CN104970886A - Laparoscope simulated operation path correcting device - Google Patents
Laparoscope simulated operation path correcting device Download PDFInfo
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- CN104970886A CN104970886A CN201510349735.XA CN201510349735A CN104970886A CN 104970886 A CN104970886 A CN 104970886A CN 201510349735 A CN201510349735 A CN 201510349735A CN 104970886 A CN104970886 A CN 104970886A
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- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
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Abstract
The invention provides a laparoscope simulated operation path correcting device. Due to the fact that a ferrule with a marking point is stuck to a surgical instrument, a binocular navigator can detect the marking point, and the position information of the tip end of the surgical instrument can be obtained through calculation. A processing unit can receive the position information collected by the binocular navigator and enable the position information into a curvilinear equation through fitting, and a standard path line is obtained; then, when different operators are trained, the binocular navigator sends the real-time position information of the marking point to the processing unit, the processing unit obtains the displacement deviation through calculation, the displacement deviation is displayed through a displayer, and auxiliary personnel reminds the operators to carry out correction in real time according to the displayed displacement deviation. Accordingly, by means of the laparoscope simulated operation path correcting device, the operators can better get the needed movement position of the surgical instrument through the picture sawn in the displayer, the surgical instrument operation proficiency is improved, and further the laparoscope simulated operation training efficiency is improved.
Description
Technical field
The invention belongs to medical instruments field, be specifically related to a kind of peritoneoscope sham operated path method for correcting error correcting cutting path.
Background technology
Along with the fast development of medical skill and the raising of people's living standard, the requirement of people to medical service level is more and more higher, when the health generation pathological changes of people needs to perform the operation, not only require at utmost removal lesion tissue, and will operation be dropped to minimum to the degree of injury of health tissues.In practical operation, surgeon relies on the subjective vision of oneself to judge to decide operation pathway, after determining operation pathway, be could the through pathological tissues in accurate location by a large amount of training at ordinary times the proficiency level of the operation apparatus of the process Chinese and foreign department doctor carried out that performs the operation.But, when daily workout, because operator carries out various training according to the image that display shows, can be different in space perception between the locus of the image observed from display and the locus directly seen.Therefore operator can not know the true deviation between operating theater instruments and desired trajectory, sensorial difference between the picture needing a large amount of training could judge to show and the picture directly seen, but, operator is difficult to the position of holding operating theater instruments when training according to the picture on display, needs a large amount of training could accurately know the direction of operating theater instruments needs movement and the size of displacement according to the image on display.
Summary of the invention
The present invention carries out to solve above-mentioned problem, and object is the peritoneoscope sham operated path method for correcting error providing a kind of deviation when carrying out peritoneoscope sham operated between the actual cutting route of real time correction and predetermined cuts route.
The invention provides a kind of peritoneoscope sham operated path method for correcting error, for the deviation when carrying out peritoneoscope sham operated between the actual cutting route of real time correction and predetermined cuts route, thus improve the efficiency of training, it is characterized in that, comprise the following steps: step 1, operating theater instruments will be installed the lasso posting at least 3 gauge points; Step 2, arranges a plurality of tracing point by model, is then fixed in peritoneoscope training box, touches the described tracing point on the described model of mark successively, gather the marker location information of described gauge point with binocular vision navigator with the tip of operating theater instruments; Step 3, first position information process is obtained the tip location information of instrument tip by processor, then tip location information is fitted to curvilinear equation and forms standard gauge trace; Step 4, described operator adopts operating theater instruments to carry out simulation training, binocular vision navigator gathers the real-time position information of gauge point, real-time position information process is obtained the most advanced and sophisticated real-time position information of operating theater instruments by processor, substitute into curvilinear equation, calculate the offset deviation between most advanced and sophisticated real time position and standard gauge trace, display display offset deviation; Step 5, operator corrects the position of operating theater instruments according to position deviation.
At peritoneoscope sham operated path provided by the present invention method for correcting error, can also have such feature: wherein, curvilinear equation obtains by tip location information being adopted Lagrangian differential polynomial fitting algorithm.
At peritoneoscope sham operated path provided by the present invention method for correcting error, such feature can also be had: wherein, step 4 comprises: step 4-1: curvilinear equation is calculated fair curve equation by pre-defined rule by processor, thus makes the initial position message of standard gauge trace identical with most advanced and sophisticated real-time position information time initial; Step 4-2: real-time position information is substituted into fair curve equation by processor, calculates the offset deviation between most advanced and sophisticated real time position and standard gauge trace.
At peritoneoscope sham operated method for correcting error provided by the present invention, can also have such feature: wherein, the tracking precision of binocular vision navigator is 0.255mm.
The effect of invention
According to peritoneoscope sham operated path method for correcting error involved in the present invention, because operating theater instruments is posted the lasso of gauge point, binocular navigator can detect this gauge point, the tip location information of operating theater instruments is obtained according to the positional information calculation of this gauge point, processor can receive the positional information of binocular navigator collection and positional information is fitted to curvilinear equation, make a standard gauge trace, then, operator is when training, the real-time position information of gauge point is sent to processor by binocular navigator, processor calculates offset deviation, and show this offset deviation by display, offset deviation real-time reminding operator according to display corrects, therefore, peritoneoscope sham operated path of the present invention method for correcting error can make the picture seen in operator's perception display clearly and operating theater instruments should relation between the displacement of movement, thus the proficiency level improved surgical instrument operation, further, improve the training effectiveness of peritoneoscope sham operated.
Accompanying drawing explanation
Fig. 1 is the structural representation of peritoneoscope sham operated device in embodiments of the invention; And Fig. 2 is the flow chart of peritoneoscope sham operated method for correcting error in embodiments of the invention.
Detailed description of the invention
The technological means realized to make the present invention, creation characteristic, reach object and effect is easy to understand, following examples are specifically addressed peritoneoscope sham operated method for correcting error of the present invention by reference to the accompanying drawings.
Fig. 1 is the structural representation of peritoneoscope sham operated device in embodiments of the invention.
As shown in Figure 1, when peritoneoscope sham operated device 100 is for utilizing operator model to carry out peritoneoscope sham operated, real time correction being carried out to cutting path, comprising: display screen 110, peritoneoscope training box 120, operating theater instruments 130, the plastic ferrule 140 posting 5 Mark points, binocular vision navigator 150, processor 161, sponge (not shown) and photographic head (not shown).
Peritoneoscope training box 120 there are three bore a hole 121, peritoneoscope training box 120 inside can be inserted by perforation 121 in one end of operating theater instruments 130, photographic head is arranged in peritoneoscope training box 120, for gathering the image in peritoneoscope training box 120, display screen 110 shows the image of camera collection, therefore, operator can know the situation of peritoneoscope training box 120 inside according to display screen 110.
Plastic ferrule 140 is arranged on handle and the apparatus junction of operating theater instruments 130, binocular vision navigator 150 is arranged near peritoneoscope training box 120, and the positional information that binocular vision navigator 150 gathers plastic ferrule 140 can not be blocked when trainer trains, sponge inside is provided with a plurality of desired trajectory point and is fixed in peritoneoscope training box 120, trainer is operated by operating theater instruments 130 pairs of sponges, processor 161 is connected with binocular vision navigator 150, the positional information of plastic ferrule 140 that binocular vision navigator 150 gathers can be received to go forward side by side row relax.
Fig. 2 is the flow chart of peritoneoscope sham operated method for correcting error in embodiments of the invention.
As shown in Figure 2, peritoneoscope sham operated method for correcting error comprises following steps:
Step S1, operating theater instruments 130 will be installed the plastic ferrule 140 posting 5 gauge points.
The handle that plastic ferrule 140 is arranged on operating theater instruments 130 with apparatus junction.Then step S2 is entered.
Step S2, sponge is cut a plurality of tracing point is set, make the exposed surface of cutting face in sponge of tracing point, then the sponge of incision is fixed in peritoneoscope training box 120, touch a plurality of tracing points on sponge with the tip of operating theater instruments 130 successively, gather the marker location information of the gauge point on plastic ferrule 140 with binocular vision navigator 150.
During tracing point on sponging, first first tracing point is touched at the tip of operating theater instruments 130, binocular vision navigator 150 gathers the marker location information of plastic ferrule 140, then, living plastic ferrule 140 with stick shift makes binocular vision navigator 150 can not collect the marker location information of plastic ferrule 140, the tip of operating theater instruments 130 is moved to the position of next tracing point, remove hands, make binocular vision navigator 150 can collect the marker location information of plastic ferrule 140, then, step S3 is entered.
Step S3, the positional information of a plurality of tracing points collected is transferred to processor 161 by binocular vision navigator 150, because the length of operating theater instruments 130 is definite values, therefore, processor 161 can access the tip location information at the tip of operating theater instruments 130 according to the marker location information of plastic ferrule 140, all tip location information is obtained curvilinear equation by Lagrangian differential polynomial matching by processor 161, is drawn by the curve of this curvilinear equation, and this curve is standard gauge trace.In the present embodiment, select the confidence interval of 95%, matching obtains four Suresh Kumars, wherein, and linearly dependent coefficient R
2=0.9958.Then, step S4 is entered.
Step S4, operator adopts operating theater instruments 130 to carry out simulation training, the shape of the sponge of peritoneoscope training box 120 internal fixtion cut with the sponge in step S2 before shape the same, the real-time position information collected is sent to processor 161 by binocular vision navigator 150, labelling real-time position information is treated to the most advanced and sophisticated real-time position information at the tip of operating theater instruments 130 by processor 161, then curvilinear equation is substituted into and the offset deviation calculated between most advanced and sophisticated real time position and standard gauge trace, display 162 shows standard gauge trace, real-time track line and this offset deviation.Then, step S5 is entered.
Step S5, the labelling real-time position information that binocular vision navigator 150 gathers is three-dimensional coordinate information, and the most advanced and sophisticated real-time position information calculated also is three-dimensional coordinate information (x
0, y
0, z
0), with binocular vision navigator 150 setting themselves three-dimensional system of coordinate, the direction seesawed with operating theater instruments 130 is X-axis, and the direction moved up and down with operating theater instruments 130 is Y-axis, with the direction of operating theater instruments side-to-side movement for Z axis.
When be arranged in peritoneoscope training box 120 for single camera time, what display screen 110 showed is plane picture, trainer is used for carrying out plane operations training, therefore, only need the relation between X-axis coordinate and Z axis coordinate in the three-dimensional coordinate information at the tip of matching operating theater instruments 130, it is x=f (z) that processor 161 obtains curvilinear equation by Lagrangian differential polynomial matching.
By z
0substitute into curvilinear equation x=f (z) and obtain f (z
0) value, front and back side-play amount is Δ x, Δ x=x
0-f (z
0), front and back side-play amount is that Δ x is shown in real time by display screen by processor 161.As Δ x=0, illustrate that the tip of operating theater instruments 130 is just on standard trajectory, without the need to adjustment; As Δ x>0, the front of tip at standard trajectory of operating theater instruments 130 is described, the distance that should adjust Δ x backward makes Δ x=0; As Δ x<0, the rear of tip at standard trajectory of operating theater instruments 130 is described, the distance that should adjust forward Δ x makes Δ x=0.
When be arranged in peritoneoscope training box 120 for parallel photographic head time, what display screen 110 showed is 3-D view, trainer is used for carrying out three-dimensional manipulating training, processor 161 is x=f (z) and y=f (x, z) by the curvilinear equation that Lagrangian differential polynomial matching obtains.
Downward shift amount is Δ y=y
0-f (x
0+ Δ x, z
0), front and back side-play amount is that Δ y is shown in real time by display 162 by processor 161, as Δ y=0, illustrates that the tip of operating theater instruments 130 is just on standard trajectory, without the need to adjustment; As Δ y>0, illustrate that the tip of operating theater instruments 130 is above standard trajectory, the distance that should adjust Δ y downwards makes Δ y=0; As Δ y<0, the below of tip at standard trajectory of operating theater instruments 130 is described, the distance that should adjust upward Δ y makes Δ y=0.
In the present embodiment, the function of processor 161 and display 162 realizes by adopting computer 160, instruct personnel to be that Δ x and downward shift amount Δ y instruct trainer to adjust the position at the tip of operating theater instruments 130 according to the front and back side-play amount that computer screen shows, thus overlap with standard trajectory.
Front and back side-play amount is that Δ x and downward shift amount Δ y derive and store by computer, thus facilitates the data analysis and process in later stage.Processing unit 160 can be Δ x by the front and back side-play amount stored with downward shift amount Δ y obtain Bu Tong the offset deviation of individual operator when carrying out peritoneoscope sham operated at every turn along the positive side-play amount of X-axis, X-axis bears side-play amount, the positive side-play amount of Y-axis and Y-axis bear the maximum of side-play amount, minima and meansigma methods, thus better understand the proficiency level of different operating person operation, and save the time of data analysis.
When after the complete curvilinear equation of step 3 matching, if variation sponge or the position of binocular vision navigator 150, when trainer trains so in step 4, need the initial position unification initial position of standard trajectory and binocular vision navigator 150 gathered, make by standard trajectory translation the coordinate of the initial point of standard trajectory identical with the coordinate of the initial point that binocular vision navigator 150 gathers.
If the initial coordinate at the tip of the operating theater instruments 130 that binocular vision navigator 150 collects is (x ', y ', z '), the curvilinear equation after standard trajectory translation is modified to x=f (z+z ')+x ', and front and back side-play amount is Δ x=x
0-(f (z+z ')+x ').
The effect of embodiment and effect
Peritoneoscope sham operated method for correcting error involved by the present embodiment, because because operating theater instruments is posted the lasso of gauge point, binocular navigator can detect gauge point, thus the positional information at operating theater instruments tip can be calculated, processing unit can receive the positional information of binocular navigator collection and positional information is fitted to curvilinear equation, make a standard gauge trace, then, when different operators trains, the real-time position information of gauge point is sent to processing unit by binocular navigator, processing unit calculates offset deviation, and show this offset deviation by display, paraprofessional personnel corrects according to the offset deviation real-time reminding operator of display, therefore, the picture that peritoneoscope sham operated path of the present invention method for correcting error can make operator see from display and operating theater instruments should the position of movement be understood more, thus the proficiency level improved surgical instrument operation, further, improve the training effectiveness of peritoneoscope sham operated.
In the present embodiment, processor can obtain the offset deviation of a different operator when carrying out peritoneoscope sham operated at every turn along the positive side-play amount of X-axis, X-axis bears side-play amount, the positive side-play amount of Y-axis and Y-axis bear the maximum of side-play amount, minima and meansigma methods, thus better understand the proficiency level of different operating person operation, and save the time of data analysis.
Above-mentioned embodiment is preferred case of the present invention, is not used for limiting the scope of the invention.
Claims (4)
1. a peritoneoscope sham operated path method for correcting error, carries out real time correction to cutting path when carrying out peritoneoscope sham operated for utilizing model operator, it is characterized in that, comprise the following steps:
Step 1, operating theater instruments will be installed the lasso posting at least 3 gauge points;
Step 2, arranges a plurality of tracing point by described model, is then fixed in peritoneoscope training box, touches the described tracing point on the described model of mark successively, gather the marker location information of described gauge point with binocular vision navigator with the tip of described operating theater instruments;
Step 3, first described position information process is obtained the tip location information of described instrument tip by processor, then described tip location information is fitted to curvilinear equation and forms standard gauge trace;
Step 4, described operator adopts described operating theater instruments to carry out simulation training, described binocular vision navigator gathers the real-time position information of described gauge point, described real-time position information process is obtained the most advanced and sophisticated real-time position information of described operating theater instruments by processor, substitute into described curvilinear equation, calculate the offset deviation between described most advanced and sophisticated real time position and described standard gauge trace, display shows described offset deviation;
Step 5, described operator corrects the position of described operating theater instruments according to described offset deviation.
2. peritoneoscope sham operated path according to claim 1 method for correcting error, is characterized in that:
Wherein, described curvilinear equation is by adopting Lagrangian differential polynomial fitting algorithm to obtain described tip location information.
3. peritoneoscope sham operated path according to claim 1 method for correcting error, is characterized in that:
Wherein, step 4 comprises:
Step 4-1: described curvilinear equation is calculated fair curve equation by pre-defined rule by described processor, thus make the initial position message of described standard gauge trace identical with described most advanced and sophisticated real-time position information time initial;
Step 4-2: described most advanced and sophisticated real-time position information is substituted into described fair curve equation by described processor, calculates the described position deviation between described most advanced and sophisticated real time position and described standard gauge trace.
4. peritoneoscope sham operated path according to claim 1 method for correcting error, is characterized in that:
Wherein, the tracking precision of described binocular vision navigator is 0.255mm.
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| CN201510349735.XA CN104970886A (en) | 2015-06-23 | 2015-06-23 | Laparoscope simulated operation path correcting device |
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| CN201510349735.XA CN104970886A (en) | 2015-06-23 | 2015-06-23 | Laparoscope simulated operation path correcting device |
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Cited By (4)
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| CN106137394A (en) * | 2016-06-15 | 2016-11-23 | 谢东儒 | A kind of method obtaining pedicle of vertebral arch standard axle bitmap |
| CN109326189A (en) * | 2018-09-04 | 2019-02-12 | 温州市人民医院 | A kind of puncture simulator of laparoscope |
| WO2020134802A1 (en) * | 2018-12-26 | 2020-07-02 | 苏州迪凯尔医疗科技有限公司 | Method, apparatus, and system for digitizing root canal preparation |
| CN113925607A (en) * | 2021-11-12 | 2022-01-14 | 上海微创医疗机器人（集团）股份有限公司 | Operation training method, device, system, medium and equipment for surgical robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106137394A (en) * | 2016-06-15 | 2016-11-23 | 谢东儒 | A kind of method obtaining pedicle of vertebral arch standard axle bitmap |
| CN106137394B (en) * | 2016-06-15 | 2019-09-24 | 苏州铸正机器人有限公司 | A method of obtaining pedicle of vertebral arch standard axle bitmap |
| CN109326189A (en) * | 2018-09-04 | 2019-02-12 | 温州市人民医院 | A kind of puncture simulator of laparoscope |
| WO2020134802A1 (en) * | 2018-12-26 | 2020-07-02 | 苏州迪凯尔医疗科技有限公司 | Method, apparatus, and system for digitizing root canal preparation |
| CN113925607A (en) * | 2021-11-12 | 2022-01-14 | 上海微创医疗机器人（集团）股份有限公司 | Operation training method, device, system, medium and equipment for surgical robot |
| CN113925607B (en) * | 2021-11-12 | 2024-02-27 | 上海微创医疗机器人（集团）股份有限公司 | Operation robot operation training method, device, system, medium and equipment |
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Application publication date: 20151014 |