Venipuncture training system and method

Abstract

The invention provides a venipuncture training system and method. The venipuncture training method comprises the following steps: acquiring puncture action data of venipuncture performed by a target user in a virtual simulation environment; determining a joint motion track of each body part of the target user according to the puncture action data, determining a balance feature of the body of the target user based on all the joint motion tracks, and determining the pose stability of the target user in venipuncture according to the balance feature and the gravity center offset of the target user; determining puncture path deviations when the target user performs venipuncture in the virtual simulation environment each time, and determining puncture accuracy of the target user performing venipuncture based on all the puncture path deviations; and based on the puncture accuracy and the pose stability, performing feedback training on the action of the target user during venipuncture. By means of the scheme, the target user can be trained to conduct venipuncture in the virtual dynamic rescue simulation environment.

Description

Technical Field

[0001] The present application relates to the field of medical teaching and training technology, and more specifically, to a venipuncture training system and method. Background Art

[0002] Venipuncture is a commonly used medical operation in clinical work, mainly used for blood collection, intravenous infusion, intravenous injection of drugs, insertion of intravenous catheters, etc. Venipuncture training is a professional skill training conducted by medical staff (such as nurses and doctors). It aims to help medical staff master the accurate and safe venous puncture on the patient's body. It can ensure that medical staff can quickly and accurately find and puncture veins, reduce the failure rate and puncture complications, and thus avoid the risks of vascular damage, infection, bleeding, etc. caused by puncture errors.

[0003] With the development of virtual reality and augmented reality technologies, virtual simulation environments have been widely used in the field of medical training, especially in simulation training of medical skills such as venipuncture. Through virtual simulation, medical personnel can repeatedly practice and improve their skills in a risk-free environment to avoid patient risks caused by errors in actual operations. However, during pre-hospital emergency treatment, the patient's condition is critical. If venipuncture is completed on site, it may cause delays in transfer. Therefore, venipuncture is often performed during the transfer process. During emergency transfer, the patient may face complex dynamic rescue environments (such as shaking, acceleration and deceleration, turning, sudden braking, vibration, take-off and landing, and dim light). However, the existing virtual simulation training system only trains the ability to perform venipuncture in a static environment (such as a quiet ward or clinic), and does not train the user's ability to maintain their own balance and complete venipuncture during emergency transfer. Therefore, how to train target users to perform venipuncture in a virtual dynamic rescue simulation environment has become a difficult problem faced by the industry. Summary of the invention

[0004] The present application provides a venipuncture training system and method, which can train target users to perform venipuncture in a virtual dynamic rescue simulation environment.

[0005] In a first aspect, the present application provides a venipuncture virtual simulation training method for performing venipuncture virtual simulation training on a target user during simulated emergency transportation in a virtual simulation environment, the method comprising: Capture the target user's body movements during venipuncture in a virtual simulation environment in real time to obtain puncture action data; Determine the joint motion trajectory of each body part of the target user when maintaining stability in the virtual simulation environment according to the puncture action data, determine the balance characteristics of the target user's body in the virtual simulation environment based on all joint motion trajectories, and determine the posture stability of the target user performing venipuncture according to the balance characteristics and the center of gravity offset of the target user in the emergency transport simulation; Deviations of the virtual puncture path of the target user during venipuncture are identified, and the puncture path deviation of the target user each time the venipuncture is performed in the virtual simulation environment is obtained. Based on all puncture path deviations, the puncture accuracy of the target user during venipuncture in the emergency transport simulation is determined; Based on the puncture accuracy and the posture stability, feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation are determined, and feedback training is performed on the target user's actions when performing venipuncture according to the feedback adjustment instructions.

[0006] In some embodiments, determining the joint motion trajectory of each body part of the target user when maintaining stability in the virtual simulation environment according to the puncture action data specifically includes: Performing denoising on the puncture action data to obtain smoothed action data; Mapping the motion data onto a virtual skeleton model of a target user in a virtual simulation environment to obtain joint motion data of the target user; The joint motion trajectories of various body parts of the target user when maintaining stability in the virtual simulation environment are extracted from the joint motion data.

[0007] In some embodiments, determining the balance characteristics of the target user's body in the virtual simulation environment based on all joint motion trajectories specifically includes: Determine the center of gravity projection trajectory of the target user when performing venipuncture according to all joint motion trajectories; Determine the support surface boundary for the target user to maintain balance when performing venipuncture in a virtual simulation environment; The balance characteristics of the target user's body in the virtual simulation environment are determined based on the center of gravity projection trajectory and the support surface boundary.

[0008] In some embodiments, determining the posture stability of the target user for venipuncture by using the balance feature and the center of gravity offset of the target user in the emergency transport simulation specifically includes: Simulate the sudden change scenario during emergency transportation in a virtual simulation environment, and then obtain the center of gravity change information of the target user under the emergency transportation simulation; Determining the center of gravity offset of the target user in the emergency transport simulation according to the center of gravity change information; The balance feature and the center of gravity offset are fused based on a multi-index fusion model to obtain the posture stability of the target user performing venipuncture.

[0009] In some embodiments, the deviation of the virtual puncture path when the target user performs venipuncture is identified, and then the puncture path deviation when the target user performs venipuncture in the virtual simulation environment each time is obtained specifically includes: Obtaining training target information for venipuncture training for a target user; Determining an ideal puncture path for a target user to perform venipuncture training according to the training target information; Determine the actual puncture path of the target user each time performing venipuncture in the virtual simulation environment; All actual puncture paths are matched with the ideal puncture path to obtain the puncture path deviation when the target user performs venipuncture each time in the virtual simulation environment.

[0010] In some embodiments, determining the puncture accuracy of the target user performing venipuncture under emergency transport simulation based on all puncture path deviations specifically includes: Determining deviation characteristics of venipuncture performed by a target user based on all puncture path deviations; Determine the consistency characteristics of venipuncture procedures performed by target users; The puncture accuracy of the venipuncture performed by the target user under the emergency transport simulation is determined according to the deviation feature and the consistency feature.

[0011] In some embodiments, the feedback adjustment instructions for determining the target user to perform venipuncture under emergency transport simulation based on the puncture accuracy and the posture stability specifically include: Determining, according to the puncture accuracy, an operation feedback instruction when the target user performs venipuncture; Determining a posture feedback instruction for a target user when performing venipuncture based on the posture stability; The feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation are determined through the operation feedback instructions and the posture feedback instructions.

[0012] In a second aspect, the present application provides a venipuncture training system, the system comprising a venipuncture virtual simulation training unit, the venipuncture virtual simulation training unit comprising: The acquisition module is used to capture the body movements of the target user performing venous puncture in a virtual simulation environment in real time, thereby obtaining puncture movement data; a processing module, for determining, according to the puncture action data, joint motion trajectories of various body parts of the target user when the target user maintains stability in the virtual simulation environment, determining the balance characteristics of the target user's body in the virtual simulation environment based on all joint motion trajectories, and determining the posture stability of the target user performing venipuncture through the balance characteristics and the center of gravity offset of the target user in the emergency transport simulation; The processing module is used to identify deviations of the virtual puncture path when the target user performs venipuncture, thereby obtaining the puncture path deviation when the target user performs venipuncture in the virtual simulation environment each time, and determining the puncture accuracy of the target user performing venipuncture under emergency transport simulation based on all puncture path deviations; The execution module is used to determine feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation based on the puncture accuracy and the posture stability, and to perform feedback training on the target user's actions during venipuncture according to the feedback adjustment instructions.

[0013] In a third aspect, the present application provides a computer device, comprising a memory and a processor, wherein the memory stores codes, and the processor is configured to obtain the codes and execute the above-mentioned venipuncture virtual simulation training method.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned venipuncture virtual simulation training method is implemented.

[0015] The technical solution provided by the embodiments disclosed in this application has the following beneficial effects: In the intravenous puncture training system and method provided by the present application, the limb movements of the target user performing intravenous puncture in a virtual simulation environment are first captured in real time to obtain puncture movement data; the joint movement trajectories of various body parts of the target user when maintaining stability in the virtual simulation environment are determined based on the puncture movement data, the balance characteristics of the target user's body in the virtual simulation environment are determined based on all joint movement trajectories, and the posture stability of the target user performing intravenous puncture is determined through the balance characteristics and the center of gravity offset of the target user under emergency transport simulation; the virtual puncture path when the target user performs intravenous puncture is identified for deviation, and the puncture path deviation when the target user performs intravenous puncture each time in the virtual simulation environment is obtained, and the puncture accuracy of the target user performing intravenous puncture under emergency transport simulation is determined based on all puncture path deviations; feedback adjustment instructions for the target user performing intravenous puncture under emergency transport simulation are determined based on the puncture accuracy and the posture stability, and feedback training is performed on the target user's movements when performing intravenous puncture according to the feedback adjustment instructions.

[0016] It can be seen that the present application performs feedback training on the target user's actions during venipuncture according to the feedback adjustment instructions; first, determining the posture stability can obtain a parameter for measuring the stability of the target user's body posture when performing venipuncture in a virtual simulation environment. The determination of posture stability helps to determine whether the target user maintains a good operating posture when performing venipuncture in a dynamic environment. When the target user's posture is unstable, the venipuncture training system can identify and provide feedback in time to help the target user correct the posture, thereby reducing the risk of puncture failure; then, determining the puncture accuracy can obtain an indicator for measuring the accuracy and stability of the puncture operation of the target user when performing venipuncture in a virtual simulation environment. The determination of puncture accuracy helps to detect slight deviations of the target user during the puncture process, such as puncture angle, depth, needle insertion position, etc., to provide targeted feedback to the user and help him / her adjust and correct in time, thereby avoiding deviations and errors in the puncture operation; finally, based on the puncture accuracy and the posture stability, feedback adjustment instructions for the target user to perform intravenous puncture under emergency transport simulation are determined, and feedback training is performed on the target user's actions during intravenous puncture according to the feedback adjustment instructions, which can train the target user's ability to maintain his / her own balance and complete intravenous puncture in a dynamic rescue environment; in summary, based on the above scheme, the target user can be trained to perform intravenous puncture in a virtual dynamic rescue simulation environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is an exemplary flow chart of a venipuncture virtual simulation training method according to some embodiments of the present application; Figure 2 is an exemplary flow chart of determining puncture path deviation according to some embodiments of the present application; Figure 3 is a schematic diagram of information transmission in a venipuncture training system according to some embodiments of the present application; Figure 4 is a structural schematic diagram of a venipuncture virtual simulation training unit according to some embodiments of the present application; Figure 5 It is an internal structure diagram of a computer device for implementing a virtual simulation training method for venipuncture according to some embodiments of the present application. DETAILED DESCRIPTION

[0018] In order to better understand the technical solution of the present application, the technical solution of the present application will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0019] refer to Figure 1, which is an exemplary flow chart of a venipuncture virtual simulation training method according to some embodiments of the present application. The venipuncture virtual simulation training method 100 mainly includes the following steps: In step 101, the body movements of the target user performing venous puncture in a virtual simulation environment are captured in real time to obtain puncture movement data.

[0020] It should be noted that in the present application, the virtual simulation environment is a three-dimensional virtual space in which the target user can perform intravenous puncture training; in intravenous puncture training, the virtual simulation environment is used to create a digital, interactive intravenous puncture scene that meets various emergency scenarios during emergency transportation (for example, shaking, acceleration and deceleration, turning, sudden braking, take-off and landing, and dim light), which can help users practice puncture skills, improve the operational accuracy of intravenous puncture during emergency transportation, and reduce the risks that may be brought about in actual training; the intravenous puncture training system captures the target user's limb movements during intravenous puncture in real time in the virtual simulation environment, and converts the captured data into digital signals and displays them synchronously in the virtual simulation environment, and provides real-time visual and force perception feedback through a virtual feedback mechanism. The puncture tools (such as puncture needles) in the virtual environment will also be synchronized with the user's limb movements to ensure that the target user can perform intravenous puncture training that is highly similar to the real world without actual physical operations.

[0021] In specific implementation, an optical motion capture device (such as Vicon) can be used to capture the spatial position information of relevant parts of the target user's body (such as fingers, wrists, elbows and shoulders) when the target user performs intravenous puncture, and an inertial sensor (such as Xsens) can be used to capture the acceleration information and angular velocity information of relevant parts of the target user's body when the target user performs intravenous puncture, and then the collection of the captured spatial position information, acceleration information and angular velocity information is used as puncture motion data; wherein the puncture motion data is data reflecting the movement state and posture changes of various parts of the user's body during the intravenous puncture operation.

[0022] In step 102, the joint motion trajectories of various body parts of the target user when maintaining stability in the virtual simulation environment are determined according to the puncture action data, the balance characteristics of the target user's body in the virtual simulation environment are determined based on all joint motion trajectories, and the posture stability of the target user performing intravenous puncture is determined through the balance characteristics and the center of gravity offset of the target user under emergency transport simulation.

[0023] In some embodiments, determining the joint motion trajectory of each body part of the target user when maintaining stability in the virtual simulation environment according to the puncture action data can be achieved by using the following steps: Performing denoising on the puncture action data to obtain smoothed action data; Mapping the motion data onto a virtual skeleton model of a target user in a virtual simulation environment to obtain joint motion data of the target user; The joint motion trajectories of various body parts of the target user when maintaining stability in the virtual simulation environment are extracted from the joint motion data.

[0024] It should be noted that, in the present application, the action data is noise-free data that reflects the movement state and posture changes of the target user's body parts during intravenous puncture training; in specific implementation, the puncture action data is denoised to obtain smoothed action data, which can be achieved in the following way, namely: an existing data denoising algorithm (for example: Kalman filtering or low-pass filtering algorithm) can be used to denoise the puncture action data to obtain smoothed action data after denoising.

[0025] In specific implementation, the action data is mapped to the virtual skeleton model of the target user in the virtual simulation environment, and the joint motion data of the target user can be obtained in the following manner, namely: a virtual skeleton model of the target user can be first constructed in the virtual simulation environment, and then the skeleton binding technology is used to map the action data to the virtual skeleton model, and the motion timing of each joint point on the target user's body in terms of position and angle changes is generated, and the collection of all motion timings is used as the joint motion data of the target user; wherein, the joint motion data is the timing information that records the motion status of all joints on the target user's body, and the joint motion data includes the position and angle of each joint at different time points, which can be used to describe the dynamic changes of various parts of the target user's body during venipuncture.

[0026] Preferably, in some embodiments, constructing a virtual skeleton model of a target user in a virtual simulation environment can be achieved in the following manner, namely, first obtaining the body parameters of the target user (including height and the positions of all joints), and using the Blender three-dimensional modeling tool to construct a skeleton framework according to known human anatomical knowledge. In other embodiments, other three-dimensional modeling tools (such as Maya or Unity) can also be used, which are not specifically limited here. Then, the skeleton framework is scaled according to the height of the target user and a posture calibration method (such as a static posture alignment method) is used to perform posture calibration on the virtual skeleton model according to the positions of all joints on the target user, thereby obtaining a virtual skeleton model of the target user. The virtual skeleton model is a representation of the human body structure in a virtual simulation environment. The virtual skeleton model consists of a group of joint nodes and a hierarchical skeleton connected thereto, and can simulate the posture and movement of the human body in three-dimensional space. The data source of the human anatomical knowledge is a standard human anatomical model (such as Winter's human body mass distribution model). In other embodiments, human anatomical knowledge can also be obtained through other means, which are not specifically limited here.

[0027] It should be noted that, in the present application, the joint motion trajectory is a trajectory representing the changes in position and angle of all joints on the target user's body parts; in specific implementation, the joint motion trajectory of each body part of the target user when maintaining stability in the virtual simulation environment can be extracted from the joint motion data. The following method can be used, namely: the joint motion data can be first detected by a sliding window algorithm to obtain a stable time period when the target user is in a stable state (that is, the target user's posture remains relatively stable) during venous puncture training. Subsequently, for each body part of the target user (such as the forearm, forearm, leg and torso), the motion timing segments of all related nodes on the body part within the stable time period are extracted from the joint motion data, and the collection of all motion timing segments is used as the joint motion trajectory of the body part. The joint motion trajectory of each body part when the target user maintains stability in the virtual simulation environment can be obtained in the above manner.

[0028] In some embodiments, determining the balance characteristics of the target user's body in the virtual simulation environment based on all joint motion trajectories may be implemented by the following steps: Determine the center of gravity projection trajectory of the target user when performing venipuncture according to all joint motion trajectories; Determine the support surface boundary for the target user to maintain balance when performing venipuncture in a virtual simulation environment; The balance characteristics of the target user's body in the virtual simulation environment are determined based on the center of gravity projection trajectory and the support surface boundary.

[0029] It should be noted that, in the present application, the center of gravity projection trajectory is the projection path of the center of gravity of the target user on the ground, and the center of gravity projection trajectory can help determine whether the target user is at risk of imbalance when performing intravenous puncture; in specific implementation, the center of gravity projection trajectory of the target user when performing intravenous puncture can be determined according to all joint motion trajectories. It can be implemented in the following way, that is, an existing inverse dynamics model (for example, a body model calculated based on mass distribution and joint position) can be loaded, and the coordinate position of each joint at each moment in a stable time period can be extracted from all joint motion trajectories, and all the position coordinates obtained are used as joint position data in the input of the inverse dynamics model, and then The mass distribution information of different parts of the human body is obtained, and the mass distribution information is used as the mass distribution data in the input of the inverse dynamics model, the inverse dynamics model is executed, and the center of gravity projection position of the target user at each moment in the stable time period in the output of the inverse dynamics model is obtained, and then a sequence composed of all the center of gravity projection positions in chronological order is used as the center of gravity projection trajectory of the target user when performing venous puncture, wherein the data source of the mass distribution information is a standard human anatomical model (for example: Winter's human mass distribution model), and in other embodiments, the mass distribution information of different parts of the human body can also be obtained by other means, which is not specifically limited here.

[0030] In addition, it should be noted that, in the present application, the support surface boundary is the boundary of the physical area formed by all support points for the target user to maintain balance when performing intravenous puncture, wherein the support points are usually the feet and hands of the target user; in specific implementation, determining the support surface boundary for the target user to maintain body balance when performing intravenous puncture in a virtual simulation environment can be achieved in the following manner, namely: first, the position coordinates of the feet and hands of the target user can be extracted from all joint motion trajectories, and then the support surface area of ​​the target user when performing intravenous puncture can be calculated based on all the obtained position coordinates using an existing plane fitting algorithm (such as the least squares method), and the boundary contour of the support surface area is used as the support surface boundary for the target user to maintain body balance when performing intravenous puncture in the virtual simulation environment.

[0031] In specific implementation, determining the balance feature of the target user's body in the virtual simulation environment based on the center of gravity projection trajectory and the support surface boundary can be achieved in the following manner, namely: a geometric method (such as a ray method or a polygon point inclusion detection method) can be used to determine whether the center of gravity projection position at each time point in the center of gravity projection trajectory is located within the support surface boundary, and then the ratio of the number of center of gravity projection positions within the support surface boundary to the total number of center of gravity projection positions is used as the balance feature of the target user's body in the virtual simulation environment; wherein the balance feature is an indicator of the target user's ability to maintain stability and balance when performing intravenous puncture in the virtual simulation environment, and the larger the value of the balance feature, the stronger the target user's ability to maintain stability and balance when performing intravenous puncture in the virtual simulation environment, and the smaller the value of the balance feature, the weaker the target user's ability to maintain stability and balance when performing intravenous puncture in the virtual simulation environment.

[0032] In some embodiments, determining the posture stability of the target user for venipuncture by using the balance feature and the center of gravity offset of the target user in the emergency transport simulation can be achieved by the following steps: Simulate the sudden change scenario during emergency transportation in a virtual simulation environment, and then obtain the center of gravity change information of the target user under the emergency transportation simulation; Determining the center of gravity offset of the target user in the emergency transport simulation according to the center of gravity change information; The balance feature and the center of gravity offset are fused based on a multi-index fusion model to obtain the posture stability of the target user performing venipuncture.

[0033] It should be noted that, in the present application, the center of gravity change information is information reflecting the change in the position of the center of gravity of the target user's body when performing intravenous puncture under the condition of a sudden change scenario in a virtual simulation environment; in specific implementation, the sudden change scenario during emergency transfer is simulated in a virtual simulation environment, and the center of gravity change information of the target user under the emergency transfer simulation is obtained. It can be achieved in the following way, namely: during the target user's intravenous puncture training, when a sudden scenario (for example: shaking, acceleration and deceleration, turning, sudden braking, take-off and landing, and dim light) occurs in the virtual simulation environment, the motion tracking technology can be used to monitor the target user's body posture and joint movement in real time and obtain the center of gravity position of the target user one second before and one second after the sudden scenario occurs, and then the set of center of gravity positions before and after the sudden scenario occurs is used as the center of gravity change information of the target user.

[0034] In specific implementation, determining the center of gravity offset of the target user under the emergency transfer simulation based on the center of gravity change information can be achieved in the following manner, namely: the square root of the sum of the squares of the differences in the center of gravity position of the target user before and after the emergency situation occurs in the center of gravity change information in the horizontal direction, vertical direction and depth direction can be taken to obtain a numerical value, and the numerical value is used as the center of gravity offset of the target user under the emergency transfer simulation; wherein the center of gravity offset is an indicator to measure the degree of position change of the center of gravity of the target user under the emergency transfer simulation.

[0035] It should be noted that, in the present application, posture stability is a parameter that measures the stability of the target user's body posture when performing intravenous puncture in a virtual simulation environment. The posture stability helps to determine whether the target user maintains a good operating posture when performing intravenous puncture in a dynamic environment. In specific implementation, the balance feature and the center of gravity offset are fused based on a multi-index fusion model to obtain the posture stability of the target user performing intravenous puncture. The following method can be used, namely: the existing multi-index fusion model (such as weighted scoring method or fuzzy logic analysis method) can be used to combine the balance feature and the center of gravity offset, and the value output by the multi-index fusion model is used as the posture stability of the target user performing intravenous puncture.

[0036] In step 103, deviations of the virtual puncture path of the target user during intravenous puncture are identified, thereby obtaining the puncture path deviation each time the target user performs intravenous puncture in the virtual simulation environment, and determining the puncture accuracy of the target user performing intravenous puncture under emergency transport simulation based on all puncture path deviations.

[0037] In some embodiments, reference Figure 2 , which is an exemplary flow chart of determining the puncture path deviation according to some embodiments of the present application. In the present application, the deviation of the virtual puncture path when the target user performs venipuncture is identified, and then the puncture path deviation when the target user performs venipuncture in the virtual simulation environment each time is obtained can be achieved by the following steps: In step 1031, the training target information of the target user for venipuncture training is obtained; In step 1032, an ideal puncture path for the target user to perform venipuncture training is determined according to the training target information; In step 1033, the actual puncture path of the target user performing venipuncture in the virtual simulation environment each time is determined; In step 1034, all actual puncture paths are matched with the ideal puncture path to obtain the puncture path deviation each time the target user performs venous puncture in the virtual simulation environment.

[0038] In specific implementation, obtaining the training target information for the target user to perform venipuncture training can be achieved in the following manner, namely: the vein position, puncture depth and puncture angle of the venipuncture input by the target user can be obtained through the user interaction interface of the venipuncture training system, and the set of the vein position, puncture depth and puncture angle is used as the training target information for the target user to perform venipuncture training; wherein, the training target information refers to all the training task parameters that the target user expects to achieve when performing venipuncture training, including: vein position, puncture depth and puncture angle, wherein the user interaction interface refers to the interface part of the venipuncture training system used to interact with the user.

[0039] It should be noted that in the present application, the ideal puncture path represents the standard trajectory of the puncture needle from the preparation stage to the final successful puncture under ideal conditions (i.e., no unexpected situations occur); in specific implementation, determining the ideal puncture path for the target user to perform venous puncture training according to the training target information can be achieved in the following manner, namely: the vein position, puncture depth and puncture angle in the training target information can be used as input parameters when using AutoCAD computer-aided design software, and the computer-aided design software is executed to generate a puncture path matching the training target information, and then the puncture path is used as the ideal puncture path for the target user to perform venous puncture training. In other embodiments, other computer-aided software (such as SolidWorks) can also be used, which is not specifically limited here.

[0040] In specific implementation, determining the actual puncture path of each time the target user performs intravenous puncture in the virtual simulation environment can be achieved in the following manner, namely: for each intravenous puncture performed by the target user in the virtual simulation environment, a high-precision motion capture device (such as an optical tracking system or an inertial sensor) can be used to collect in real time the three-dimensional coordinate data of the virtual puncture needle in the hand of the target user during puncture and generate a continuous coordinate time series, and then a data denoising algorithm (such as a Kalman filter) is used to denoise the coordinate time series to obtain a smoothed time series, and the time series is used as the actual puncture path of the target user performing intravenous puncture in the virtual simulation environment. The above method can be used to obtain the actual puncture path of each time the target user performs intravenous puncture in the virtual simulation environment; wherein, the actual puncture path is the motion trajectory of the virtual puncture needle in three-dimensional space when the target user performs intravenous puncture in the virtual simulation environment.

[0041] It should be noted that in the present application, the puncture path deviation is the difference between the actual puncture path and the ideal standard path when the target user performs intravenous puncture in a virtual simulation environment. The puncture path deviation reflects the precision and operation accuracy of the target user when performing intravenous puncture.

[0042] In specific implementation, all actual puncture paths are matched with the ideal puncture path to obtain the puncture path deviation when the target user performs intravenous puncture each time in the virtual simulation environment. This can be achieved in the following way, namely: for each intravenous puncture performed by the target user in the virtual simulation environment, the dynamic time warping algorithm can be used to first time-align the actual puncture path of the target user's intravenous puncture with the ideal puncture path, and the existing deviation calculation formula (such as Euclidean distance or cosine similarity) can be used to calculate the deviation value of the aligned actual puncture path and the ideal puncture path at each time point, and then the average value of all deviation values ​​is used as the puncture path deviation when the target user performs intravenous puncture. The puncture path deviation of the target user each time the target user performs intravenous puncture in the virtual simulation environment can be obtained in the above way.

[0043] In some embodiments, determining the puncture accuracy of the target user performing venipuncture under emergency transport simulation based on all puncture path deviations can be achieved by the following steps: Determining deviation characteristics of venipuncture performed by a target user based on all puncture path deviations; Determine the consistency characteristics of venipuncture procedures performed by target users; The puncture accuracy of the venipuncture performed by the target user under the emergency transport simulation is determined according to the deviation feature and the consistency feature.

[0044] It should be noted that in the present application, the deviation feature is a feature that measures the overall accuracy of the puncture path when the target user performs intravenous puncture. The smaller the deviation feature, the larger the overall error between the target user's puncture path and the standard path, and the lack of accuracy. The larger the deviation feature, the smaller the overall error between the target user's puncture path and the standard path, and the higher the accuracy. In specific implementation, the deviation feature of the target user performing intravenous puncture based on all puncture path deviations can be achieved in the following way, namely: the average value of all puncture path deviations can be calculated, and the inverse of the average value can be used as the deviation feature of the target user performing intravenous puncture.

[0045] In specific implementation, the consistency feature of the puncture operation when the target user performs intravenous puncture can be determined in the following manner, namely: the standard deviation of all puncture path deviations can be calculated, and the inverse of the standard deviation is used as the consistency feature of the puncture operation when the target user performs intravenous puncture; wherein, the consistency feature is a feature that reflects the fluctuation of the puncture path deviation when the target user performs intravenous puncture. The smaller the consistency feature is, the more inconsistent the puncture operation of the target user for each intravenous puncture is, and the lack of stability is; the larger the consistency feature is, the more consistent the puncture operation of the target user for each intravenous puncture is, and the higher the stability is.

[0046] It should be noted that in the present application, puncture accuracy is an indicator for measuring the accuracy and stability of the puncture operation when the target user performs intravenous puncture in a virtual simulation environment; in specific implementation, the puncture accuracy of the target user performing intravenous puncture under emergency transport simulation can be determined based on the deviation feature and the consistency feature. The following method can be used, namely: the existing multi-index fusion model (such as weighted scoring method or fuzzy logic analysis method) can be used to combine the balance feature and the center of gravity offset, and the value output by the multi-index fusion model is used as the puncture accuracy of the target user performing intravenous puncture under emergency transport simulation.

[0047] In step 104, feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation are determined based on the puncture accuracy and the posture stability, and feedback training is performed on the target user's actions during venipuncture according to the feedback adjustment instructions.

[0048] In some embodiments, determining the feedback adjustment instruction for the target user to perform venipuncture under emergency transport simulation based on the puncture accuracy and the posture stability can be implemented by the following steps: Determining, according to the puncture accuracy, an operation feedback instruction when the target user performs venipuncture; Determining a posture feedback instruction for a target user when performing venipuncture based on the posture stability; The feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation are determined through the operation feedback instructions and the posture feedback instructions.

[0049] In specific implementation, determining the operation feedback instructions for the target user when performing intravenous puncture according to the puncture accuracy can be implemented in the following manner, namely: the puncture accuracy can be judged, and when the puncture accuracy is less than a preset accuracy threshold (for example, 0.9), the intravenous puncture training system can detect the deviations of the target user's hand position, puncture angle, and puncture point during the puncture process through multimodal feedback technology and generate operation feedback instructions based on these deviations, for example: "Please keep your arm aligned with the target straight line" or "Please adjust the puncture direction to the right by 2 degrees"; wherein, the operation feedback instructions are guiding suggestions provided by the intravenous puncture training system to help the target user correct incorrect puncture operations to achieve higher operation accuracy.

[0050] When determining the posture feedback instructions for the target user when performing venipuncture based on the posture stability, the following method can be used for specific implementation, namely: the numerical value of the posture stability can be judged. When the numerical value of the posture stability is less than a preset stability threshold (for example, 0.7), the venipuncture training system determines that the posture of the target user is unstable and generates posture feedback instructions according to the posture changes of the target user through multimodal feedback technology, for example, "Please distribute your weight evenly on your legs to avoid center of gravity shift" or "Adjust your footwork to maintain balance"; wherein, the posture feedback instructions are guiding suggestions provided by the venipuncture training system to help the target user maintain a correct puncture posture.

[0051] It should be noted that in the present application, the feedback adjustment instructions are guiding suggestions provided by the venipuncture training system to help the target user correct incorrect puncture operations, maintain the correct puncture posture and improve the success rate of venipuncture; in specific implementation, the feedback adjustment instructions for the target user to perform venipuncture under the emergency transport simulation are determined by the operation feedback instructions and the posture feedback instructions. The following method can be used for implementation, namely: the set consisting of the operation feedback instructions and the posture feedback instructions can be used as the feedback adjustment instructions for the target user to perform venipuncture under the emergency transport simulation.

[0052] In specific implementation, feedback training of the target user's actions during venous puncture according to the feedback adjustment instructions can be achieved in the following manner, namely: the operation feedback instructions and posture feedback instructions in the feedback adjustment instructions can be transmitted to the target user in real time through voice, graphical interface or tactile feedback, to help the target user adjust the action. At the same time, the venous puncture training system will continuously update the feedback strategy according to the feedback adjustment of the target user, thereby helping the user to gradually improve the puncture accuracy and posture stability.

[0053] In some embodiments, reference Figure 3 , the figure is a schematic diagram of information transmission in the intravenous puncture training system shown in some embodiments of the present application. As shown in the figure, the intravenous puncture training system includes a virtual simulation environment and a intravenous puncture virtual simulation training unit. The virtual simulation environment includes an optical motion capture device, an inertial sensor and a virtual feedback mechanism. The intravenous puncture virtual simulation training unit includes an acquisition module, a processing module and an execution module; the intravenous puncture training system obtains puncture action data through the optical motion capture device and the inertial sensor in the virtual simulation environment and transmits the puncture action data to the acquisition module in the intravenous puncture virtual simulation training unit. The intravenous puncture virtual simulation training unit processes and analyzes the puncture action data to obtain feedback adjustment instructions, and transmits the feedback adjustment instructions to the virtual feedback mechanism in the virtual simulation environment through the execution module to perform feedback training on the target user.

[0054] In addition, in another aspect of the present application, in some embodiments, the present application provides a venipuncture training system, the system comprising a venipuncture virtual simulation training unit, referring to Figure 4 , which is a structural schematic diagram of a venipuncture virtual simulation training unit according to some embodiments of the present application, the venipuncture virtual simulation training unit 400 includes: an acquisition module 401, a processing module 402 and an execution module 403, which are respectively described as follows: The acquisition module 401 in the present application is mainly used to capture the body movements of the target user performing venous puncture in a virtual simulation environment in real time, thereby obtaining puncture movement data; Processing module 402, in the present application, the processing module 402 is mainly used to determine the joint motion trajectory of each body part of the target user when maintaining stability in the virtual simulation environment according to the puncture action data, determine the balance characteristics of the target user's body in the virtual simulation environment based on all joint motion trajectories, and determine the posture stability of the target user performing venous puncture through the balance characteristics and the center of gravity offset of the target user in the emergency transport simulation; It should be noted that the processing module 402 in the present application is also used to identify deviations of the virtual puncture path when the target user performs venipuncture, thereby obtaining the puncture path deviation when the target user performs venipuncture in the virtual simulation environment each time, and determining the puncture accuracy of the target user performing venipuncture under emergency transport simulation based on all puncture path deviations; Execution module 403, in the present application, execution module 403 is mainly used to determine the feedback adjustment instructions of the target user performing intravenous puncture under the emergency transport simulation based on the puncture accuracy and the posture stability, and to perform feedback training on the target user's actions during intravenous puncture according to the feedback adjustment instructions.

[0055] Each module in the above-mentioned venipuncture training system can be implemented in whole or in part by software, hardware or a combination thereof. Each of the above-mentioned modules can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0056] In addition, in one embodiment, the present application provides a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 5As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data on a virtual simulation training method for venipuncture. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a virtual simulation training method for venipuncture is implemented.

[0057] Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0058] In one embodiment, a computer device is also provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in the above-mentioned embodiment of the venipuncture virtual simulation training method are implemented.

[0059] In one embodiment, a computer-readable storage medium is provided, storing a computer program, which, when executed by a processor, implements the steps in the above-mentioned venipuncture virtual simulation training method embodiment.

[0060] In one embodiment, a computer program product or computer program is provided, the computer program product or computer program includes computer instructions, the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device performs the steps in the above-mentioned venipuncture virtual simulation training method embodiment.

[0061] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory or optical memory, etc. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).

[0062] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0063] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A venipuncture virtual simulation training method, used for performing venipuncture virtual simulation training on a target user during simulated emergency transportation in a virtual simulation environment, characterized in that: The steps include: Capture the target user's body movements during venipuncture in a virtual simulation environment in real time to obtain puncture action data; Determine the joint motion trajectory of each body part of the target user when maintaining stability in the virtual simulation environment according to the puncture action data, determine the balance characteristics of the target user's body in the virtual simulation environment based on all joint motion trajectories, and determine the posture stability of the target user performing venipuncture according to the balance characteristics and the center of gravity offset of the target user in the emergency transport simulation; Deviations of the virtual puncture path of the target user during venipuncture are identified, and the puncture path deviation of the target user each time the venipuncture is performed in the virtual simulation environment is obtained. Based on all puncture path deviations, the puncture accuracy of the target user during venipuncture in the emergency transport simulation is determined; Based on the puncture accuracy and the posture stability, feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation are determined, and feedback training is performed on the target user's actions when performing venipuncture according to the feedback adjustment instructions.

2. The method according to claim 1, characterized in that Determining the joint motion trajectory of each body part when the target user maintains stability in the virtual simulation environment according to the puncture action data specifically includes: Performing denoising on the puncture action data to obtain smoothed action data; Mapping the motion data onto a virtual skeleton model of a target user in a virtual simulation environment to obtain joint motion data of the target user; The joint motion trajectories of various body parts of the target user when maintaining stability in the virtual simulation environment are extracted from the joint motion data.

3. The method according to claim 1, characterized in that The balance characteristics of the target user's body in the virtual simulation environment are determined based on all joint motion trajectories, including: Determine the center of gravity projection trajectory of the target user when performing venipuncture according to all joint motion trajectories; Determine the support surface boundary for the target user to maintain balance when performing venipuncture in a virtual simulation environment; The balance characteristics of the target user's body in the virtual simulation environment are determined based on the center of gravity projection trajectory and the support surface boundary.

4. The method according to claim 1, characterized in that Determining the posture stability of the target user for venipuncture by using the balance feature and the center of gravity offset of the target user under the emergency transport simulation specifically includes: Simulate the sudden change scenario during emergency transportation in a virtual simulation environment, and then obtain the center of gravity change information of the target user under the emergency transportation simulation; Determining the center of gravity offset of the target user in the emergency transport simulation according to the center of gravity change information; The balance feature and the center of gravity offset are fused based on a multi-index fusion model to obtain the posture stability of the target user performing venipuncture.

5. The method according to claim 1, characterized in that The deviation of the virtual puncture path when the target user performs venipuncture is identified, and the puncture path deviation when the target user performs venipuncture in the virtual simulation environment each time is obtained specifically includes: Obtaining training target information for venipuncture training for a target user; Determining an ideal puncture path for a target user to perform venipuncture training according to the training target information; Determine the actual puncture path of the target user each time performing venipuncture in the virtual simulation environment; All actual puncture paths are matched with the ideal puncture path to obtain the puncture path deviation when the target user performs venipuncture each time in the virtual simulation environment.

6. The method according to claim 1, characterized in that The puncture accuracy of the target user performing venipuncture under emergency transport simulation is determined based on all puncture path deviations, including: Determining deviation characteristics of venipuncture performed by a target user based on all puncture path deviations; Determine the consistency characteristics of venipuncture procedures performed by target users; The puncture accuracy of the venipuncture performed by the target user under the emergency transport simulation is determined according to the deviation feature and the consistency feature.

7. The method according to claim 1, characterized in that The feedback adjustment instructions for determining the target user to perform venipuncture under emergency transport simulation based on the puncture accuracy and the posture stability specifically include: Determining, according to the puncture accuracy, an operation feedback instruction when the target user performs venipuncture; Determining a posture feedback instruction for a target user when performing venipuncture based on the posture stability; The feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation are determined through the operation feedback instructions and the posture feedback instructions.

8. A venipuncture training system, comprising a venipuncture virtual simulation training unit, characterized in that: The venipuncture virtual simulation training unit comprises: The acquisition module is used to capture the body movements of the target user performing venous puncture in a virtual simulation environment in real time, thereby obtaining puncture movement data; a processing module, for determining, according to the puncture action data, joint motion trajectories of various body parts of the target user when the target user maintains stability in the virtual simulation environment, determining the balance characteristics of the target user's body in the virtual simulation environment based on all joint motion trajectories, and determining the posture stability of the target user performing venipuncture through the balance characteristics and the center of gravity offset of the target user in the emergency transport simulation; The processing module is used to identify deviations of the virtual puncture path when the target user performs venipuncture, thereby obtaining the puncture path deviation when the target user performs venipuncture in the virtual simulation environment each time, and determining the puncture accuracy of the target user performing venipuncture under emergency transport simulation based on all puncture path deviations; The execution module is used to determine feedback adjustment instructions for the target user to perform venipuncture under emergency transport simulation based on the puncture accuracy and the posture stability, and to perform feedback training on the target user's actions during venipuncture according to the feedback adjustment instructions.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the venipuncture virtual simulation training method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the venipuncture virtual simulation training method according to any one of claims 1 to 7 are implemented.

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