Operation cutting training system and method based on force feedback and used for surgical robot

A surgical robot and training system technology, applied in the direction of surgical robots, etc., can solve the problems of poor real-time performance of the finite element model structure, and achieve the effects of improving real-time performance, effectiveness, fidelity, and execution efficiency

Active Publication Date: 2016-05-11
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of poor real-time performance of the finite element model structure in the existing robotic surgical cutting training system

Method used

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  • Operation cutting training system and method based on force feedback and used for surgical robot
  • Operation cutting training system and method based on force feedback and used for surgical robot
  • Operation cutting training system and method based on force feedback and used for surgical robot

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Experimental program
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specific Embodiment approach 1

[0029] A surgical cutting training system based on force feedback for surgical robots, including the following modules:

[0030] 3D virtual environment and 3D surgical instrument model building module, 3D virtual soft tissue model building module, model reading and positioning module, cutting tool and model collision detection module, force feedback module, classification and cutting module;

[0031] (1) The 3d virtual environment and 3d surgical instrument model building blocks are used to construct the 3d virtual environment and the 3d surgical instrument model of the surgical cutting training system;

[0032] The 3D virtual environment and 3D surgical instrument model building modules are the basic modules of the surgical cutting training system. The environment construction of the surgical cutting training system is completed, providing a three-dimensional 3D training environment for operating users, improving the fidelity of system training, and realizing the whole system....

specific Embodiment approach 2

[0042] The 3D virtual environment and 3D surgical instrument model construction modules described in this embodiment include a 3D surgical instrument model construction submodule and a 3D virtual environment construction submodule;

[0043] The 3D surgical instrument model building sub-module is used to build a 3D surgical instrument model; the 3D surgical instrument model building sub-module is based on the size of the real surgical instrument shape, using 3dmax to build a model and mesh division method to build a 3D surgical instrument model;

[0044] The 3D virtual environment construction sub-module is used to construct the 3D virtual environment of the surgical cutting training system, including horizontal plane setting, lighting, background, visual orientation, etc.; the 3D virtual environment construction sub-module uses VC++ and OpenGL technology to construct the 3D virtual environment of the surgical cutting training system environment.

[0045] Other modules and para...

specific Embodiment approach 3

[0046] The 3D virtual soft tissue model described in the construction module of the 3D virtual soft tissue model in this embodiment utilizes a layered filling ball structure, arranges the positions of the balls according to the contour of the soft tissue, and sets different ball radii according to different positions; the balls adopt a viscoelastic structure Connected, so that the 3D virtual soft tissue model has similar performance characteristics to the real soft tissue viscoelasticity. In the process of virtual surgery training, the effect measurement after training depends on the proficiency and accuracy of the operation; the accuracy is determined according to the accuracy of the model in the system; the 3D virtual soft tissue model in the 3D virtual soft tissue model building block is the operation of the entire system Objects are the core part of the system.

[0047] Other modules and parameters are the same as those in the second embodiment.

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Abstract

The invention provides an operation cutting training system and an operation cutting training method based on force feedback and used for a surgical robot, and relates to an operation cutting training system used for the surgical robot, in particular to the operation cutting training system based on force feedback. The invention aims at solving the problem that the real-time property of a finite element model structure in the existing operation cutting training system used for the robot is poor. The system comprises a 3d virtual environment and 3d surgical instrument model building module for building a 3d virtual environment and a 3d surgical instrument model, a 3d virtual soft tissue model building module for building a 3d virtual soft tissue model, a model reading and positioning module for loading the size, position and rendering modes of the model, a cutting tool and model collision detection module for determining the collision position and time, a force feedback module for realizing force touch and completing the force feedback operation, and a classification cutting module for realizing face cutting and volume cutting. The system and the method provided by the invention are suitable for the operation cutting training of the surgical robot.

Description

technical field [0001] The invention relates to a surgical cutting training system for a surgical robot, in particular to a force feedback-based surgical cutting training system. Background technique [0002] Robot-assisted minimally invasive surgery technology is one of the research hotspots in the field of medical robotics in recent years. Compared with traditional surgery, patients have smaller incisions and faster recovery. At the same time, it can also relieve the fatigue of doctors during long-term operations, and improve the stability and accuracy of operations. However, in the process of doctors operating robots to assist in the real minimally invasive surgery, high requirements are placed on the skills of doctors. Before performing minimally invasive surgery, doctors have to undergo repeated training for a long time to achieve proficiency. However, the limitations of the traditional surgical training methods using cadavers or animals have brought a lot of inconven...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61B34/32
Inventor 吴冬梅鲍义东
Owner HARBIN INST OF TECH
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