Obstetric operation virtual reality simulation method and system

Abstract

The invention discloses a virtual reality simulation method and system for obstetrical surgery, and relates to the technical field of virtual reality simulation. Pressure D of a contact point of a surgical instrument and a tissue is measured through a pressure sensor, grip strength G is obtained through a grip strength sensor on a surgical glove, and a touch index T is established by using the pressure P and the grip strength G; the touch sense of the surgical instrument is monitored and visualized in real time; the method comprises the following steps: measuring acceleration and angular velocity of a surgical instrument in X, Y and Z directions by using a high-precision accelerometer and a gyroscope, calculating a linear jitter amplitude value A and a rotary jitter amplitude value by calculating the velocity and the angular velocity, establishing a comprehensive jitter index J by using the linear jitter amplitude value A and the rotary jitter amplitude value, and performing real-time monitoring and visualization; the surgical field stability index F is established through the touch index T and the jitter index J, the stability of the surgical operation is prompted through color change in the virtual reality environment, and the accuracy and safety of the surgical operation are effectively improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of virtual reality simulation, in particular to an obstetric surgery virtual reality simulation method and system. BACKGROUND

[0002] With the development of virtual reality simulation technology, obstetric surgery virtual reality simulation methods and systems have become an indispensable part of medical education and surgical training. Effective simulation systems not only provide realistic surgical scenes, but also improve the operation skills and emergency handling ability of medical students and doctors. However, there are still deficiencies in the existing obstetric surgery virtual reality simulation process, lack of high-precision tactile feedback and real-time monitoring system, the integration of surgical instrument operation monitoring and virtual simulation environment is not high, and the stability analysis in the surgical process is mostly postoperative treatment, lacking real-time feedback. Such limitations affect the training effect and use experience of the simulation system.

[0003] In the Chinese invention application with application publication number CN115602032A, a virtual reality-based digestive endoscopy surgery training system is disclosed for realizing making relevant human organs and surgical environment more realistic and improving the quality of surgical training through visual simulation. The virtual reality-based digestive endoscopy surgery training system comprises an intelligent surgical robot, a human-computer interaction module, a virtual reality module, and a remote guidance module. The intelligent surgical robot is connected with the human-computer interaction module. The human-computer interaction module is connected with the virtual reality module. The remote guidance module is connected with the virtual reality module.

[0004] In the above-mentioned invention, although the virtual reality-based digestive endoscopy surgery training system makes relevant human organs and surgical environment more realistic and improves the quality of surgical training through visual simulation, the system lacks real-time monitoring of the tactile feeling and shaking of surgical instruments, and cannot provide high-precision tactile feedback. Although the remote guidance module can provide remote support, it lacks real-time feedback and evaluation of the surgical operation process, resulting in limited training effect, so there is a problem of being unable to comprehensively improve the quality of surgical training and actual operation skills.

[0005] Therefore, the present application provides an obstetric surgery virtual reality simulation method and system. SUMMARY

[0006] (I) Technical problems solved To address the shortcomings of existing technologies, this invention provides a virtual reality simulation system for obstetric surgery. It sets up and manages a virtual surgical environment, including operating room layout, surgical instrument configuration, and a virtual patient model. Pressure sensors installed at the contact points of surgical instruments acquire the pressure D at the contact points between the instruments and tissue. High-precision pressure sensors installed on surgical gloves obtain the grip force G on the surgical instruments. A tactile index T is established using the pressure D at the contact points and the grip force G, and the tactile index of the surgical instruments is monitored and visualized in real time. A high-precision accelerometer measures the pressure of the surgical instruments in the X, Y, and Z axes. The acceleration in the directional direction is measured by a gyroscope sensor to measure the angular velocity of the surgical instrument in the X, Y, and Z directions. The linear and rotational jitter amplitudes of the surgical instrument during use are calculated using the acceleration and angular velocity. A comprehensive jitter index J is established based on the linear and rotational jitter amplitudes, and the jitter index of the surgical instrument is monitored and visualized in real time. A surgical field stability index F is established by using a tactile index T and a jitter index J. In a virtual reality simulation environment, the color change caused by the change in the surgical field stability index F is used to indicate the stability of the current surgical operation, thereby solving the problems mentioned in the above technical background.

[0007] (II) Technical Solution To achieve the above objectives, the present invention provides a virtual reality simulation method for obstetric surgery, comprising the following steps: The system allows users to set up and manage a virtual surgical environment, including operating room layout, surgical instrument configuration, and virtual patient model. It provides H surgical scenarios for medical users to choose from and practice, covering M different types of obstetric surgical situations. Users can select and configure S different types of surgical instruments in the surgical instrument configuration options, and simulate the entire surgical procedure through the virtual patient model. The pressure D at the contact point between the surgical instrument and the tissue is obtained by installing a pressure sensor at the contact end of the surgical instrument. The grip force G of holding the surgical instrument is obtained by installing a high-precision pressure sensor on the surgical glove. The tactile index T is established by using the pressure D at the contact point between the surgical instrument and the tissue and the grip force G of the surgical instrument. The tactile index of the surgical instrument is monitored and visualized in real time. The acceleration of the surgical instrument in the X, Y, and Z directions is measured using a high-precision accelerometer, and the angular velocity of the surgical instrument in the X, Y, and Z directions is measured using a gyroscope sensor. The linear vibration amplitude of the surgical instrument during use is calculated using the acceleration and angular velocity. and rotational jitter amplitude value A comprehensive jitter index J is established based on the linear jitter amplitude value and the rotational jitter amplitude value, and the jitter index of surgical instruments is monitored and visualized in real time. The field stability index F is established by the touch index T and the shaking index J, and a color change caused by a change in the field stability index F is used in the virtual reality simulation environment to remind the stability of the current operation.

[0008] Further, a management virtual surgery environment is set, including a surgery room layout, a surgery instrument configuration, and a virtual patient model, to provide H surgery scenes for medical users to select and practice, H set is , covering M different types of obstetric surgery scenarios, M set is , S different types of surgery instruments are selected and configured in the surgery instrument configuration option, S set is , and the whole process of the surgery operation is simulated through the virtual patient model.

[0009] Further, a pressure sensor is installed at the contact end of the surgery instrument to periodically obtain the pressure of the contact point between the surgery instrument and the tissue A high-precision pressure sensor is installed on the surgery glove to periodically obtain the gripping force of the surgery instrument The touch index is established by the pressure of the contact point between the surgery instrument and the tissue and the gripping force of the surgery instrument The formula is as follows: Wherein, k represents the data detection time number, k= , and are the weights of pressure and gripping force, and and are calculated by using the entropy weight method and are standardized to and , the proportion of the touch index and the shaking index after standardization is p, and the entropy value is calculated, the formula is as follows: Wherein, and are the information entropy of pressure and gripping force, respectively, which is used to measure the uncertainty of each parameter, and the weight of each parameter is calculated according to the information entropy, the formula is as follows: Wherein, and are the mutual information of the information entropy of pressure and gripping force, respectively.

[0010] Further, the high-precision accelerometer periodically measures the acceleration of the surgical instrument in X, Y, Z three directions as , and , and the gyroscope sensor periodically measures the angular velocity of the surgical instrument in three directions as , and , for linear jitter, the acceleration is used to calculate the acceleration jitter amplitude value of the surgical instrument in three directions during use, the formula is as follows: Wherein, , and are the acceleration jitter amplitude values in three directions, i is the data detection time number, i= , , and are the average values of acceleration in three directions.

[0011] Further, the three-direction acceleration jitter amplitude , and is used to calculate the linear jitter amplitude value, the formula is as follows: Wherein, is the linear jitter amplitude value, , and are the acceleration jitter amplitude square values in three directions.

[0012] Further, for rotational jitter, the angular velocity is used to calculate the angular velocity jitter amplitude value of the surgical instrument in three directions during use, the formula is as follows: Wherein, , and are the angular velocity jitter amplitude values in three directions, , and are the average values of angular velocity in three directions.

[0013] Further, the three-direction angular velocity jitter amplitude , and The rotation jitter amplitude value is calculated, and the formula is as follows: Wherein, is the rotation jitter amplitude value, , and is the angular velocity jitter amplitude square value of three directions.

[0014] Further, by the linear jitter amplitude value and the rotation jitter amplitude value, the comprehensive jitter index is established, and the formula is as follows: Wherein, is the comprehensive jitter index, and are the weight proportions of the linear jitter amplitude value and the rotation jitter amplitude value respectively, which are calculated by using the entropy weight method.

[0015] Further, by the touch index T and the jitter index , the field stability index F is established, and the formula is as follows: Wherein, and are the weights of the touch index and the jitter index respectively, which are calculated by using the entropy weight method.

[0016] Further, in the virtual reality simulation environment, the color change caused by the change of the field stability index F is used to remind the current operation stability, specifically: When F>1.5( ), it indicates that the operation stability is weak, the touch index and the jitter index of the surgical instrument in the current operation process are large, and the color of the surgical instrument is changed to blue, wherein, and are the average values of the touch index and the jitter index respectively; When 0.5( )<F<1.5( ), it indicates that the operation stability is general, the touch index and the jitter index of the surgical instrument in the current operation process are at a general level, and the color of the surgical instrument is changed to red; When F<0.5( ), it indicates that the operation stability is strong, the touch index and the jitter index of the surgical instrument in the current operation process are small, and the color of the surgical instrument is not changed.

[0017] An obstetric surgery virtual reality simulation system, comprising: The surgical scene management module sets up and manages a virtual surgery environment, including an operating room layout, surgical instrument configuration and a virtual patient model, provides H types of surgical scenes for medical users to select and practice, covers M types of different types of obstetric surgery scenarios, selects and configures S types of different types of surgical instruments in the surgical instrument configuration option, and simulates the whole process of surgical operation through the virtual patient model; The surgical instrument touch feeling monitoring module acquires the pressure D of the surgical instrument and the tissue contact point by installing a pressure sensor at the contact end of the surgical instrument, acquires the holding force G of the surgical instrument by installing a high-precision pressure sensor on the surgical glove, establishes a touch feeling index T by using the pressure D of the surgical instrument and the tissue contact point and the holding force G of the surgical instrument, and monitors and visualizes the touch feeling index of the surgical instrument in real time. The instrument shaking monitoring module measures the acceleration of the surgical instrument in X, Y and Z directions by a high-precision accelerometer, measures the angular velocity of the surgical instrument in X, Y and Z directions by a gyroscope sensor, calculates the linear shaking amplitude value and the rotary shaking amplitude value of the surgical instrument in the use process by using the acceleration and the angular velocity And the rotary shaking amplitude value , establishes a comprehensive shaking index J according to the linear shaking amplitude value and the rotary shaking amplitude value, and monitors and visualizes the shaking index of the surgical instrument in real time. The surgical field stability module establishes a surgical field stability index F by using the touch feeling index T and the shaking index J, and uses the color change caused by the change of the surgical field stability index F in the virtual reality simulation environment to remind the stability of the current surgical operation.

[0018] (Three) beneficial effects The present application provides a kind of obstetric surgery virtual reality simulation method and system, with the following beneficial effects: 1, set up and manage virtual surgery environment, including operating room layout, surgical instrument configuration and virtual patient model, provide H types of surgical scenes for medical users to select and practice, cover M types of different types of obstetric surgery scenarios, select and configure S types of different types of surgical instruments in the surgical instrument configuration option, and simulate the whole process of surgical operation by virtual patient model, can let medical user carry out diversified surgical practice in safe, controllable environment, help to improve surgical skill and response ability.

[0019] 2, by installing a pressure sensor at the contact end of the surgical instrument, the pressure D of the surgical instrument and the tissue contact point is acquired, by installing a high-precision pressure sensor on the surgical glove, the holding force G of the surgical instrument is obtained, the touch feeling index T is established by using the pressure D of the surgical instrument and the tissue contact point and the holding force G of the surgical instrument, the touch feeling index of the surgical instrument is monitored and visualized in real time, help medical user to understand the touch feeling of surgical instrument in real time, improve the precision and safety of surgical operation.

[0020] 3. The acceleration of the surgical instrument in X, Y, Z directions is measured by high-precision accelerometer, the angular velocity of the surgical instrument in X, Y, Z directions is measured by gyroscope sensor, the linear jitter amplitude value and the rotational jitter amplitude value of the surgical instrument in the use process are calculated by using the acceleration and the angular velocity, the comprehensive jitter index J is established according to the linear jitter amplitude value and the rotational jitter amplitude value, the jitter index of the surgical instrument is monitored and visualized in real time, the jitter condition of the instrument in the surgical process is effectively captured, which helps the medical user to adjust the operation method and reduce the misoperation.

[0021] 4. The field stability index F is established by the touch index T and the jitter index J, and the color change caused by the change of the field stability index F is used in the virtual reality simulation environment to remind the stability of the current surgical operation, so that the medical user is timely reminded of the stability in the surgical operation, the medical user is helped to keep the best state in the surgical process, and the smooth progress of the virtual surgery is ensured. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is a flowchart of the virtual reality simulation method for obstetric surgery of the present application; Figure 2 It is a structural schematic diagram of the virtual reality simulation system for obstetric surgery of the present application. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0024] Please refer to Figure 1 The present application provides a virtual reality simulation method for obstetric surgery, which comprises the following steps: A management virtual surgery environment is set, including the layout of the operating room, the configuration of the surgical instrument and the virtual patient model, H kinds of surgical scenes are provided for the medical user to select and practice, and H set is , covering M kinds of different types of obstetric surgery situations, M set is S kinds of different types of surgical instruments are selected and configured in the surgical instrument configuration option, S set is , and the whole process of the surgical operation is simulated through the virtual patient model.

[0025] The pressure of the contact point between the surgical instrument and the tissue is periodically obtained by installing a pressure sensor on the contact end of the surgical instrument , by installing high-precision pressure sensors on surgical gloves, periodically obtaining the holding force of holding surgical instruments , a tactile index is established using the pressure of the contact point of the surgical instrument with the tissue and the holding force of the surgical instrument , as shown in the following formula: where k represents the data detection time number, k= , and are the weights of pressure and holding force, and the entropy weight method is used to calculate and , the pressure and the holding force are first standardized to and , the proportion of the standardized tactile index and the jitter index is p, and then the entropy value is calculated, as shown in the following formula: where and are the information entropy of pressure and holding force, which is used to measure the uncertainty of each parameter, and the weight of each parameter is calculated according to the information entropy, as shown in the following formula: where and are the mutual information of the information entropy of pressure and holding force.

[0026] The high-precision accelerometer periodically measures the acceleration of the surgical instrument in X, Y, Z three directions as , and , and the gyroscope sensor periodically measures the angular velocity of the surgical instrument in three directions as , and , for linear jitter, the acceleration is used to calculate the acceleration jitter amplitude value of the surgical instrument in three directions during use, as shown in the following formula: where , and are the acceleration jitter amplitude values in three directions, i is the data detection time number, i= , , and are the average values of acceleration in three directions respectively.

[0027] The linear jitter amplitude value is calculated by three-direction acceleration jitter amplitudes , and , the formula is as follows: wherein, is the linear jitter amplitude value, , and are the square values of three-direction acceleration jitter amplitudes.

[0028] For rotational jitter, the angular velocity jitter amplitude values of the surgical instrument in three directions during use are calculated by using angular velocity, the formula is as follows: wherein, , and are the three-direction angular velocity jitter amplitude values, , and are the average values of angular velocity in three directions respectively.

[0029] The rotational jitter amplitude value is calculated by three-direction angular velocity jitter amplitudes , and , the formula is as follows: wherein, is the rotational jitter amplitude value, , and are the square values of three-direction angular velocity jitter amplitudes.

[0030] By the linear jitter amplitude value and the rotational jitter amplitude value, a comprehensive jitter index is established, the formula is as follows: wherein, is the comprehensive jitter index, and are the weight proportions of the linear jitter amplitude value and the rotational jitter amplitude value respectively, which are calculated by using entropy weight method.

[0031] The tactile index T and the shaking index , the field stability index F is established, and the formula is as follows: Wherein, and are the weights of the tactile index and the shaking index respectively, and are calculated by using the entropy weight method.

[0032] In the virtual reality simulation environment, the color change caused by the change of the field stability index F is used to remind the current operation stability, specifically: When F>1.5( ), it indicates that the operation stability is weak, the tactile index and the shaking index of the surgical instrument are large in the current operation process, and the color of the surgical instrument is changed to blue, and are the average values of the tactile index and the shaking index respectively; When 0.5( )<F<1.5( ), it indicates that the operation stability is general, the tactile index and the shaking index of the surgical instrument are at a general level in the current operation process, and the color of the surgical instrument is changed to red; When F<0.5( ), it indicates that the operation stability is strong, the tactile index and the shaking index of the surgical instrument are small in the current operation process, and the color of the surgical instrument is not changed.

[0033] Please refer to Figure 2 , the present application provides a kind of obstetric surgery virtual reality simulation system, comprising: Surgery scene management module, set management virtual surgery environment, including operating room layout, surgical instrument configuration and virtual patient model, provide H kind of surgical scene for medical user selection and practice, cover M kind of different types of obstetric surgery situation, select and configure S kind of different types of surgical instrument in surgical instrument configuration option, and simulate the whole process of operation through virtual patient model.

[0034] Surgical instrument tactile monitoring module, the pressure D of surgical instrument and tissue contact point is obtained by installing pressure sensor on the contact end of surgical instrument, the grip G of holding surgical instrument is obtained by installing high-precision pressure sensor on surgical glove, tactile index T is established by using the pressure of surgical instrument and tissue contact point and the grip of surgical instrument, and the tactile index of surgical instrument is monitored and visualized in real time.

[0035] The instrument tremor monitoring module measures the acceleration of the surgical instrument in X, Y and Z directions through a high-precision accelerometer, measures the angular velocity of the surgical instrument in X, Y and Z directions through a gyroscope sensor, and calculates the linear tremor amplitude value of the surgical instrument during use by using the acceleration and angular velocity and the rotational tremor amplitude value According to the linear tremor amplitude value and the rotational tremor amplitude value, a comprehensive tremor index J is established, and the tremor index of the surgical instrument is monitored and visualized in real time.

[0036] The surgical field stability module establishes a surgical field stability index F by using the tactile index T and the tremor index J, and uses the color change caused by the change of the surgical field stability index F in the virtual reality simulation environment to remind the stability of the current surgical operation.

[0037] The above embodiments can be realized wholly or partially by software, hardware, firmware or any other combination. When realized by software, the above embodiments can be realized in the form of a computer program product wholly or partially. Those skilled in the art can realize that the units and algorithm steps of the examples described in connection with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software depends on the specific application and design constraints of the technical solutions.

[0038] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Part or all of the units can be selected to achieve the purpose of the embodiments according to actual needs.

[0039] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A virtual reality simulation method for obstetric surgery, characterized in that: The method comprises the following steps: a virtual surgery environment is set up, including an operating room layout, a surgical instrument configuration, and a virtual patient model, H surgical scenarios are provided for a medical user to select and practice, covering M different types of obstetric surgery situations, S different types of surgical instruments are selected and configured through the surgical instrument configuration option, and the whole process of the surgical operation is simulated through the virtual patient model; a pressure sensor is installed on the contact end of the surgical instrument to obtain the pressure D of the contact point between the surgical instrument and the tissue, a high-precision pressure sensor is installed on the surgical glove to obtain the gripping force G of the surgical instrument, a tactile index T is established by using the pressure D of the contact point between the surgical instrument and the tissue and the gripping force G of the surgical instrument, and the tactile index of the surgical instrument is monitored and visualized in real time; The acceleration of the surgical instrument in X, Y and Z directions is measured by a high-precision accelerometer, the angular velocity of the surgical instrument in X, Y and Z directions is measured by a gyroscope sensor, the linear jitter amplitude value A and the rotational jitter amplitude value of the surgical instrument during use are calculated by using the acceleration and the angular velocity, the comprehensive jitter index J is established according to the linear jitter amplitude value and the rotational jitter amplitude value, and the jitter index of the surgical instrument is monitored and visualized in real time. a field stability index F is established by using the tactile index T and the tremor index J, and color changes caused by changes in the field stability index F are used in the virtual reality simulation environment to remind the stability of the current surgical operation.

2. The method according to claim 1, wherein: Periodically acquiring the pressure of the contact point between the surgical instrument and the tissue by installing a pressure sensor on the contact end of the surgical instrument Periodically acquiring the gripping force of the surgical instrument by installing a high-precision pressure sensor on the surgical glove Establishing a haptic index using the pressure of the contact point between the surgical instrument and the tissue and the gripping force of the surgical instrument The formula is as follows: where k represents the data detection time number, k = 1, 2, 3, …, 24, and k = 1 corresponds to 8:00, k = 2 corresponds to 8:10, k = 3 corresponds to 8:20, and so on. , and are the proportions of pressure and grip, respectively, calculated using the 3. The method according to claim 1, wherein: The acceleration of the surgical instrument in X, Y, Z three directions is periodically measured by a high-precision accelerometer as , and , and the angular velocity of the surgical instrument in three directions is periodically measured by a gyroscope sensor as , and , for linear jitter, the acceleration jitter amplitude values of the surgical instrument in three directions during use are calculated by acceleration as , and , and the linear jitter amplitude values are calculated by three-direction acceleration jitter amplitudes , and , and the formula is as follows: wherein is a linear jitter amplitude value, , and are acceleration jitter amplitude squared values in three directions.

4. The method according to claim 3, wherein: For rotational jitter, the angular velocity is used to calculate the angular velocity jitter amplitude values of the surgical instrument in three directions during use, which are , and . The rotational jitter amplitude value is calculated by the angular velocity jitter amplitudes , and in three directions, and the formula is as follows: wherein is the rotation dither amplitude value, , and is the angular velocity dither amplitude squared value in three directions.

5. The method according to claim 4, wherein: A comprehensive jitter index is established by linear jitter amplitude values and rotational jitter amplitude values , as shown in the following formula: wherein, is the comprehensive jitter index, and are the weight proportions of the linear jitter amplitude value and the rotational jitter amplitude value, respectively, which are calculated using the entropy weight method.

6. The method according to claim 5, wherein: By the tactile index T and the dither index , a surgical field stability index F is established, the formula is as follows: wherein, and are the weights of the tactile index and the judder index, respectively, calculated using the entropy weight method.

7. The method according to claim 6, wherein: In the virtual reality simulation environment, color changes caused by changes in the field stability index F are used to remind the stability of the current surgical operation, specifically: When F>1.5( ), it indicates that the stability of the surgical operation is weak, the tactile index and the jitter index of the surgical instrument in the current surgical operation process are large, and the color of the surgical instrument is changed to blue, wherein, and are the average values of the tactile index and the jitter index, respectively. when 0.5 )<F<1.5 , it indicates that the stability of the surgical operation is general, the tactile index and the jitter index of the surgical instrument in the current surgical operation process are at a general level, and the color of the surgical instrument is changed to red. When F < 0.5( ), it indicates that the surgical operation stability is strong, the tactile index and the jitter index of the surgical instrument in the current surgical operation process are small, and the surgical instrument does not perform color transformation.

8. An obstetric surgery virtual reality simulation system for implementing the method of any one of claims 1 to 7, characterized by: comprising: a surgical scenario management module, which sets up a virtual surgery environment, including an operating room layout, a surgical instrument configuration, and a virtual patient model, provides H surgical scenarios for a medical user to select and practice, covers M different types of obstetric surgery situations, selects and configures S different types of surgical instruments through the surgical instrument configuration option, and simulates the whole process of the surgical operation through the virtual patient model; a surgical instrument tactile monitoring module, which installs a pressure sensor on the contact end of the surgical instrument to obtain the pressure D of the contact point between the surgical instrument and the tissue, installs a high-precision pressure sensor on the surgical glove to obtain the gripping force G of the surgical instrument, and establishes a tactile index T by using the pressure D of the contact point between the surgical instrument and the tissue and the gripping force G of the surgical instrument, and monitors and visualizes the tactile index of the surgical instrument in real time; The instrument shaking monitoring module measures the acceleration of the surgical instrument in X, Y and Z directions through a high-precision accelerometer, measures the angular velocity of the surgical instrument in X, Y and Z directions through a gyroscope sensor, and calculates the linear shaking amplitude value of the surgical instrument during use by using the acceleration and the angular velocity and the rotating shaking amplitude value , establishes a comprehensive shaking index J according to the linear shaking amplitude value and the rotating shaking amplitude value, and monitors and visualizes the shaking index of the surgical instrument in real time. a field stability module, which establishes a field stability index F by using the tactile index T and the tremor index J, and uses color changes caused by changes in the field stability index F in the virtual reality simulation environment to remind the stability of the current surgical operation.

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