Virtual-reality-based real endoscopic minimally invasive surgery simulation training system and method

Abstract

The invention belongs to the technical field of medical equipment, and discloses a virtual-reality-based real endoscopic minimally invasive surgery simulation training method, which comprises a geometric modeling module, a drawing module, a visual rendering module, a physical modeling module, a display module, an operation module, a collision detection module, an update image module and a feedbackmodule. The three-dimensional image information is obtained by the geometric modeling module, and the model is improved by the visual rendering module. The virtual surgical instrument is rendered bythe rendering module. Physically significant constraints are added to the model through the physical modeling module; the simulated endoscopic minimally invasive surgical site is displayed by the display module, and the movement of surgical instruments in the virtual environment is controlled by the operation module. Collision detection is used to judge whether the two models collide and determinethe collision point. The feedback module is used to realize the interaction of the reaction force of the object in the virtual environment; and the interaction of the visual part is completed throughthe image update module.

Description

technical field [0001] The invention belongs to the technical field of medical equipment, and in particular relates to a simulation training system and method for real endoscopic minimally invasive surgery based on virtual reality. Background technique [0002] At present, the existing technology commonly used in the industry is as follows: laparoscopic surgery has small trauma and quick recovery, which greatly reduces the patient's pain and shortens the hospital stay. The scar left after the operation is small and does not affect the appearance. development and people's demand for beauty. However, the successful implementation of laparoscopy is based on the surgeon's skilled and exquisite operating techniques and a large amount of clinical experience. The operation of the operation has changed greatly from the traditional operation, and the surgeon's perception of space has also changed significantly, which has led to the surgeon's learning. Deadline extended. The existin...

AI Technical Summary

Problems solved by technology

However, the solution process of this method is complex and the amount of calculation is large, which is difficult to meet the real-time performance in surgical simulation; the boundary element method is aimed at solving the problem of complex models with rich details, and the calculation amount of this method still cannot meet the requirements

[0006] (3) During the simulated surgical operation, the reaction force signal feedback speed is too slow, the effective force signal is too weak, and there are too many signals that interfere with the surgical operation

[0007] (4) There are errors in the image during the display process, plus random noise generated by stray light, CCD noise and electronic circuits, making it difficult to accurately extract image features, especially the center of feature points

[0008] (5) In the prior art, through CT scanning, the clarity of the obtained two-dimensional slice picture is not enough, which is not conducive to diagnosis; in the prior art, it is easily affected by the external and its own factors, resulting in inaccurate or abnormal feedback information; in the prior art The ability to analyze images is poor, which is not conducive to the interactive understanding of the visual part

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