Support system

Abstract

To provide a technique allowing a learner to learn skill in an environment closer to an actual site.SOLUTION: A support system 1 includes a support model 10 for simulating part of a human body by an air holding unit 14 including at least one air chamber 145 for holding air, and a support device 30 for providing support information supporting learning using the support model 10. The support model 10 includes a detection unit (a position sensor 11, a pressure sensor 12) that is provided in the air holding unit 14 and detects at least one of a pressing position of the support model 10 and pressure applied to the support model 10. The support device 30 provides support information based on a detection value of the detection unit (the position sensor 11, the pressure sensor 12).SELECTED DRAWING: Figure 1

Description

[Technical Field] 【0001】 This disclosure relates to a support system for assisting in learning about surgical procedures. [Background technology] 【0002】 Massage and acupressure in rehabilitation or aesthetics offer various benefits, including relaxation, stress reduction, improved blood circulation to alleviate cold extremities, dementia prevention, and mental and physical revitalization. Furthermore, in medical settings, palpation is used to diagnose the condition of a patient. Learning these techniques requires experienced instructors, making self-study difficult. Even with instruction from experienced practitioners, visual learning alone is insufficient for learners to master the correct pressure and contact. 【0003】 In this regard, Patent Document 1 discloses a technique simulator for effectively learning the adjustments of pressure, position, and direction in techniques such as massage. The technique simulator disclosed in Patent Document 1 comprises a position detection unit attached to a human body model and a vector detection unit worn on the learner's hand, and can evaluate the learner's technique by detecting the pressing position and pressure when the learner presses on the human body model. [Prior art documents] [Patent Documents] 【0004】 [Patent Document 1] Japanese Patent Publication No. 2014-215563 [Overview of the Initiative] [Problems that the invention aims to solve] 【0005】 The procedure simulator disclosed in Patent Document 1 requires the attachment of a position detection unit to a human body model and a vector detection unit to be attached to the learner's hand or fingers, making the preparation for learning using the human body model cumbersome. Furthermore, because the learner needs to attach the vector detection unit to their hand or fingers, the learner's sense of touch when touching the human body model is easily impaired. In addition, since elastic materials such as urethane or rubber are used for the human body model, it is difficult to represent the differences in muscle stiffness depending on the part of the body using the human body model. 【0006】 This disclosure was made to solve these problems, and its purpose is to provide a technology that enables learners to learn about procedures in an environment that is closer to actual practice. [Means for solving the problem] 【0007】 A support system according to certain aspects of this disclosure supports learning of a procedure. The support system comprises a support model for a skilled user that mimics a part of the human body by an air-holding section including at least one air chamber that holds air, a support device for a skilled user, and a support device for a learner. The support device for a learner includes a force sensor for learners that is attached to a part of the learner's body. The support device for a skilled user is The pressure acting on the expert-use assist model is determined by detecting the change in internal pressure of at least one air chamber when the expert-use assist model is pressed by an expert. The system outputs the pressing position and pressure applied to the expert-level support model to the learner-level support device. The learner-level support device then transmits the pressing position and pressure received from the expert-level support device to a part of the learner's body using a force sensor. By changing the air pressure in at least one air chamber, the stiffness of the assist model for skilled users is adjusted. ru. [Effects of the Invention] 【0008】 According to the present disclosure, since a learner can be made to learn a technique using a support model that mimics a part of the human body by an air holding unit, the learner can learn the technique in an environment closer to an actual site. Further, based on the pressing position of the support model and the pressure applied to the support model, the learner can efficiently and effectively perform self-learning. 【Brief Description of the Drawings】 【0009】 [Figure 1] It is a diagram for explaining an application example of the support system according to the embodiment. [Figure 2] It is a diagram showing the configuration of the support system according to the embodiment. [Figure 3] It is a diagram for explaining the creation of the support model. [Figure 4] It is a diagram for explaining an example of display of the pressing position and the pressure of the pressing of the support model. [Figure 5] It is a diagram for explaining an example of an evaluation result by the support system. [Figure 6] It is a diagram for explaining an example of a result of comparing an evaluation result by the support system with an evaluation result by a skilled person. [Figure 7] It is a diagram for explaining the provision of support information by force sense of the support system according to the modification example. 【Mode for Carrying Out the Invention】 【0010】 This embodiment will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will not be repeated in principle. 【0011】 <Support System According to the Embodiment> The support system 1 according to the embodiment will be described with reference to FIGS. 1 to 6. 【0012】 [Configuration of Support System] FIG. 1 is a diagram for explaining an application example of a support system 1 according to an embodiment. The support system 1 is a system that supports learning related to a technique. A "technique" is a method (skill) performed by the hands of a practitioner. Techniques include all methods performed by the hands of a practitioner, such as massage or shiatsu in rehabilitation or aesthetics, and palpation in a medical setting. 【0013】 As shown in FIG. 1, the support system 1 includes a support model 10 that mimics a part of the human body, and a support device 30 communicably connected to the support model 10. 【0014】 The support model 10 mimics a part of the human body by a member that holds air. In the example of FIG. 1, the support model 10 has a shape that mimics a hand and an arm. Note that the support model 10 is not limited to the shape that mimics a hand and an arm, and may have a shape that mimics other parts of the human body, such as the head, shoulders, feet, abdomen, back, and fingertips. The support device 30 provides support information that supports the learning when a learner (a user of the support system 1) performs learning related to a technique using the support model 10. 【0015】 For example, the support device 30 provides, as "support information", at least one of information corresponding to the pressing position of the support model 10 and information corresponding to the pressure applied to the support model 10 while the learner is performing learning using the support model 10. Alternatively, the support device 30 provides, as "support information", an evaluation result of learning related to the technique performed using the support model 10. The support device 30 displays an image corresponding to such support information on the display 35 or outputs a sound corresponding to the support information from the speaker 34. Note that the support device 30 may execute at least one of providing support information visually using the display 35 and providing support information aurally using the speaker 34. 【0016】 As a result, learners can use the support model 10 to learn about procedures and obtain support information from the support device 30 to assist their learning, enabling them to engage in efficient and effective self-study. 【0017】 Figure 2 shows the configuration of the support system 1 according to an embodiment. The support system 1 comprises a support model 10, a relay device 20, and a support device 30. 【0018】 The support model 10 includes at least one position sensor 11, at least one pressure sensor 12, a communication device 13, and an air holding unit 14. 【0019】 The position sensor 11 is an example of a "detection unit" and detects the pressing position when a user presses the surface of the support model 10 with their hand. For example, when a user presses the sensor portion of the position sensor 11 with their hand, the resistance of the position sensor 11 changes, and a signal corresponding to the changed resistance is output to the relay device 20. Any known sensor that can detect the pressing position of the support model 10 can be applied to the position sensor 11. 【0020】 The pressure sensor 12 is an example of a "detection unit" and detects the pressure applied to the support model 10 when a user presses the surface of the support model 10 with their hand. For example, when a user presses the support model 10 with their hand, a signal corresponding to the pressure inside the support model 10 that changes due to the press is output to the relay device 20. Specifically, when a user presses the support model 10 with their hand, the pressure sensor 12 outputs a voltage according to the pressure applied to the support model 10. The support device 30, which will be described later, converts the voltage V obtained from the pressure sensor 12 into a pressure P based on the following equation (1). 【0021】 【number】 【0022】 Furthermore, any known sensor capable of detecting the pressure applied to the support model 10 can be applied to the pressure sensor 12. 【0023】 The communication device 13 is an interface that transmits and receives signals (data) to and from the communication device 23 of the relay device 20 via wired or wireless communication. For example, when a user presses the sensor portion of the position sensor 11, the communication device 13 outputs a signal to the relay device 20 corresponding to the resistance that has changed due to the press. Also, when a user presses the support model 10, the communication device 13 outputs a signal to the relay device 20 corresponding to the pressure of the press. 【0024】 The air-holding section 14 holds air and, using its shape, forms a support model 10 that mimics a part of the human body. The air-holding section 14 will now be explained in detail with reference to Figure 3. Figure 3 is a diagram illustrating the creation of the support model 10. 【0025】 As shown in Figure 3(A), the air retaining section 14 comprises one upper film 141, one lower film 142, and multiple (for example, 12) side films 143. The air retaining section 14 can be created by heat-welding these films together. 【0026】 The horizontal length of the top film 141 and the horizontal length of the bottom film 142 are both the same length L. The vertical length of the top film 141, the vertical length of the bottom film 142, and the vertical length of the side film 143 are all the same length W. 【0027】 As shown in FIG. 3(B), after each of the plurality of side films 143 is bent along the crease, the plurality of side films 143 are arranged with a predetermined interval between the facing upper surface film 141 and lower surface film 142. Thereby, at least one tapered air chamber 145 having a length of side a on the wrist side, a length of side b (b > a) on the elbow side, and a length of W from the wrist side to the elbow side is formed. In the embodiment, a plurality of air chambers 145 are formed. Further, between the two air chambers 145, a tapered space 146 having a length of side c on the wrist side, a length of side d (d < c) on the elbow side, and a length of W from the wrist side to the elbow side is formed. In such a manner, when one upper surface film 141, one lower surface film 142, and a plurality of side films 143 are heat-sealed, a sheet-like air holding portion 14 is formed. 【0028】 As shown in FIG. 3(C), when the sheet-like air holding portion 14 is rounded, the air holding portion 14 has a shape imitating a human arm, and a plurality of air chambers 145 and a plurality of spaces 146 are arranged in the circumferential direction thereof. Air can be put into and taken out of each of the plurality of air chambers 145. Each of the plurality of air chambers 145 after air is put in can hold the air. A position sensor 11 is provided in each of the plurality of air chambers 145, and further, a pressure sensor 12 is connected. 【0029】 When a user presses the support model 10, the resistance of the pressed position sensor 11 changes, and a signal corresponding to the change in resistance due to the press is output to the relay device 20. Also, when a user presses the support model 10, the internal pressure of the air chamber 145 that holds air in the air holding section 14 changes. If the user's pressing position is where the air chamber 145 is located, the internal pressure of the air chamber 145 changes due to the direct pressure on the air chamber 145. If the user's pressing position is where the space 146 is located, the change in shape of the upper film 141 is transmitted to the air chamber 145 adjacent to the space 146, causing the internal pressure of the air chamber 145 to change. The pressure sensor 12 detects the change in the internal pressure of the air chamber 145 (i.e., the air pressure of the air held by the air chamber 145) and outputs a signal corresponding to the change in internal pressure to the relay device 20. 【0030】 Furthermore, the user can change the air pressure held in each of the multiple air chambers 145. The user may change the air pressure in the air chambers 145 using the relay device 20 or the support device 30, or they may change the air pressure in the air chambers 145 using special devices other than the relay device 20 and the support device 30. Also, the support model 10 is not limited to the shape shown in Figure 3, but any shape can be applied as long as it can mimic a part of the human body with the air-holding parts 14 that hold air. For example, the support model 10 is not limited to a single sheet-like air-holding part 14, but may have a shape in which each of the multiple air chambers 145 is made up of multiple independent air-holding parts 14 bonded together. 【0031】 As described above, the air-holding unit 14 allows the user to adjust the overall stiffness of the support model 10 by changing the air pressure in the air chamber 145. This enables the user to use the support model 10 to represent the desired stiffness of biological muscle. Furthermore, by utilizing the changes in the air pressure of the air held in the air-holding unit 14, the pressure sensor 12 can detect the pressure applied to the support model 10 by the user's pressing with greater detail and accuracy. 【0032】 Returning to Figure 2, the relay device 20 comprises an arithmetic unit 21 and a communication device 23. For example, the relay device 20 may consist of a single-board microcomputer. 【0033】 The arithmetic unit 21 is a computing entity (computer) that performs various processes according to various programs. The arithmetic unit 21 includes, for example, at least one of the following: CPU (Central Processing Unit), FPGA (Field Programmable Gate Array), GPU (Graphics Processing Unit), and MPU (Multi Processing Unit). Furthermore, the arithmetic unit 21 may include volatile memory such as DRAM (Dynamic Random Access Memory) or SRAM (Static Random Access Memory), and non-volatile memory such as ROM (Read Only Memory) or flash memory. The arithmetic unit 21 may also be composed of processing circuits. 【0034】 Furthermore, the arithmetic unit 21 stores a detection program 225 in its memory. The arithmetic unit 21 executes processing according to the detection program 225 to detect signals from the position sensor 11 of the support model 10 and signals from the pressure sensor 12 of the support model 10. 【0035】 The communication device 23 is an interface that transmits and receives signals (data) to and from the support model 10 and the support device 30, respectively, via wired or wireless communication. For example, the communication device 23 receives signals from the communication device 13 of the support model 10 that correspond to the detection values ​​of the position sensor 11 and the pressure sensor 12, respectively. 【0036】 The support device 30 comprises a processing unit 31, a storage device 32, a communication device 33, a speaker 34, and a display 35. For example, the support device 30 may consist of an information terminal that performs predetermined information processing, such as a desktop PC (personal computer), a laptop PC, a smartphone, a smartwatch, a wearable device, and a tablet PC. 【0037】 The processing unit 31 is a computing entity (computer) that performs various processes according to various programs. The processing unit 31 includes, for example, at least one of a CPU, FPGA, GPU, and MPU. Furthermore, the processing unit 31 may include volatile memory such as DRAM or SRAM, and non-volatile memory such as ROM or flash memory. The processing unit 31 may also be composed of arithmetic circuits. 【0038】 The storage device 32 includes a non-volatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The storage device 32 stores various programs and data that the processing device 31 references. Specifically, the storage device 32 stores a support program 325 and support data 326. The support program 325 includes source code for providing support information to assist in learning procedures using the support model 10. The support data 326 includes data necessary to generate support information, such as reference values ​​that serve as the basis for procedures. 【0039】 The communication device 33 is an interface that transmits and receives signals (data) to and from the relay device 20 via wired or wireless communication. For example, the communication device 33 receives from the communication device 23 of the relay device 20 a signal that can identify the pressing position of the support model 10 by the user, and a signal that can identify the pressure applied to the support model 10. 【0040】 In the support device 30, the processing unit 31 executes a support program 325 to provide support information to the user. Specifically, the support device 30 identifies the pressing position of the support model 10 based on a signal that can identify the pressing position of the support model 10 acquired from the relay device 20, and identifies the pressure applied to the support model 10 based on a signal that can identify the pressure applied to the support model 10. Then, the support device 30 generates support information based on the identified pressing position and pressure, and a reference value that serves as the basis for the procedure included in the support data 326. The reference value may be a value predetermined by the designer of the support system 1, or it may be set based on the detection values ​​of the position sensor 11 and pressure sensor 12 when a skilled person performs work using the support model 10. The support device 30 displays an image corresponding to the support information on the display 35, or outputs a sound corresponding to the support information from the speaker 34. 【0041】 Furthermore, the support device 30 may be configured integrally with the relay device 20. That is, the processing unit 31 and storage device 32 of the support device 30 may have the functions of the arithmetic unit 21 of the relay device 20. In addition, the communication device 33 of the support device 30 may have the functions of the communication device 23 of the relay device 20. 【0042】 [Provision of support information] The provision of support information by support system 1 will be explained with reference to Figures 4 to 6. 【0043】 First, we will explain an example in which, while the learner is learning using the support model 10, the support device 30 provides information corresponding to the pressing position of the support model 10 and information corresponding to the pressure applied to the support model 10 as support information. Figure 4 is a diagram illustrating an example of the display of the pressing position and pressing pressure of the support model 10. 【0044】 As shown in Figure 4(A), when a user touches or presses on the support model 10, as shown in Figure 4(B), at least one position image 115 corresponding to the pressing position of the support model 10 is displayed on the display 35 in the model image 110 of the support model 10. The support model 10 is equipped with a plurality of position sensors 11, and the support device 30 displays a position image 115 corresponding to each of the plurality of position sensors 11. When the user takes their hand off the support model 10, the support device 30 turns off the position image 115, and when the user moves their hand while touching the support model 10, the support device 30 moves the position image 115 in accordance with the hand movement. 【0045】 Furthermore, the support device 30 may compare the pressing position detected by the position sensor 11 with a reference value (reference pressing position) that serves as the basis for the procedure included in the support data 326, and if the user's pressing position is further than a predetermined range from the reference value, it may display an image on the display 35 corresponding to an appropriate pressing position (for example, the reference pressing position). 【0046】 Furthermore, as shown in Figure 4(C), the support device 30 compares the pressure (load) applied to the support model 10, calculated from the pressure detected by the pressure sensor 12, with the reference value (reference pressure (load)) that serves as the basis for the procedure included in the support data 326, and displays the position images 115 on the display 35 in different colors according to the pressure applied to the support model 10 by the user's pressing. 【0047】 As described above, the support model 10 has tapered air chambers 145 and spaces 146, so the amount of expansion of the support model 10 differs depending on the position. That is, the amount of change in internal pressure in response to pressing differs depending on the pressing position of the support model 10. Therefore, if the detected value of the pressure sensor 12 is used as is, the estimated load may differ depending on the pressing position even when the same load is applied. Therefore, the support device 30 estimates the load F by expressing the slope of the approximate straight line showing the relationship between internal pressure and load as a function of position X, based on the following equation (2), and by relating the detected value of the position sensor 11 and the detected value of the pressure sensor 12. The initial internal pressure of the air chamber 145 is assumed to be 15 kPa. 【0048】 【number】 【0049】 In equation (2) above, P is the internal pressure and X is the value detected by the position sensor 11. By using this equation, the support device 30 can appropriately estimate the pressure (load) applied to the support model 10 according to the pressing position of the support model 10, even if the support model 10 has tapered air chambers 145 and spaces 146. 【0050】 The support device 30 displays the position image 115 in yellow if the pressure applied to the support model 10 is less than the first reference value, displays the position image 115 in green if the pressure applied to the support model 10 is greater than or equal to the first reference value but less than the second reference value, and displays the position image 115 in red if the pressure applied to the support model 10 is greater than or equal to the second reference value. Note that the pressure corresponding to the second reference value is greater than the pressure corresponding to the first reference value. These reference values ​​may differ depending on the pressing position. Furthermore, the color coding is not limited to three levels; it may be two levels or four or more levels. 【0051】 Each of the first and second reference values ​​described above may be a value predetermined by the designer of the support system 1, or it may be set based on the value detected by the pressure sensor 12 when a skilled worker performs work using the support model 10. 【0052】 For example, consider a scenario where the appropriate pressure applied by a skilled user to a specific location on the support model 10 is defined as being greater than or equal to a first reference value and less than a second reference value. If a learner is able to apply the same appropriate pressure to the same location as the skilled user, the pressure applied to the support model 10 will be greater than or equal to the first reference value and less than the second reference value, and the location image 115 will be displayed in green on the display 35. On the other hand, if a learner is unable to apply the same appropriate pressure to the same location as the skilled user, the pressure applied to the support model 10 will be less than the first reference value and the location image 115 will be displayed in yellow on the display 35, or the pressure applied to the support model 10 will be greater than or equal to the second reference value and the location image 115 will be displayed in red on the display 35. 【0053】 This allows learners to confirm, using the position images 115 displayed on the display 35, whether they were able to apply the same appropriate pressure to each pressing position as an expert. 【0054】 In the example shown in Figure 4, the support device 30 displays a positional image 115 on the display 35 as support information, but the support device 30 may also output sound from the speaker 34 as support information. 【0055】 For example, the support device 30 may compare the pressing position detected by the position sensor 11 with a reference value (reference pressing position) that serves as the basis for the procedure included in the support data 326, and if the user's pressing position is further than a predetermined range from the reference value, it may output a sound from the speaker 34 to indicate the appropriate pressing position (i.e., the reference pressing position). 【0056】 Furthermore, the support device 30 may compare the pressure (load) applied to the support model 10, calculated from the pressure detected by the pressure sensor 12, with a reference value (reference pressure (load)) that serves as the basis for the procedure included in the support data 326. If the pressure applied to the support model 10 by the user's pressing deviates beyond a predetermined range from the reference value, the support device 30 may output a sound from the speaker 34 to notify the user to press with appropriate pressure. For example, the support device 30 may output a warning sound from the speaker 34, or it may output voice messages such as "Do not press too hard" or "Press lightly" from the speaker 34. 【0057】 Next, an example will be described in which the support device 30 provides the evaluation results of the learning related to the techniques performed using the support model 10 as support information. Figure 5 is a diagram illustrating an example of the evaluation results by the support system 1. In Figure 5, the learner uses the support model 10 to perform a series of massages, including 5 back-and-forth treatments on the posterior forearm, 5 back-and-forth treatments on the anterior forearm, 10 treatments on the anterior wrist, 5 back-and-forth treatments on the posterior forearm, and 5 back-and-forth treatments on the anterior forearm. The evaluation results calculated by the support device 30 for such a series of massages are shown. In calculating the evaluation results, the skilled practitioner also uses the same support model 10 as the learner, performing 5 back-and-forth treatments on the posterior forearm, 5 back-and-forth treatments on the anterior forearm, 10 treatments on the anterior wrist, 5 back-and-forth treatments on the posterior forearm, and 5 back-and-forth treatments on the anterior forearm. 【0058】 The support device 30 calculates at least one of the following indicators: hand movement, force applied, and degree of contact, and calculates an evaluation result based on the calculated indicator. In the example in Figure 5, the support device 30 calculates an evaluation result based on three indicators: hand movement, force applied, and degree of contact. 【0059】 The calculation of the evaluation result for "hand movement" will be explained. The support device 30 calculates the difference T between the time taken by the skilled person to perform a series of massages and the time taken by the learner to perform a series of massages, based on the following equation (3). n Calculate. 【0060】 【number】 【0061】 In the above formula (3), T M is the time required by a skilled person for a series of massages. T S is the time required by a learner for a series of massages. 【0062】 The support device 30 calculates a correlation coefficient α between the time-series data of the pressing positions of the skilled person and the time-series data of the pressing positions of the learner in a series of massages based on the following formula (4). 【0063】 [Number] 【0064】 In the above formula (4), L M (= L M1 , L M2 , L M3 ,…L Mn ) is the time-series data of the pressing positions of the skilled person in a series of massages. L S (= L S1 , L S2 , L S3 ,…L Sn ) is the time-series data of the pressing positions of the learner in a series of massages. Here, the range of α is -1 or more and 1 or less. The closer α is to 1, the higher the evaluation, and the closer α is to -1, the lower the evaluation. 【0065】 The support device 30 calculates α1 based on the following formula (5). 【0066】 [Number] 【0067】 Furthermore, the support device 30 calculates α2 based on the following formula (6). 【0068】 [Number] 【0069】 Here, the range of α2 is between 0 and 1. The closer α2 is to 0, the higher the evaluation; the closer α2 is to 1, the lower the evaluation. 【0070】 The support device 30 calculates a score V corresponding to the evaluation result of "hand movement" based on the following equation (7). Note that the higher the score V for hand movement, the higher the evaluation. 【0071】 【number】 【0072】 The calculation of the evaluation result for "force application" will be explained. The support device 30 calculates the difference P between the average pressure of the skilled worker and the average pressure of the learner based on the following equation (8). n Calculate. 【0073】 【number】 【0074】 In equation (8) above, P M This is the average pressure of skilled workers. S This represents the average pressure of the learners. 【0075】 Here, the amount of displacement P n If only the pressure values ​​were considered, the score could be high even if the difference between the maximum and minimum pressure values ​​was large. Therefore, the support device 30 considers the correlation coefficient β between the time-series data of the pressure applied by the expert during a series of massages and the time-series data of the pressure applied by the learner. The support device 30 calculates the correlation coefficient β based on the following equation (9). 【0076】 【number】 【0077】 Here, the range of β is -1 or greater and 1 or less. The closer β is to 1, the higher the evaluation; the closer β is to -1, the lower the evaluation. 【0078】 The support device 30 calculates β1 based on the following equation (10). 【0079】 【number】 【0080】 Furthermore, the support device 30 calculates β2 based on the following equation (11). 【0081】 【number】 【0082】 Here, the range of β2 is between 0 and 1. The closer β2 is to 0, the higher the evaluation; the closer β2 is to 1, the lower the evaluation. 【0083】 The support device 30 calculates a score F corresponding to the evaluation result of "force" based on the following formula (12). Note that the higher the force score F, the higher the evaluation. 【0084】 【number】 【0085】 The calculation of the "adhesion level" evaluation result will now be explained. The support device 30 stores the detected value of the pressure sensor 12 when the internal pressure of the air chamber 145 of the support model 10 becomes greater than the initial internal pressure (for example, 15 kPa). Furthermore, the support device 30 stores the time required for a series of massages. Therefore, the support device 30 determines that the degree of adhesion is greater the more times the detected value of the pressure sensor 12 is stored per unit time (for example, the time required for a series of massages). Note that the unit time is not limited to the time required for a series of massages, but may also be a time divided into predetermined intervals, such as 5 minutes. 【0086】 The support device 30 calculates a score A corresponding to the evaluation result of "adhesion" based on the following formula (13). Note that the higher the adhesion score A, the higher the evaluation. 【0087】 【number】 【0088】 In equation (13) above, T M This is the time it took a skilled masseur to perform a series of massages. S This represents the time the learner spent on a series of massages. M This is the number of detected values ​​(pressure data) detected by the pressure sensor 12 while the skilled person is performing a series of massages. S This is the number of detected values ​​(pressure data) detected by the pressure sensor 12 while the learner is performing a series of massages. 【0089】 The support device 30 calculates evaluation results (scores) based on the three aspects of hand movement, force applied, and degree of contact using the method described above, and then displays a table summarizing these evaluation results on the display 35, as shown in Figure 5. 【0090】 Figure 5 shows the evaluation results for 12 learners, Learner A to Learner L. Figure 5(A) shows the evaluation results when each learner performed the treatment using the support model 10 before being instructed by an expert. Figure 5(B) shows the evaluation results when each learner performed the treatment using the support model 10 after being instructed by an expert. The "Total Score" in the table is the average score for each learner's hand movement, force, and contact. Alternatively, the total score may be calculated by weighting each of the hand movement, force, and contact and then averaging them. The "Average" in the table is the average score for all learners in each of the following categories: hand movement, force, contact, and total score. 【0091】 Comparing the evaluation results in Figure 5(A) with those in Figure 5(B), it can be seen that after instruction by an expert, the scores for hand movement, force application, and contact level generally improved for all learners. Furthermore, after instruction by an expert, the average scores for all learners improved in all three areas: hand movement, force application, and contact level. 【0092】 The support device 30 displays these evaluation results as support information on the display 35, making it possible to visualize, using a score, whether or not the expert's guidance was appropriate. 【0093】 Furthermore, by using the support model 10, learners can understand their current level of skill using visualized scores, not only for visually perceptible skills such as movement, but also for skills that are difficult to perceive visually, such as force and contact degree, and can effectively acquire these skills. 【0094】 [Comparison of evaluation results] Figure 6 illustrates an example of a comparison between the evaluation results from support system 1 and the evaluation results from an expert. 【0095】 Figure 6 shows a bar graph with the average total score on the vertical axis and information corresponding to 12 learners, Learner A to Learner L, on the horizontal axis. Figure 6 also shows bar graphs for before and after instruction by the expert. Furthermore, Figure 6(A) shows a graph of the evaluation results from Support System 1, and Figure 6(B) shows a graph of the evaluation results from the expert's visual assessment. 【0096】 Comparing the evaluation results in Figure 6(A) with those in Figure 6(B), the evaluation results from Support System 1 show that, similar to the evaluation results from experts, the scores of most learners have generally improved. Therefore, it can be said that the evaluation by Support System 1 is generally consistent with the evaluation by experts, thus demonstrating the validity of the evaluation by Support System 1. 【0097】 Here, regarding learners A and C, the evaluation results from support system 1 show that their post-instruction evaluations were lower than their pre-instruction evaluations, while the evaluations by experts show that their post-instruction evaluations were higher than their pre-instruction evaluations. This difference in evaluation is thought to be due to the fact that experts evaluate solely based on visual cues, while support system 1 also evaluates techniques that are difficult to perceive visually, such as force application and contact degree. 【0098】 Thus, support system 1 can evaluate learners more accurately by evaluating not only visually discernible skills such as movement patterns, but also skills that are difficult to discern visually, such as force application and degree of contact. 【0099】 As described above, the support system 1 uses a support model 10 that mimics a part of the human body with an air-holding unit 14 to hold air, allowing learners to learn about the procedure. This enables learners to learn about the procedure in an environment closer to a real-world setting. Furthermore, support information is provided based on the detected pressure values ​​of the support model 10 and the pressure applied to the support model 10, as well as reference values ​​that serve as the basis for the procedure, allowing learners to learn independently efficiently and effectively. 【0100】 <Support system for modifications> [Providing support information through haptic feedback] The modified support system 100 will be described with reference to Figure 7. In the following, only the parts of the modified support system 100 that differ from the support system 1 in the embodiment will be described. 【0101】 In the embodiment of the support system 1, support information was provided visually using a display 35 or auditorily using a speaker 34. However, the support system 1 may also provide support information using other human senses such as force perception. 【0102】 Figure 7 is a diagram illustrating the provision of force-based support information by the modified support system 100. As shown in Figure 7, the modified support system 100 comprises a support model 10A for use by a skilled user, a support model 10B for use by a learner, a support device 30A for the skilled user, and a support device 30B for the learner. Each of the support models 10A and 10B has the same configuration as the support model 10 according to the embodiment described above. That is, each of the support models 10A and 10B includes at least one position sensor 11, at least one pressure sensor 12, a communication device 13, and an air holding unit 14. Each of the support models 10A and 10B mimics a part of the human body. For example, each of the support models 10A and 10B has a shape that mimics a human back. Support model 10A is communicatively connected to support device 30A. Support model 10B is communicatively connected to support device 30B. Each of the support devices 30A and 30B has the same configuration as the support device 30 according to the embodiment described above. That is, each of the support devices 30A and 30B includes a processing unit 31, a storage device 32, a communication device 33, and a speaker 34. Furthermore, the support device 30A includes a force sensor member 50A for the expert, which is attached to a part of the expert's body (for example, the expert's back), and a display 35A for the expert to view. The support device 30B includes a force sensor member 50B for the learner, which is attached to a part of the learner's body (for example, the learner's back), and a display 35B for the learner to view. The support device 30A can communicate remotely with the support device 30B wirelessly. 【0103】 Force sensing member 50A is an actuator equipped with an airbag, and transmits the airbag inflation motion to the back of the skilled user. Force sensing member 50B is an actuator equipped with an airbag, and transmits the airbag inflation motion to the back of the learner. If force sensing member 50A and force sensing member 50B each transmit the airbag inflation motion to other parts of the body other than the back (for example, hands, arms, head, shoulders, feet, stomach, and fingertips), then support model 10A and support model 10B each should have a shape that mimics those other parts of the body (for example, hands, arms, head, shoulders, feet, stomach, and fingertips). 【0104】 When a skilled user performs a demonstration procedure using the support model 10A, the support device 30A acquires the pressing position calculated based on the detection value of the position sensor 11 and the pressing pressure calculated based on the detection value of the pressure sensor 12, and outputs the pressing position and pressure to the support device 30B. The support device 30B transmits the demonstration pressing position and pressure received from the support device 30A to the learner's back using the force sensing member 50B. For example, the force sensing member 50B expands at a position corresponding to the position where the skilled user presses the support model 10A. The force sensing member 50B also expands so that the same pressure applied to the support model 10A when the skilled user presses it is applied to the learner's back. In this way, the skilled user can provide the learner with support information (demonstration pressing position and pressure) to assist in learning the procedure, using force sensing. 【0105】 Meanwhile, when a learner performs a procedure using the support model 10B while imitating the support information (sample pressing position and pressure) transmitted from the expert via the force sensing member 50B, the support device 30B acquires the pressing position calculated based on the detection value of the position sensor 11 and the pressing pressure calculated based on the detection value of the pressure sensor 12, and outputs the pressing position and pressure to the support device 30A. The support device 30A transmits the pressing position and pressure received from the support device 30B during the learning process to the expert's back using the force sensing member 50A. For example, the force sensing member 50A expands at a position corresponding to the position where the learner presses the support model 10B. The force sensing member 50A also expands so that the same pressure applied to the expert's back is the same as the pressure applied to the support model 10B when the learner presses it. This allows the expert to grasp the learner's level of proficiency through the information transmitted from the force sensing member 50A. 【0106】 Thus, the support system 100 may use force feedback to provide support information to users such as learners. 【0107】 [Providing support information that serves as a standard for procedures during learning] The support device 30 may provide at least one of the following while the learner is learning using the support model 10: information corresponding to the pressing position of the support model 10 which serves as the basis for the procedure, and information corresponding to the pressure applied to the support model 10 which serves as the basis for the procedure by an expert or the like. 【0108】 For example, the support device 30 may display on the display 35 the position and appropriate pressure that the learner should apply while the learner is learning using the support model 10. In this way, the support system 1 can effectively support the learner's learning of the technique by having the support device 30 display a so-called navigation that serves as a model of the procedure while the learner is learning using the support model 10. 【0109】 The embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of this disclosure is indicated by the claims rather than by the description of the embodiments above, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols] 【0110】 1,100 Support system, 10,10A,10B Support model, 11 Position sensor, 12 Pressure sensor, 13,23,33 Communication device, 14 Air holding unit, 20 Relay device, 21 Processing unit, 30,30A,30B Support device, 31 Processing unit, 32 Storage device, 34 Speaker, 35,35A,35B Display, 50A,50B Force sensing member, 110 Model image, 115 Position image, 141 Top film, 142 Bottom film, 143 Side film, 145 Air chamber, 146 Space, 225 Detection program, 325 Support program, 326 Support data.

Claims

[Claim 1] A support system for learning about surgical techniques, A skilled user assistance model that mimics a part of the human body, which is used by skilled users and includes an air-holding section containing at least one air chamber that holds air, Assistive devices for skilled users, Equipped with learning support devices, The aforementioned learning support device includes a force sensor for learners that is attached to a part of the learner's body. The aforementioned support device for skilled operators is The pressure applied to the support model for the skilled person is determined by detecting the change in the internal pressure of the at least one air chamber when the support model for the skilled person is pressed by the skilled person. The pressing position of the expert-use support model and the pressure applied to the expert-use support model are output to the learner-use support device. The learner's support device transmits the pressing position and pressure in the expert's support model, received from the expert's support device, to a part of the learner's body using the learner's force sensor. An assist system in which the stiffness of the assist model for skilled users is adjusted by changing the air pressure in at least one of the air chambers. [Claim 2] The support system according to claim 1, wherein the force sensor for the learner expands in a part of the learner's body, thereby transmitting the pressing position and pressure in the expert's support model received from the expert's support device to the part of the learner's body. [Claim 3] The support system according to claim 1 or claim 2, wherein the force sensor for the learner is attached to the learner's back. [Claim 4] The aforementioned learner's support model, which is used by the learner and includes an air-holding section containing at least one air chamber for holding air, further comprises: The aforementioned support device for skilled users includes a force sensor for skilled users that is attached to a part of the skilled user's body, The learner support device outputs the pressing position of the learner support model and the pressure applied to the learner support model to the expert support device. The support system according to claim 1, wherein the support device for the expert transmits the pressing position and pressure in the support model for the learner, received from the support device for the learner, to a part of the expert's body using the force sensing member for the expert. [Claim 5] The support system according to claim 4, wherein the force sensing member for the expert expands in a part of the expert's body, thereby transmitting the pressing position and pressure in the support model for the learner, received from the support device for the learner, to the part of the expert's body. [Claim 6] The support system according to claim 4 or 5, wherein the force sensor for the skilled user is attached to the back of the skilled user.

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