Haptic feedback interaction system, method and device based on body intelligence

Abstract

The invention discloses a haptic feedback interaction method and device based on intelligent body and a storage medium, and the method comprises the steps: determining second real-time data information corresponding to a probe according to first real-time data information, and the second real-time data information comprises a first real-time speed when the probe does not pierce the skin; third real-time data information corresponding to the probe is determined; based on the first real-time data information, the second real-time data information, the third real-time data information and a kinetic model with predetermined parameters, determining first real-time resistance borne by the probe; on the basis of the first real-time resistance and a predetermined stress threshold value, whether the probe pierces the skin or not is judged, and fourth real-time data information corresponding to the probe is determined under the condition that the probe pierces the skin; and based on the fourth real-time data information and a resistance model of predetermined parameters, determining a second real-time resistance borne by the probe.

Description

Technical Field

[0001] The present application relates to the field of embodied intelligence technology, and in particular to a force tactile feedback interaction system, method, and device based on embodied intelligence. Background Art

[0002] To meet the urgent needs of healthcare, education, and safety, and to reduce practical risks for trainees through highly realistic training, improve their skills, and promote the universal access to medical technology, a simulation training system for acupuncture has been invented. Through this highly realistic training system, trainees can practice acupuncture repeatedly in a risk-free environment until they become proficient.

[0003] However, existing simulation training systems for acupuncture (or moxibustion) can only support students' visual training and lack force and tactile feedback, which limits students' sense of reality and operational training effectiveness. For example, because existing simulation training systems for acupuncture (or moxibustion) cannot simulate the force and tactile feedback of the needle penetrating the skin, students can only observe the acupuncture simulation visually and cannot perceive the resistance exerted by the skin on the needle when the needle penetrates the skin through force and tactile feedback. As a result, students lack key experience and are unable to master the skills in actual operation.

[0004] For another example, even if the existing simulation training system for acupuncture (or acupuncture) has force tactile feedback, the resistance encountered by the needle before and after piercing the skin are different, and the existing simulation training system for acupuncture (or acupuncture) does not take into account the impact of the above two different stages (i.e., the stage before the needle penetrates the skin and the stage after the needle penetrates the skin) on the resistance encountered by the needle. Therefore, the above simulation training system cannot accurately feedback the real-time resistance encountered by the needle at each stage, thereby reducing the trainee's experience.

[0005] The simulation training system for acupuncture (or moxibustion) in the above-mentioned prior art does not take into account the impact of the resistance encountered by the needle in the stage before and after the needle penetrates the skin. Therefore, it cannot accurately feedback the real-time resistance encountered by the needle in each stage, thereby reducing the trainee's experience. No effective solution has been proposed so far. Summary of the Invention

[0006] The embodiments of the present disclosure provide a force tactile feedback interaction system, method and device based on embodied intelligence, so as to at least solve the technical problem that the simulation training system for acupuncture (or acupuncture) in the prior art does not take into account the influence of the resistance encountered by the needle in the stage before and after the needle penetrates the skin, and therefore cannot accurately feedback the real-time resistance encountered by the needle in each stage, thereby reducing the trainee's experience.

[0007] According to one aspect of an embodiment of the present disclosure, a force tactile feedback interaction system based on embodied intelligence is provided, comprising: a probe, a display device, and a host, wherein the probe is connected to the host and is used to send first real-time data information to the host, wherein the first real-time data information includes real-time acceleration and real-time posture, the display device is connected to the host and the probe, respectively, and is used to display a working screen of the probe, and further comprising: a force feedback controller connected to the host, wherein the force feedback controller is used to apply resistance to the probe based on real-time resistance information sent by the host, and the host is further configured to perform the following operations: determine second real-time data information corresponding to the probe based on the first real-time data information, wherein the second real-time data information includes a first real-time acceleration when the probe has not yet penetrated the skin, and the second real-time data information includes a second real-time acceleration when the probe has not yet penetrated the skin, and the second real-time data information includes a first ... a real-time speed; determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth when the probe has not yet penetrated the skin; determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a kinetic model with predetermined parameters; judging whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and, if the probe has penetrated the skin, determining fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth when the probe has penetrated the skin; and determining a second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0008] According to another aspect of an embodiment of the present disclosure, a force tactile feedback interaction method based on embodied intelligence is also provided, which is applied to a host, including: determining second real-time data information corresponding to the probe based on first real-time data information, wherein the second real-time data information includes a first real-time speed when the probe has not yet penetrated the skin; determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth when the probe has not yet penetrated the skin; determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information and a dynamic model with predetermined parameters; judging whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and if the probe has penetrated the skin, determining fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth when the probe penetrates the skin; and determining a second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0009] According to another aspect of an embodiment of the present disclosure, a storage medium is further provided, the storage medium including a stored program, wherein when the program is run, a processor executes any one of the above methods.

[0010] According to another aspect of an embodiment of the present disclosure, a force tactile feedback interaction device based on embodied intelligence is also provided, including: a second real-time data information determination module, used to determine second real-time data information corresponding to the probe based on the first real-time data information, wherein the second real-time data information includes a first real-time speed of the probe before it penetrates the skin; a third real-time data information determination module, used to determine third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth of the probe before it penetrates the skin; a first real-time resistance determination module, used to determine the first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information and a dynamic model with predetermined parameters; a fourth real-time data information determination module, used to determine whether the probe penetrates the skin based on the first real-time resistance and a predetermined stress threshold, and if the probe penetrates the skin, determine fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth when the probe penetrates the skin; and a second real-time resistance determination module, used to determine the second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0011] According to another aspect of an embodiment of the present disclosure, a force tactile feedback interaction device based on embodied intelligence is also provided, including: a processor; and a memory connected to the processor, for providing the processor with instructions for processing the following processing steps: determining second real-time data information corresponding to the probe based on first real-time data information, wherein the second real-time data information includes a first real-time speed when the probe has not yet penetrated the skin; determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth when the probe has not yet penetrated the skin; determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information and a dynamic model with predetermined parameters; judging whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and if the probe has penetrated the skin, determining fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth when the probe penetrated the skin; and determining a second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0012] The present application discloses a force tactile feedback interaction system based on embodied intelligence. And the host configuration in the system is used to perform the following operations: First, the host determines the second real-time data information corresponding to the probe based on the first real-time data information. Then, the host determines the third real-time data information corresponding to the probe. Furthermore, the host determines the first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information and a dynamic model with predetermined parameters. Thereafter, the host determines whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and determines the fourth real-time data information corresponding to the probe if the probe has penetrated the skin. Finally, the host determines the second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0013] As can be seen from the above, the force tactile feedback interaction system provided by the present application includes a force feedback controller and a host. And the host divides the stage of calculating the real-time resistance into two stages, namely the stage when the probe has not yet penetrated the skin and the stage when it has penetrated the skin. And because the skin containing various hierarchical structures conforms to the dynamic model when the probe has not yet penetrated the skin, the real-time resistance of the probe in the stage when it has not yet penetrated the skin can be determined based on the dynamic model with predetermined parameters and the first real-time data information, the second real-time data information and the third real-time data information. And because when the probe has penetrated the skin, the probe is only subjected to the resistance exerted by the corresponding hierarchical structure, the real-time resistance of the probe in the stage when it has penetrated the skin can be determined based on the resistance model with predetermined parameters and the fourth real-time data information.

[0014] Unlike existing simulation training systems for acupuncture, the simulation training system provided by this application takes into account the different effects of resistance on the needle before and after the needle penetrates the skin, and determines the real-time resistance experienced by the needle at different stages. This allows for accurate feedback on the real-time resistance experienced by the needle at these two different stages, thereby enhancing the trainee's experience.

[0015] This solves the technical problem that the simulation training system for acupuncture (or moxibustion) in the prior art does not take into account the influence of the resistance encountered by the needle in the stage before and after the needle penetrates the skin, and therefore cannot accurately feedback the real-time resistance encountered by the needle in each stage, thereby reducing the trainee's experience.

[0016] In addition, the force tactile feedback interaction system provided in this application can not only support students in visual training, but also enable students to perceive the resistance exerted by the skin on the needle before and after the needle penetrates the skin through force tactile feedback, thereby increasing the sense of reality during students' simulation training and improving the training effect of students. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of this application. The illustrative embodiments of the present disclosure and their descriptions are used to explain the present disclosure and do not constitute an improper limitation of the present disclosure. In the drawings:

[0018] Figure 1 is a hardware structure block diagram of a computing device for implementing the method according to embodiment 1 of the present application;

[0019] Figures 2A to 2C is a schematic diagram of a force tactile feedback interaction device based on embodied intelligence according to Example 1 of the present application;

[0020] Figure 3 is a schematic diagram of a force feedback controller and a handle according to Example 1 of the present application;

[0021] Figure 4 is a schematic diagram of a force tactile feedback interaction system based on embodied intelligence according to Example 1 of the present application;

[0022] Figure 5 is a flowchart of the force tactile feedback interaction method based on embodied intelligence according to Example 1 of the present application;

[0023] Figure 6 Schematic diagram of the probe according to Example 1 of the present application performing simulation training on simulated skin;

[0024] Figure 7is a schematic diagram of a force tactile feedback interaction device based on embodied intelligence according to Example 2 of the present application; and

[0025] Figure 8 This is a schematic diagram of the force tactile feedback interaction device based on embodied intelligence described in Example 3 of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present disclosure.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] Example 1

[0029] According to this embodiment, a method embodiment of force tactile feedback interaction based on embodied intelligence 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.

[0030] The method embodiment provided in this embodiment can be executed in a mobile terminal, a computer terminal, a server or a similar computing device. Figure 1 FIG1 shows a hardware structure block diagram of a computing device for implementing a force tactile feedback interaction method based on embodied intelligence. Figure 1As shown, the computing device may include one or more processors (the processor may include but is not limited to a microprocessor MCU or a programmable logic device FPGA, etc.), a memory for storing data, a transmission device for communication functions, and an input / output interface. The memory, transmission device, and input / output interface are connected to the processor via a bus. In addition, it may also include: a display, a keyboard, and a cursor control device connected to the input / output interface. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0031] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be incorporated in whole or in part into any of the other components of the computing device. As described in the embodiments of the present disclosure, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0032] The memory can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the force tactile feedback interaction method based on embodied intelligence in the embodiment of the present disclosure. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, the memory of the force tactile feedback interaction method based on embodied intelligence that implements the above-mentioned application may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely located relative to the processor, and these remote memories may be connected to the computing device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, corporate intranet, local area network, mobile communication network, and combinations thereof.

[0033] The transmission device is used to receive or send data via a network. Specific examples of the aforementioned network may include a wireless network provided by a communications provider of the computing device. In one embodiment, the transmission device includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission device may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0034] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computing device.

[0035] It should be noted that, in some optional embodiments, the above Figure 1 The computing device shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of both hardware and software elements. Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computing device described above.

[0036] Figures 2A to 2C 2 is a schematic diagram of a force tactile feedback interaction device based on embodied intelligence according to the present embodiment. Referring to FIG2 , the device includes: a probe 200 disposed in a handle 100, a display device 300, a force feedback controller 400, and a support platform 600 provided with a host 500. The handle 100 provided with the probe 200 is mounted on the force feedback controller 400, and the trainee can cause the probe 200 to move by holding the handle 100. The force feedback controller 400 is provided on the support platform 600. The support platform 600 is also provided with a display device 300, so that the trainee can view the image before the probe 200 penetrates the skin, the image after the probe 200 penetrates the skin, and related data information through the display device 300. The related data information, for example, includes first real-time data information, second real-time data information, third real-time data information, fourth real-time data information, first real-time resistance information, and second real-time resistance information.

[0037] Figure 3 Schematic diagram of a force feedback controller and a handle according to an embodiment of the present application. Figure 3As shown, the force feedback controller 400 is mounted on the handle 100, which has a slot defined therein. When the trainee is not using the device, the probe 200 is located within the slot. When the trainee is using the device, the trainee presses a button on the side of the handle 100, causing the probe 200 to pop out of the slot.

[0038] Figure 4 Schematic diagram of a force tactile feedback interaction system based on embodied intelligence according to an embodiment of the present application. Figure 4 As shown, the system includes: probe 200, display device 300, main frame 500 and force feedback controller 400. Wherein, accelerometer 210 and gyroscope 220 are installed in probe 200, accelerometer 210 is used to measure the real-time acceleration of probe 200, and gyroscope 220 is used to measure the real-time attitude of probe 200. Thus when probe 200 is connected with main frame 500, probe 200 can send the first real-time data information (that is, the real-time acceleration and real-time attitude of probe) to main frame 500. Display device 300 is connected with main frame 500, for displaying the picture (picture before probe 200 pierces skin and picture after probe 200 pierces skin) that probe 200 works, first real-time data information, second real-time data information, third real-time data information, fourth real-time data information and the first real-time resistance and the second real-time resistance that probe 200 is subjected to. Wherein, display device 300 in the present application is such as capable of holographic projection. The host 500 is connected to the force feedback controller 400 and is used to send real-time resistance information (ie, the first real-time resistance or the second real-time resistance) applied to the probe 200 to the force feedback controller 400. The force feedback controller 400 is used to apply real-time resistance to the probe 200 based on the resistance information.

[0039] Therefore, when using the system, the trainee can not only watch the image before or after the probe 200 penetrates the skin displayed on the display device 300 , but also feel the real-time resistance encountered by the probe 200 .

[0040] It should be noted that the host 500 in the system can be adapted to the hardware structure described above.

[0041] In the above operating environment, according to the first aspect of this embodiment, a force tactile feedback interaction method based on embodied intelligence is provided. The method is composed of Figure 4 The host implementation shown in . Figure 5 A schematic diagram showing the process of the method is shown in FIG. Figure 5 As shown, the method includes:

[0042] S502: Determining second real-time data information corresponding to the probe based on the first real-time data information, wherein the second real-time data information includes a first real-time speed of the probe before it penetrates the skin;

[0043] S504: Determine third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth of the probe before it penetrates the skin;

[0044] S506: Determine a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a dynamic model with predetermined parameters;

[0045] S508: Determine whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and if the probe has penetrated the skin, determine fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth when the probe penetrates the skin; and

[0046] S510: Determine a second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0047] Specifically, refer to Figure 1 , Figure 2 and Figure 3 As shown, first, when the operator holds the handle 100 with the probe 200 to simulate acupuncture, the accelerometer 210 in the probe 200 obtains the acceleration of the probe 200 during movement in real time, and the gyroscope 220 in the probe 200 obtains the posture of the probe 200 during movement in real time, so that the host 500 can obtain the real-time acceleration and real-time posture corresponding to the probe 200 (i.e., the first real-time data information).

[0048] Thus, first, when the host obtains the first real-time data information corresponding to the probe 200, it determines the second real-time data information corresponding to the probe 200 based on the first real-time data information of the probe 200 (S502). The second real-time data information includes the first real-time speed of the probe 200 before it penetrates the skin.

[0049] For example, when the host 500 determines the real-time acceleration corresponding to the probe 200, the first real-time velocity of the probe 200 before it penetrates the skin can be determined based on the real-time acceleration. The specific formula is as follows:

[0050] v1=v0+∫a(t)dt

[0051] Wherein, v1 represents the first real-time velocity of the probe 200, a(t) represents the real-time acceleration of the probe 200, and v0 represents the initial velocity of the probe 200. In this embodiment, the initial velocity of the probe 200 is 0.

[0052] Then, when the host 500 determines the second real-time data information corresponding to the probe 200, it further determines the third real-time data information corresponding to the probe 200 (S504). The third real-time data information includes the first real-time depth when the probe 200 has not yet penetrated the skin.

[0053] Specifically, since the probe 200 does not necessarily penetrate the skin vertically during the simulation training, but more often penetrates the skin at a certain tilt angle, the real-time displacement of the probe 200 is not necessarily equal to the first real-time depth of the probe 200 penetrating the skin.

[0054] Thus, the host 500 obtains the real-time angular velocity of the probe 200 measured by the gyroscope 220 and the real-time acceleration measured by the accelerometer 210 to determine the real-time position of the probe 200. When the host 500 determines the real-time position of the probe 200 inserted into the skin, the real-time depth of the probe 200 inserted into the skin can be determined. For example, Figure 6 Schematic diagram of the probe according to the embodiment of the present application performing simulation training on simulated skin. Figure 6 As shown, the skin is divided into the epidermis, dermis, and subcutaneous tissue layers. When the probe 200 has not yet penetrated the skin, the host 500 constructs a spatial coordinate system with the point where the probe 200 contacts the upper surface of the epidermis as the origin, the upper surface of the epidermis as the x-axis, the axis perpendicular to the epidermis as the y-axis, and the direction of movement of the probe 200 as the z-axis.

[0055] Thus, when the host 500 obtains the real-time angular velocity of the probe 200 measured by the gyroscope 220 and the real-time acceleration measured by the accelerometer 210, the real-time position information (x, y, z) of the probe 200 can be calculated using, for example, a navigation algorithm. Furthermore, when the host 500 determines the real-time position information (x, y, z) of the probe 200, y is used as the first real-time depth before the probe 200 penetrates the skin.

[0056] Furthermore, the host 500 determines the first real-time resistance experienced by the probe 200 based on the first real-time data information, the second real-time data information, the third real-time data information and the dynamic model of the predetermined parameters (S506). Specifically, since the skin includes multiple hierarchical structures (refer to Figure 6 As shown, for example, it includes epidermis, dermis and subcutaneous tissue), and the elastic modulus corresponding to the hierarchical structure of different thickness combinations is different. Therefore, when determining the hierarchical structure information corresponding to the simulated skin, the first elastic modulus corresponding to the hierarchical structure information of the simulated skin can be determined. For example, in one thickness combination, the thickness of the epidermis is The thickness of the leather is The thickness of subcutaneous tissue is And the elastic modulus corresponding to this thickness combination is In another thickness combination, the thickness of the skin is The thickness of the leather is The thickness of subcutaneous tissue is And the elastic modulus corresponding to this thickness combination is Therefore, the hierarchical structure information of the simulated skin including the thickness of the epidermis is determined to be The thickness of the leather is The thickness of subcutaneous tissue is In the case of , the first elastic modulus corresponding to the hierarchical structure information of the simulated skin is determined to be

[0057] Similarly, since the skin consists of multiple hierarchical structures (refer to Figure 6 As shown, for example, it includes epidermis, dermis and subcutaneous tissue), and the damping corresponding to the hierarchical structure of different thickness combinations is different. Therefore, when the hierarchical structure information corresponding to the simulated skin is determined, the first damping corresponding to the hierarchical structure information of the simulated skin can be determined. For example, in one thickness combination, the thickness of the epidermis is The thickness of the leather is The thickness of subcutaneous tissue is And the damping corresponding to this thickness combination is In another thickness combination, the thickness of the skin is The thickness of the leather is The thickness of subcutaneous tissue is And the damping corresponding to this thickness combination is Therefore, the target hierarchical structure information of the actual simulated skin including the thickness of the epidermis is determined to be The thickness of the leather is The thickness of subcutaneous tissue is In the case of , the first damping corresponding to the target hierarchical structure information is determined to be

[0058] In addition, since the density corresponding to each hierarchical structure of the skin is determined, as long as the volume of a sphere with a unit radius and the probe 200 as the center is determined, the first mass corresponding to the hierarchical structure information of the simulated skin can be determined based on the determined density and volume.

[0059] After determining the first elastic modulus, first damping, and first mass corresponding to the hierarchical structure information of the simulated skin, the first real-time resistance force applied to the probe can be determined based on the product of the first real-time depth and the first elastic modulus, the product of the first real-time velocity and the first damping, and the product of the real-time acceleration and the first mass. This will be described in detail later and will not be repeated here.

[0060] Furthermore, the host 500 determines whether the probe 200 has penetrated the skin based on the first real-time resistance and a predetermined stress threshold. The stress thresholds corresponding to hierarchical structures with different thickness combinations are different, and the stress thresholds corresponding to hierarchical structures with different thickness combinations can be predetermined, for example.

[0061] Table 1 shows the stress thresholds corresponding to the layered structures with different thickness combinations.

[0062] Table 1

[0063]

[0064] Thus, when the host 500 determines the hierarchical structure information of the skin to be simulated, the stress threshold corresponding to the hierarchical structure of the simulated skin can be determined based on the hierarchical structure information and the stress thresholds corresponding to the hierarchical structures of different thickness combinations (i.e., Table 1). For example, the host 500 determines that the hierarchical structure information corresponding to the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is In the case of , the stress threshold corresponding to the simulated skin can be determined as

[0065] Thus, after determining the stress threshold corresponding to the simulated skin, host 500 determines the relationship between the first real-time resistance and the stress threshold to determine whether probe 200 has penetrated the skin. Specifically, if the first real-time resistance is greater than the stress threshold, probe 200 has penetrated the skin; if the first real-time resistance is less than or equal to the stress threshold, probe 200 has not yet penetrated the skin.

[0066] When the probe 200 penetrates the skin, the host 500 further determines fourth real-time data information corresponding to the probe 200 (S508). The fourth real-time data information includes a second real-time speed and a second real-time depth when the probe 200 penetrates the skin.

[0067] Finally, the host 500 determines the second real-time resistance experienced by the probe 200 based on the fourth real-time data information and the resistance model with predetermined parameters (S510). Specifically, since when the probe 200 penetrates the skin, the probe 200 is only subjected to the resistance of the hierarchical structure corresponding to the penetration position. Therefore, after determining the third damping corresponding to the penetration position of the probe, the second real-time resistance experienced by the probe can be determined according to the resistance model. The specific calculation formula of the resistance model is as follows:

[0068] f2=C3×v2

[0069] Wherein, f2 represents the second real-time resistance encountered by the probe 200 at the insertion position, C3 represents the third damping corresponding to the probe 200 at the insertion position, and v2 represents the second real-time speed of the probe 200.

[0070] The steps of determining the hierarchical structure corresponding to the insertion position of the probe 200 and determining the third damping corresponding to the hierarchical structure of the insertion position will be described in detail later, and therefore will not be repeated here.

[0071] Thus, through the above method, the present application can determine the first real-time resistance encountered by the probe 200 when the probe 200 has not yet penetrated the skin and the second real-time resistance encountered by the probe 200 when the probe 200 has penetrated the skin.

[0072] As described in the background technology, the existing simulation training system for acupuncture (or acupuncture) has force tactile feedback, but since the resistance encountered by the needle before and after piercing the skin are different, the existing simulation training system for acupuncture (or acupuncture) does not take into account the impact of the above two different stages (i.e., the stage before the needle penetrates the skin and the stage after the needle penetrates the skin) on the resistance encountered by the needle. Therefore, the above simulation training system cannot accurately feedback the real-time resistance encountered by the needle at each stage, thereby reducing the trainee's experience.

[0073] In view of this, the present application provides a force tactile feedback interaction system based on embodied intelligence. And force tactile feedback interaction based on embodied intelligence. And the host divides the stage of calculating real-time resistance into two stages, namely the stage when the probe has not yet penetrated the skin and the stage when it has penetrated the skin. And because the skin containing various hierarchical structures conforms to the dynamic model when the probe has not yet penetrated the skin, the real-time resistance of the probe in the stage when it has not yet penetrated the skin can be determined based on the dynamic model with predetermined parameters and the first real-time data information, the second real-time data information and the third real-time data information. And because when the probe has penetrated the skin, the probe is only subject to the resistance exerted by the corresponding hierarchical structure, the real-time resistance of the probe in the stage when it has penetrated the skin can be determined based on the resistance model with predetermined parameters and the fourth real-time data information.

[0074] Unlike existing simulation training systems for acupuncture, the simulation training system provided by this application takes into account the different effects of resistance on the needle before and after the needle penetrates the skin, and determines the real-time resistance experienced by the needle at different stages. This allows for accurate feedback on the real-time resistance experienced by the needle at these two different stages, thereby enhancing the trainee's experience.

[0075] This solves the technical problem that the simulation training system for acupuncture (or moxibustion) in the prior art does not take into account the influence of the resistance encountered by the needle in the stage before and after the needle penetrates the skin, and therefore cannot accurately feedback the real-time resistance encountered by the needle in each stage, thereby reducing the trainee's experience.

[0076] In addition, the force tactile feedback interaction system provided in this application can not only support students in visual training, but also enable students to perceive the resistance exerted by the skin on the needle before and after the needle penetrates the skin through force tactile feedback, thereby increasing the sense of reality during students' simulation training and improving the training effect of students.

[0077] Optionally, the operation of determining the first real-time resistance encountered by the probe based on the first real-time data information, the second real-time data information, the third real-time data information and a dynamic model with predetermined parameters includes: predetermining hierarchical structure information corresponding to the simulated skin, and determining the first elastic modulus, first damping and first mass of the dynamic model based on the hierarchical structure information, wherein the hierarchical structure information includes various hierarchical structures of the skin and the simulated thickness corresponding to each hierarchical structure; and determining the first real-time resistance encountered by the probe based on the product of the first real-time depth and the first elastic modulus, the product of the first real-time velocity and the first damping, and the product of the real-time acceleration and the first mass. Further optionally, based on the product of the first real-time depth and the first elastic modulus, the product of the first real-time velocity and the damping, and the product of the real-time acceleration and the mass, the operation of determining the first real-time resistance applied to the probe includes: x1K1+v1C1+a1M1=f1, wherein x1 represents the first real-time depth of the probe, K1 represents the first elastic modulus corresponding to the first real-time depth, v1 represents the first real-time velocity of the probe, C1 represents the first damping, a1 represents the real-time acceleration of the probe, M1 represents the first mass, and f1 represents the first real-time resistance.

[0078] Specifically, the host 500 predetermines the hierarchical structure information of the simulated skin. The hierarchical structure information of the simulated skin includes the various hierarchical structures of the skin and the simulated thickness corresponding to each hierarchical structure. For example, the hierarchical structure information of the simulated skin includes the thickness of the epidermis being The thickness of the leather is The thickness of subcutaneous tissue is

[0079] Then, the host 500 determines a first elastic modulus corresponding to the hierarchical structure of the simulated skin based on the hierarchical structure information of the simulated skin and the elastic moduli corresponding to the hierarchical structures of the different thickness combinations.

[0080] Table 2 shows the elastic moduli corresponding to the layered structures of different thickness combinations.

[0081] Table 2

[0082]

[0083] Referring to Table 2, for example, the host 500 determines that the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is Then the first elastic modulus corresponding to the simulated skin is

[0084] In addition, the above-mentioned method of determining the first elastic modulus only exists when the hierarchical structure information of the simulated skin can be determined from the above-mentioned Table 2. When the hierarchical structure information of the simulated skin cannot be determined from the above-mentioned Table 2, the first elastic modulus corresponding to the simulated skin can be determined by weighted summation.

[0085] For example, the host 500 determines that the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is The host 500 needs to determine the first elastic modulus based on the following steps.

[0086] First, the host 500 determines the thickness of the epidermis The ratio of the total thickness of the multiple layer structures in thickness combination 1:

[0087]

[0088] in, Indicates thickness The weight ratio of the skin to the total thickness of all hierarchical structures in thickness combination 1, Indicates the thickness of the epidermis, Indicates the sum of the thicknesses of the epidermis, dermis, and subcutaneous tissue in thickness combination 1.

[0089] Then, the host 500 determines the thickness of The elastic modulus of the skin is:

[0090]

[0091] in, Indicates thickness The weight ratio of the skin to the total thickness of all hierarchical structures in thickness combination 1, Indicates that the thickness is combined with 1 (i.e., the thickness is The epidermis, thickness The leather and thickness are The elastic modulus of the subcutaneous tissue) Indicates that the thickness is The elastic modulus of the skin.

[0092] Similarly, the host 500 can determine that in thickness combination 2 (ie, the thickness of the skin is The thickness of the leather is The thickness of the subcutaneous tissue is ), with a thickness of The elastic modulus of the leather

[0093] Similarly, the host 500 can determine that in thickness combination 3 (ie, the thickness of the skin is The thickness of the leather is The thickness of the subcutaneous tissue is ), with a thickness of The elastic modulus of the subcutaneous tissue

[0094] Thus, the elastic modulus corresponding to the epidermis is determined in the host 500 Elastic modulus corresponding to genuine leather and the elastic modulus corresponding to the subcutaneous tissue In the case of , the first elastic modulus corresponding to the simulated skin can be determined as the elastic modulus elastic modulus and elastic modulus The harmony.

[0095] Thereafter, the host 500 determines a first damping corresponding to the hierarchical structure of the simulated skin based on the hierarchical structure information of the simulated skin and the damping corresponding to the hierarchical structures of different thickness combinations.

[0096] Table 3 shows the damping corresponding to the layer structures with different thickness combinations.

[0097] Table 3

[0098]

[0099] Referring to Table 3, for example, the host 500 determines that the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is Then the first damping corresponding to the simulated skin is

[0100] In addition, the above method of determining the first damping only exists when the hierarchical structure information of the simulated skin can be determined from the above Table 3. When the hierarchical structure information of the simulated skin cannot be determined from the above Table 3, the first damping corresponding to the simulated skin can be determined by weighted summation.

[0101] For example, the host 500 determines that the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is The host 500 needs to determine the first damping based on the following steps.

[0102] First, the host 500 determines the thickness of the epidermis The ratio of the total thickness of the multiple layer structures in thickness combination 1:

[0103]

[0104] in, Indicates thickness The weight ratio of the skin to the total thickness of all hierarchical structures in thickness combination 1, Indicates the thickness of the epidermis, Indicates the sum of the thicknesses of the epidermis, dermis, and subcutaneous tissue in thickness combination 1.

[0105] Then, the host 500 determines the thickness of The damping corresponding to the skin is:

[0106]

[0107] in, Indicates thickness The weight ratio of the skin to the total thickness of all hierarchical structures in thickness combination 1, Indicates that the thickness is combined with 1 (i.e., the thickness is The epidermis, thickness The leather and thickness are subcutaneous tissue) corresponds to the damping Indicates that the thickness is The damping corresponding to the skin.

[0108] Similarly, the host 500 can determine that in thickness combination 2 (ie, the thickness of the skin is The thickness of the leather is The thickness of the subcutaneous tissue is ), with a thickness of The corresponding damping of leather

[0109] Similarly, the host 500 can determine that in thickness combination 3 (ie, the thickness of the skin is The thickness of the leather is The thickness of the subcutaneous tissue is ), with a thickness of The damping of the subcutaneous tissue

[0110] Thus, the host 500 determines the damping corresponding to the skin Damping corresponding to leather and the damping corresponding to the subcutaneous tissue In the case of , the first damping corresponding to the simulated skin can be determined as the damping Damping and damping The harmony.

[0111] Since the first mass corresponding to the dynamic model is only related to the epidermis before probe 200 penetrates the skin, host computer 500 first determines the density ρ corresponding to the epidermis. Furthermore, since the volume of the skin at the point of contact with the needle tip of probe 200 is relatively small, host computer 500 determines the volume of a sphere of unit radius centered around probe 200. Thus, once the density and volume are determined, host computer 500 can determine the first mass corresponding to the dynamic model.

[0112] Furthermore, when the host 500 determines the first elastic modulus, the first damping, and the first mass corresponding to the simulated skin, the first real-time resistance experienced by the probe 200 before it penetrates the skin can be determined based on the following formula:

[0113] x1K1+v1C1+a1M1=f1

[0114] Wherein, x1 represents the first real-time depth of the probe, K1 represents the first elastic modulus corresponding to the first real-time depth, v1 represents the first real-time velocity of the probe, C1 represents the first damping, a1 represents the real-time acceleration of the probe, M1 represents the first mass, and f1 represents the first real-time resistance.

[0115] Referring to the above content, it can be seen that the present application takes into account that when the probe 200 has not yet penetrated the skin, the real-time resistance encountered by the probe 200 is related to the hierarchical structure information of the simulated skin (that is, the stratification of the simulated skin and the simulated thickness corresponding to each hierarchical structure). Therefore, the present application first determines the parameters of the dynamic model based on the hierarchical structure information of the simulated skin and the pre-set information table (that is, the elastic modulus information table corresponding to the elastic modulus and the damping information table corresponding to the damping), and then determines the first real-time resistance encountered by the probe 200 before it penetrates the skin based on the measured real-time data information (that is, the first real-time data information, the second real-time data information and the third real-time data information) and the determined dynamic model parameters.

[0116] Optionally, the operation of predetermining the first elastic modulus of the dynamic model based on the hierarchical structure information includes: determining the first elastic modulus corresponding to the skin based on the simulated thickness corresponding to each hierarchical structure and a pre-set elastic modulus information table, wherein the elastic modulus information table is used to indicate the elastic modulus information corresponding to the hierarchical structure with different thickness combinations.

[0117] Specifically, before the host 500 determines the first elastic modulus corresponding to the simulated skin based on the simulated thickness corresponding to the hierarchical structure of the simulated skin and a pre-set elastic modulus information table, it is necessary to pre-construct an elastic modulus information table (i.e., Table 2 described above). The elastic modulus information table is, for example, stored in the host 500, and during actual simulation, the host 500 can call upon the corresponding data in the elastic modulus information table.

[0118] First, the host 500 sets a hierarchy of multiple thickness combinations. For example, the host 500 sets a hierarchy of thickness combination 1 including a thickness of the epidermis of The thickness of the leather is The thickness of subcutaneous tissue is The layered structure of thickness combination 2 includes a skin with a thickness of The thickness of the leather is The thickness of subcutaneous tissue is The layered structure of thickness combination 3 includes a skin with a thickness of The thickness of the leather is The thickness of subcutaneous tissue is etc.

[0119] The operator then holds probe 200 and determines the elastic modulus corresponding to the layered structures of varying thickness combinations. Specifically, host computer 500 measures the skin using the upper surface as the x-axis and the axis perpendicular to the skin as the y-axis. The operator determines the depth of probe 200's movement from the moment it contacts the upper surface of the skin until the moment it penetrates the skin.

[0120] Table 4 shows the force when the probe 200 penetrates the skin. In the case of the above, the depth information of the probe 200 movement corresponding to the hierarchical structures with different thickness combinations is obtained.

[0121] Table 4

[0122]

[0123] Based on the same method as above, the host 500 can determine the force of the probe 200 penetrating the skin as In the case of different thickness combinations, the depth information of the probe 200 movement corresponding to the layered structure

[0124] And so on.

[0125] Based on the same method as above, the host 500 can determine the force of the probe 200 penetrating the skin as In the case of different thickness combinations, the depth information of the probe 200 movement corresponding to the layered structure

[0126] Finally, the host 500 determines the elastic modulus corresponding to the layered structures with different thickness combinations according to the following formula:

[0127]

[0128] in, It indicates the force used by the probe 200 when penetrating the skin (the operator can set it by himself through the host 500 and it is known). represents the elastic modulus corresponding to the hierarchical structure of different thickness combinations j. represents the depth information of the probe 200 from the moment it contacts the upper surface of the epidermis to the moment it penetrates the epidermis, corresponding to the hierarchical structure of different thickness combinations j, where i = 1 to m and j = 1 to n.

[0129] The host 500 then determines the elastic modulus under different forces corresponding to the hierarchical structure of each thickness combination, and uses the average value of the elastic modulus corresponding to the different forces as the elastic modulus information corresponding to the hierarchical structure of the corresponding thickness combination. For example, the host 500 determines that the force used by the probe 200 to penetrate the skin is When the elastic modulus corresponding to thickness combination 1 is Determine the force used by the probe 200 to penetrate the skin When the elastic modulus corresponding to thickness combination 1 is Determine the force used when the probe 200 penetrates the skin as When the elastic modulus corresponding to thickness combination 1 is

[0130] Furthermore, the host 500 determines the elastic modulus ~Elastic modulus The elastic modulus corresponding to thickness combination 1 is determined by taking the average value of

[0131] Similarly, the host 500 can determine the elastic modulus ~Elastic modulus The elastic modulus corresponding to thickness combination 2 is determined by taking the average value of

[0132] And so on.

[0133] The host 500 can determine the elastic modulus with ~Elastic modulus The elastic modulus corresponding to the thickness combination n is determined by taking the average value of

[0134] Thus, the host 500 can determine the elastic modulus corresponding to the hierarchical structure of different thickness combinations 1 to n in the above manner. Furthermore, an elastic modulus information table as shown in Table 2 can be constructed based on the determined multiple elastic moduli. Furthermore, if the host 500 has constructed the elastic modulus information table, the host 500 can determine a first elastic modulus corresponding to the hierarchical structure of the simulated skin based on the simulated thickness of the simulated skin and the pre-set elastic modulus information table.

[0135] For example, the host 500 determines that the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is Based on the elastic modulus information table determined above, the host 500 can determine the corresponding first elastic modulus as Furthermore, if the first elastic modulus cannot be determined solely from the elastic modulus information table, a weighted summation method can be used to determine the first elastic modulus corresponding to the simulated skin.

[0136] Therefore, by predetermining the elastic modulus information table and determining the corresponding first elastic modulus operation based on the hierarchical structure information of the simulated skin and the pre-set elastic modulus information table, the technical effect of quickly and accurately calculating the first real-time resistance can be achieved.

[0137] Optionally, the operation of predetermining the first damping of the dynamic model includes: determining the first damping corresponding to the skin based on the simulated thickness corresponding to each hierarchical structure and a pre-set damping information table, wherein the damping information table is used to indicate the damping information corresponding to the hierarchical structure with different thickness combinations.

[0138] Specifically, before the host 500 determines the first damping corresponding to the simulated skin based on the simulated thickness corresponding to the hierarchical structure of the simulated skin and the pre-set damping information table, it is necessary to pre-build a damping information table (i.e., Table 3 described above). The damping information table is, for example, stored in the host 500, and during actual simulation, the host 500 can call upon the corresponding data in the damping information table.

[0139] First, the host 500 sets a hierarchy of multiple thickness combinations. For example, the host 500 sets a hierarchy of thickness combination 1 including a thickness of the epidermis of The thickness of the leather is The thickness of subcutaneous tissue is The layered structure of thickness combination 2 includes a skin with a thickness of The thickness of the leather is The thickness of subcutaneous tissue is The layered structure of thickness combination 3 includes a skin with a thickness of The thickness of the leather is The thickness of subcutaneous tissue is etc.

[0140] The operator then holds probe 200 and determines the damping corresponding to the layered structures with different thickness combinations. Specifically, host 500 measures the skin's upper surface as the x-axis and the perpendicular to the skin as the y-axis. It determines the depth information (as shown in Table 4) of probe 200's movement from the moment probe 200 just contacts the upper surface of the skin until it just penetrates the skin.

[0141] At the same time, the operator can also pre-set the force with which the probe 200 penetrates the skin and the speed at which the probe 200 penetrates the skin uniformly through the host 500, so that the host 500 can determine the force and speed with which the probe 200 penetrates the skin.

[0142] With reference to the above, it can be seen that the force of the probe 200 penetrating the skin is In the case of thickness combination 1, the depth information corresponding to And elastic modulus information

[0143] The force when the probe 200 penetrates the skin is In the case of , the depth information corresponding to thickness combination 2 is And elastic modulus information

[0144] And so on.

[0145] The force when the probe 200 penetrates the skin is In the case of , the depth information corresponding to the thickness combination n is And elastic modulus information

[0146] Therefore, the force of piercing the skin at different conditions can be determined according to the following formula: Below, the damping corresponding to thickness combinations 1 to n is:

[0147]

[0148] Based on the above formula, the host 500 can determine the force of the probe 200 penetrating the skin as In the case of thickness combination 1, the damping

[0149] The host 500 can determine the force with which the probe 200 penetrates the skin as In the case of thickness combination 2, the damping

[0150] And so on.

[0151] The host 500 can determine the force with which the probe 200 penetrates the skin as In the case of thickness combination n, the damping corresponding to

[0152] Then the host 500 determines that the force of piercing the skin is Corresponding multiple damping The average value of the sum of the values ​​is determined as the damping value corresponding to thickness combination 1.

[0153] Similarly, the host 500 determines that the force of piercing the skin is Corresponding multiple damping The average value of the sum of the values ​​is determined as the damping value corresponding to thickness combination 2.

[0154] And so on.

[0155] Similarly, the host 500 determines that the force of piercing the skin is Corresponding multiple damping The average value of the sum of the values ​​is determined as the damping value corresponding to the thickness combination n.

[0156] Thus, the host 500 can determine the damping corresponding to the hierarchical structure of different thickness combinations 1 to n in the above manner, and can determine the damping according to the determined multiple dampings. Construct a damping information table as shown in Table 3. When the host 500 constructs the damping information table, the host 500 can determine the first damping corresponding to the hierarchical structure of the simulated skin based on the simulated thickness of each simulated skin and the preset damping parameter table.

[0157] For example, the host 500 determines that the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is Based on the damping information table determined above, the host 500 can determine the corresponding first damping as Furthermore, if the first damping cannot be determined solely from the damping information table, the first damping corresponding to the simulated skin can be determined by weighted summation.

[0158] Therefore, by predetermining the damping parameter table and determining the corresponding first damping operation according to the hierarchical structure information of the simulated skin and the pre-set damping information table, the technical effect of quickly and accurately calculating the first real-time resistance can be achieved.

[0159] Optionally, the skin includes an epidermis, and the operation of predetermining the first mass of the dynamic model includes: determining a density corresponding to the epidermis; determining a volume of a sphere of unit radius with the probe as the center; and determining the first mass based on the density and volume.

[0160] Specifically, referring to the above content, it can be seen that since the density corresponding to each hierarchical structure of the skin is determined, as long as the volume of a sphere of unit radius with the probe 200 as the center is determined, the first mass can be determined based on the determined density and volume.

[0161] The calculation formula for the volume of a sphere of unit radius with the probe 200 as the center is as follows:

[0162] V=r 3

[0163] Therefore, when the host 500 calculates the volume of a sphere of unit radius with the probe 200 as the center, the first mass can be calculated based on the following formula:

[0164] M=ρ×V

[0165] Here, M represents the first mass, ρ represents the density corresponding to the epidermis, and V represents the volume of a sphere of unit radius with the probe 200 as the center.

[0166] Optionally, the operation of determining the second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters includes: determining the hierarchical structure corresponding to the insertion position of the probe based on the hierarchical structure information corresponding to the simulated skin and the second real-time depth; determining the corresponding third damping based on the hierarchical structure corresponding to the insertion position of the probe and the predetermined second damping corresponding to each hierarchical structure; and determining the second real-time resistance experienced by the probe based on the product of the third damping and the second real-time speed.

[0167] Specifically, when the host 500 penetrates the skin, the hierarchical structure corresponding to the penetration position of the probe 200 can be determined based on the hierarchical structure information of the simulated skin and the second real-time depth. For example, the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is Then the host 500 determines that the second real-time depth is and In the case of , it is explained that the third hierarchical structure corresponding to the probe 200 is the dermis layer.

[0168] For another example, the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The thickness of subcutaneous tissue is Then the host 500 determines that the second real-time depth is and Subcutaneous tissue.

[0169] The host 500 then determines the corresponding third damping based on the determined hierarchical structure corresponding to the insertion location of the probe 200 and the predetermined second damping corresponding to each hierarchical structure. It is worth noting that, because the epidermis is relatively thin, and in actual acupuncture, the thickness of the needle penetrating the skin is approximately 2 to 5 mm, while the average thickness of the epidermis is only 0.1 mm, the hierarchical structure corresponding to the insertion location of the probe 200 is generally only the dermis or subcutaneous tissue.

[0170] Table 5 shows the second damping corresponding to the dermis when the hierarchical structure corresponding to the insertion position of the probe 200 is the dermis.

[0171] Table 5

[0172]

[0173] As shown in Table 5, when the hierarchical structure corresponding to the insertion position of the probe 200 is the dermis, the host 500 can determine the third damping corresponding to the hierarchical structure of the insertion position based on the above Table 5. For example, when the second real-time depth of the probe 200 is and In the case of , the third damping corresponding to the hierarchical structure of the insertion position is

[0174] Furthermore, when the hierarchical structure corresponding to the insertion position of the probe 200 is dermis and the host 500 cannot determine the damping corresponding to the dermis only from Table 5, the third damping corresponding to the insertion position of the probe 200 can be determined by weighted summation.

[0175] For example, the host 500 determines that the hierarchical structure information of the simulated skin includes the thickness of the epidermis. The thickness of the leather is The host 500 needs to determine the third damping based on the following steps.

[0176] First, the host 500 determines the thickness of the epidermis The proportion of the total thickness of the corresponding epidermis and dermis:

[0177]

[0178] in, Indicates that the thickness is The weight ratio of the skin, Indicates the thickness of the epidermis, It represents the sum of the thickness of the epidermis and dermis.

[0179] Then, the host 500 determines the thickness of The damping corresponding to the skin is:

[0180]

[0181] in, Indicates that the thickness is The weight ratio of the skin, represents the elastic modulus corresponding to the epidermis and dermis, Indicates that the thickness is The damping corresponding to the skin.

[0182] Similarly, the host 500 can determine the thickness of Corresponding leather damping

[0183] After that, the host 500 will be connected with the thickness of The damping corresponding to the skin and thickness is Corresponding leather damping The third damping corresponding to the insertion position of the probe 200 is calculated by adding them together.

[0184] Furthermore, referring to Table 3, if the third hierarchical structure corresponding to probe 200 is subcutaneous tissue, host 500 can determine the third damping corresponding to the hierarchical structure at the insertion location of probe 200 based on Table 3. Furthermore, if the hierarchical structure at the insertion location of probe 200 is subcutaneous tissue and host 500 cannot determine the damping corresponding to the subcutaneous tissue solely from Table 3, the third damping corresponding to the third hierarchical structure can be determined through a weighted summation method. This will not be further elaborated here.

[0185] Finally, the host 500 determines the second real-time resistance of the probe 200 based on the product of the third damping and the second real-time speed. The specific calculation formula is as follows:

[0186] f2=C3×v2

[0187] Among them, f2 represents the second real-time resistance, C3 represents the third damping, and v2 represents the second real-time speed.

[0188] Therefore, according to the first aspect of this embodiment, accurate feedback of the real-time resistance encountered by the needle in the two different stages can be achieved, thereby improving the student's experience.

[0189] In addition, reference Figure 1 As shown, according to a second aspect of this embodiment, a storage medium is provided, wherein the storage medium includes a stored program, wherein when the program is run, a processor executes any one of the above methods.

[0190] Therefore, according to this embodiment, accurate feedback of the real-time resistance encountered by the needle in the two different stages can be achieved, thereby improving the student's experience.

[0191] It should be noted that for the aforementioned method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should be aware that the present invention is not limited by the order of the actions described, because according to the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0192] Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0193] Example 2

[0194] Figure 7 FIG. 7 shows a force tactile feedback interaction device 700 based on embodied intelligence according to this embodiment, which corresponds to the method according to embodiment 1. Figure 7As shown, the device 700 includes: a second real-time data information determination module 710, for determining second real-time data information corresponding to the probe based on the first real-time data information, wherein the second real-time data information includes a first real-time velocity of the probe before it penetrates the skin; a third real-time data information determination module 720, for determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth of the probe before it penetrates the skin; a first real-time resistance determination module 730, for determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a dynamic model with predetermined parameters; a fourth real-time data information determination module 740, for determining whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and, if the probe has penetrated the skin, determining fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time velocity and a second real-time depth of the probe when it penetrates the skin; and a second real-time resistance determination module 750, for determining a second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0195] Optionally, the first real-time resistance determination module 730 includes: a parameter determination module for pre-determining hierarchical structure information corresponding to the simulated skin, and determining the first elastic modulus, first damping and first mass of the dynamic model based on the hierarchical structure information, wherein the hierarchical structure information includes the various hierarchical structures of the skin and the simulated thickness corresponding to each hierarchical structure; and a first real-time resistance determination sub-module for determining the first real-time resistance exerted on the probe based on the product of the first real-time depth and the first elastic modulus, the product of the first real-time velocity and the first damping, and the product of the real-time acceleration and the first mass.

[0196] Optionally, the first real-time resistance determination submodule includes: x1K1+v1C1+a1M1=f1, wherein x1 represents the first real-time depth of the probe, K1 represents the first elastic modulus corresponding to the first real-time depth, v1 represents the first real-time velocity of the probe, C1 represents the first damping, a1 represents the real-time acceleration of the probe, M1 represents the first mass, and f1 represents the first real-time resistance.

[0197] Optionally, the parameter determination module includes: a first elastic modulus determination module, used to determine the first elastic modulus corresponding to the skin based on the simulated thickness corresponding to each hierarchical structure and a pre-set elastic modulus information table, wherein the elastic modulus information table is used to indicate the elastic modulus information corresponding to the hierarchical structure with different thickness combinations.

[0198] Optionally, the parameter determination module includes: a first damping determination module, used to determine the first damping corresponding to the skin based on the simulated thickness corresponding to each hierarchical structure and a pre-set damping information table, wherein the damping information table is used to indicate the damping information corresponding to the hierarchical structure with different thickness combinations.

[0199] Optionally, the skin includes an epidermis, and the parameter determination module includes: a density determination module for determining the density corresponding to the epidermis; a volume determination module for determining the volume of a sphere of unit radius with the probe as the center; and a first mass determination module for determining the first mass based on the density and the volume.

[0200] Optionally, the second real-time resistance determination module 750 includes: a hierarchical structure determination module, which is used to determine the hierarchical structure corresponding to the insertion position of the probe based on the hierarchical structure information corresponding to the simulated skin and the second real-time depth; a third damping determination module, which is used to determine the corresponding third damping based on the hierarchical structure corresponding to the insertion position of the probe and the predetermined second damping corresponding to each hierarchical structure; and a second real-time resistance determination sub-module, which is used to determine the second real-time resistance exerted on the probe based on the product of the third damping and the second real-time speed.

[0201] Therefore, according to this embodiment, accurate feedback of the real-time resistance encountered by the needle in the two different stages can be achieved, thereby improving the student's experience.

[0202] Example 3

[0203] Figure 8 FIG. 8 shows a force tactile feedback interaction device 800 based on embodied intelligence according to this embodiment, which corresponds to the method according to embodiment 1. Figure 8As shown, the device 800 includes: a processor 810; and a memory 820, which is connected to the processor 810 and is used to provide the processor 810 with instructions for processing the following processing steps: determining second real-time data information corresponding to the probe based on the first real-time data information, wherein the second real-time data information includes a first real-time speed when the probe has not yet penetrated the skin; determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth when the probe has not yet penetrated the skin; determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information and a dynamic model with predetermined parameters; judging whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and if the probe has penetrated the skin, determining fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth when the probe penetrates the skin; and determining a second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

[0204] Optionally, the operation of determining the first real-time resistance encountered by the probe based on the first real-time data information, the second real-time data information, the third real-time data information and a dynamic model with predetermined parameters includes: predetermining hierarchical structure information corresponding to the simulated skin, and determining the first elastic modulus, first damping and first mass of the dynamic model based on the hierarchical structure information, wherein the hierarchical structure information includes various hierarchical structures of the skin and the simulated thickness corresponding to each hierarchical structure; and determining the first real-time resistance encountered by the probe based on the product of the first real-time depth and the first elastic modulus, the product of the first real-time velocity and the first damping, and the product of the real-time acceleration and the first mass.

[0205] Optionally, based on the product of the first real-time depth and the first elastic modulus, the product of the first real-time velocity and the damping, and the product of the real-time acceleration and the mass, the operation of determining the first real-time resistance applied to the probe includes: x1K1+v1C1+a1M1=f1, wherein x1 represents the first real-time depth of the probe, K1 represents the first elastic modulus corresponding to the first real-time depth, v1 represents the first real-time velocity of the probe, C1 represents the first damping, a1 represents the real-time acceleration of the probe, M1 represents the first mass, and f1 represents the first real-time resistance.

[0206] Optionally, the operation of predetermining the first elastic modulus of the dynamic model based on the hierarchical structure information includes: determining the first elastic modulus corresponding to the skin based on the simulated thickness corresponding to each hierarchical structure and a pre-set elastic modulus information table, wherein the elastic modulus information table is used to indicate the elastic modulus information corresponding to the hierarchical structure with different thickness combinations.

[0207] Optionally, the operation of predetermining the first damping of the dynamic model includes: determining the first damping corresponding to the skin based on the simulated thickness corresponding to each hierarchical structure and a pre-set damping information table, wherein the damping information table is used to indicate the damping information corresponding to the hierarchical structure with different thickness combinations.

[0208] Optionally, the skin includes an epidermis, and the operation of predetermining the first mass of the dynamic model includes: determining a density corresponding to the epidermis; determining a volume of a sphere of unit radius with the probe as the center; and determining the first mass based on the density and volume.

[0209] Optionally, the operation of determining the second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters includes: determining the hierarchical structure corresponding to the insertion position of the probe based on the hierarchical structure information corresponding to the simulated skin and the second real-time depth; determining the corresponding third damping based on the hierarchical structure corresponding to the insertion position of the probe and the predetermined second damping corresponding to each hierarchical structure; and determining the second real-time resistance experienced by the probe based on the product of the third damping and the second real-time speed.

[0210] Therefore, according to this embodiment, accurate feedback of the real-time resistance encountered by the needle in the two different stages can be achieved, thereby improving the student's experience.

[0211] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0212] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0213] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0214] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0215] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0216] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0217] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A force tactile feedback interaction system based on embodied intelligence, comprising: A probe, a display device, and a host, wherein the probe is connected to the host and is used to send first real-time data information to the host, wherein the first real-time data information includes the real-time acceleration and real-time posture of the probe, and the display device is connected to the host and the probe respectively, and is used to display the working screen of the probe, characterized in that it also includes: a force feedback controller connected to the host, wherein the force feedback controller is used to apply resistance to the probe based on the real-time resistance information sent by the host, and the host is further configured to perform the following operations: determining second real-time data information corresponding to the probe according to the first real-time data information, wherein the second real-time data information includes a first real-time speed of the probe before it penetrates the skin; determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth of the probe before it penetrates the skin; determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a kinetic model with predetermined parameters; determining, based on the first real-time resistance and a predetermined stress threshold, whether the probe has penetrated the skin, and determining, if the probe has penetrated the skin, fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth of the probe when penetrating the skin; and The second real-time resistance experienced by the probe is determined based on the fourth real-time data information and a resistance model with predetermined parameters.

2. The system according to claim 1, wherein: The operation of determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a kinetic model with predetermined parameters includes: predetermining hierarchical structure information corresponding to the simulated skin, and determining a first elastic modulus, a first damping, and a first mass of the dynamic model based on the hierarchical structure information, wherein the hierarchical structure information includes various hierarchical structures of the skin and simulated thicknesses corresponding to the various hierarchical structures; and A first real-time resistance force exerted on the probe is determined based on a product of the first real-time depth and the first elastic modulus, a product of the first real-time velocity and the first damping, and a product of the real-time acceleration and the first mass.

3. The system according to claim 2, characterized in that The operation of determining a first real-time resistance force exerted on the probe based on a product of the first real-time depth and the first elastic modulus, a product of the first real-time velocity and the damping, and a product of the real-time acceleration and the mass includes: x1K1+v1C1+a1M1=f1 Wherein, x1 represents the first real-time depth of the probe, K1 represents the first elastic modulus corresponding to the first real-time depth, v1 represents the first real-time velocity of the probe, C1 represents the first damping, a1 represents the real-time acceleration of the probe, M1 represents the first mass, and f1 represents the first real-time resistance.

4. The system according to claim 3, characterized in that The operation of predetermining a first elastic modulus of the dynamic model according to the hierarchical structure information includes: A first elastic modulus corresponding to the skin is determined based on the simulated thicknesses corresponding to the various hierarchical structures and a preset elastic modulus information table, wherein the elastic modulus information table is used to indicate elastic modulus information corresponding to hierarchical structures of different thickness combinations.

5. The system according to claim 3, wherein: The operation of predetermining a first damping of the dynamic model includes: A first damping corresponding to the skin is determined based on the simulated thicknesses corresponding to the respective hierarchical structures and a preset damping information table, wherein the damping information table is used to indicate damping information corresponding to hierarchical structures of different thickness combinations.

6. The system according to claim 3, wherein: The skin includes an epidermis, and the operation of predetermining a first quality of the dynamic model includes: determining a density corresponding to the epidermis; determining the volume of a sphere of unit radius centered at the probe; Based on the density and the volume, the first mass is determined.

7. The method according to claim 2, characterized in that The operation of determining the second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters includes: determining a hierarchical structure corresponding to the insertion position of the probe based on hierarchical structure information corresponding to the simulated skin and the second real-time depth; determining a corresponding third damping based on the hierarchical structure corresponding to the insertion position of the probe and the predetermined second damping corresponding to each hierarchical structure; The second real-time resistance experienced by the probe is determined according to the product of the third damping and the second real-time speed.

8. A force tactile feedback interaction method based on embodied intelligence, applied to a host, characterized in that: include: determining second real-time data information corresponding to the probe according to the first real-time data information, wherein the second real-time data information includes a first real-time speed of the probe before it penetrates the skin; determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth of the probe before it penetrates the skin; determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a kinetic model with predetermined parameters; determining, based on the first real-time resistance and a predetermined stress threshold, whether the probe has penetrated the skin, and determining, if the probe has penetrated the skin, fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth of the probe when penetrating the skin; and The second real-time resistance experienced by the probe is determined based on the fourth real-time data information and a resistance model with predetermined parameters.

9. A storage medium, characterized in that: The storage medium includes a stored program, wherein when the program is executed, the method according to claim 8 is executed by a processor.

10. A force tactile feedback interaction device based on embodied intelligence, characterized in that: include: a second real-time data information determining module, configured to determine second real-time data information corresponding to the probe based on the first real-time data information, wherein the second real-time data information includes a first real-time speed of the probe before it penetrates the skin; a third real-time data information determining module, configured to determine third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth of the probe before it penetrates the skin; a first real-time resistance determination module, configured to determine a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a kinetic model with predetermined parameters; a fourth real-time data information determining module, configured to determine whether the probe has penetrated the skin based on the first real-time resistance and a predetermined stress threshold, and, if the probe has penetrated the skin, determine fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth of the probe when penetrating the skin; as well as The second real-time resistance determination module is configured to determine a second real-time resistance experienced by the probe based on the fourth real-time data information and a resistance model with predetermined parameters.

11. A force tactile feedback interaction device based on embodied intelligence, characterized in that: include: processor; as well as A memory, connected to the processor, configured to provide the processor with instructions for processing the following processing steps: determining second real-time data information corresponding to the probe according to the first real-time data information, wherein the second real-time data information includes a first real-time speed of the probe before it penetrates the skin; determining third real-time data information corresponding to the probe, wherein the third real-time data information includes a first real-time depth of the probe before it penetrates the skin; determining a first real-time resistance experienced by the probe based on the first real-time data information, the second real-time data information, the third real-time data information, and a kinetic model with predetermined parameters; determining, based on the first real-time resistance and a predetermined stress threshold, whether the probe has penetrated the skin, and determining, if the probe has penetrated the skin, fourth real-time data information corresponding to the probe, wherein the fourth real-time data information includes a second real-time speed and a second real-time depth of the probe when penetrating the skin; and The second real-time resistance experienced by the probe is determined based on the fourth real-time data information and a resistance model with predetermined parameters.

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