Cutting training support system
The cutting training assistance system provides a cost-effective solution for dental training by using a wearable display and pseudo-cutting instrument with tactile feedback, addressing the high cost of traditional robots and simulators.
Patent Information
- Application Number
- JP2023090468
- Authority / Receiving Office
- JP · JP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2023-05-31
- Publication Date
- 2024-12-12
AI Technical Summary
Robots and simulators for training tooth cutting are expensive, making it difficult to provide widespread access to dental students.
A cutting training assistance system comprising a wearable display, a pseudo-cutting instrument with a 6-axis sensor and vibrating vibrator, and a control device that detects and controls the pseudo-cutting tool's position and angle, providing a cost-effective training solution.
Enables cost-effective cutting training with tactile and visual feedback, allowing users to practice cutting at a lower cost and facilitating widespread access.
Smart Images
Figure 2024172626000001_ABST
Abstract
Description
[Technical field]
[0001] The present invention relates to a cutting training assistance system. [Background technology]
[0002] Since dental treatment targets delicate affected areas, it is important to practice cutting teeth when acquiring the technique. For this reason, simulators using robots and VR technology have been developed for the purpose of training cutting teeth (for example, Non-Patent Documents 1 and 2). [Prior art documents] [Non-patent literature]
[0003] [Non-Patent Document 1] Al‐Saud, Loulwa M., F. Mushtaq, MJ Allsop, PC Culmer, I. Mirghani, E. Yates, A. Keeling, MA Mon‐Williams and M. Manogue. "Feedback and motor skill acquisition using a haptic dental simulator."European Journal of Dental Education" 21.4 (2017): 240-247. [Non-Patent Document 2] Serrano, Carlos M., Paul R. Wesselink, and Johanna M. Vervoorn. "First experiences with patient-centered training in virtual reality." Journal of dental education 84.5 (2020): 607-614. [Non-Patent Document 3] Kato, Kunihiro, Kaori Ikematsu, and Yoshihiro Kawahara. "CAPath: 3D-Printed Interfaces with Conductive Points in Grid Layout to Extend Capacitive Touch Inputs." Proceedings of the ACM on Human-Computer Interaction 4.ISS (2020): 1-17. Summary of the Invention [Problem to be solved by the invention]
[0004] However, robots and simulators for training tooth cutting are expensive. Therefore, it is difficult to lend robots or simulators to all students in a dental school, for example. This problem is not limited to tooth cutting, but is a common problem for various cutting objects. An object of the present invention is to provide a cutting training assistance system that enables training in cutting of a cutting object at a lower cost. [Means for solving the problem]
[0005] One aspect of the present invention is a cutting training assistance system comprising a wearable display, a simulated cutting instrument, a position detection device, and a control device, wherein the simulated cutting instrument comprises a six-axis sensor for measuring acceleration and angular velocity in three dimensional directions, and a vibrating oscillator, the position detection device detects the position of the simulated cutting instrument and the angle of the simulated cutting instrument relative to the position detection device, the control device controls the vibration of the oscillator based on the position of the position detection device, the angle of the simulated cutting instrument relative to the position detection device, and the three dimensional acceleration and angular velocity of the simulated cutting instrument, and causes the wearable display to display the cutting instrument based on the position of the position detection device, the angle of the simulated cutting instrument relative to the position detection device, and the three dimensional acceleration and angular velocity of the simulated cutting instrument. Effect of the Invention
[0006] According to the present invention, cutting of a cutting object can be practiced more inexpensively. [Brief description of the drawings]
[0007] [Figure 1] FIG. 1 is a diagram showing an example of use of the cutting training assistance system. [Diagram 2] FIG. 1 is a diagram showing the configuration of a simulated cutting tool. [Diagram 3] FIG. 2 is a diagram showing the relationship between components of the cutting training assistance system. [Figure 4] 1 is a table showing an example of information regarding teeth. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0008] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Overall Composition 1 is a diagram showing an example of use of the cutting training assistance system 1. The outline of the cutting training assistance system 1 will be explained with reference to FIG. The cutting training assistance system 1 assists a user U in performing cutting training. The cutting training assistance system 1 includes an HMD (head mounted display) 11, a simulated cutting tool 12, a digitizer 15, a control device 16, and a physical prop 17. For the sake of explanation, it is assumed below that the digitizer 15 is located on the XY plane and perpendicular to the Z axis.
[0009] The user U wears the HMD 11 on his / her head. The HMD 11 is worn in a manner that covers the eyes of the user U. An image of a cutting object being cut using a cutting tool is displayed on the display of the HMD 11. The cutting object in this embodiment is, for example, a tooth, but is not limited to this. For example, the cutting object may be anything that can be cut, such as bone or wood. The HMD 11 may be a wearable display such as smart glasses.
[0010] A user U performs simulated cutting by using the simulated cutting tool 12. FIG. 2 is a diagram showing the configuration of the simulated cutting tool 12. The simulated cutting tool 12 is configured in a shape that imitates, for example, a dental cutting tool. The simulated cutting tool 12 has a structure in which a head 13 and a handle portion 14 are integrated. The user U holds the handle portion and brings a core body 120 provided in a position indication portion 131 of the head 13 into contact with a physical prop 17. The core body 120 of the position indication portion 131 of the simulated cutting tool 12 corresponds to the portion equipped with a blade for cutting in a dental cutting tool. When the tip of the cutting tool is made perpendicular to the ground, the handle is not perpendicular to the ground but forms an acute angle with the ground. Similarly, when the position indicator 131 of the pseudo cutting tool 12 is made perpendicular to the ground, the head 13 is parallel to the ground. Also, when the head 13 is made horizontal to the ground, the handle 14 is not parallel to the ground but forms an acute angle with the ground.
[0011] The pseudo cutting tool 12 includes a position indication unit 131 , a six-axis sensor 122 , a sensor circuit 123 , a transducer 124 , a control circuit 125 , and an interface 126 .
[0012] The position indication unit 131 is provided at the tip of the simulated cutting tool 12. The position indication unit 131 includes a core body 120 and a coil 121. The user U uses the simulated cutting tool 12 to perform simulated cutting by bringing the tip of the core body 120 into contact with a physical prop.
[0013] The core body 120 is provided parallel to the axis of the coil 121. The core body 120 transmits pressure applied along the axis of the coil 121 to the pressure sensor.
[0014] The coil 121 generates a magnetic field. The coil 121 is provided so as to be vertical when the head 13 is made horizontal to the ground. The magnetic field generated by the coil 121 is detected by a digitizer 15 described later, and the position of the pseudo cutting tool 12, the inclination with respect to the Z axis, and the writing pressure of the pseudo cutting tool 12 are calculated. The writing pressure of the pseudo cutting tool 12 may be calculated by transmitting the pressure applied to the core body 120 to a pressure sensor.
[0015] The six-axis sensor 122 is provided on the head 13 of the pseudo cutting tool 12. The six-axis sensor 122 measures acceleration and angular velocity in three-dimensional directions. The sensor circuit 123 acquires the measurement results by the pressure sensor and the six-axis sensor 122.
[0016] The oscillator 124 vibrates under the control of the control device 16. The oscillator 124 is preferably provided in the handle portion 14 of the pseudo cutting tool 12. The oscillator 124 changes the vibration magnitude and vibration frequency under the control of the control device 16. The control circuit 125 converts instructions from the control device 16 into electrical signals that control the oscillator 124, and controls the oscillator 124. The control circuit 125 also acquires measurement results from the sensor circuit 123 and converts them into electrical signals to be sent to the control circuit 125.
[0017] The interface 126 connects the simulated cutting tool 12 and the control device 16. The interface 126 is, for example, a USB terminal. The simulated cutting tool 12 and the control device 16 transmit and receive electrical signals via the interface 126. The simulated cutting tool 12 may be provided with a wireless device to transmit and receive electrical signals to and from the control device 16.
[0018] The digitizer 15 generates an electromagnetic signal on the surface. The digitizer 15 detects the magnetic field generated by the coil 121 to calculate the position of the pseudo cutting tool 12, the inclination with respect to the Z axis, and the magnitude of the writing pressure of the pseudo cutting tool 12. When the pseudo cutting tool 12 is inclined with respect to the Z axis, the digitizer 15 detects the main peak and side lobe of the magnetic field generated by the coil 121 to calculate the inclination of the pseudo cutting tool 12 with respect to the Z axis. The magnitude of the writing pressure of the pseudo cutting tool 12 is the magnitude of the pressure applied to the physical prop 17 by the pseudo cutting tool 12. The digitizer 15 may be fixed and installed at a specific position. The digitizer 15 is placed at a specific position on a horizontal table, for example. A reference positional relationship is set between the pseudo cutting tool 12 and the digitizer 15. The digitizer 15 operates as a position detection device that detects position information of the pseudo cutting tool 12, an inclination detection device that detects inclination information of the pseudo cutting tool 12, and a writing pressure detection device that detects the magnitude of the writing pressure of the pseudo cutting tool 12.
[0019] The control device 16 acquires position information of the HMD 11 from the HMD 11. The control device 16 acquires acceleration and angular velocity in three-dimensional directions measured by the six-axis sensor 122 from the pseudo cutting tool 12. The control device 16 acquires position information of the pseudo cutting tool 12 from the digitizer 15. The control device 16 acquires the position and inclination of the pseudo cutting tool 12 with respect to the Z axis from the digitizer 15. The control device 16 acquires the magnitude of the force to be applied to the physical prop 17 from the digitizer 15. The control device 16 stores the shapes of the cutting tool and cutting object to be displayed on the HMD 11, the correspondence between the shapes of the cutting tool and the pseudo cutting tool 12, the correspondence between the shapes of the cutting object and the physical prop 17, and position information of the physical prop 17.
[0020] The control device 16 can calculate the amount of rotation of the pseudo cutting tool 12 about the axis of the position indication unit 131 by acquiring the acceleration and angular velocity in three-dimensional directions from the six-axis sensor 122 provided on the head 13. This allows the control device 16 to accurately calculate the position of the pseudo cutting tool 12 even when the pseudo cutting tool 12 is nearly perpendicular to the Z axis and the digitizer 15 does not detect the side lobe of the magnetic field.
[0021] The control device 16 controls the HMD 11 to display an image model of the cutting object based on the installation position of the physical prop 17, and to display an image model of the cutting tool based on the position of the simulated cutting tool 12. The control device 16 performs control so that the positional relationship between the physical prop 17 and the simulated cutting tool 12 coincides with the positional relationship between the image model of the cutting object and the image model of the cutting tool. The control device 16 controls the pseudo cutting tool 12 and vibrates the oscillator 124 based on the position and the magnitude of the writing pressure of the pseudo cutting tool 12. The method of controlling the oscillator 124 by the control device 16 will be described in detail later.
[0022] The physical prop 17 has a shape similar to the cutting target. The physical prop 17 has a shape similar to, for example, a tooth. The physical prop 17 may have a hardness close to that of the cutting target. When the physical prop 17 has a shape similar to a tooth, it may have a hardness close to that of the tooth. The physical prop 17 is placed at a predetermined position on the digitizer 15. The physical prop 17 may be fixed and placed on the digitizer 15.
[0023] The pseudo cutting tool 12 is an electromagnetic induction type stylus, in which the coil 121 generates a magnetic field and the digitizer 15 detects the generated magnetic field to detect the position of the pseudo cutting tool 12, and detects changes in the magnetic field to detect the writing pressure of the pseudo cutting tool 12. As a result, even when the core body 120 of the position indicating part 131 of the pseudo cutting tool 12 is in contact with the physical prop 17 and is not in contact with the digitizer 15, the position and writing pressure of the pseudo cutting tool 12 are detected.
[0024] FIG. 3 is a diagram showing the relationship between the components of the cutting training assistance system 1. The control device 16 acquires position information of the HMD 11 from the HMD 11. The control device 16 controls the display of the HMD 11. The control device 16 acquires the measurement results from the six-axis sensor 122 from the simulated cutting tool 12. The control device 16 controls the vibration of the oscillator 124 of the simulated cutting tool 12. The control device 16 obtains the position information of the simulated cutting tool 12 from the digitizer 15 .
[0025] The user U practices cutting the cutting target by moving the simulated cutting tool 12 around the physical prop 17. The control device 16 may be any information processing device, and may be configured as a device integrated with the HMD 11, for example, or may be realized by cloud computing.
[0026] The control device 16 may include a storage device that stores information about the cutting target. The information about the cutting target is, for example, a physical parameter of the cutting target, and includes information about the shape of the cutting target, the hardness of the cutting target, and the fiber direction of the cutting target. When the cutting target is a tooth, the information about the cutting target includes, for example, information about the shape of the tooth, the hardness of the tooth, the fiber direction of the tooth, and the position of the nerve of the tooth. The shape of the tooth, the hardness of the tooth, the fiber direction of the tooth, and the position of the nerve of the tooth differ depending on the type of tooth and the position in the tooth. FIG. 4 is a table showing information about the tooth, which is an example of information about the cutting target. The position of the tooth is expressed by the notation of the FDI method, for example, 11 is the upper right central incisor. The position of the tooth corresponds to the shape of the tooth. Each tooth is divided into a plurality of regions. The hardness and fiber direction are set for each region.
[0027] The storage device included in the control device 16 may store information about multiple teeth. For example, the storage device included in the control device 16 may store information about adult teeth and information about baby teeth. For example, the storage device included in the control device 16 may store information about teeth of different individuals. The physical parameters of the teeth included in the information about each tooth, such as the shape of the tooth, the hardness of the tooth, the direction of the tooth fibers, and the position of the tooth nerve, may be different.
[0028] The control device 16 may control, based on the information on the cutting target, to display it on the screen of the HMD 11. In other words, the control device 16 may control, based on the information on different cutting targets, to display different cutting targets on the screen of the HMD 11.
[0029] The controller 16 may store information about the cutting tool, such as the physical parameters of the cutting tool, such as the shape of the cutting tool, the frequency of the motor of the cutting tool, the hardness of the tip bar of the cutting tool, etc. The controller 16 may store information about a number of different cutting tools, each of which may have different physical parameters. The control device 16 may control, based on the information about the cutting tool, to display on the screen of the HMD 11. That is, the control device 16 may control, based on the information about different cutting tools, to display different cutting tools on the screen of the HMD 11.
[0030] The control device 16 calculates the magnitude and frequency of vibration of the oscillator 124 based on the positional relationship between the pseudo cutting tool 12 and the physical prop 17 and the magnitude of the writing pressure. The control device 16 vibrates the oscillator 124 when it determines that the core body 120 of the position indication unit 131 of the pseudo cutting tool 12 is in contact with the physical prop 17. The control device 16 also vibrates the oscillator 124 when the magnitude of the writing pressure is equal to or greater than a predetermined value. The control device 16 also increases the amplitude of the vibration generated by the oscillator 124 when the writing pressure of the pseudo cutting tool 12 increases, and decreases the amplitude of the vibration generated by the oscillator 124 when the writing pressure of the pseudo cutting tool 12 decreases.
[0031] Furthermore, the magnitude and frequency of vibration of the oscillator 124 may be calculated based on information about the cutting object and the cutting tool. For example, when cutting a harder cutting object, the magnitude of vibration of the oscillator 124 may be increased. For example, when the hardness of the burr at the tip of the cutting tool is harder, the magnitude of vibration of the oscillator 124 may be increased.
[0032] When the control device 16 determines that the core body 120 of the position indication unit 131 of the pseudo cutting tool 12 and the physical prop 17 have come into contact with each other, the control device 16 may control the HMD 11 to emit a sound. When the control device 16 determines that the core body 120 of the position indication unit 131 of the pseudo cutting tool 12 and the physical prop 17 have come into contact with each other, the control device 16 controls the HMD 11 to emit a sound that occurs when cutting a cutting target. The control device 16 does not only control the HMD 11 to emit a sound, but may also control another speaker to emit a sound, for example. The control device 16 may change the sound emitted by the HMD 11 based on the writing pressure of the pseudo cutting tool 12 or the positional relationship between the pseudo cutting tool 12 and the physical prop 17. The control device 16 may change the sound emitted by the HMD 11 based on information related to the cutting target. The control device 16 may change the sound emitted by the HMD 11 depending on the type of cutting tool set. For example, the control device 16 includes a storage device that stores information on sounds that are the same as or similar to sounds generated during cutting, in association with the pressure applied to the cutting tool during the cutting, the position of the cutting tool relative to the cutting target, and the type of cutting tool used, and controls the HMD 11 to emit a sound based on the information stored in the storage device. In addition, when the cutting target 21 is a tooth, the control device 16 may control the HMD 11 to emit a sound if it determines that the distance between the position of the tooth nerve and the cutting tool is close. If the control device 16 determines that the distance between the position of the tooth nerve and the cutting tool is close, it controls the HMD 11 to emit an alert sound, for example, to warn the user U.
[0033] The control device 16 controls the HMD 11 to display the shape of the cutting target to be cut. The amount of the cutting target to be cut and displayed on the HMD 11 is determined based on information about the cutting target and the writing pressure and position of the pseudo cutting tool 12. The amount of the cutting target to be cut and displayed on the HMD 11 may be determined by the type of cutting tool that is set. For example, the control device 16 includes a storage device that stores information about the amount of the cutting target to be cut by cutting per unit time in association with the pressure applied to the cutting tool, the position of the cutting tool relative to the cutting target, and the type of cutting tool used, and determines the amount of the cutting target to be cut based on the information stored in the storage device.
[0034] The control device 16 may store data on the determined shape of the cutting target to be cut in a storage device such as a memory. By referring to the data on the shape of the cutting target over time stored in the storage device, the user can review the simulation of the cutting work that was performed. The user can also refer to the data on the shape of the cutting target that has been cut and stored in the storage device.
[0035] The physical prop 17 is a model that mimics the shape of the cutting target. By bringing the core body 120 of the position indicating unit 131 of the pseudo cutting tool 12 into contact with the physical prop 17, the user can get the sensation that the cutting tool is in contact with the cutting target, similar to cutting an actual cutting target. The position where the physical prop 17 is placed is a predetermined position on the digitizer 15. If the digitizer 15 has a display, the position where the physical prop 17 is placed may be shown on the digitizer 15.
[0036] Actions and Effects Thus, according to this embodiment, the cutting training assistance system 1 includes the HMD 11, the simulated cutting tool 12, the digitizer 15, the control device 16, and the physical prop 17. The cutting training assistance system 1 according to this embodiment is small as a simulator for training cutting of a cutting object. Therefore, it can be easily transported, and for example, a student can carry it home from school and perform cutting training at home.
[0037] Furthermore, when a user U of the cutting training assistance system 1 brings the simulated cutting tool 12 into contact with the physical prop 17, the simulated cutting tool 12 vibrates and the user U feels the vibration at the handle of the simulated cutting tool 12. In this way, the cutting training assistance system 1 can provide the user U with the tactile experience of cutting a cutting object. The vibration of the simulated cutting tool 12 can be changed based on information about the cutting object and the writing pressure and position of the simulated cutting tool 12, and thus the cutting training assistance system 1 can reproduce the hardness of the cutting object and provide the user with a tactile experience according to the hardness of the cutting object.
[0038] In addition, the user of the cutting training assistance system 1 can see, on the screen of the HMD 11, the cutting tool corresponding to the simulated cutting tool 12 and the cutting target corresponding to the physical prop 17, and can also see the shape of the cutting target being cut by the cutting tool. This allows the cutting training assistance system 1 to provide the user with the visual experience of cutting the cutting target.
[0039] In addition, in cutting work of an actual cutting target, a space is generated by the amount of the cutting target that is cut, and the range of motion of the cutting tool is expanded. However, in this embodiment, the physical prop 17 is not actually cut, so the range of motion of the simulated cutting tool 12 is not expanded. As described above, the cutting training assistance system 1 of this embodiment can give the user a visual sense of cutting the cutting target by displaying an image of the cutting target being cut to the user by the HMD 11.
[0040] Other Embodiments Although one embodiment of the present invention has been described in detail above with reference to the drawings, the specific configuration is not limited to the above, and various design changes, etc. are possible within the scope that does not deviate from the gist of the present invention. There is no particular limitation on the communication method between the HMD 11, the simulated cutting tool 12, the digitizer 15, and the control device 16 of the cutting training assistance system 1. For example, the control device 16, the simulated cutting tool 12, and the digitizer 15 may be connected by wires for communication, or may be provided with a wireless communication unit and perform wireless communication. [Explanation of symbols]
[0041] 1 Cutting training support system, 11 Head-mounted display, 12 Simulated cutting tool, 121 Coil, 122 6-axis sensor, 123 Sensor circuit, 124 Transducer, 125 Control circuit, 126 Interface, 13 Head, 14 Handle, 15 Digitizer, 16 Control device, 17 Physical prop
Claims
1. A cutting training assistance system including a wearable display, a simulated cutting tool, a position detection device, and a control device, The pseudo-cutting tool is Position indicator at tip Equipped with A six-axis sensor for measuring three-dimensional acceleration and angular velocity; A vibrating oscillator; Equipped with The position detection device detects the position of the dummy cutting tool and the angle of the dummy cutting tool relative to the position detection device by detecting the position indication unit, The control device includes: Controlling the vibration of the vibrator based on the position of the position detection device, the position and angle of the dummy cutting tool relative to the position detection device, and the acceleration and angular velocity in three-dimensional directions of the dummy cutting tool; displaying a cutting tool on the wearable display based on a position of the position detection device, a position and angle of the simulated cutting tool relative to the position detection device, and an acceleration and an angular velocity of the simulated cutting tool in three dimensional directions; Cutting training assistance system.
2. The dummy cutting tool has a head and a handle portion, and the handle portion is arranged so as to form an acute angle with the ground when the head is held horizontally with respect to the ground; the head includes the position indication unit and a six-axis sensor, The handle portion includes a vibrator. The position indication unit includes a coil and a core body that transmits pressure to the pressure sensor along an axis of the coil. The cutting training assistance system according to claim 1 .
3. The position detection device detects an azimuth angle of the pseudo cutting tool relative to the position detection device, with the tip of the pseudo cutting tool as a center. The cutting training assistance system according to claim 1 or 2.
4. An object to be cut is placed on the position detection device, The control device vibrates the oscillator based on the pressure applied to the core body detected by the pseudo cutting tool. The cutting training assistance system according to claim 2 .
5. The object to be cut is a tooth shape. The cutting training assistance system according to claim 4.
6. The control device causes the wearable display to display an image model of the object to be cut and an image model of the simulated cutting tool, performing control so as to match a positional relationship between the cutting object and the simulated cutting tool and a positional relationship between an image model of the cutting object displayed on the wearable display and an image model of the simulated cutting tool; The cutting training assistance system according to claim 1 .
7. The wearable display or the control device has a sound generating unit, When the core body comes into contact with the object to be cut, the vibrator vibrates and the sound generating unit outputs a sound. The cutting training assistance system according to claim 4.
8. The sound generating unit changes the sound to be output based on the pressure applied to the core body of the simulated cutting tool, or based on any one of the changes in the angle, rotation angle, acceleration, and angular velocity of the simulated cutting tool. The cutting training assistance system according to claim 7.
9. The pseudo cutting tool includes a wireless communication unit and is connected to the control device. The cutting training assistance system according to claim 1 .