CN102789732A - Transesophageal ultrasound visual simulation system and method for teaching and clinical skill training - Google Patents

Abstract

Translated fromChinese

一种用于教学及临床技能培训的经食管超声可视化仿真系统，包括智能体模、TEE仿真探头、探头姿态装置和计算机。所述探头姿态装置由测距仪、角度测量器、勾摆模拟器和超声扇面旋转模拟器组成。一种经食管超声可视化仿真方法，包括以下步骤：第一步，将从医院临床超声检查仪数据库获取的超声心动图数据，以及临床超声检查仪定位的探头姿态数据与经食道超声心动图之间的对应关系数据存入上述经食管超声可视化仿真系统的计算机中；第二步，构建虚拟三维动态心脏模型，并将其存入上述经食管超声可视化仿真系统的计算机中；第三步，在进行模拟训练时，使用上述经食管超声可视化仿真系统。

A transesophageal ultrasound visualization simulation system for teaching and clinical skills training, comprising an intelligent phantom, a TEE simulation probe, a probe posture device and a computer. The probe attitude device is composed of a range finder, an angle measurer, a swing simulator and an ultrasonic sector rotation simulator. A transesophageal ultrasound visualization simulation method, comprising the following steps: the first step, the echocardiogram data acquired from the hospital clinical ultrasound examination instrument database, and the probe posture data positioned by the clinical ultrasonography instrument and the transesophageal echocardiogram The corresponding relationship data are stored in the computer of the above-mentioned transesophageal ultrasound visualization simulation system; the second step is to construct a virtual three-dimensional dynamic heart model and store it in the computer of the above-mentioned transesophageal ultrasound visualization simulation system; the third step is to carry out During simulation training, the above-mentioned transesophageal ultrasound visualization simulation system is used.

Description

Be used to impart knowledge to students and the clinical skill training through esophagus ultrasound visual simulation system and method

Technical field

The present invention the invention belongs to that medical image analysis is handled, the virtual emulation technical field, relate to a kind of be used to impart knowledge to students and the clinical skill training through esophagus ultrasound visual simulation system and method.

Background technology

Heart disease is the No.1 killer of human health, and the human mortality in the whole world 1/3 causes because of heart disease, and China has the hundreds of thousands people to die from heart disease every year.The Ultrasonic Diagnosis of heart disease is the emphasis and the difficult point in Ultrasonic Diagnosis field always, and transesophageal echocardiography is cardiovascular disease diagnosis, monitoring recent progress, for the diagnosis of multiple heart disease and trunk disease provides new means.Cardiac structure is very complicated with motion; Spatial thinking ability and clinical thinking ability to the examiner are had higher requirement; It is objective in the medical ultrasonic image in order to extract, quantitatively and the information of clinical meaning arranged to study new computer-aided tool, and the medical need that just necessitates with the three-dimensional visualization that carries out heart organ more intuitively, truly.Therefore, how to pass through high-quality training certification, let the doctor grasp echocardiogram rapidly and the Ultrasonic Diagnosis technology is very important.Therefore have a lot of doctors and students to demand training urgently both at home and abroad, exploitation is applicable to and is used to impart knowledge to students and clinical skill training very necessary through esophagus ultrasound visual simulation system and method.

At present; The external simple and easy simulation teaching equipment of having developed TTE is in the patent of invention of US2009/0130642 in the patent No. wherein, mainly is to give training obtaining ultrasonoscopy through the chest mode; This simulator obtains the locus that the mode of data can be obtained Analogue probe through sensor; With mating of prior collection through the ultrasonic tangent plane picture of chest, show the three-dimensional cardiac tangent plane with corresponding through the chest ultrasonoscopy, realized the doctor is carried out the simulated training through the chest acquiring ultrasound image; But have only when the start-up uses the probe dynamics suitable, just the TTE of meeting clear display.

The patent of invention of ZL200710090595.4 discloses a kind of virtual transesophageal echocardiography system and implementation method; In clinic and real work; Being used to solve a large amount of transesophageal echocardiography images can't discern, and transesophageal echocardiography is difficult to problem universal and that grasp.But the human heart three-dimension visualization digital model that this system and method utilizes the computerized three-dimensional reconstruction technology to set up is fairly simple and not meticulous to cutting apart of heart interior detail microstructure; Moreover heart and internal can not change according to actual parameter adjustment demand flexibly, can not reproduce a compound heart true to nature.Be in addition, the virtual probe of system is a mouse, when clinician and medico manipulate, detects completely different with real clinical ultrasound heart.

Except transesophageal ultrasonography simulation teching product, this product comprised anatomy cardiac module, transesophageal ultrasonography simulator (simulation softward), artificial human body model to three anesthesiologists of London medical college of university research and development in 2008.But because said product belongs to the tutoring system of sealing, clinical experience is not easy to be accumulated, expand, thereby be unfavorable for imparting knowledge to students and clinical between data sharing, be not easy to a clinical experience and add in the tutoring system at any time and go.

The transesophageal ultrasonography simulation teching equipment of Japan is by Japanese HRS Medical Systems Inc successfully research and development in 2008; This product has comprised Analogue probe, anthropomorphic dummy, image data base; But do not realize the three-dimensional visualization tangent plane; And the key of TEE study is the embodiment of two-dimensional ultrasound tangent plane on the three-dimensional visualization heart, owing to do not realize open modeling, it is auxiliary therefore to be difficult to further to rise to clinical operation.

Attitude data and three-dimensional visualization heart tangent plane when the patent of invention of ZL 201010251812.5 " transesophageal echocardiography visual simulation system and method " has realized gathering the transesophageal ultrasonography tangent plane mate one by one; Proposed the pathology of heart disease is excavated; And provide the corresponding ultrasonic tangent plane and the spatial relation of virtual three-dimensional cardiac module; But the three-dimensional cardiac model that this product is rebuild lacks the characteristics such as biomechanics of medical tissue are analyzed, can not fully be showed the true texture of heart.In addition; The magnetic interlock sensor that this product adopts is because physics contact and communication line contact are unstable; When carrying out the measurement of shift length; Can occur not contacting and skidding, thereby cause the pairing probe attitude parameter of some echocardiogram (especially shift length parameter) to be inaccurate, thereby greatly reduce the sense of reality and the accuracy of simulation.

Summary of the invention

The objective of the invention is to overcome the deficiency of prior art; Provide a kind of be used to impart knowledge to students and the clinical skill training through esophagus ultrasound visual simulation system and method; Detect the environment and the operation of diagnosis so that realize real simulation clinical ultrasound heart, further improve the sense of reality and the accuracy of simulation.

According to the invention be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; Comprise that (TEE is the abbreviation of " Transesophageal echocardiography " for intelligent phantom, TEE emulation probe; Its implication is " TEE "), probe attitude device and computing machine; Said intelligent phantom is made up of with simulation esophagus and stomach die body and the three-dimensional artificial simulation heart that is arranged in the die body, said probe attitude device by stadimeter, measurement of angle device, collude the pendulum simulator and ultrasonic covering of the fan rotating simulators are formed, stadimeter is arranged on the esophagus position of intelligent phantom; TEE emulation probe inserts stadimeter through intelligent phantom throat; The measurement of angle device is installed on the TEE emulation probe, and installs for coaxial cable, colludes pendulum simulator and ultrasonic covering of the fan rotating simulators and is installed on the handle that TEE emulation pops one's head in; Said stadimeter is used to gather the depth data that TEE emulation probe inserts esophagus; Its signal output part is connected with computing machine, sends the data that collected to computing machine, and said measurement of angle device is used to gather the anglec of rotation data of TEE emulation probe; Its signal output part is connected with computing machine; Send the data that collected to computing machine, said collude that the pendulum simulator is used to produce TEE emulation probe collude pivot angle degree delta data, its signal output part is connected with computing machine; Send the data that it produced to computing machine; Said ultrasonic covering of the fan rotating simulators are used to produce the ultrasound wave covering of the fan anglec of rotation delta data of TEE emulation probe, and its signal output part is connected with computing machine, sends the data that it produced to computing machine; Said computing machine carries out associated match with the attitude data of the TEE emulation that receives probe with the TEE probe attitude data that has been stored in the computing machine, and accesses to be stored in and give analyzing and processing and visualization display with the corresponding transesophageal echocardiography image of TEE probe attitude in the computing machine.

According to the invention be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; Stadimeter in its probe attitude device is used to obtain the data that TEE emulation probe inserts the esophagus degree of depth; Its member comprises magnet ring, sensing head, electronic cartridge and connector; Said magnet ring and sensing head are installed in the tubular shaft that is used for inserting TEE emulation probe; The signal input part of said electronic cartridge is connected with the signal output part of sensing head through cable, and the signal input part of said connector is connected with the signal output part of electronic cartridge, and its signal output part is connected with computing machine.Said tubular shaft is used for plug-in mounting TEE emulation probe; When the insertion depth of TEE emulation probe changes; The electromagnetic intensity that magnet ring produces will change, and sensing head is used to receive the Magnetic Field data of magnet ring generation and changes field signal into analog electrical signal, and analog electrical signal is transferred to electronic cartridge; Electronic cartridge converts the analog electrical signal that receives into digital electric signal and is transferred to connector, and connector is delivered to the electric signal that receives in the computing machine.

According to the invention be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; Measurement of angle device in its probe attitude device is used to obtain the data of the TEE emulation probe anglec of rotation; Its structure is the potentiometer structure, comprises first resistive element, first rotating shaft, first contact brush, first cathode contact, first output contact and first cathode contact; Said first resistive element is the endless belt body; Be installed on the cup dolly, said first rotating shaft is installed in the centre of cup dolly, and an end of said first contact brush is connected with first rotating shaft; Its other end contacts with first resistive element; Said first cathode contact, first cathode contact are installed in respectively on two conducting strips that are connected with the first resistive element two ends, and said first output contact is installed on the conducting strip that joins with first contact brush, is connected with computing machine through lead.

According to the invention be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; Colluding pendulum simulator in its probe attitude device is used to produce TEE emulation probe and colludes the data that the pendulum state changes (in teaching during with clinical skill training training; TEE emulation probe is not colluded the pendulum operation), the said pendulum simulator that colludes is made up of complex potential device, first knob and second knob; Said complex potential device comprises second resistive element, the 3rd resistive element, second rotating shaft, the 3rd rotating shaft, second contact brush, the 3rd contact brush, second cathode contact, second output contact and second cathode contact; Said second resistive element and the 3rd resistive element are the endless belt body of concentric, are installed on the cup dolly, and the radius of second resistive element is greater than the radius of the 3rd resistive element; Said the 3rd rotating shaft is installed in the centre of cup dolly, and said second rotating shaft is a tubular shaft, is sleeved in the 3rd rotating shaft; One end of said second contact brush is connected with second rotating shaft, and its other end contacts with second resistive element, and an end of said the 3rd contact brush is connected with the 3rd rotating shaft, and its other end contacts with the 3rd resistive element; Said second cathode contact, second cathode contact be installed in respectively with second resistive element and two conducting strips that the 3rd resistive element two ends are connected on; Said second output contact is installed on the conducting strip that joins with second contact brush and the 3rd contact brush, is connected with computing machine through lead; Said first knob is connected in second rotating shaft, and said second knob is connected in the 3rd rotating shaft.

According to the invention be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; Ultrasonic covering of the fan rotating simulators in its probe attitude device are used to produce TEE emulation and pop one's head in the data of ultrasonic covering of the fan rotation (in teaching during with clinical skill training training; TEE emulation probe is not carried out ultrasonic covering of the fan rotary manipulation); Said ultrasonic covering of the fan rotating simulators are the thin film switch that is provided with two buttons; One of them button is used to produce the pop one's head in data of clockwise ultrasonic covering of the fan rotation of TEE emulation, and another button is used to produce the pop one's head in data of counter-clockwise ultrasonic covering of the fan rotation of TEE emulation.

According to the invention be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulating method, may further comprise the steps:

The first step; The ultrasonic cardiography diagram data that will obtain from hospital's clinical ultrasound somascope database, and the probe attitude data and the corresponding relation data between the transesophageal echocardiography of clinical ultrasound somascope location deposit in above-mentioned in the computing machine of esophagus ultrasound visual simulation system;

Second step; Make up virtual three-dimensional dynamic heart model; And it is deposited in above-mentioned in the computing machine of esophagus ultrasound visual simulation system; Said virtual three-dimensional dynamic heart model adopts tree structure that heart and each sub-structures of heart are carried out classification, embodies the hierarchical structure between heart and each sub-structures of heart;

The 3rd step; When carrying out simulated training, use above-mentionedly through the esophagus ultrasound visual simulation system, stadimeter is arranged on the esophagus position of intelligent phantom; TEE emulation probe is inserted stadimeter through intelligent phantom throat; Operation TEE emulation probe, collude pendulum simulator and ultrasonic covering of the fan rotating simulators, stadimeter, measurement of angle device, collude the pendulum simulator and ultrasonic covering of the fan rotating simulators are sent into various TEE emulation probe attitude datas in the computing machine respectively, computing machine according to the TEE emulation probe attitude data that obtains in real time be stored in TEE in the computing machine attitude data of popping one's head in and carried out associated match; And and be stored between the transesophageal echocardiography cardiogram in the computing machine and set up one-to-one relationship; Access and the corresponding true echocardiogram of TEE emulation probe attitude data, on the Three-Dimensional Dynamic cardiac module, show virtual tangent plane and probe positions simultaneously, and then utilize computing machine that transesophageal echocardiography is handled; Two dimension or three-dimensional ultrasound pattern are carried out DATA REASONING; The physical characteristics of analysis of cardiac adopts the method for finite element analysis and cellular automaton to give the dynamics that heartbeat has to cardiac module, reappears the overall process of human heart motion; Combine the heart disease expert knowledge library simultaneously; Make up typical heart disease pathology mining model, realize the pathology of heart disease is excavated, and provide the corresponding ultrasonic tangent plane and the spatial relation of Three-Dimensional Dynamic cardiac module; Carry out the clinic diagnosis decision-making in the computer-aided instruction in conjunction with corresponding relevant knowledge and state of an illness data, and carry out visualization display.

The present invention has following beneficial effect:

1, according to the invention be used for imparting knowledge to students and the clinical skill training the echocardiogram data resource stored of the computing machine through the esophagus ultrasound visual simulation system obtain from hospital's clinical ultrasound somascope database; When carrying out simulation training; The attitude data of TEE emulation probe through stadimeter, measurement of angle device, collude the probe attitude device that pendulum simulator and ultrasonic covering of the fan rotating simulators form and obtain; Compare with ZL 201010251812.5; Can not only obtain the probe of TEE emulation more accurately attitude data, improve the echocardiographic accuracy that is accessed in teaching and the clinical skill training greatly, and can increase the service life.

2, according to the invention be used for imparting knowledge to students and the clinical skill training the virtual three-dimensional dynamic heart model stored of the computing machine through the esophagus ultrasound visual simulation system adopt tree structure that heart and each sub-structures of heart are carried out classification; Embody the hierarchical structure between heart and each sub-structures of heart; Through heart and each sub-structures of heart being carried out the structure of three-dimensional simulation model; Can show whole Three-Dimensional Dynamic cardiac module according to tabulation; And the static three-dimensional simulation model that shows each sub-structures of heart separately, and embody emulation blood vessel, muscle and some fatty details, truly show the external texture of heart and each sub-structures of heart; More intuitively the anatomical structure of heart and each sub-structures of heart is carried out visual presentation, and make the student understand heart and each sub-structures of heart more visually.

3, according to the invention be used to impart knowledge to students and the clinical skill training represent clinical real scene through the esophagus ultrasound visual simulating method through the simulation teching software systems; Action norm degree and clinical response in the time of can examining or check the student and use real equipment; Thereby reach space imagination and the hand eye coordination ability of taking exercise; Reach the unification of vision and behavior, improve teaching and result of training.

Description of drawings

Fig. 1 be according to the invention be used to impart knowledge to students and the clinical skill training the structural representation through the esophagus ultrasound visual simulation system;

Fig. 2 be according to the invention be used for imparting knowledge to students and the clinical skill training the structural representation through the stadimeter of esophagus ultrasound visual simulation system;

Fig. 3 be according to the invention be used for imparting knowledge to students and the clinical skill training the measurement of angle device through the esophagus ultrasound visual simulation system, collude pendulum simulator and the installation site synoptic diagram of ultrasonic covering of the fan rotating simulators on TEE emulation probe handle;

Fig. 4 be according to the invention be used for imparting knowledge to students and the clinical skill training the structural representation through the measurement of angle device of esophagus ultrasound visual simulation system;

Fig. 5 be according to the invention be used for imparting knowledge to students and the clinical skill training form the structural representation of the complex potential device that colludes the pendulum simulator through the esophagus ultrasound visual simulation system;

Fig. 6 is the structure process flow diagram of virtual three-dimensional dynamic heart model.

Among the figure, 1-intelligence phantom, 2-stadimeter, 3-TEE emulation probe; The handle of 4-TEE emulation probe, 5-simulates heart, 6-simulation esophagus and stomach; 7-computing machine, 8-measurement of angle device (8-1 first resistive element, 8-2 first rotating shaft, 8-3 first contact brush, 8-4 first cathode contact, 8-5 first output contact, 8-6 first cathode contact), 9-magnet ring; The 10-tubular shaft, 11-sensing head, 12-cable; 13-electronic cartridge, 14-connector, 15-the first knob; 16-complex potential device (16-1 second resistive element, 16-2 the 3rd resistive element, 16-3 the 3rd rotating shaft, 16-4 the 3rd contact brush, 16-5 second contact brush, 16-6 second cathode contact, 16-7 second output contact, 16-8 second cathode contact, 16-9 second rotating shaft), 17-second knob, 18-thin film switch (18-1 first button, 18-2 second button).

Embodiment

Below in conjunction with accompanying drawing transesophageal echocardiography visual simulation system according to the invention and method are described further.

Embodiment 1

In the present embodiment, be used to impart knowledge to students and the clinical skill training structure such as Fig. 1, shown in Figure 2 through the esophagus ultrasound visual simulation system, form by intelligent phantom 1, TEE emulation probe 3, probe attitude device and computing machine 7.

Said intelligent phantom 1 mainly is made up of the three-dimensional artificial simulation heart 5, simulation esophagus and the stomach 6 that are provided with in die body and the die body; The die body of intelligence phantom uses yellowish pink flexible plastic to make simulation skin; The oral cavity of head can be movable; Expansible is closed, and head and neck can separate, so that make stadimeter can insert the esophagus position of intelligent phantom easily.

Said probe attitude device by stadimeter 2, measurement ofangle device 8, collude pendulum simulator and ultrasonic covering of the fan rotating simulators and form.

The structure of stadimeter 2 is as shown in Figure 2; Comprise magnet ring 9, sensing head 11 (model: SEM001; Safe general associating scientific and technological development (Beijing) company limited), electronic cartridge 13 (model: SCM02 manufacturing enterprise:; Safe general associating scientific and technological development (Beijing) company limited) and connector 14 (model: SC05 manufacturing enterprise:; Manufacturing enterprise: safe general associating scientific and technological development (Beijing) company limited), said magnet ring 9 is installed in thetubular shaft 10 that is used for inserting TEE emulation probe 3 withsensing head 11, and the signal input part of saidelectronic cartridge 13 is connected with the signal output part of sensinghead 11 throughcable 12; The signal input part of saidconnector 14 is connected with the signal output part ofelectronic cartridge 13, and its signal output part is connected with computing machine 7.During use; Stadimeter 2 is arranged on the esophagus position of intelligent phantom 1; TEE emulation probe 3 is in intelligent phantom throat inserts the center pit of the tubular shaft that magnet ring is installed in the stadimeter; The degree of depth

of the intelligent phantom esophagus of TEE emulation probe 3 insertions wherein L is the length of porch, intelligent phantom oral cavity to tubular shaft center pit bottom;

is the distance of TEE emulation probe tip apart from tubular shaft center pit bottom;

comes and goes total phase change that testing distance (TEE emulation probe tip is apart from the distance of tubular shaft center pit bottom) once produces for magnetic signal; ω is the angular frequency of periodic electromagnetic wave, and c is the light velocity.

The structure of measurement ofangle device 8 is as shown in Figure 4, and its structure is the potentiometer structure, comprises the first resistive element 8-1, the first rotating shaft 8-2, the first contact brush 8-3, the first cathode contact 8-4, the first output contact 8-5 and the first cathode contact 8-6; The said first resistive element 8-1 is the endless belt body; Be installed on the cup dolly; The said first rotating shaft 8-2 is installed in the centre of cup dolly, and the end of the said first contact brush 8-3 is connected with the first rotating shaft 8-2, and its other end contacts with the first resistive element 8-1; The said first cathode contact 8-4 is installed on the conducting strip that is connected with the first resistive element 8-1 right-hand member; The said first cathode contact 8-6 is installed on the conducting strip that is connected with the first resistive element 8-1 left end, and the said first output contact 8-5 is installed on the conducting strip that joins with the first contact brush 8-3, is connected with computing machine 7 through lead.Measurement ofangle device 8 is installed in the handle, at its lower end portion section (as shown in Figure 3) of TEE emulation probe, and its first rotating shaft 8-2 is inserted into TEE emulation probe bore, installs with TEE emulation probe coaxial cable.The rotation of TEE emulation probe drives first rotating shaft rotation; Make first contact brush also along with rotation; Thereby from the voltage of first output contact output also along with change, the electric signal of computing machine angle measuring appliance output is handled, and can obtain the gyration that selects of TEE emulation probe.

Colluding the pendulum simulator is made up of complexpotential device 16,first knob 15 andsecond knob 17; Said complexpotential device 16 comprises the second resistive element 16-1, the 3rd resistive element 16-2, the second rotating shaft 16-9, the 3rd rotating shaft 16-3, the second contact brush 16-5, the 3rd contact brush 16-4, the second cathode contact 16-6, the second output contact 16-7 and the second cathode contact 16-8; Said second resistive element 16-1 and the 3rd resistive element 16-2 are the endless belt body of concentric, are installed on the cup dolly, and the radius of second resistive element is greater than the radius of the 3rd resistive element 16-2; Said the 3rd rotating shaft 16-3 is installed in the centre of cup dolly, and the said second rotating shaft 16-9 is a tubular shaft, is sleeved on the 3rd rotating shaft 16-3; The end of the said second contact brush 16-5 is connected with the second rotating shaft 16-9, and its other end contacts with the second resistive element 16-1, and the end of said the 3rd contact brush 16-4 is connected with the 3rd rotating shaft 16-3, and its other end contacts with the 3rd resistive element 16-2; The said second cathode contact 16-6 be installed in the second resistive element 16-1 and conducting strip that the 3rd resistive element 16-2 right-hand member is connected on; The said second cathode contact 16-8 be installed in the second resistive element 16-1 and conducting strip that the 3rd resistive element 16-2 left end is connected on; The said second output contact 16-7 is installed on the conducting strip that joins with the second contact brush 16-5 and the 3rd contact brush 16-4, is connected with computing machine 7 through lead; Saidfirst knob 15 is connected on the second rotating shaft 16-9, and saidsecond knob 17 is connected on the 3rd rotating shaft 16-3.Collude on the handle that the pendulum simulator is installed in TEE emulation probe (as shown in Figure 3); Operatefirst knob 15 or/andsecond knob 17 makes its rotation; Can drive the second rotating shaft 16-9 or/and the 3rd rotating shaft 16-3 rotation, and make the second contact brush 16-5 or/and the 3rd contact brush 16-4 along with rotation, thereby from the voltage of second output contact 16-7 output also along with change; Behind this voltage signal input computing machine 7, be the data that TEE emulation probe colludes pendulum through Computer Processing; The rotation of the second contact brush 16-5 produces the TEE emulation probe information of swing to the left or to the right, the rotation of the 3rd contact brush 16-4 produce before the TEE emulation probe bent or after the information of stretching.

Ultrasonic covering of the fan rotating simulators are thethin film switch 18 that is provided with two buttons (model: MD-230, manufacturing enterprise: Beijing Mei Borui electric thin switch company limited), be installed on the handle of TEE emulation probe (as shown in Figure 3).The first button 18-1 of operation thin film switch, the signal that is produced input computing machine also is the pop one's head in data of clockwise ultrasonic covering of the fan rotation of TEE emulation through Computer Processing; The second button 18-2 of operation thin film switch, the signal that is produced input computing machine also is the pop one's head in data of counter-clockwise ultrasonic covering of the fan rotation of TEE emulation through Computer Processing.

Said computing machine 7 is equipped with through esophagus ultrasound visual simulation system software, and said software is mainly used in through teaching of esophagus ultrasound visual simulating and clinical skill training, and main interface comprises two patterns: real-time, interactive pattern and 20 standard tangent plane stand-alone modes.In the real-time, interactive pattern, system equipment uses double screen to show, left side screen window provides the echocardiogram of right screen three-dimensional model covering of the fan present position, can realize that the free hand of screen is drawn, screen marks note, the echocardiogram frame browses and explain and deposit the figure function; Right screen window is accomplished the three-dimensional cardiac models show, can realize that the 3D heart freely touches rotation, convergent-divergent, translation, playback, can show the ultrasonic tangent plane 3D of place heart sectility simultaneously, realizes that ultrasonic tangent plane transparency is regulated and 3D heart scene is deposited figure.20 standard tangent plane stand-alone modes then provide 20 required standard tangent planes of common lesion examining; Select a certain standard tangent plane; Can on the 3D heart, see the relative position of this tangent plane, the anatomical cardiac structure and the corresponding echocardiogram of this position; Can carry out the ultra and ultrasonic switching of black and white of coloured silk, the case that simultaneity factor will be pointed out the acquisition mode of this tangent plane, the structure that can recognize and can diagnose usually through button.

Said TEE emulation probe is made up of sonde body and thehandle 4 that is installed on the sonde body, and sonde body is used plastic production.

Embodiment 2

Present embodiment be used to impart knowledge to students and the clinical skill training use embodiment 1 said through the esophagus ultrasound visual simulating method through the esophagus ultrasound visual simulation system, step is following:

The first step; The ultrasonic cardiography diagram data that will obtain from hospital's clinical ultrasound somascope database, and the probe attitude data of clinical ultrasound somascope location and the corresponding relation data between the transesophageal echocardiography to deposit embodiment 1 in said in the computing machine 7 of esophagus ultrasound visual simulation system.

Second step; Make up virtual three-dimensional dynamic heart model; And it is said in the computing machine 7 of esophagus ultrasound visual simulation system to deposit it in embodiment 1; Said virtual three-dimensional dynamic heart model adopts tree structure that heart and each sub-structures of heart are carried out classification, embodies the hierarchical structure between heart and each sub-structures of heart.

Making up virtual three-dimensional dynamic heart model adopts following steps to realize:

1, adopt based on anatomical layered modeling algorithm, Application Major modeling software (3d max, maya, mitk etc.) carries out three-dimensional modeling to human heart, and it is following to make up the flow process (see figure 6):

(1) adopts tree structure that heart and each sub-structures thereof are carried out classification, form tree list;

According to the medical science basic theoretical knowledge, each structure of heart is divided level, adopt Visual C++ the form of this hierarchical relationship with the interface tabulation to be shown through programming.

(2) successively heart and each sub-structures of heart are carried out the virtual three-dimensional model structure;

Adopt professional software (3d max, maya, mitk etc.) that each sub-structures of heart is carried out three-dimensional modeling, make model have more authenticity and intuitive.

(3) virtual three-dimensional model and the tree list to heart and each sub-structures of heart merges coupling;

Heart and each sub-structures are carried out the logical coordinates location, carry out the three-dimensional modeling data library call, accomplish the fusion coupling of three-dimensional model and tree list through the tree list label.

(4) the mutual demonstration between realization tree list and heart and each sub-structures three-dimensional model of heart.

Through above step, adopt Visual C++ programming to realize the mutual demonstration between tree list and heart and each sub-structures three-dimensional model of heart.

2, extract the excited sequence of pressure, volume, time and electrocardio as the mechanical analysis Data Source, the physical characteristics of analysis of cardiac;

The shape of heart and pressure, volume are relevant; According to pressure over time curve and volume over time curve can obtain the graph of relation of pressure and volume; Be reacted to the change curve of pressure and volume in the cardiac module; In cardiac module, add simultaneously the excited power of electrocardio, gain knowledge and pressure, volume, time parameter come the physical characteristics of analysis of cardiac according to hemodynamic.

3, adopt the method for finite element analysis and cellular automaton to give the dynamics that heartbeat has, reappear the overall process of human heart motion cardiac module.

Adopt the method unicellular and cellulous excitement of simulation and the procreation of cellular automaton; Utilize eight node isoparametric element Finite Element Methods; In having isotropic VE volume geometric model, add the excited power of electrocardio; Set up compound cardiac module, and emulation the motion and the distortion of ventricle, the overall process of having reappeared the human heart motion.

The 3rd step; When carrying out simulated training, use embodiment 1 said through the esophagus ultrasound visual simulation system, stadimeter 2 is arranged on the esophagus position of intelligent phantom 1; TEE emulation is popped one's head in 3 through intelligent phantom throat insertion stadimeter; Operation TEE emulation probe 3, collude pendulum simulator and ultrasonic covering of the fan rotating simulators, stadimeter 2, measurement ofangle device 8, collude the pendulum simulator and ultrasonic covering of the fan rotating simulators are sent into various TEE emulation probe attitude datas in the computing machine 7 respectively, computing machine 7 carries out associated match according to the probe attitude data of the TEE emulation probe attitude data that obtains the in real time clinical ultrasound somascope interior with being stored in computing machine; And and be stored between the transesophageal echocardiography cardiogram in the computing machine and set up one-to-one relationship; Access and the corresponding echocardiogram of TEE emulation probe attitude data, on the Three-Dimensional Dynamic cardiac module, show virtual tangent plane and probe positions simultaneously, and then utilize computing machine (7) that transesophageal echocardiography is handled; Two dimension or three-dimensional ultrasound pattern are carried out DATA REASONING; The physical characteristics of analysis of cardiac adopts the method for finite element analysis and cellular automaton to give the dynamics that heartbeat has to cardiac module, reappears the overall process of human heart motion; Combine the heart disease expert knowledge library simultaneously; Make up typical heart disease pathology mining model, realize the pathology of heart disease is excavated, and provide the corresponding ultrasonic tangent plane and the spatial relation of Three-Dimensional Dynamic cardiac module; Carry out the clinic diagnosis decision-making in the computer-aided instruction in conjunction with corresponding relevant knowledge and state of an illness data, and carry out visualization display.

Among the present invention, comprised that for the identification of two dimensional image image pre-service, image outline extraction and image measurement, four steps of visualization display realize.

1. the image pre-service has comprised preprocessing process such as figure image intensifying, binary conversion treatment.

2. image outline extracts, and is used for adopting based on the cardiac ultrasound images dividing method of optimum geometric model and realizing extracting the profile of atrium, ventricle.

3. image measurement calculates atrium, ventricular contraction and relaxation data in real time.

4. the ultrasonic tangent plane anglec of rotation is obtained in image recognition.

The cardiac ultrasound images dividing method based on optimum geometric model that the present invention proposes is divided into five steps, is described below:

1. select a kind of classical dividing method to come split image, define the variation range of the required operation parameter of this method simultaneously.

2. in parameter area, select a numerical value, use this value to utilize selected dividing method split image, cause original image to be divided into plural zone.

3. travel through the zone that all are partitioned into, and with each regional binary conversion treatment.

4. extract the boundary pixel coordinate set in each binaryzation zone, utilize this collective data, decidable should the zone and the matching degree of priori geometric properties; Finally, each divided area all can be regarded as " a geometric model degree of conformity " related with the priori geometric properties.

If 5. 1. in defined dividing method parameter area also have untapped parameter, then choose it and carry out again and 2. go onfoot 4. the step.Otherwise, choose a zone as final segmentation result with maximum " geometric model degree of conformity ".

4. above-mentioned 2. going on foot go on foot available following formula description:

$\left\{\begin{array}{c}F(f\left(p_i\right),G)=\{(R_{i1},g_{i1}),(R_{i2},g_{i2}),...,(R_{\mathrm{iN}},g_{\mathrm{iN}})\}\\ p_i\∈P,(i=\mathrm{1,2},...,M)\end{array}\right.$

F is the image segmentation overall process based on optimum geometric model; F is selected classical image partition method; p_iIt is certain selected parameter value of f; P is predefined partitioning parameters value variation range, wherein comprises M optional value; G is a guestimate priori geometric model of cutting apart the target area.

Through selected p_iSingle treatment, the result of generation is the bivector set that comprises N element, each element representation is: (R_{I, j}, g_{I, j}), wherein the numerical value of N is along with selected f and p_iChange.R_{I, j}Be f (p_i) be partitioned into j zone; g_{I, j}Be R_{I, j}" geometric model degree of conformity ".

5. step can be described as following formula equally, wherein R is the final segmentation result of being asked:

$\left\{\begin{array}{c}(I,J)=\arg \left\{\max g_{\mathrm{ij}}\right\}\\ R=R_{\mathrm{IJ}}\end{array}\right.$

In above-mentioned introduction, calculate g_{I, j}It is a key link.If some border pixel values does not have " contributing to " this regional predefine geometric model, for " the geometric model degree of conformity " in this zone, these boundary pixels can be considered misdata.

Aspect the transesophageal echocardiography visual tutoring system, this tutoring system can reflect the true attitude of current 3D cardiac module and each sub-structures 3D model of heart, 3D esophagus model and 3D ultrasonic probe model in the 3D scene.Except that 20 ultrasonic tangent plane images commonly used showing transesophageal echocardiography diagnosis pathology, also have the 3D tangent plane model and the corresponding relevant knowledge introduction of corresponding ultrasonic direction.

System equipment uses double screen to show, adopts the real-time, interactive pattern, and left side screen window provides the echocardiogram of right screen three-dimensional model covering of the fan present position, can realize that the free hand of screen is drawn, screen marks note, the echocardiogram frame browses and explain and deposit the figure function.Right screen window is accomplished the three-dimensional cardiac models show, can realize that the 3D heart freely touches rotation, convergent-divergent, translation, playback, can show the ultrasonic tangent plane 3D of place heart sectility simultaneously, realizes that ultrasonic tangent plane transparency is regulated and 3D heart scene is deposited figure.

Show the ultrasonic image of this place's tangent plane at the upper right window of display screen, be divided into specifically that black and white is ultrasonic, colorful ultrasonic and black and white color contrast be ultrasonic.The ultrasonic image tangent plane has the corresponding matching relationship of color with 3D model probe fan-shaped sign.

Following window at display screen is the explanation window, specifically is divided into " teaching explanation ", " obtaining the mode of this ultrasonoscopy ", and " identifiable structure in this ultrasonoscopy " reaches " the diagnosable case of this ultrasonoscopy ".

Software is based on WPF (Windows Presentation Foundation) platform development; WPF is used to the different user interface unified display system is provided; For these all user interfaces provide consistent technical foundation, simultaneously, WPF adopts more advanced method; Support video, animation, two dimension or three-dimensional picture and various types of document, also general basic is provided for desktop client end and browser client.

All 3D models are 3D model file form--the OBJ form of standard, are suitable for the mutual conductance between the 3D model, support polygon, straight line, surface and free form curve.

WPF 3D shows and associative operation uses the System.Windows.Media.Media3D name space; Model is the GeometryModel3D class object; Resolve OBJ apex coordinate, texture coordinate and normal direction MeshGeometry3D attribute to this object; Its texture and illumination and visual angle are set again, get final product display model.

The animation operation of 3D model is used System.Windows.Media.Animation.AnimationTime line name space.Along with the heart movement frequency of ultrasonoscopy, the Duration attribute of Timeline object is set; Along with the cardiac structure spatial variations scope of ultrasonoscopy, the key frame position Point3D attribute of 3D model key node coordinate is set.

The ultrasonoscopy function is used MediaElement control among the WPF, and may command is play.Ultrasonoscopy adds the note editor, has used figure layer technology, and Canvas is placed on the MediaElement, and Canvas acquires all kinds of Geometry objects and gets final product.The probe relevant position, magnanimity ultrasonic image figure, the related text explanation of 20 place's heart tangent planes.

The purpose of this software system design is to cooperate intelligent phantom, in actual training is operated, produces true, directly perceived, the lively teaching efficiency easily that reaches.

Claims (9)

1. One kind be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; Comprise intelligent phantom (1), computing machine (7); Said intelligent phantom mainly is made up of with simulation esophagus and stomach (6) die body and the three-dimensional artificial simulation heart (5) that is arranged in the die body, it is characterized in that also comprising TEE emulation probe (3) and the attitude device of popping one's head in; Said probe attitude device by stadimeter (2), measurement of angle device (8), collude pendulum simulator and ultrasonic covering of the fan rotating simulators and form; Stadimeter (2) is arranged on the esophagus position of intelligent phantom (1); TEE emulation probe (3) inserts stadimeter through intelligent phantom throat; Measurement of angle device (8) is installed on the TEE emulation probe (3), and installs for coaxial cable, colludes pendulum simulator and ultrasonic covering of the fan rotating simulators and is installed on the handle (4) that TEE emulation pops one's head in;

   Said stadimeter (2) is used to gather the depth data that TEE emulation probe (3) inserts esophagus; Its signal output part is connected with computing machine (7); Send the data that collected to computing machine (7); Said measurement of angle device (8) is used to gather the anglec of rotation data of TEE emulation probe, and its signal output part is connected with computing machine (7), sends the data that collected to computing machine (7); Said collude that the pendulum simulator is used to produce TEE emulation probe (3) collude pivot angle degree delta data; Its signal output part is connected with computing machine (7), sends the data that it produced to computing machine (7), and said ultrasonic covering of the fan rotating simulators are used to produce the ultrasound wave covering of the fan anglec of rotation delta data of TEE emulation probe (3); Its signal output part is connected with computing machine (7), sends the data that it produced to computing machine (7);

   Said computing machine (7) carries out associated match with the attitude data of the TEE emulation that receives probe (3) and the TEE probe attitude data that has been stored in the computing machine, and accesses to be stored in and give analyzing and processing and visualization display with the corresponding transesophageal echocardiography image of TEE probe attitude in the computing machine.
2. According to claim 1 said be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; It is characterized in that stadimeter (2) comprises magnet ring (9), sensing head (11), electronic cartridge (13) and connector (14); Said magnet ring (9) is installed in the tubular shaft (10) that is used for inserting TEE emulation probe (3); Said sensing head (11) is positioned between magnet ring (9) and the electronic cartridge (13); The signal input part of said electronic cartridge (13) is connected with the signal output part of sensing head (11) through cable (12); The signal input part of said connector (14) is connected with the signal output part of electronic cartridge (13), and its signal output part is connected with computing machine.
3. According to claim 1 or 2 said be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system; It is characterized in that measurement of angle device (8) is the potentiometer structure, comprises first resistive element (8-1), first rotating shaft (8-2), first contact brush (8-3), first cathode contact (8-4), first output contact (8-5) and first cathode contact (8-6);

   Said first resistive element (8-1) is the endless belt body; Be installed on the cup dolly; Said first rotating shaft (8-2) is installed in the centre of cup dolly; One end of said first contact brush (8-3) is connected with first rotating shaft (8-2), and its other end contacts with first resistive element (8-1), and said first cathode contact (8-4), first cathode contact (8-6) are installed in respectively on two conducting strips that are connected with first resistive element (8-1) two ends; Said first output contact (8-5) is installed on the conducting strip that joins with first contact brush (8-3), is connected with computing machine through lead.
4. According to claim 1 or 2 said be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system, it is characterized in that colluding the pendulum simulator and form by complex potential device (16), first knob (15) and second knob (17);

   Said complex potential device (16) comprises second resistive element (16-1), the 3rd resistive element (16-2), second rotating shaft (16-9), the 3rd rotating shaft (16-3), second contact brush (16-5), the 3rd contact brush (16-4), second cathode contact (16-6), second output contact (16-7) and second cathode contact (16-8);

   Said second resistive element (16-1) and the 3rd resistive element (16-2) are the endless belt body of concentric, are installed on the cup dolly, and the radius of second resistive element is greater than the radius of the 3rd resistive element (16-2); Said the 3rd rotating shaft (16-3) is installed in the centre of cup dolly, and said second rotating shaft (16-9) is a tubular shaft, is sleeved in the 3rd rotating shaft (16-3); One end of said second contact brush (16-5) is connected with second rotating shaft (16-9); Its other end contacts with second resistive element (16-1); One end of said the 3rd contact brush (16-4) is connected with the 3rd rotating shaft (16-3), and its other end contacts with the 3rd resistive element (16-2); Said second cathode contact (16-6), second cathode contact (16-8) be installed in respectively with second resistive element (16-1) and two conducting strips that the 3rd resistive element (16-2) two ends are connected on; Said second output contact (16-7) is installed on the conducting strip that joins with second contact brush (16-5) and the 3rd contact brush (16-4), is connected with computing machine through lead;

   Said first knob (15) is connected in second rotating shaft (16-9), and said second knob (17) is connected in the 3rd rotating shaft (16-3).
5. According to claim 3 said be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system, it is characterized in that colluding the pendulum simulator and form by complex potential device (16), first knob (15) and second knob (17);

   Said complex potential device (16) comprises second resistive element (16-1), the 3rd resistive element (16-2), second rotating shaft (16-9), the 3rd rotating shaft (16-3), second contact brush (16-5), the 3rd contact brush (16-4), second cathode contact (16-6), second output contact (16-7) and second cathode contact (16-8);

   Said second resistive element (16-1) and the 3rd resistive element (16-2) are the endless belt body of concentric, are installed on the cup dolly, and the radius of second resistive element is greater than the radius of the 3rd resistive element (16-2); Said the 3rd rotating shaft (16-3) is installed in the centre of cup dolly, and said second rotating shaft (16-9) is a tubular shaft, is sleeved in the 3rd rotating shaft (16-3); One end of said second contact brush (16-5) is connected with second rotating shaft (16-9); Its other end contacts with second resistive element (16-1); One end of said the 3rd contact brush (16-4) is connected with the 3rd rotating shaft (16-3), and its other end contacts with the 3rd resistive element (16-2); Said second cathode contact (16-6), second cathode contact (16-8) be installed in respectively with second resistive element (16-1) and two conducting strips that the 3rd resistive element (16-2) two ends are connected on; Said second output contact (16-7) is installed on the conducting strip that joins with second contact brush (16-5) and the 3rd contact brush (16-4), is connected with computing machine through lead;

   Said first knob (15) is connected in second rotating shaft (16-9), and said second knob (17) is connected in the 3rd rotating shaft (16-3).
6. According to claim 1 or 2 said be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system, it is characterized in that ultrasonic covering of the fan rotating simulators are the thin film switch (18) that is provided with two buttons.
7. According to claim 3 said be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system, it is characterized in that ultrasonic covering of the fan rotating simulators are the thin film switch (18) that is provided with two buttons.
8. According to claim 4 said be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulation system, it is characterized in that ultrasonic covering of the fan rotating simulators are the thin film switch (18) that is provided with two buttons.
9. One kind be used to impart knowledge to students and the clinical skill training through the esophagus ultrasound visual simulating method, it is characterized in that may further comprise the steps:

   The first step; The ultrasonic cardiography diagram data that will obtain from hospital's clinical ultrasound somascope database, and the probe attitude data of clinical ultrasound somascope location and the corresponding relation data between the transesophageal echocardiography deposit the said system of claim 1 in computing machine (7) in;

   Second step; Make up virtual three-dimensional dynamic heart model; And it is deposited in the computing machine (7) of the said system of claim 1; Said virtual three-dimensional dynamic heart model adopts tree structure that heart and each sub-structures of heart are carried out classification, embodies the hierarchical structure between heart and each sub-structures of heart;

   The 3rd step; When carrying out simulated training, use the said system of claim 1, stadimeter (2) is arranged on the esophagus position of intelligent phantom (1); TEE emulation probe (3) is inserted stadimeter through intelligent phantom throat; Operation TEE emulation probe (3), collude pendulum simulator and ultrasonic covering of the fan rotating simulators, stadimeter (2), measurement of angle device (8), collude the pendulum simulator and ultrasonic covering of the fan rotating simulators are sent into various TEE emulation probe attitude datas in the computing machine (7) respectively, computing machine (7) carries out associated match according to the probe attitude data of the TEE emulation probe attitude data that obtains the in real time clinical ultrasound somascope interior with being stored in computing machine; And and be stored between the transesophageal echocardiography cardiogram in the computing machine and set up one-to-one relationship; Access and the corresponding echocardiogram of TEE emulation probe attitude data, on the Three-Dimensional Dynamic cardiac module, show virtual tangent plane and probe positions simultaneously, and then utilize computing machine (7) that transesophageal echocardiography is handled; Two dimension or three-dimensional ultrasound pattern are carried out DATA REASONING; The physical characteristics of analysis of cardiac adopts the method for finite element analysis and cellular automaton to give the dynamics that heartbeat has to cardiac module, reappears the overall process of human heart motion; Combine the heart disease expert knowledge library simultaneously; Make up typical heart disease pathology mining model, realize the pathology of heart disease is excavated, and provide the corresponding ultrasonic tangent plane and the spatial relation of Three-Dimensional Dynamic cardiac module; Carry out the clinic diagnosis decision-making in the computer-aided instruction in conjunction with corresponding relevant knowledge and state of an illness data, and carry out visualization display.

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