Intraoperative data-based percutaneous nephrolithotomy virtual surgery system

Abstract

The invention discloses a tactile interaction-based percutaneous nephrolithotomy (PCNL) kidney stone virtual surgical training system and a method for improving the repeated training of urologists soas to make the urologists obtain puncture skills. The system specifically includes a medical image three-dimensional reconstruction module (1), a kidney soft tissue sample puncture experiment module (2), a mechanical modeling module (3), a visual rendering module (4), a tactile rendering module (5), a virtual operation training environment design module (6), a tactile interaction device module (7), an operation training data acquisition and analysis module (8), an augmented reality module (9) and a 3D printing module (10). According to the system of the present invention, a real surgical trocar is adopted to puncture a kidney tissue, so that data can be obtained to be used for establishing a mechanical model; the system enables a strong sense of immersion and high real-time performance onthe basis of a virtual PCNL operation environment constructed through the tactile interaction device, the augmented reality technology and the 3D printing technology. With the system adopted, the training of the urologists can be facilitated, the operative skills of the urologists can be improved, and the urologists can be familiar with the procedures of an operation.

Description

Technical field: [0001] The invention belongs to the field of computer graphics / virtual reality, and in particular relates to a virtual surgery training device and system based on tactile interaction. Background technique: [0002] Kidney stones are one of the high incidences in the human urinary system. At present, the main minimally invasive treatment methods are: extracorporeal shock wave lithotripsy, percutaneous nephrolithotomy (PCNL, Percutaneous Nephrolithotomy) and flexible ureteroscopy. PCNL has become the main treatment method for complex stones and large stones because of its advantages such as wide application range, fast crushing speed, and high stone clearance rate[1]. Establishing a suitable percutaneous nephroscopic channel is the key to the success of PCNL surgery, which directly affects the surgical effect [2]. Due to the complex internal anatomical structure of the kidney itself and the rich arterial blood supply (accounting for 20%-25% of the total cardi...

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Problems solved by technology

Research on virtual surgery training is also gradually emerging in China at this stage. Beijing University of Aeronautics and Astronautics, Harbin Institute of Technology, Shanghai Jiaotong University, etc. have carried out research on virtual surgery training systems in different directions and to varying degrees, but the research is still in its infancy. There are still some problems in the authenticity of interaction, real-time deformation of soft tissue, and system immersion [11-12]

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