CN101320526B - Apparatus and method for operation estimation and training - Google Patents

Abstract

The present invention discloses a surgery predicting and training device, and a method thereof. The device comprises a model generation module, a monitoring device, an operating device, a physical computation module; wherein, the model generation module adopts the external images of the human body, the images of anatomized structure and the attribute data of tissues of the human body, to simulate the states of various tissues; the monitoring device is connected with the model generation module; the operating device is used for receiving surgical instructions; the surgical instructions comprise operating action data and surgical position information; the physical computation module is connected with the operating device, and is used for transforming the operating action data into the deformation data of the tissues corresponding to the surgical positions; the model generation module also comprises a data correcting unit which is connected with the physical computation module; the data correcting unit adopts the deformation data to correct the attribute data corresponding to the surgical position. The device and the method can directly predict the surgery, lowers the difficulty of surgical prediction, and reduces the cost of surgical training.

Description

Translated fromChinese

一种手术预测和训练的设备及其方法A device and method for surgical prediction and training

技术领域technical field

本发明涉及一种教育或演示用具，尤其涉及的是一种手术预测和训练的设备及其方法。The invention relates to an education or demonstration appliance, in particular to a device for operation prediction and training and a method thereof.

背景技术Background technique

现代外科手术技术正在向微创伤、小视野、低痛苦的微创手术方向发展。手术中使用插入病人体内的微小摄像机和切削工具，通过注视监视器完成手术过程。微创手术有利于节约手术成本、减轻病人痛苦和缩短术后恢复期，已在耳鼻喉、胃肠科、泌尿科、妇科以及神经科中得到了广泛的应用。Modern surgical techniques are developing towards minimally invasive surgery with minimal trauma, small field of view, and low pain. The surgery uses tiny cameras and cutting tools inserted into the patient, and the procedure is done by looking at a monitor. Minimally invasive surgery is beneficial to save operating costs, reduce patient pain and shorten postoperative recovery period, and has been widely used in otolaryngology, gastroenterology, urology, gynecology and neurology.

手术预测是在手术进行前制定的手术方案，传统模式的手术预测依赖操作者的主观经验，例如在截骨术中对手术方式、截骨部位、骨段移动的方位和距离、咬合关系的确定等都需先做一系列的预测分析及模拟手术，才能确保手术的成功，这对操作者的要求很高，增加了手术过程的难度。一旦微创手术失败需要临时转为传统手术，创伤更大，对病人造成严重的伤害，以“求美”为目的的颅面部的整形美容手术尤为更甚；所以现有技术中的手术预测的难度很高。Surgical prediction is a surgical plan formulated before the operation. Traditional surgical prediction relies on the subjective experience of the operator, such as the determination of the surgical method, osteotomy site, position and distance of bone segment movement, and occlusal relationship during osteotomy. A series of predictive analysis and simulated operations are required to ensure the success of the operation, which places high demands on the operator and increases the difficulty of the operation. Once the minimally invasive surgery fails, it needs to be temporarily converted to traditional surgery, which will cause greater trauma and cause serious harm to the patient, especially craniofacial plastic surgery for the purpose of "seeking beauty"; so the surgical prediction in the prior art Very difficult.

另外，在微创手术过程中，由于切口小，操作者不能看见他的手，需要借助仪器，并根据自己的经验判断来进行手术，这需要极高的手术技巧和杰出的手眼配合技术。新手在正式手术前需要经过大量的训练以掌握人体的解剖结构，以及培养应付各种突发情况的能力。传统的手术训练主要以动物或尸体为实验对象，但是，由于动物的解剖结构和人体的解剖结构的不一致性、以及尸体和活体的组织差异等因素会影响训练效果；而且，由于动物和尸体的不可重复性，导致医院的培训成本增加。In addition, during the minimally invasive surgery, due to the small incision, the operator cannot see his hands, and needs to use instruments to perform the surgery based on his own experience and judgment, which requires extremely high surgical skills and outstanding hand-eye coordination skills. Novices need to go through a lot of training to master the anatomical structure of the human body and develop the ability to deal with various emergencies before the formal operation. Traditional surgical training mainly uses animals or cadavers as experimental objects. However, due to the inconsistency between the anatomical structure of animals and the anatomical structure of the human body, as well as factors such as tissue differences between cadavers and living bodies, the training effect will be affected; moreover, due to the differences between animals and cadavers Non-repeatability, leading to increased training costs for hospitals.

因此，现有技术还有待于改进和发展。Therefore, the prior art still needs to be improved and developed.

发明内容Contents of the invention

本发明的目的在于提供一种手术预测和训练的设备及其方法，该手术预测和训练设备及方法能够直观的进行手术预测，降低了手术预测的难度和手术训练的成本。The object of the present invention is to provide a surgical prediction and training device and method thereof, which can intuitively perform surgical prediction, reduce the difficulty of surgical prediction and the cost of surgical training.

本发明的技术方案如下：Technical scheme of the present invention is as follows:

一种手术预测和训练设备，包括：模型生成模块，用于利用人体的外形图像、解剖结构图像和人体各组织的属性数据，模拟各种组织的状态；与所述模型生成模块连接的监视装置；其中，还包括：用于接收手术指令的操作装置，该手术指令包括：操作动作数据和手术部位信息；与所述操作装置连接的物理计算模块，用于将所述操作动作数据转换为所述手术部位相应组织的形变数据；所述模型生成模块内包括：属性数据单元、医学成像设备、图像处理单元、三维几何单元和数据融合单元；所述医学成像设备用于获取患者外形及解剖结构的CT或MRI等模态的图像序列；所述图像处理单元与医学成像设备连接，用于对所获取的图像序列进行图像增强、噪声去除、刚性配准处理和分析；所述三维几何单元与图像处理单元连接，用于利用处理和分析后的图像序列构建三维几何模型；所述属性数据单元用于获取各种属性数据，其与物理计算模块连接，并根据物理计算模块生成的形变数据对相应组织的属性数据进行修正；所述数据融合单元，用于将三维几何模型和属性数据进行融合，以实现人体各组织状态的模拟；A surgical prediction and training device, comprising: a model generation module, which is used to simulate the states of various tissues by using the outline image of the human body, the anatomical structure image and the attribute data of each tissue of the human body; a monitoring device connected with the model generation module ; Wherein, it also includes: an operating device for receiving surgical instructions, the surgical instructions include: operating action data and surgical site information; a physical computing module connected to the operating device, used to convert the operating action data into the The deformation data of the corresponding tissue of the surgical site; the model generation module includes: an attribute data unit, a medical imaging device, an image processing unit, a three-dimensional geometry unit and a data fusion unit; the medical imaging device is used to obtain the patient's shape and anatomical structure The image sequence of modalities such as CT or MRI; the image processing unit is connected with medical imaging equipment, and is used to perform image enhancement, noise removal, rigid registration processing and analysis on the acquired image sequence; the three-dimensional geometry unit and The image processing unit is connected to use the processed and analyzed image sequence to build a three-dimensional geometric model; the attribute data unit is used to obtain various attribute data, which is connected to the physical calculation module, and according to the deformation data generated by the physical calculation module. The attribute data of the corresponding tissue is corrected; the data fusion unit is used to fuse the three-dimensional geometric model and the attribute data, so as to realize the simulation of the state of each tissue of the human body;

其中，所述属性数据单元包括与所述物理计算模块连接的数据修正单元，该数据修正单元用于利用所述形变数据修正所述手术部位相应的属性数据。Wherein, the attribute data unit includes a data correction unit connected to the physical calculation module, and the data correction unit is used to use the deformation data to correct the corresponding attribute data of the operation site.

所述的设备，其中，所述物理计算模块包括：与所述操作装置连接的动作转换单元和位置提取单元，与该动作转换单元和位置提取单元连接的力转换单元；动作转换单元210用于将所述操作动作数据转换为外力数据； 位置提取单元220用于提取所述手术指令中的手术部位信息；力转换单元230用于根据该外力数据计算手术部位相应组织产生变形的形变数据。The device, wherein the physical calculation module includes: a motion conversion unit connected to the operating device and a position extraction unit, a force conversion unit connected to the motion conversion unit and the position extraction unit; themotion conversion unit 210 is used to The operation action data is converted into external force data; theposition extraction unit 220 is used to extract the surgical site information in the surgical instruction; theforce conversion unit 230 is used to calculate the deformation data of the corresponding tissue deformation of the surgical site according to the external force data.

所述的设备，其中，所述操作装置包括：适于操作者手部操作的操作件、与该操作件连接的感知模块，该感知模块用于感知所述操作件的状态参数；以及与该感知模块和所述物理计算模块连接的处理模块，该处理模块用于将所述操作件的状态参数转化为所述手术指令。The device described above, wherein the operating device includes: an operating element suitable for operation by the operator's hand, a sensing module connected to the operating element, and the sensing module is used to sense the state parameters of the operating element; A processing module connected to the perception module and the physical calculation module, the processing module is used to convert the state parameter of the operating element into the operation instruction.

所述的设备，其中，还包括：与所述物理计算模块连接的生物力学模块，用于根据所述手术部位相应组织的形变数据生成手术部位的反作用力数据；设置在所述操作件上并与该生物力学模块连接的力学反馈模块，用于利用所述反作用力数据向所述操作件施加力。The device further includes: a biomechanics module connected to the physical calculation module, configured to generate reaction force data of the surgical site according to deformation data of corresponding tissues of the surgical site; set on the operating element and The mechanical feedback module connected with the biomechanical module is used to apply force to the operating element by using the reaction force data.

所述的设备，其中，所述操作件包括：与所述感知模块连接的手套。The device described above, wherein the operating element includes: a glove connected with the sensing module.

所述的设备，其中，所述操作件还包括：与所述感知模块连接的手术器械。The device described above, wherein the operating element further includes: a surgical instrument connected to the sensing module.

所述的设备，其中，所述处理模块包括：用于存储手术器械的信息的工具单元；与该工具单元连接的交互选择单元，用于在所述工具单元中选择手术器械信息。The device, wherein the processing module includes: a tool unit for storing surgical instrument information; an interactive selection unit connected to the tool unit, used for selecting surgical instrument information in the tool unit.

所述的设备，其中，所述监视装置采用立体眼镜。The device described above, wherein the monitoring device adopts stereoscopic glasses.

本发明还提供一种手术预测和训练方法，应用于由计算机单元提供的虚拟环境中，包括以下步骤：S1、利用获取的人体的外形图像、解剖结构图像和人体各组织的属性数据，模拟各种组织的状态并可视化显示；S2、接收来自操作者的手术指令，该手术指令包括：操作动作数据和手术部位信息；S3、将所述操作动作数据转换为所述手术部位相应组织的形变数据；S4、利用所述形变数据修正所述手术部位相应的属性数据。The present invention also provides a surgical prediction and training method, which is applied in a virtual environment provided by a computer unit, and includes the following steps: S1, using the obtained human body shape image, anatomical structure image and attribute data of human body tissues to simulate each The state of each tissue is displayed visually; S2. Receive a surgical instruction from the operator, the surgical instruction includes: operational action data and surgical site information; S3. Convert the operational action data into deformation data of the corresponding tissue at the surgical site ; S4, using the deformation data to modify the corresponding attribute data of the surgical site.

所述的方法，其中，所述步骤S2包括以下步骤：S21、获取操作者手部动作的状态参数；S22、将所述状态参数转化为所述手术指令。The method, wherein, the step S2 includes the following steps: S21, acquiring the state parameters of the operator's hand movements; S22, converting the state parameters into the operation instructions.

所述的方法，其中，还包括以下步骤：S5、根据所述手术部位相应组织的形变数据生成手术部位的反作用力数据；S6、利用所述反作用力数据向所述操作者手部施加力。The method further includes the following steps: S5. Generating reaction force data of the operation site according to the deformation data of the corresponding tissues of the operation site; S6. Using the reaction force data to apply force to the operator's hand.

所述的方法，其中，所述步骤S3包括：S31、将手术指令中包含的所述操作动作数据转换为外力数据；S32、提取所述手术指令中的手术部位信息；S33、根据该外力数据计算手术部位相应组织产生变形的形变数据。The above-mentioned method, wherein, the step S3 includes: S31, converting the operation action data contained in the surgical instruction into external force data; S32, extracting the surgical site information in the surgical instruction; S33, according to the external force data Calculate the deformation data of the deformation of the corresponding tissue at the surgical site.

本发明所提供的手术预测和训练设备及其方法，采用操作装置接收关于手术预测或者手术训练的手术指令，物理计算模块将操作装置接收的手术指令转换为相应组织的受力及形变数据，模型生成模块利用人体的外形图像、解剖结构图像和人体各组织的属性数据，以及所述形变数据修正过的属性数据，模拟人体各种组织的状态。从而，能够直观的进行手术预测，降低了手术预测的难度和手术训练的成本。The surgical prediction and training equipment and method provided by the present invention use the operating device to receive surgical instructions for surgical prediction or surgical training, and the physical calculation module converts the surgical instructions received by the operating device into force and deformation data of corresponding tissues, and the model The generation module simulates the states of various tissues of the human body by using the outline image of the human body, the image of the anatomical structure, the attribute data of each tissue of the human body, and the attribute data corrected by the deformation data. Therefore, operation prediction can be performed intuitively, and the difficulty of operation prediction and the cost of operation training are reduced.

附图说明Description of drawings

图1是本发明第一实施方式的原理框图；Fig. 1 is a functional block diagram of the first embodiment of the present invention;

图2是本发明三维几何模型的效果图；Fig. 2 is the rendering of the three-dimensional geometric model of the present invention;

图3是本发明模拟人体额头部变形前的效果图；Fig. 3 is the effect diagram before the deformation of the forehead of the simulated human body in the present invention;

图4是本发明模拟人体额头部变形后的效果图；Fig. 4 is the effect diagram after the deformation of the forehead of the simulated human body in the present invention;

图5是本发明第二实施方式的操作装置的原理框图；Fig. 5 is a functional block diagram of an operating device according to a second embodiment of the present invention;

图6是本发明第三实施方式的原理框图；Fig. 6 is a functional block diagram of the third embodiment of the present invention;

图7是本发明第四实施方式的操作装置的原理框图。Fig. 7 is a functional block diagram of an operating device according to a fourth embodiment of the present invention.

具体实施方式Detailed ways

下面结合具体实施方式和附图对本发明作进一步详细的描述。The present invention will be further described in detail below in conjunction with specific embodiments and accompanying drawings.

本发明的手术预测和训练设备应用于由计算机单元提供的虚拟环境中，操作者可以通过操作装置向模型生成模块进行操作，沉浸于虚拟手术环境内，完成手术的预测以及训练。通过仿真手术器械体验和学习如何进行各种手术。The operation prediction and training device of the present invention is applied in the virtual environment provided by the computer unit, and the operator can operate the model generation module through the operation device, immerse in the virtual operation environment, and complete operation prediction and training. Experience and learn how to perform various surgeries with realistic surgical instruments.

作为本发明的第一种实施方式，如图1所示，包括：操作装置100、物理计算模块200、模型生成模块300、监视装置400。As a first embodiment of the present invention, as shown in FIG. 1 , it includes: anoperating device 100 , aphysical calculation module 200 , amodel generation module 300 , and amonitoring device 400 .

操作装置100用于接收手术指令，所述的手术指令包括：手术测量数据、手术路线数据、以及操作动作数据和手术部位信息。手术测量数据包括标识点的选取，目标部位的面积和体积，解剖结构上的纵向、矢状、冠状之间的直线、弧线距离等，例如颅面部手术中的手术测量的测量数据有：眉间点与头后点之间的直线距离(头最大长)，头左右测点之间的距离(头最大宽)自颏下点至头顶点之间的投影距离(全头高)，以及沿中矢状面自鼻根点至枕外隆凸点之间的弧长(头矢状弧)。手术路线数据是根据手术方案输入的具体操作数据，动作数据主要通手术动作的位移和时间描述手术动作，手术部位信息反映手术动作所针对的相应组织的信息。Theoperating device 100 is used to receive surgical instructions, and the surgical instructions include: surgical measurement data, surgical route data, operational action data, and surgical site information. Surgical measurement data include the selection of marker points, the area and volume of the target site, the longitudinal, sagittal, and coronal straight lines and arc distances on the anatomical structure, etc. For example, the measurement data of surgical measurement in craniofacial surgery include: eyebrow The linear distance between the middle point and the back point of the head (the maximum length of the head), the distance between the left and right measurement points of the head (the maximum width of the head), the projected distance from the submental point to the apex of the head (full head height), and The length of the arc from the nasion point to the inion point on the midsagittal plane (cephalosagital arc). Surgical route data is the specific operation data input according to the surgical plan, the action data mainly describes the surgical action through the displacement and time of the surgical action, and the surgical site information reflects the information of the corresponding tissue targeted by the surgical action.

物理计算模块200与所述操作装置100连接，物理计算模块200将所述的手术指令中的操作动作数据转换为所述手术部位相应组织的形变数据。物理计算模块200包括：动作转换单元210、位置提取单元220和力转换单元230，如图2所示。Thephysical calculation module 200 is connected with theoperation device 100, and thephysical calculation module 200 converts the operation action data in the operation instruction into the deformation data of the corresponding tissue of the operation site. Thephysical calculation module 200 includes: anaction conversion unit 210 , aposition extraction unit 220 and aforce conversion unit 230 , as shown in FIG. 2 .

动作转换单元210与操作装置100连接，用于将手术指令中包含的操作动作数据转换为外力数据，根据位置参量和时间参量计算速度以及该速度所对应的作用力；Theaction converting unit 210 is connected with theoperating device 100, and is used to convert the operating action data contained in the surgical instruction into external force data, and calculate the speed and the corresponding force of the speed according to the position parameter and time parameter;

位置提取单元220与操作装置100连接，用于提取所述手术指令中的手术部位信息，手术部位信息也就是手术动作所针对的具体组织及其特性(比如皮肤、脂肪、肌肉)；Theposition extraction unit 220 is connected to theoperating device 100, and is used to extract the surgical site information in the surgical instruction, the surgical site information is the specific tissue and its characteristics (such as skin, fat, muscle) targeted by the surgical action;

力转换单元230与动作转换单元220和位置提取单元210连接，用于根据该外力数据计算手术部位相应组织产生变形的形变数据，所谓形变数据包括譬如韧带、肌肉、脂肪、血管和皮肤这些软组织的单一或者联合形变的数据。Theforce conversion unit 230 is connected with themotion conversion unit 220 and theposition extraction unit 210, and is used to calculate the deformation data of the corresponding tissue at the surgical site according to the external force data. The so-called deformation data includes soft tissues such as ligaments, muscles, fat, blood vessels and skin. Data for single or joint deformations.

模型生成模块300用于收集人体的外形图像、解剖结构图像和人体各组织的属性数据，并利用上述信息模拟人体各种组织的状态。如图2所示，模型生成模块300内设有属性数据单元340，属性数据单元340又包括：属性数据获取单元341、属性数据修正单元342。属性数据获取单元341用于获取各种属性数据，其与物理计算模块200连接；属性数据修正单元342用于根据物理计算模块200生成的形变数据修正所述手术部位相应的属性 数据。Themodel generating module 300 is used to collect the outline image, anatomical structure image and attribute data of various tissues of the human body, and use the above information to simulate the states of various tissues of the human body. As shown in FIG. 2 , themodel generation module 300 is provided with anattribute data unit 340 , and theattribute data unit 340 further includes: an attribute data acquisition unit 341 and an attributedata correction unit 342 . Attribute data obtaining unit 341 is used for obtaining various attribute data, and it is connected withphysical computing module 200;

所述属性数据包括：反映不同组织器官(比如皮肤、脂肪、肌肉)材质属性和几何分布形状的数据；反映异常部位(比如肿瘤)的大小、形状、软硬度、粗糙度、纹理的数据；反映手术部位的大小、形状、软硬度、粗糙度、纹理的数据。The attribute data includes: data reflecting material properties and geometric distribution shapes of different tissues and organs (such as skin, fat, muscle); data reflecting the size, shape, hardness, roughness, and texture of abnormal parts (such as tumors); Data that reflects the size, shape, hardness, roughness, and texture of the surgical site.

模型生成模块300中还包括：医学成像设备310、图像处理单元320、三维几何单元330和数据融合单元350。医学成像设备310用于获取患者外形及解剖结构的CT或MRI等模态的图像序列，图像处理单元320与医学成像设备310连接，用于对所获取的图像序列进行图像增强、噪声去除、刚性配准处理和分析；三维几何单元330与图像处理单元320连接，用于利用处理和分析后的图像序列构建三维几何模型；属性数据单元340用于获取各种属性数据，其与物理计算模块200连接，并根据物理计算模块200生成的形变数据对相应组织的属性数据进行修正；数据融合单元350，用于将三维几何模型和属性数据进行融合，以实现人体各组织状态的模拟。Themodel generating module 300 also includes: amedical imaging device 310 , animage processing unit 320 , a three-dimensional geometry unit 330 and adata fusion unit 350 . Themedical imaging device 310 is used to obtain image sequences of modalities such as CT or MRI of the patient's appearance and anatomical structure, and theimage processing unit 320 is connected to themedical imaging device 310 to perform image enhancement, noise removal, and rigidity on the acquired image sequences. Registration processing and analysis; the three-dimensional geometry unit 330 is connected with theimage processing unit 320, and is used to construct a three-dimensional geometric model using the processed and analyzed image sequence; theattribute data unit 340 is used to obtain various attribute data, which is connected with thephysical calculation module 200 connected, and modify the attribute data of the corresponding tissue according to the deformation data generated by thephysical calculation module 200; thedata fusion unit 350 is used to fuse the three-dimensional geometric model and the attribute data to realize the simulation of the state of various tissues of the human body.

监视装置400与所述模型生成模块300连接，用于向操作者显示当前时刻模拟的人体及其各种组织的状态。Themonitoring device 400 is connected with themodel generating module 300 and is used to display to the operator the status of the simulated human body and its various tissues at the current moment.

以下以颅面部的整形美容为例，对本发明的设备做详细说明：Taking craniofacial plastic surgery as an example, the device of the present invention will be described in detail below:

首先通过医学成像设备310获取患者的颅面部外形及解剖结构的CT或MRI图像序列。Firstly, the CT or MRI image sequence of the patient's craniofacial shape and anatomical structure is acquired by themedical imaging device 310 .

由图像处理单元320采用图像平滑、锐化和滤波方法对所获取的图像序列进行图像增强、噪声去除，以达到改善图像质量的目的；同时利用骨骼密度和连续性对图像进行分割，依靠解剖知识对分割结果进行修正以获取感兴趣的区域；由于在扫描过程中，患者很难保证一个固定姿势不变，这样由于姿势的不固定就会造成扫描同方向相邻投影间的不匹配，因此这时需要对图像序列进行配准，使得两幅图像的对应点达到空间位置和解剖结构上的一致，根据图像的特点可以采用刚性配准方法，对于二维图像而 言，需要寻求的就是刚性变换的三个参数：x，y方向上的平移Dx和Dy，旋转角度θ。Theimage processing unit 320 uses image smoothing, sharpening and filtering methods to perform image enhancement and noise removal on the acquired image sequence to achieve the purpose of improving image quality; at the same time, the image is segmented using bone density and continuity, relying on anatomical knowledge Correct the segmentation results to obtain the region of interest; since it is difficult for the patient to keep a fixed posture during the scanning process, the unfixed posture will cause the mismatch between adjacent projections in the same direction when scanning, so this It is necessary to register the image sequence so that the corresponding points of the two images are consistent in terms of spatial position and anatomical structure. According to the characteristics of the image, a rigid registration method can be used. For two-dimensional images, what needs to be sought is rigid transformation. The three parameters: x, translation Dx and Dy in the y direction, rotation angle θ.

$\left(\begin{array}{c}{\mathrm{<span><span>X</span>x</span>}}_{\mathrm{<span><span>t</span>t</span>}}\\ {\mathrm{<span><span>Y</span>Y</span>}}_{\mathrm{<span><span>t</span>t</span>}}\end{array}\right)<span><span>=</span>=</span>\left(\begin{array}{cc}\mathrm{<span><span>cos</span>cos</span>}\mathrm{<span><span>\&theta;</span>\&theta;</span>}& \mathrm{<span><span>sin</span>sin</span>}\mathrm{<span><span>\&theta;</span>\&theta;</span>}\end{array}\right)\left(\begin{array}{c}\mathrm{<span><span>X</span>x</span>}\\ \mathrm{<span><span>Y</span>Y</span>}\end{array}\right)<span><span>+</span>+</span>\left(\begin{array}{c}\mathrm{<span><span>Dx</span>Dx</span>}\\ \mathrm{<span><span>Dy</span>Dy</span>}\end{array}\right)$

在对图像序列经过处理和分析后，三维几何单元330对图像序列进行三维几何模型构建，分别获取颅面部的骨骼、软骨及软组织的三维几何面模型；再根据获取模型的特点，采用简化、光顺、网格优化、碎片去除、细分曲面拟合、网格切割、体网格化对几何模型进行后续处理；同时根据每种具体的处理方法，可以采用串行或并行，比如基于GPU的技术分别处理。采用去除体元切割算法或体元剖分切割算法对模型进行切割。下图所示为对一患者的头部扫描得到图像进行基于GPU三维重建得到的三维几何模型，参见图2。After processing and analyzing the image sequence, the3D geometry unit 330 constructs a 3D geometric model of the image sequence to obtain the 3D geometric surface models of craniofacial bones, cartilage, and soft tissue respectively; Sequencing, mesh optimization, debris removal, subdivision surface fitting, mesh cutting, volume meshing for subsequent processing of the geometric model; at the same time, according to each specific processing method, serial or parallel can be used, such as GPU-based Techniques are dealt with separately. Cut the model by using the voxel cutting algorithm or the voxel subdivision cutting algorithm. The figure below shows the 3D geometric model obtained by performing GPU-based 3D reconstruction on the scanned image of a patient's head, see Figure 2.

属性数据单元340，用于获取属性数据，属性数据包括：反映皮肤材质属性和几何分布形状的数据、脂肪材质属性和几何分布形状的数据、肌肉材质属性和几何分布形状的数据、以及其他组织器官材质属性和几何分布形状的数据；反映每个部位的大小、形状、软硬度、粗糙度、纹理的数据；部位又包括：手术部位、异常部位(例如肿瘤)。Theattribute data unit 340 is used to obtain attribute data, and the attribute data includes: data reflecting skin material attributes and geometric distribution shapes, fat material attributes and geometric distribution shapes, muscle material attributes and geometric distribution shapes, and other tissues and organs Data on material properties and geometric distribution shapes; data reflecting the size, shape, hardness, roughness, and texture of each part; parts include: surgical parts, abnormal parts (such as tumors).

数据融合单元350将三维几何模型和属性数据进行融合，以模拟人体及其各种组织的状态。最后由监视装置400向操作者进行显示。Thedata fusion unit 350 fuses the three-dimensional geometric model and attribute data to simulate the state of the human body and its various tissues. Finally, it is displayed to the operator by themonitoring device 400 .

操作装置100接收手术指令，手术指令中包括：操作动作数据、手术部位信息信息。Theoperation device 100 receives a surgical instruction, and the surgical instruction includes: operation action data and surgical site information.

将手术指令传递给物理计算模块200，其中的动作转换单元210用于将手术指令中包含的操作动作数据转换为外力数据，利用操作动作数据计算手术动作的速度以及该速度所对应的作用力。The operation instruction is transmitted to thephysical calculation module 200, and theaction conversion unit 210 is used to convert the operation action data contained in the operation instruction into external force data, and use the operation action data to calculate the speed of the operation action and the force corresponding to the speed.

位置提取单元220与操作装置100连接，用于提取手术指令中的手术部位、也就是手术动作所针对的具体组织(比如皮肤、脂肪、肌肉)。Theposition extraction unit 220 is connected with theoperation device 100 and used to extract the surgical site in the surgical instruction, that is, the specific tissue (such as skin, fat, muscle) targeted by the surgical action.

力转换单元230与动作转换单元220和位置提取单元210连接，用于根据外力数据计算手术部位相应组织产生变形的形变数据，利用位置提取单元220提取的手术部位的大小、形状、软硬度、粗糙度、纹理的数据，以及动作转换单元220计算的外力数据建立材料力学建模和形变计算模型，通过该材料力学建模和形变计算模型计算相应组织在该外力作用下产生的形变数据，所谓形变数据包括譬如韧带、肌肉、脂肪、血管和皮肤这些软组织的单一或者联合形变的数据。可以采用弹簧质子模型、基于有限元的线弹性或动态线弹性模型，或者采用这些模型的组合，比如采用动态线弹性有限元模型模拟手术部位的软组织变形，见公式1，Theforce conversion unit 230 is connected with themotion conversion unit 220 and theposition extraction unit 210, and is used to calculate the deformation data of the corresponding tissue of the surgical site according to the external force data, and use the size, shape, hardness, hardness, The roughness, texture data, and the external force data calculated by theaction conversion unit 220 establish a material mechanics modeling and deformation calculation model, and calculate the deformation data of the corresponding tissue under the action of the external force through the material mechanics modeling and deformation calculation model, the so-called Deformation data includes single or combined deformation data of soft tissues such as ligaments, muscles, fat, blood vessels and skin. The spring-proton model, the finite element-based linear elastic or dynamic linear elastic model, or a combination of these models can be used, such as the dynamic linear elastic finite element model to simulate the soft tissue deformation of the surgical site, see Equation 1,

$\mathrm{<span><span>M</span>m</span>}\frac{{<span><span>\&PartialD;</span>\&PartialD;</span>}^{\mathrm{<span><span>2</span>2</span>}}\stackrel{<span><span>\&RightArrow;</span>\&Right\; Arrow;</span>}{\mathrm{<span><span>u</span>u</span>}}}{{<span><span>\&PartialD;</span>\&PartialD;</span>\mathrm{<span><span>t</span>t</span>}}^{\mathrm{<span><span>2</span>2</span>}}}<span><span>+</span>+</span>\mathrm{<span><span>D</span>D.</span>}\frac{<span><span>\&PartialD;</span>\&PartialD;</span>\stackrel{<span><span>\&RightArrow;</span>\&Right\; Arrow;</span>}{\mathrm{<span><span>u</span>u</span>}}}{<span><span>\&PartialD;</span>\&PartialD;</span>\mathrm{<span><span>t</span>t</span>}}<span><span>+</span>+</span>\mathrm{<span><span>K</span>K</span>}\stackrel{<span><span>\&RightArrow;</span>\&Right\; Arrow;</span>}{\mathrm{<span><span>u</span>u</span>}}<span><span>=</span>=</span>\stackrel{<span><span>\&RightArrow;</span>\&Right\; Arrow;</span>}{\mathrm{<span><span>f</span>f</span>}}<span><span>-</span>-</span><span><span>-</span>-</span><span><span>-</span>-</span><span><span>(</span>(</span>\mathrm{<span><span>1</span>1</span>}<span><span>)</span>)</span>$

其中，M为物体的质量矩阵，D为物体的阻尼矩阵，K为整体刚度矩阵，u是位移，t是时间，f是等效力向量。物体是指虚拟手术的模拟对象，比如面部手术时，如果图像采集的是整个头部的话，同时前面几何建模也是整个头部的话，这里的整体和物体就是指整个头部对象，如果采集的局部比如只有下颌部那就是单指下颌部，也可以称之为手术模拟对象。根据模拟的实时性要求这些模型的计算模型可建立GPU(Graphic Processing Unit，图形处理器)或CPU之上。Among them, M is the mass matrix of the object, D is the damping matrix of the object, K is the overall stiffness matrix, u is the displacement, t is the time, and f is the equivalent force vector. Object refers to the simulation object of virtual surgery. For example, in facial surgery, if the image is collected from the whole head, and the geometric modeling in front is also the whole head, the whole and object here refer to the whole head object. If the collected Partially, for example, only the mandible is the single-finger mandible, which can also be called the surgical simulation object. According to the real-time requirements of the simulation, the calculation models of these models can be built on GPU (Graphic Processing Unit, graphics processing unit) or CPU.

实时地将该形变数据发送至属性数据单元340，属性数据单元340利用该形变数据修正所述属性数据，从而使数据融合单元350所模拟的组织产生相应的改变，模拟人体额头部变形的效果见图3和图4。Send the deformation data to theattribute data unit 340 in real time, and theattribute data unit 340 uses the deformation data to modify the attribute data, so that the tissue simulated by thedata fusion unit 350 is changed accordingly, and the effect of simulating the deformation of the forehead of the human body is shown in Figures 3 and 4.

本实施方式的手术预测和训练设备，通过物理计算模块200根据手术指令生成反映各软组织的单一或者联合形变数据，模型生成模块300根据该形变数据模拟各组织的状态，通过监视装置400进行观察。由此对手术效果进行可视性预测，一方面可以帮助医生制定具体患者的手术方案、优化手术路径、减少损伤及对组织的损害、提高病灶定位精度、预测手术结 果；此外可以让外科医生针对一个真实的病人进行术前规划、术中模拟、和术后效果预测，通过预演手术可以提前发现手术方案存在的问题并得到及时修正，并可以得到根据专家经验建立的专家手术系统的指导，使得外科手术更加安全、可靠和精确，这些对提高手术的成功率具有重要的意义；患者亦可以动态观测手术效果预测，直至达到患者满意且手术方案可行。In the surgical prediction and training device of this embodiment, thephysical calculation module 200 generates single or joint deformation data reflecting each soft tissue according to surgical instructions, and themodel generation module 300 simulates the state of each tissue based on the deformation data, and observes it through themonitoring device 400 . Therefore, the visual prediction of the surgical effect can help doctors formulate specific patient surgical plans, optimize surgical routes, reduce damage and damage to tissues, improve the accuracy of lesion location, and predict surgical results; in addition, it can help surgeons Carry out preoperative planning, intraoperative simulation, and postoperative effect prediction for a real patient. Through rehearsal surgery, problems in the surgical plan can be found in advance and corrected in time, and can be guided by the expert surgical system established based on expert experience. Making surgical operations safer, more reliable, and more accurate is of great significance to improving the success rate of operations; patients can also dynamically observe the prediction of surgical effects until the patient is satisfied and the surgical plan is feasible.

作为本发明的第二实施方式，在第一实施方式的基础上进行以下改进：如图5所示，所述操作装置100包括：操作件110、与操作件110连接的感知模块120、以及与感知模块120和物理计算模块200连接的处理模块130。As the second embodiment of the present invention, the following improvements are made on the basis of the first embodiment: as shown in FIG. Theprocessing module 130 connected to theperception module 120 and thephysical computing module 200 .

操作件110适于操作者手部操作，操作件110可采用：包裹手部的手套、手术器械、或者适于手持的手持件。手术器械包括钳子、镊子、夹子、手术刀、手术剪、量尺。Theoperating element 110 is suitable for operation by the operator's hand, and theoperating element 110 may be a glove covering the hand, a surgical instrument, or a handpiece suitable for holding. Surgical instruments include forceps, tweezers, clips, scalpels, scissors, measuring sticks.

感知模块120与操作件110和物理计算模块200连接，感知模块120通常采用传感器，用于感知操作件110的状态参数。所述状态参数主要表征操作件110移动时的位移矢量，以及操作件110本身的变形量；Thesensing module 120 is connected with theoperating element 110 and thephysical calculation module 200 , and thesensing module 120 generally adopts sensors for sensing state parameters of theoperating element 110 . The state parameter mainly characterizes the displacement vector when theoperating element 110 moves, and the deformation amount of theoperating element 110 itself;

处理模块130与感知模块120连接，用于将该所述状态参数转化为所述的手术指令。Theprocessing module 130 is connected with theperception module 120, and is used for converting the state parameter into the operation instruction.

当操作件110采用手套和手术器械时，传感器可以设置在手术器械上，也可以设置在手术器械和手套上。When gloves and surgical instruments are used as theoperating element 110, the sensors can be set on the surgical instruments, or on the surgical instruments and gloves.

当操作件110只采用手套或者手持件时，传感器则设置在手套或者手持件上。When the operatingpart 110 only uses gloves or a hand piece, the sensor is arranged on the glove or the hand piece.

本实施方式中的操作装置100包括操作件110以及与操作件110连接的感知模块120，实现了通过操作者的手部动作来实现手术指令的输入，这可以令操作者亲手操作手术，参与手术过程，够帮助新手学习、掌握人体的解剖结构，进行手术训练，并培养应付各种突发情况的能力。The operatingdevice 100 in this embodiment includes anoperating element 110 and asensing module 120 connected to theoperating element 110, which realizes the input of surgical instructions through the operator's hand movements, which allows the operator to personally operate the operation and participate in the operation. The process can help novices learn and master the anatomical structure of the human body, conduct surgical training, and develop the ability to deal with various emergencies.

作为本发明的第三实施方式，在第二实施方式的基础上增加了生物力学模块500和力学反馈模块600，如图6所示。As the third embodiment of the present invention, abiomechanics module 500 and amechanical feedback module 600 are added on the basis of the second embodiment, as shown in FIG. 6 .

生物力学模块500与物理计算模块200连接，利用力转换单元230的形变数据和位置提取单元220提取的手术部位相应组织及其特性，生成手术部位相应组织的反作用力数据；可以采用弹簧质子模型、基于有限元的线弹性或动态线弹性模型，或者采用这些模型的组合，比如采用动态线弹性有限元模型模拟手术部位的软组织变形，实际应用中，物理计算模块200和生物力学模块500可集成在同一模块。Thebiomechanics module 500 is connected with thephysical calculation module 200, and uses the deformation data of theforce conversion unit 230 and the corresponding tissue of the surgical site and its characteristics extracted by theposition extraction unit 220 to generate reaction force data of the corresponding tissue of the surgical site; spring proton models, A linear elastic or dynamic linear elastic model based on finite element, or a combination of these models, such as using a dynamic linear elastic finite element model to simulate the soft tissue deformation of the surgical site, in practical applications, thephysical calculation module 200 and thebiomechanics module 500 can be integrated in the same module.

力学反馈模块600与生物力学模块500连接，而且，力学反馈模块600设置在所述操作件110上，用于利用所述反作用力数据向操作件110施加力。Themechanical feedback module 600 is connected with thebiomechanical module 500 , and themechanical feedback module 600 is arranged on the operatingmember 110 , and is used to apply force to the operatingmember 110 by using the reaction force data.

当操作件110采用手持件，力学反馈模块600可采用与手持件相连接的力臂进行力传导。当操作件110采用手套和手术器械，力学反馈模块600可以设置在手套上或者手术器械上，也可以在手套和手术器械都设置；力学反馈模块600可采用以电信号控制的震动单元，也可以采用微型气囊。When theoperating element 110 is a handpiece, themechanical feedback module 600 may use a force arm connected to the handpiece for force transmission. When the operatingpart 110 uses gloves and surgical instruments, themechanical feedback module 600 can be set on the gloves or the surgical instruments, or can be set on both the gloves and the surgical instruments; themechanical feedback module 600 can be a vibration unit controlled by an electric signal, or can be Micro airbags are used.

本实施方式中采用力学反馈模块600，较之上一实施方式，能够模拟手术过程操作中的各组织的反作用力，增加了操作者的触觉体验，极大的提升了操作者的沉浸感、真实感。此外，监视装置400可采用监视器、显示屏，优选的采用立体眼镜，因为立体眼镜利用偏光原理，即，用两只眼睛视角的差距将同一景象制造出两个影像，让两只眼睛分别看到其中一个的影像，透过视网膜就使大脑产生景深的立体感。这可以进一步的提高操作者的沉浸感、亲临感。In this embodiment, themechanical feedback module 600 is used. Compared with the previous embodiment, it can simulate the reaction force of each tissue in the operation process, increase the operator's tactile experience, and greatly improve the operator's sense of immersion and realism. feel. In addition, themonitoring device 400 can use a monitor or a display screen, preferably stereoscopic glasses, because the stereoscopic glasses use the principle of polarization, that is, use the difference in the viewing angle of the two eyes to create two images of the same scene, so that the two eyes can see the same scene separately. Seeing one of the images, through the retina, makes the brain produce a three-dimensional sense of depth of field. This can further improve the operator's sense of immersion and presence.

以上实施方式采用真实的手术器械进行手术预测和训练，以下的实施方式与第二实施方式和第三实施方式的区别在于：如图7所示，处理模块130中设有工具单元131和交互选择单元132；工具单元131用于存储手术器械的信息，例如，每种手术器械的规格，材料，变形系数等；交互选择单元132与该工具模块连接，用于在所述工具单元中选择手术器械信息，其外接硬件可以采用常用的鼠标、触摸屏等方式，操作者通过该交互选择 单元132完成手术器械信息的选择。The above embodiments use real surgical instruments for surgical prediction and training. The difference between the following embodiments and the second embodiment and the third embodiment is that, as shown in FIG. Unit 132; the tool unit 131 is used to store the information of the surgical instrument, for example, the specification, material, deformation coefficient, etc. of each surgical instrument; the interactive selection unit 132 is connected with the tool module, and is used to select the surgical instrument in the tool unit Information, its external hardware can adopt modes such as commonly used mouse, touch screen, the operator finishes the selection of surgical instrument information through this interactive selection unit 132.

本实施方式较之前两种实施方式，操作者可在训练开始前，通过交互选择单元132的外接硬件选择某一手术器械，处理模块130将手术器械的信息和获得的操作者手部动作相融合转换为手术指令，并将手术指令发送至物理计算模块200。本实施方式中的手术器械也采用虚拟模拟，摒弃了传统的手术器械，简化了训练时的硬件工具，进一步降低了手术训练的成本。Compared with the previous two implementations, this embodiment can select a certain surgical instrument through the external hardware of the interactive selection unit 132 before the training starts, and theprocessing module 130 will integrate the information of the surgical instrument with the obtained operator’s hand movements Convert it into an operation instruction, and send the operation instruction to thephysical computing module 200. The surgical instruments in this embodiment also use virtual simulation, which abandons traditional surgical instruments, simplifies hardware tools during training, and further reduces the cost of surgical training.

本发明用于由计算机单元提供的虚拟环境中，该虚拟环境包括手术目标的三维几何模型数学表示，其反映目标的几何、机械及生物力学特性，以及虚拟仪器，由物理进给装置控制，使得可影响、操作目标模型。其方法步骤包括：建立颅面部的三维模型，基于重建模型的三维体征美学测量，力反馈模型建立及分析，基于增强触视觉信息的手术模拟和训练。改变了仅凭主观经验诊断分析和设计手术方案的传统模式，提手术的安全性和预测整形美容效果的准确性，减少患者痛苦、提高手术质量。The invention is used in a virtual environment provided by a computer unit, which includes a mathematical representation of a three-dimensional geometric model of the surgical target, which reflects the geometric, mechanical and biomechanical properties of the target, and virtual instruments, controlled by physical feeders such that Can influence and manipulate target models. The method steps include: establishing a three-dimensional craniofacial model, three-dimensional sign aesthetic measurement based on the reconstructed model, establishment and analysis of a force feedback model, and surgical simulation and training based on enhanced tactile-visual information. It has changed the traditional mode of diagnosing, analyzing and designing surgical plans based on subjective experience only, improving the safety of the operation and the accuracy of predicting the effect of plastic surgery, reducing the pain of patients and improving the quality of surgery.

本发明还提供一种手术预测和训练方法，包括以下步骤：The present invention also provides a surgical prediction and training method, comprising the following steps:

10、利用获取的人体的外形图像、解剖结构图像和人体各组织的属性数据，模拟各种组织的状态并可视化显示；10. Using the obtained human body shape image, anatomical structure image and attribute data of various human tissues, simulate the state of various tissues and display them visually;

11、获取患者外形及解剖结构的CT或MRI等模态的图像序列，以及人体各组织的属性数据，11. Obtain image sequences of CT or MRI modalities of the patient's shape and anatomical structure, as well as attribute data of various tissues of the human body,

12、对所获取的图像序列进行图像增强、噪声去除、刚性配准处理和分析；12. Perform image enhancement, noise removal, rigid registration processing and analysis on the acquired image sequence;

13、利用处理和分析后的图像序列构建三维几何模型；13. Use the processed and analyzed image sequence to construct a three-dimensional geometric model;

14、将三维几何模型和属性数据进行融合，以实现人体各组织状态的模拟；14. Integrate the three-dimensional geometric model and attribute data to realize the simulation of the state of various tissues of the human body;

15、将模拟结果可视化显示。15. Visualize the simulation results.

20、接收来自操作者的手术指令，该手术指令包括：操作动作数据和手术部位信息；20. Receive a surgical instruction from the operator, the surgical instruction includes: operation action data and surgical site information;

所述的手术指令包括：手术测量数据、手术路线数据、以及操作动作数据和手术部位信息。手术测量数据包括标识点的选取，目标部位的面积和体积，解剖结构上的纵向、矢状、冠状之间的直线、弧线距离等，例如颅面部手术中的手术测量的测量数据有：眉间点与头后点之间的直线距离(头最大长)，头左右测点之间的距离(头最大宽)自颏下点至头顶点之间的投影距离(全头高)，以及沿中矢状面自鼻根点至枕外隆凸点之间的弧长(头矢状弧)。手术路线数据是根据手术方案输入的具体操作数据，动作数据主要通手术动作的位移和时间描述手术动作，手术部位信息反映手术动作所针对的相应组织的信息。The operation instruction includes: operation measurement data, operation route data, operation action data and operation site information. Surgical measurement data include the selection of marker points, the area and volume of the target site, the longitudinal, sagittal, and coronal straight lines and arc distances on the anatomical structure, etc. For example, the measurement data of surgical measurement in craniofacial surgery include: eyebrow The linear distance between the middle point and the back point of the head (the maximum length of the head), the distance between the left and right measurement points of the head (the maximum width of the head), the projected distance from the submental point to the apex of the head (full head height), and The length of the arc from the nasion point to the inion point on the midsagittal plane (cephalosagital arc). Surgical route data is the specific operation data input according to the surgical plan, the action data mainly describes the surgical action through the displacement and time of the surgical action, and the surgical site information reflects the information of the corresponding tissue targeted by the surgical action.

如果要进行手术训练，本步骤中的手术指令包括以下步骤：If surgical training is to be performed, the surgical instructions in this step include the following steps:

21、获取操作者手部动作的状态参数；21. Obtain the state parameters of the operator's hand movements;

22、将所述状态参数转化为所述手术指令。22. Convert the state parameter into the operation instruction.

30、将所述操作动作数据转换为所述手术部位相应组织的形变数据；30. Converting the operation action data into deformation data of corresponding tissues of the surgical site;

31、将手术指令中包含的所述操作动作数据转换为外力数据；31. Convert the operation action data contained in the surgical instruction into external force data;

32、提取所述手术指令中的手术部位信息，包括的手术部位组织的形状、软硬度、粗糙度、纹理的数据；32. Extracting the surgical site information in the surgical instruction, including data on the shape, hardness, roughness, and texture of the tissue at the surgical site;

33、根据该外力数据计算手术部位相应组织产生变形的形变数据。33. According to the external force data, the deformation data of the deformation of the corresponding tissue of the operation site is calculated.

建立材料力学建模和形变计算模型，通过该材料力学建模和形变计算模型计算相应组织在该外力作用下产生的形变数据，所谓形变数据包括譬如韧带、肌肉、脂肪、血管和皮肤这些软组织的单一或者联合形变的数据。可以采用弹簧质子模型、基于有限元的线弹性或动态线弹性模型，或者采用这些模型的组合，比如采用动态线弹性有限元模型模拟手术部位的软组织变形，见公式1，Establish a material mechanics modeling and deformation calculation model, and calculate the deformation data of the corresponding tissue under the action of the external force through the material mechanics modeling and deformation calculation model. The so-called deformation data includes soft tissues such as ligaments, muscles, fat, blood vessels and skin. Data for single or joint deformations. The spring-proton model, the finite element-based linear elastic or dynamic linear elastic model, or a combination of these models can be used, such as the dynamic linear elastic finite element model to simulate the soft tissue deformation of the surgical site, see Equation 1,

40、利用所述形变数据修正所述手术部位相应的属性数据。40. Utilizing the deformation data to correct corresponding attribute data of the surgical site.

根据手术指令生成反映各软组织的单一或者联合形变数据，通过根据该形变数据模拟各组织的状态。由此对手术效果进行可视性预测，一方面 可以帮助医生制定具体患者的手术方案、优化手术路径、减少损伤及对组织的损害、提高病灶定位精度、预测手术结果；此外可以让外科医生针对一个真实的病人进行术前规划、术中模拟、和术后效果预测，通过预演手术可以提前发现手术方案存在的问题并得到及时修正，并可以得到根据专家经验建立的专家手术系统的指导，使得外科手术更加安全、可靠和精确，这些对提高手术的成功率具有重要的意义；患者亦可以动态观测手术效果预测，直至达到患者满意且手术方案可行。Generate single or combined deformation data reflecting each soft tissue according to the operation instruction, and simulate the state of each tissue according to the deformation data. Therefore, the visual prediction of the surgical effect can help doctors formulate specific patient surgical plans, optimize surgical routes, reduce damage and damage to tissues, improve the accuracy of lesion location, and predict surgical results; A real patient performs preoperative planning, intraoperative simulation, and postoperative effect prediction. Through rehearsal surgery, problems in the surgical plan can be found in advance and corrected in time, and can be guided by the expert surgical system established based on expert experience. Surgical operations are safer, more reliable and more precise, which are of great significance to improve the success rate of the operation; patients can also dynamically observe the prediction of the operation effect until the patient is satisfied and the operation plan is feasible.

50、根据所述手术部位相应组织的形变数据生成手术部位的反作用力数据；50. Generate the reaction force data of the surgical site according to the deformation data of the corresponding tissue of the surgical site;

利用形变数据和手术部位信息，可以采用弹簧质子模型、基于有限元的线弹性或动态线弹性模型，或者采用这些模型的组合，比如采用动态线弹性有限元模型模拟手术部位的软组织变形，生成手术部位相应组织的反作用力数据。Using deformation data and surgical site information, spring proton models, finite element-based linear elastic or dynamic linear elastic models, or a combination of these models can be used, such as dynamic linear elastic finite element models to simulate soft tissue deformation at the surgical site to generate surgery The reaction force data of the corresponding tissue at the site.

60、利用所述反作用力数据向所述操作者手部施加力，可以在操作者手持的物件上施加作用力。60. Using the reaction force data to apply force to the operator's hand, an action force can be applied to the object held by the operator.

综上，本发明所提供的手术预测和训练设备及其方法通过采用操作装置来接收关于手术预测或者手术训练的手术指令，物理计算模块将操作装置接收的手术指令转换为相应组织的受力及形变数据，模型生成模块利用人体的外形图像、解剖结构图像和人体各组织的属性数据，以及所述形变数据修正过的属性数据，模拟人体各种组织的状态，从而可以直观的进行手术预测，降低了手术预测的难度和手术训练的成本。To sum up, the surgical prediction and training equipment and method thereof provided by the present invention use the operating device to receive surgical instructions for surgical prediction or surgical training, and the physical calculation module converts the surgical instructions received by the operating device into the force and force of the corresponding tissue. Deformation data, the model generation module uses the shape image of the human body, the anatomical structure image and the attribute data of various tissues of the human body, as well as the attribute data corrected by the deformation data, to simulate the state of various tissues of the human body, so that the surgical prediction can be performed intuitively. The difficulty of surgical prediction and the cost of surgical training are reduced.

应当理解的是，本发明的应用不限于上述的举例，对本领域普通技术人员来说，可以根据上述说明加以改进或变换，所有这些改进和变换都应属于本发明所附权利要求的保护范围。It should be understood that the application of the present invention is not limited to the above examples, and those skilled in the art can make improvements or transformations according to the above descriptions, and all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

Claims (8)

1. operation estimation and exercise equipment comprise:

The model generation module is used to utilize attribute data of each tissue of outside drawing picture, anatomical structure image and human body of human body, simulates the state of various tissues;

The monitoring arrangement that is connected with described model generation module;

It is characterized in that, also comprise:

Be used to receive the operating means of operation instruction, this operation instruction comprises: operation measurement data, operation route data, operational motion data and operative site information;

The physical computing module that is connected with described operating means is used for described operational motion data are converted to the deformation data of described operative site respective organization;

Described model generation module comprises: attribute data unit, medical imaging devices, graphics processing unit, three-dimensional geometry unit and data fusion unit; Described medical imaging devices is used to obtain the CT of patient's profile and anatomical structure or the image sequence of MRI mode; Described graphics processing unit is connected with medical imaging devices, is used for the image sequence that is obtained is carried out figure image intensifying, noise remove, Rigid Registration processing and analysis; Described three-dimensional geometry unit is connected with graphics processing unit, is used to utilize the image sequence after handling and analyzing to make up 3-D geometric model; Described attribute data unit is used to obtain various attribute datas, and it is connected with the physical computing module, and according to the deformation data that the physical computing module generates the attribute data of respective organization is revised; Described data fusion unit is used for 3-D geometric model and attribute data are merged, to realize the simulation of each structural state of human body;

Wherein, described attribute data unit comprises the data correction unit that is connected with described physical computing module, and this data correction unit is used to utilize the corresponding attribute data of the described operative site of described deformation data correction;

Described attribute data comprises: the data of reflection different tissues organ material properties and geometric distributions shape; Reflect size, shape, soft durometer, the roughness at unusual position, the data of texture; The data of the size of reflection operative site, shape, soft durometer, roughness, texture;

Described physical computing module comprises:

Action converting unit that is connected with described operating means and position extraction unit, the power converting unit that is connected with the position extraction unit with this action converting unit;

The action converting unit is used for described operational motion data are converted to outer force data;

The position extraction unit is used for extracting the operative site information of described operation instruction, comprises shape, soft durometer, the roughness of operative site tissue, the data of texture;

The power converting unit is used for producing according to this external force data computation operative site respective organization the deformation data of distortion, utilize size, shape, soft durometer, the roughness of the operative site that the position extraction unit extracts, the data of texture, and the outer force data that the action converting unit is calculated sets up mechanics of materials modeling and deformation computation model, calculates the deformation data that respective organization produces by this mechanics of materials modeling and deformation computation model under this external force effect.

2. equipment according to claim 1 is characterized in that, described operating means comprises:

Be suitable for the operating parts of operator's operation by human hand;

With the sensing module that this operating parts is connected, this sensing module is used for the state parameter of the described operating parts of perception;

And the processing module that is connected with described physical computing module with this sensing module, this processing module is used for the state parameter of described operating parts is converted into described operation instruction.

3. equipment according to claim 2 is characterized in that, also comprises:

With the biomechanical module that described physical computing module is connected, be used to utilize the deformation data of power converting unit and operative site respective organization and the characteristic thereof that the position extraction unit extracts, generate the reacting force data of operative site respective organization;

Be arranged on the described operating parts and the mechanics feedback module that is connected with this biomechanical module, be used to utilize described reacting force data to apply power to described operating parts.

4. equipment according to claim 3 is characterized in that, described operating parts comprises: the gloves that are connected with described sensing module.

5. equipment according to claim 4 is characterized in that, described operating parts also comprises: the operating theater instruments that is connected with described sensing module.

6. equipment according to claim 2 is characterized in that, described processing module comprises: the tool unit that is used to store the information of operating theater instruments;

The mutual selected cell that is connected with this tool unit is used for selecting operating theater instruments information at described tool unit.

7. equipment according to claim 1 is characterized in that, described monitoring arrangement adopts anaglyph spectacles.

8. operation estimation and training method in the virtual environment that is applied to be provided by computer unit, may further comprise the steps:

Attribute data of each tissue of outside drawing picture, anatomical structure image and human body of the human body that S1, utilization are obtained is simulated the state and the visualization display of various tissues;

S2, reception are instructed from operator's operation, and this operation instruction comprises: operation measurement data, operation route data, operational motion data and operative site information;

S3, described operational motion data are converted to the deformation data of described operative site respective organization;

S4, utilize the corresponding attribute data of the described operative site of described deformation data correction;

S5, generate the reacting force data of operative site according to the deformation data of described operative site respective organization;

S6, utilize described reacting force data to apply power to described operator's hand;

Wherein, described attribute data comprises: the data of reflection different tissues organ material properties and geometric distributions shape; Reflect size, shape, soft durometer, the roughness at unusual position, the data of texture; The data of the size of reflection operative site, shape, soft durometer, roughness, texture;

Described step S2 may further comprise the steps:

S21, obtain the state parameter of operator's hand motion;

S22, described state parameter is converted into described operation instruction;

Described step S3 comprises:

The described operational motion data that comprise in S31, the instruction of will performing the operation are converted to outer force data;

S32, extract the operative site information in the described operation instruction, comprise shape, soft durometer, the roughness of operative site tissue, the data of texture;

S33, produce the deformation data of distortion according to this external force data computation operative site respective organization; It specifically comprises the operative site information of utilizing in the described operation instruction of extracting, comprise size, shape, soft durometer, the roughness of operative site tissue, the data of texture, and the outer force data that calculates sets up mechanics of materials modeling and deformation computation model, calculates the deformation data that respective organization produces by this mechanics of materials modeling and deformation computation model under this external force effect.

Images