Dental microscope operation simulation training system based on virtual reality technology

Abstract

The invention belongs to the technical field of oral medicine education, and particularly relates to a dental microscope operation simulation training system based on a virtual reality technology. The system comprises a machine shell, a simulation head assembly, a microscopic lifting mechanism and a binocular microscopic observation device, a supporting plate capable of extending outwards is arranged on the front portion of the machine shell, a 3D operation mouse is arranged on the outer side of the outer supporting plate, and the simulation head is installed on the outer side of the outer supporting plate. An operation display screen capable of extending outwards is fixedly installed on the side portion of the machine shell, and a treatment virtual simulation system under a digital dental microscope is integrated in the operation display screen. Through combination of the dental microscope virtual reality equipment and the force feedback mechanism, real treatment feedback is provided for the hands and eyes of an operator in the training process, and the immersion and simulation degree of treatment operation training under the dental microscope are remarkably improved; and the requirement of oral medicine microsurgery teaching on high-fidelity simulation training is met.

Description

Technical Field

[0001] The present invention relates to the technical field of oral medicine education, and in particular to a dental microscope operation simulation training system based on virtual reality technology. Background Art

[0002] In the field of dentistry, microscopes are essential tools for detailed observation and minimally invasive procedures. A dental microscope, also known as an oral microscope or endodontic microscope, is a high-precision imaging device designed specifically for clinical dentistry. The application of dental microscopes marks the official entry of dental clinical treatment into the microscopic era, a milestone of significant importance. Currently, one of the development trends in global dental care is precision treatment, and the microscope is the primary instrument for performing this precision treatment in dentistry. With the continuous expansion of clinical needs, the scope of microscope application has expanded from complex root canal treatment to multiple dental specialties, including restoration, periodontics, and implantology.

[0003] However, effective microscope use is highly dependent on the operator's proficiency and spatial perception, and the training process is highly specialized and complex. Traditional microscope training relies primarily on physical microscopes and real samples. This approach is not only costly and difficult to obtain and preserve, but also limited by the number of equipment and physical space, making it difficult to meet the needs of large-scale, continuous, and high-intensity teaching and training.

[0004] Therefore, there is an urgent need to develop a simulation training system that can realistically restore microscope operation scenarios in a virtual environment, so as to achieve efficient training of microscopy operation skills, reduce the consumption of teaching resources, and break through the many limitations of traditional teaching in terms of time, space and resource allocation. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the shortcomings of the existing technology and provide a dental microscope operation simulation training system based on virtual reality technology, which can realize highly simulated, interactive, and multi-module integrated oral microscopy operation training, thereby improving training efficiency and clinical skill mastery level.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] A dental microscope operation simulation training system based on virtual reality technology, comprising a housing, a simulation head, a microscopic holding mechanism and a binocular microscopic observation device;

[0008] The upper portion of the housing is provided with a main chassis, the rear side of the main chassis is provided with a movable handle, and the lower portion of the housing is provided with load-bearing wheels and universal wheels; the front portion of the housing is provided with an outward-extending external support plate, the outer side of which is provided with a 3D mouse; the side of the housing is fixedly mounted with an outward-extending operation display screen, and the operation display screen has a built-in digital dental microscope treatment virtual simulation system;

[0009] The simulated head is connected to the outer side of the outer support plate;

[0010] The micro-holding mechanism is installed on the top of the main box, and a binocular micro-observation device is provided at the end of the micro-holding mechanism;

[0011] The binocular microscopic observation device is provided with dual windows and corresponding dual image sources, and the binocular microscopic observation device is provided with a micro-focusing device;

[0012] The main box is externally connected to a simulated foot control device for controlling the operation of tools in the simulation system.

[0013] Furthermore, the digital dental microscope treatment virtual simulation system includes an operation guidance unit, a simulation training unit and an operation assessment unit. The operation guidance unit includes a microscope operation guidance module and a system operation guidance module. The simulation training unit includes a root canal treatment module, a root canal surgery module, and a tooth restoration module. The operation assessment unit is used to generate assessment results based on operation data.

[0014] Furthermore, a first force feedback handle is installed on the left front side of the main case, and a second force feedback handle is installed on the front wall of the main case. The second force feedback handle is located between the simulation head and the front wall of the main case.

[0015] Furthermore, the first force feedback handle is used to connect to a mouth mirror simulator of the simulation system, and the second force feedback handle is used to connect to a treatment tool simulator of the simulation system, wherein the treatment tool simulator includes a drill, a probe, and a root canal file.

[0016] Furthermore, the simulated head is a half-head physical model, and the inner side of the simulated head is provided with a sensing detection surface. The lower inner part of the simulated head is fixedly connected with a sensing connecting shaft, and the sensing connecting shaft includes an elastic connecting section. The sensing connecting shaft is slidingly connected to the outer support plate, and a rotation sensor and a linear sensor are provided inside the outer support plate for detecting the rotation and telescopic movement of the sensing connecting shaft.

[0017] Furthermore, a laser macro sensor is provided inside the outer support plate, and the outer support plate is provided with a sensing detection surface parallel to the model detection surface. The laser macro sensor includes two groups of detection heads arranged symmetrically in a cross line, left and right, up and down.

[0018] Furthermore, the microscope holding mechanism includes an adaptive articulated arm, which includes a first rotating arm, a telescopic arm and a second rotating arm connected in sequence. The bottom of the first rotating arm is connected to the main box, and the bottom of the second rotating arm is connected to the binocular microscope observation device. The first rotating arm, the telescopic arm and the second rotating arm are all provided with a grating motion detector for detecting the rotation amount and the translation amount.

[0019] Furthermore, the binocular microscope observation device is provided with an interpupillary distance adjustment device for adapting to the interpupillary distance of different users. The binocular microscope observation device includes an adjustment handle for adjusting the position, and a positioning calibration device is provided at the bottom of the binocular microscope observation device.

[0020] Furthermore, the positioning calibration device includes a binocular scanning camera, which is used to scan the simulated head to obtain relative position coordinates during the debugging process. The binocular scanning camera uses the relative position coordinates and the sensor data of the simulated head itself to perform position comparison, posture calibration and spatial data learning.

[0021] Furthermore, the binocular microscopic observation device is integrated with a microscopic imaging simulation module, which includes a binocular three-dimensional virtual camera perspective construction unit for generating left and right eye image data that conforms to the binocular vision characteristics of the human eye. The left and right eye image data can be output respectively to the left eye and right eye Micro-LED micro display screens arranged inside the binocular microscopic observation device.

[0022] Furthermore, the binocular three-dimensional virtual camera is used to generate left and right eye images that conform to the binocular vision characteristics of the human eye based on the clinical microscopic observation path. The binocular data can dynamically adjust the left and right eye images according to the data of the pupil distance adjustment device and generate dynamic image frames corresponding to the left eye perspective and the right eye perspective under different perspectives in combination with the real-time interaction state. The image frame generation is then completed through the rendering engine and synchronously projected to the binocular microscopic observation device.

[0023] Compared with the prior art, the present invention has the following advantages:

[0024] This invention builds a dental microscope training environment based on virtual reality technology, incorporating precise force feedback mechanisms to provide realistic tactile and visual feedback to the operator's hands and eyes during training, effectively enhancing the immersion and authenticity of dental microscope procedures. The system provides a variety of typical microsurgery cases and supports repetitive practice, allowing trainees to conduct realistic training using a rich variety of microsurgery samples, resulting in a high degree of fidelity in surgical simulation training.

[0025] The present invention combines a micro-holding mechanism with a force feedback device to achieve high-precision positioning of operating tools and observation paths in virtual three-dimensional space. Simultaneously, the multi-source sensor module configured in the simulated head can perceive spatial posture in real time. The system simultaneously collects and fuses feedback data from the holding mechanism and sensor data from the simulated head to achieve high-precision position calibration, effectively improving the spatial matching and operational accuracy of simulation training.

[0026] The binocular microscopic observation device configured in this invention not only features fine focusing but also supports interpupillary distance adjustment, adapting to individual physiological parameters and improving system versatility and user comfort. Furthermore, the simulated head of this invention utilizes an elastic structure and, combined with an internal sensor detection design, can reproduce the head position of a real patient in clinical practice, providing users with a training environment that is closer to real-world operating scenarios, enhancing the effectiveness and authenticity of practical training. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0028] Figure 2 This invention Figure 1 A partial enlarged view of position A in the middle;

[0029] Figure 3 Schematic diagram of the left-eye and right-eye stereoscopic image generation process of the present invention;

[0030] Figure 4 It is a schematic diagram of the information interaction path between the operator and the virtual system of the present invention;

[0031] Figure 5 Schematic diagram of the internal structure of the binocular microscope observation device 7 of the present invention;

[0032] 1- housing, 11- load-bearing wheels, 12- universal wheels, 2- main chassis, 21- first force feedback handle, 22- second force feedback handle, 23- moving handle, 3- external support plate, 31- first 3D mouse, 4- operation display screen, 5- simulated head, 51- sensor connection axis, 6- microscopic holding mechanism, 7- binocular microscopic observation device, 71- microscopic focusing device, 72- pupil distance adjustment knob, 721- worm gear, 73- adjustment handle, 731- slider, 74- observation port, 75- LED screen, 8- positioning calibration device, 81- second 3D mouse, 9- simulated foot control device. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments. It should be noted that the described embodiments are only exemplary embodiments of the present invention and are not all possible implementation plans. Based on the embodiments of the present invention, all other implementation plans obtained by those skilled in the art without paying any creative work shall fall within the scope of protection of the present invention.

[0034] As shown in the attached embodiment 1 of the present invention Figure 1 As shown, the present invention discloses a dental microscope operation simulation training system based on virtual reality technology, which includes a housing 1, a simulation head 5, a microscope holding mechanism 6 and a binocular microscope observation device 7.

[0035] The upper portion of the housing 1 is provided with a main chassis 2, and a movable handle 23 is provided on the rear side of the main chassis 2 to facilitate movement of the entire device. The lower portion of the housing 1 is provided with load-bearing wheels 11 and universal wheels 12, further enhancing the device's mobility. The front portion of the housing 1 is provided with an extended external support plate 3, and a first 3D mouse 31 is mounted on the outer side of the external support plate 3. The first 3D mouse 31 can be used to perform corresponding visual position operations in the system.

[0036] An extended operation display screen 4 is fixedly installed on one side of the housing 1. The operation display screen 4 has a built-in digital dental microscope treatment virtual simulation system. The digital dental microscope treatment virtual simulation system includes an operation guidance unit, a simulation training unit and an operation assessment unit. The operation guidance unit includes a microscope operation guidance module and a system operation guidance module. The simulation training unit includes a root canal treatment module, a root canal surgery module and a tooth restoration module.

[0037] The main box 2 is externally connected to a simulated foot control device 9 for performing foot control on the operation of the virtual tool during training.

[0038] The micro-lifting mechanism 6 is installed on the top of the main box 2. The micro-lifting mechanism 6 includes an adaptive joint arm. The adaptive joint arm includes a first rotating arm, a telescopic arm and a second rotating arm connected in sequence. The bottom of the first rotating arm is connected to the main box 2, and the bottom of the second rotating arm is connected to the binocular microscopic observation device 7. The first rotating arm, the telescopic arm and the second rotating arm are all integrated with grating motion detectors for detecting rotation and translation.

[0039] The end of the microscopic holding mechanism 6 is provided with a binocular microscopic observation device 7. The binocular microscopic observation device 7 is provided with dual windows and corresponding dual image sources. The binocular microscopic observation device 7 is provided with a microscopic focusing device 71 and an interpupillary distance adjustment knob 72. The interpupillary distance adjustment knob 72 can be adjusted according to the eye distance of different observers. The binocular microscopic observation device 7 includes an adjustment handle 73 for adjusting the position. The bottom of the binocular microscopic observation device 7 is provided with a positioning calibration device 8. Further, the internal structure of the binocular microscopic observation device 7 is described as follows: after rotating the interpupillary distance adjustment knob 72, the worm 721 rotates following the interpupillary distance adjustment knob 72. The force generated by the rotation of the thread causes the slider 731 to slide left and right. The slider 731 drives the observation port 74 and the LED screen 75 to be rigidly connected. The devices on both sides slide synchronously, thereby achieving the enlargement or reduction of the distance between the observation ports 74 to adapt to the changes in the interpupillary distance of different users.

[0040] The positioning calibration device 8 includes a binocular scanning camera and a second 3D mouse 81. The second 3D mouse 81 is a 3D virtual field of view mouse used to simulate and adjust the internal virtual camera position angle and lens focal length, thereby controlling the generation of the internal virtual image. The first 3D mouse 31 below is primarily used to adjust the virtual patient's posture angle. The binocular scanning camera is used to scan the simulated head 5 during the debugging process to generate relative position coordinates. The relative position coordinates are used to generate virtual spatial position data of the simulated head 5. This virtual spatial position data is compared and calibrated with the simulated head 5's own direct sensor position data, and calibration parameters are optimized through data calculation and learning.

[0041] Specifically, a first force feedback handle 21 is installed on the left front side of the main box 2, and a second force feedback handle 22 is installed on the front wall of the main box 2. The second force feedback handle 22 is located between the simulation head 5 and the front wall of the main box 2. The first force feedback handle 21 is used to connect the mouth mirror simulator of the simulation system, and the second force feedback handle 22 is used to connect the treatment tool simulator of the simulation system. The treatment tool simulator includes a drill, a probe and a root canal file.

[0042] The simulated head 5 is installed on the outside of the outer support plate 3, and is specifically a half-head physical model. The inner side of the simulated head 5 is provided with a sensing detection surface. The lower inner part of the simulated head 5 is fixedly connected with a sensing connecting shaft 51. The sensing connecting shaft 51 includes an elastic connecting section and is slidably connected to the outer support plate 3.

[0043] The outer support plate 3 is internally equipped with a rotation sensor and a linear sensor for detecting the rotation angle and telescopic movement of the sensing connecting shaft 51. Furthermore, a laser macro sensor is internally installed within the outer support plate 3. The outer support plate 3 has a sensing surface that is parallel to and corresponds to the sensing surface of the simulated head 5. The laser macro sensor includes two sets of detection heads that are symmetrically arranged bilaterally and vertically, and are arranged in a cross-shaped pattern.

[0044] When the user applies manual pressure to the simulated head 5, the simulated head 5 elastically deflects due to the elastic connection section of the sensing connection shaft 51. This causes the sensing surface of the simulated head 5 to elastically deflect within a certain range, resulting in a slight change in angle or distance from its original parallel position relative to the sensing surface of the outer support plate 3. This change is detected and calculated by the probes of the two sets of laser macro sensors. This is combined with the rotation angle and telescopic length detection data of the sensing connection shaft 51 to generate the superimposed position data of the simulated head 5 in virtual space.

[0045] During actual use, the user can select the specific content of the sample for learning and training through the operation display screen 4. Before using the device, in order to improve the accuracy of model positioning and the accuracy of subsequent operation data generation, the system supports calibration of the head model 5.

[0046] When the user chooses to perform simulated oral surgery under a microscope, they can use the first force feedback handle 21 to simulate the operation of a mouth mirror under a microscope, and the second force feedback handle 22 to simulate the operation of instruments such as a drill and a probe under a microscope. The system collects and records the operation data of the first and second force feedback handles 21, 22 in real time and transmits the relevant data to the computer control system for processing.

[0047] During the training process, the user observes the operation by looking at the window of the binocular microscope observation device 7 with both eyes. To achieve individualized visual matching, the user can adjust the observation device according to their own pupil distance, and the processed hand movement operation can be observed in the window.

[0048] At the same time, the position and posture data collected by the sensor device in the simulated head 5 are also transmitted to the computer control system to generate corresponding virtual space posture data. The front of the simulated head 5 is a touchable physical area for the user to perform hand operations; and the back of the simulated head 5 is a hollow structure, which provides operating space for the force feedback device.

[0049] To achieve immersive dental microscope field simulation, the system integrates a microscopic imaging simulation module. This module is based on a three-dimensional virtual camera model and draws a display image of the virtual patient's oral cavity according to the preset three-dimensional structure of the virtual patient's oral cavity. The three-dimensional virtual camera model generates left and right eye images that conform to the binocular vision characteristics of the human eye based on the clinical microscopic observation path. The binocular image data can dynamically adjust the left and right eye images according to the data of the pupil distance adjustment device of the binocular microscopic observation device, and generate dynamic image frames under different perspectives in combination with the real-time interactive state, corresponding to the left eye perspective and the right eye perspective respectively. The image frame generation is then completed through the rendering engine to ensure that the image conforms to the binocular stereoscopic vision characteristics of the human eye. After rendering is completed, the left eye image frame and the right eye image frame are respectively transmitted to the Micro-LED micro-display screen set inside the binocular microscopic observation device 7 to achieve clear and synchronized stereoscopic vision output, thereby providing a high-fidelity microscopic simulation picture experience.

[0050] In terms of force interaction, the system collects data such as the motion trajectory and operating force of the first and second force feedback handles 21 and 22. Combined with the posture feedback data from the laser macro sensor and the sensor connection shaft 51, it calculates the real-time position of the current operating tool in virtual space. This data is used to drive the movement of the virtual instrument model, and simultaneously cooperates with the force feedback drive unit to generate corresponding reaction forces to simulate the tissue contact and resistance changes during clinical operations, thereby achieving a highly realistic training environment with physical interaction characteristics.

[0051] The computer system fuses and superimposes the spatial posture data of the simulated head 5, the force feedback operation motion data, and the observation position and focal length of the simulated microscope in a virtual three-dimensional space to generate a virtual simulated microscopic image based on a preset training sample, thereby achieving a realistic immersive training effect.

[0052] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. A dental microscope operation simulation training system based on virtual reality technology, characterized in that: include: Housing, simulated head, microscopic holding mechanism and binocular microscopic observation device; The upper part of the housing is provided with a main box, the rear side of the main box is provided with a moving handle, and the lower part of the housing is provided with load-bearing wheels and universal wheels for supporting and moving the entire machine structure; The front part of the housing is provided with an outward-extending external support plate, and a 3D mouse is provided on the outside of the external support plate; An extended operation display screen is fixedly installed on one side of the housing, and the operation display screen is connected to a digital dental microscope treatment virtual simulation system; The simulated head is connected to the outer side of the outer support plate; The microscopic holding mechanism is installed on the top of the main box, and its end is connected to the binocular microscopic observation device; The binocular microscopic observation device has dual viewing windows and corresponding dual image sources, and is provided with a micro-focusing device; The main box is externally connected to a simulated foot control device for realizing start and stop control of dental treatment tools in the virtual simulation system.

2. The dental microscope operation simulation training system based on virtual reality technology according to claim 1, characterized in that: The digital dental microscope treatment virtual simulation system includes an operation guidance unit, a simulation training unit and an operation assessment unit. The operation guidance unit includes a microscope operation guidance module and a system operation guidance module. The simulation training unit includes a root canal treatment module, a root canal surgery module, and a tooth restoration module. The operation assessment unit is used to generate assessment results based on operation data.

3. The dental microscope operation simulation training system based on virtual reality technology according to claim 1, characterized in that: A first force feedback handle is provided on the left front side of the main case, and a second force feedback handle is installed on the front wall of the main case. The second force feedback handle is located between the simulation head and the front wall of the main case. The first force feedback handle is connected to a mouth mirror simulator in the simulation system to simulate tactile feedback of the mouth mirror operation. The second force feedback handle is connected to a treatment tool simulator in the simulation system. The treatment tool simulator includes a drill, a probe and a root canal file, which are respectively used to simulate drilling and probing functions in an oral clinical operation process.

4. The dental microscope operation simulation training system based on virtual reality technology according to claim 1, characterized in that: The simulated head is a half-head physical model, and a sensing detection surface is provided on the inner side of the simulated head. A sensing connecting shaft is fixedly connected to the inner lower part of the simulated head; the sensing connecting shaft includes an elastic connecting section, and the sensing connecting shaft is slidably connected to the outer support plate; a rotation sensor and a linear sensor are provided inside the outer support plate, which are respectively used to detect the rotational motion and telescopic motion of the sensing connecting shaft.

5. The dental microscope operation simulation training system based on virtual reality technology according to claim 4, characterized in that: A laser macro sensor is provided inside the outer support plate; the outer support plate is provided with a sensing detection surface parallel to and corresponding to the sensing detection surface of the simulated head; the laser macro sensor includes two groups of detection heads that are symmetrically arranged left and right and up and down, and the overall arrangement is in a cross line.

6. The dental microscope operation simulation training system based on virtual reality technology according to claim 1, characterized in that: The microscope holding mechanism includes an adaptive joint arm, which includes a first rotating arm, a telescopic arm and a second rotating arm connected in sequence; the bottom of the first rotating arm is connected to the main box, and the bottom of the second rotating arm is connected to the binocular microscope observation device; the first rotating arm, the telescopic arm and the second rotating arm are all provided with grating motion detectors for detecting their corresponding rotation and displacement respectively.

7. The dental microscope operation simulation training system based on virtual reality technology according to claim 1, characterized in that: The binocular microscope observation device is provided with an interpupillary distance adjustment device, which is used to adjust the distance between the observation windows to adapt to the interpupillary distance of different users; the binocular microscope observation device includes an adjustment handle for adjusting the position, and a positioning calibration device is provided at the bottom of the binocular microscope observation device.

8. The dental microscope operation simulation training system based on virtual reality technology according to claim 7, characterized in that: The positioning calibration device includes a binocular scanning camera, which is used to perform three-dimensional scanning of the simulated head and generate relative position coordinates during the debugging process; the binocular scanning camera obtains the virtual space position data of the simulated head through the relative position coordinates, and compares the position information with the real-time detection data of the sensor of the simulated head to achieve position calibration and data training optimization.

9. The dental microscope operation simulation training system based on virtual reality technology according to claim 7, characterized in that: The binocular microscopic observation device is integrated with a microscopic imaging simulation module, which includes a binocular three-dimensional virtual camera perspective construction unit for generating left and right eye image data that conforms to the binocular vision characteristics of the human eye. The left and right eye image data can be output respectively to the left eye and right eye Micro-LED micro display screens arranged inside the binocular microscopic observation device.

10. The dental microscope operation simulation training system based on virtual reality technology according to claim 9, characterized in that: The binocular three-dimensional virtual camera is used to generate left and right eye images that conform to the binocular vision characteristics of the human eye based on the clinical microscopic observation path. The binocular data can dynamically adjust the left and right eye images according to the data of the pupil distance adjustment device and generate dynamic image frames corresponding to the left eye and right eye perspectives under different perspectives in combination with the real-time interaction state. The image frames are then generated through the rendering engine and synchronously projected to the binocular microscopic observation device.

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