CN107993506A - A kind of force feedback endoscopy virtual training system - Google Patents
A kind of force feedback endoscopy virtual training system Download PDFInfo
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- CN107993506A CN107993506A CN201610957340.2A CN201610957340A CN107993506A CN 107993506 A CN107993506 A CN 107993506A CN 201610957340 A CN201610957340 A CN 201610957340A CN 107993506 A CN107993506 A CN 107993506A
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- force feedback
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- 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
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Abstract
The present invention provides a kind of force feedback endoscopy virtual training system, including main controller, the special endoscope head of training being electrically connected with the main controller, train specialized simulation case and for showing that 3D examines the display of altimetric image, the trained specialized simulation case is equipped with the entrance for being used for guiding the special endoscope head of the training to enter, the device for force feedback of the interior tactile stress for peeping soft tissue system is treated for simulating and enters the measurement sensor of depth for detecting the special endoscope head of training, the main controller is also electrically connected input equipment, mini-printer and acoustic input dephonoprojectoscope, the special endoscope head of training is equipped with microscopy auxiliary tool connector, the main controller is equipped with the communication interface being connected with microscopy auxiliary tool point.Evaluation index each contributes to make once comprehensive comprehensive training experience for student after pre-programmed mission and course of the present invention with the content of courses, real-time Simulation haptics and simulation, and safety practice is provided for student and teacher in virtual patient's environment learning.
Description
Technical field
The present invention relates to endoscopy technical field, more particularly, to a kind of force feedback endoscopy virtual training system
System.
Background technology
The history of endoscope experienced from rigid endoscope optical to fibre optic endoscopes again to the mistake of fujinon electronic video endoscope
Journey.With the rapid development of semiconductor and computer technology, nineteen eighty-three American has invented fujinon electronic video endoscope and has been applied to first
It is clinical, it is considered to be the 3rd milestone in endoscope development history.Fujinon electronic video endoscope is not fine by optical lens or light guide
Conducting image is tieed up, but the optocoupler components CCD by being referred to as microcam mounted in endoscope apex changes luminous energy
For electric energy, then by image processor " reconstruction " high-definition, color image true to nature.
As the continuous development of endoscopic technique and the continuous of application range expand, the demand of medical and technical staff is also increasingly
Greatly, then how to improve the culture speed and training quality of endoscope medical and technical staff, be that the technology of medical industry urgent need to resolve is asked
Topic.
The content of the invention
The present invention provides a kind of force feedback endoscopy virtual training system, pre-programmed mission and class with the content of courses
Evaluation index each contributes to make once comprehensive comprehensive training experience for student after journey, real-time Simulation haptics and simulation,
Virtual patient's environment learning provides safety practice for student and teacher.
The present invention provides a kind of force feedback endoscopy virtual training system, including main controller, with main controller electricity
The special endoscope head of training of connection, train specialized simulation case and for showing that 3D examines the display of altimetric image, and the training is special
Be equipped with simulation box be used to guide the special endoscope head of the training to enter entrance, for simulate treat in peep soft tissue system
Tactile stress device for force feedback and enter the measurement sensor of depth for detecting the special endoscope head of training, the master control
Device is also electrically connected input equipment, mini-printer and acoustic input dephonoprojectoscope, and it is auxiliary that the special endoscope head of training is equipped with microscopy
Tool-joint is helped, the main controller is equipped with the communication interface being connected with microscopy auxiliary tool point.
Further, the device for force feedback includes spring feedback device, electromagnetic feedback arrangements.
Further, the special endoscope head of the training includes mirror bar, and the front end of the mirror bar is equipped with angular transducer, shines
Bright device and camera, the rear end of the mirror bar are equipped with hand-held control terminal.
Further, the main controller is also electrically connected a humidity sensor and warning device.
Further, the input equipment includes one or more of keyboard, mouse and touch input panel.
Further, it is detachably connected between the special endoscope head of the training and the main controller by aviation plug.
Further, the hand-held control terminal includes capture button, attracts button, freezing button or thumb control spinning roller.
Further, the main controller is also electrically connected a foot pedal, and the foot pedal includes being used under foot-operated situation produce
The pedal switch of raw switch controlling signal.
Further, the main controller is also electrically connected a network communication device.
Further, the network communication device includes wireless communication apparatus and wire communication device, the wireless telecommunications
Device includes the one or more in WIFI devices, ZIGBEE devices and blue-tooth device, and the wire communication device includes network
Control chip and the RJ45 interfaces being electrically connected with the network control chip.
Beneficial effects of the present invention：
Endoscopy virtual training system of the present invention, produces force feedback, to imitate endoscopy by device for force feedback
During the true resistance that produces.Measurement sensor is to detect the depth of endoscope head entrance, and by the data feedback of collection
To training software, which is installed on main controller, and correspondingly, main controller is carried out according to the data of collection by display
3D technology is shown.Assess and refer to after pre-programmed mission and course of the present invention with the content of courses, real-time Simulation haptics and simulation
Mark each contributes to make once comprehensive comprehensive training experience for student.By the way that these instruments are combined, student starts to know
Other anatomical structure and mark, interference method and complication management.Provided in virtual patient's environment learning for student and teacher
The chance practiced safely.Medical Technicians can be allowed to experience endoscopic surgery operating process conscientiously under a kind of simulated conditions
In tactile and feel, realize effective application of the Virtual Simulation in endoscopic arts, lift the medical technologies water of medical worker
It is flat, reduce the operation risk of patient.
Brief description of the drawings
The attached drawing for forming the part of the application is used for providing a further understanding of the present invention, schematic reality of the invention
Apply example and its explanation is used to explain the present invention, do not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the system architecture diagram of endoscopy virtual training system of the embodiment of the present invention.
Brief description of the drawings：
10th, the special endoscope head of training；20th, main controller；30th, display；40th, training specialized simulation case；410th, entrance；
420th, device for force feedback；430th, measurement sensor；50th, acoustic input dephonoprojectoscope；60th, input equipment；70th, mini-printer.
Embodiment
Below with reference to the accompanying drawings and the present invention will be described in detail in conjunction with the embodiments.It should be noted that in the feelings not conflicted
Under condition, the feature in embodiment and embodiment in the application can be mutually combined.
With reference to Fig. 1, an embodiment of the present invention provides a kind of force feedback endoscopy virtual training system, including main controller
20, the special endoscope head 10 of training that is electrically connected with the main controller 20, training specialized simulation case 40 and for showing that 3D examines survey
The display 30 of image, the trained specialized simulation case 40, which is equipped with, to be used to guide what the special endoscope head 10 of the training entered
Entrance 410, treat the device for force feedback 420 of the interior tactile stress for peeping soft tissue system for simulation and trained for detecting in special
Sight glass first 10 enters the measurement sensor 430 of depth, and the main controller 20 is also electrically connected input equipment 60,70 and of mini-printer
Acoustic input dephonoprojectoscope 50, the special endoscope head 10 of training are equipped with microscopy auxiliary tool connector, are set on the main controller 20
There is the communication interface being connected with microscopy auxiliary tool point
Endoscopy virtual training system of the present invention, training software control device for force feedback 420, passes through device for force feedback
420 produce force feedback, to imitate the true resistance produced during endoscopy.Measurement sensor 430 is peeping in detecting
The depth that camera lens enters, and the data feedback of collection is installed on main controller 20 to training software, the training software, accordingly
Ground, main controller 20 carry out 3D technology by display 30 according to the data of collection and show.The present invention prelisting with the content of courses
Evaluation index each contributes to make once comprehensive comprehensive instruction for student after journey task and course, real-time Simulation haptics and simulation
Practice experience.By the way that these instruments are combined, student starts to identify anatomical structure and mark, interference method and complication pipe
Reason.In virtual patient's environment learning the chance practiced safely is provided for student and teacher.Medical Technicians can be allowed to exist
Under a kind of simulated conditions, tactile and feel in endoscopic surgery operating process are experienced conscientiously, including realizing Virtual Simulation
Effective application in sight glass field, lifts the medical technologies level of medical worker, reduces the operation risk of patient.
Wherein, the major function of software section is 1) to establish the classics void of human respiratory tract's dummy model, respiratory disease
Analog model, there is provided endoscopic simulated environment；2) establish endoscope and use model, judge whether maloperation is sent out according to model
It is raw, the finally inspection skill marking to operator.User is interacted by the special endoscope head 10 of training with software.Training
Specialized simulation case 40 can be a babinet, and the emulation soft tissue that follow-up is surveyed is placed in the babinet, while device for force feedback 420 can
With arranged on the detection upstream end of the emulation soft tissue, and measurement sensor 430 can use Optical encoder or ultrasonic wave
Ranging technology is realized.
Microscopy auxiliary tool is used to aiding in realizing the training function of the embodiment of the present invention, including bronchus auxiliary tool, disappears
Change road auxiliary tool, by these microscopy ancillary hardwares, for different module design tasks.
Further, the device for force feedback 420 includes spring feedback device, electromagnetic feedback arrangements.Spring feedback device
In resistance when mainly being stretched into by the stress of spring come simulated endoscope head in soft tissue.Similarly, filled according to electro-magnetic feedback
Put, then driving produces a magnetic field, the part extended in trained specialized simulation case 40 of the special endoscope of training in the device
Using permanent magnet or Electromagnetic Design, foregoing resistance can be so simulated by magnetic action power.
Further, the special endoscope head 10 of the training includes mirror bar, the front end of the mirror bar be equipped with angular transducer,
Lighting device and camera, the rear end of the mirror bar are equipped with hand-held control terminal.Lighting device is used to illuminate in training simulation case
Emulation soft tissue, the mirror bar that measurement sensor 430 is used to measure endoscope head enter depth in training simulation case.
Further, the main controller 20 is also electrically connected a humidity sensor and warning device.Because ambient humidity is excessive
The working performance of sensor and circuit board can be caused to be subject to serious image, and it is straight in field of medical device, the accuracy of sensor
Accuracy when influencing operation is connect, so when ambient humidity is excessive, the present invention can produce alarm signal by warning device
Number.More preferably, the present invention can also set desiccant dehumidification equipment, and when ambient humidity is excessive, main controller 20 can control this dry
Dry dehumidification equipment work.
Further, the input equipment 60 includes one or more of keyboard, mouse and touch input panel.Pass through
Input equipment 60 enters the operating instructions, each simulation control software interface of controlled training software, to realize different software work(
Energy.
Further, detachably connected by aviation plug between the special endoscope head 10 of the training and the main controller 20
Connect.By such a mode, can expand suitable for the different types of endoscope check such as bronchus, intestines and stomach.
Further, the hand-held control terminal includes capture button, attracts button, freezing button or thumb control spinning roller.
By capture button camera can be controlled to catch influences, and freezing button can carry out freeze frame, and thumb control handle can be with
Operator's one hand is allowed to realize image handover operation.
Further, the main controller 20 is also electrically connected a foot pedal, and the foot pedal includes being used under foot-operated situation
Produce the pedal switch of switch controlling signal.During actual operation, generally require pair at the same time to carry out various surgical apparatuses
Control, the present invention is by setting a foot pedal, and medical and technical staff can generate switch controlling signal with the mode trampled, accordingly
Ground, can trigger main controller 20 by the switch controlling signal and control miscellaneous part, or can trigger software systems and carry out phase
Should ground interface functional performance.
Further, the main controller 20 is also electrically connected a network communication device.
Further, the network communication device includes wireless communication apparatus and wire communication device, the wireless telecommunications
Device includes the one or more in WIFI devices, ZIGBEE devices and blue-tooth device, and the wire communication device includes network
Control chip and the RJ45 interfaces being electrically connected with the network control chip.
The preferred embodiment of the present invention is connected into internet or LAN by network communication device, it is possible to achieve long-range number
According to sharing, the operation consultation of doctors is carried out particularly convenient for multi-party expert.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, the invention may be variously modified and varied.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
- A kind of 1. force feedback endoscopy virtual training system, it is characterised in that：Including main controller, it is electrically connected with the main controller The special endoscope head of training, training specialized simulation case and for showing that 3D examines the display of altimetric image, the trained die for special purpose Intend case be equipped be used to guide the special endoscope head of the training to enter entrance, for simulate treat in peep touching for soft tissue system Feel the device for force feedback of stress and enter the measurement sensor of depth for detecting the special endoscope head of training, the main controller is also It is electrically connected input equipment, mini-printer and acoustic input dephonoprojectoscope, the special endoscope head of training and is equipped with microscopy backman Has connector, the main controller is equipped with the communication interface being connected with microscopy auxiliary tool point.
- 2. force feedback endoscopy virtual training system according to claim 1, it is characterised in that：The device for force feedback Including spring feedback device, electromagnetic feedback arrangements.
- 3. force feedback endoscopy virtual training system according to claim 1, it is characterised in that：In the training is special Sight glass head includes mirror bar, and the front end of the mirror bar is equipped with angular transducer, lighting device and camera, and the rear end of the mirror bar is set There is hand-held control terminal.
- 4. force feedback endoscopy virtual training system according to claim 1, it is characterised in that：The main controller is also electric Connect a humidity sensor and warning device.
- 5. force feedback endoscopy virtual training system according to claim 1, it is characterised in that：The input equipment bag Include one or more of keyboard, mouse and touch input panel.
- 6. force feedback endoscopy virtual training system according to claim 1, it is characterised in that：In the training is special It is detachably connected between sight glass head and the main controller by aviation plug.
- 7. force feedback endoscopy virtual training system according to claim 3, it is characterised in that：The hand-held control terminal Including capture button, attract button, freezing button or thumb control spinning roller.
- 8. force feedback endoscopy virtual training system according to claim 1, it is characterised in that：The main controller is also electric A foot pedal is connected, the foot pedal includes being used under foot-operated situation the pedal switch for producing switch controlling signal.
- 9. force feedback endoscopy virtual training system according to claim 1, it is characterised in that：The main controller is also electric Connect a network communication device.
- 10. force feedback endoscopy virtual training system according to claim 9, it is characterised in that：The network communication Device includes wireless communication apparatus and wire communication device, the wireless communication apparatus include WIFI devices, ZIGBEE devices and One or more in blue-tooth device, the wire communication device are electric including network control chip and with the network control chip The RJ45 interfaces of connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610957340.2A CN107993506A (en) | 2016-10-27 | 2016-10-27 | A kind of force feedback endoscopy virtual training system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610957340.2A CN107993506A (en) | 2016-10-27 | 2016-10-27 | A kind of force feedback endoscopy virtual training system |
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| Publication Number | Publication Date |
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| CN107993506A true CN107993506A (en) | 2018-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610957340.2A Pending CN107993506A (en) | 2016-10-27 | 2016-10-27 | A kind of force feedback endoscopy virtual training system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110364065A (en) * | 2019-07-17 | 2019-10-22 | 上海璞临医疗科技有限公司 | A kind of soft endoscope intervention training device and intervention Training Methodology |
| CN111462564A (en) * | 2020-04-02 | 2020-07-28 | 威迈(宁波)医疗科技有限公司 | Force feedback device and blood vessel intervention training equipment |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201156345Y (en) * | 2008-01-10 | 2008-11-26 | 傅强 | Endoscope micro-wound simulating system |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN103903487A (en) * | 2013-11-26 | 2014-07-02 | 深圳市唯特视科技有限公司 | Endoscope minimally invasive surgery 3D simulation system based on 3D force feedback technology |
-
2016
- 2016-10-27 CN CN201610957340.2A patent/CN107993506A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201156345Y (en) * | 2008-01-10 | 2008-11-26 | 傅强 | Endoscope micro-wound simulating system |
| CN103456223A (en) * | 2012-06-01 | 2013-12-18 | 苏州敏行医学信息技术有限公司 | Laparoscopic surgery simulation system based on force feedback |
| CN103903487A (en) * | 2013-11-26 | 2014-07-02 | 深圳市唯特视科技有限公司 | Endoscope minimally invasive surgery 3D simulation system based on 3D force feedback technology |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110364065A (en) * | 2019-07-17 | 2019-10-22 | 上海璞临医疗科技有限公司 | A kind of soft endoscope intervention training device and intervention Training Methodology |
| CN110364065B (en) * | 2019-07-17 | 2021-12-07 | 上海璞临医疗科技有限公司 | Soft endoscope interventional training device and interventional training method |
| CN111462564A (en) * | 2020-04-02 | 2020-07-28 | 威迈(宁波)医疗科技有限公司 | Force feedback device and blood vessel intervention training equipment |
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Application publication date: 20180504 |