CN111000631B - Endoscope simulation method and system based on Unity3D volume rendering - Google Patents

Abstract

The invention provides an endoscope simulation method and system based on Unity3D body rendering, which are used for constructing a body model or a face model of a natural duct or an operation incision of a human body according to acquired medical data, observing in the body model or the face model by adopting a camera and simulating the use of an endoscope in the natural duct or the operation incision of the human body. Through the technology of observing the state of an illness by using an endoscope in computer simulation operation, a doctor can directly observe the internal condition of a human body under the condition of not making an incision, the accuracy and the safety of the operation are further improved, and the operation time is shortened.

Description

Endoscope simulation method and system based on Unity3D volume rendering

Technical Field

The invention relates to the technical field of computers, in particular to an endoscope simulation method and system based on Unity3D volume rendering.

Background

A conventional endoscope is disclosed in patent publication No. CN104968254B, and includes: a distal end portion for insertion into a subject; a light guide for transmitting light to the tip portion; an image guide for transmitting image information acquired in the tip portion; a holding frame made of a material having a shear stress larger than that of the distal end portion, the holding frame being adhesively fixed in the distal end portion in a state where one end surface of the holding frame is exposed from the distal end surface of the distal end portion, and holding the light guide and the distal end side of the image guide; and at least one groove provided in an insertion direction of the light guide and the image guide on an outer peripheral surface of the holding frame, and having one end exposed to the distal end surface side so as to be applicable along the at least one groove when a notch is applied to the distal end portion.

Meanwhile, the realization of three-dimensional imaging through technologies such as CT, nuclear magnetic resonance and the like is also a known technology in the field of medical equipment at present.

With the development of endoscope technology, the endoscope technology is applied to more and more operations, and although the endoscope technology can reduce the invasiveness of the operations and increase the accuracy and safety of the operations, an incision is inevitably made on a human body, an endoscope is put into the human body, the condition of a patient is observed, and the endoscope technology has a limit in use time. Therefore, the use of the endoscope requires high expertise and skill of the doctor.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an endoscope simulation method and system based on Unity3D volume rendering.

According to the endoscope simulation method based on the Unity3D body rendering, a body model or a face model is constructed for the natural pore canal or the surgical incision of the human body according to the acquired medical data, a camera is used for observing in the body model or the face model, and the use of the endoscope in the natural pore canal or the surgical incision of the human body is simulated.

Preferably, the Unity3D volume rendering-based endoscope simulation method comprises the following steps:

when a user clicks the record for the first time, the position P1 of the current camera, the current rotation angle R1 and the orientation Ry of the y coordinate axis are recorded, and only the position of the current camera is recorded at the subsequent click, wherein the positions are recorded as P2, P3 and P4.

Preferably, the Unity3D volume rendering-based endoscope simulation method comprises the following steps:

automatically playing an observation path:

calculating a rotation angle F1 from P1 to P2, and calculating a quaternion Q1, wherein a forward vector of Q1 is F1, an up vector of Q1 is Ry, the quaternion Q1 is converted into a rotation angle R2, and an angle A1 required for rotating R1 to R2 is recorded;

calculating the distance L1 from P1 to P2;

and calculating whether the camera currently stays at the recorded position for angle rotation or position movement according to the playing progress.

Preferably, the Unity3D volume rendering-based endoscope simulation method comprises the following steps:

inserting a label: after the label is added through clicking, an icon with the label at the position of the mouse moves along with the mouse, when the mouse is clicked in the viewport, ray detection is transmitted into a screen through an input point detected by a current camera, if a body model or a face model is detected through rays, the label is placed on the detected point, and if the model is not detected through the rays or the clicking position of the mouse is not in the viewport, the placement of the label is considered to be cancelled.

According to the endoscope simulation system based on the Unity3D body rendering, a body model or a face model is constructed for a natural duct or an operation incision of a human body according to collected medical data, a camera is used for observing in the body model or the face model, and the use of an endoscope in the natural duct or the operation incision of the human body is simulated.

Preferably, the method comprises the following steps:

when a user clicks the record for the first time, the position P1 of the current camera, the current rotation angle R1 and the orientation Ry of the y coordinate axis are recorded, and only the position of the current camera is recorded at the subsequent click, wherein the positions are recorded as P2, P3 and P4.

Preferably, the method further comprises the following steps:

automatically playing an observation path:

calculating a rotation angle F1 from P1 to P2, and calculating a quaternion Q1, wherein a forward vector of Q1 is F1, an up vector of Q1 is Ry, the quaternion Q1 is converted into a rotation angle R2, and an angle A1 required for rotating R1 to R2 is recorded;

calculating the distance L1 from P1 to P2;

and calculating whether the camera currently stays at the recorded position for angle rotation or position movement according to the playing progress.

Preferably, the method further comprises the following steps:

inserting a label: after the label is added through clicking, an icon with the label at the position of the mouse moves along with the mouse, when the mouse is clicked in the viewport, ray detection is transmitted into a screen through an input point detected by a current camera, if a body model or a face model is detected through rays, the label is placed on the detected point, and if the model is not detected through the rays or the clicking position of the mouse is not in the viewport, the placement of the label is considered to be cancelled.

Compared with the prior art, the invention has the following beneficial effects:

through the technology of observing the state of an illness by using an endoscope in computer simulation operation, a doctor can directly observe the internal condition of a human body under the condition of not making an incision, the accuracy and the safety of the operation are further improved, and the operation time is shortened.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic diagram of an embodiment of the present invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.

According to the endoscope simulation method based on the Unity3D body rendering, a body model or a face model is constructed for the natural pore canal or the surgical incision of the human body according to the acquired medical data, a camera is used for observing in the body model or the face model, and the use of the endoscope in the natural pore canal or the surgical incision of the human body is simulated.

The endoscope simulation method based on Unity3D volume rendering comprises the following steps:

when a user clicks the record for the first time, the position P1 of the current camera, the current rotation angle R1 and the orientation Ry of the y coordinate axis are recorded, and only the position of the current camera is recorded at the subsequent click, wherein the positions are recorded as P2, P3 and P4.

The endoscope simulation method based on Unity3D volume rendering comprises the following steps:

automatically playing an observation path:

calculating a rotation angle F1 from P1 to P2, and calculating a quaternion Q1, wherein a forward vector of Q1 is F1, an up vector of Q1 is Ry, the quaternion Q1 is converted into a rotation angle R2, and an angle A1 required for rotating R1 to R2 is recorded;

calculating the distance L1 from P1 to P2;

and calculating whether the camera currently stays at the recorded position for angle rotation or position movement according to the playing progress.

The endoscope simulation method based on Unity3D volume rendering comprises the following steps:

inserting a label: after the label is added through clicking, an icon with the label at the mouse position moves along with the mouse, when the mouse is clicked in the viewport, ray detection is transmitted into a screen through an input point detected by a current camera, if a body model or a face model is detected through rays, the label is placed on the detected point, and as shown in fig. 1, if the model is not detected through the rays or the mouse click position is not in the viewport, the placement of the label is considered to be cancelled.

On the basis of the Unity3D body rendering-based endoscope simulation method, the invention also provides a Unity3D body rendering-based endoscope simulation system, which constructs a body model or a face model for the natural duct or the surgical incision of the human body according to the acquired medical data, adopts a camera to observe in the body model or the face model, and simulates the use of an endoscope in the natural duct or the surgical incision of the human body.

Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for performing the various functions may also be regarded as structures within both software modules and hardware components for performing the method.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (1)

1. An endoscope simulation system based on Unity3D body rendering is characterized in that a body model or a face model is constructed for a natural duct or an operation incision of a human body according to acquired medical data, a camera is used for observing in the body model or the face model, and the use of an endoscope in the natural duct or the operation incision of the human body is simulated;

further comprising inserting a label: after the label is added through clicking, an icon with the label at the position of the mouse moves along with the mouse, when the mouse is clicked in a viewport, ray detection is transmitted into a screen through an input point detected by a current camera, if a body model or a face model is detected through rays, the label is placed on the detected point, and if the model is not detected through the rays or the clicking position of the mouse is not in the viewport, the placement of the label is considered to be cancelled;

when a user clicks a record for the first time, recording the position P1 of the current camera, the current rotation angle R1 and the orientation Ry of a y coordinate axis, and recording the position of the current camera only when clicking the record for the subsequent time, wherein the position is recorded as P2, P3 and P4.. the.;

further comprising automatically playing the observation path:

calculating a rotation angle F1 from P1 to P2, and calculating a quaternion Q1, wherein a forward vector of Q1 is F1, an up vector of Q1 is Ry, the quaternion Q1 is converted into a rotation angle R2, and an angle A1 required for rotating R1 to R2 is recorded;

calculating the distance L1 from P1 to P2;

and calculating whether the camera currently stays at the recorded position for angle rotation or position movement according to the playing progress.

Images