A virtual instrument setting method and instrument simulation system

Abstract

The present invention relates to the field of virtual surgery technology, and discloses a virtual instrument setting method and an instrument simulation system. The method comprises: receiving posture information sent by a target sensor, the target sensor being set on an instrument to be calibrated; the posture information being generated by the instrument to be calibrated in a specified motion state; determining the type of the instrument to be calibrated based on the posture information; and setting a virtual surgical instrument at a target position within a virtual surgical system based on the type of the instrument to be calibrated. The present invention can automatically identify the type of the instrument to be calibrated and can automatically set the virtual surgical instrument at a target position within the virtual surgical system to achieve initial posture positioning of the instrument to be calibrated and the virtual surgical instrument, thereby ensuring that the virtual surgical system can accurately track the instrument to be calibrated during subsequent simulated operations.

Description

Technical Field

[0001] The present invention relates to the technical field of virtual surgery, and in particular to a virtual instrument setting method and an instrument simulation system. Background Art

[0002] Virtual surgery systems are a common application of virtual reality technology in medicine. They typically consist of a simulation platform for simulating medical instruments and a display platform for displaying virtual graphics. Users can manipulate the simulation platform to control virtual instruments on the display platform to simulate surgery, providing a virtual and realistic experience of actual surgery. Compared to traditional surgical instruction, virtual surgery offers advantages such as being non-invasive, repeatable, and customizable.

[0003] However, current virtual surgery systems are mostly limited to the visualization stage of simulation and lack realistic tactile effects. The surgeries performed in virtual environments differ significantly from clinical procedures. Furthermore, there is currently no system that simulates real surgical instruments, nor is there a method for automatically identifying real surgical instruments using virtual surgery systems. Summary of the Invention

[0004] In view of this, embodiments of the present invention provide a virtual instrument setting method and an instrument simulation system to solve the problem that there is currently no virtual surgery system that can automatically identify real surgical instruments and set them.

[0005] In a first aspect, an embodiment of the present invention provides a method for setting a virtual instrument, comprising:

[0006] Receiving posture information sent by a target sensor, where the target sensor is provided on the device to be calibrated; the posture information is generated by the device to be calibrated in a specified motion state;

[0007] Determining the type of the device to be calibrated according to the posture information;

[0008] Based on the type of the instrument to be calibrated, a virtual surgical instrument is set at a target position in the virtual surgical system.

[0009] In combination with the first aspect, in one embodiment, when the instrument to be calibrated is a pair of scissors, the specified motion state is: the scissors switch between a closed state and an open state;

[0010] When the device to be calibrated is a rigid monomer, the specified motion state is: the rigid monomer swings back and forth with one end as the axis;

[0011] When the device to be calibrated is a button, the specified motion state is: the button switches between a pressed state and a popped-up state;

[0012] When the device to be calibrated is a trigger, the specified motion state is: the trigger switches between a stressed state and a released state.

[0013] In conjunction with the first aspect, in one embodiment, the target sensor includes at least one of the following: a positioning sensor, a distance sensor, and a contact sensor; and determining the type of the device to be calibrated based on the posture information includes:

[0014] When the posture information includes information sent by the positioning sensor and the distance sensor, determining that the instrument to be calibrated is a scissors;

[0015] When the posture information only includes information sent by the positioning sensor, determining that the device to be calibrated is a rigid monomer;

[0016] When the posture information only includes information sent by the contact sensor, determining that the device to be calibrated is a button type;

[0017] When the posture information only includes the signal sent by the distance sensor, it is determined that the instrument to be calibrated is a trigger.

[0018] In combination with the first aspect, in one embodiment, the type of the device to be calibrated includes size information of the device to be calibrated, and the method further includes:

[0019] Based on the size information and the posture information, the relative position between the instrument to be calibrated and the virtual surgical instrument is determined.

[0020] In combination with the first aspect or its corresponding embodiment, in one embodiment, when it is determined that the type of the instrument to be calibrated is scissors, determining the relative position between the instrument to be calibrated and the virtual surgical instrument based on the size information and the posture information includes:

[0021] The posture information includes a first distance signal between the first distance sensor and the first distance receiver sent by a first distance sensor and a first position signal sent by a first positioning sensor, wherein the first distance sensor is arranged on one of the blade tips of the scissors, the first distance receiver is arranged on the other blade tip of the scissors, and the first positioning sensor is arranged on the handle close to the rotating shaft of the scissors;

[0022] The size information includes a first distance value between the scissors tip and the scissors rotation axis and a total length value of the scissors;

[0023] determining, according to the first position signal, a first displacement of the first positioning sensor of the scissors in the specified motion state;

[0024] The relative position between the first positioning sensor and the virtual surgical instrument is determined based on the first distance value, the total length of the scissors, the first distance signal, and the first displacement.

[0025] In combination with the first aspect or its corresponding embodiment, in one embodiment, when it is determined that the type of the instrument to be calibrated is a rigid monomer, determining the relative position between the instrument to be calibrated and the virtual surgical instrument based on the size information and the posture information includes:

[0026] The posture information includes a second position signal sent by a second positioning sensor, wherein the second positioning sensor is provided on the rigid monomer;

[0027] The size information includes the total length value of the monomer;

[0028] determining a trajectory length and a second displacement of the rigid monomer according to the second position signal;

[0029] The relative position of the second positioning sensor and the virtual surgical instrument is determined based on the trajectory length, the second displacement, and the total length of the single body.

[0030] In combination with the first aspect or its corresponding embodiment, in one embodiment, the method further includes:

[0031] Determining whether the posture information contains abnormal data;

[0032] When it is determined that the posture information contains abnormal data, interpolation calculation is used to replace the abnormal data.

[0033] In a second aspect, an embodiment of the present invention provides an instrument simulation system, the system comprising:

[0034] A receiving module, configured to receive posture information sent by a target sensor, wherein the target sensor is provided on the device to be calibrated; the posture information is generated by the device to be calibrated in a specified motion state;

[0035] A data processing module, configured to determine the type of the device to be calibrated based on the posture information;

[0036] The positioning module is used to set the virtual surgical instrument at a target position in the virtual surgical system based on the type of the instrument to be calibrated.

[0037] In a third aspect, an embodiment of the present invention provides a computer device comprising: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory storing computer instructions, and the processor executing the virtual instrument setting method of the first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0038] In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the virtual instrument setting method of the first aspect or any corresponding embodiment thereof.

[0039] The technical solution of the present invention has the following advantages:

[0040] The present invention provides a virtual instrument setting method. According to the posture information generated by the target sensor under a specified motion state, the virtual surgical system can automatically identify the type of the instrument to be calibrated, and can automatically set the virtual surgical instrument at the target position in the virtual surgical system to achieve the initialization posture positioning of the instrument to be calibrated and the virtual surgical instrument, so as to ensure that the virtual surgical system can accurately track the instrument to be calibrated during subsequent simulation operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 is a flowchart of a virtual instrument setting method according to some embodiments of the present invention;

[0043] Figure 2 is a schematic diagram of the motion state of scissors according to some embodiments of the present invention;

[0044] Figure 3 is a schematic diagram of the motion state of a rigid monomer according to some embodiments of the present invention;

[0045] Figure 4 is a schematic diagram of the motion state of a button according to some embodiments of the present invention;

[0046] Figure 5 is a schematic diagram of the motion state of a trigger according to some embodiments of the present invention;

[0047] Figure 6 is a structural block diagram of an instrument simulation system according to an embodiment of the present invention;

[0048] Figure 7 Schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0049] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0050] In some application scenarios, the virtual surgical system includes a simulation platform and a display platform. When the virtual surgical system adopts a virtual instrument setting method provided in this embodiment, it can automatically identify the real surgical instruments manipulated by the user and set the corresponding virtual surgical instruments on the display platform to achieve the initialization posture positioning of the surgical instruments.

[0051] According to an embodiment of the present invention, an embodiment of a virtual instrument setting method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0052] In this embodiment, a virtual instrument setting method is provided, which can be used in a virtual surgery system. Figure 1 FIG. 1 is a flow chart of a method for setting a virtual instrument according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0053] Step S101: receiving posture information sent by a target sensor, where the target sensor is provided on the device to be calibrated; the posture information is generated by the device to be calibrated in a specified motion state.

[0054] The instrument to be calibrated can be a surgical instrument, including scissors commonly used in surgery, rigid monomers, etc. The target sensor can be set on the corresponding surgical instrument according to the type of instrument to be calibrated. For example, for scissors, the target sensor can be set on the tip of the scissors and near the rotating shaft respectively; for rigid monomers, the target sensor can be set at any position along the length direction of the rigid monomer.

[0055] The virtual surgery system can receive the posture information sent by the target sensor when the instrument to be calibrated is in motion. The posture information may include coordinate information, angle information, distance information, etc. sent by the target sensor.

[0056] Step S102: Determine the type of the device to be calibrated based on the posture information. The types of devices to be calibrated may include scissors, rigid monomers, buttons, and triggers.

[0057] Step S103 : Setting a virtual surgical instrument at a target position in the virtual surgical system based on the type of the instrument to be calibrated.

[0058] After the virtual surgical system determines the type of instrument to be calibrated based on the posture information, the virtual surgical system will automatically generate a virtual surgical instrument that is consistent with the type of instrument to be calibrated at the target position. The target position can be the initial position set in advance in the virtual surgical system, or the position of the instrument to be calibrated mapped to the display platform.

[0059] In this embodiment, based on the posture information generated by the target sensor under the specified motion state, the virtual surgical system can automatically identify the type of the instrument to be calibrated, and can automatically set the virtual surgical instrument at the target position within the virtual surgical system to achieve the initialization posture positioning of the instrument to be calibrated and the virtual surgical instrument, so as to ensure that during subsequent simulation operations, the virtual surgical system can accurately track the instrument to be calibrated.

[0060] In some optional embodiments, when the instrument to be calibrated is a scissors, it can be referred to Figure 2 As shown, the specified motion state is: the scissors switch between the closed state and the open state; when the instrument to be calibrated is a rigid monomer, you can refer to Figure 3 As shown, the specified motion state is: the rigid monomer swings back and forth with one end as the axis; when the device to be calibrated is a button type, you can refer to Figure 4 As shown, the specified motion state is: the button switches between the pressed state and the popped state; when the device to be calibrated is a trigger type, you can refer to Figure 5 As shown, the designated motion state is: the trigger switches between a force-applied state and a released state.

[0061] Among them, the scissors type can be surgical scissors; the rigid monomer type can be an electric hook, a scalpel, etc.; the button type can be a punch, etc.; the trigger type can be a nail gun, etc.

[0062] When the instrument to be calibrated is a pair of scissors, place the scissors flat, close them first, then open them as wide as possible, and repeat this process multiple times. During the movement of the scissors, the target sensor installed on the scissors sends posture information. When the instrument to be calibrated is a rigid monomer, press the top of the rigid monomer against a point, and use the other end to slowly shake it back and forth from left to right, and stay at the maximum amplitude (such as 90° or 180°) for a few seconds on both sides. During the movement of the rigid monomer, the target sensor installed on the rigid monomer sends posture information. When the instrument to be calibrated is a button, press the button repeatedly. During the process of pressing the button, the target sensor sends posture information. When the instrument to be calibrated is a trigger, press the trigger repeatedly. During the process of pressing the trigger, the target sensor sends posture information.

[0063] In this embodiment, by controlling different types of devices to be calibrated to perform different specified motion states, the target sensor sends different posture signals. The self-calibration operations of different types of devices are different. The type of device to be calibrated is judged by the posture signal, and the type of device to be calibrated can be automatically identified without interface operation. It has a high degree of automation and is convenient and efficient.

[0064] In some optional embodiments, the target sensor includes at least one of the following: a positioning sensor, a distance sensor, and a contact sensor.

[0065] Positioning sensors can be magnetic or optical, and correspondingly, magnetic receivers or optical binocular cameras can be used. Distance sensors can be photoelectric or ultrasonic. Contact sensors can be contact switches, which transmit signals when components come into contact under external force. Wireless communication between the positioning sensor and receiver can be used. The receiver can communicate with the PC via serial port, while the distance sensor or contact sensor can communicate with the PC via USB or Bluetooth.

[0066] Magnetic positioning sensors generate a local magnetic field through a magnetic field generator and receiver. The movement of the sensor in the magnetic field causes the magnetic field to change and generates current, which is used to determine the sensor's position in the magnetic field. Optical positioning sensors use infrared markers (such as infrared reflective balls) as sensors and a binocular infrared camera with an infrared emitter as receiver. By using the position of the infrared markers in the left and right camera images of the binocular camera, epipolar constraints are used, combined with internal and external camera parameters, to achieve real-time conversion between image coordinates and spatial coordinates. Optical positioning sensors can also use anisotropic patterns of light-emitting LEDs combined with a visible light binocular camera. By using the position of LEDs of the same color and shape within the field of view of the visible light camera, the sensor's position can be determined using epipolar constraints.

[0067] In this embodiment, the positioning sensor can output spatial coordinates (X, Y, Z) in real time, the distance sensor can output distance L in real time, and the switch sensor can output a trigger signal B. After passing through the data processing module, this module uses a 1000Hz crystal oscillator to provide a clock signal, converting the data format to (X, Y, Z, T), (L, T), and (B, T). All data can be aligned based on the clock signal T. In other words, the positioning sensor can provide the position and posture of the device, while the distance sensor can provide the movement amplitude and status of key parts of the device. All data is uniformly processed and synchronized by the data processing module before being transmitted to the connected simulation system.

[0068] The data processing module performs automatic instrument classification, data smoothing and filtering, and data fusion. The processed data output is a data packet containing the instrument type, position, and status. The data processing module also includes a clock module. When receiving data from both the positioning sensor and the distance sensor, it adds a time stamp to both channels' data packets to ensure precise synchronization during output data processing.

[0069] The data processing module can also automatically determine which sensors are fixed on the same device based on the types of signals transmitted at the same time, so as to uniformly package the data belonging to the same device during data packaging.

[0070] Determining the type of the device to be calibrated based on the posture information includes:

[0071] When the posture information includes the information sent by the positioning sensor and the distance sensor, it is determined that the instrument to be calibrated is a scissors. Figure 2 As shown, the positioning sensor can be placed near the scissors' rotating shaft and the distance sensor on the blade tip. The scissors are then placed flat, first closed, then opened as wide as possible, and repeated multiple times. When the data processing module in the virtual surgery system receives both the distance sensor and the positioning sensor signals, it determines that the instrument to be calibrated is a pair of scissors.

[0072] In the case where the posture information only includes the information sent by the positioning sensor, it is determined that the device to be calibrated is a rigid monomer. Figure 3 As shown, positioning sensors can be placed along the length of the rigid body. The top end of the rigid body is pressed against a point, and the other end is used to slowly shake it back and forth left and right, pausing for a few seconds at the maximum amplitude (e.g., 90° or 180°) on either side. This is repeated multiple times. The data processing module in the virtual surgery system determines that the instrument to be calibrated is a rigid body if it receives only the distance sensor signal.

[0073] In the case where the posture information only includes the information sent by the contact sensor, it is determined that the device to be calibrated is a button type. Figure 4 As shown, a contact sensor can be set in the direction of button pressing (not shown in the figure). Place the button-type instrument flat and keep it still. Press the button repeatedly in the direction of the arrow. When the button is pressed, the contact sensor is triggered to send a signal. If the data processing module in the virtual surgery system only receives the contact sensor signal, it determines that the instrument to be calibrated is a button-type instrument.

[0074] In the case where the posture information only includes the signal sent by the distance sensor, it is determined that the device to be calibrated is a trigger. Figure 5As shown, the distance sensor can be set on the trigger fixing handle and the handle to be pulled. The trigger-type instrument is placed flat, the instrument is kept stationary, and the trigger is repeatedly pulled in the direction of the arrow. When the data processing module in the virtual surgery system only receives the distance sensor signal, it determines that the instrument to be calibrated is a trigger type.

[0075] In this embodiment, the type of the device to be calibrated can be determined by receiving different types of posture signals. Not only is the determination method simple, but the determination efficiency is also high. Automatic identification of the type of device to be calibrated can be achieved without interface operation, which is convenient and efficient.

[0076] In some optional embodiments, the type of the instrument to be calibrated includes size information of the instrument to be calibrated, and the method further includes: determining the relative position between the instrument to be calibrated and the virtual surgical instrument based on the size information and the posture information.

[0077] In this embodiment, dimensional information consistent with the structural parameters of the instrument to be calibrated can be pre-set in the virtual surgical system. After determining the type of the instrument to be calibrated based on the pose information, the dimensional information of the instrument to be calibrated can be directly obtained. Based on the dimensional information and the pose information sent by the target sensor, the relative position between the instrument to be calibrated and the virtual surgical instrument in the virtual surgical system can be further determined, thereby achieving self-calibration of the instrument to be calibrated, that is, positioning the initial pose of the instrument to be calibrated.

[0078] In some optional embodiments, when it is determined that the type of the instrument to be calibrated is scissors, determining the relative position between the instrument to be calibrated and the virtual surgical instrument based on the size information and the posture information includes:

[0079] The posture information includes a first distance signal between the first distance sensor and the first distance receiver sent by a first distance sensor and a first position signal sent by a first positioning sensor, wherein the first distance sensor is arranged on one of the blade tips of the scissors, the first distance receiver is arranged on the other blade tip of the scissors, and the first positioning sensor is arranged on the handle close to the rotating shaft of the scissors;

[0080] The size information includes a first distance value between the scissors tip and the scissors rotation axis and a total length value of the scissors;

[0081] determining, according to the first position signal, a first displacement of the first positioning sensor of the scissors in the specified motion state;

[0082] The relative position between the first positioning sensor and the virtual surgical instrument is determined based on the first distance value, the total length of the scissors, the first distance signal, and the first displacement.

[0083] Specifically, refer to Figure 2 As shown in FIG. During the scissors' movement, the data processing module in the virtual surgery system can determine the distance information d1 between the first distance sensor and the first distance receiver based on the first distance signal. The data processing module can also determine the first displacement d2 of the first positioning sensor based on the first position signal sent by the first positioning sensor.

[0084] Based on the type of instrument to be calibrated, the size information of the instrument to be calibrated can be determined, which may include a first distance value P1 between the tip of the scissors and the rotating shaft of the scissors and a total length value P2 of the scissors. Furthermore, based on the first distance value P1, the total length value P2 of the scissors, the distance information d1, and the first displacement d2, the relative position between the first positioning sensor and the rotating shaft of the instrument to be calibrated can be determined. Because the size information of the instrument to be calibrated is completely consistent with that of the virtual surgical instrument, the position conversion matrix between the first positioning sensor and the rotating shaft of the virtual surgical instrument can be determined, thereby determining the relative position between the instrument to be calibrated and the virtual surgical instrument.

[0085] In this embodiment, when self-calibrating a scissor-like instrument, the position of the scissors' axis center relative to the sensor, as well as the sensor's position on the scissors, is calculated based on the maximum and minimum values ​​collected by the distance sensor and the corresponding displacement of the positioning sensor, combined with the instrument's dimensional information. This allows for initial instrument calibration. The virtual surgical instrument is displayed at the target location, and its position is synchronized with that of the instrument to be calibrated, ensuring that the virtual surgical system can accurately track the instrument to be calibrated during subsequent simulated operations.

[0086] In some optional embodiments, when it is determined that the type of the instrument to be calibrated is a rigid monomer, determining the relative position between the instrument to be calibrated and the virtual surgical instrument based on the size information and the posture information includes:

[0087] The posture information includes a second position signal sent by a second positioning sensor, wherein the second positioning sensor is provided on the rigid monomer;

[0088] The size information includes the total length value of the monomer;

[0089] determining a trajectory length and a second displacement of the rigid monomer according to the second position signal;

[0090] The relative position of the second positioning sensor and the virtual surgical instrument is determined based on the trajectory length, the second displacement, and the total length of the single body.

[0091] Specifically, refer to Figure 3During the movement of the rigid unit, the data processing module in the virtual surgery system can determine the trajectory length d3 and the second displacement d4 of the rigid unit according to the second position signal sent by the second positioning sensor.

[0092] Based on the type of instrument to be calibrated, its dimensional information can be determined, including the total length of the individual unit, P3. Furthermore, based on the trajectory length d3, the second displacement d4, the total length of the individual unit, P3, and the wobble amplitude, the relative position between the second positioning sensor and the tip of the instrument to be calibrated can be determined. Because the dimensional information of the instrument to be calibrated is completely consistent with that of the virtual surgical instrument, a position conversion matrix can be determined between the second positioning sensor and the tip of the virtual surgical instrument, thereby determining the relative position between the instrument to be calibrated and the virtual surgical instrument.

[0093] In this embodiment, when self-calibrating a rigid monomer-type instrument, the position of the sensor on the rigid monomer can be calculated based on the displacement amplitude of the positioning sensor and combined with the size information of the instrument, thereby achieving calibration of the initial instrument posture to ensure that during subsequent simulated operations, the virtual surgical system can accurately track the instrument to be calibrated.

[0094] It should be noted that the first and second in the customized first distance sensor, first positioning sensor, second distance sensor, and second positioning sensor in this embodiment are only used to distinguish the sensors and are not specifically limited.

[0095] In some optional embodiments, positioning sensors are also provided on button-type instruments and trigger-type instruments. After identifying the type of instrument to be calibrated, the relative position relationship between the button-type instrument or trigger-type instrument and the virtual surgical instrument can also be determined based on the position signal sent by the positioning sensor.

[0096] In some optional embodiments, the method further comprises:

[0097] Determining whether the posture information contains abnormal data;

[0098] When it is determined that the posture information contains abnormal data, interpolation calculation is used to replace the abnormal data.

[0099] As mentioned above, the posture information is the information generated by the target sensor when the device to be calibrated is in a specified motion state. The target sensor may include a positioning sensor and a distance sensor.

[0100] The signals sent by the positioning sensor may include three-dimensional coordinate change data. The data processing module can calculate the local curvature and gradient of the motion trajectory curve in real time based on the received coordinate data. If the curvature calculated from the coordinate data contains abnormal maximum points, linear interpolation can be performed to replace them with the positions before and after them. When the coordinates fluctuate within a very small range and exhibit jitter, the mean of the jitter is calculated and output.

[0101] The signal sent by the distance sensor can include distance change data. For abnormal extreme points in the distance change process, linear interpolation can be used to replace them. If the distance fluctuates within a very small range, the value before the fluctuation is output.

[0102] The abnormal data may be coordinate data or distance data that exceeds the fluctuation range.

[0103] When the calculated curvature has an abnormal maximum value, the following interpolation method can be used instead:

[0104] The coordinates of the newly added point are Q1[x1,y1,z1]. The previous points are Q2[x2,y2,z2], Q3[x3,y3,z3], and Q4[x4,y4,z4]. When the Euclidean distance between Q1 and Q2 exceeds the mean of the distances between Q2-Q3 and Q3-Q4, Q1 is considered an outlier.

[0105] Calculate the curvature of the curve based on Q2, Q3, and Q4:

[0106]

[0107] in:

[0108]

[0109]

[0110] The same derivation can be used to obtain the first and second derivatives of y and z.

[0111] According to the curvature consistency principle, for the newly added point Q1, the calculation center is moved from Q3 to Q2, the curvature remains unchanged, and the parameters of Q2 and Q3 are substituted to obtain the new coordinates of Q1.

[0112] When the coordinates fluctuate within a very small range and jitter occurs, the following calculation method is used for output:

[0113] When the curve has 10 consecutive points with stable curvature, calculate the distance between these 10 points, use their mean to perform Gaussian distribution statistics, and take the extreme values ​​at both ends corresponding to 68% of the area under the Gaussian distribution area as the judgment range. The Gaussian distribution function is as follows:

[0114]

[0115] Where σ is the standard deviation, μ is the mean, and x is the spacing between points;

[0116] The corresponding extreme value range is calculated according to A1 (mean ± standard deviation) and A2 (mean ± 3*standard deviation).

[0117] When a point falls within A1, the coordinates of the new point are not recorded, and the calculation is directly based on the last coordinate of the original stable point;

[0118] When the coordinates appear in the range from A1 to A2, start counting 5 consecutive new points. If less than 40% of them fall within A1, the coordinates of the new points are replaced by the mean of the new points and gradually replaced by the actual coordinates;

[0119] When coordinates outside the range of A2 appear, the new point coordinates are directly calculated as the actual coordinates.

[0120] This embodiment also provides an instrument simulation system for implementing the above-mentioned embodiments and preferred implementations. Details already described will not be repeated. As used below, the term "module" may refer to a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementation using hardware, or a combination of software and hardware, is also possible and contemplated.

[0121] This embodiment provides an instrument simulation system, such as Figure 6 Shown, including:

[0122] The receiving module 201 is used to receive the posture information sent by the target sensor, where the target sensor is provided on the device to be calibrated; the posture information is generated by the device to be calibrated in a specified motion state;

[0123] A data processing module 202 is configured to determine the type of the device to be calibrated based on the posture information;

[0124] The positioning module 203 is configured to place the virtual surgical instrument at a target position in the virtual surgical system based on the type of the instrument to be calibrated.

[0125] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0126] The embodiment of the present invention also provides a computer device having the above Figure 6 The instrument simulation system shown.

[0127] See also Figure 7 , Figure 7 is a structural diagram of a computer device provided by an optional embodiment of the present invention, such as Figure 7 As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 7 A processor 10 is taken as an example.

[0128] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0129] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0130] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created based on the use of a computer device for displaying a small program landing page, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0131] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0132] The computer device further includes an input device 30 and an output device 40. The processor 10, the memory 20, the input device 30 and the output device 40 may be connected via a bus or other means. Figure 7 The bus connection is taken as an example.

[0133] The input device 30 can receive input digital or character information and generate key signal input related to user settings and function control of the computer device, such as a touch screen, a keypad, a mouse, a trackpad, a touch pad, an indicator stick, one or more mouse buttons, a trackball, a joystick, etc. The output device 40 can include a display device, an auxiliary lighting device (e.g., an LED), and a tactile feedback device (e.g., a vibration motor). The above-mentioned display device includes but is not limited to a liquid crystal display, a light emitting diode, a display, and a plasma display. In some optional embodiments, the display device can be a touch screen.

[0134] The embodiment of the present invention also provides a computer-readable storage medium. The above-mentioned method according to the embodiment of the present invention can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0135] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A virtual instrument setting method, characterized in that: The method comprises: Receiving posture information sent by a target sensor, wherein the target sensor is provided on the device to be calibrated; the posture information is generated by the device to be calibrated in a specified motion state; the target sensor includes at least one of the following: a positioning sensor, a distance sensor, and a contact sensor; Determining the type of the instrument to be calibrated according to the posture information; wherein the method includes: when the posture information includes information sent by both the positioning sensor and the distance sensor, determining that the instrument to be calibrated is a scissors type; when the posture information includes only information sent by the positioning sensor, determining that the instrument to be calibrated is a rigid monomer type; when the posture information includes only information sent by the contact sensor, determining that the instrument to be calibrated is a button type; when the posture information includes only the signal sent by the distance sensor, determining that the instrument to be calibrated is a trigger type; Based on the type of the instrument to be calibrated, a virtual surgical instrument is set at a target position in the virtual surgical system.

2. The method according to claim 1, characterized in that When the device to be calibrated is a pair of scissors, the specified motion state is: the scissors switch between a closed state and an open state; When the device to be calibrated is a rigid monomer, the specified motion state is: the rigid monomer swings back and forth with one end as the axis; When the device to be calibrated is a button, the specified motion state is: the button switches between a pressed state and a popped-up state; When the device to be calibrated is a trigger, the specified motion state is: the trigger switches between a stressed state and a released state.

3. The method according to claim 1, characterized in that The type of the device to be calibrated includes size information of the device to be calibrated, and the method further includes: Based on the size information and the posture information, the relative position between the instrument to be calibrated and the virtual surgical instrument is determined.

4. The method according to claim 3, characterized in that When it is determined that the type of the instrument to be calibrated is scissors, determining the relative position between the instrument to be calibrated and the virtual surgical instrument based on the size information and the posture information includes: The posture information includes a first distance signal between the first distance sensor and the first distance receiver sent by a first distance sensor and a first position signal sent by a first positioning sensor, wherein the first distance sensor is arranged on one of the blade tips of the scissors, the first distance receiver is arranged on the other blade tip of the scissors, and the first positioning sensor is arranged on the handle close to the rotating shaft of the scissors; The size information includes a first distance value between the scissors tip and the scissors rotation axis and a total length value of the scissors; determining, according to the first position signal, a first displacement of the first positioning sensor of the scissors in the specified motion state; The relative position between the first positioning sensor and the virtual surgical instrument is determined based on the first distance value, the total length of the scissors, the first distance signal, and the first displacement.

5. The method according to claim 3, characterized in that When it is determined that the type of the instrument to be calibrated is a rigid monomer, determining the relative position between the instrument to be calibrated and the virtual surgical instrument based on the size information and the posture information includes: The posture information includes a second position signal sent by a second positioning sensor, wherein the second positioning sensor is provided on the rigid monomer; The size information includes the total length value of the monomer; determining a trajectory length and a second displacement of the rigid monomer according to the second position signal; The relative position of the second positioning sensor and the virtual surgical instrument is determined based on the trajectory length, the second displacement, and the total length of the single body.

6. The method according to claim 2, characterized in that Also includes: Determining whether the posture information contains abnormal data; When it is determined that the posture information contains abnormal data, interpolation calculation is used to replace the abnormal data.

7. An instrument simulation system, characterized in that: The system comprises: A receiving module, configured to receive posture information sent by a target sensor, wherein the target sensor is provided on the device to be calibrated; the posture information is generated by the device to be calibrated in a specified motion state; the target sensor includes at least one of the following: a positioning sensor, a distance sensor, and a contact sensor; a data processing module, configured to determine the type of the device to be calibrated based on the posture information; wherein the module includes: when the posture information includes information sent by both the positioning sensor and the distance sensor, determining that the device to be calibrated is a scissors type; when the posture information includes only information sent by the positioning sensor, determining that the device to be calibrated is a rigid monomer type; when the posture information includes only information sent by the contact sensor, determining that the device to be calibrated is a button type; when the posture information includes only the signal sent by the distance sensor, determining that the device to be calibrated is a trigger type; The positioning module is used to set the virtual surgical instrument at a target position in the virtual surgical system based on the type of the instrument to be calibrated.

8. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the virtual instrument setting method according to any one of claims 1 to 6 by executing the computer instructions.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the virtual instrument setting method according to any one of claims 1 to 6.

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