Simulated enteroscopy and operation control method and system

Abstract

The invention relates to the field of medical instrument teaching and training, in particular to a simulated enteroscopy and operation control method and system, which are used for generating a virtual image about an enteroscopy in a simulated intestinal tract and providing real-time visual feedback when a user operates the enteroscopy to examine the simulated intestinal tract; predicting the movement trend of the enteroscope according to the operation characteristics of the user on the enteroscope, and providing an enteroscope operation prompt; and according to the air pressure adjustment operation parameters of the simulated intestinal tract, predicting the air pressure change trend in the simulated intestinal tract, and providing an air pressure adjustment operation early warning prompt. According to the method, visual image navigation guidance can be provided for the user in real time in the simulated enteroscopy training period, prompting can be accurately carried out according to the actual operation condition of the user, the user can obtain all-around information interaction in the training period, it is ensured that the user obtains accurate and timely reminding feedback in the simulated training period, and the training effectiveness is improved.

Description

Technical Field

[0001] This invention relates to the field of medical device teaching and training, and in particular to a method and system for simulating colonoscopy examination and operation control. Background Technology

[0002] Colonoscopy is an invasive procedure that uses a flexible tube with a light source and a miniature camera at its end to diagnose lesions inside the large intestine. In actual colonoscopies, the proficiency of the medical staff directly affects the patient's comfort during the procedure. If the staff operates the colonoscope too quickly or at an incorrect angle, it can damage the large intestine, potentially leading to perforation and internal bleeding. To improve the safety of colonoscopies, simulated training for medical staff is necessary to ensure they master the appropriate force and direction of the endoscope. Existing patent CN202487051U discloses a colonoscopy simulation training device, but this only provides a simulated intestine and cannot provide real-time feedback to the staff during training. This hinders the staff's ability to accurately master colonoscopy techniques during simulation training, reducing the effectiveness and flexibility of the training. Summary of the Invention

[0003] To ensure real-time visual image navigation guidance and accurate prompts based on the user's actual operation during simulated colonoscopy training, enabling users to obtain comprehensive information interaction during training and ensuring accurate and timely reminders and feedback to improve training effectiveness, this invention provides a simulated colonoscopy examination and operation control method, the method comprising the following steps: S1: Obstacle information of the colonoscope in the area where the colonoscope is located during the user's examination of the simulated intestine; thereby generating a virtual image for the user's feedback; adjusting the display mode of the virtual image according to the user's line of sight characteristics; S2: Perform stress analysis on the simulated intestine during the examination to determine whether an abnormal examination event occurs; adjust the display content of the virtual image according to the movement characteristics of the colonoscope under the abnormal examination event; S3: Obtain the operation characteristics of the user performing the colonoscopy, thereby predicting the movement trend of the colonoscopy in the simulated intestine; generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current location of the colonoscopy. S4: Obtain the air pressure adjustment operation parameters inside the simulated intestine, and based on the air pressure adjustment operation parameters, predict the trend of the difference between the air pressure inside the simulated intestine and the maximum air pressure that the simulated intestine can withstand, thereby generating an air pressure adjustment operation warning prompt for the user.

[0004] Preferably, in S1, obstacle information of the area where the colonoscope is located is acquired during the user's operation of the colonoscope to examine the simulated intestine, thereby generating a virtual image for the user's feedback; the display mode of the virtual image is adjusted according to the user's gaze characteristics, specifically: The insertion length of the colonoscope within the simulated intestine during a user-controlled colonoscopy examination is obtained. Based on the insertion length and the internal tissue structure characteristics of the simulated intestine, obstacle information of the colonoscope's location is determined. The obstacle information includes the shape, size, and location information of simulated polyps and / or simulated intestinal wall folds. Based on the obstacle information and the outline information of the colonoscope, a virtual image is generated to provide feedback to the user; wherein, the virtual image refers to a virtual image containing the relative position information of the obstacles in the specified area and the colonoscope. Based on the user's gaze direction and pupil position, a field-of-view coordinate system is constructed for the user; based on the coordinate transformation relationship between the world coordinate system and the field-of-view coordinate system, the display orientation of the virtual image in the user's field of view is adjusted.

[0005] Preferably, in S2, a stress analysis is performed on the simulated intestine during the examination to determine whether an abnormal examination event has occurred; based on the movement characteristics of the colonoscope under the abnormal examination event, the display content of the virtual image is adjusted, specifically as follows: During the inspection, obtain the pressure data of the entire simulated intestinal wall. Based on the pressure data, identify all sub-regions where the actual pressure on the simulated intestinal wall exceeds a preset pressure threshold. Based on the area ratio of all sub-regions on the simulated intestinal wall, determine whether an abnormal inspection event has occurred. The movement and bending morphology characteristics of the colonoscope insertion portion within the simulated intestine are obtained under the occurrence of the abnormal examination event; based on the movement and bending morphology characteristics, the abnormal bending location of the insertion portion is determined, thereby marking the location and outline of the abnormal bending location in the virtual image.

[0006] Preferably, in S3, the user's operational characteristics of the colonoscope are acquired to predict the movement trend of the colonoscope within the simulated intestine; based on the movement trend and the intestinal structure of the current location of the colonoscope, colonoscope operation prompts are generated for the user, specifically: The operation characteristics applied by the user to the gripping part of the colonoscope outside the simulated intestine are obtained, wherein the operation characteristics include the torque applied by the user to the gripping part and the movement speed of the gripping part; Based on the operational characteristics, predict the movement posture and velocity change trend of the inserted part of the colonoscope within the simulated intestine; Based on the trend of movement posture and speed change and the position of simulated polyps and / or simulated intestinal wall folds in the current location of the insertion part of the colonoscope, the relative position change trend between the insertion part and the simulated polyps and / or simulated intestinal wall folds is determined, thereby generating prompts for the user's operation posture and direction regarding the gripping part.

[0007] Preferably, in S4, the pressure adjustment operation parameters inside the simulated intestine are obtained. Based on the pressure adjustment operation parameters, the trend of the difference between the pressure inside the simulated intestine and the pressure limit that the simulated intestine can withstand is predicted, thereby generating a pressure adjustment operation warning prompt for the user. Specifically: The air injection flow rate parameters are obtained during the user's air injection operation inside the simulated intestine. Based on the air injection flow rate parameters and the length of the section of the simulated intestine inserted by the colonoscope, the trend of air pressure change inside the simulated intestine is predicted. By comparing the pressure change trend inside the simulated intestine with the maximum pressure that the simulated intestine can withstand, the pressure difference trend between the two is obtained. Based on the pressure difference trend, it is determined whether an over-expansion event of the inner wall will occur inside the simulated intestine, thereby generating a pressure adjustment operation warning prompt for the user. The pressure adjustment operation warning prompt includes information on adjusting the injection flow rate of the air injection operation.

[0008] On the other hand, the present invention provides a simulated colonoscopy examination and operation control system, the system comprising the following modules: The virtual image generation module is used to acquire obstacle information in the area where the colonoscope is located during the user's operation of the colonoscope to examine the simulated intestine, and thereby generate a virtual image for the user's feedback. The display mode adjustment module is used to adjust the display mode of the virtual image according to the user's gaze characteristics; An anomaly detection module is used to perform stress analysis on the simulated intestine during the inspection and determine whether an abnormal inspection event has occurred. The display content adjustment module is used to adjust the display content of the virtual image according to the action characteristics of the colonoscopy under the abnormal examination event. The colonoscopy motion prediction module is used to acquire the operational characteristics of the user on the colonoscopy, thereby predicting the motion trend of the colonoscopy in the simulated intestine. The colonoscopy operation prompt module is used to generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current colonoscopy area; The air pressure change prediction module is used to acquire the air pressure adjustment operation parameters inside the simulated intestine, and predict the trend of the difference between the air pressure inside the simulated intestine and the maximum air pressure that the simulated intestine can withstand based on the air pressure adjustment operation parameters. The air pressure adjustment prompt module is used to generate early warning prompts for the user's air pressure adjustment operation.

[0009] Preferably, the virtual image generation module is used to acquire obstacle information in the area where the colonoscope is located during the user's operation of the colonoscope to examine the simulated intestine, thereby generating a virtual image for the user's feedback, specifically: The insertion length of the colonoscope within the simulated intestine during a user-controlled colonoscopy examination is obtained. Based on the insertion length and the internal tissue structure characteristics of the simulated intestine, obstacle information of the colonoscope's location is determined. The obstacle information includes the shape, size, and location information of simulated polyps and / or simulated intestinal wall folds. Based on the obstacle information and the outline information of the colonoscope, a virtual image is generated to provide feedback to the user; wherein, the virtual image refers to a virtual image containing the relative position information of the obstacles in the specified area and the colonoscope. The display mode adjustment module is used to adjust the display mode of the virtual image according to the user's gaze characteristics, specifically: Based on the user's gaze direction and pupil position, a field-of-view coordinate system is constructed for the user; based on the coordinate transformation relationship between the world coordinate system and the field-of-view coordinate system, the display orientation of the virtual image in the user's field of view is adjusted.

[0010] Preferably, the anomaly detection module is used to perform stress analysis on the simulated intestine during the examination to determine whether an abnormal examination event has occurred, specifically: During the inspection, obtain the pressure data of the entire simulated intestinal wall. Based on the pressure data, identify all sub-regions where the actual pressure on the simulated intestinal wall exceeds a preset pressure threshold. Based on the area ratio of all sub-regions on the simulated intestinal wall, determine whether an abnormal inspection event has occurred. The display content adjustment module is used to adjust the display content of the virtual image according to the movement characteristics of the colonoscopy under the abnormal examination event, specifically: The movement and bending morphology characteristics of the colonoscope insertion portion within the simulated intestine are obtained under the occurrence of the abnormal examination event; based on the movement and bending morphology characteristics, the abnormal bending location of the insertion portion is determined, thereby marking the location and outline of the abnormal bending location in the virtual image.

[0011] Preferably, the colonoscopy motion prediction module is used to acquire the operational characteristics of the user performing on the colonoscopy, thereby predicting the motion trend of the colonoscopy within the simulated intestine, specifically as follows: The operation characteristics applied by the user to the gripping part of the colonoscope outside the simulated intestine are obtained, wherein the operation characteristics include the torque applied by the user to the gripping part and the movement speed of the gripping part; Based on the operational characteristics, predict the movement posture and velocity change trend of the inserted part of the colonoscope within the simulated intestine; The colonoscopy operation prompt module is used to generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current colonoscopy segment, specifically: Based on the trend of movement posture and speed change and the position of simulated polyps and / or simulated intestinal wall folds in the current location of the insertion part of the colonoscope, the relative position change trend between the insertion part and the simulated polyps and / or simulated intestinal wall folds is determined, thereby generating prompts for the user's operation posture and direction regarding the gripping part.

[0012] Preferably, the pressure change prediction module is used to acquire pressure adjustment operation parameters inside the simulated intestine, and based on the pressure adjustment operation parameters, predict the trend of the difference between the pressure inside the simulated intestine and the pressure limit that the simulated intestine can withstand, specifically: The air injection flow rate parameters are obtained during the user's air injection operation inside the simulated intestine. Based on the air injection flow rate parameters and the length of the section of the simulated intestine inserted by the colonoscope, the trend of air pressure change inside the simulated intestine is predicted. By comparing the trend of air pressure change inside the simulated intestine with the maximum air pressure that the simulated intestine can withstand, the trend of air pressure difference between the two is obtained. The air pressure adjustment prompt module is used to generate an early warning prompt for the user's air pressure adjustment operation, specifically: Based on the trend of the air pressure difference, it is determined whether an over-expansion event of the inner wall will occur inside the simulated intestine, thereby generating an early warning prompt for the user to adjust the air pressure; wherein, the early warning prompt for adjusting the air pressure adjustment operation includes information on adjusting the injection flow rate of the air injection operation.

[0013] Compared with the prior art, the present invention has the following beneficial effects: This system acquires obstacle information for corresponding sections during real-time examination of a simulated intestine using a colonoscope, generating virtual images to provide user feedback. This allows users to view the internal conditions of the simulated intestine where the colonoscope is located in real time, providing visual feedback and enabling users to intuitively understand how to operate the colonoscope during simulation training. Force analysis is performed on the simulated intestine during the examination to determine if any abnormal examination events occur. Based on the colonoscope's movement characteristics under abnormal examination events, the virtual image display content is adjusted to provide visual feedback on the physical damage caused by the colonoscope to the simulated intestine during the examination, enabling real-time interaction between the user and the colonoscope's movements. The system analyzes the user's manipulation characteristics of the colonoscope's grip outside the simulated intestine, predicts the movement posture and speed changes of the colonoscope's insertion part within the simulated intestine, and, combined with the intestinal structure of the area where the insertion part is located, generates colonoscope operation prompts for the user, providing appropriate navigation guidance for changing the user's control actions. It also analyzes the user's operation parameters for adjusting the air pressure inside the simulated intestine, predicts the trend of the difference between the air pressure inside the simulated intestine and the tolerable limit air pressure, and generates early warning prompts for air pressure adjustment operation to ensure that users accurately master the air pressure adjustment skills during simulation training and improve the effectiveness of simulation training. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a flowchart of a simulated colonoscopy examination and operation control method provided by the present invention.

[0015] Figure 2 This is a diagram of the training device used in the simulated colonoscopy examination and operation control method of the present invention.

[0016] Figure 3 This is a structural diagram of a simulated colonoscopy examination and operation control system provided by the present invention. Detailed Implementation

[0017] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for explaining the present invention and not for limiting the present invention. Furthermore, it should be noted that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, not all structures. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0018] The terms "comprising" and "having," and any variations thereof, used in this invention are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0019] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0020] Please see Figure 1 As shown, the present invention provides a method for simulating colonoscopy examination and operation control, the method comprising the following steps: S1: Obstacle information of the colonoscope in the area where the colonoscope is located during the user's examination of the simulated intestine, thereby generating a virtual image for the user's feedback; adjust the display mode of the virtual image according to the user's line of sight characteristics.

[0021] Furthermore, in S1, information about obstacles in the area where the colonoscope is located is acquired during the user's examination of the simulated intestine using the colonoscope, thereby generating a virtual image for user feedback; based on the user's line of sight characteristics, the display mode of the virtual image is adjusted, specifically as follows: The insertion length of the colonoscope within the simulated intestine during a user-controlled colonoscopy examination is obtained. Based on the insertion length and the internal tissue structure characteristics of the simulated intestine, obstacle information within the colonoscope's location is determined. This obstacle information includes the shape, size, and location of simulated polyps and / or simulated intestinal wall folds. Based on obstacle information and the outline of the colonoscope, a virtual image is generated to provide feedback to the user; the virtual image refers to a virtual image containing information on the relative positions of obstacles and the colonoscope within a given area. Based on the user's gaze direction and the position of their pupils, a user's field of view coordinate system is constructed; based on the coordinate transformation relationship between the world coordinate system and the field of view coordinate system, the display orientation of the virtual image in the user's field of view is adjusted.

[0022] Please see Figure 2 (a) and (b) represent two different states of colonoscopy during simulated intestinal examination. It can be understood that (a) represents the early stage of the simulated examination, and (b) represents the later stage. Compared to (a), (b) shows a longer insertion length of the colonoscopy inside the simulated intestinal tract. The main structure of the colonoscopy insertion section is a flexible tube. The free end of the flexible tube is equipped with a miniature camera, an illumination source, an air injection port, and a water injection port. Inside the flexible tube are pipelines connected to the miniature camera, illumination source, air injection port, and water injection port, respectively, ensuring normal recording and illumination by the miniature camera and illumination source. The air injection port and water injection port respectively inject gas into the simulated intestinal tract to achieve intestinal expansion and spray water onto the miniature camera to clean it. To enhance the realism of simulated colonoscopy training, the inner wall of the simulated intestine is designed with simulated intestinal wall folds and polyps. This improves the realism of the simulated intestinal wall structure. Simultaneously, these folds and polyps act as obstacles to the colonoscope's movement within the simulated intestine. The purpose of simulated colonoscopy training is to enable users to be sensitive to the presence of these folds and polyps during colonoscopy, allowing for precise and delicate control of the colonoscope's movement within the simulated intestine. This helps users aim the colonoscope at the simulated polyps for imaging and avoid violently touching the simulated intestinal wall folds.

[0023] Considering that users do not fully understand the internal structure of the simulated intestine during simulation training, directly operating the colonoscope under these conditions cannot guarantee precise adjustments to the control method to aim at the simulated polyps and avoid violent contact with the simulated intestinal wall folds. Therefore, in the early stages of simulation training, the insertion length of the colonoscope within the simulated intestine during the user's examination can be obtained. This can be achieved through real-time detection of the colonoscope's advance insertion length within the simulated intestine. Since the internal structure of the simulated intestine is known in advance—that is, the shape, size, and position of the simulated polyps and simulated intestinal wall folds are known and will not change—comparing the insertion length of the colonoscope within the simulated intestine with the spatial distribution of the simulated polyps and simulated intestinal wall folds allows determination of the shape, size, and position of the simulated polyps and / or simulated intestinal wall folds within the area where the colonoscope is inserted into the simulated intestine. This provides a comprehensive characterization of the simulated polyps and simulated intestinal wall folds that the colonoscope may encounter within the simulated intestine. Furthermore, to enable users to visually understand the relative positional relationship between the colonoscope and simulated polyps and intestinal wall folds inside the simulated intestine, a virtual image containing the relative positional information of obstacles within the region and the colonoscope is generated based on the shape, size, and positional information of the simulated polyps and / or intestinal wall folds, as well as the outline information (i.e., size and shape) of the corresponding part of the colonoscope inserted into the simulated intestine. This virtual image is then displayed to the user through a head-mounted display device, allowing the user to gain visual understanding of the relative spatial positional relationship between the colonoscope and the simulated polyps and / or intestinal wall folds by viewing the virtual image. Furthermore, considering that the spatial orientation of the colonoscope and simulated intestine in the virtual image is determined in the world coordinate system, while the user views the virtual image through a head-mounted display device, the user's field-of-view coordinate system differs from the world coordinate system. To ensure that the virtual image seen by the user within the aforementioned field-of-view coordinate system is consistent with reality, the user's field-of-view coordinate system is first constructed based on the user's gaze direction and pupil position. Specifically, the origin is set at the midpoint of the line connecting the user's pupils, the X-axis is set corresponding to the line connecting the pupils, the Y-axis is set at the center of the user's field-of-view angular range, and the Z-axis is set based on the X and Y axes, thus constructing the user's field-of-view coordinate system. Then, based on the coordinate transformation matrix between the world coordinate system and the field-of-view coordinate system, the display orientation of the virtual image in the user's field of view (e.g., the display angle of the virtual image) is adjusted to ensure the user receives correct visual feedback.

[0024] S2: Perform stress analysis on the simulated intestine during the examination to determine whether any abnormal examination events occur; adjust the display content of the virtual image based on the movement characteristics of the colonoscopy under abnormal examination events.

[0025] Furthermore, in S2, force analysis is performed on the simulated intestine during the examination to determine whether any abnormal examination events occur; based on the movement characteristics of the colonoscopy under abnormal examination events, the display content of the virtual image is adjusted, specifically as follows: The system acquires pressure data of the entire simulated intestinal wall during the inspection process. Based on the pressure data, it identifies all sub-regions where the actual pressure on the simulated intestinal wall exceeds a preset pressure threshold. Based on the area ratio of all sub-regions on the simulated intestinal wall, it determines whether an abnormal inspection event has occurred. The movement and bending morphology of the colonoscope insertion portion in the simulated intestine during abnormal examination events is obtained; based on the movement and bending morphology, the abnormal bending location of the insertion portion is determined, and the location and outline of the abnormal bending location are marked in the virtual image.

[0026] In actual simulation training, to enable users to intuitively and accurately perceive the contact pressure between the colonoscope and the simulated intestinal wall during colonoscopy, diaphragm-type pressure sensors are pre-installed on the simulated intestinal wall. When the colonoscope comes into contact with the simulated intestinal lining, the corresponding pressure sensor generates pressure data. Considering the fragility of the human colon's lining, a violent or rapid contact with the lining during a colonoscopy could lead to rupture or internal bleeding, seriously affecting the patient's health. A key objective of simulated colonoscopy training is to enable users to accurately and slowly control the colonoscope's movement within the simulated intestinal lining, minimizing the probability of violent or rapid contact between the colonoscope and the simulated intestinal wall. To provide users with visual feedback on potential damage to the simulated intestinal wall caused by their own improper operation and its direct causes during simulated colonoscopy training, pressure data on the entire simulated intestinal wall during the examination is first acquired. Based on this pressure data, the actual pressure on the simulated intestinal wall is calculated and compared with a preset pressure threshold. All sub-regions where the actual pressure on the simulated intestinal wall exceeds the preset threshold are identified. When the total area of ​​all sub-regions as a percentage of the simulated intestinal wall area exceeds a preset percentage threshold, an abnormal examination event is determined; otherwise, no abnormal examination event is determined, thus promptly identifying any damage to the simulated colonoscope's inner wall structure that occurs during the simulated colonoscopy training.

[0027] Furthermore, several attitude sensors installed on the flexible tube of the colonoscope acquire the bending morphology characteristics of the inserted portion of the colonoscope within the simulated intestine during abnormal examination events. These bending morphology characteristics are calculated based on the individual attitude angles of each flexible segment within the flexible tube, resulting in the overall bending trajectory of the flexible tube. Based on these bending morphology characteristics, abnormal bending locations where the bending angle of the inserted portion is less than a preset angle threshold due to excessive bending are identified. Because the bending angle of these abnormal bending locations is small, they form acute-angle structures, which are more likely to puncture or scratch the intestinal wall. By identifying these abnormal bending locations and marking their positions and outlines in the virtual image, users can directly observe the abnormal bending deformation that may occur when manipulating the colonoscope, providing comprehensive and accurate visual feedback during simulated colonoscopy training.

[0028] S3: Obtain the operational characteristics of the user's colonoscopy to predict the movement trend of the colonoscope in the simulated intestine; generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current area of ​​the colonoscope.

[0029] Furthermore, in S3, the user's operational characteristics during colonoscopy are acquired to predict the colonoscope's movement trend within the simulated intestine. Based on the movement trend and the intestinal structure of the current location of the colonoscope, prompts for the user's colonoscopy operation are generated, specifically: The operation characteristics applied by the user to the gripping part of the colonoscope outside the simulated intestine are obtained, including the torque applied by the user to the gripping part and the movement speed of the gripping part. Based on operational characteristics, predict the movement posture and velocity change trend of the inserted part of the colonoscope in the simulated intestine; Based on the trends in movement posture and speed, and the positions of simulated polyps and / or simulated intestinal wall folds in the current location of the inserted portion of the colonoscope, the relative positional change trend between the inserted portion and the simulated polyps and / or simulated intestinal wall folds is determined, thereby generating prompts for the user's operating posture and direction regarding the gripping portion.

[0030] The colonoscope has a gripping component (such as a handle). Users can simultaneously drive the insertion part of the colonoscope to rotate, twist, and advance within the simulated intestine by rotating, twisting, and pushing the gripping component. To avoid damage to the intestinal wall during the movement of the insertion part within the simulated intestine and to ensure the colonoscope's miniature camera accurately targets and images of simulated polyps, the user needs to precisely and slowly control the movement of the gripping component. Specifically, torque and speed sensors installed on the gripping component can detect the torque applied by the user to the gripping component outside the simulated intestine and the speed of movement of the gripping component. Combined with the shape of the colonoscope's insertion part (such as its length and curvature), the movement posture and speed change trend of the colonoscope's insertion part within the simulated intestine can be predicted. Based on the trends in movement posture and speed, and the position of the simulated polyps and / or simulated intestinal wall folds in the current location of the colonoscope insertion section, the relative positional change trend between the insertion section and the simulated polyps and / or simulated intestinal wall folds is determined. This relative positional change trend can be, but is not limited to, a gradual increase or decrease in the relative distance between the insertion section and the simulated polyps and / or simulated intestinal wall folds. When the relative distance between the insertion section and the simulated polyps and / or simulated intestinal wall folds shows a gradual increase or decrease, prompts are generated regarding the user's grip posture and direction. This instructs the user to adjust their grip posture and direction, ensuring accurate and slow movement of the colonoscope insertion section, minimizing forceful contact with the intestinal tract, and gradually approaching the simulated polyps for imaging, thereby improving the user's controllability and accuracy in operating the colonoscope.

[0031] S4: Obtain the air pressure adjustment operation parameters inside the simulated intestine, predict the trend of the difference between the air pressure inside the simulated intestine and the maximum air pressure that the simulated intestine can withstand based on the air pressure adjustment operation parameters, and generate an early warning prompt for the user's air pressure adjustment operation.

[0032] Furthermore, in S4, the air pressure adjustment operation parameters inside the simulated intestine are obtained. Based on the air pressure adjustment operation parameters, the trend of the difference between the air pressure inside the simulated intestine and the ultimate air pressure that the simulated intestine can withstand is predicted, thereby generating an early warning prompt for the user regarding air pressure adjustment operations, specifically: The gas flow rate parameters are obtained during the user's gas injection operation inside the simulated intestine. Based on the gas flow rate parameters and the length of the section of the simulated intestine inserted by the colonoscope, the trend of gas pressure change inside the simulated intestine is predicted. By comparing the pressure change trend inside the simulated intestine with the maximum pressure that the simulated intestine can withstand, the pressure difference trend between the two is obtained. Based on the pressure difference trend, it is determined whether an over-expansion event of the inner wall will occur inside the simulated intestine, thereby generating an early warning prompt for the user to adjust the pressure. The early warning prompt for adjusting the pressure includes information on adjusting the injection flow rate during the air injection operation.

[0033] In actual colonoscopy procedures, to reduce the obstruction of the colonoscope's advance by the intestinal wall, a suitable amount of gas is injected into the intestine through an insufflation procedure. This expands the intestinal wall, reducing its adhesion to the colonoscope. Insufficient gas injection will not effectively expand the intestinal wall; excessive gas injection will cause over-expansion, leading to discomfort or even severe pain for the patient. Therefore, another purpose of simulated colonoscopy training is to enable users to master the slow and precise execution of the insufflation procedure. Specifically, the insufflation flow rate parameters (e.g., airflow rate per unit time) during the user's insufflation of the simulated intestine are first obtained. Then, based on the insufflation flow rate parameters and the length of the section of the simulated intestine into which the colonoscope is inserted, the trend of gas pressure changes within the simulated intestine is predicted, i.e., the magnitude of gas pressure changes generated by the injected airflow within the space where the colonoscope is inserted. By comparing the trend of air pressure changes inside the simulated intestine with the simulated intestine's maximum tolerable air pressure (i.e., the maximum air pressure the simulated intestinal wall can withstand without rupture), the trend of the pressure difference between the two is obtained. This determines the trend of the difference between the air pressure formed inside the simulated intestine during air injection and the aforementioned maximum tolerable air pressure. When the trend of the pressure difference gradually decreases, it is determined whether an over-expansion event of the inner wall of the simulated intestine will occur. This generates information including adjustments to the injection flow rate, providing accurate guidance for users to train their skills in controlling the speed of intestinal air injection.

[0034] Please see Figure 3 As shown, the present invention provides a simulated colonoscopy examination and operation control system, which includes the following modules: The virtual image generation module is used to acquire information about obstacles in the area where the colonoscope is located during the user's operation of the colonoscope to examine the simulated intestine, and to generate a virtual image for the user's feedback. The display mode adjustment module is used to adjust the display mode of virtual images according to the user's gaze characteristics; The anomaly detection module is used to perform stress analysis on the simulated intestine during the inspection process to determine whether any abnormal inspection events have occurred. The display content adjustment module is used to adjust the display content of the virtual image according to the action characteristics of colonoscopy under abnormal examination events; The colonoscopy motion prediction module is used to acquire the operational characteristics of the user's colonoscopy, thereby predicting the motion trend of the colonoscopy in the simulated intestine; The colonoscopy operation prompt module is used to generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current colonoscopy area; The air pressure change prediction module is used to obtain the air pressure adjustment operation parameters inside the simulated intestine, and predict the trend of the difference between the air pressure inside the simulated intestine and the air pressure limit that the simulated intestine can withstand based on the air pressure adjustment operation parameters. The air pressure adjustment prompt module is used to generate early warning prompts for users to adjust air pressure.

[0035] Furthermore, the virtual image generation module is used to acquire obstacle information in the area where the colonoscope is located during the user's examination of the simulated intestine using the colonoscope, thereby generating a virtual image for the user's feedback, specifically: The insertion length of the colonoscope within the simulated intestine during a user-controlled colonoscopy examination is obtained. Based on the insertion length and the internal tissue structure characteristics of the simulated intestine, obstacle information within the colonoscope's location is determined. This obstacle information includes the shape, size, and location of simulated polyps and / or simulated intestinal wall folds. Based on obstacle information and the outline of the colonoscope, a virtual image is generated to provide feedback to the user; the virtual image refers to a virtual image containing information on the relative positions of obstacles and the colonoscope within a given area. The display mode adjustment module is used to adjust the display mode of the virtual image according to the user's gaze characteristics, specifically: Based on the user's gaze direction and the position of their pupils, a user's field of view coordinate system is constructed; based on the coordinate transformation relationship between the world coordinate system and the field of view coordinate system, the display orientation of the virtual image in the user's field of view is adjusted.

[0036] Furthermore, the anomaly detection module is used to perform stress analysis on the simulated intestine during the inspection to determine whether any abnormal inspection events have occurred. Specifically: The system acquires pressure data of the entire simulated intestinal wall during the inspection process. Based on the pressure data, it identifies all sub-regions where the actual pressure on the simulated intestinal wall exceeds a preset pressure threshold. Based on the area ratio of all sub-regions on the simulated intestinal wall, it determines whether an abnormal inspection event has occurred. The display content adjustment module is used to adjust the display content of the virtual image based on the action characteristics of colonoscopy during abnormal examination events. Specifically: The movement and bending morphology of the colonoscope insertion portion in the simulated intestine during abnormal examination events is obtained; based on the movement and bending morphology, the abnormal bending location of the insertion portion is determined, and the location and outline of the abnormal bending location are marked in the virtual image.

[0037] Furthermore, the colonoscopy motion prediction module is used to acquire the operational characteristics of the user's colonoscopy, thereby predicting the motion trend of the colonoscopy within the simulated intestine, specifically: The operation characteristics applied by the user to the gripping part of the colonoscope outside the simulated intestine are obtained, including the torque applied by the user to the gripping part and the movement speed of the gripping part. Based on operational characteristics, predict the movement posture and velocity change trend of the inserted part of the colonoscope in the simulated intestine; The colonoscopy operation prompt module generates operation prompts for the user based on the movement trend and the intestinal structure of the current colonoscopy segment. Specifically: Based on the trends in movement posture and speed, and the positions of simulated polyps and / or simulated intestinal wall folds in the current location of the inserted portion of the colonoscope, the relative positional change trend between the inserted portion and the simulated polyps and / or simulated intestinal wall folds is determined, thereby generating prompts for the user's operating posture and direction regarding the gripping portion.

[0038] Furthermore, the air pressure change prediction module is used to acquire the air pressure adjustment operation parameters inside the simulated intestine, and based on the air pressure adjustment operation parameters, predicts the trend of the difference between the air pressure inside the simulated intestine and the ultimate air pressure that the simulated intestine can withstand, specifically: The gas flow rate parameters are obtained during the user's gas injection operation inside the simulated intestine. Based on the gas flow rate parameters and the length of the section of the simulated intestine inserted by the colonoscope, the trend of gas pressure change inside the simulated intestine is predicted. By comparing the trend of air pressure change inside the simulated intestine with the maximum air pressure that the simulated intestine can withstand, the trend of the difference in air pressure between the two is obtained. The air pressure adjustment prompt module is used to generate early warning prompts for users' air pressure adjustment operations, specifically: Based on the trend of air pressure difference changes, it is determined whether an event of excessive expansion of the inner wall will occur inside the simulated intestine, thereby generating an early warning prompt for the user to adjust the air pressure; among which, the early warning prompt includes information on adjusting the injection flow rate during the air injection operation.

[0039] The operation and function of the simulated colonoscopy examination and operation control system of the present invention are consistent with those of the simulated colonoscopy examination and operation control method described above, and the simulated colonoscopy examination and operation control system will not be described again here.

[0040] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of a necessary general-purpose hardware platform, or by a combination of hardware and software. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a computer product. The present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0041] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Other embodiments may also be used. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for simulating colonoscopy examination and operation control, characterized in that, The method includes the following steps: S1: Obstacle information of the colonoscope in the area where the colonoscope is located during the user's examination of the simulated intestine; thereby generating a virtual image for the user's feedback; adjusting the display mode of the virtual image according to the user's line of sight characteristics; S2: Perform stress analysis on the simulated intestine during the examination to determine whether an abnormal examination event occurs; adjust the display content of the virtual image according to the movement characteristics of the colonoscope under the abnormal examination event; S3: Obtain the operation characteristics of the user performing the colonoscopy, thereby predicting the movement trend of the colonoscopy in the simulated intestine; generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current location of the colonoscopy. S4: Obtain the air pressure adjustment operation parameters inside the simulated intestine, and based on the air pressure adjustment operation parameters, predict the trend of the difference between the air pressure inside the simulated intestine and the maximum air pressure that the simulated intestine can withstand, thereby generating an air pressure adjustment operation warning prompt for the user.

2. The method according to claim 1, characterized in that, In S1, information about obstacles in the area where the colonoscope is located during the user's examination of the simulated intestine using the colonoscope is acquired, thereby generating a virtual image for the user's feedback; based on the user's gaze characteristics, the display mode of the virtual image is adjusted, specifically as follows: The insertion length of the colonoscope within the simulated intestine during a user-controlled colonoscopy examination is obtained. Based on the insertion length and the internal tissue structure characteristics of the simulated intestine, obstacle information of the colonoscope's location is determined. The obstacle information includes the shape, size, and location information of simulated polyps and / or simulated intestinal wall folds. Based on the obstacle information and the outline information of the colonoscope, a virtual image is generated to provide feedback to the user; wherein, the virtual image refers to a virtual image containing the relative position information of the obstacles in the specified area and the colonoscope. Based on the user's gaze direction and pupil position, a field-of-view coordinate system is constructed for the user; based on the coordinate transformation relationship between the world coordinate system and the field-of-view coordinate system, the display orientation of the virtual image in the user's field of view is adjusted.

3. The method according to claim 1, characterized in that, In S2, a stress analysis is performed on the simulated intestine during the examination to determine whether an abnormal examination event has occurred. Based on the movement characteristics of the colonoscope under the abnormal examination event, the display content of the virtual image is adjusted, specifically as follows: During the inspection, obtain the pressure data of the entire simulated intestinal wall. Based on the pressure data, identify all sub-regions where the actual pressure on the simulated intestinal wall exceeds a preset pressure threshold. Based on the area ratio of all sub-regions on the simulated intestinal wall, determine whether an abnormal inspection event has occurred. The movement and bending morphology characteristics of the colonoscope insertion portion within the simulated intestine are obtained under the occurrence of the abnormal examination event; based on the movement and bending morphology characteristics, the abnormal bending location of the insertion portion is determined, thereby marking the location and outline of the abnormal bending location in the virtual image.

4. The method according to claim 1, characterized in that, In S3, the operational characteristics of the user's actions on the colonoscope are acquired to predict the movement trend of the colonoscope within the simulated intestine. Based on the movement trend and the intestinal structure of the current location of the colonoscope, colonoscope operation prompts are generated for the user, specifically: The operation characteristics applied by the user to the gripping part of the colonoscope outside the simulated intestine are obtained, wherein the operation characteristics include the torque applied by the user to the gripping part and the movement speed of the gripping part; Based on the operational characteristics, predict the movement posture and velocity change trend of the inserted part of the colonoscope within the simulated intestine; Based on the trend of movement posture and speed change and the position of simulated polyps and / or simulated intestinal wall folds in the current location of the insertion part of the colonoscope, the relative position change trend between the insertion part and the simulated polyps and / or simulated intestinal wall folds is determined, thereby generating prompts for the user's operation posture and direction regarding the gripping part.

5. The method according to claim 1, characterized in that, In S4, the pressure adjustment operation parameters inside the simulated intestine are obtained. Based on the pressure adjustment operation parameters, the trend of the difference between the pressure inside the simulated intestine and the pressure limit that the simulated intestine can withstand is predicted, thereby generating a pressure adjustment operation warning prompt for the user, specifically: The air injection flow rate parameters are obtained during the user's air injection operation inside the simulated intestine. Based on the air injection flow rate parameters and the length of the section of the simulated intestine inserted by the colonoscope, the trend of air pressure change inside the simulated intestine is predicted. By comparing the trend of air pressure change inside the simulated intestine with the maximum air pressure that the simulated intestine can withstand, the trend of air pressure difference between the two is obtained. Based on the trend of the air pressure difference, it is determined whether an over-expansion event of the inner wall will occur inside the simulated intestine, thereby generating an early warning prompt for the user to adjust the air pressure; wherein, the early warning prompt for adjusting the air pressure adjustment operation includes information on adjusting the injection flow rate of the air injection operation.

6. A simulated colonoscopy examination and operation control system, characterized in that, The system includes the following modules: The virtual image generation module is used to acquire obstacle information in the area where the colonoscope is located during the user's operation of the colonoscope to examine the simulated intestine, and thereby generate a virtual image for the user's feedback. The display mode adjustment module is used to adjust the display mode of the virtual image according to the user's gaze characteristics; An anomaly detection module is used to perform stress analysis on the simulated intestine during the inspection and determine whether an abnormal inspection event has occurred. The display content adjustment module is used to adjust the display content of the virtual image according to the action characteristics of the colonoscopy under the abnormal examination event. The colonoscopy motion prediction module is used to acquire the operational characteristics of the user on the colonoscopy, thereby predicting the motion trend of the colonoscopy in the simulated intestine. The colonoscopy operation prompt module is used to generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current colonoscopy area; The air pressure change prediction module is used to acquire the air pressure adjustment operation parameters inside the simulated intestine, and predict the trend of the difference between the air pressure inside the simulated intestine and the maximum air pressure that the simulated intestine can withstand based on the air pressure adjustment operation parameters. The air pressure adjustment prompt module is used to generate early warning prompts for the user's air pressure adjustment operation.

7. The system according to claim 6, characterized in that, The virtual image generation module is used to acquire obstacle information in the area where the colonoscope is located during the user's operation of the colonoscope to examine the simulated intestine, and thereby generate a virtual image for the user's feedback, specifically: The insertion length of the colonoscope within the simulated intestine during a user-controlled colonoscopy examination is obtained. Based on the insertion length and the internal tissue structure characteristics of the simulated intestine, obstacle information of the colonoscope's location is determined. The obstacle information includes the shape, size, and location information of simulated polyps and / or simulated intestinal wall folds. Based on the obstacle information and the outline information of the colonoscope, a virtual image is generated to provide feedback to the user; wherein, the virtual image refers to a virtual image containing the relative position information of the obstacles in the specified area and the colonoscope. The display mode adjustment module is used to adjust the display mode of the virtual image according to the user's gaze characteristics, specifically: Based on the user's gaze direction and pupil position, a field-of-view coordinate system is constructed for the user; based on the coordinate transformation relationship between the world coordinate system and the field-of-view coordinate system, the display orientation of the virtual image in the user's field of view is adjusted.

8. The system according to claim 6, characterized in that, The anomaly detection module is used to perform stress analysis on the simulated intestine during the inspection to determine whether an abnormal inspection event has occurred. Specifically: During the inspection, obtain the pressure data of the entire simulated intestinal wall. Based on the pressure data, identify all sub-regions where the actual pressure on the simulated intestinal wall exceeds a preset pressure threshold. Based on the area ratio of all sub-regions on the simulated intestinal wall, determine whether an abnormal inspection event has occurred. The display content adjustment module is used to adjust the display content of the virtual image according to the movement characteristics of the colonoscopy under the abnormal examination event, specifically: The movement and bending morphology characteristics of the colonoscope insertion portion within the simulated intestine are obtained under the occurrence of the abnormal examination event; based on the movement and bending morphology characteristics, the abnormal bending location of the insertion portion is determined, thereby marking the location and outline of the abnormal bending location in the virtual image.

9. The system according to claim 6, characterized in that, The colonoscopy motion prediction module is used to acquire the operational characteristics of the user's operation on the colonoscopy, thereby predicting the motion trend of the colonoscopy within the simulated intestine. Specifically: The operation characteristics applied by the user to the gripping part of the colonoscope outside the simulated intestine are obtained, wherein the operation characteristics include the torque applied by the user to the gripping part and the movement speed of the gripping part; Based on the operational characteristics, predict the movement posture and velocity change trend of the inserted part of the colonoscope within the simulated intestine; The colonoscopy operation prompt module is used to generate colonoscopy operation prompts for the user based on the movement trend and the intestinal structure of the current colonoscopy segment, specifically: Based on the trend of movement posture and speed change and the position of simulated polyps and / or simulated intestinal wall folds in the current location of the insertion part of the colonoscope, the relative position change trend between the insertion part and the simulated polyps and / or simulated intestinal wall folds is determined, thereby generating prompts for the user's operation posture and direction regarding the gripping part.

10. The system according to claim 6, characterized in that, The pressure change prediction module is used to acquire pressure adjustment operation parameters inside the simulated intestine, and based on these parameters, predict the trend of the difference between the internal pressure of the simulated intestine and the maximum pressure that the simulated intestine can withstand. Specifically: The air injection flow rate parameters are obtained during the user's air injection operation inside the simulated intestine. Based on the air injection flow rate parameters and the length of the section of the simulated intestine inserted by the colonoscope, the trend of air pressure change inside the simulated intestine is predicted. By comparing the trend of air pressure change inside the simulated intestine with the maximum air pressure that the simulated intestine can withstand, the trend of air pressure difference between the two is obtained. The air pressure adjustment prompt module is used to generate an early warning prompt for the user's air pressure adjustment operation, specifically: Based on the trend of the air pressure difference, it is determined whether an over-expansion event of the inner wall will occur inside the simulated intestine, thereby generating an early warning prompt for the user to adjust the air pressure; wherein, the early warning prompt for adjusting the air pressure adjustment operation includes information on adjusting the injection flow rate of the air injection operation.

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