Spinal minimally invasive surgery training system and method with true force feedback

Abstract

The invention relates to a spinal minimally invasive surgery training system and method with true force feedback. The spinal minimally invasive surgery training system comprises an experimental platform, a surgical instrument and a PC, wherein the experimental platform comprises an operation platform arranged on the bottom surface; a spinal physical model clamping structure is arranged in the middle of a panel of the operation platform for clamping a spinal physical model; a binocular camera is placed directly above the spinal physical model and is perpendicular to the operation platform; thebinocular camera is arranged on the operation platform through a binocular camera bracket and is connected with the PC through a cable; and a reference frame is arranged at the end of the surgical instrument. As the force feedback of the invention is true, the true tactile feeling can be brought to a doctor, and the time for training the doctor is greatly shortened; the system makes a trainee observe the implantation of a pedicle screw from multiple angles and directions and gives the trainer real visual feedback, and really achieves the purpose of training; and the requirements of high precision of the spinal minimally invasive surgery training system can be met.

Description

technical field [0001] The invention relates to the fields of medical training and computer vision, in particular to a spinal minimally invasive surgery training system and method with real force feedback. Background technique [0002] At present, most of the virtual simulation training systems at home and abroad are mainly aimed at the simulation and training of soft tissue cutting and deformation in laparoscopic and endoscopic surgery. For the surgical simulation and training of bone tissue, only a small number of foreign scholars have conducted related research. For example, D. Morris developed a set of virtual simulation system suitable for temporal bone surgery training. The system integrates sensory feedback such as touch, vision and hearing, and can simulate and train some simple drilling operations. Petersik et al. studied a force-tactile rendering algorithm based on multi-point collision detection. Based on this algorithm, the rock bone surgery simulation system th...

AI Technical Summary

Problems solved by technology

[0003] There is a common problem in the above training systems, which cannot provide real and accurate force feedback to trainers. The main reason is that the mechanical model of bone tissue surgery is relatively complicated, which is not only related to bone tissue properties such as bone density and bone thickness, but also Affected by factors such as cutting speed, depth, and fretting frequency of surgical instruments during surgical operations, it is difficult to establish a physical model for bone tissue mechanics simulation

In addition, spinal surgery has stricter requirements on precision. The width of screw implantation is only 10mm to 15mm. A slight deviation will damage the spinal nerves and cause irreversible consequences.

Therefore, in the surgical training system, it is very important to obtain accurate and realistic force feedback, which has always been the bottleneck that limits the quality improvement of the virtual surgical training system.

[0004] At this stage, the dynamic tracking algorithm cannot meet the accuracy, robustness, and real-time requirements at the same time

For example, the traditional meanshift algorithm combined with kalman filter can better solve the problem of target occlusion and fast moving target, but it has poor robustness when the target motion direction changes suddenly.

The tracking algorithm combined with traditional invariant moments and kalman is more robust, but the real-time performance is relatively poor and it is not suitable for the situation of target occlusion

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