Disposable gynaecology and obstetrics detachable disinfection operating forceps training examination system and method

Abstract

The invention provides a disposable detachable disinfection operating forceps training and checking system and method for the obstetrics and gynecology department. The method comprises the steps that force sense data of hands of a target student in the operation process of virtual operating forceps are collected; determining a plurality of abnormal actions of the hand of the target student in the process of operating the virtual operating forceps according to the force sense data; determining the fluctuation range of the force sense of the target student in the process of operating the virtual operating forceps through all the abnormal actions of the hand and the difference characteristics of the grip strength, and determining the cooperative deviation between the hand actions of the target student and the instrument conversion state of the virtual operating forceps according to the fluctuation range of the force sense; determining an operation energy efficiency value when the target student operates the virtual operating forceps according to the operation time and the cooperative deviation of each operation step when the target student operates the virtual operating forceps; and examining the operation of the target student on the virtual operating forceps based on the operation energy efficiency value. By adopting the scheme of the invention, the action collaboration can be fused to evaluate the action of operating the operating forceps by the target student.

Description

Technical Field

[0001] The present application relates to the technical field of training and assessment, and more specifically, to a training and assessment system and method for disposable detachable sterilized surgical forceps for obstetrics and gynecology. Background Art

[0002] Training assessment refers to the process of evaluating and measuring trainees' performance and learning outcomes during training through a series of scientific and systematic methods and tools. It is not only a test of trainees' learning outcomes, but also a feedback and summary of the training effect.

[0003] In obstetrics and gynecology, surgical forceps is a commonly used medical device used to clamp, fix or manipulate tissues. Disposable, detachable and sterilized surgical forceps has gradually become the first choice in clinic due to its hygiene and convenience. With the rapid development of minimally invasive surgery, the accuracy and safety of surgical instrument operation have become the core requirements of clinical physician training. Traditional surgical training relies on physical models or animal experiments, which have problems such as high cost, poor repeatability, and ethical controversy. In recent years, virtual reality technology has been introduced into the field of medical training. By simulating real surgical scenes, it provides trainees with a risk-free operating environment. Existing surgical training systems based on virtual reality technology mostly focus on visual simulation and Operation path assessment, for example, is conducted by tracking the movement trajectory of the instrument or the completion time. However, the core ability of surgical forceps operation not only involves spatial positioning accuracy, but also requires the physician to finely control the hand force perception (such as grip control, instrument clamping strength) and movement coordination (such as hand adjustment, instrument conversion stability) in a complex anatomical environment. The current system lacks the ability to collect and analyze multi-dimensional force data in real time, especially in the technical gaps in force feedback and movement synergy assessment, resulting in a single assessment dimension and difficulty in truly reflecting the trainees' operational skill level. Therefore, how to integrate movement synergy to evaluate the target trainees' movements in operating surgical forceps has become a problem facing the industry. Summary of the Invention

[0004] The present application provides a training and assessment system and method for disposable detachable sterilized surgical forceps for obstetrics and gynecology, which can integrate motion synergy to evaluate the target trainees' movements in operating surgical forceps.

[0005] In a first aspect, the present application provides a method for assessing the operation of surgical forceps based on virtual reality, which is used in a training and assessment system to assess the operation of trainees. The training and assessment system includes a virtual reality device and a force feedback glove. The target trainee operates a virtual surgical forceps in the virtual reality device by wearing the force feedback glove, comprising the following steps: The target trainee operates a virtual surgical forceps to perform surgery on a virtual patient, and force data of the target trainee's hand during the operation of the virtual surgical forceps is collected. The force data is used to obtain the target trainee's grip strength difference characteristics, finger position change characteristics, and wrist angle change characteristics; determining, based on the changing characteristics of the finger positions and the changing characteristics of the wrist angle, a plurality of abnormal hand movements of the target trainee during the operation of the virtual surgical forceps; Determining the fluctuation range of the target trainee's force perception during the operation of the virtual surgical forceps through all abnormal hand movements and the difference characteristics of the grip force, and correlating and coordinating the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps based on the fluctuation range of the force perception to obtain a coordination deviation between the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; collecting the operation time of each surgical step when the target trainee operates the virtual surgical forceps, and determining the operation energy efficiency value of the target trainee when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation; The target trainee's operation of the virtual surgical forceps is assessed based on the operation energy efficiency value.

[0006] In some embodiments, determining multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps based on the change characteristics of the finger positions and the change characteristics of the wrist angle specifically includes: determining force fusion characteristics of the target trainee when operating the virtual surgical forceps according to the change characteristics of the finger positions and the change characteristics of the wrist angle; Multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps are determined based on the force fusion characteristics.

[0007] In some embodiments, determining the fluctuation range of the force perception of the target trainee during the operation of the virtual surgical forceps by using all abnormal hand movements and the difference characteristics of the grip strength specifically includes: determining a grip force balance interval and a grip force mutation interval of the target trainee when operating the virtual surgical forceps according to the grip force difference characteristics; The fluctuation range of the force sensation of the target trainee during the operation of the virtual surgical forceps is determined through all abnormal movements of the hand, the grip force balance interval and the grip force mutation interval.

[0008] In some embodiments, the target trainee's hand motion and the instrument conversion state of the virtual surgical forceps are correlated and coordinated based on the fluctuation range of the force sense to obtain the coordination deviation between the target trainee's hand motion and the instrument conversion state of the virtual surgical forceps, specifically including: Acquiring the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; Performing correlation analysis on the hand movement of the target trainee and the instrument conversion state of the virtual surgical forceps to obtain the correlation state between the target trainee's hand and the virtual surgical forceps; The coordination deviation between the target trainee's hand movement and the instrument conversion state of the virtual surgical forceps is determined according to the fluctuation range of the force sense and the association state.

[0009] In some embodiments, determining the target trainee's operation energy efficiency value when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation specifically includes: Determining the deviation characteristics of all operation times from the standard operation time of each surgical step; determining a synergistic effectiveness value between the target trainee and the virtual surgical forceps according to the synergistic deviation; The operation energy efficiency value of the target trainee when operating the virtual surgical forceps is determined by using the deviation feature and the synergistic efficiency value.

[0010] In some embodiments, assessing the target trainee's operation of the virtual surgical forceps based on the operation energy efficiency value specifically includes: Determine the target trainee's threshold range for operating the virtual surgical forceps; Determining the operation energy efficiency value; If the operation energy efficiency value is less than the lower limit of the operation threshold range, the target student's operation of the virtual surgical forceps is marked as unqualified; If the operation energy efficiency value is within the operation threshold range, the target trainee's operation of the virtual surgical forceps is marked as good; If the operation energy efficiency value is greater than the upper limit value of the operation threshold range, the target student's operation of the virtual surgical forceps is marked as excellent.

[0011] In some embodiments, the various surgical steps include preoperative preparation, instrument manipulation, tissue processing, suturing and hemostasis, and postoperative examination.

[0012] In a second aspect, the present application provides a training and assessment system for disposable detachable sterilized surgical forceps for obstetrics and gynecology, the system comprising a surgical forceps operation assessment unit, the surgical forceps operation assessment unit comprising: An acquisition module is used for the target trainee to operate a virtual surgical forceps to perform surgery on a virtual patient, collect force data of the target trainee's hand during the operation of the virtual surgical forceps, and obtain the target trainee's grip strength difference characteristics, finger position change characteristics, and wrist angle change characteristics through the force data; a processing module, configured to determine, based on the changing characteristics of the finger positions and the changing characteristics of the wrist angle, a plurality of abnormal hand movements of the target trainee during the operation of the virtual surgical forceps; The processing module is further configured to determine a fluctuation range of force perception of the target trainee during the operation of the virtual surgical forceps based on all abnormal hand movements and the difference characteristics of the grip force, and to correlate and coordinate the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps based on the fluctuation range of the force perception, thereby obtaining a coordination deviation between the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; The processing module is further configured to collect the operation time of each surgical step when the target trainee operates the virtual surgical forceps, and determine the operation energy efficiency value of the target trainee when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation; An execution module is used to assess the target trainee's operation of the virtual surgical forceps based on the operation energy efficiency value.

[0013] In a third aspect, the present application provides a computer device comprising a memory and a processor, wherein the memory stores a code, and the processor is configured to obtain the code and execute the above-mentioned virtual reality-based surgical forceps operation assessment method.

[0014] In a fourth aspect, the present application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the above-mentioned virtual reality-based surgical forceps operation assessment method.

[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: In the training and assessment system and method for disposable detachable sterilized surgical forceps for obstetrics and gynecology provided in the present application, a target trainee first operates a virtual surgical forceps to perform surgery on a virtual patient, and force perception data of the target trainee's hand during the operation of the virtual surgical forceps is collected. The force perception data is used to obtain the target trainee's grip strength difference characteristics, finger position change characteristics, and wrist angle change characteristics. Multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps are determined based on the finger position change characteristics and the wrist angle change characteristics. The force perception fluctuation range of the target trainee during the operation of the virtual surgical forceps is determined based on all the abnormal hand movements and the grip strength difference characteristics. The target trainee's hand movements and the instrument conversion state of the virtual surgical forceps are correlated and coordinated based on the force perception fluctuation range to obtain the coordination deviation between the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps. The operation time of each surgical step when the target trainee operates the virtual surgical forceps is collected, and the target trainee's operation energy efficiency value when operating the virtual surgical forceps is determined based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the coordination deviation. The target trainee's operation of the virtual surgical forceps is assessed based on the operation energy efficiency value.

[0016] As can be seen, during the training and assessment of surgical forceps, this application first automatically identifies abnormal operator behavior (e.g., shaking, angular deviation) by dynamically capturing finger and wrist motion trajectories, obtaining multiple abnormal hand movements and enabling standardized assessment of movement. Next, the target trainee's state while operating the virtual surgical forceps is analyzed by combining all abnormal movements with the grip force differences in force perception data, determining the force perception fluctuation range. This force perception fluctuation is then correlated with the instrument state, enabling assessment of the trainee's coordination between hand movements and instrument use during complex operations and avoiding misoperations caused by disjointed movements. Finally, by integrating time efficiency and motion synergy (a balance between speed and accuracy), the trainee's overall operational efficiency is quantified, avoiding one-sided assessments based on a single metric (e.g., short time but high error rate). Multi-dimensional data fusion (motion, force perception, and time) generates objective energy efficiency values, achieving standardized and quantifiable assessment results, providing trainees with improvement directions and optimizing training programs. Finally, the target trainee's operation of the virtual surgical forceps is assessed based on these operational energy efficiency values. Using this approach, motion synergy can be integrated to assess the target trainee's operation of surgical forceps. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is an exemplary flow chart of a method for assessing surgical forceps operation based on virtual reality according to some embodiments of the present application; Figure 2 is an exemplary flow chart of determining a fluctuation range of force perception according to some embodiments of the present application; Figure 3 is a flow chart of various surgical steps when a target trainee operates the virtual surgical forceps according to some embodiments of the present application; Figure 4 is a structural diagram of a surgical forceps operation assessment unit according to some embodiments of the present application; Figure 5 It is a structural diagram of a computer device for implementing a virtual reality-based surgical forceps operation assessment method 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 with reference to the accompanying drawings and specific implementation methods.

[0019] refer to Figure 1 , which is an exemplary flow chart of a surgical forceps operation assessment method based on virtual reality according to some embodiments of the present application. The surgical forceps operation assessment method 100 based on virtual reality mainly includes the following steps: In step 101, the target trainee operates a virtual surgical forceps to perform surgery on a virtual patient, and the force data of the target trainee's hand during the operation of the virtual surgical forceps is collected. The difference characteristics of the target trainee's grip strength, the change characteristics of the finger position, and the change characteristics of the wrist angle are obtained through the force data.

[0020] It should be noted that the force data represents the physical quantity data of the target trainee's hand feedback when operating the virtual surgical forceps in the virtual reality device, wherein the force data includes grip strength, finger position, and wrist angle. The force feedback node, angle node, and position node are integrated in the force feedback glove, and the force feedback node is connected by a force feedback sensor, the angle node is connected by an angle sensor, and the position node is connected by a position sensor. In some embodiments, the target trainee operates the virtual surgical forceps to perform surgery on a virtual patient. After starting each sensor, the target trainee starts to operate the virtual surgical forceps through the force feedback glove, and each sensor collects the grip strength, finger position, and wrist angle of the target trainee's hand in real time during the operation of the virtual surgical forceps, and the collection of all collected grip strength, finger position, and wrist angle is used as the force data of the target trainee's hand. The finger position represents the position of each finger when operating the virtual surgical forceps. In other embodiments, other methods can also be used for collection, which will not be elaborated here.

[0021] In specific implementation, the difference characteristics of the target student's grip, the change characteristics of the finger position and the change characteristics of the wrist angle obtained by the force data can be achieved in the following manner, namely: the grip in the force data is arranged in the order of the corresponding acquisition time, the sequence obtained by the arrangement is used as the grip sequence, the adjacent grip is selected as the selected adjacent grip, the second grip in the selected adjacent grip is subtracted from the first grip, the value obtained by the subtraction is used as the difference value between the selected adjacent grips, the difference values ​​between the remaining adjacent grips in the grip sequence are continued to be determined, and all the difference values ​​are used as the difference characteristics of the grip in the force data, wherein the difference characteristics represent the characteristics of the degree of difference in the grip of the target student during the operation of the virtual surgical forceps; all finger positions are extracted from the force data, all finger positions are arranged in the order of the corresponding fingers in the operation of the virtual surgical forceps, the sequence obtained by the arrangement is used as the finger position sequence, and the position difference between each group of adjacent finger positions in the finger position sequence is calculated by the Euclidean distance calculation method, wherein the position difference represents the degree of difference between adjacent finger positions. , that is: the difference between the positions of adjacent fingers corresponding to each finger, all position differences are used as the change characteristics of the finger position in the force data, wherein the position change characteristics represent the change characteristics of the position of the target trainee when operating the virtual surgical forceps; all wrist angles are extracted from the force data, all wrist angles are arranged according to the order in which the corresponding wrists operate the virtual surgical forceps, the sequence obtained by arrangement is used as the wrist angle sequence, a group of adjacent wrist angles in the wrist angle sequence are selected as selected adjacent wrist angles, the second wrist angle in the selected adjacent wrist angles is subtracted from the first wrist angle, the value obtained by subtraction is used as the angle difference between the selected adjacent wrist angles, and the angle difference between the remaining adjacent wrist angles in the wrist angle sequence is continued to be determined, wherein the angle difference represents the degree of difference between adjacent wrist angles, all angle differences are used as the change characteristics of the wrist angle, wherein the angle change characteristics represent the change characteristics of the wrist angle when the target trainee operates the virtual surgical forceps; in other embodiments, other methods can also be used for determination, which is not limited here.

[0022] In step 102, multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps are determined based on the change characteristics of the finger positions and the change characteristics of the wrist angle.

[0023] In some embodiments, determining multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps based on the change characteristics of the finger positions and the change characteristics of the wrist angle can be achieved by using the following steps: determining force fusion characteristics of the target trainee when operating the virtual surgical forceps according to the change characteristics of the finger positions and the change characteristics of the wrist angle; Multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps are determined based on the force fusion characteristics.

[0024] In specific implementation, the force fusion characteristics of the target trainee in operating the virtual surgical forceps can be determined based on the changing characteristics of the finger position and the changing characteristics of the wrist angle, which can be achieved in the following manner, namely: using a neural network (such as a multi-layer perceptron, a convolutional neural network) to combine the position difference corresponding to the changing characteristics of the finger position and the angle difference corresponding to the changing characteristics of the wrist angle each time the target trainee's hand moves, and using the results of each combination as the force joint vector corresponding to each target trainee's hand movement, wherein the force joint vector represents the difference after the target trainee's finger and wrist force joint movement when operating the virtual surgical forceps, and the hand joint vector includes a position difference and an angle difference, and all the force joint vectors are used as the force fusion characteristics of the target trainee in operating the virtual surgical forceps, wherein the force fusion characteristics represent the difference characteristics of the target trainee's hand joint movement when operating the virtual surgical forceps; in other embodiments, other methods can also be used for determination, which are not limited here.

[0025] In specific implementation, the following method can be used to determine multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps based on the force fusion feature, namely: arrange the hand joint vectors in the force fusion feature according to the time sequence of the corresponding hand movements, use the sequence obtained by arrangement as the hand joint vector sequence, select a hand joint vector in the hand joint vector sequence as the selected hand joint vector, calculate the average value of the position difference and angle difference in the selected hand joint vector, use the average value as the value of the ordinate of the selected hand joint vector, use the position of the selected hand joint vector in the hand joint vector sequence as the value of the abscissa, use the value of the ordinate and the value of the abscissa as the coordinates of the selected hand joint vector, continue to determine the coordinates of the remaining hand joint vectors in the hand joint vector sequence, mark all coordinates in the coordinate axis, connect the marked points, and smooth the connected curve, and use the movements corresponding to each inflection point in the smooth curve obtained by smoothing as the abnormal hand movement of the target trainee during the operation of the virtual surgical forceps; in other embodiments, other methods can also be used for determination, which are not limited here.

[0026] It should be noted that the abnormal action in the present application refers to the action in which the target trainee's finger position or wrist angle has abnormal conditions during the operation of the virtual surgical forceps, that is, the abnormal condition refers to the action in which the finger position or wrist angle suddenly changes when operating the virtual surgical forceps, which can be used to analyze the target trainee's action in operating the virtual surgical forceps, so as to facilitate the identification of the target trainee's operation status.

[0027] In step 103, the fluctuation range of the target trainee's force perception during the operation of the virtual surgical forceps is determined through all abnormal movements of the hand and the difference characteristics of the grip force, and the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps are correlated and coordinated based on the fluctuation range of the force perception to obtain the coordination deviation between the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps.

[0028] In some embodiments, reference Figure 2 As shown in FIG. , this figure is an exemplary flow chart for determining the fluctuation range of force perception in some embodiments of the present application. In this embodiment, the fluctuation range of force perception of the target trainee during the operation of the virtual surgical forceps can be determined by all abnormal hand movements and the difference characteristics of the grip strength, which can be achieved by the following steps: First, in step 1031, the grip force balance interval and grip force mutation interval of the target trainee when operating the virtual surgical forceps are determined according to the grip force difference characteristics; Finally, in step 1032, the fluctuation range of the force perception of the target trainee during the operation of the virtual surgical forceps is determined through all abnormal movements of the hand, the grip force balance interval, and the grip force mutation interval.

[0029] In specific implementation, determining the grip force balance interval and grip force mutation interval of the target trainee when operating the virtual surgical forceps based on the grip force difference characteristics can be achieved in the following manner, namely: calculating the average value of all difference values ​​in the grip force difference characteristics, extracting each difference value less than or equal to the average value from the grip force difference characteristics, and extracting a set of grip forces corresponding to each difference value less than or equal to the average value as the grip force balance interval of the target trainee when operating the virtual surgical forceps, wherein the grip force balance interval indicates that the grip force of the target trainee is in a stable grip force interval during the conversion process; extracting each difference value greater than the average value from the grip force difference characteristics, and extracting a set of grip forces corresponding to each difference value greater than the average value as the grip force mutation interval of the target trainee when operating the virtual surgical forceps, wherein the grip force mutation interval indicates that the grip force of the target trainee is in a mutation grip force interval during the conversion process; in other embodiments, other methods can also be used for determination, which are not limited here.

[0030] In specific implementation, the following method can be used to determine the force fluctuation range of the target trainee during the operation of the virtual surgical forceps through all the abnormal movements of the hand, the grip force balance interval and the grip force mutation interval, namely: initialize a force fluctuation range model, construct the force fluctuation range model through a machine learning algorithm (such as linear regression, neural network), use the historical force perception data of each trainee to train the connection matching model, and determine the weight coefficients A, B, C, and optimize the force fluctuation range model through the cross-validation method. The structure of this model is: force fluctuation range = all abnormal movements of the hand * A + grip force balance interval * B + grip force mutation interval * C, all abnormal movements of the hand, grip force balance interval and grip force mutation interval are input into the force fluctuation range model, and the force fluctuation range of the target trainee during the operation of the virtual surgical forceps is output through the force fluctuation range model; in other embodiments, other methods can also be used for determination, which are not limited here.

[0031] It should be noted that the fluctuation range of force perception in this application represents the range of fluctuation degree of the target trainee's hand when operating the virtual surgical forceps, which can be used to judge the operation status of the virtual surgical forceps and thus evaluate the operation status of the target trainee.

[0032] In some embodiments, the target trainee's hand motion and the instrument conversion state of the virtual surgical forceps are correlated and coordinated based on the fluctuation range of the force sense, and the coordination deviation between the target trainee's hand motion and the instrument conversion state of the virtual surgical forceps is obtained by the following steps: Acquiring the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; Performing correlation analysis on the hand movement of the target trainee and the instrument conversion state of the virtual surgical forceps to obtain the correlation state between the target trainee's hand and the virtual surgical forceps; The coordination deviation between the target trainee's hand movement and the instrument conversion state of the virtual surgical forceps is determined according to the fluctuation range of the force sense and the association state.

[0033] In a specific implementation, the hand movements of the target trainee and the instrument conversion state of the virtual surgical forceps are obtained from the database of the assessment and training device, wherein the hand movements represent the movements of the target trainee's hands at various moments when the target trainee operates the virtual surgical forceps, and the instrument conversion state of the virtual surgical forceps represents the state of the virtual surgical forceps at various moments when the target trainee operates the virtual surgical forceps; the hand movements of the target trainee and the instrument conversion state of the virtual surgical forceps are correlated and analyzed to obtain the correlation state between the target trainee's hand and the virtual surgical forceps, which can be achieved in the following manner, namely: using a machine learning algorithm in the prior art (such as a support vector machine, a deep learning model) to synchronously correlate each hand change in the target trainee's hand movements with each instrument change in the instrument conversion state of the virtual surgical forceps, to obtain a collection of multiple groups of hand changes and corresponding instrument changes, and to collect all the sets of hand changes and corresponding instrument changes. Cooperation is the association state between the target student's hand and the virtual surgical forceps; determining the collaborative deviation between the target student's hand movement and the instrument conversion state of the virtual surgical forceps based on the force perception fluctuation range and the association state can be achieved in the following manner, namely: constructing a collaborative deviation model between the target student's hand and the virtual surgical forceps based on a machine learning library, training the collaborative deviation model through historical students' force perception data on the virtual surgical forceps, and using the fluctuation range and the association state as input features of the collaborative deviation model, and using the collaborative deviation as output feature of the collaborative deviation model, updating the input features in the collaborative deviation model with the force perception fluctuation range and the association state, and outputting the collaborative deviation between the target student's hand movement and the instrument conversion state of the virtual surgical forceps by the collaborative deviation model: in some embodiments, other methods can also be used for determination, which are not limited here.

[0034] It should be noted that the coordination deviation in this application refers to the degree of deviation when the target trainee's hand and the virtual surgical forceps change simultaneously during the operation of the virtual surgical forceps. The coordination deviation includes the deviation value between the hand changes and the virtual surgical forceps changes in each period of the operation of the virtual surgical forceps, which can be used to judge the target trainee's operation of the virtual surgical forceps, thereby automatically completing the scoring of the target trainee's operation.

[0035] In step 104, the operation time of each surgical step when the target trainee operates the virtual surgical forceps is collected, and the operation energy efficiency value of the target trainee when operating the virtual surgical forceps is determined based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation.

[0036] In some embodiments, reference Figure 3 As shown in FIG. 1 , this figure is a flow chart of various surgical steps when the target trainee operates the virtual surgical forceps in some embodiments of the present application, such as Figure 3As described, each surgical step includes preoperative preparation, instrument operation, tissue processing, suturing and hemostasis, and postoperative examination. First, the target student performs preoperative preparation on the virtual surgical forceps. After preparation, he begins to operate the virtual surgical forceps to perform surgery. He operates the virtual surgical forceps to process the tissue of the surgical site of the virtual patient. After the processing is completed, he operates the virtual surgical forceps to suture and stop bleeding on the incision. After completion, a postoperative examination is performed.

[0037] In a specific implementation, a time sensor is integrated into the training and assessment device, and the time sensor collects the operation time of each surgical step when the target trainee operates the virtual surgical forceps, wherein the operation time represents the time required to operate the parts from the beginning to the completion of the operation, which can be used to judge the status of the target trainee operating each part; in other embodiments, other methods can also be used for collection, which are not limited here.

[0038] In some embodiments, determining the target trainee's operation energy efficiency value when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the coordination deviation can be achieved by using the following steps: Determining the deviation characteristics of all operation times from the standard operation time of each surgical step; determining a synergistic effectiveness value between the target trainee and the virtual surgical forceps according to the synergistic deviation; The operation energy efficiency value of the target trainee when operating the virtual surgical forceps is determined by using the deviation feature and the synergistic efficiency value.

[0039] In specific implementation, the deviation characteristics of all operation times can be determined in the following manner, namely: obtaining the standard operation time of each surgical step from the virtual reality device, wherein the standard operation time represents the qualified time of the target trainee in operating the virtual surgical forceps in each surgical step, subtracting the corresponding operation standard time from the corresponding operation time of each surgical step, and taking the time difference obtained by each subtraction as the deviation characteristic of all operation times, wherein the deviation characteristic represents the characteristic of the degree of deviation of the operation time of each surgical step when the target trainee operates the virtual surgical forceps; determining the synergistic effectiveness value of the virtual surgical forceps according to the fluctuation range of the force perception can be achieved in the following manner, namely: based on The functional importance of each surgical step (such as flexibility and stability) is combined with the hierarchical analysis method to construct a judgment matrix for each surgical step, and the functional contribution weight of each step is calculated. The functional contribution weights of each step are normalized by the normalized weight method, and the variance of each functional contribution weight after processing is multiplied by the size of the fluctuation range of force perception. The values ​​obtained by each multiplication are used as the synergistic effectiveness value of the virtual surgical forceps, wherein the synergistic effectiveness value represents a parameter value of the stability of the target trainee's action when operating the virtual surgical forceps, which can be used to judge the document situation of the target trainee's operation of the virtual surgical forceps; in other embodiments, other methods can also be used for determination, which are not limited here.

[0040] In specific implementation, the operation energy efficiency value of the target trainee when operating the virtual surgical forceps can be determined by the deviation feature and the synergistic efficiency value in the following manner, namely: the time difference values ​​in the deviation feature are arranged in the order of the corresponding steps, the sequence obtained by the arrangement is used as the time difference sequence, a group of adjacent time difference values ​​in the time difference sequence are selected as selected adjacent time difference values, the second time difference value in the selected adjacent time difference values ​​is subtracted from the first time difference value, the value obtained by the subtraction is used as the difference value of the selected adjacent time difference values, the difference values ​​of the remaining adjacent time difference values ​​in the time difference sequence are continued to be determined, the variance of all difference values ​​is calculated, the variance is added to the synergistic efficiency value, and the value obtained by the addition is used as the operation energy efficiency value of the target trainee when operating the virtual surgical forceps; in other embodiments, other methods can also be used for determination, which are not limited here.

[0041] It should be noted that the operation energy efficiency value in this application represents a quantitative indicator of the target trainee's operation performance in the process of operating virtual surgical forceps, which can be used to measure the qualification of the target trainee's operation skills, thereby completing the automatic assessment of the target trainee's operation.

[0042] In step 105 , the target trainee's operation of the virtual surgical forceps is assessed based on the operation energy efficiency value.

[0043] In some embodiments, the assessment of the target trainee's operation of the virtual surgical forceps based on the operation energy efficiency value can be achieved by the following steps: Determine the target trainee's threshold range for operating the virtual surgical forceps; Determining the operation energy efficiency value; If the operation energy efficiency value is less than the lower limit of the operation threshold range, the target student's operation of the virtual surgical forceps is marked as unqualified; If the operation energy efficiency value is within the operation threshold range, the target trainee's operation of the virtual surgical forceps is marked as good; If the operation energy efficiency value is greater than the upper limit value of the operation threshold range, the target student's operation of the virtual surgical forceps is marked as excellent.

[0044] In specific implementation, the marked target student's operation on the virtual surgical forceps is stored in the target student's corresponding assessment file, and the target student's assessment transcript is printed out.

[0045] It should be noted that in this application, the operation threshold interval can be set accordingly according to the specific needs of the surgical forceps. For example, if the surgical forceps are used in an emergency operating room, the operation threshold interval can be set within a high range. If the surgical forceps are used in a general ward, the operation threshold interval can be set within a low range. In other embodiments, for example, when the surgical forceps are in an operating room of a military hospital, the operation threshold interval can be set within a high range, thereby improving the efficiency of the surgical forceps operation.

[0046] In addition, another aspect of the present application, in some embodiments, the present application provides a training and assessment system for disposable detachable sterile surgical forceps for obstetrics and gynecology, the disposable detachable sterile surgical forceps for obstetrics and gynecology training and assessment system includes a surgical forceps operation assessment unit, reference Figure 4 This figure is a schematic diagram of the structure of a surgical forceps operation assessment unit according to some embodiments of the present application. The surgical forceps operation assessment unit 400 includes: an acquisition module 401, a processing module 402 and an execution module 403, which are described as follows: Acquisition module 401, in this application, is mainly used for the target trainee to operate virtual surgical forceps to perform surgery on a virtual patient, collects force data of the target trainee's hand during the operation of the virtual surgical forceps, and obtains the target trainee's grip strength difference characteristics, finger position change characteristics, and wrist angle change characteristics through the force data; Processing module 402, in the present application, is used to determine multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps based on the change characteristics of the finger positions and the change characteristics of the wrist angle; It should be noted that the processing module 402 in the present application is further configured to determine the fluctuation range of the target trainee's force perception during the operation of the virtual surgical forceps based on all abnormal hand movements and the difference characteristics of the grip force, and to correlate and coordinate the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps based on the fluctuation range of the force perception, thereby obtaining a coordination deviation between the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; In addition, it should be noted that the processing module 402 in the present application is further configured to collect the operation time of each surgical step when the target trainee operates the virtual surgical forceps, and determine the target trainee's operation energy efficiency value when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation; Execution module 403, in this application, execution module 403 is mainly used to assess the target trainee's operation of the virtual surgical forceps based on the operation energy efficiency value.

[0047] In addition, the present application also provides a computer device, which includes a memory and a processor, wherein the memory stores code, and the processor is configured to obtain the code and execute the above-mentioned virtual reality-based surgical forceps operation assessment method.

[0048] In some embodiments, reference Figure 5 , which is a schematic diagram of the structure of a computer device for implementing a virtual reality-based surgical forceps operation assessment method according to some embodiments of the present application. The virtual reality-based surgical forceps operation assessment method in the above embodiment can be performed by Figure 5 The computer device 500 shown in FIG. 5 is implemented as shown in FIG. 5 . The computer device 500 includes at least one processor 501 , a communication bus 502 , a memory 503 , and at least one communication interface 504 .

[0049] The processor 501 may be a general-purpose central processing unit (CPU) or an application-specific integrated circuit (ASIC).

[0050] The communication bus 502 may be used to transmit information between the aforementioned components.

[0051] The memory 503 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, a random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CDROM) or other optical disc storage, an optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk or other magnetic storage device, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory 503 may be independent and connected to the processor 501 via the communication bus 502. The memory 503 may also be integrated with the processor 501.

[0052] The memory 503 is used to store program code for executing the solution of the present application, and is controlled by the processor 501. The processor 501 is used to execute the program code stored in the memory 503. The program code may include one or more software modules. The method used in the above embodiment can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0053] The communication interface 504 uses any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), etc.

[0054] In a specific implementation, as an example, a computer device may include multiple processors, each of which may be a single-core (singleCPU) processor or a multi-core (multiCPU) processor. The processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0055] The aforementioned computer device can be a general-purpose computer device or a dedicated computer device. In a specific implementation, the computer device can be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. The embodiments of this application do not limit the type of computer device.

[0056] In addition, the present application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the above-mentioned virtual reality-based surgical forceps operation assessment method.

[0057] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present application.

[0058] Obviously, those skilled in the art may make various changes and modifications to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalents, this application is intended to include these modifications and variations.

Claims

1. A method for assessing the operation of surgical forceps based on virtual reality, used in a training and assessment system to assess the operation of trainees, wherein the training and assessment system includes a virtual reality device and a force feedback glove, and the target trainee operates the virtual surgical forceps in the virtual reality device by wearing the force feedback glove, characterized in that: The steps include: The target trainee operates a virtual surgical forceps to perform surgery on a virtual patient, and force data of the target trainee's hand during the operation of the virtual surgical forceps is collected. The force data is used to obtain the target trainee's grip strength difference characteristics, finger position change characteristics, and wrist angle change characteristics; determining, based on the changing characteristics of the finger positions and the changing characteristics of the wrist angle, a plurality of abnormal hand movements of the target trainee during the operation of the virtual surgical forceps; Determining the fluctuation range of the target trainee's force perception during the operation of the virtual surgical forceps through all abnormal hand movements and the difference characteristics of the grip force, and correlating and coordinating the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps based on the fluctuation range of the force perception to obtain a coordination deviation between the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; collecting the operation time of each surgical step when the target trainee operates the virtual surgical forceps, and determining the operation energy efficiency value of the target trainee when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation; The target trainee's operation of the virtual surgical forceps is assessed based on the operation energy efficiency value.

2. The method according to claim 1, wherein Determining multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps based on the change characteristics of the finger positions and the change characteristics of the wrist angle specifically includes: determining force fusion characteristics of the target trainee when operating the virtual surgical forceps according to the change characteristics of the finger positions and the change characteristics of the wrist angle; Multiple abnormal hand movements of the target trainee during the operation of the virtual surgical forceps are determined based on the force fusion characteristics.

3. The method according to claim 1, wherein The fluctuation range of the force perception of the target trainee during the operation of the virtual surgical forceps is determined by using all abnormal hand movements and the difference characteristics of the grip force, specifically including: determining a grip force balance interval and a grip force mutation interval of the target trainee when operating the virtual surgical forceps according to the grip force difference characteristics; The fluctuation range of the force sensation of the target trainee during the operation of the virtual surgical forceps is determined through all abnormal movements of the hand, the grip force balance interval and the grip force mutation interval.

4. The method according to claim 1, wherein Correlating and coordinating the target trainee's hand movement and the instrument conversion state of the virtual surgical forceps based on the fluctuation range of the force sense to obtain the coordination deviation between the target trainee's hand movement and the instrument conversion state of the virtual surgical forceps specifically includes: Acquiring the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; Performing correlation analysis on the hand movement of the target trainee and the instrument conversion state of the virtual surgical forceps to obtain the correlation state between the target trainee's hand and the virtual surgical forceps; The coordination deviation between the target trainee's hand movement and the instrument conversion state of the virtual surgical forceps is determined according to the fluctuation range of the force sense and the association state.

5. The method according to claim 1, wherein Determining the operation energy efficiency value of the target trainee when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation specifically includes: Determining the deviation characteristics of all operation times from the standard operation time of each surgical step; determining a synergistic effectiveness value between the target trainee and the virtual surgical forceps according to the synergistic deviation; The operation energy efficiency value of the target trainee when operating the virtual surgical forceps is determined by using the deviation feature and the synergistic efficiency value.

6. The method according to claim 1, wherein The assessment of the target trainee's operation of the virtual surgical forceps based on the operation energy efficiency value specifically includes: Determine the target trainee's threshold range for operating the virtual surgical forceps; Determining the operation energy efficiency value; If the operation energy efficiency value is less than the lower limit of the operation threshold range, the target student's operation of the virtual surgical forceps is marked as unqualified; If the operation energy efficiency value is within the operation threshold range, the target trainee's operation of the virtual surgical forceps is marked as good; If the operation energy efficiency value is greater than the upper limit value of the operation threshold range, the target student's operation of the virtual surgical forceps is marked as excellent.

7. The method according to claim 1, wherein The various surgical steps include preoperative preparation, instrument operation, tissue processing, suturing and hemostasis, and postoperative examination.

8. A training and assessment system for disposable detachable sterilized surgical forceps for obstetrics and gynecology, the system includes a surgical forceps operation assessment unit, characterized in that: The surgical forceps operation assessment unit includes: An acquisition module is used for the target trainee to operate a virtual surgical forceps to perform surgery on a virtual patient, collect force data of the target trainee's hand during the operation of the virtual surgical forceps, and obtain the target trainee's grip strength difference characteristics, finger position change characteristics, and wrist angle change characteristics through the force data; a processing module, configured to determine, based on the changing characteristics of the finger positions and the changing characteristics of the wrist angle, a plurality of abnormal hand movements of the target trainee during the operation of the virtual surgical forceps; The processing module is further configured to determine a fluctuation range of force perception of the target trainee during the operation of the virtual surgical forceps based on all abnormal hand movements and the difference characteristics of the grip force, and to correlate and coordinate the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps based on the fluctuation range of the force perception, thereby obtaining a coordination deviation between the target trainee's hand movements and the instrument conversion state of the virtual surgical forceps; The processing module is further configured to collect the operation time of each surgical step when the target trainee operates the virtual surgical forceps, and determine the operation energy efficiency value of the target trainee when operating the virtual surgical forceps based on the deviation characteristics of all operation times from the standard operation time of each surgical step and the collaborative deviation; An execution module is used to assess the target trainee's operation of the virtual surgical forceps based on the operation energy efficiency value.

9. A computer device, characterized in that: The computer device includes a memory and a processor, the memory stores codes, and the processor is configured to obtain the codes and execute the virtual reality-based surgical forceps operation assessment method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the virtual reality-based surgical forceps operation assessment method according to any one of claims 1 to 7 is implemented.

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