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Force-feedback-based robot micro-wound operation simulating system

A technology of minimally invasive surgery and simulation system, applied in the field of computer virtual simulation system, can solve problems such as immature system, force feedback distortion, robot motion simulation distortion, etc., to achieve the effect of enhancing realism and realizing digitalization

Inactive Publication Date: 2011-10-05
苏州信诺泰克医疗科技有限公司
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Problems solved by technology

[0005] At present, similar systems are very rare. Tokyo Cihuihui Medical University and the Chinese University of Hong Kong have done some work in this area based on the Da Vinci surgical robot, and have achieved certain research results, but the developed system is still very immature. Surgical simulation based on surgical robots has not been widely carried out. In short, research in this area at home and abroad is still in its infancy, and there are often problems such as robot motion simulation distortion, soft tissue deformation distortion, lack of force feedback or force feedback distortion.

Method used

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specific Embodiment approach 1

[0029] Specific implementation mode one, seefigure 1 This embodiment will be described. The robot minimally invasive surgery simulation system based on force feedback described in this embodiment is composed of a force feedback sensing device 5, a force feedback module 4, a database module 1, an image processing module 2, a physical modeling module 3 and a graphics rendering module 6. The feedback module 4 outputs a control signal to the force feedback sensing device 5, and the force feedback sensing device 5 outputs a force feedback signal to the force feedback module 4, and the force feedback module 4 outputs a collision signal to the graphics rendering module 6, and the image processing module 2 receives from the database module 1 Reading image data, the image processing module 2 outputs three-dimensional reconstruction information to the physical modeling module 3, and the physical modeling module 3 outputs physical model information to the force feedback module 4, and the ...

specific Embodiment approach 2

[0037] Specific implementation mode two, see figure 1 This embodiment will be described. This embodiment is an illustration of an embodiment of the database module 1 described in the first specific embodiment. The database module 1 described in this embodiment consists of an image database 1-1, a robot minimally invasive surgical instrument model library 1- 2 and motion constraint units 1-3, where:

[0038] Image database 1-1, used to store medical image raw data;

[0039] Robotic minimally invasive surgical instrument model library 1-2, used to store component models of minimally invasive surgical robots and various surgical instrument model data;

[0040] The motion constraint unit 1-3 is used to store each component stored in the robot minimally invasive surgical instrument model library 1-2 and the kinematic constraint connection relationship and motion law between various surgical instruments.

[0041] The raw medical image data described in this embodiment includes im...

specific Embodiment approach 3

[0045] Specific implementation mode three, see figure 1 This embodiment will be described. This embodiment is a further description of the robot minimally invasive surgical instrument model library 1-2 and the motion constraint unit 1-3 described in the second specific embodiment. The robot minimally invasive surgical instrument model library 1-2 described in this embodiment In the model data in 2, different materials are assigned to the model of each moving part, and different diffuse reflection lights are set. In this way, the display of the robot kinematic units in the virtual environment can be enhanced.

[0046] The motion constraint related data in the motion constraint unit 1-3 specifies the position and posture of the robot according to the DH algorithm.

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Abstract

The invention discloses a force-feedback-based robot micro-wound operation simulating system, and relates to a computer virtual simulation system which is designed, aiming at the research status of robot micro-wound operation and problems and defects of the existing simulation technology. A database module in the simulation system provided by the invention is used for storing original data of medical images, robot micro-wound operation equipment model data and motion constrain information; an image processing module is used for converting image data in the database module into three-dimensional volumetric data; a physical modeling module is used for constructing a geometrical model according to the three-dimensional volumetric data; a force feedback module is used for calculating the sizeand direction of feedback force according to the geometrical model and parameters output by a force feedback perception device, outputting the force feedback data to the force feedback perception device, so that operators can feel the force through the force feedback perception device; and a graph rendering module is used for acquiring rendered image information according to collision informationsent by the force feedback module and robot motion information sent by the database module and outputting the image information.

Description

technical field [0001] The invention relates to a computer virtual simulation system, in particular to a robot minimally invasive surgery simulation system based on force feedback. technical background [0002] In recent years, minimally invasive surgical robot systems such as da Vinci have been gradually applied in clinics. It combines traditional medical devices with information technology and robotics, making surgical diagnosis and treatment minimally invasive, miniaturized, and intelligent. Minimally invasive surgery robots have significant advantages over traditional surgery: firstly, robots improve doctors’ working patterns, standardize surgical operations, and improve surgical quality, which play an important role in promoting the development and popularization of minimally invasive surgery; in addition, robots do not have the fatigue and Physiological limitations, free from external stimuli, the working range can be designed to be very small, the operation is perform...

Claims

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Application Information

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IPC IPC(8): G06F19/00
Inventor 杜志江吴冬梅闫志远
Owner 苏州信诺泰克医疗科技有限公司
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