A female pelvic cavity simulation module, a VR simulation training system and method for pelvic cavity examination

Abstract

The application provides a female pelvic cavity simulation module, a VR simulation training system and method for pelvic cavity examination. The VR simulation training system comprises a female pelvic cavity simulation module, a speculum, a gesture tracking device, a mobile locator and VR glasses connected to the mobile locator. The female pelvic cavity simulation module comprises a shell, a suspension assembly, a vaginal simulation assembly, a sensing assembly and a controller. The shell has a receiving cavity. The vaginal simulation assembly is suspended in the receiving cavity through the suspension assembly. The vaginal simulation assembly comprises two simulation bodies arranged in an up-down manner. The simulation bodies are made of soft elastic material. The simulation bodies form a vaginal cavity with an open end when fitted. The sensing assembly is used to detect the moving distance of the two simulation bodies. The controller is electrically connected to the sensing assembly and located above the mobile locator. The application simulates a real clinic environment by using VR. In combination with a virtual character and a user interface, appropriate feedback is given to enhance the students' confidence and adaptability in gynecological examination training.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical training devices, and particularly relates to a female pelvic cavity simulation module, a VR simulation training system and method for pelvic cavity examination. BACKGROUND

[0002] In modern teaching, most medical students usually use a human or gynecological pelvic model for gynecological examination teaching. The examination procedure covers some of the most private internal structures of women's physiology, such as the vagina, the Bartholin's gland, the cervical orifice, etc. The doctor needs to put his hand and a duck-billed speculum and a test swab rod into the vagina. There are mainly two types of female pelvic cavity models on the market. One is a cross-sectional structure, usually used for anatomy or display purposes, and the other is a closed structure, mainly used for training and teaching purposes. The present application belongs to the latter category. Due to the closed structure of the above-mentioned parts, the teacher cannot actually demonstrate the operation method to the students. In addition, the human model is completely different from a real person and cannot give any feedback, so the correctness of the operation cannot be known, and the students cannot be trained to deal with the anxiety and questioning emotions of patients. The above-mentioned traditional gynecological examination teaching characteristics cannot provide observability, immediacy and interactivity for teachers and students.

[0003] In recent years, VR technology has matured, and many medical teaching tools have also tended to use related technology. There are some similar products on the market, such as Koken's VR Vaginal Exam Model II LM-095N, which projects a virtual female pelvic cavity model in a virtual space for display, and the user interacts with the virtual model for interactive training. However, due to the lack of process and environment design, such products cannot reproduce the clinic scene, interact with the patient, obtain patient feedback, etc., affecting the user's immersion and engagement, and the benefits are relatively low. SUMMARY

[0004] The technical purpose of the present application is to provide a female pelvic cavity simulation module, a VR simulation training system and method for pelvic cavity examination. The present application adds a virtual-real synchronous architecture, so that the real examination action can be reflected in the virtual environment synchronously. The VR simulates the real clinic environment, and gives appropriate feedback through the virtual character and the user interface, which can enhance the students' confidence and adaptability in gynecological examination training.

[0005] In order to solve the above technical problems, the present application is implemented as follows: a female pelvic cavity simulation module is provided, which comprises a shell, a suspension assembly, a vaginal simulation assembly, a sensing assembly and a controller, the shell has a receiving cavity, the vaginal simulation assembly is suspended in the receiving cavity through the suspension assembly, the vaginal simulation assembly comprises two simulation bodies arranged in an up-down manner, the simulation bodies are made of soft elastic material, the simulation bodies are fitted to form a vaginal cavity with an open end, the sensing assembly is arranged on the bottom side and the top side of the receiving cavity respectively, the sensing assembly is used for detecting the moving distance of the two simulation bodies, and the controller is electrically connected to the sensing assembly.

[0006] Further, the vaginal simulation assembly further comprises pressure plates fixed to the top side and the bottom side of the two simulation bodies respectively, and a vulva simulation body arranged at the opening side of the vaginal cavity, the vulva simulation body is provided with a simulation mouth facing the opening of the vaginal cavity, and the simulation mouth is provided with an elastic diaphragm.

[0007] Further, the suspension assembly comprises support columns integrally connected to the shell and located at the top and the bottom of the receiving cavity respectively, and elastic members sleeved outside the support columns, the pressure plates are slidingly assembled on the corresponding support columns, and the elastic members abut against the corresponding pressure plates to provide elastic force to the pressure plates.

[0008] Further, the sensing assembly comprises microswitches assembled on the top side and the bottom side of the receiving cavity respectively, the microswitches are located in the orthographic projection of the simulation bodies in the vertical direction, and the microswitches are electrically connected to the controller.

[0009] Further, the sensing assembly further comprises indicator lamps arranged on the top side and the bottom side of the receiving cavity respectively, the indicator lamps are electrically connected to the controller, and when the controller receives the triggering signals of all the microswitches, the controller controls the indicator lamps to be lit.

[0010] Further, a VR simulation training system for pelvic cavity examination is provided, which comprises the female pelvic cavity simulation module according to any one of the above, a speculum, a gesture tracking device, a mobile positioner located directly above the shell and VR glasses connected to the mobile positioner.

[0011] Further, a VR simulation training method for pelvic cavity examination is provided, which comprises the following steps:

[0012] A virtual training environment is established with reference to the female pelvic cavity simulation module;

[0013] In the virtual training environment, a virtual main perspective of the user is created, the hands of the user are corresponded to virtual hands, and the physical speculum is corresponded to a virtual speculum, wherein the positions of the virtual hands and the virtual speculum in the virtual training environment are in real time corresponding to the hands of the user and the physical speculum;

[0014] According to a collision event in the virtual training environment, jumping to a next event corresponding to the current collision event;

[0015] At a preset node within a link of the current collision event, receiving voice input information, and when the voice input information meets rationality requirements, triggering a next task.

[0016] Further, the virtual training environment is established with reference to the female pelvic cavity simulation module, including:

[0017] A clinic room space is established based on a current position of the female pelvic cavity simulation module;

[0018] The following colliders are established in the clinic room space: virtual hands, a virtual patient's body on a seat, a virtual blanket, a virtual alcohol hand sanitizer bottle nozzle, a virtual glove box, virtual labia, a virtual speculum, a virtual lubricating liquid dish, a virtual cervix, a virtual swab rod before sampling, a virtual swab rod after sampling, a virtual container, and a virtual tissue box.

[0019] Further, according to the collision event in the virtual training environment, jumping to a next event corresponding to the current collision event, including:

[0020] When one of the virtual hands performs a grabbing action in an effective collision area of the virtual blanket, the hand holds the virtual blanket; when the virtual blanket is moved to collide with the virtual patient's body on the seat, the blanket covers the virtual patient's body on the seat;

[0021] One of the virtual hands is moved to an effective position of the virtual alcohol hand sanitizer bottle nozzle to complete a disinfecting hands action;

[0022] One of the virtual hands is moved to an effective position of the virtual glove box to complete a wearing gloves action;

[0023] The virtual main perspective is close to an effective area of the virtual labia to complete a checking vulva task;

[0024] One of the virtual hands holds the virtual speculum to move to an effective position of the virtual lubricating liquid dish to complete a lubricating action of the virtual speculum;

[0025] The current hand holding the virtual speculum keeps the holding action, the other hand of the virtual double hands moves to the effective position of the virtual labia, and the action of opening the labia with a single action is completed;

[0026] When the virtual speculum moves to the effective position of the virtual labia, the virtual speculum enters the virtual labia, and when the virtual speculum reaches the preset depth, the task of inserting the speculum is completed;

[0027] Detect the sensing signal of the sensing component, and when the sensing signal meets the first preset requirement, the virtual speculum is separated from the virtual double hands;

[0028] One hand of the virtual double hands moves to the effective position of the virtual swab rod before sampling, holds the object in a holding manner, moves the hand to the effective position of the virtual cervix, and completes the task of placing the swab rod;

[0029] One hand of the virtual double hands moves to the effective position of the virtual swab rod after sampling, holds the object in a holding manner, moves the hand to the effective position of the virtual container, and completes the task of placing the virtual swab rod after sampling;

[0030] Detect the sensing signal of the sensing component, and when the sensing signal meets the second preset requirement, trigger the removal and placement events of the virtual speculum;

[0031] The right hand of the virtual double hands moves to the effective position of the pelvic bone examination, and after receiving the correct hand gesture, the task of pelvic bone examination is completed;

[0032] One hand of the virtual double hands moves to the effective position of the virtual tissue box, holds the object in a holding manner, moves the hand to the effective position of the virtual labia, and completes the examination training.

[0033] Further, the preset node in the current collision event link receives voice input information, including:

[0034] Before one hand of the virtual double hands performs a holding action in the effective collision area of the virtual blanket, a first voice information is received, and the first voice information includes the content of self-introduction to the patient, the examination process, and the confirmation of the patient's discomfort level;

[0035] The current hand holding the virtual speculum keeps the holding action, the other hand of the virtual double hands moves to the effective position of the virtual labia, and the action of opening the labia with a single action is completed, and then a second voice information is received, and the second voice information includes the next examination details;

[0036] When the virtual speculum moves to the effective position of the virtual labia, the virtual patient triggers a resistance feedback, and third voice information is received, the third voice information including soothing content;

[0037] The right hand of the virtual double hands moves to the pelvic bone examination effective position, and after receiving the determination of correct gestures, the pelvic bone examination task is completed, and then fourth voice information is received, the fourth voice information including content of inquiring about the needs of the patient and explaining the examination results.

[0038] Compared with the prior art, the female pelvic cavity simulation module, the VR simulation training system and method for pelvic cavity examination in the application have the beneficial effects that:

[0039] In the scheme, the female pelvic cavity simulation module can realize simulation training of pelvic cavity examination. During training, the vaginal simulation assembly is suspended under the action of the suspension assembly, and the two simulation bodies are attached to form a vaginal cavity with one end open. The speculum can enter from the opening of the vaginal cavity, and then rotate to correspond to the positions of the two simulation bodies. Then, the speculum is opened. At this time, the two simulation bodies will move up and down under pressure. When the two simulation bodies trigger the sensing assembly, it means that the opening degree of the speculum has reached the standard. In addition, the female pelvic cavity simulation module can be combined with a gesture tracking device, a mobile positioner and a VR glasses to make the female pelvic cavity simulation module integrated into a virtual training environment to realize VR simulation training of pelvic cavity examination. The application adds a virtual-real synchronous architecture, so that the real examination action can be reflected in the virtual environment. By using VR to simulate a real clinic environment, and giving appropriate feedback through a virtual character and a user interface, the students' confidence and adaptability in gynecological examination training can be enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 is a longitudinal section schematic view of the principle structure of the female pelvic cavity simulation module in the embodiment of the application;

[0041] Figure 2 is an isometric schematic view of the principle structure of the female pelvic cavity simulation module in the embodiment of the application;

[0042] Figure 3 is a flowchart of the VR simulation training method for pelvic cavity examination in the embodiment of the application.

[0043] BRIEF DESCRIPTION OF DRAWINGS: 1, shell; 2, suspension assembly; 21, support column; 22, elastic member; 3, vaginal simulation assembly; 31, simulation body; 32, pressure plate; 33, vulva simulation body; 4, sensing assembly; 41, microswitch; 42, indicator light; 5, controller. DETAILED DESCRIPTION

[0044] Embodiments of the present application are described below in detail with reference to the accompanying drawings, wherein the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application, and all other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present application without creative labor fall within the scope of protection of the present application.

[0045] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "circumferential", "radial" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or components referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0046] In addition, the terms "first", "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise explicitly specified.

[0047] A VR simulation training system for pelvic examination is provided, comprising a female pelvic simulation module, a speculum, a gesture tracking device, a mobile positioner, and a VR glasses connected to the mobile positioner by a signal.

[0048] Among them, in combination Figure 1 and Figure 2 The female pelvic simulation module comprises a shell 1, a suspension assembly 2, a vaginal simulation assembly 3, a sensing assembly 4, and a controller 5. The shell 1 has a receiving cavity, the vaginal simulation assembly 3 is suspended in the receiving cavity through the suspension assembly, the vaginal simulation assembly 3 comprises two simulation bodies 31 arranged in an upper and lower manner, the simulation body 31 is made of soft elastic material, and the simulation body 31 forms a vaginal cavity with one end open when fitted. The sensing assembly 4 is arranged on the bottom side and the top side of the receiving cavity, respectively, and is used to detect the movement distance of the two simulation bodies 31. The controller 5 is electrically connected to the sensing assembly 4, and the mobile positioner is located directly above the shell 1.

[0049] In the scheme, the female pelvic cavity simulation module can realize the simulation training of pelvic cavity examination. During the training, the vaginal simulation assembly 3 is suspended under the action of the suspension assembly 2, and the two simulation bodies 31 are attached to form a vaginal cavity with an open end. The speculum can enter from the opening of the vaginal cavity, and then rotate to the position corresponding to the two simulation bodies 31. Then, the speculum is opened. At this time, the two simulation bodies 31 move up and down under pressure. When the two simulation bodies 31 trigger the sensing assembly 4, it means that the opening degree of the speculum has reached the standard. In addition, the female pelvic cavity simulation module can be combined with a gesture tracking device, a mobile locator and a VR glasses to make the female pelvic cavity simulation module integrated into a virtual training environment to realize the VR simulation training of pelvic cavity examination. The virtual-real synchronous architecture is added to the application, so that the real examination action can be reflected in the virtual environment. The VR simulation of the real clinic environment, combined with the virtual character and the user interface, can give appropriate feedback to enhance the students' confidence and adaptability in gynecological examination training.

[0050] Specifically, in the embodiment, Unity3D game engine programming is adopted. For the architecture of Unity3D, HTC VIVE VR glasses and Leap Motion sensing device (i.e. gesture tracking device) programming are adopted. The Leap Motion sensing device is an infrared sensor, mainly used for recognizing user gestures, and used as an interactive medium with objects in the virtual scene. The mobile locator is an HTC VIVE mobile locator. On the other hand, the simulation training requires the user to communicate with the virtual patient in the virtual scene by using the built-in microphone of the HTC VIVE VR glasses, so as to realize human-computer interaction. It should be understood that the VR glasses, mobile locator and gesture tracking device can also be selected according to actual conditions, and other brands or types are not limited herein.

[0051] Further, the vaginal simulation assembly 3 further comprises pressure plates 32 fixed to the top side and the bottom side of the two simulation bodies 31 respectively, and a vulva simulation body 33 arranged at the opening side of the vaginal cavity. The vulva simulation body 33 is provided with a simulation mouth facing the opening of the vaginal cavity, and the simulation mouth is provided with an elastic diaphragm. Specifically, the simulation body 31 can be made of silicone or polyurethane sponge. The application adopts polyurethane sponge. The upper and lower joint surfaces of the two simulation bodies 31 are cut to form notches as needed. Therefore, the two simulation bodies 31 form a vaginal cavity after being attached. The side of the two simulation bodies 31 away from the vaginal cavity is fixed to the flat position of the corresponding pressure plate 32 by double-sided adhesive tape or hot melt adhesive. The vulva simulation body 33 faces the opening of the vaginal cavity, and the simulation mouth therein is for the speculum to enter. The elastic diaphragm can be made of silicone material.

[0052] Further, the suspension assembly 2 comprises support columns 21 integrally connected to the shell 1 and located at the top and bottom of the accommodation cavity respectively, and elastic members 22 sleeved outside the support columns 21, and the pressure plates 32 are slidingly assembled on the corresponding support columns 21, and the elastic members 22 abut against the corresponding pressure plates 32 to provide elastic force to the pressure plates 32. Specifically, the shell 1 comprises five plate blocks of left, right, top, bottom and back, which are enclosed to form a cavity, wherein the top plate block and the bottom plate block are respectively provided with four through holes for assembling the four support columns 21, the pressure plates 32 on the top side are slidingly assembled on the four support columns 21 on the top, and the pressure plates 32 on the bottom side are slidingly assembled on the four support columns 21 on the bottom, and one elastic member 22 is sleeved outside each support column 21, and the elastic member 22 is a spring, which is used to provide elastic force to the corresponding pressure plate 32, so as to suspend the two simulation bodies 31 in the accommodation space, and make the two simulation bodies 31 have a tendency to move towards each other, and the external genitalia simulation body 33 is fixedly assembled on the front side of the left plate block and the right plate block.

[0053] Further, the sensing assembly 4 comprises micro switches 41 assembled on the top side and the bottom side of the accommodation cavity respectively, the micro switches 41 are located in the orthographic projection of the simulation bodies 31 in the vertical direction, and the micro switches 41 are electrically connected to the controller 5; the sensing assembly 4 further comprises indicator lights 42 arranged on the top side and the bottom side of the accommodation cavity respectively, and the indicator lights 42 are electrically connected to the controller 5; when the controller 5 receives the triggering signals of all the micro switches 41, the controller 5 controls the indicator lights 42 to light. Specifically, the bottom side of the top plate block and the top side of the bottom plate block are provided with buttons opposite to the simulation bodies 31, the buttons can be micro switches 41, the indicator lights 42 are arranged beside the buttons, the indicator lights 42 are light emitting diodes, the controller 5 is fixed on the back plate block, and the controller 5 is a microcontroller 5 circuit board, which is used for pressure sensing and feedback.

[0054] In the step of training the insertion of the speculum, the user needs to put the speculum through the external genitalia simulation body 33, and judge the depth reached by the speculum through the HTC VIVE mobile locator placed above the top plate block. After the target depth is reached, the user needs to rotate the speculum by 90 degrees and increase the opening angle, and the pressure plates 32 will move towards the switch direction due to the relaxation of the speculum. When the opening amplitude is sufficient, the two buttons on the top and the bottom will be closed, and the light emitting diodes will also be fully lit. This feedback design can more effectively simulate the reality of training, thereby promoting the participation and optimization of the user. Finally, these signals are transmitted and received between the microcontroller 5 circuit board and the Unity3D platform in real time. These transmissions will undergo a series of programming tests and troubleshooting to ensure the consistency of the relative positions and realize the synchronization of virtual and real.

[0055] Further, based on the foregoing VR simulation training system for pelvic examination, combined with Figure 3 , a VR simulation training method for pelvic examination is provided, comprising the following steps:

[0056] S1, taking the female pelvic cavity simulation module as a reference, a virtual training environment is established;

[0057] S2, in the virtual training environment, a virtual main perspective of the user is created, the hands of the user are corresponded to virtual hands, and the entity speculum is corresponded to virtual speculum, wherein the positions of the virtual hands and the virtual speculum in the virtual training environment are in real time corresponding to the hands of the user and the entity speculum;

[0058] S3, according to the collision event in the virtual training environment, jump to the next event corresponding to the current collision event;

[0059] S4, at a preset node in the current collision event link, receive voice input information, when the voice input information meets the rationality requirement, trigger the next task. The user needs to speak standard or similar sentences in the speaking occasion, and the natural language processing in the field of artificial intelligence is used to judge the appropriateness, and the virtual patient feedback instruction is given to trigger the next step. The use of voice interaction and natural language processing can make the user more truly into the role of medical staff, and the true scene ability can train their confidence and adaptability, which is also the unique innovation of the application.

[0060] In the application, by taking the female pelvic cavity simulation module as a reference, a virtual training environment is established around the female pelvic cavity simulation module, a virtual-real synchronous architecture is added, the user's perspective, the user's hands and the entity speculum are corresponded to the virtual speculum, and the positions of the virtual main perspective, the virtual hands and the virtual speculum in the virtual training environment are respectively corresponding to the user's main perspective, the user's hands and the entity speculum in real time. By operating the user's perspective, the user's hands and the entity speculum, the real examination action can be reflected in the virtual environment, the VR simulation of the real clinic environment is used, the virtual role and the user interface are used to give appropriate feedback, which can enhance the students' confidence and adaptability in gynecological examination training. Among them, the user's main perspective corresponds to the VR glasses, and the user's hands and the entity speculum are detected by gesture tracking device to realize real-time correspondence with the virtual hands and the virtual speculum in the virtual training environment.

[0061] Specifically, in this embodiment, a total of 19 parts are included, in the specific operation, the female pelvic cavity simulation module is placed on the table near the edge, the HTC VIVE mobile positioner is placed above the female pelvic cavity simulation module, the user needs to wear the HTC VIVE VR glasses and sit in front of the HTC VIVE mobile positioner for training.

[0062] Among them, the virtual training environment is established by taking the female pelvic cavity simulation module as a reference, including:

[0063] establishing a clinic room space based on the current position of the female pelvic cavity simulation module;

[0064] establishing the following colliders in the clinic room space: virtual hands, virtual patient body on the chair, virtual blanket, virtual alcohol hand sanitizer bottle nozzle, virtual glove box, virtual labia, virtual speculum, virtual lubricant dish, virtual cervix, virtual swab stick before sampling, virtual swab stick after sampling, virtual container, and virtual tissue box, it should be understood that the virtual patient body on the chair corresponds to the position of the female pelvic cavity simulation module, and the movement trajectories of each of the foregoing virtual colliders are limited in the clinic room space.

[0065] In the present scheme, the object taken by the virtual hands through the grabbing action can follow the movement, and if it collides with the corresponding object, it will jump to the next event, otherwise it will automatically return to the original position after the hands are released. Among them, the grabbing action and the moving action of the virtual hands are tracked by the gesture tracking device, and then mapped into virtual hands by the Unity3D game engine, that is, the corresponding action of the virtual hands corresponds to the action of the user's hands.

[0066] The above-mentioned 19 training parts are respectively:

[0067] 1. Introduce yourself to the patient;

[0068] 2. Explain the examination process;

[0069] 3. Confirm the patient's discomfort again;

[0070] In parts 1-3, the first voice information is received through the microphone of the VR glasses, and the first voice information includes the content of self-introduction to the patient, the examination process, and the confirmation of the patient's discomfort, wherein in each training part, whether the received sentence is the same as or similar in meaning to the preset sentence is judged by a natural language processing program, if so, it enters the next training part. In some embodiments, the operation of judging whether the received sentence is the same as or similar in meaning to the preset sentence can also be judged by the instructor, and then manually passed to the next training part, wherein the natural language processing program judgment and the instructor judgment can be set to be switchable to realize the adjustment of the judgment mode on demand.

[0071] 4. Cover the blanket for the patient. In this part, when one of the virtual hands performs a grabbing action in the effective collision area of the virtual blanket, the virtual blanket is taken by the hand; when the virtual blanket is moved to collide with the virtual patient body on the chair, the blanket is covered on the virtual patient body on the chair.

[0072] 5. Disinfecting hands. In this part, one of the virtual hands moves to the effective position of the virtual alcohol hand sanitizer bottle nozzle, and the disinfecting hands action is completed.

[0073] 6. Putting on gloves. One of the virtual hands moves to the effective position of the virtual glove box, and the putting on gloves action is completed.

[0074] 7. Inspecting the patient's vulva. The virtual main view angle is close to the effective area of the virtual labia, and the inspecting the vulva task is completed.

[0075] 8. Adding lubrication to the speculum. One of the virtual hands holds the virtual speculum and moves to the effective position of the virtual lubricating disc, and the virtual speculum lubrication action is completed. It should be understood that at this time the user's hands are also holding the physical speculum.

[0076] 9. Opening the labia with a single action. The hand currently holding the virtual speculum maintains the holding action, and the other virtual hand moves to the effective position of the virtual labia, and the opening the labia with a single action is completed.

[0077] 10. Supplementing the explanation while checking. At this time, the user needs to voice the next checking details through the microphone of the VR glasses, the system receives the second voice information, the second voice information includes the next checking details content input by the user, at this time, the received second voice information is judged by the natural language processing program whether it is the same or similar in meaning to the preset sentence, if so, it enters the next training part. In some embodiments, the operation of judging whether the received second voice information is the same or similar in meaning to the preset sentence can also be judged by the instructor, and then manually enter the next training part, wherein the natural language processing program judgment and the instructor judgment can be set to be switchable to realize the adjustment of the judgment mode on demand.

[0078] 11. Inserting the speculum. When the virtual speculum moves to the effective position of the virtual labia, the virtual patient's resistance feedback is triggered, at this time, the user needs to voice the patient's pacification through the microphone of the VR glasses, the system receives the third voice information, the third voice information includes the pacification content, similarly, the third voice information is judged by the natural language processing program and / or the instructor for its appropriateness, if appropriate, it enters the next step, and continues to put the virtual speculum into the virtual labia, in reality, it is equivalent to putting the physical speculum into the female pelvic cavity simulation module, and limiting its movement trajectory, through the detection of the movement positioner, the actual position of the physical speculum in the real operation can be projected in the corresponding position of the virtual training environment in real time, to judge the depth of the speculum when it is placed into the female pelvic cavity simulation module, when the virtual speculum reaches the preset depth, the collision body of the virtual speculum and the virtual cervix collides, and the inserting the speculum task is completed.

[0079] 12. Adjust the opening and closing of the speculum. The user needs to adjust the opening and closing of the speculum of the physical speculum to move the simulated body 31 in the female pelvic cavity simulation module. The system will detect the sensing signal of the sensing component 4. When both the buttons on the top and bottom plates are closed, that is, when the sensing signal reaches the first preset requirement, it is equivalent to the user completing this action. All light-emitting diodes will light up. The teacher can use this information to guide the students in real time. After the task is completed, the virtual speculum is removed from the virtual hands.

[0080] 13. Insert the swab. Move one of the virtual hands to the valid position of the virtual swab before sampling, grasp the object by grabbing it, and keep the gesture moving to the valid position of the virtual cervix to complete the swab insertion task. Afterwards, a sampling animation of the swab will be played. After the sampling animation is completed, the virtual swab before sampling will become a sampled virtual swab and be displayed in the corresponding position in the virtual training environment.

[0081] 14. Obtain a cervical swab and place it in the container. After the sampling animation is complete, move one of the virtual hands to the valid position of the sampled virtual swab, grasp the object by grabbing it, and keep the gesture moving to the valid position of the virtual container to complete the task of placing the sampled virtual swab.

[0082] 15. Remove the speculum. The system detects the sensing signal of the sensing component 4. The user needs to adjust the opening and closing degree of the speculum of the physical speculum to open all the buttons of the female pelvic simulation module. That is, when the sensing signal reaches the second preset requirement, the virtual speculum removal and placement event is triggered, and the virtual speculum is placed on the table next to it.

[0083] 16. Perform a pelvic examination. Move the right hand in the virtual hands to the effective position for pelvic examination. That is, the user needs to place the right hand into the female pelvic cavity simulation module for pelvic examination. The user's corresponding right hand will be reflected in the virtual training environment. During this process, the teacher can observe and review the correctness of the gesture. After receiving the teacher's judgment that the gesture is correct, the pelvic examination task is completed.

[0084] 17. Ask the patient about their needs and use of tissues.

[0085] 18. Explain the inspection results.

[0086] 19. Training completed.

[0087] In the 17-19 part, the user needs to ask the patient through the microphone, and explain the just examination result, the system receives the fourth voice information, the fourth voice information includes the content of asking the patient needs and explaining the examination result, similarly, the fourth voice information is judged by the natural language processing program and the tutor to determine its appropriateness, if appropriate, the next step is entered; During the user needs to move one of the hands to the effective position of the virtual tissue box at the same time, at this time, one of the virtual hands moves to the effective position of the virtual tissue box to grab the object, and the gesture is kept to the effective position of the virtual labia to make the collision body collide, and the examination training is completed.

[0088] The present application uses VR technology, Leap Motion gesture tracking device, microcontroller 5 electronic components and analog pelvic hardware to form a more effective alternative. Compared with the traditional use of human models for gynecological pelvic examination teaching, the present application mainly improves the following aspects:

[0089] i) Perspective

[0090] Because the pelvic examination is performed in the body, the human model used in traditional teaching is not transparent. The teacher cannot directly demonstrate the actual operation, and the student can only imagine the action and details through the concept proposed by the teacher. Using the VR virtual reality synchronization method to demonstrate, the training operation is demonstrated synchronously in the virtual environment, which eliminates the obstacle of non-transparency, allowing students to learn through real-time observation, and teachers can also point out and evaluate when students perform the examination, thereby improving the teaching efficiency.

[0091] ii) Interactivity

[0092] In real gynecological examination, there are many unexpected situations, such as the patient's emotional tension, the patient's discomfort caused by invasive action instruments, etc. These are problems that cannot be demonstrated by a human model. In contrast, the virtual character in the VR environment can express its emotions, and students are required to complete the instructions as instructed, allowing students to better understand the standard examination procedure and the response method under different conditions, making the teaching more comprehensive.

[0093] iii) Safety

[0094] The virtual scene can avoid the risk of contamination or unhygienic use of instruments, and can also avoid various situations that may be caused by facing real patients, providing a controllable and safe training environment for students.

[0095] The above only describes the preferred embodiments of the present application and does not limit the present application. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A female pelvic cavity simulation module, characterized in that, The device includes a housing, a suspension assembly, a vaginal simulation assembly, a sensing assembly, and a controller. The housing has a receiving cavity, and the vaginal simulation assembly is suspended within the receiving cavity by the suspension assembly. The vaginal simulation assembly includes two simulated bodies arranged vertically, each made of a soft, elastic material. When the simulated bodies are fitted together, they form a vaginal cavity with one open end. The vaginal simulation assembly also includes pressure plates fixed to the top and bottom sides of the two simulated bodies, and an external vulva simulated body disposed on the opening side of the vaginal cavity. The external vulva simulated body has a simulated opening facing the opening of the vaginal cavity, and the simulated opening has an elastic diaphragm. The sensing assembly is disposed on the bottom and top sides of the receiving cavity, and is used to detect the movement distance of the two simulated bodies. The controller is electrically connected to the sensing assembly. The suspension assembly includes support columns integrally connected to the housing and located at the top and bottom of the receiving cavity, and elastic elements sleeved on the support columns. The pressure plates are slidably fitted onto the corresponding support columns, and the elastic elements abut against the corresponding pressure plates to provide elastic force.

2. The female pelvic cavity simulation module according to claim 1, characterized in that, The sensing component includes microswitches respectively mounted on the top and bottom sides of the receiving cavity. The microswitches are located within the vertical orthographic projection of the simulation body and are electrically connected to the controller.

3. The female pelvic cavity simulation module according to claim 2, characterized in that, The sensing component also includes indicator lights respectively disposed on the top and bottom sides of the receiving cavity, and the indicator lights are electrically connected to the controller; when the controller receives the trigger signals of all micro switches, the controller controls the indicator lights to light up.

4. A VR simulation training system for pelvic examination, characterized in that, Includes a female pelvic simulation module as described in any one of claims 1-3, a speculum, a gesture tracking device, a motion locator located directly above the housing, and VR glasses with a signal connected to the motion locator.

5. A VR simulation training method for pelvic examination, characterized in that, Applied to the VR simulation training system as described in claim 4, the VR simulation training method includes the following steps: A virtual training environment was established using a female pelvic cavity simulation module as a reference. In the virtual training environment, a virtual first-person perspective of the user is created, and the user's hands are digitally mapped to virtual hands, and the physical speculum is digitally mapped to the virtual speculum. The positions of the virtual hands and the virtual speculum in the virtual training environment correspond in real time to the positions of the user's hands and the physical speculum. Based on the collision event in the virtual training environment, jump to the next event corresponding to the current collision event; At a preset node within the current collision event phase, voice input information is received. Once the voice input information meets the reasonableness requirements, the next task is triggered.

6. The VR simulation training method for pelvic examination according to claim 5, characterized in that, The virtual training environment established using a female pelvic cavity simulation module as a reference includes: Establish a clinic room space based on the current position of the female pelvic simulation module; The following collision bodies are created within the clinic room space: virtual hands, virtual patient's body on a chair, virtual blanket, virtual hand sanitizer bottle nozzle, virtual glove box, virtual labia, virtual speculum, virtual lubricant tray, virtual cervix, virtual swab before sampling, virtual swab after sampling, virtual container, and virtual tissue box.

7. The VR simulation training method for pelvic examination according to claim 6, characterized in that, The step of jumping to the next event corresponding to the current collision event based on the collision event in the virtual training environment includes: When one of the virtual hands makes a grasping motion within the effective collision area of ​​the virtual blanket, the hand picks up the virtual blanket; when the virtual blanket is moved to collide with the virtual patient's body in the chair, the blanket covers the virtual patient's body in the chair. One of the virtual hands moves to the effective position of the virtual alcohol hand sanitizer bottle nozzle to complete the hand disinfection action; One of the virtual hands moves to the effective position of the virtual glove box to complete the glove-wearing action; The virtual main viewpoint is brought close to the effective area of ​​the virtual labia to complete the vulva examination task; One of the virtual hands grasps the virtual speculum and moves it to the effective position of the virtual lubricant plate, thus completing the lubrication action of the virtual speculum; The hand currently holding the virtual speculum maintains the holding action, while the other hand of the virtual hands moves to the effective position of the virtual labia, completing the action of opening the labia with a single action; When the virtual speculum moves to the effective position of the virtual labia, the virtual speculum enters the virtual labia. When the virtual speculum reaches the preset depth, the insertion of the speculum is completed. The sensing signal of the sensing component is detected, and when the sensing signal reaches a first preset requirement, the virtual speculum is detached from the virtual hands; One of the virtual hands moves to the effective position of the virtual swab before sampling, grasps the object in a grabbing manner, and moves the hand to the effective position of the virtual cervix to complete the task of inserting the swab. One of the virtual hands moves to the effective position of the sampled virtual swab, grasps the object by grabbing it, and moves the hand to the effective position of the virtual container to complete the placement task of the sampled virtual swab. The sensor signal of the sensor component is detected, and when the sensor signal reaches a second preset requirement, the virtual speculum is triggered to be removed and placed. The right hand in the virtual hands moves to the effective position for pelvic examination, and after receiving a correct gesture judgment, the pelvic examination task is completed. One of the virtual hands moves to the effective position of the virtual tissue box to grasp the object, and the hand moves to the effective position of the virtual labia to complete the inspection training.

8. The VR simulation training method for pelvic examination according to claim 7, characterized in that, The preset node within the current collision event phase receives voice input information, including: Before one of the virtual hands makes a grasping motion within the effective collision area of ​​the virtual blanket, it receives first voice information, which includes a self-introduction to the patient, the examination procedure, and confirmation of the patient's discomfort. The hand currently holding the virtual speculum maintains the holding action, and the other hand of the virtual hands moves to the effective position of the virtual labia to complete the action of opening the labia with a single action. After that, the second voice information is received, which includes the following examination details. When the virtual speculum moves to the effective position of the virtual labia, it triggers the virtual patient's resistance feedback and receives third voice information, which includes soothing content; The right hand in the virtual hands moves to the effective position for pelvic examination. After receiving a correct gesture determination, the pelvic examination task is completed. Then, the fourth voice information is received, which includes asking the patient what they need and explaining the examination results.

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