CN107067856A - A kind of medical simulation training system and method - Google Patents
A kind of medical simulation training system and method Download PDFInfo
- Publication number
- CN107067856A CN107067856A CN201611266712.3A CN201611266712A CN107067856A CN 107067856 A CN107067856 A CN 107067856A CN 201611266712 A CN201611266712 A CN 201611266712A CN 107067856 A CN107067856 A CN 107067856A
- Authority
- CN
- China
- Prior art keywords
- data
- dimensional
- user
- model
- stereo model
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- 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
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B5/00—Electrically-operated educational appliances
- G09B5/02—Electrically-operated educational appliances with visual presentation of the material to be studied, e.g. using film strip
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- Educational Technology (AREA)
- Educational Administration (AREA)
- Business, Economics & Management (AREA)
- Computational Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Algebra (AREA)
- Mathematical Analysis (AREA)
- Mathematical Optimization (AREA)
- Mathematical Physics (AREA)
- Pure & Applied Mathematics (AREA)
- Medicinal Chemistry (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Processing Or Creating Images (AREA)
Abstract
The invention discloses a kind of medical simulation training system and method, system includes：Object model builds module, gathers the three-dimensional stereo model data of human body privileged site, and the three-dimensional stereo model data based on collection build corresponding three dimensional virtual models object；Model database, stores three dimensional virtual models object data；Sensor tracing module, peration data of the collection user to three-dimensional stereo model；Data processing module, the data processing to collection obtains the peration data and output of the shape data and user of three-dimensional stereo model to three-dimensional stereo model；Image generation module includes the three-dimensional virtual image of simulated operation object information according to the shape data of three-dimensional stereo model and the peration data generation of user；Display module, display output three-dimensional virtual image checks simulated operation result for user.The system and method feeling of immersion of the present embodiment is strong, simulate actual medical scene to greatest extent, reduces the clinics such as surgical operation, intravenous injection training cost.
Description
Technical field
The present invention relates to technical field of virtual reality, and in particular to a kind of medical simulation training system and method.
Background technology
In medical domain, traditional medical simulation training for example, surgical operation practical operation teaching is very simple and crude, substantially less than
Clinical practice level, some medical colleges and schools and hospital are imparted knowledge to students using simulated organ rubber, are broadcast by the demonstration of operation video
Put, explained using organ sample in kind, autopsy teaching, and the form such as expert's surgery observation, for surgical training,
The teaching links such as the medical science such as preview, clinical diagnosis, remote operation, rehabilitation of performing the operation auxiliary.
This method there are many deficiencies：1st, simulated organ is imparted knowledge to students, the easy aging of itself rubber material, using excessive
It is accomplished by changing after secondary, the price of rubber organ is higher, often changes teaching aid and considerably increase instruction cost.2nd, it is autopsied
Teaching, student is imparted knowledge to students by being autopsied under lab, this human dissection teaching method, and often cost is high, and corpse
There is larger gap with live body, it is impossible to which playing makes student complete directly perceived, easily study and hands-on.3rd, expert's surgery observation shape
Formula, is understood by a variety of sense organs such as audiovisual tactile and learns various operation practical operations, for young doctor or intern
For, it can not in person operate and be compared in time with expert's operating method, discover one's mistakes and not enough, undoubtedly cause training
Instruct young medical staff and waste mint of money and time, it is impossible to obtain good effect of undergoing training, also severely impact exercise effect
Rate.
In summary, existing medical simulation training technique scheme, training cost is higher, training effect is not good and efficiency compared with
It is low.
The content of the invention
The invention provides a kind of medical simulation training system and method, instructed with solving existing medical simulation in the prior art
Practice technical scheme, training cost is higher, the not good and less efficient technical problem of training effect.
According to an aspect of the invention, there is provided system described in a kind of medical simulation training system includes：
Object model structure module, the three-dimensional stereo model data for gathering human body privileged site, and based on collection
Three-dimensional stereo model data build corresponding three dimensional virtual models object, and the three dimensional virtual models object of structure is sent to model
Database；
Model database, for storing three dimensional virtual models object data；
Sensor tracing module, the real-time position of institute's holder tool is gathered for the sensor by being set on user institute holder tool
The sensor tracking put in data and pressure data, and the three-dimensional stereo model acted on by the apparatus gathers 3 D stereo mould
The position data and pressure data of type；
Data processing module, the position data and pressure data gathered to sensor tracing module is handled, and obtains three
Tie up three-dimensional model shape data and user to the peration data of three-dimensional stereo model, and by the shape number of three-dimensional stereo model
According to this and user is exported to the peration data of three-dimensional stereo model to image generation module；
Image generation module, according to the operand of the shape data of three-dimensional stereo model and user to three-dimensional stereo model
Include the three-dimensional virtual image of simulated operation object information according to generation, the three-dimensional virtual image of generation is sent to display module；
Display module, simulated operation result is checked for display output three-dimensional virtual image for user.
According to another aspect of the present invention there is provided a kind of medical simulation training method, method includes：
Gather the three-dimensional stereo model data of human body privileged site, and the structure pair of the three-dimensional stereo model data based on collection
The three dimensional virtual models object answered；
Store the three dimensional virtual models object built；
By the sensor that is set on user institute holder tool gather the real time position data and pressure data of institute's holder tool with
And the sensor tracking in the three-dimensional stereo model acted on by the apparatus gathers the position data and pressure of three-dimensional stereo model
Data；
Position data and pressure data to collection are handled, and obtain shape data and the user of three-dimensional stereo model
To the peration data of three-dimensional stereo model；
Peration data generation according to the shape data of three-dimensional stereo model and user to three-dimensional stereo model includes mould
Intend the three-dimensional virtual image of operation result information；
Display output three-dimensional virtual image, simulated operation result is checked for user.
The beneficial effect of the embodiment of the present invention is：This medical simulation training system and method for the embodiment of the present invention, profit
The three-dimensional stereo model data of human body privileged site are gathered with virtual reality technology and dummy model object is built, and receive user couple
The peration data of three-dimensional stereo model and by generating corresponding virtual reality image according to peration data, by the virtual existing of generation
Real image is presented in virtual reality display device, facilitates user to watch operating result.Thus, by being operated in realistic space
Apparatus and operation object on sensor is set, the peration data of collection user, and makes corresponding three-dimension virtual reality in real time
Image, provides the user simulation tactilely-perceptible and analog vision is perceived, and improves the feeling of immersion of user, interactivity is strong.Can directly it adopt
Collect peration data and real-time update, true feedback operation result improves training effect.Meet medical educational and operation training
Need, and simply, it is efficient, easily operated, facilitate clinical expansion and popularization, with higher application value.
Brief description of the drawings
Fig. 1 is a kind of structured flowchart of medical simulation training system of one embodiment of the invention；
Fig. 2 is a kind of structured flowchart of intravenous injection simulated training system of one embodiment of the invention；
Fig. 3 is a kind of structured flowchart of surgical simulators training system of one embodiment of the invention；
Fig. 4 is a kind of flow chart of medical simulation training method of one embodiment of the invention.
Embodiment
Virtual reality (Virtual Reality) technology, also referred to as virtual reality is the new technology quickly grown in recent years.It is empty
It is on vision, the sense of hearing, tactile etc. using the virtual world of computer simulation one three dimensions of generation there is provided user to intend reality
The simulation of sense organ, allows user as being personally on the scene, and the things in three-dimensional space can be observed in time, without limitation.Should
Technology is using series of computation machine related science technologies such as computer graphics, human-computer interaction technology, 3D modelings, by existing
The simulation of the real space, and behavior (such as body movement, head rotation) of the sensing people in virtual environment, and to its behavior in time
Timely fed back, so as to simulate real scene to greatest extent.
The design concept of the present invention is：Virtual reality technology is trained applied to medical simulation, passes through virtual reality skill
Art, generates the 3-D view of Virtual Space, and 3 D stereo mould of the collection user to human body privileged site in real world in real time
The peration data of type, operating result data is calculated according to real time operating data, and by operating result data and dummy model object
Superposition, so that the virtual image including operating result data is generated, and display output is checked to user for user.So there is provided
The simulation of the sense organ such as user's vision and tactile, allows user as being personally on the scene, and in time, observes three dimensions without limitation
Interior model object, improves the effect of medical training, and need not buy the training equipment of costliness, saves cost.
Embodiment one
Fig. 1 is a kind of structured flowchart of medical simulation training system of one embodiment of the invention, referring to Fig. 1, this implementation
Example medical simulation training system 10 includes：
Object model builds module 101, the three-dimensional stereo model data for gathering human body privileged site, and is based on collection
Three-dimensional stereo model data build corresponding three dimensional virtual models object, the three dimensional virtual models object of structure is sent to mould
Type database 104；
Model database 104, for storing three dimensional virtual models object data；
Sensor tracing module 103, the reality of institute's holder tool is gathered for the sensor by being set on user institute holder tool
When position data and pressure data, and the three-dimensional stereo model acted on by the apparatus in sensor tracking collection it is three-dimensional vertical
The position data and pressure data of body Model；
Data processing module 102, the data to collection are handled, and obtain the shape data and use of three-dimensional stereo model
Family is to the peration data of three-dimensional stereo model, and by the shape data of three-dimensional stereo model and user to three-dimensional stereo model
Peration data is exported to image generation module 105；
Image generation module 105, according to the behaviour of the shape data of three-dimensional stereo model and user to three-dimensional stereo model
Making data generation includes the three-dimensional virtual image of simulated operation object information, and the three-dimensional virtual image of generation is sent into display mould
Block 106；
Display module 106, simulated operation result is checked for display output three-dimensional virtual image for user.
Understand as shown in Figure 1, the medical simulation training system based on virtual reality of the present embodiment, it is special by gathering human body
Determine the three-dimensional stereo model data at position, and the three-dimensional stereo model data based on collection build corresponding three dimensional virtual models pair
As the three dimensional virtual models object of structure being sent to model database, then user can be to the three-dimensional in model database
Dummy model object is selected, using virtual reality technology, when user in real world the apparatus such as operation knife to three
When dimension three-dimensional model is operated, the peration data of each step can pass through the sensor on the apparatuses such as scalpel and three-dimensional
Sensor on three-dimensional model is collected, and these data collected are sent to data processing module, data processing module meter
Calculate and identify each step peration data of user (for example, operating force data, operate the position of bearing data and operation
Data etc.), image generation unit is then sent to, image generation unit generates corresponding three-dimensional manipulating result according to peration data
Image, then by the display of three dimensional display, user is that each step can be seen to operate the operating result on dummy model object,
Improve the effect of medical training and reduce training cost, facilitate large-scale promotion application.
In one embodiment of the invention, image generation module 105, specifically for the shape according to three-dimensional stereo model
Data, identify the corresponding three-dimensional stereo model of shape data in model database set in advance, and according to user to three
The peration data of three-dimensional model is tieed up, calls 3-D view to handle storehouse, generation includes the 3-D view of simulated operation object information.
Object model builds module 101 in one embodiment of the invention, for gathering human arm and internal organs
Three-dimensional stereo model data, and the human arm based on collection and internal organs three-dimensional stereo model data build human body hand
The corresponding three dimensional virtual models object of arm, and the corresponding three dimensional virtual models object of each internal organs.
User institute holder tool includes in one embodiment of the invention：Virtual reality scalpel or virtual reality injection
Device, sensor tracing module 103 for gathering the real time position data of user institute holder tool by position sensor, and passes through
The real-time operation position data of the three-dimensional stereo model of position sensor collection apparatus effect；And, adopted by pressure sensor
Collect the real-time pressure data of user institute holder tool, and the real-time of the three-dimensional stereo model that apparatus is acted on is gathered by pressure sensor
Pressure data.
In one embodiment of the invention, camera is provided with display module 106, for following the trail of user eyeball fortune
It is dynamic, or, acceleration transducer is provided with display module, for gathering the head that user's head exercise data tracks user in real time
Portion is moved, and determines according to eye movement or head movement the viewpoint of user in real time,
When receiving the three-dimensional virtual image of the transmission of image generation module 105, according to regarding for the user determined in real time
Point, adjusts the display output position of three-dimensional virtual image.Display module 106 is virtual reality in one embodiment of the invention
Glasses or virtual implementing helmet.
In one embodiment of the invention, image generation module 105 is additionally operable to according to virtual reality glasses or virtual existing
The optical characteristics of eyeglass in the real helmet, before three-dimensional virtual image to virtual reality glasses or virtual implementing helmet are sent,
Distortion correction is carried out to three-dimensional virtual image.
This medical simulation based on virtual reality of the present invention is trained below in conjunction with two specific application scenarios and is
System structure is specifically described.The two specific application scenarios are respectively：The simulated training of surgical operation and nursing vein note
Penetrate simulated training.
Embodiment two
The nursing intravenous injection simulated training based on virtual reality is provided in the present embodiment, specifically, based on virtual existing
Real intravenous injection simulated training system needs to use following instrument when applying：
It is injected intravenously simulated training arm three-dimensional stereo model, i.e. the object of user's operation；
Syringe, i.e. user institute holder tool；
Computer, computer is used for model data store and data processing, image generation, data transfer etc.；
VR display devices (such as VR glasses), for display virtual real 3-D view.
The principle that intravenous injection simulated training system based on virtual reality is realized is：In arm three-dimensional stereo model internal model
Intend blood vessel (or intramuscular injection region) placement sensor, gather Vessels of hand tendency dynamic data, the data to collection collect
Middle storage.Vessels of hand tendency dynamic data can be classified according to different age group in the present embodiment, the data to collection are entered
Row is centrally stored, builds complete arm physiological metabolism model database, and intramuscular injection region in model and important blood vessels are set
The data collected are reached in VR glasses, then virtually noted by programming realization once touching by sensor, all sensors
The object model of operation is penetrated, operator is by wearing 3D glasses in virtual reality space to arm models progress intravenous injection mould
Intend, in addition, skin histology fat thickness, blood vessel thickness freely can also switch in model database, pass through sensor
The tactile being connected, vein (muscle) injection effect is truly fed back to VR glasses.The technical scheme feeling of immersion of the embodiment of the present invention
By force, interactivity is strong, and simply, it is efficient, easily operated.
Fig. 2 is a kind of structured flowchart of intravenous injection simulated training system of one embodiment of the invention, referring to Fig. 2, sheet
The intravenous injection simulated training system 20 of embodiment includes：
Object model construction unit 201, arm three-dimensional stereo model data are gathered using virtual reality technology, set one
Meeting in the virtual three-dimensional arm models of situation, the computer that deposit object model construction unit 201 is run is used to simulate behaviour
Make.In addition, 3D models can also be supplied to 3D Application Program Interfaces, for vein (muscle) injection side in actual application
The design of case.
Data processing unit 202, the data transmitted for processing data transmission unit 204, and obtain information therein：Example
Such as：User view information Viewport, operation object positional information Position, action message Motion, the letter that will identify that
Breath passes to the generation that image generation unit 203 carries out three-dimensional virtual image, and virtual scene is generated according to corresponding injection operation.
Wherein, view information Viewport, can be gathered in the following way：Camera is provided with VR helmets to enter
The tracking of row user eyeball motion, the viewpoint of user is determined according to the motion of eyeball.
When user, which wears the VR helmets, is in intravenous injection simulated training virtual scene, human arm model is utilized
On sensor sensing, sensor sensing on syringe recognize the action of user, action command is transferred to the number of computer
According in processing unit.
Image generation unit 203, receives the view information, positional information, movable information of the transmission of data processing unit 202
Deng, and information is handled, shape (contour of object) information of the three-dimensional stereo model of user's operation is extracted, then pre-
The corresponding object model data of the object-by shape information are identified in the model database first set, and call 3D rendering to handle storehouse
(for example, OpenGL or Direct3D), the generation for carrying out the structure and 3-D view of threedimensional model is rendered.
OpenGL (Open Graphics Library) refers to that define one connects across programming language, cross-platform programming
The professional graphic package interface of mouthful specification, it is used for 3-D view (two-dimentional also can), is that One function is powerful, calls conveniently
Underlying graphics storehouse.
Direct 3D are the 3D figure API of the general object pattern COM (Common Object Mode) based on Microsoft,
The bottom operation that graphical display interface (GDI) is directly supported the various hardware of the API is can bypass, the speed of service is improved, fitted
Close the extensive and practical 3D graphics calculations such as multimedia, amusement, instant 3D animations.
Data transmission unit 204, the information that real-time reception object sensing tracing unit 206 is sent, and be sent at data
Reason unit 202 is handled, and (note, syringe here is the equipment in equipment access unit to tracking syringe, i.e. syringe is needed
It is linked into computer and is communicated with data transmission unit, data transfer list is given by the sensor data transmission in syringe
Member so that data transmission unit transmits these information to data processing unit) operation information, pass to data processing unit and enter
Row processing, for generation three-dimensional virtual image.
Data processing unit is settable in a computer, and the computer provides equipment access interface and facilitates syringe and three-dimensional
Subject sensor tracing unit 206 transmits data in three-dimensional model.
Subject sensor tracing unit 206, is arranged in arm three-dimensional stereo model and syringe, during practical operation, by
Multiple sensors are distributed in arm three-dimensional stereo model and syringe, once the blood on syringe insertion arm three-dimensional stereo model
Pipe, the information that data processing unit is provided according to sensor in syringe and arm three-dimensional stereo model sensor determines user
Whether current operation is correct, if the operation of user currently is incorrect, current operation data is reached after VR display devices, VR
Angiorrhoxis bleeding is presented in display device immediately, and red and swollen three-dimensional virtual image reaches most true simulation effect.In addition,
Various form arms simulation effect data can be stored to the model database of computer, it is standby when practising for user.
Here sensor includes：Position sensor and pressure sensor, during practical application, are gathered by position sensor
The real time position data of user institute holder tool, and the real-time behaviour of the three-dimensional stereo model acted on by position sensor collection apparatus
Make position data；And, the real-time pressure data of user institute holder tool is gathered by pressure sensor, and pass through pressure sensor
Gather the real-time pressure data of the three-dimensional stereo model of apparatus effect.
Display unit 207, for receiving the 3D rendering data of the generation of image generation unit 203 and being shown in display device
In, such as VR glasses, user can check operation simulation effect by wearing VR glasses on virtual reality interactive operation platform；This
In VR glasses can be replaced the VR helmets, it is without limitation.
Alternatively, the intravenous injection simulated training system based on virtual reality of the present embodiment also includes：Authentication unit
205, authentication unit is pressed according to the peration data of user, the number of times of recording user operation mistake, the then operation to user
Operation according to the weight assignment and work quantity evaluation information set in model database to user is scored and graded, for subsequently looking into
See and refer to, improve operation success rate.
The specific work process bag of the intravenous injection simulated training system based on virtual reality technology of the embodiment of the present invention
Include：
Start the intravenous injection simulated training system based on virtual reality technology, into initial work, user can select
Select operation object (that is, specific human arm model).
Step 201：User picks up syringe and operated, the incoming positional information of subject sensor tracing unit 206 and dynamic
Make information, in real time sensing, data processing unit 202 carries out the work such as gesture identification, according to the corresponding operating identified, notifies figure
As generation unit 203 generates 3-D view.
Step 202：In injection manipulation, subject sensor tracing unit 207 is handed over data transmission unit 204
Mutually track injection operation and obtain injection operation information, and pass to data processing unit 202 and handled.Further, it is also possible to by institute
The data collected periodically send and update request to subject sensor tracing unit 207, so as to follow the trail of single from subject sensor
Newest data are obtained in member 207, to gather the action command of user, user's operation information are precisely collected.
Step 203：The data that the processing data transmission unit 204 of data processing unit 202 is transmitted, and in user to real empty
Between in arm three-dimensional stereo model perform injection operation after, image generation unit 203 start computer in virtual environment son
Program and the data for calling arm three dimensional virtual models, make three dimensional virtual models carry out the action command of operator anti-in time
Feedback, so that simulated injection operating result is presented in into user at the moment.
Step 204：After the completion of being operated by simulated injection, according to time of the total degree of the operation of record and operating mistake
It is several that simulated injection operation is evaluated, get and refer to score value.
Compared with existing intravenous injection model, the present embodiment has repeatable utilization rate height, cost low, vein simulating degree
High, venipuncture analog result intuitively advantage, it is few to solve medical worker's venipuncture opportunity to study such as nurse, operates not yet done
The problems such as practicing.Instruction cost and medical-risk are reduced, training resource has been saved, improved the quality of teaching, and simply, efficiently, easily
In operation, facilitate clinical expansion and popularization, with higher application value and meaning.
Embodiment three
The surgical simulators training system based on virtual reality is provided in the present embodiment.Specifically, based on virtual existing
Real surgical simulators training system needs to use following instrument when applying：
(1) Virtual Reality scalpel (alternatively also include surgical glove), here VR surgical kits contain sensor, can be with
Data acquisition and action induction are carried out using sensor, to carry out gesture identification, the surgical action of user is identified.Here biography
Sensor includes：Position sensor and pressure sensor, during practical application, the reality of user institute holder tool is gathered by position sensor
When position data, and by position sensor gather apparatus act on three-dimensional stereo model real-time operation position data；And,
The real-time pressure data of user institute holder tool is gathered by pressure sensor, and apparatus is acted on three are gathered by pressure sensor
Tie up the real-time pressure data of three-dimensional model.
(2) surgical object (i.e. human body certain organs three-dimensional stereo model), system can preset human body three-dimensional tridimensional
Model data, for user select human organ three-dimensional model as surgical object, and the model organ main positions with
And major multiple sensors of vascular distribution.In this way, in user's operating process, once scalpel touches some blood vessel, then passing
Sensor will send induction information and carry out further Data Analysis Services to data processing unit.
(3) computer, computer is used for implementation model data storage and data processing, image generation, data transfer etc.
Function；
(4) VR display devices (such as VR glasses or the VR helmets), for display virtual real 3-D view.
Virtual technology is applied to surgical simulators training by the present invention has three big advantages：First, physiology is truly presented
Dynamic process is metabolized, different age group organ metabolite data speed, altitude simulation surgical site is adjusted.Second, it is anti-in real time
Advances of operative technique is presented, the surgical outcome of operator is answered using model sense Sense of Technology, surgical procedure is truly fed back, it is good to be that operator establishes
Good practical operation technology, improves success rate of operation.3rd, reduce clinical operation instruction cost.
Fig. 3 is a kind of structured flowchart of surgical simulators training system of one embodiment of the invention, referring to Fig. 3, should
Surgical simulators training system 30 includes：
Viewpoint determining unit 301, viewpoint determining unit here includes two subelements, is that eye movement tracking is true respectively
Determine viewpoint subelement and head movement tracking determines viewpoint subelement, in virtual reality display device, for example, being set in the VR helmets
Camera is put, eyeball tracking is carried out using camera, the current viewpoint of user is determined according to the real-time motion data of user eyeball；
Or, camera and specific sensor (for example, acceleration transducer) are set in the VR helmets, head movement position is carried out
Follow the trail of, so that it is determined that viewpoint.It should be noted that the mode of the determination viewpoint of the present embodiment can be using prior art come real
Now, thus in more detailed implementation the present embodiment relating to how to determine viewpoint explanation is not repeated, reference can be made to existing skill
Associated description in art.
Surgical object model 302, surgical object model here is that the graphics processing unit in computer is selected according to user
The human organ three-dimensional model correspondence generation selected.For example, user have selected a lung organ model progress in realistic space
Surgical operation, then, image generation unit in the surgical simulators training system based on virtual reality of the present embodiment is from hand
The model data of corresponding lung organ is selected in art model database, three dimensional virtual models are built, and it is aobvious to be presented on virtual reality
Show in equipment.
Hand motion collecting unit 303, hand motion collecting unit here is i.e. using on scalpel or surgical glove
Sensor completes the collection of user's hand motion, for example, the position that user's hand is presently in, the directional information of user's operation,
Dynamics information etc., the information of the sensor collection in the three-dimensional stereo model of these information and human body privileged site
Determine the position of the surgical object model of user's operation.Example is connected, user currently carries out surgical operation to lung organ, then existing
Sensor collection user on 3 D stereo lung organ model in the real space holds whether scalpel contacts the lung organ
On blood vessel, if contact, then sensor can collect this data immediately and this peration data is sent into data
Processing unit, is then sent to image generation unit, image generation unit is according to user couple after data processing unit progress data
The operation of blood vessel, generates corresponding virtual reality 3-D view, is presented on user at the moment.
Surgery models database 304, the organ model for the various human body privileged sites that are stored with surgery models database
Data, are selected for user.
Data processing unit 305, data processing unit utilize in organ (e.g., lung) model multiple sensors for being distributed with
And the data for the sensor transmissions being distributed on scalpel carry out Data Analysis Services.Once scalpel touches sensor corresponding positions
Put, the information provided according to sensor determine current procedure operation it is whether correct, sensor sensing to data reach the data
Processing unit carries out data analysis：For example, once touching pulmonary vascular, data processing unit knows the operation for touching blood vessel
Data, are sent to image generation unit, and image generation unit, which generates the 3-D view of angiorrhoxis and is sent to display unit, is in
It is existing.
Image generation unit 306, for generating three-dimensional organ model, and according to the transmission of data processing unit 305
Data generate and rendered corresponding three-dimensional virtual image.
Further, since in VR helmets eyeglass optical characteristics (being concavees lens, pattern distortion can be produced during display),
The image of 306 pairs of generations of image generation unit enters line distortion processing in the present embodiment, i.e., sent out by the three-dimensional virtual image of generation
Give and distortion correction is carried out to image before display unit, to reach expected display effect.
Virtual reality display unit 307, for being shown to the three-dimensional virtual image that image generation unit 306 is generated,
User sees the simulated operation effect and VR surgical scenes of true operation by wearing the virtual reality display unit 307.
The specific work process bag of the surgical simulators training system based on virtual reality technology of the embodiment of the present invention
Include：
Step 301：User puts on VR helmets, picks up scalpel.
Step 302：Surgical object of the graphics processing unit in realistic space in computer generates corresponding operation
The incoming VR display devices of dummy model image.
Step 303：User is operated, and carries out surgical action identification.
Step 304：VR helmets judge that user's head position or the eyeball to user are tracked, and determine viewpoint.
Step 305：In operative process, the sensor sensing user on scalpel and human body stereo threedimensional model is held
Scalpel is fed back to the surgical cut point of surgical object.
Step 306：Incoming VR helmets after 3-D view generation are carried out according to feedack to show.
So far, the surgical simulators training system based on virtual reality technology of the present embodiment passes through virtual reality technology
There is provided vision, touching simulation to perceive, simulate real operation technique, interactivity is strong.Instruction cost and medical-risk are reduced, is saved
About medical training resource, improves quality of instruction, and simply, it is efficient, easily operated, conveniently popularize.
Example IV
Fig. 4 is a kind of flow chart of medical simulation training method of one embodiment of the invention.Referring to Fig. 4, the present embodiment
The medical simulation training method based on virtual reality comprise the following steps：
Step S401, gathers the three-dimensional stereo model data of human body privileged site, and the three-dimensional stereo model based on collection
Data build corresponding three dimensional virtual models object, store the three dimensional virtual models object built；
Step S402, the real time position data and pressure of institute's holder tool are gathered by the sensor set on user institute holder tool
Sensor tracking in force data and the three-dimensional stereo model acted on by the apparatus gathers the positional number of three-dimensional stereo model
According to and pressure data；
Step S403, position data and pressure data to collection are handled, and obtain the shape number of three-dimensional stereo model
According to this and user is to the peration data of three-dimensional stereo model；
Step S404, gives birth to according to the shape data of three-dimensional stereo model and user to the peration data of three-dimensional stereo model
Into including the three-dimensional virtual image of simulated operation object information；
Step S405, display output three-dimensional virtual image checks simulated operation result for user.
In one embodiment of the invention, step S404, according to the shape data of three-dimensional stereo model and user
The three-dimensional virtual image that peration data generation includes simulated operation object information includes：
According to the shape data of three-dimensional stereo model, shape data correspondence is identified in model database set in advance
Three-dimensional stereo model, and according to peration data of the user to three-dimensional stereo model, call 3-D view to handle storehouse, generation includes
The 3-D view of simulated operation object information.
In one embodiment of the invention, step S401, gathers the three-dimensional stereo model packet of human body privileged site
Include：
The three-dimensional stereo model data of human arm and internal organs are gathered,
User institute holder tool includes：Virtual reality scalpel or virtual reality syringe,
Sensor in the three-dimensional stereo model acted on by the sensor set on user institute holder tool and the apparatus
Tracking collection user includes to the peration data of three-dimensional stereo model：
The real time position data of user institute holder tool is gathered by position sensor, and apparatus is gathered by position sensor
The real-time operation position data of the three-dimensional stereo model of effect；And, the reality of user institute holder tool is gathered by pressure sensor
When pressure data, and by pressure sensor gather apparatus act on three-dimensional stereo model real-time pressure data.
In one embodiment of the invention, method further comprises shown in Fig. 4：User eyeball motion is followed the trail of, or, it is real
When collection user's head exercise data track the head movement of user, and determined according to eye movement or head movement to use in real time
The viewpoint at family, when receiving three-dimensional virtual image, according to the viewpoint of the user determined in real time, adjustment three-dimensional virtual image
Display output position.
Display output three-dimensional virtual image includes three-dimensional empty by virtual reality glasses or virtual implementing helmet display output
Intend image.
Step S404 in one embodiment of the invention, according to the shape data of three-dimensional stereo model and the behaviour of user
Make data generation and include the three-dimensional virtual image of simulated operation object information also to include：According to virtual reality glasses or virtual reality
The optical characteristics of eyeglass in the helmet is right before three-dimensional virtual image to virtual reality glasses or virtual implementing helmet are sent
Three-dimensional virtual image carries out distortion correction.
In summary, the medical simulation training method of the present embodiment, human body privileged site is gathered using virtual reality technology
Three-dimensional stereo model data and build dummy model object, receive user to the peration data of three-dimensional stereo model and pass through root
Corresponding virtual reality image is generated according to peration data, the virtual reality image of generation is presented on virtual reality display device
In, facilitate user to watch operating result.Thus, sensed by being set on the apparatus and operation object that are operated in realistic space
The peration data of device, in real time collection user, and corresponding three-dimensional virtual reality map picture is made, provide the user simulation tactilely-perceptible
Perceived with analog vision, improve the feeling of immersion of user, interactivity is strong.Can directly acquisition operations data and real-time update, it is true anti-
Operating result is presented, training effect is improved.The need for meeting medical educational and operation training, and simply, it is efficient, easily operated,
Facilitate clinical expansion and popularization, with higher application value.
The foregoing is only a specific embodiment of the invention, under the above-mentioned teaching of the present invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention is defined by scope of the claims.
Claims (10)
1. a kind of medical simulation training system, it is characterised in that the system includes：
Object model builds module, the three-dimensional stereo model data for gathering human body privileged site, and the three-dimensional based on collection
Three-dimensional model data build corresponding three dimensional virtual models object, and the three dimensional virtual models object of structure is sent to model data
Storehouse；
Model database, for storing three dimensional virtual models object data；
Sensor tracing module, the real time position number of institute's holder tool is gathered for the sensor by being set on user institute holder tool
According to and pressure data, and the three-dimensional stereo model acted on by the apparatus in sensor tracking gather three-dimensional stereo model
Position data and pressure data；
Data processing module, the position data and pressure data gathered to sensor tracing module is handled, and obtains three-dimensional vertical
The shape data of body Model and user to the peration data of three-dimensional stereo model, and by the shape data of three-dimensional stereo model with
And user is exported to the peration data of three-dimensional stereo model to image generation module；
Image generation module, gives birth to according to the shape data of three-dimensional stereo model and user to the peration data of three-dimensional stereo model
Into the three-dimensional virtual image of simulated operation object information is included, the three-dimensional virtual image of generation is sent to display module；
Display module, simulated operation result is checked for display output three-dimensional virtual image for user.
2. system according to claim 1, it is characterised in that described image generation module, specifically for vertical according to three-dimensional
The shape data of body Model, identifies the corresponding 3 D stereo of the shape data in the model database set in advance
Model, and according to peration data of the user to three-dimensional stereo model, call 3-D view to handle storehouse, generation includes simulated operation knot
The 3-D view of fruit information.
3. system according to claim 1, it is characterised in that object model builds module, specifically for collection human body hand
The three-dimensional stereo model data of arm and internal organs, and the three-dimensional stereo model number of the human arm based on collection and internal organs
According to the corresponding three dimensional virtual models object of structure human arm, and the corresponding three dimensional virtual models object of each internal organs.
4. system according to claim 1, it is characterised in that user institute holder tool includes：Virtual reality scalpel or void
Intend real syringe,
The sensor tracing module, the real time position data specifically for gathering user institute holder tool by position sensor,
And the real time position data for the three-dimensional stereo model that apparatus is acted on is gathered by position sensor；And, pass through pressure sensor
Gather the real-time pressure data of user institute holder tool, and the reality of the three-dimensional stereo model acted on by pressure sensor collection apparatus
When pressure data.
5. system according to claim 1, it is characterised in that camera is provided with the display module, for following the trail of
User eyeball is moved, or, acceleration transducer is provided with the display module, for gathering user's head motion number in real time
According to the head movement of tracking user, and determine according to the eye movement or head movement the viewpoint of user in real time,
When receiving the three-dimensional virtual image of described image generation module transmission, according to the viewpoint of the user determined in real time,
Adjust the display output position of three-dimensional virtual image.
6. system according to claim 5, it is characterised in that the display module is virtual reality glasses or virtual reality
The helmet.
7. system according to claim 6, it is characterised in that described image generation module, is additionally operable to according to virtual reality
The optical characteristics of eyeglass in glasses or virtual implementing helmet, is sending three-dimensional virtual image to virtual reality glasses or virtual existing
Before the real helmet, distortion correction processing is carried out to three-dimensional virtual image.
8. a kind of medical simulation training method, it is characterised in that methods described includes：
The three-dimensional stereo model data of human body privileged site are gathered, and the structure of the three-dimensional stereo model data based on collection is corresponding
Three dimensional virtual models object, stores the three dimensional virtual models object built；
The real time position data and pressure data of institute's holder tool are gathered by the sensor set on user institute holder tool and led to
The position data and pressure data for the sensor tracking collection three-dimensional stereo model crossed in the three-dimensional stereo model of apparatus effect；
Position data and pressure data to collection are handled, obtain three-dimensional stereo model shape data and user to three
Tie up the peration data of three-dimensional model；
Peration data generation according to the shape data of three-dimensional stereo model and user to three-dimensional stereo model includes simulation behaviour
Make the three-dimensional virtual image of object information；
Display output three-dimensional virtual image, simulated operation result is checked for user.
9. method according to claim 8, it is characterised in that the shape data and use according to three-dimensional stereo model
The three-dimensional virtual image that the peration data generation at family includes simulated operation object information includes：
According to the shape data of three-dimensional stereo model, shape data corresponding three is identified in model database set in advance
Three-dimensional model is tieed up, and according to peration data of the user to three-dimensional stereo model, calls 3-D view to handle storehouse, generation includes simulation
The 3-D view of operation result information.
10. method according to claim 8, it is characterised in that the three-dimensional stereo model of the collection human body privileged site
Data include：
The three-dimensional stereo model data of human arm and internal organs are gathered,
User institute holder tool includes：Virtual reality scalpel or virtual reality syringe,
Sensor in the sensor by being set on user institute holder tool and the three-dimensional stereo model of apparatus effect
Tracking collection user includes to the peration data of three-dimensional stereo model：
The real time position data of user institute holder tool is gathered by position sensor, and apparatus is gathered by position sensor and is acted on
Three-dimensional stereo model real time position data；And, the real-time pressure number of user institute holder tool is gathered by pressure sensor
According to, and the real-time pressure data of the three-dimensional stereo model acted on by pressure sensor collection apparatus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611266712.3A CN107067856B (en) | 2016-12-31 | 2016-12-31 | Medical simulation training system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611266712.3A CN107067856B (en) | 2016-12-31 | 2016-12-31 | Medical simulation training system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107067856A true CN107067856A (en) | 2017-08-18 |
| CN107067856B CN107067856B (en) | 2020-03-27 |
Family
ID=59624651
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611266712.3A Active CN107067856B (en) | 2016-12-31 | 2016-12-31 | Medical simulation training system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107067856B (en) |
Cited By (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107066082A (en) * | 2016-12-30 | 2017-08-18 | 百度在线网络技术（北京）有限公司 | Display methods and device |
| CN107393390A (en) * | 2017-08-25 | 2017-11-24 | 江苏嘉纳宝医疗科技有限公司 | Virtual reality first aid training model person and training system |
| CN107527542A (en) * | 2017-09-18 | 2017-12-29 | 南京梦宇三维技术有限公司 | Percussion training system based on motion capture |
| CN107591074A (en) * | 2017-09-05 | 2018-01-16 | 杭州市第三人民医院 | A kind of Flexible ureteroscope simulation learning method made based on 3D printing |
| CN107633724A (en) * | 2017-09-18 | 2018-01-26 | 南京梦宇三维技术有限公司 | Auscultation training system based on motion capture |
| CN107657881A (en) * | 2017-10-17 | 2018-02-02 | 天津大学 | Close-range particle implant surgery training method based on virtual reality |
| CN107862966A (en) * | 2017-12-14 | 2018-03-30 | 江苏农牧科技职业学院 | Acupoint animal model and its component |
| CN108053709A (en) * | 2017-12-29 | 2018-05-18 | 六盘水市人民医院 | A kind of department of cardiac surgery deep suture operation training system and analog imaging method |
| CN108320645A (en) * | 2018-01-19 | 2018-07-24 | 武汉康慧然信息技术咨询有限公司 | Medical simulation training method |
| CN108335599A (en) * | 2018-01-19 | 2018-07-27 | 武汉康慧然信息技术咨询有限公司 | Operation model training method based on three-dimensional modeling image technology |
| CN108510939A (en) * | 2018-04-24 | 2018-09-07 | 中航大（天津）模拟机工程技术有限公司 | Simulation imaging system based on flexible O L ED display screen |
| CN108538095A (en) * | 2018-04-25 | 2018-09-14 | 惠州卫生职业技术学院 | Medical teaching system and method based on virtual reality technology |
| CN108922300A (en) * | 2018-07-24 | 2018-11-30 | 杭州行开科技有限公司 | Surgical simulation 3D system based on digitized humans |
| CN109061892A (en) * | 2018-09-27 | 2018-12-21 | 广州狄卡视觉科技有限公司 | Plastic surgery medical image Model Reconstruction interacts naked-eye stereoscopic display system and method |
| CN109065147A (en) * | 2018-07-30 | 2018-12-21 | 广州狄卡视觉科技有限公司 | Medical Digital 3D model human body surgical simulation human-computer interaction system and method |
| CN109064819A (en) * | 2018-07-24 | 2018-12-21 | 李慧 | A kind of method of virtual instruction |
| CN109064817A (en) * | 2018-07-18 | 2018-12-21 | 杭州行开科技有限公司 | Surgery simulation system based on CT Three-dimension Reconstruction Model |
| CN109410721A (en) * | 2018-10-30 | 2019-03-01 | 深圳市墨优科技开发有限公司 | A kind of emergency care training method and terminal |
| US10235904B2 (en) | 2014-12-01 | 2019-03-19 | Truinject Corp. | Injection training tool emitting omnidirectional light |
| US10269266B2 (en) | 2017-01-23 | 2019-04-23 | Truinject Corp. | Syringe dose and position measuring apparatus |
| US10290232B2 (en) | 2014-03-13 | 2019-05-14 | Truinject Corp. | Automated detection of performance characteristics in an injection training system |
| CN109767681A (en) * | 2019-03-28 | 2019-05-17 | 福建水立方三维数字科技有限公司 | Heimlich first aid Operations Simulation Facility |
| CN109841135A (en) * | 2017-11-29 | 2019-06-04 | 深圳市掌网科技股份有限公司 | A kind of operative training method and system based on virtual reality |
| CN109935313A (en) * | 2019-03-04 | 2019-06-25 | 苏州达辰医疗科技有限公司 | The medical application of three-dimensional visualization and mixed reality |
| CN110335516A (en) * | 2019-06-27 | 2019-10-15 | 王寅 | A kind of VR openheart surgery simulation system and its analogy method |
| CN110353771A (en) * | 2019-07-10 | 2019-10-22 | 解涛 | A kind of cerebral surgery operation VR simulated training scalpel |
| US10500340B2 (en) | 2015-10-20 | 2019-12-10 | Truinject Corp. | Injection system |
| CN110556031A (en) * | 2019-09-06 | 2019-12-10 | 重庆大学附属肿瘤医院 | Medical guidance system for ostomy patient |
| CN110610632A (en) * | 2018-06-15 | 2019-12-24 | 刘军 | Virtual in-vivo navigation system for vascular intervention operation |
| CN110930804A (en) * | 2019-12-19 | 2020-03-27 | 郑州工业应用技术学院 | Clinical medicine education system based on cloud platform |
| US10643497B2 (en) | 2012-10-30 | 2020-05-05 | Truinject Corp. | System for cosmetic and therapeutic training |
| CN111127991A (en) * | 2020-02-27 | 2020-05-08 | 无锡市妇幼保健院 | 3D medical teaching system |
| US10648790B2 (en) | 2016-03-02 | 2020-05-12 | Truinject Corp. | System for determining a three-dimensional position of a testing tool |
| CN111243413A (en) * | 2020-03-06 | 2020-06-05 | 吉林大学 | Modeling method and teaching system for facial anatomy teaching |
| US10743942B2 (en) | 2016-02-29 | 2020-08-18 | Truinject Corp. | Cosmetic and therapeutic injection safety systems, methods, and devices |
| CN111613122A (en) * | 2020-05-19 | 2020-09-01 | 威爱医疗科技(中山)有限公司 | Virtual-actual fused vascular interventional operation simulation system |
| US10849688B2 (en) | 2016-03-02 | 2020-12-01 | Truinject Corp. | Sensory enhanced environments for injection aid and social training |
| CN112106127A (en) * | 2018-04-27 | 2020-12-18 | 克里赛利克斯有限公司 | Medical platform |
| CN112120908A (en) * | 2020-08-12 | 2020-12-25 | 厦门立方幻境科技有限公司 | Multi-mode interactive joint loosening training equipment and training method |
| US10896627B2 (en) | 2014-01-17 | 2021-01-19 | Truinjet Corp. | Injection site training system |
| CN112309574A (en) * | 2019-07-31 | 2021-02-02 | 西门子医疗有限公司 | Method and apparatus for deformation simulation |
| CN112535533A (en) * | 2020-12-06 | 2021-03-23 | 西安交通大学 | Supporting device for helping remote operation by 3D printing focus model |
| CN112820376A (en) * | 2021-01-30 | 2021-05-18 | 天津体育学院 | Hemiplegia rehabilitation training system based on virtual reality technology rowing motion |
| CN112951014A (en) * | 2021-01-29 | 2021-06-11 | 中南大学湘雅三医院 | Intelligent medical education system, method, terminal and medium integrating teaching and practical training |
| CN113257387A (en) * | 2021-06-07 | 2021-08-13 | 宁波圻亿科技有限公司 | Wearable device for rehabilitation training, rehabilitation training method and system |
| CN113269995A (en) * | 2021-05-28 | 2021-08-17 | 黑龙江拓盟科技有限公司 | B-ultrasonic-guided puncture-method peritoneal dialysis catheterization simulation training system based on MR |
| CN113823172A (en) * | 2021-09-18 | 2021-12-21 | 安徽声谷智能科技有限公司 | Machine vision system application experiment development platform |
| CN117253409A (en) * | 2023-11-16 | 2023-12-19 | 成都泰盟软件有限公司 | Haimarick first aid teaching system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101923799A (en) * | 2010-09-26 | 2010-12-22 | 天津信仁科技发展有限公司 | Chinese medicinal diagnosis and treatment and acupoint massage teaching training system for head and neck |
| US20120251991A1 (en) * | 2004-11-30 | 2012-10-04 | Eric Savitsky | Peripheral Probe with Six Degrees of Freedom Plus Compressive Force Feedback |
| CN103106348A (en) * | 2013-03-08 | 2013-05-15 | 上海交通大学医学院附属第九人民医院 | Virtual surgery simulation method and device thereof |
| CN204029245U (en) * | 2014-08-01 | 2014-12-17 | 卓思生命科技有限公司 | A kind of surgery simulation system |
| US20150154889A1 (en) * | 2012-01-23 | 2015-06-04 | Virtamed Ag | Medical training systems and methods |
| CN105395252A (en) * | 2015-12-10 | 2016-03-16 | 哈尔滨工业大学 | Wearable three-dimensional image navigation device for vascular intervention operation and realizing man-machine interaction |
| CN106157776A (en) * | 2016-08-12 | 2016-11-23 | 北京大学人民医院 | Interactive virtual fractional curettage art teaching system and teaching method |
-
2016
- 2016-12-31 CN CN201611266712.3A patent/CN107067856B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120251991A1 (en) * | 2004-11-30 | 2012-10-04 | Eric Savitsky | Peripheral Probe with Six Degrees of Freedom Plus Compressive Force Feedback |
| CN101923799A (en) * | 2010-09-26 | 2010-12-22 | 天津信仁科技发展有限公司 | Chinese medicinal diagnosis and treatment and acupoint massage teaching training system for head and neck |
| US20150154889A1 (en) * | 2012-01-23 | 2015-06-04 | Virtamed Ag | Medical training systems and methods |
| CN103106348A (en) * | 2013-03-08 | 2013-05-15 | 上海交通大学医学院附属第九人民医院 | Virtual surgery simulation method and device thereof |
| CN204029245U (en) * | 2014-08-01 | 2014-12-17 | 卓思生命科技有限公司 | A kind of surgery simulation system |
| CN105395252A (en) * | 2015-12-10 | 2016-03-16 | 哈尔滨工业大学 | Wearable three-dimensional image navigation device for vascular intervention operation and realizing man-machine interaction |
| CN106157776A (en) * | 2016-08-12 | 2016-11-23 | 北京大学人民医院 | Interactive virtual fractional curettage art teaching system and teaching method |
Cited By (63)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11854426B2 (en) | 2012-10-30 | 2023-12-26 | Truinject Corp. | System for cosmetic and therapeutic training |
| US10643497B2 (en) | 2012-10-30 | 2020-05-05 | Truinject Corp. | System for cosmetic and therapeutic training |
| US10902746B2 (en) | 2012-10-30 | 2021-01-26 | Truinject Corp. | System for cosmetic and therapeutic training |
| US11403964B2 (en) | 2012-10-30 | 2022-08-02 | Truinject Corp. | System for cosmetic and therapeutic training |
| US10896627B2 (en) | 2014-01-17 | 2021-01-19 | Truinjet Corp. | Injection site training system |
| US10290231B2 (en) | 2014-03-13 | 2019-05-14 | Truinject Corp. | Automated detection of performance characteristics in an injection training system |
| US10290232B2 (en) | 2014-03-13 | 2019-05-14 | Truinject Corp. | Automated detection of performance characteristics in an injection training system |
| US10235904B2 (en) | 2014-12-01 | 2019-03-19 | Truinject Corp. | Injection training tool emitting omnidirectional light |
| US10500340B2 (en) | 2015-10-20 | 2019-12-10 | Truinject Corp. | Injection system |
| US10743942B2 (en) | 2016-02-29 | 2020-08-18 | Truinject Corp. | Cosmetic and therapeutic injection safety systems, methods, and devices |
| US11730543B2 (en) | 2016-03-02 | 2023-08-22 | Truinject Corp. | Sensory enhanced environments for injection aid and social training |
| US10648790B2 (en) | 2016-03-02 | 2020-05-12 | Truinject Corp. | System for determining a three-dimensional position of a testing tool |
| US10849688B2 (en) | 2016-03-02 | 2020-12-01 | Truinject Corp. | Sensory enhanced environments for injection aid and social training |
| CN107066082B (en) * | 2016-12-30 | 2018-10-02 | 百度在线网络技术（北京）有限公司 | Display methods and device |
| CN107066082A (en) * | 2016-12-30 | 2017-08-18 | 百度在线网络技术（北京）有限公司 | Display methods and device |
| US11710424B2 (en) | 2017-01-23 | 2023-07-25 | Truinject Corp. | Syringe dose and position measuring apparatus |
| US10269266B2 (en) | 2017-01-23 | 2019-04-23 | Truinject Corp. | Syringe dose and position measuring apparatus |
| CN107393390A (en) * | 2017-08-25 | 2017-11-24 | 江苏嘉纳宝医疗科技有限公司 | Virtual reality first aid training model person and training system |
| CN107591074A (en) * | 2017-09-05 | 2018-01-16 | 杭州市第三人民医院 | A kind of Flexible ureteroscope simulation learning method made based on 3D printing |
| CN107633724A (en) * | 2017-09-18 | 2018-01-26 | 南京梦宇三维技术有限公司 | Auscultation training system based on motion capture |
| CN107527542A (en) * | 2017-09-18 | 2017-12-29 | 南京梦宇三维技术有限公司 | Percussion training system based on motion capture |
| CN107657881A (en) * | 2017-10-17 | 2018-02-02 | 天津大学 | Close-range particle implant surgery training method based on virtual reality |
| CN109841135A (en) * | 2017-11-29 | 2019-06-04 | 深圳市掌网科技股份有限公司 | A kind of operative training method and system based on virtual reality |
| CN107862966A (en) * | 2017-12-14 | 2018-03-30 | 江苏农牧科技职业学院 | Acupoint animal model and its component |
| CN108053709A (en) * | 2017-12-29 | 2018-05-18 | 六盘水市人民医院 | A kind of department of cardiac surgery deep suture operation training system and analog imaging method |
| CN108320645A (en) * | 2018-01-19 | 2018-07-24 | 武汉康慧然信息技术咨询有限公司 | Medical simulation training method |
| CN108335599A (en) * | 2018-01-19 | 2018-07-27 | 武汉康慧然信息技术咨询有限公司 | Operation model training method based on three-dimensional modeling image technology |
| CN108335599B (en) * | 2018-01-19 | 2020-02-04 | 聊城市人民医院 | Operation model training method based on three-dimensional modeling image technology |
| CN108510939A (en) * | 2018-04-24 | 2018-09-07 | 中航大（天津）模拟机工程技术有限公司 | Simulation imaging system based on flexible O L ED display screen |
| CN108538095A (en) * | 2018-04-25 | 2018-09-14 | 惠州卫生职业技术学院 | Medical teaching system and method based on virtual reality technology |
| CN112106127A (en) * | 2018-04-27 | 2020-12-18 | 克里赛利克斯有限公司 | Medical platform |
| CN110610632A (en) * | 2018-06-15 | 2019-12-24 | 刘军 | Virtual in-vivo navigation system for vascular intervention operation |
| CN109064817A (en) * | 2018-07-18 | 2018-12-21 | 杭州行开科技有限公司 | Surgery simulation system based on CT Three-dimension Reconstruction Model |
| CN109064819B (en) * | 2018-07-24 | 2020-12-18 | 贝利尔科技发展南京有限公司 | Virtual teaching method |
| CN108922300A (en) * | 2018-07-24 | 2018-11-30 | 杭州行开科技有限公司 | Surgical simulation 3D system based on digitized humans |
| CN109064819A (en) * | 2018-07-24 | 2018-12-21 | 李慧 | A kind of method of virtual instruction |
| CN109065147A (en) * | 2018-07-30 | 2018-12-21 | 广州狄卡视觉科技有限公司 | Medical Digital 3D model human body surgical simulation human-computer interaction system and method |
| CN109061892A (en) * | 2018-09-27 | 2018-12-21 | 广州狄卡视觉科技有限公司 | Plastic surgery medical image Model Reconstruction interacts naked-eye stereoscopic display system and method |
| CN109410721A (en) * | 2018-10-30 | 2019-03-01 | 深圳市墨优科技开发有限公司 | A kind of emergency care training method and terminal |
| CN109935313A (en) * | 2019-03-04 | 2019-06-25 | 苏州达辰医疗科技有限公司 | The medical application of three-dimensional visualization and mixed reality |
| CN109767681A (en) * | 2019-03-28 | 2019-05-17 | 福建水立方三维数字科技有限公司 | Heimlich first aid Operations Simulation Facility |
| CN110335516A (en) * | 2019-06-27 | 2019-10-15 | 王寅 | A kind of VR openheart surgery simulation system and its analogy method |
| CN110353771B (en) * | 2019-07-10 | 2020-07-10 | 解涛 | VR simulation training scalpel for brain surgery |
| CN110353771A (en) * | 2019-07-10 | 2019-10-22 | 解涛 | A kind of cerebral surgery operation VR simulated training scalpel |
| CN112309574A (en) * | 2019-07-31 | 2021-02-02 | 西门子医疗有限公司 | Method and apparatus for deformation simulation |
| US11883108B2 (en) | 2019-07-31 | 2024-01-30 | Siemens Healthcare Gmbh | Method for deformation simulation and apparatus |
| CN110556031A (en) * | 2019-09-06 | 2019-12-10 | 重庆大学附属肿瘤医院 | Medical guidance system for ostomy patient |
| CN110930804A (en) * | 2019-12-19 | 2020-03-27 | 郑州工业应用技术学院 | Clinical medicine education system based on cloud platform |
| CN111127991B (en) * | 2020-02-27 | 2024-06-04 | 无锡市妇幼保健院 | 3D medical teaching system |
| CN111127991A (en) * | 2020-02-27 | 2020-05-08 | 无锡市妇幼保健院 | 3D medical teaching system |
| CN111243413A (en) * | 2020-03-06 | 2020-06-05 | 吉林大学 | Modeling method and teaching system for facial anatomy teaching |
| CN111243413B (en) * | 2020-03-06 | 2021-07-02 | 吉林大学 | Modeling method and teaching system for facial anatomy teaching |
| CN111613122A (en) * | 2020-05-19 | 2020-09-01 | 威爱医疗科技(中山)有限公司 | Virtual-actual fused vascular interventional operation simulation system |
| CN112120908A (en) * | 2020-08-12 | 2020-12-25 | 厦门立方幻境科技有限公司 | Multi-mode interactive joint loosening training equipment and training method |
| CN112535533A (en) * | 2020-12-06 | 2021-03-23 | 西安交通大学 | Supporting device for helping remote operation by 3D printing focus model |
| CN112951014A (en) * | 2021-01-29 | 2021-06-11 | 中南大学湘雅三医院 | Intelligent medical education system, method, terminal and medium integrating teaching and practical training |
| CN112820376A (en) * | 2021-01-30 | 2021-05-18 | 天津体育学院 | Hemiplegia rehabilitation training system based on virtual reality technology rowing motion |
| CN113269995A (en) * | 2021-05-28 | 2021-08-17 | 黑龙江拓盟科技有限公司 | B-ultrasonic-guided puncture-method peritoneal dialysis catheterization simulation training system based on MR |
| CN113269995B (en) * | 2021-05-28 | 2023-05-02 | 黑龙江拓盟科技有限公司 | MR-based simulation training system for peritoneal dialysis catheterization by using B ultrasonic guided puncture method |
| CN113257387B (en) * | 2021-06-07 | 2023-01-31 | 上海圻峰智能科技有限公司 | Wearable device for rehabilitation training, rehabilitation training method and system |
| CN113257387A (en) * | 2021-06-07 | 2021-08-13 | 宁波圻亿科技有限公司 | Wearable device for rehabilitation training, rehabilitation training method and system |
| CN113823172A (en) * | 2021-09-18 | 2021-12-21 | 安徽声谷智能科技有限公司 | Machine vision system application experiment development platform |
| CN117253409A (en) * | 2023-11-16 | 2023-12-19 | 成都泰盟软件有限公司 | Haimarick first aid teaching system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107067856B (en) | 2020-03-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107067856A (en) | A kind of medical simulation training system and method | |
| Coles et al. | Integrating haptics with augmented reality in a femoral palpation and needle insertion training simulation | |
| CN106251751B (en) | A kind of simulated medical surgery analogue system based on VR technology | |
| AU762444B2 (en) | Endoscopic tutorial system | |
| Basdogan et al. | VR-based simulators for training in minimally invasive surgery | |
| CN106251752A (en) | The medical science training system that AR and VR combines | |
| CN106327983A (en) | Acupuncture acupoint determination auxiliary teaching system | |
| CN106297471A (en) | The removable cornea intelligent operation training system that AR and VR combines | |
| CN105825752A (en) | Force feedback device-based virtual corneal surgery training system | |
| CN107527542B (en) | Percussion training system based on motion capture | |
| CN113706960A (en) | Nursing operation exercise platform based on VR technology and use method | |
| WO2020091225A1 (en) | Virtual reality-based educational cataract surgery simulation system | |
| CN107433021A (en) | A kind of VR rehabilitation systems based on mirror neuron | |
| CN109979600A (en) | Orbital Surgery training method, system and storage medium based on virtual reality | |
| CN110400620B (en) | Heart three-dimensional model construction method and simulated heart operation guidance system | |
| CN107361843A (en) | Immersion neurosurgery analogy method with true sense of touch | |
| Gopher | Skill training in multimodal virtual environments | |
| CN109118834A (en) | A kind of virtual tooth-implanting operation training system | |
| CN111276022A (en) | Gastroscope simulation operation system based on VR technique | |
| CN113903424A (en) | Virtual reality function rehabilitation training system | |
| Coles et al. | The effectiveness of commercial haptic devices for use in virtual needle insertion training simulations | |
| KR102444058B1 (en) | System for mixed-reality acupuncture training with dummy and acupuncture controller | |
| CN115421594A (en) | Device and method based on virtual training and examination scoring | |
| Chen et al. | Application of XR technology in stomatology education: Theoretical basis, application scenarios and future prospects | |
| CN114038259A (en) | 5G virtual reality medical ultrasonic training system and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201015 Address after: 261031 north of Yuqing street, east of Dongming Road, high tech Zone, Weifang City, Shandong Province (Room 502, Geer electronic office building) Patentee after: GoerTek Optical Technology Co.,Ltd. Address before: 266104 Laoshan Qingdao District North House Street investment service center room, Room 308, Shandong Patentee before: GOERTEK TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20221215 Address after: 266104 No. 500, Songling Road, Laoshan District, Qingdao, Shandong Patentee after: GOERTEK TECHNOLOGY Co.,Ltd. Address before: 261031 north of Yuqing street, east of Dongming Road, high tech Zone, Weifang City, Shandong Province (Room 502, Geer electronics office building) Patentee before: GoerTek Optical Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right |