Intraocular injection simulation equipment and system

Abstract

The invention relates to an intraocular injection operation simulation device and system. The system comprises a man-machine interaction device which is used for collecting and uploading sensor data when a user simulates intraocular injection operation; the first rendering machine is used for receiving the sensor data sent by the man-machine interaction equipment, resolving real-time operation data based on the sensor data, mapping user operation to the virtual three-dimensional eyeball model according to the real-time operation data to obtain first real-time picture data, generating a force feedback signal according to the anatomical tissue where the injection needle is located currently, and transmitting the force feedback signal to the human-machine interaction equipment; the injection simulator is controlled to generate injection resistance of the corresponding anatomical tissue in the real intraocular injection environment; and the second rendering machine is used for reading the real-time operation data from the upper computer, mapping the user operation to the virtual three-dimensional eyeball model based on the real-time operation data to obtain second real-time picture data, and obtaining feedback opinions to guide the user to perform simulated intraocular injection operation in real time. According to the invention, the learning efficiency and the practice effect of intraocular injection operation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical education, and particularly to an intraocular injection simulation device and system. Background Art

[0002] In medical education, intraocular injection is a complex and delicate operation that requires students to master high skills and experience. Traditional training methods mainly rely on actual operations or animal experiments. However, these methods have high costs, limited resources, and ethical issues. Therefore, it is necessary to develop a computer virtual intraocular injection simulation system that can simulate a real intraocular injection environment, provide a safe, efficient, and repeatable practice platform, enable students to practice repeatedly in a safe environment, and provide various teaching guidance and communication methods, thereby improving learning efficiency and practice effects. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intraocular injection simulation device and system that can enable students to practice repeatedly in a safe environment, and provide various teaching guidance and communication methods, thereby improving learning efficiency and practice effects.

[0004] The technical solution adopted by the present invention to solve its technical problems is: providing an intraocular injection operation simulation device, including a rotating base, a robotic arm placed on the rotating base and connected to the rotating base with a first motor as a coupling, and an injection simulator placed at the end of the robotic arm and connected to the robotic arm with a second motor as a coupling; a third motor is fixedly connected to the injection simulator, the third motor is connected to a piston in a syringe barrel through a lead screw, a magnet is placed on the piston, and a Hall sensor is placed at the bottom inside the syringe barrel to detect the actual displacement of the piston, and then calculate the external force applied to the lead screw based on the torque data of the third motor and the actual displacement of the piston.

[0005] Further, the robotic arm includes a first link and a second link, and the two links are connected by a fourth motor to form a pitching structure relative to the rotating base; the second link includes a first rod and a second rod. Among them, one end of the first rod is connected to the first link through a fourth motor, the other end of the first rod is connected to one end of the second rod through a fifth motor, and the other end of the second rod is connected to the injection simulator through a second motor. The fifth motor drives the second rod to rotate coaxially relative to the first rod, driving the injection simulator to perform a rotation operation.

[0006] The present invention also provides an intraocular injection operation simulation system, including:

[0007] A human-computer interaction device, including any of the above-mentioned intraocular injection operation simulation devices, for collecting and uploading sensor data when a user simulates an intraocular injection operation;

[0008] The first rendering machine is used to receive the sensor data sent by the human-computer interaction device, calculate the real-time operation data based on the sensor data, and then map the user operation to the virtual three-dimensional eyeball model according to the real-time operation data to obtain the first real-time picture data. At the same time, it uploads the real-time operation data and the first real-time picture data to the host computer in real time, and generates a force feedback signal according to the anatomical tissue where the injection needle is currently located, and controls the injection simulator to generate the injection resistance of the corresponding anatomical tissue in the real intraocular injection environment. The real-time operation data includes the angle parameter and position coordinate of the injection needle.

[0009] The second rendering machine is used to read the real-time operation data from the host computer, map the user operation to the virtual three-dimensional eyeball model based on the real-time operation data to obtain the second real-time picture data, and obtain feedback to guide the user to perform the simulated intraocular injection operation in real time.

[0010] Further, the sensor data includes the torque data of each motor of the intraocular injection operation simulation device and the detection data of the Hall sensor.

[0011] Further, the first rendering machine is also used to generate an alarm signal according to the minimum distance between the injection needle and the set anatomical structure, and control the human-computer interaction device to issue a vibration warning.

[0012] Further, the first rendering machine is also used to identify the risk area of the injection path in the form of a heat map and prompt the operation deviation through color gradients.

[0013] Further, the first rendering machine is also used to comprehensively evaluate the user operation according to the entry angle, entry depth, operation time and hand jitter amplitude of the needle.

[0014] Further, it further includes a first terminal, which is used to read the first real-time picture data from the host computer, and obtain feedback to guide the user to perform the simulated intraocular injection operation in real time.

[0015] Further, the first rendering machine is also used to send the complete picture data of the simulated intraocular injection operation process to the host computer, and the first terminal is also used to read the complete picture data from the host computer and obtain feedback to evaluate the user's simulated intraocular injection operation.

[0016] Further, it further includes a second terminal, which is used to read the complete picture data of the current user or other users from the host computer, obtain operation experiences and exchange opinions, and send them to the host computer.

[0017] Beneficial effects

[0018] Due to the above technical solutions, compared with the prior art, the present invention has the following advantages and positive effects: By designing a human-computer interaction device based on a force feedback mechanism to simulate the real intraocular injection environment and combining high-precision virtual reality technology, the present invention truly restores the whole process of intraocular injection operation, providing users with an immersive learning experience; Through a real-time feedback mechanism, the present invention can immediately evaluate the operation steps and skills of students, provide targeted improvement suggestions, and support multi-person online collaboration, allowing teachers to remotely guide and multiple students to participate in practice simultaneously, improving teaching efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of an intraocular injection simulation device according to the first embodiment of the present invention;

[0020] Figure 2 is a schematic structural diagram of an injection simulator according to the first embodiment of the present invention;

[0021] Figure 3 is a schematic system architecture diagram according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present invention will be further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the appended claims of this application.

[0023] The first embodiment of the present invention relates to an intraocular injection simulation device for helping users simulate and practice intraocular injection operations. As Figure 1 shown, the device includes a base 1, a robotic arm 4 placed on the base 1 and connected to the base 1 with a first motor 3 as a coupling, and an injection simulator 8 placed at the end of the robotic arm 4 and connected to the robotic arm 4 with a second motor 7 as a coupling.

[0024] Among them, the base 1 is divided into upper and lower parts and is connected to each other by a built-in motor 2. The motor 2 drives the upper part of the base to rotate horizontally, thereby driving the entire manipulator 4 to rotate horizontally. The manipulator 4 includes a first connecting rod and a second connecting rod. The two connecting rods are connected by a fourth motor 5 and form a pitching structure relative to the base 1 in combination with the first motor 3. The second connecting rod of the manipulator 4 is divided into a first branch rod and a second branch rod. Among them, the first branch rod is connected to the first connecting rod by a fourth motor 5, the second branch rod is connected to the injection simulator 8 by a second motor 7, and the two branch rods are connected by a fifth motor 6. The fifth motor 6 drives the second branch rod to rotate relative to the first branch rod, thereby driving the injection simulator 8 to perform a rotation operation. According to the torque data of the motor 2, the first motor 3, the motor 5, the fifth motor 6, and the second motor 7, the tilt angle of the injection simulator 8 and its displacement relative to the base 1 can be calculated in real time. Further combined with virtual reality technology, it is possible to realize the spatial pose mapping of the user's injection operation on the virtual eyeball and simulate a real intraocular injection environment.

[0025] As Figure 2 shown, a Hall sensor 801 is placed at the inner bottom of the syringe of the injection simulator 8, and a magnet is placed on the piston 802 of the injection simulator 8. The piston is connected to the third motor 803 by a lead screw 804. The third motor 803 drives the lead screw to push the piston with a set torque. The Hall sensor detects the actual displacement of the piston. By calculating the deviation between the actual displacement of the piston and the expected displacement of the motor, the injection force of the user can be calculated in real time. In some preferred embodiments, the corresponding torque can be set according to the anatomical structure of the position where the needle is located in the three-dimensional virtual eyeball model, so that the resistance generated by the lead screw can simulate the resistance in a real intraocular injection environment.

[0026] The second embodiment of the present invention relates to an intraocular injection simulation system, as Figure 3 shown, including:

[0027] A human-computer interaction device for collecting and uploading sensor data when the user simulates an intraocular injection operation;

[0028] A first rendering machine for reading sensor data from the host computer, resolving real-time operation data based on the sensor data, and then mapping the user's operation to a virtual three-dimensional eyeball model according to the real-time operation data to obtain first real-time picture data, and uploading the real-time operation data and the first real-time picture data to the host computer in real time. At the same time, a force feedback signal is generated according to the anatomical tissue where the injection needle is currently located, and the injection simulator is controlled to generate the injection resistance of the corresponding anatomical tissue in a real intraocular injection environment. The real-time operation data includes the angle parameters and position coordinates of the injection needle.

[0029] The second rendering machine is used to read real-time operation data from the host computer, map user operations to a virtual three-dimensional eyeball model based on the real-time operation data to obtain second real-time screen data, and obtain feedback opinions to guide the user to perform the simulated intraocular injection operation in real time.

[0030] In some embodiments, the teacher can download the first real-time screen data from the host computer through the terminal and give feedback opinions to guide the user to practice in real time. The teacher can also download the complete screen data of the entire injection operation packaged and uploaded by the first rendering machine from the host computer and evaluate the user's injection operation.

[0031] The student can also read the complete screen data of his own or other users' simulated injection operations from the host computer through the terminal and send the operation experience and communication opinions to the host computer.

[0032] More specifically, the human-computer interaction device includes a VR device and a special syringe-type force feedback handle.

[0033] The structure of the handle is as Figure 1 shown, including a base 1, a robotic arm 4 placed on the base 1 and connected to the base 1 with the first motor 3 as a coupling, and an injection simulator 8 placed at the end of the robotic arm 4 and connected to the robotic arm 4 with the second motor 7 as a coupling.

[0034] Among them, the base 1 is divided into upper and lower parts and is connected to each other by a built-in motor 2. The motor 2 drives the upper part of the base to rotate horizontally, thereby driving the entire robotic arm 4 to rotate horizontally. The robotic arm 4 includes a first connecting rod and a second connecting rod, and the two connecting rods are connected by a fourth motor 5, combined with the first motor 3 to form a pitching structure relative to the base 1. The second connecting rod of the robotic arm 4 is divided into a first branch rod and a second branch rod. Among them, the first branch rod is connected to the first connecting rod by the fourth motor 5, and the second branch rod is connected to the injection simulator 8 by the second motor 7. The two branch rods are connected by a fifth motor 6, and the fifth motor 6 drives the second branch rod to rotate relative to the first branch rod, thereby driving the injection simulator 8 to perform a rotation operation. According to the torque data of the motor 2, the first motor 3, the motor 5, the fifth motor 6 and the second motor 7, the tilt angle of the injection simulator 8 and its displacement relative to the base 1 can be calculated in real time. Further combined with virtual reality technology, the spatial pose mapping of the user's injection operation on the virtual eyeball can be realized, simulating a real intraocular injection environment.

[0035] As Figure 2As shown, a Hall sensor 801 is placed at the inner bottom of the syringe barrel of the injection simulator 8, and a magnet is placed on the piston 802 of the injection simulator 8. The piston is connected to the third electric motor 803 through a lead screw 804. The third electric motor 803 drives the lead screw to push the piston with a set torque. The Hall sensor detects the actual displacement of the piston. By calculating the deviation between the actual displacement of the piston and the expected displacement of the motor, the injection force of the user can be calculated in real time. In some preferred embodiments, the corresponding torque can be set according to the anatomical structure of the position of the needle in the three-dimensional virtual eyeball model, so that the resistance generated by the lead screw can simulate the resistance in the real intraocular injection environment.

[0036] The user verifies their identity based on biometric recognition (such as fingerprint or iris scan) or account password to ensure that only authorized users can access the system, and associates their operation data with their personal learning profile. Steps such as menus and options can be completed using a conventional VR handle, and the simulated injection operation is completed through a dedicated syringe force feedback handle. This device can collect the user's hand movement trajectory, needle angle, operation force, and injection speed in real time.

[0037] The virtual scene mapping module is deployed in two rendering machines. This module uses a physics engine (such as Unity3D or Unreal Engine) to establish a high-precision 3D model of the eyeball, and hierarchically renders anatomical structures such as the cornea, lens, vitreous body, and retina. The VR device realizes spatial coordinate mapping through steamVR, and maps real operations to the virtual scene. The sensor data is transmitted to the first rendering machine via Bluetooth / Wi-Fi, and the real operation is mapped to the virtual scene through a mechanical model. The system can build in various case models to cover different types of intraocular injection scenarios and enhance the students' adaptability.

[0038] The syringe handle performs position calculation through the base positioning device and the servo motor feedback data, and converts it into the needle angle and position in the virtual scene.

[0039] When the needle touches a critical structure (such as the retina), the force feedback handle triggers a vibration warning. Based on advanced 3D graphics rendering technology and a physics engine, it simulates the real eye structure and the intraocular injection operation process. The user can use a virtual syringe to perform injection operations on a virtual eye model through a VR helmet and a supporting force feedback handle.

[0040] In some embodiments, the system can also deploy a real-time feedback module, which can be used for:

[0041] ① Data collection: Record the needle entry angle (θ), depth (D), operation time (T), hand jitter amplitude (Δ), and the minimum distance (d) between the injection path and the blood vessel / retina;

[0042] ②Multi - perspective monitoring: Dynamically preset cameras in the virtual scenario, allowing users to freely switch perspectives (such as cross - section, sagittal plane) to observe the needle trajectory;

[0043] ③Real - time visualization: Display the risk areas (such as areas with dense blood vessels) of the injection path in the form of a heat map, and prompt operation deviations through color gradients.

[0044] An evaluation and guidance module can also be further deployed to evaluate the user's operation in real - time. Specifically, it includes:

[0045] ①Data processing and analysis:

[0046] First, standardize the scoring model, preset the ideal parameter range (such as θ = 25°±3°, D≤4mm, Δ<0.5mm), and calculate the deviation value of each parameter delta = |actual value - standard value|;

[0047] Set the weight distribution (such as 40% for angle, 30% for depth, 20% for jitter, 10% for time), and calculate the comprehensive score S = 100 - Σ i (w i ·delta i );

[0048] ②Intelligent feedback:

[0049] Give improvement suggestions:

[0050] If the entry angle θ exceeds the limit, prompt "The needle angle is too large, it is recommended to adjust to 25°±3°";

[0051] If the minimum distance d < 0.2mm, warn "Approaching the retina, the path needs to be corrected";

[0052] Adaptive selection of difficulty:

[0053] Dynamically adjust the case complexity according to the user's historical score. For example, in the novice mode, reduce the blood vessel density, and in the expert mode, increase the dynamic bleeding simulation;

[0054] Machine learning optimization: Use a convolutional neural network (CNN) to analyze the operation video frames, identify the hand stability and operation fluency, and supplement the scoring dimensions.

[0055] In addition, the system can also deploy a data management module, using a MySQL database to store user operation records, scoring reports, and video replays; support the teacher - side to export data and generate learning curves, marking weak links (such as the frequency of angle control and depth exceeding the limit); the cloud synchronization function allows cross - device retrieval of historical data, facilitating continuous tracking of training effects.

Claims

1. An intraocular injection operation simulation device, characterized in that, It includes a rotating base, a robotic arm placed on the rotating base and connected to the rotating base with a first motor as a coupling, and an injection simulator placed at the end of the robotic arm and connected to the robotic arm with a second motor as a coupling; the injection simulator is fixedly connected with a third motor, the third motor is connected to a piston in a syringe barrel through a lead screw, a magnet is placed on the piston, and a Hall sensor is placed at the bottom inside the syringe barrel to detect the actual displacement of the piston, and further calculate the external force applied to the lead screw based on the torque data of the third motor and the actual displacement of the piston.

2. The intraocular injection operation simulation device according to claim 1, characterized in that The robotic arm includes a first link and a second link, and the two links are connected by a fourth motor to form a pitching structure relative to the rotating base; the second link includes a first rod and a second rod. Among them, one end of the first rod is connected to the first link by a fourth motor, the other end of the first rod is connected to one end of the second rod by a fifth motor, and the other end of the second rod is connected to the injection simulator by a second motor. The fifth motor drives the second rod to rotate coaxially relative to the first rod, driving the injection simulator to perform a rotating operation.

3. An intraocular injection operation simulation system, characterized in that, It includes: A human-computer interaction device, including an intraocular injection operation simulation device as described in any one of claims 1-2, for collecting and uploading sensor data when the user simulates an intraocular injection operation; A first renderer, for receiving the sensor data sent by the human-computer interaction device, calculating real-time operation data based on the sensor data, and then mapping the user operation to a virtual three-dimensional eyeball model according to the real-time operation data to obtain first real-time picture data, and uploading the real-time operation data and the first real-time picture data to the host computer in real time. At the same time, generate a force feedback signal according to the anatomical tissue where the injection needle is currently located, and control the injection simulator to generate the injection resistance of the corresponding anatomical tissue in the real intraocular injection environment. The real-time operation data includes the angle parameter and position coordinates of the injection needle. A second renderer, for reading the real-time operation data from the host computer, mapping the user operation to a virtual three-dimensional eyeball model based on the real-time operation data to obtain second real-time picture data, and obtaining feedback opinions to guide the user to perform the simulated intraocular injection operation in real time.

4. The system according to claim 3, characterized in that, The sensor data includes the torque data of each motor of the intraocular injection operation simulation device and the detection data of the Hall sensor.

5. The system according to claim 3, wherein The first renderer is also used to generate an alarm signal according to the minimum distance between the injection needle and the set anatomical structure to control the human-computer interaction device to issue a vibration warning.

6. The system according to claim 3, wherein The first renderer is also used to mark the risk area of the injection path in the form of a heat map and prompt the operation deviation through color gradients.

7. The system according to claim 3, wherein The first renderer is also used to comprehensively evaluate the user operation according to the entry angle, entry depth, operation time and hand jitter amplitude of the needle.

8. The system according to claim 3, wherein It also includes a first terminal, for reading the first real-time picture data from the host computer, and obtaining feedback opinions to guide the user to perform the simulated intraocular injection operation in real time.

9. The system according to claim 8, wherein The first renderer is also used to send the complete picture data of the simulated intraocular injection operation process to the host computer, and the first terminal is also used to read the complete picture data from the host computer, and obtain feedback opinions to evaluate the user's simulated intraocular injection operation.

10. The system according to claim 9, wherein, It further includes a second terminal, which is used to read the complete screen data of the current user or other users from the host computer, obtain operation experience and exchange opinions, and send them to the host computer.

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