CN102789732B - 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

For impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system and method

Technical field

The present invention the invention belongs to that medical image analysis is processed, Virtual Simulation field, relate to a kind of for impart knowledge to students and clinical skills 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 hundreds of thousands people to die from heart disease every year.The Ultrasonic Diagnosis of heart disease is the Focal point and difficult point in Ultrasonic Diagnosis field always, and transesophageal echocardiography is the new development in cardiovascular disease diagnosis, monitoring field, for the diagnosis of multiple heart disease and trunk disease provides new means.Cardiac structure and motion are very complicated, examiner's spatial thinking ability and Clinical Thinking Ability are had higher requirement, study new computer-aided tool objective in medical ultrasonic image in order to extract, quantitatively and have the information of clinical meaning, and with more intuitively, carry out truly the medical need that the three-dimensional visualization of heart organ just necessitates.Therefore, how to pass through high-quality training certification, allow doctor grasp rapidly echocardiogram and Ultrasonic Diagnosis technology is very important.Therefore have a lot of doctors and students urgently to train both at home and abroad, exploitation is applicable to for imparting knowledge to students and clinical skills 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, in the patent of invention that is wherein US2009/0130642 in the patent No., mainly to give training obtaining ultrasonoscopy through chest mode, this simulator obtains by sensor the locus that the mode of data can be obtained Analogue probe, with mating through the ultrasonic tangent plane picture of chest of prior collection, show three-dimensional cardiac tangent plane with corresponding through chest ultrasonoscopy, realized doctor has been carried out to the simulated training through chest acquiring ultrasound image, but only have when start-up uses probe dynamics suitable, just understand the TTE of 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, be used for solving a large amount of transesophageal echocardiography image None-identifieds, 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 Computer Three-dimensional reproduction 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 flexibly according to actual parameter adjustment demand, can not reproduce a compound heart true to nature.In addition, the virtual probe of system is mouse, and clinician and medico operate while using, and with real clinical ultrasound heart, detect completely different.

Three anesthesiologists of London medical college of university are research and development in 2008 except transesophageal ultrasonography simulation teching product, and this product comprises anatomy cardiac module, transesophageal ultrasonography simulator (simulation softward), artificial human body model.But because described product belongs to the tutoring system of sealing, clinical experience is not easy to be accumulated, and expands, thus be unfavorable for teaching and clinical between data sharing, be not easy to a clinical experience and add in tutoring system and go at any time.

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, simulation people, image data base, but do not realize three-dimensional visualization tangent plane, and the key of TEE study is the embodiment of two-dimensional ultrasound tangent plane on three-dimensional visualization heart, owing to not realizing open modeling, be therefore difficult to further to rise to clinical operation auxiliary.

The attitude data that the patent of invention of ZL 201010251812.5 " transesophageal echocardiography visual simulation system and method " has realized while gathering transesophageal ultrasonography tangent plane mates one by one with three-dimensional visualization heart tangent plane, proposed the pathology of heart disease to excavate, and provide 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 due to physical contact and communication line contact unstable, when carrying out the measurement of shift length, there will be contact not go up and skidding, thereby cause the corresponding 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 object of the invention is to overcome the deficiencies in the prior art, provide a kind of for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system and method, to realize environment and operation that real simulation clinical ultrasound heart detects diagnosis, further improve the sense of reality and the accuracy of simulation.

Of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, comprise intelligent body mould, (TEE is the abbreviation of " Transesophageal echocardiography " to TEE emulation probe, its implication is " TEE "), probe attitude device and computing machine, described intelligent body mould is by die body and be arranged on three-dimensional visual simulation heart in die body and simulation esophagus and stomach form, described probe attitude device is by stadimeter, angle measurement equipment, hooking pendulum simulator and ultrasonic covering of the fan rotating simulators forms, stadimeter is arranged on the esophagus position of intelligent body mould, TEE emulation probe inserts stadimeter through intelligent body mould throat, angle measurement equipment is arranged on TEE emulation probe, and for coaxial cable is installed, hook pendulum simulator and ultrasonic covering of the fan rotating simulators are arranged on the handle of TEE emulation probe, described stadimeter inserts the depth data of esophagus for gathering TEE emulation probe, its signal output part is connected with computing machine, send collected data to computing machine, described angle measurement equipment is for gathering the anglec of rotation data of TEE emulation probe, its signal output part is connected with computing machine, send collected data to computing machine, described hook pendulum simulator is for generation of the hook swinging delta data of TEE emulation probe, its signal output part is connected with computing machine, the data that it is produced send computing machine to, described ultrasonic covering of the fan rotating simulators are for generation of the ultrasound wave covering of the fan anglec of rotation delta data of TEE emulation probe, its signal output part is connected with computing machine, the data that it is produced send computing machine to, described computing machine carries out associated coupling by the attitude data of the TEE emulation probe receiving with the TEE probe attitude data being stored in computing machine, and recalls to be stored in and give analyzing and processing and visual demonstration with the TEE corresponding transesophageal echocardiography image of attitude of popping one's head in computing machine.

Of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, stadimeter in its probe attitude device inserts the data of the esophagus degree of depth for obtaining TEE emulation probe, its member comprises magnet ring, sensing head, electronic cartridge and connector, described magnet ring and sensing head are arranged on for inserting the tubular shaft of TEE emulation probe, the signal input part of described electronic cartridge is connected with the signal output part of sensing head by cable, the signal input part of described connector is connected with the signal output part of electronic cartridge, and its signal output part is connected with computing machine.Described tubular shaft is 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, sensing head is for receiving the Magnetic Field data of magnet ring generation and changing field signal into analog electrical signal, and analog electrical signal is transferred to electronic cartridge, electronic cartridge is converted to digital electric signal by the analog electrical signal receiving and is transferred to connector, and connector is delivered to the electric signal receiving in computing machine.

Of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, angle measurement equipment in its probe attitude device is for obtaining the data of the TEE emulation probe anglec of rotation, its structure is potentiometer structure, comprises the first resistive element, the first rotating shaft, the first contact brush, the first cathode contact, the first output contact and the first cathode contact; Described the first resistive element is endless belt body, be arranged on cup dolly, described the first rotating shaft is arranged on the centre of cup dolly, one end of described the first contact brush is connected with the first rotating shaft, its other end contacts with the first resistive element, described the first cathode contact, the first cathode contact are arranged on respectively on two conducting strips that are connected with the first resistive element two ends, and described the first output contact is arranged on the conducting strip joining with the first contact brush, by wire, is connected with computing machine.

Of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, the data that hook pendulum simulator in its probe attitude device changes for generation of TEE emulation probe hook pendulum state are (when imparting knowledge to students with clinical skills training training, TEE emulation probe is not hooked to pendulum operation), described hook pendulum simulator is comprised of complex potential device, the first knob and the second knob; Described complex potential device comprises the second resistive element, the 3rd resistive element, the second rotating shaft, the 3rd rotating shaft, the second contact brush, the 3rd contact brush, the second cathode contact, the second output contact and the second cathode contact; The endless belt body that described the second resistive element and the 3rd resistive element are concentric, is arranged on cup dolly, and the radius of the second resistive element is greater than the radius of the 3rd resistive element; Described the 3rd rotating shaft is arranged on the centre of cup dolly, and described the second rotating shaft is tubular shaft, is sleeved in the 3rd rotating shaft; One end of described the second contact brush is connected with the second rotating shaft, and its other end contacts with the second resistive element, and one end of described the 3rd contact brush is connected with the 3rd rotating shaft, and its other end contacts with the 3rd resistive element; Described the second cathode contact, the second cathode contact are arranged on respectively on two conducting strips that are connected with the 3rd resistive element two ends with the second resistive element, described the second output contact is arranged on the conducting strip joining with the second contact brush and the 3rd contact brush, by wire, is connected with computing machine; Described the first knob is connected in the second rotating shaft, and described the second knob is connected in the 3rd rotating shaft.

Of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, the data that ultrasonic covering of the fan rotating simulators in its probe attitude device rotate for generation of TEE emulation Probe Ultrasonic Searching covering of the fan are (when teaching and clinical skills training training, TEE emulation probe is not carried out to ultrasonic covering of the fan rotary manipulation), described ultrasonic covering of the fan rotating simulators are the thin film switch that is provided with two buttons, one of them button is for generation of the data of the clockwise ultrasonic covering of the fan rotation of TEE emulation probe, another button is for generation of the data of the counter-clockwise ultrasonic covering of the fan rotation of TEE emulation probe.

Of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulating method, comprise the following steps:

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

Second step, build virtual three-dimensional dynamic heart model, and deposited in above-mentioned in the computing machine of esophagus ultrasound visual simulation system, described virtual three-dimensional dynamic heart model adopts tree structure to carry out classification to heart and each minor structure of heart, embodies the hierarchical structure between heart and each minor structure of heart;

The 3rd step, when carrying out simulated training, use above-mentioned through esophagus ultrasound visual simulation system, stadimeter is arranged on to the esophagus position of intelligent body mould, TEE emulation probe is inserted to stadimeter through intelligent body mould throat, operation TEE emulation probe, hook pendulum simulator and ultrasonic covering of the fan rotating simulators, stadimeter, angle measurement equipment, hooking pendulum simulator and ultrasonic covering of the fan rotating simulators sends into various TEE emulation probe attitude datas in computing machine respectively, computing machine carries out associated coupling according to the TEE emulation probe attitude data of Real-time Obtaining with the TEE probe attitude data being stored in computing machine, and and be stored between the transesophageal echocardiography cardiogram in computing machine and set up one-to-one relationship, recall the true echocardiogram corresponding with TEE emulation probe attitude data, on Three-Dimensional Dynamic cardiac module, show virtual tangent plane and probe positions simultaneously, and then utilize computing machine to process transesophageal echocardiography, two dimension or three-dimensional ultrasound pattern are carried out to DATA REASONING, the physical characteristics of analysis of cardiac, adopt the method for finite element analysis and cellular automaton to give to cardiac module the dynamics that heartbeat has, reappear the overall process of human heart motion, simultaneously in conjunction with heart disease expert knowledge library, build typical heart disease pathology mining model, realization is excavated the pathology of heart disease, and provide corresponding ultrasonic tangent plane and the spatial relation of Three-Dimensional Dynamic cardiac module, in conjunction with corresponding relevant knowledge and state of an illness data, carry out the clinic diagnosis decision-making in computer-aided instruction, and carry out visual demonstration.

The present invention has following beneficial effect:

1, of the present invention for impart knowledge to students and clinical skills training the computing machine through the esophagus ultrasound visual simulation system echocardiogram data resource Shi Cong hospital clinical ultrasound somascope database stored obtain, when carrying out simulation training, the attitude data of TEE emulation probe passes through stadimeter, angle measurement equipment, the probe attitude device that hooks pendulum simulator and ultrasonic covering of the fan rotating simulators composition obtains, compare with ZL 201010251812.5, can not only obtain the probe of TEE emulation more accurately attitude data, greatly improved the echocardiographic accuracy recalling in teaching and clinical skills training, and can increase the service life.

2, of the present invention for impart knowledge to students and clinical skills training the virtual three-dimensional dynamic heart model stored of the computing machine through esophagus ultrasound visual simulation system adopt tree structure to carry out classification to heart and each minor structure of heart, embody the hierarchical structure between heart and each minor structure of heart, by heart and each minor structure of heart being carried out to the structure of three-dimensional simulation model, according to list, can show whole Three-Dimensional Dynamic cardiac module, and the static three-dimensional realistic model that shows separately each minor structure of heart, and embody emulation blood vessel, some details of muscle and fat, the external texture of true performance heart and each minor structure of heart, more intuitively the anatomical structure of heart and each minor structure of heart is carried out to visual presentation, and make student understand more visually heart and each minor structure of heart.

3, of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulating method, by simulation teching software systems, represent clinical real scene, action norm degree and clinical response in the time of can examining or check 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.

Accompanying drawing explanation

Fig. 1 be of the present invention for impart knowledge to students and clinical skills training the structural representation through esophagus ultrasound visual simulation system;

Fig. 2 be of the present invention for impart knowledge to students and clinical skills training the structural representation of the stadimeter through esophagus ultrasound visual simulation system;

Fig. 3 be of the present invention for impart knowledge to students and clinical skills training the angle measurement equipment through esophagus ultrasound visual simulation system, hook pendulum simulator and the installation site schematic diagram of ultrasonic covering of the fan rotating simulators on TEE emulation probe handle;

Fig. 4 be of the present invention for impart knowledge to students and clinical skills training the structural representation of the angle measurement equipment through esophagus ultrasound visual simulation system;

Fig. 5 be of the present invention for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, form to hook the structural representation of the complex potential device of pendulum simulator;

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

In figure, 1-intelligent body mould, 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-angle measurement equipment (8-1 the first resistive element, 8-2 the first rotating shaft, 8-3 the first contact brush, 8-4 the first cathode contact, 8-5 the first output contact, 8-6 the first cathode contact), 9-magnet ring, 10-tubular shaft, 11-sensing head, 12-cable, 13-electronic cartridge, 14-connector, the 15-the first knob, 16-complex potential device (16-1 the second resistive element, 16-2 the 3rd resistive element, 16-3 the 3rd rotating shaft, 16-4 the 3rd contact brush, 16-5 the second contact brush, 16-6 the second cathode contact, 16-7 the second output contact, 16-8 the second cathode contact, 16-9 the second rotating shaft), 17-the second knob, 18-thin film switch (18-1 the first button, 18-2 the second button).

Embodiment

Below in conjunction with accompanying drawing, transesophageal echocardiography visual simulation system of the present invention and method are described further.

Embodiment 1

In the present embodiment, for impart knowledge to students and clinical skills training the structure through esophagus ultrasound visual simulation system as shown in Figure 1 and Figure 2, by intelligent body mould 1, TEE emulation probe 3, probe attitude device and computing machine 7, formed.

Described intelligent body mould 1 mainly consists of the three-dimensional visual simulation heart 5 arranging in die body and die body, simulation esophagus and stomach 6, the die body of intelligent body mould is used yellowish pink flexible plastic to make simulation skin, the oral cavity of head can be movable, expansible is closed, head and neck can separate, to make stadimeter can insert easily the esophagus position of intelligent body mould.

Described probe attitude device is comprised of stadimeter 2, angle measurement equipment 8, hook pendulum simulator and ultrasonic covering of the fan rotating simulators.

The structure of stadimeter 2 as shown in Figure 2, comprise magnet ring 9, sensing head 11(model: SEM001, manufacturing enterprise: safe general associating scientific and technological development (Beijing) company limited), electronic cartridge 13(model: SCM02, 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), described magnet ring 9 and sensing head 11 are arranged on for inserting the tubular shaft 10 of TEE emulation probe 3, the signal input part of described electronic cartridge 13 is connected with the signal output part of sensing head 11 by cable 12, the signal input part of described connector 14 is connected with the signal output part of electronic cartridge 13, its signal output part is connected with computing machine 7.During use, stadimeter 2 is arranged on to the esophagus position of intelligent body mould 1, TEE emulation probe 3 is in intelligent body mould throat inserts the center pit of the tubular shaft that magnet ring is installed in stadimeter, and TEE emulation probe 3 inserts the degree of depth of intelligent body mould esophaguswherein L is the length of porch, intelligent body die orifice chamber to hollow shaft center hole bottom,for the distance of TEE emulation probe tip apart from hollow shaft center hole bottom,for magnetic signal comes and goes total phase place variation that testing distance (TEE emulation probe tip is apart from the distance of hollow shaft center hole bottom) once produces, the angular frequency that ω is periodic electromagnetic wave, c is the light velocity.

As shown in Figure 4, its structure is potentiometer structure to the structure of angle measurement equipment 8, 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, described the first resistive element 8-1 is endless belt body, be arranged on cup dolly, described the first rotating shaft 8-2 is arranged on the centre of cup dolly, one end of described the first contact brush 8-3 is connected with the first rotating shaft 8-2, its other end contacts with the first resistive element 8-1, described the first cathode contact 8-4 is arranged on the conducting strip being connected with the first resistive element 8-1 right-hand member, described the first cathode contact 8-6 is arranged on the conducting strip being connected with the first resistive element 8-1 left end, described the first output contact 8-5 is arranged on the conducting strip joining with the first contact brush 8-3, by wire, be connected with computing machine 7.Angle measurement equipment 8 is arranged on 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.First rotating shaft that rotarily drives of TEE emulation probe is rotated, make the first contact brush also along with rotation, thereby from the voltage of the first output contact output also along with change, computing machine is processed the electric signal of angle measurement equipment output, can obtain the gyration that selects of TEE emulation probe.

Hooking pendulum simulator is comprised of complex potential device 16, the first knob 15 and the second knob 17; Described complex potential 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; The endless belt body that described the second resistive element 16-1 and the 3rd resistive element 16-2 are concentric, is arranged on cup dolly, and the radius of the second resistive element is greater than the radius of the 3rd resistive element 16-2; Described the 3rd rotating shaft 16-3 is arranged on the centre of cup dolly, and described the second rotating shaft 16-9 is tubular shaft, is sleeved on the 3rd rotating shaft 16-3; One end of described the 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 one end of described 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; Described the second cathode contact 16-6 is arranged on the conducting strip being connected with the 3rd resistive element 16-2 right-hand member with the second resistive element 16-1, described the second cathode contact 16-8 is arranged on the conducting strip being connected with the 3rd resistive element 16-2 left end with the second resistive element 16-1, described the second output contact 16-7 is arranged on the conducting strip joining with the second contact brush 16-5 and the 3rd contact brush 16-4, by wire, is connected with computing machine 7; It is upper that described the first knob 15 is connected in the second rotating shaft 16-9, and described the second knob 17 is connected on the 3rd rotating shaft 16-3.Hook on the handle that pendulum simulator is arranged on TEE emulation probe (as shown in Figure 3), operate the first knob 15 or/and the second 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 the voltage of exporting from the second output contact 16-7 is also along with change, after this voltage signal input computing machine 7, machine is processed and is the data that pendulum occurs to hook TEE emulation probe as calculated; The rotation of the second contact brush 16-5 produces the information that TEE emulation probe swings to the left or to the right, the rotation of the 3rd contact brush 16-4 produce bent before TEE emulation probe or after the information of stretching.

Ultrasonic covering of the fan rotating simulators are the thin film switch 18(model that is provided with two buttons: MD-230, manufacturing enterprise: Beijing Mei Borui electronic membrane switch company limited), be arranged on the handle of TEE emulation probe (as shown in Figure 3).The first button 18-1 of operation thin film switch, the signal producing input computing machine as calculated machine are processed the data that are the clockwise ultrasonic covering of the fan rotation of TEE emulation probe; The second button 18-2 of operation thin film switch, the signal producing input computing machine as calculated machine are processed the data that are the counter-clockwise ultrasonic covering of the fan rotation of TEE emulation probe.

Described computing machine 7 is provided with through esophagus ultrasound visual simulation system software, and described software is mainly used in through the teaching of esophagus ultrasound visual simulating and clinical skills training, and main interface comprises two patterns: real-time, interactive pattern and 20 standard tangent plane stand-alone modes.In real-time, interactive pattern, system equipment is used double screen to show, left 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 mark annotates, echocardiogram frame browses and explain and deposit figure function; Right screen window completes three-dimensional cardiac models show, can realize 3D heart and freely touch rotation, convergent-divergent, translation, playback, can show the ultrasonic tangent plane 3D of place heart sectility simultaneously, realizes ultrasonic tangent plane transparency adjusting and 3D heart scene and deposits figure.20 standard tangent plane stand-alone modes provide 20 required standard tangent planes of common lesion examining, select a certain standard tangent plane, can on 3D heart, see the relative position of this tangent plane, the anatomical cardiac structure of this position and corresponding echocardiogram, can carry out color ultrasound and the ultrasonic switching of black and white by button, simultaneity factor is by acquisition pattern, the structure that can recognize of this tangent plane of prompting and the case that conventionally can diagnose.

Described TEE emulation probe consists of sonde body and the handle 4 being arranged on sonde body, sonde body plastic production.

Embodiment 2

The present embodiment is for imparting knowledge to students and the using described in embodiment 1 through esophagus ultrasound visual simulation system through esophagus ultrasound visual simulating method of clinical skills training, and step is as follows:

The first step, the ultrasonic cardiography diagram data that Jiang Cong hospital clinical ultrasound somascope database obtains, and the probe attitude data of clinical ultrasound somascope location and the corresponding relation data between transesophageal echocardiography deposit in described in embodiment 1 in the computing machine 7 of esophagus ultrasound visual simulation system.

Second step, build virtual three-dimensional dynamic heart model, and deposited in described in embodiment 1 in the computing machine 7 of esophagus ultrasound visual simulation system, described virtual three-dimensional dynamic heart model adopts tree structure to carry out classification to heart and each minor structure of heart, embodies the hierarchical structure between heart and each minor structure of heart.

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

1, adopt based on anatomical layered modeling algorithm, application professional software (3d max, maya, mitk etc.) is carried out three-dimensional modeling to human heart, builds flow process (see figure 6) as follows:

(1) adopt tree structure to carry out classification to heart and each minor structure thereof, form tree list;

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

(2) successively heart and each minor structure of heart are carried out to virtual three-dimensional model structure;

Adopt professional software (3d max, maya, mitk etc.) to carry out three-dimensional modeling to each minor structure of heart, make model have more authenticity and intuitive.

(3) virtual three-dimensional model of heart and each minor structure of heart is merged and mated with tree list;

Heart and each minor structure are carried out to logical coordinates location, by tree list label, carry out three-dimensional modeling data library call, complete three-dimensional model and mate with the fusion of tree list.

(4) realize the mutual demonstration between each minor structure three-dimensional model of tree list and heart and heart.

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

2, extract pressure, volume, time and electrocardio activity sequences as 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, the change curve of pressure and volume is reacted in cardiac module, in cardiac module, add active force simultaneously, according to hemodynamic, gain knowledge and pressure, volume, time parameter carry out the physical characteristics of analysis of cardiac.

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

Adopt the method unicellular and cellulous excitement of simulation and the procreation of cellular automaton, utilize eight node isoparametric element Finite Element Methods, in thering is isotropic VE volume geometric model, add active force, set up compound cardiac module, and emulation the motion and deformation of ventricle, the overall process of having reappeared human heart motion.

The 3rd step, when carrying out simulated training, use described in embodiment 1 through esophagus ultrasound visual simulation system, stadimeter 2 is arranged on to the esophagus position of intelligent body mould 1, TEE emulation probe 3 is inserted to stadimeter through intelligent body mould throat, operation TEE emulation probe 3, hook pendulum simulator and ultrasonic covering of the fan rotating simulators, stadimeter 2, angle measurement equipment 8, hooking pendulum simulator and ultrasonic covering of the fan rotating simulators sends into various TEE emulation probe attitude datas in computing machine 7 respectively, computing machine 7 carries out associated coupling according to the TEE emulation probe attitude data of Real-time Obtaining with the probe attitude data that is stored in the clinical ultrasound somascope in computing machine, and and be stored between the transesophageal echocardiography cardiogram in computing machine and set up one-to-one relationship, recall the echocardiogram corresponding with TEE emulation probe attitude data, on Three-Dimensional Dynamic cardiac module, show virtual tangent plane and probe positions simultaneously, and then utilize computing machine (7) to process transesophageal echocardiography, two dimension or three-dimensional ultrasound pattern are carried out to DATA REASONING, the physical characteristics of analysis of cardiac, adopt the method for finite element analysis and cellular automaton to give to cardiac module the dynamics that heartbeat has, reappear the overall process of human heart motion, simultaneously in conjunction with heart disease expert knowledge library, build typical heart disease pathology mining model, realization is excavated the pathology of heart disease, and provide corresponding ultrasonic tangent plane and the spatial relation of Three-Dimensional Dynamic cardiac module, in conjunction with corresponding relevant knowledge and state of an illness data, carry out the clinic diagnosis decision-making in computer-aided instruction, and carry out visual demonstration.

In the present invention, for the identification of two dimensional image, comprised that image pre-service, image outline extraction and image measurement, four steps of visual demonstration realize.

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

2. image outline extracts, and for to extracting the profile of atrium, ventricle, adopts the cardiac ultrasound images dividing method based on optimum geometric model to realize.

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 cut apart image, define the variation range of the required operation parameter of the method simultaneously.

2. in parameter area, select a numerical value, use this value to utilize selected automatic Segmentation image, cause original image to be divided into plural region.

3. travel through all regions that are partitioned into, and by each region binary conversion treatment.

4. the boundary pixel coordinate set that extracts each binaryzation region, utilizes this collective data, can judge the matching degree of this region and priori geometric properties; Finally, each region after cutting apart can be regarded as to obtain " a geometric model degree of conformity " associated with priori geometric properties.

If 5. 1. in defined dividing method parameter area also have untapped parameter, choose it and re-execute 2. step to 4. step.Otherwise, choose a region with maximum " geometric model degree of conformity " as final segmentation result.

Above-mentioned 2. step is described to 4. walking available following formula:

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

F is that the image based on optimum geometric model is cut apart overall process; 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 the guestimate priori geometric model in segmentation object region.

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,jf (p_i) j region being partitioned into; g_{i, j}r_i,j" geometric model degree of conformity ".

5. step can be described as equally following formula, wherein R is required final segmentation result:

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

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

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

System equipment is used double screen to show, adopts real-time, interactive pattern, and left 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 mark annotates, echocardiogram frame browses and explain and deposit figure function.Right screen window completes three-dimensional cardiac models show, can realize 3D heart and freely touch rotation, convergent-divergent, translation, playback, can show the ultrasonic tangent plane 3D of place heart sectility simultaneously, realizes ultrasonic tangent plane transparency adjusting and 3D heart scene and deposits figure.

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

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

Software is based on WPF (Windows Presentation Foundation) platform development, WPF is used to different user interface that 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 for desktop client end and browser client provide general basic.

3D model file form--the OBJ form that all 3D models are standard, is suitable for the mutual conductance between 3D model, supports polygon, straight line, surface and free form curve.

WPF 3D shows and associative operation is used System.Windows.Media.Media3D name space, model is GeometryModel3D class object, resolve OBJ apex coordinate, texture coordinate and normal direction to the MeshGeometry3D attribute of 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.AnimationTimeline 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.

Ultrasonoscopy function is used MediaElement control in WPF, and controlled record and broadcast is put.Ultrasonoscopy adds annotation editor, has used figure layer technology, and Canvas is placed on MediaElement, and Canvas adds all kinds of Geometry objects.Probe relevant position, magnanimity ultrasonic image figure, the related text explanation of 20 place's heart tangent planes.

The object of this software system design is to coordinate intelligent body mould, in actual training operation, produces teaching efficiency truly, intuitively, vividly and easily.

Claims (6)

1. One kind for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, comprise intelligent body mould (1), computing machine (7), described intelligent body mould, mainly by die body and be arranged on three-dimensional visual simulation heart (5) in die body and simulation esophagus and stomach (6) form, characterized by further comprising TEE emulation probe (3) and the attitude device of popping one's head in; Described probe attitude device is comprised of stadimeter (2), angle measurement equipment (8), hook pendulum simulator and ultrasonic covering of the fan rotating simulators, stadimeter (2) is arranged on the esophagus position of intelligent body mould (1), TEE emulation probe (3) inserts stadimeter through intelligent body mould throat, angle measurement equipment (8) is arranged on TEE emulation probe (3), and for coaxial cable is installed, hook pendulum simulator and ultrasonic covering of the fan rotating simulators are arranged on the handle (4) of TEE emulation probe;

   Described stadimeter (2) inserts the depth data of esophagus for gathering TEE emulation probe (3), stadimeter comprises magnet ring (9), sensing head (11), electronic cartridge (13) and connector (14), described magnet ring (9) is arranged on for inserting the tubular shaft (10) of TEE emulation probe (3), described sensing head (11) is positioned between magnet ring (9) and electronic cartridge (13), the signal input part of described electronic cartridge (13) is connected with the signal output part of sensing head (11) by cable (12), the signal input part of described connector (14) is connected with the signal output part of electronic cartridge (13), its signal output part is connected with computing machine, send collected data to computing machine (7), described angle measurement equipment (8) is for gathering the anglec of rotation data of TEE emulation probe, and its signal output part is connected with computing machine (7), sends collected data to computing machine (7), described hook pendulum simulator is for generation of the hook swinging delta data of TEE emulation probe (3), and its signal output part is connected with computing machine (7), and the data that it is produced send computing machine (7) to, described ultrasonic covering of the fan rotating simulators are for generation of the ultrasound wave covering of the fan anglec of rotation delta data of TEE emulation probe (3), and its signal output part is connected with computing machine (7), and the data that it is produced send computing machine (7) to,

   Described computing machine (7) carries out associated coupling by the attitude data of the TEE emulation probe (3) receiving with the TEE probe attitude data being stored in computing machine, and recalls to be stored in and give analyzing and processing and visual demonstration with the TEE corresponding transesophageal echocardiography image of attitude of popping one's head in computing machine.
2. According to claim 1 for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, it is characterized in that angle measurement equipment (8), for 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);

   Described the first resistive element (8-1) is endless belt body, be arranged on cup dolly, described the first rotating shaft (8-2) is arranged on the centre of cup dolly, one end of described the first contact brush (8-3) is connected with the first rotating shaft (8-2), its other end contacts with the first resistive element (8-1), described the first cathode contact (8-4), the first cathode contact (8-6) is arranged on respectively on two conducting strips that are connected with the first resistive element (8-1) two ends, described the first output contact (8-5) is arranged on the conducting strip joining with the first contact brush (8-3), by wire, be connected with computing machine.
3. According to described in claim 1 or 2 for impart knowledge to students and clinical skills training through esophagus ultrasound visual simulation system, it is characterized in that hooking pendulum simulator and formed by complex potential device (16), the first knob (15) and the second knob (17);

   Described complex potential 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);

   The endless belt body that described the second resistive element (16-1) and the 3rd resistive element (16-2) are concentric, is arranged on cup dolly, and the radius of the second resistive element is greater than the radius of the 3rd resistive element (16-2); Described the 3rd rotating shaft (16-3) is arranged on the centre of cup dolly, and described the second rotating shaft (16-9) is tubular shaft, is sleeved in the 3rd rotating shaft (16-3); One end of described the second contact brush (16-5) is connected with the second rotating shaft (16-9), its other end contacts with the second resistive element (16-1), one end of described 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); Described the second cathode contact (16-6), the second cathode contact (16-8) are arranged on respectively on two conducting strips that are connected with the 3rd resistive element (16-2) two ends with the second resistive element (16-1), described the second output contact (16-7) is arranged on the conducting strip joining with the second contact brush (16-5) and the 3rd contact brush (16-4), by wire, is connected with computing machine;

   It is upper that described the first knob (15) is connected in the second rotating shaft (16-9), and described the second knob (17) is connected in the 3rd rotating shaft (16-3).
4. According to described in claim 1 or 2 for impart knowledge to students and clinical skills training through 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.
5. According to claim 3 for impart knowledge to students and clinical skills training through 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.
6. For impart knowledge to students and clinical skills training through an esophagus ultrasound visual simulating method, it is characterized in that comprising the following steps:

   The first step, the ultrasonic cardiography diagram data that Jiang Cong hospital clinical ultrasound somascope database obtains, and the probe attitude data of clinical ultrasound somascope location and the corresponding relation data between transesophageal echocardiography deposit in the computing machine (7) of system described in claim 1;

   Second step, build virtual three-dimensional dynamic heart model, and deposited in the computing machine (7) of system described in claim 1, described virtual three-dimensional dynamic heart model adopts tree structure to carry out classification to heart and each minor structure of heart, embodies the hierarchical structure between heart and each minor structure of heart;

   The 3rd step, when carrying out simulated training, system described in right to use requirement 1, stadimeter (2) is arranged on to the esophagus position of intelligent body mould (1), TEE emulation probe (3) is inserted to stadimeter through intelligent body mould throat, operation TEE emulation probe (3), hook pendulum simulator and ultrasonic covering of the fan rotating simulators, stadimeter (2), angle measurement equipment (8), hooking pendulum simulator and ultrasonic covering of the fan rotating simulators sends into various TEE emulation probe attitude datas in computing machine (7) respectively, computing machine (7) carries out associated coupling according to the TEE emulation probe attitude data of Real-time Obtaining with the probe attitude data that is stored in the clinical ultrasound somascope in computing machine, and and be stored between the transesophageal echocardiography cardiogram in computing machine and set up one-to-one relationship, recall the echocardiogram corresponding with TEE emulation probe attitude data, on Three-Dimensional Dynamic cardiac module, show virtual tangent plane and probe positions simultaneously, and then utilize computing machine (7) to process transesophageal echocardiography, two dimension or three-dimensional ultrasound pattern are carried out to DATA REASONING, the physical characteristics of analysis of cardiac, adopt the method for finite element analysis and cellular automaton to give to cardiac module the dynamics that heartbeat has, reappear the overall process of human heart motion, simultaneously in conjunction with heart disease expert knowledge library, build typical heart disease pathology mining model, realization is excavated the pathology of heart disease, and provide corresponding ultrasonic tangent plane and the spatial relation of Three-Dimensional Dynamic cardiac module, in conjunction with corresponding relevant knowledge and state of an illness data, carry out the clinic diagnosis decision-making in computer-aided instruction, and carry out visual demonstration.