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Virtual operation method of abdominal cavity minimally invasive surgery robot

A technology of virtual surgery and minimally invasive surgery, applied in the fields of surgery, computer-aided surgery, medical science, etc., can solve the problems of human cadavers that cannot be reused, different anatomical structures, etc., to shorten surgical training time, improve proficiency, Accurate effect

Inactive Publication Date: 2018-12-18
ZHANGJIAGANG INST OF IND TECH SOOCHOW UNIV +1
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  • Application Information

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Problems solved by technology

However, using animals as surgical training objects, on the one hand, the anatomical structures of animals and humans are different, on the other hand, it will also be condemned by the Animal Protection Association; and human corpses cannot be reused

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  • Virtual operation method of abdominal cavity minimally invasive surgery robot
  • Virtual operation method of abdominal cavity minimally invasive surgery robot
  • Virtual operation method of abdominal cavity minimally invasive surgery robot

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Embodiment Construction

[0034] The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0035] Refer to attached figure 1 to attach image 3 , the virtual surgery method for abdominal minimally invasive surgery robot in this embodiment uses 3DMAX to carry out geometric modeling of the involved human abdominal cavity tissue model, virtual surgical robot, surgical instruments, etc., and sets relevant parameters such as local coordinates of the relevant models; Deep Exploration adds materials, textures and other relevant information to these models to increase their authenticity, and finally exports and saves them as .3ds data format. Combining the software and hardware equipment involved in the virtual surgery of abdominal surgery, a virtual surgery simulatio...

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Abstract

The invention discloses a virtual operation method of an abdominal cavity minimally invasive surgery robot. The method comprises following steps of a, building a virtual operation simulation platform:designing a robot model with a parallelogram telecentric positioning mechanism and operating and controlling a virtual robot through a force feeding device; b, establishing a physical model of an operation target, carrying out force balance calculation, and achieving simulation operation and force sense interaction of pressing deformation and clamping deformation of the operation target; c, establishing a grid model of the operation target and carrying out cutting simulation of the operation target; d, using a spring model to establish seaming lines and carrying out knotting simulation of theseaming lines; and e, by analyzing frictional force and tension force related in the interaction process of the seaming lines and the soft organizations, achieving seaming simulation processes of theoperation target. According to the invention, analog simulation is performed on the whole processes of the operation, and the method is high in accuracy and highly practical.

Description

technical field [0001] The invention relates to a virtual operation method of a minimally invasive abdominal surgery robot. Background technique [0002] Virtual reality technology is a computer simulation system that can create and experience virtual worlds. It takes computer technology as the core and combines a variety of related technologies to generate an interactive environment with high myopia in vision, hearing and touch, providing users with an immersive feeling, and can observe the three-dimensional space without limitation. things. [0003] Virtual surgery is a typical application of virtual reality technology in the medical field. As a new research direction, it is a new research field integrating biomechanics, mechanics, medicine, robotics and many other disciplines. Virtual surgery is a surgical system that starts from medical image data, builds a virtual surgical environment in the computer, and then builds a human tissue model, and uses force-tactile inter...

Claims

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Application Information

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IPC IPC(8): A61B34/10
CPCA61B34/10A61B2034/101A61B2034/102A61B2034/105
Inventor 张峰峰吴昊陈军孙立宁
Owner ZHANGJIAGANG INST OF IND TECH SOOCHOW UNIV
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