CN104658393A - Evaluation system and method for training of laparoscopic surgery simulation - Google Patents

Abstract

The evaluation system for laparoscopic simulated surgery training includes a vision system, an acceleration sensor module and an evaluation system, in which: the vision system is used to obtain three-dimensional coordinate data of the device; the acceleration sensor module is used to obtain the data of the speed and motion stability of the device; The data measured by the system and the acceleration sensor module are calculated and saved, and a training completion report is exported.

Description

Laparoscopic simulated operation training evaluation system and method

technical field

The invention relates to a laparoscopic simulated operation training evaluation system and method.

Background technique

Minimally invasive or non-invasive is people's never-ending pursuit of surgery. It has experienced the development process from traditional laparotomy and large trauma surgery to today's minimally invasive surgery, and now it is moving towards less invasive single-hole surgery. Development of laparoscopic surgery. Single-port laparoscopic surgery has become the most advanced development direction of medical science and technology because of its extremely small trauma, low complication probability, high utilization rate of hospital beds, and no large scars.

The characteristics of laparoscopic surgery that are different from traditional surgery are: ① a sense of two-dimensional space concept; ② mastery of laparoscopic instruments; ③ the ability to recognize anatomy under laparoscopy; ④ the coordination of both hands. It can be seen that its technical difficulty is high, the learning curve is long, and the training method is different from that of traditional surgeons. The study found that there is a close relationship between the training effect and surgical experience of laparoscopic doctors and the occurrence of laparoscopic complications. For beginners, technical proficiency and experience can be said to be the decisive factors. For operators at different stages of the learning curve, the range (standard) of indications should be different. How to effectively avoid iatrogenic injuries and improve Surgical success rate is an important issue facing laparoscopic surgery. Laparoscopists in foreign countries need to undergo strict training, and only after passing simulator training or computer simulation training can they perform human operations under the guidance of experienced laparoscopists. At present, in China, beginners usually perform laparoscopic surgery under the guidance of experienced superior doctors after watching videos. Therefore, the severe problem facing the development of laparoscopic surgery is how to train laparoscopic surgeons. The domestic training methods for laparoscopic surgeons mainly include short-term training, independent training, expert guidance and advanced study, and the training content includes two aspects: theoretical teaching and skill training. During gynecological laparoscopy training, three-person group training is also adopted to exercise teamwork ability and personal hand-eye-foot coordination, stereotaxic and other skills. However, it is impossible to know how effective the training will be. In China, there is no unified standard on how to evaluate the training effect of trainees, and there are few related reports.

The traditional laparoscopic simulation training device is mainly composed of a monitor, a training box, a camera, and a lighting device. During the training process, the trainer can observe the task completion process of the instrument in the training box in real time through the monitor (ie, the display), which is a common laparoscopic surgery training device. The current simulation training system supports a variety of training modes, which can improve the trainer's three-dimensional space perception ability, hand coordination ability, suture knotting and other fine operation ability. The simulation training of three-dimensional space by observing the two-dimensional monitor is often used in the training of beginners. The laparoscopic surgery training box is used to simulate the abdominal cavity of the human body to train beginners' hand-eye coordination and three-dimensional space perception. Laparoscopic simulation training tasks mainly include the following:

① Hand-eye coordination training

Mainly to improve the trainer's hand-eye coordination. In the training box, put two pieces of task paper with two areas of the same size. One area contains small blocks of different colors, and the other is empty. The trainer is asked to pick up and move the blocks one by one. to another area. The operation process should be as fast, stable and accurate as possible, and do not touch the surrounding objects. The trainer can adjust the lens at any time to keep the object clearly in the surgical field of view.

② Orientation adaptation training

Mainly to improve the three-dimensional space perception ability of trainers. Put a task board with a post in the training box. There are holes of appropriate size on the post. The trainer is required to operate the instrument to pick up the suture to complete the needle threading operation. Through repeated training, the trainer's laparoscopic operation orientation ability can be improved.

③Tissue separation training

Mainly to improve the trainer's ability to cooperate with both hands. Objects such as simulated skin or rubber are placed in the training box, and surgical instruments such as laparoscopic grasping forceps, scissors, and electric knife are used for separation training.

④ Precise positioning training

Mainly to improve the trainer's precise operation ability. Compared with traditional surgical instruments, laparoscopic surgical instruments are longer, and it is difficult to achieve precise positioning during the initial operation. Put a training board with columns in the training box. There are pits of appropriate size on the top of these small posts. Plastic posts are placed next to the training board. The trainer is required to operate the equipment to place the posts into the pits. During the process, the speed and accuracy of the movement should be maintained.

⑤Suture knotting training

Mainly to improve the trainer's ability to suture and tie knots. Due to the narrow space in the actual operation of laparoscopic surgery, higher requirements are placed on the operator's ability to coordinate and cooperate with both hands, and more training is required for knotting and suturing. Put the training board equipped with the artificial skin in the training box, and the incision and suture points are drawn on the artificial skin. The trainers were asked to complete the suturing and knotting tasks according to the location of the suture points. Repeated practice can improve the suture knotting operation ability.

However, traditional systems have shortcomings in measurement accuracy and evaluation accuracy. The laparoscopic simulated surgery training evaluation system and method provided by the present invention can provide high-precision measurement and accurate evaluation for simulated surgery training, and improve the training effect.

Contents of the invention

In order to overcome the above problems, the present invention provides a laparoscopic surgery training evaluation system and method, which provides objective parameter indicators to objectively evaluate surgical skills during the training process.

For realizing the purpose of the present invention, adopt following technical scheme to realize:

A laparoscopic simulated surgery training evaluation system, including a vision system, an acceleration sensor module and an evaluation system,

in:

The vision system is used to obtain the three-dimensional coordinate data of the device;

The acceleration sensor module is used to obtain the speed and motion smoothness data of the device;

The evaluation system calculates and saves the data measured by the vision system and the acceleration sensor module, and exports a training completion report.

As mentioned above, the laparoscopic simulated surgery training evaluation system, wherein:

The tracking point fixture of the vision system is a hexagonal module to ensure that as many tracking points as possible can be collected during the task.

As mentioned above, the laparoscopic simulated surgery training evaluation system, wherein:

The signal output from the acceleration sensor module is filtered in the time domain by the Kalman filter algorithm to improve the accuracy of the data, and the Euler angle algorithm is used to calculate the sensor's pose in real time to eliminate the inherent gravitational acceleration on each axis. , thereby eliminating its interference.

As mentioned above, the laparoscopic simulated surgery training evaluation system,

The evaluation system includes operation time module, path length module, average speed module, motion smoothness module and idle rate module; among them:

Operating time module: Calculate the total time of the device operating process, regardless of whether the task is completed or not, by the following formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\mathrm{<span\; class="notranslate">\; dt</span>}$

Where t represents the unit time; T is the total time from the start to the completion of each surgical simulation action;

Path Length Module: Calculates the total length traveled by the instrument tip throughout the procedure using the formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dx</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dy</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dz</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}$

Among them, x, y, and z respectively represent the displacement increments of the tracking points collected by the vision system along the three axes;

Average Velocity Module: Calculates the average velocity of the instrument tip during operation by the following formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; =</span>\frac{\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}$

Among them, a _x , a _y , and a _z respectively represent the acceleration values of the instrument along the three sensitive axes of the sensor measured by the acceleration sensor module;

Motion smoothness module: calculate the rate of change of acceleration by the following formula to describe the smoothness of the movement of the device during operation:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$

Idle rate module: Calculate the ratio of the device's non-moving time to operating time during the task by the following formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}$

Where T _f represents the time when the instrument movement increment is less than 5mm.

The laparoscopic simulated surgery training evaluation system according to claim 1, wherein the evaluation system is used to calculate and display operation time, moving length of left and right hands, average speed of left and right hands, idling rate of left and right hands, and smoothness of left and right hands.

A laparoscopic simulated surgery training evaluation method, comprising:

The vision system obtains the three-dimensional coordinate data of the device;

The acceleration sensor module obtains the speed and motion smoothness data of the apparatus;

The evaluation system calculates and saves the data measured by the vision system and the acceleration sensor module, and exports a training completion report.

Laparoscopic simulated surgery training evaluation method as above, wherein:

The tracking point fixture of the vision system is a hexagonal module to ensure that as many tracking points as possible can be collected during the task.

Laparoscopic simulated surgery training evaluation method as above, wherein:

The signal output from the acceleration sensor module is filtered in the time domain by the Kalman filter algorithm to improve the accuracy of the data, and the Euler angle algorithm is used to calculate the sensor's pose in real time to eliminate the inherent gravitational acceleration on each axis. , thereby eliminating its interference.

As mentioned above, the laparoscopic simulated surgery training evaluation method,

The evaluation system includes operation time module, path length module, average speed module, motion smoothness module and idle rate module; among them:

The Operation Time module calculates the total time for a device operation, regardless of whether the task is completed or not, by the following formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\mathrm{<span\; class="notranslate">\; dt</span>}$

Where t represents the unit time; T is the total time from the start to the completion of each surgical simulation action;

The Path Length module calculates the total length traveled by the tip of the instrument throughout the procedure using the following formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dx</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dy</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dz</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}$

Among them, x, y, and z respectively represent the displacement increments of the Marker points collected by the vision system along the three axes;

The Average Velocity module calculates the average velocity of the instrument tip during operation using the following formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; =</span>\frac{\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}$

Among them, a _x , a _y , and a _z respectively represent the acceleration values of the device along the three sensitive axes of the sensor measured by the MEMS acceleration sensor module;

The motion smoothness module calculates the rate of change of acceleration by the following formula to describe the smoothness of the device during operation:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$

The idle rate module calculates the ratio of the device's non-moving time to operating time during the task through the following formula:

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}$

Where T _f represents the time when the instrument movement increment is less than 5mm.

In the laparoscopic simulated surgery training evaluation method described above, the evaluation system calculates and displays the operating time, the length of movement of the left and right hands, the average speed of the left and right hands, the idle rate of the left and right hands, and the smoothness of the left and right hands.

Description of drawings

Fig. 1 is the schematic diagram of laparoscopic surgery training evaluation system of the present invention;

Figure 2 is a schematic diagram of the system design;

Figure 3 is a map of the marker hexagonal tracking board;

Figure 4 is a flow chart of the implementation of the MEMS module.

Detailed ways

As shown in FIG. 1 , the laparoscopic simulated surgery training evaluation system of the present invention includes a vision system 1 , an acceleration sensor module 3 , and an evaluation system 2 .

Accompanying drawing 2 is the schematic diagram of system design of the present invention, wherein the visual system 1 of the present invention can adopt but not limited to Micron Tracker binocular vision system, and this system is used for obtaining three-dimensional coordinate data of equipment.

Marker (tracking) point fixture design: Micron Tracker binocular vision system has a maximum measurement range of 200cm*240cm, and the boundary is roughly in the shape of a rectangular section. A Maker point must cast a minimum area on the left and right sides of the camera. In order to be able to Micron Tracker effectively identifies, and the present invention expands the camera FOM (lens field of view) by reducing the projection size, so that the measurement range meets the measurement requirements. But this will cause the detection accuracy to be reduced, and the number of pixels to detect the position of the Marker point will be reduced; in addition, when the angle between the plane where the Marker point (tracking point) 4 is located and the plane where the binocular vision device is located exceeds 60°, the tracking point will not be able to It was detected and tracked by the Tracker binocular vision system. Therefore, the tracking template designed by the present invention is a hexagonal module (as shown in FIG. 3 ), which can be installed on surgical instruments, and when performing simulated surgical training, it is ensured that as many Markers as possible can be collected during the task.

The acceleration sensor module 3 of the present invention can use, but is not limited to, a MEMS acceleration sensor, and the data obtained by it can be integrated and differentiated to obtain the speed and motion smoothness index of the device respectively.

MEMS acceleration sensor module design (as shown in Figure 4): in the present invention, design and make MEMS acceleration sensor measurement module, in order to eliminate the zero drift influence of MEMS sensor, the present invention has used two sensor modules to carry out data acquisition, this The XY axes of the two modules are vertically distributed, and the average value of the acceleration and gyroscope data of the two sensors is taken to improve the accuracy of the data; since the sensor data is easily affected by environmental changes during the measurement process, a large amount of noise will enter the sensor output data, Moreover, the frequency of the noise is aliased with the frequency of the motion parameters. The present invention uses the Kalman filter algorithm to perform time-domain filtering on the output data to improve data accuracy, and uses the Euler angle algorithm to calculate the pose of the sensor in real time to eliminate the inherent component of the acceleration of gravity on each axis, thereby eliminating its influence; The module uses flash to store the axial acceleration data obtained after filtering in real time, and transmits the data to the PC through serial port communication to save in txt format; the sampling rate of the acceleration and gyroscope sensors in this module is 100Hz, which can reach Measurement requirements for speed during training.

The evaluation system 2 of the present invention completes calculation and data storage of raw data measured by the vision system and the acceleration sensor module to indicators, and derives a training completion report.

Evaluation system 2: The evaluation system of the present invention includes an operation time module, a path length module, an average speed module, a motion smoothness module and an idle rate module. The evaluation system can be in the form of server, hardware, firmware, software module, etc. The evaluation system software platform system can be written by LabVIEW. The implementation process of each module is as follows.

1 Operation time module: describe the total time of the device operation process in seconds (whether the task is completed or not).

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\mathrm{<span\; class="notranslate">\; dt</span>}$

Where t represents the unit time; T is the total time from the start to the completion of each surgical simulation action, and T can be obtained from the start time and end time of the binocular vision system.

2Path length module: Describes in centimeters the total length traveled by the tip of the instrument throughout the procedure (left and right):

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dx</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dy</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dz</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}$

Among them, x, y, and z respectively represent the displacement increments of the Marker points collected by the Micron Tracker binocular vision tracking system along the three axes.

3 Average Velocity Module: Describes the average velocity of the instrument tip during operation in centimeters per second.

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; =</span>\frac{\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}$

Among them, a _x , a _y , and a _z respectively represent the acceleration values of the device along the three sensitive axes of the sensor measured by the MEMS acceleration sensor module.

4Motion smoothness module: calculate the rate of change of acceleration to describe the smoothness of the movement of the device during the operation.

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$

5. Idle rate module: calculate the ratio of the device's non-moving time to operating time during the task.

$\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}$

Where T _f represents the time when the instrument movement increment is less than 5 mm.

The evaluation system 2 of the present invention collects data collected by the imported Tracker and the data collected by the inertial measurement module, processes the data, calculates and displays the above-mentioned indicators. When in use, import the data measured by the Micron Tracker binocular vision tracking system and the MEMS acceleration sensor module on the left side of the interface, and run the program to get the results of various parameters, such as operation time, length of movement of left and right hands, average speed of left and right hands, idle rate of left and right hands and left and right hands The training effect can be evaluated by comparing the results of each parameter, such as completing the same task, the shorter the operation time, the shorter the length of left and right hand movement, the lower the idle rate, etc., the more skilled you are.

The laparoscopic simulated surgery training evaluation system of the present invention provides abundant interfaces, and can be connected with traditional training system monitors, training boxes, cameras, lighting devices and other devices through corresponding modules in application, through the Micron Tracker binocular vision tracking system and The MEMS acceleration sensor module measures the use process of the instruments during the simulated operation in the training box; the evaluation module provides control over the above devices, such as controlling the camera to record the simulated operation process in the training box, and displaying the real-time simulation operation training on the monitor. process, adjust the switch, light and shade, lighting angle, etc. of the lighting device; so as to achieve the purpose of evaluating laparoscopic simulated surgery training. Through the invention, the MEMS-based acceleration sensor module is used in conjunction with the binocular vision tracking system, which improves the measurement accuracy, expands the measurement space range, and realizes database storage and management of training data for trainers.

Claims (10)

1. A laparoscopic simulated surgery training evaluation system, comprising a vision system, an acceleration sensor module and an evaluation system, in: The vision system is used to obtain the three-dimensional coordinate data of the device; The acceleration sensor module is used to obtain the speed and motion smoothness data of the device; The evaluation system calculates and saves the data measured by the vision system and the acceleration sensor module, and exports a training completion report. 2. laparoscopic simulated operation training evaluation system as claimed in claim 1, wherein: The tracking point fixture of the vision system is a hexagonal module to ensure that as many tracking points as possible can be collected during the task. 3. laparoscopic simulated operation training evaluation system as claimed in claim 1, wherein: The signal output from the acceleration sensor module is filtered in the time domain by the Kalman filter algorithm to improve the accuracy of the data, and the Euler angle algorithm is used to calculate the sensor's pose in real time to eliminate the inherent gravitational acceleration on each axis. , thereby eliminating its interference. 4. laparoscopic simulation operation training evaluation system as claimed in claim 1, The evaluation system includes operation time module, path length module, average speed module, motion smoothness module and idle rate module; among them: Operating time module: Calculate the total time of the device operating process, regardless of whether the task is completed or not, by the following formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\mathrm{<span\; class="notranslate">\; dt</span>}$ Where t represents the unit time; T is the total time from the start to the completion of each surgical simulation action; Path Length Module: Calculates the total length traveled by the instrument tip throughout the procedure using the formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dx</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dy</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dz</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}$ Among them, x, y, and z respectively represent the displacement increments of the tracking points collected by the vision system along the three axes; Average Velocity Module: Calculates the average velocity of the instrument tip during operation by the following formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; =</span>\frac{\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}$ Among them, a _x , a _y , and a _z respectively represent the acceleration values of the instrument along the three sensitive axes of the sensor measured by the acceleration sensor module; Motion smoothness module: calculate the rate of change of acceleration by the following formula to describe the smoothness of the movement of the device during operation: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$ Idle rate module: Calculate the ratio of the device's non-moving time to operating time during the task by the following formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}$ Where T _f represents the time when the instrument movement increment is less than 5mm. 5. The laparoscopic simulated surgery training evaluation system according to claim 1, wherein the evaluation system is used to calculate and display the operating time, the length of movement of the left and right hands, the average speed of the left and right hands, the idling rate of the left and right hands, and the smoothness of the left and right hands. 6. A laparoscopic simulated surgery training evaluation method, comprising: The vision system obtains the three-dimensional coordinate data of the device; The acceleration sensor module obtains the speed and motion smoothness data of the apparatus; The evaluation system calculates and saves the data measured by the vision system and the acceleration sensor module, and exports a training completion report. 7. laparoscopic simulated operation training evaluation method as claimed in claim 6, wherein: The tracking point fixture of the vision system is a hexagonal module to ensure that as many tracking points as possible can be collected during the task. 8. laparoscopic simulated operation training evaluation method as claimed in claim 6, wherein: The signal output from the acceleration sensor module is filtered in the time domain by the Kalman filter algorithm to improve the data accuracy, and the Euler angle algorithm is used to calculate the sensor's pose in real time to eliminate the inherent gravitational acceleration on each axis. , thereby eliminating its interference. 9. laparoscopic simulated operation training evaluation method as claimed in claim 6, The evaluation system includes operation time module, path length module, average speed module, motion smoothness module and idle rate module; among them: The Operation Time module calculates the total time for a device operation, regardless of whether the task is completed or not, by the following formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\mathrm{<span\; class="notranslate">\; dt</span>}$ Where t represents the unit time; T is the total time from the start to the completion of each surgical simulation action; The Path Length module calculates the total length traveled by the tip of the instrument throughout the procedure using the following formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; =</span>\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dx</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dy</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{\mathrm{<span\; class="notranslate">\; dz</span>}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}$ Among them, x, y, and z respectively represent the displacement increments of the Marker points collected by the vision system along the three axes; The Average Velocity module calculates the average velocity of the instrument tip during operation using the following formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; =</span>\frac{\underset{\mathrm{<span\; class="notranslate">\; 0</span>}}{\overset{\mathrm{<span\; class="notranslate">\; T</span>}}{<span\; class="notranslate">\; \&Integral;</span>}}\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}\mathrm{<span\; class="notranslate">\; dt</span>}}{\mathrm{<span\; class="notranslate">\; T</span>}}$ Among them, a _x , a _y , and a _z respectively represent the acceleration values of the device along the three sensitive axes of the sensor measured by the MEMS acceleration sensor module; The motion smoothness module calculates the rate of change of acceleration by the following formula to describe the smoothness of the device during operation: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; =</span>\frac{\sqrt{{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; x</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; the\; y</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}<span\; class="notranslate">\; +</span>{<span\; class="notranslate">\; (</span>\frac{{\mathrm{<span\; class="notranslate">\; da</span>}}_{\mathrm{<span\; class="notranslate">\; z</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; )</span>}^{\mathrm{<span\; class="notranslate">\; 2</span>}}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}$ The idle rate module calculates the ratio of the device's non-moving time to operating time during the task through the following formula: $\mathrm{<span\; class="notranslate">\; P</span>}\mathrm{<span\; class="notranslate">\; 5</span>}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; f</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}$ Where T _f represents the time when the instrument movement increment is less than 5mm. 10. The laparoscopic simulated surgery training evaluation method according to claim 6, wherein the evaluation system calculates and displays the operating time, the length of movement of the left and right hands, the average speed of the left and right hands, the idling rate of the left and right hands, and the smoothness of the left and right hands.