generates corresponding force feedback signals, which is conducive to the simulation analysis of the simulated operation, and the spatial positioning equipment 300 is used to detect the position and/or angle of the interventional surgery device 200 and generate corresponding detection signals, so that the data host 400 can generate a simulated image of the interventional surgery device 200 during the operation, and the data host 400 is respectively connected with the force feedback device and the spatial positioning device The device 300 is electrically connected, and the data host 400 is used for building a teaching management platform and a virtual environment for surgery, calling case data and constructing a three-dimensional volume data model according to the teaching content, and performing vascular interventional surgery according to signals from the force feedback device and the spatial positioning device 300 Process prompts and guidance for simulation and surgical operations. The holographic imaging device 500 is connected to the data host 400 in communication. The holographic imaging device 500 can use a stereoscopic holographic projector or a head-mounted holographic device. The holographic imaging device 500 is used to receive and play data from Image data of the host 400 and human-computer interaction.

Building a teaching management platform for vascular interventional surgery based on holographic imaging technology is conducive to the special training and assessment of vascular interventional surgery and the promotion of surgery education. The data host 400 is used to build a three-dimensional virtual surgery environment. The virtual surgery environment includes operating tables and C-arms, etc. Commonly used surgical instruments, and projected through the holographic imaging device 500, an immersive virtual surgical environment can be constructed, and the process prompts and guidance of the surgical operation during the simulated operation process can realize the standardized training of the surgical operation process, which is conducive to the training of trainers. According to the teaching content, call different case data and build a three-dimensional volume data model. The case data comes from the preset case database, and the case data includes medical image data and pathological CT (Computed Tomography, Computed tomography)/MRI (Magnetic Resonance Imaging, magnetic resonance imaging) slice data, etc., is conducive to improving the richness of case data, and constructing a three-dimensional volume data model based on case data is conducive to restoring the case structure, such as various imaging interventions. It is a kind of arteriovenous structure, which can be observed from multiple angles and depths, so as to deepen the understanding of practitioners.

Referring to FIG. 2 , the teaching management platform includes at least one of a distance teaching module, a collaborative teaching module, a training module and an assessment module. There are various modes in the teaching management platform, which can cover the whole process of teaching, training and assessment of vascular interventional surgery, and by designing the corresponding virtual environment for surgery, the practitioner can have a sense of immersion in clinical surgery.

The training module includes a holographic image prompting unit, an object selection unit and an information extraction unit. The holographic image prompting unit provides teaching prompts through voice and/or pictures. For example, during a simulated operation, each operation step is broadcast according to the operation process of the operation. , and call the preset picture and/or video file to explain with the image, the object selection unit selects the interactable object according to the exerciser's hand movement, when the interactable object is selected, it is highlighted, and the information extraction unit is used for Read and display the preset information of the selected object. For example, when the practitioner selects a certain blood vessel, the object selection unit highlights the blood vessel, and the information extraction unit reads and displays the pathological information related to the blood vessel. , wherein the display mode can be voice broadcast, text display or image display of pathological anatomy.

The training module also includes a labeling unit, which is used to label the selected object. For example, when the practitioner selects a certain blood vessel, the labeling unit sets the mark (MARK) of the blood vessel to TRUE (true) or FALSE (false). ), and change any of the display state, color or transparency of the blood vessel.

The holographic imaging device 500 has a camera, and the camera is used to capture the hand motion information of the practitioner, and send the hand motion information to the data host 400 , wherein the holographic imaging device 500 captures the hand motion information through SLAM (simultaneous localization and mapping) , real-time positioning and map construction) algorithm for hand spatial position positioning and action recognition, the data host 400 realizes virtual interaction according to the hand action information, for example, menu selection, selecting from the menu the interventional surgery equipment 200 that needs to be used for simulated surgery type.

The virtual-real fusion vascular interventional surgery simulation system in this embodiment further includes a hand positioning module that is communicatively connected to the data host 400. The hand positioning simulation can use an infrared positioning device or an electromagnetic positioning device. The hand positioning module is worn on the practitioner's hand. The hand positioning module is used to detect the exerciser's hand movements, and send the detection result to the data host 400 . The virtual-real fusion vascular interventional surgery simulation system of this embodiment uses a camera to capture hand motions and cooperate with hand positioning simulation to perform spatial positioning of the practitioner's hand, so that the practitioner's hand movements can be accurately acquired, and the virtual environment of the surgery can be realized. interaction, such as operating virtual menus, operating virtual operating tables and C-arms during surgery, and selecting interactable objects.

In order to facilitate the storage of various data, the data host 400 is provided with a built-in or external memory. The memory is used to store at least one of a case database, teaching cases and training information. The case database has various medical image data and pathological CT/MRI slice data. , the types are rich, and the case database can be updated regularly or irregularly according to the needs, and the corresponding case data can be selected according to the teaching content, which is conducive to the training and assessment of personalized cases of vascular interventional surgery.

The spatial positioning device 300 employs an electromagnetic positioning system. The electromagnetic positioning system includes a magnetic field transmitter and a receiving sensor. The electromagnetic positioning system determines the relationship between the magnetic field transmitter and the receiving sensor according to the magnetic field distribution model of the target, so as to establish an equation group containing the target position information, and then solve the equation group by solving the equation group. Get the target position information (space coordinates). The electromagnetic positioning system has an accuracy of millimeter level, and is small in size, low in price, and less susceptible to external interference, and can precisely locate the position and/or angle of the interventional surgical device 200 .

The 3D volume data model is a polygonal surface model edited by an edge definition algorithm and rendered by a 3D image engine or 3D image tool according to the case data, that is, extracted from medical image data or pathological CT/MRI slice data according to a predetermined threshold Isosurface, and then generate a polygonal mesh model according to the isosurface, and then render the polygonal mesh model into a polygonal deformed surface model through a 3D image engine or a 3D image tool. Build a 3D volume data model based on the case data, and combine the interventional surgery device 200 data in the simulated operation process with the 3D volume data model, for example, simulate the interventional surgery device 200 in the 3D volume data model according to the detection signal of the spatial positioning device 300 The operation is performed according to the detection signal of the force feedback device, which can be observed from multiple angles, which is convenient for practitioners to understand the operation.

The embodiments of the present invention have been described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the technical field, various modifications can be made without departing from the purpose of the present invention. kind of change.

Claims (9)

1. a virtual-real fusion vascular interventional operation simulation system, is characterized in that, comprises: a solid manikin (100) with a built-in force feedback device, and the solid manikin (100) is used as a simulation object for vascular interventional surgery; an interventional operation device (200), used for performing a vascular intervention simulation operation on the physical manikin (100); a spatial positioning device (300) for detecting the position and/or angle of the interventional surgical device (200); A data host (400) is electrically connected to the force feedback device and the spatial positioning device (300) respectively, and the data host (400) is used to build a teaching management platform and a virtual environment for surgery, and to call case data according to teaching content and constructing a three-dimensional volume data model, and performing vascular interventional surgery simulation and process prompting and guidance for performing surgical operations according to the signals from the force feedback device and the spatial positioning device (300); A holographic image device (500) is in communication connection with the data host (400), and the holographic image device (500) is used for receiving and playing image data from the data host (400) and performing human-computer interaction. 2 . The vascular interventional surgery simulation system of virtual reality integration according to claim 1 , wherein the teaching management platform comprises at least one of a distance teaching module, a collaborative teaching module, a training module and an assessment module. 3 . 3. The virtual-real fusion vascular interventional surgery simulation system according to claim 2, wherein the training module comprises a holographic image prompting unit, an object selection unit and an information extraction unit, and the holographic image prompting unit uses voice and/or or screen for teaching prompts, the object selection unit selects an interactable object according to the exerciser's hand movements, and the information extraction unit is used to read and display preset information of the selected object. 4 . The virtual-real fusion vascular intervention operation simulation system according to claim 2 or 3 , wherein the training module further comprises a labeling unit, and the labeling unit is used to label the selected object. 5 . 5. The virtual-real fusion vascular interventional surgery simulation system according to claim 1, wherein the holographic imaging device (500) has a camera, and the camera is used to capture the hand motion information of the practitioner, and the The hand motion information is sent to the data host (400). 6. The virtual-real fusion vascular intervention operation simulation system according to claim 1 or 5, characterized in that, further comprising a hand positioning module communicatively connected with the data host (400), wherein the hand positioning module is used for The exerciser's hand movements are detected, and the detection result is sent to the data host (400). 7. The virtual-real fusion vascular interventional operation simulation system according to claim 1, wherein the data host (400) has a built-in or external memory, and the memory is used to store in the case database, teaching case and training information at least one of. 8. The virtual-real fusion vascular intervention operation simulation system according to claim 1, wherein the spatial positioning device (300) adopts an electromagnetic positioning system. 9 . The vascular interventional surgery simulation system for virtual and real fusion according to claim 1 , wherein the three-dimensional volume data model is edited by an edge definition algorithm and rendered by a three-dimensional image engine or a three-dimensional image tool according to the case data. 10 . The resulting polygonal surface model.

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