CN115457817A - Simulation system, method and electronic device for ultrasonic osteotome - Google Patents

Abstract

The present application relates to a simulation system, method and electronic device of an ultrasonic bone knife, wherein the simulation system of an ultrasonic bone knife includes a processor, a force feedback device and a handheld device; the processor obtains the actual position information of the handheld device through the force feedback device , and obtain the virtual position information of the handheld device in the virtual scene according to the actual position information; the processor determines and outputs the predicted Setting the resistance, the force feedback device obtains the preset resistance, and transmits the preset resistance to the handheld device. Through this application, the practice method of ultrasonic osteotome in the related art is mainly to conduct experiments on animals or corpses, which leads to the problem of high cost of practice. By providing a simulation system of ultrasonic osteotome, this application takes into account the practice Effect while reducing the cost of practice.

Description

Simulation system, method and electronic device for ultrasonic osteotome

technical field

The present application relates to the technical field of medical equipment, in particular to a simulation system, method and electronic device of an ultrasonic osteotome.

Background technique

Ultrasonic osteosurgery uses high-intensity focused ultrasonic technology to convert electrical energy into mechanical energy through a transducer. After high-frequency ultrasonic vibration, the water in the tissue cells in contact is vaporized, and the hydrogen bond of the protein is broken, so that the bone tissue that needs to be cut during the operation is broken. total destruction. Since the high-intensity focused ultrasonic wave only has a destructive effect on bone tissue with a specific hardness, it will not only damage blood vessels and nerve tissues, but also have a hemostatic effect on the surgical wound, further reducing the wound of minimally invasive surgery, and greatly improving the quality of life. The accuracy, reliability and safety of the operation, so the ultrasonic osteotome is widely used in orthopedic surgery. However, due to the high difficulty of the osteotomy itself, the ultrasonic osteotome may still cause damage to the patient's nerves and blood vessels during the actual operation. Therefore, doctors need a lot of practice before accurately mastering the skills of using the ultrasonic osteotome.

In related technologies, the practice method of ultrasonic osteotomy is mainly to conduct experiments on practice resources such as animals or cadavers. However, due to the non-repeatability of the experiment, the practice cost is relatively high. In the case of lack of practice resources, doctors Unable to proficiently master the operation mode of ultrasonic osteotome.

At present, the practice method of ultrasonic osteotome in the related art is mainly to conduct experiments on animals or corpses, which leads to the problem of high cost of practice, and no effective solution has been proposed.

Contents of the invention

The embodiment of the present application provides a simulation system, method and electronic device of an ultrasonic osteotome to at least solve the problem in the related art that the practice of the ultrasonic osteotome is mainly carried out on animals or corpses, resulting in high cost of practice .

In the first aspect, an embodiment of the present application provides a simulation system for an ultrasonic osteotome, including a processor, a force feedback device, and a handheld device, wherein the force feedback device is mechanically connected to the handheld device, and the force feedback device and the handheld device are respectively connected in communication with the processor;

The processor obtains the actual position information of the handheld device through the force feedback device, and obtains the virtual position information of the handheld device in the virtual scene according to the actual position information;

The processor determines and outputs preset resistance according to at least one of the virtual position information, human tissue type information corresponding to the virtual position information, and kinematic information of the handheld device;

The force feedback device acquires the preset resistance and transmits the preset resistance to the handheld device.

In some of these embodiments, the processor obtains the actual position information of the handheld device through the force feedback device, and obtaining the virtual position information of the handheld device in the virtual scene according to the actual position information includes:

The processor determines the initial position information of the handheld device according to the position information of the force feedback device;

The processor calculates the actual position information of the handheld device according to the initial position information and kinematics information of the handheld device, wherein the kinematics information includes the moving direction, acceleration and moving time of the handheld device, the The kinematic information is obtained through a kinematic sensor on the handheld device;

The processor calculates virtual position information of a virtual handheld device corresponding to the actual position information in the virtual scene according to the actual position information of the handheld device.

In some of these embodiments, the end of the handheld device is equipped with a kinematics sensor, and the processor is configured according to the virtual position information, the human tissue type information corresponding to the virtual position information, and the kinematics of the handheld device At least one of the messages determining and outputting the preset resistance includes:

The processor acquires kinematic information of the handheld device through the kinematic sensor;

The processor outputs the preset resistance according to the kinematics information and the human tissue type information.

In some of these embodiments, the processor outputting the preset resistance according to the kinematics information and the human tissue type information includes:

The processor selects one of friction force and human tissue resistance according to the kinematic information as the preset resistance output, wherein the human tissue resistance corresponds to human tissue type information;

The processor obtains and outputs the type of resistance of the human tissue according to the type information of the human body tissue.

In some of the embodiments, the processor determines and outputs the preset resistance according to at least one of the virtual position information, the human tissue type information corresponding to the virtual position information, and the kinematic information of the handheld device, including :

The processor obtains the operation mode of the cutter head corresponding to the handheld device, and outputs the preset resistance according to the operation mode and the type of human tissue.

In some of these embodiments, the processor includes an evaluation module, and the evaluation module is configured to evaluate the operation score of the handheld device according to evaluation parameters, wherein the evaluation parameters include at least one of the following: Human tissue damage, the number of incisions in human tissue, the operating time of the handheld device, and the operating standard of the handheld device.

In some of the embodiments, the force feedback device is detachably connected to the handheld device.

In some of the embodiments, the ultrasonic osteotome simulation system further includes a display device, and the display device is used for displaying the position of the virtual handheld device in the virtual scene.

In the second aspect, the embodiment of the present application provides a simulation method of an ultrasonic osteotome, including:

Obtaining the actual position information of the handheld device through the force feedback device, and obtaining the virtual position information of the handheld device in the virtual scene according to the actual position information;

determining and outputting a preset resistance according to at least one of the virtual position information, human tissue type information corresponding to the virtual position information, and kinematic information of the handheld device;

The force feedback device is controlled to obtain the preset resistance, and the preset resistance is transmitted to the handheld device through the force feedback device.

In a third aspect, the embodiment of the present application provides an electronic device, including a memory, a processor, and a computer program stored on the memory and operable on the processor. When the processor executes the computer program, Realize the simulation method of the ultrasonic osteotome as described in the second aspect above.

Compared with related technologies, the ultrasonic osteotome simulation system provided by the embodiment of the present application includes a processor, a force feedback device and a handheld device, wherein the force feedback device and the handheld device are mechanically connected, and the force feedback device and the handheld device are respectively connected with the processing device communication connection; the processor obtains the actual position information of the handheld device through the force feedback device, and obtains the virtual position information of the handheld device in the virtual scene according to the actual position information; At least one of the type information and the kinematics information of the handheld device determines and outputs a preset resistance, and the force feedback device acquires the preset resistance and transmits the preset resistance to the handheld device. It solves the problem that the practice method of ultrasonic osteotome in the related art is mainly to conduct experiments on animals or corpses, which leads to high cost of practice. This application provides a simulation system of ultrasonic osteotome, which reduces the cost while taking into account the effect of practice. practice costs.

The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below, so as to make other features, objects, and advantages of the application more comprehensible.

Description of drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The schematic embodiments and descriptions of the application are used to explain the application and do not constitute an improper limitation to the application. In the attached picture:

Fig. 1 is a schematic diagram of the operation mode of the ultrasonic osteotome according to the embodiment of the present application;

Fig. 2 is a structural block diagram of a simulation system of an ultrasonic osteotome according to an embodiment of the present application;

Fig. 3 is a schematic diagram of a simulation system of an ultrasonic osteotome according to an embodiment of the present application;

4 is a schematic diagram of the operation of the simulation system of the ultrasonic osteotome according to the embodiment of the present application;

Fig. 5 is a flow chart of the operation method of the simulation system of the ultrasonic osteotome according to the embodiment of the present application;

Fig. 6 is a flowchart of a simulation method of an ultrasonic osteotome according to an embodiment of the present application;

Fig. 7 is a block diagram of the hardware structure of the terminal of the simulation method of the ultrasonic osteotome according to the embodiment of the present application.

detailed description

In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application. In addition, it can also be understood that although such development efforts may be complex and lengthy, for those of ordinary skill in the art relevant to the content disclosed in this application, the technology disclosed in this application Some design, manufacturing or production changes based on the content are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

Reference in this application to an "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those of ordinary skill in the art that the embodiments described in this application can be combined with other embodiments without conflict.

Unless otherwise defined, the technical terms or scientific terms involved in the application shall have the usual meanings understood by those with ordinary skill in the technical field to which the application belongs. Words such as "a", "an", "an" and "the" involved in this application do not indicate a limitation on quantity, and may indicate singular or plural numbers. The terms "comprising", "comprising", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product or process that includes a series of steps or modules (units). The apparatus is not limited to the listed steps or units, but may further include steps or units not listed, or may further include other steps or units inherent to the process, method, product or apparatus. The words "connected", "connected", "coupled" and similar words mentioned in this application are not limited to physical or mechanical connection, but may include electrical connection, no matter it is direct or indirect. "Multiple" referred to in the present application means greater than or equal to two. "And/or" describes the association relationship of associated objects, indicating that there may be three types of relationships. For example, "A and/or B" may indicate: A exists alone, A and B exist simultaneously, and B exists independently. The terms "first", "second", "third" and the like involved in this application are only used to distinguish similar objects, and do not represent a specific ordering of objects.

In orthopedics, ultrasonic osteotome has the effect of precisely removing bone tissue while protecting surrounding soft tissue. The cutting technique of the ultrasonic osteotome mainly depends on its own mechanical effect. Specifically, the acceleration of vertical vibration at the head of the ultrasonic osteotome can destroy the bone tissue. Fig. 1 is a schematic diagram of the operation mode of the ultrasonic osteotome according to the embodiment of the present application. As shown in Fig. 1, the ultrasonic osteotome needs to meet different operating specifications in different areas, for example, the ultrasonic osteotome is near the cortex of the non-vascular nerve side When cutting through the bone, use a long-distance, low-amplitude method for cutting, and after breaking through the cortical bone, use a medium-distance, high-amplitude method for cutting in the cancellous bone area. Change to a short distance, low amplitude method to ensure that nerves and blood vessels are not injured. Improper operation will cause damage to the equipment, cause the cutter head to break and injure the patient, and also directly injure the patient during the cutting process.

This embodiment provides a simulation system of an ultrasonic osteotome. FIG. 2 is a structural block diagram of a simulation system of an ultrasonic osteotome according to an embodiment of the present application. As shown in FIG. 2 , the ultrasonic osteotome includes a processor 21, a force feedback device 22 and handheld device 23 . The mechanical connection between the force feedback device 22 and the handheld device 23 is convenient for the force feedback device 22 to transmit the preset resistance obtained by the processor 21 to the handheld device 23, so as to realize a more realistic surgical grip feeling. At the same time, the mechanically connected force feedback device 22 Since the relative position of the handheld device 23 is easier to determine, it is beneficial for the processor 21 to obtain the actual position information of the handheld device 23, and the force feedback device 22 and the handheld device 23 are respectively connected to the processor 21 by communication to realize the transmission of data information. The communication connection in the device can be realized through wireless network transmission, can also be realized through mutually independent data lines, and can also be realized through Bluetooth connection. Among them, the processor 21 can be implemented by an independent server or a server cluster composed of multiple servers, and can also be a mobile terminal such as a high-performance notebook computer or a portable tablet. The force feedback device 22 is a device with 6 degrees of freedom, which can provide force feedback. The spatial positioning point at the end of the feedback device 22 and the mechanical output in the three directions of XYZ in the three-dimensional space can also meet the requirements of the handheld device 23 to move and rotate freely in the three-dimensional space. The handheld device 23 is the holding part of the ultrasonic osteotome during operation. In this embodiment, the operator needs to hold the handheld device 23 when practicing the use of the ultrasonic osteotome through the simulation system. Specifically, the handheld device 23 can be designed It can be held with both hands to achieve a real clinical grip, and it can also be designed as a single-handed grip according to needs.

Specifically, when operating the simulation system, first, the processor 21 obtains the actual position information of the handheld device 23 through the force feedback device 22, and obtains the virtual position information of the handheld device 23 in the virtual scene according to the actual position information, wherein the actual The location information is the location information of the handheld device 23 in the real world. A virtual scene is preset in the processor 21, and the virtual scene includes a virtual ultrasonic bone knife and a three-dimensional experimental model of human tissue waiting to be processed. Further, the virtual ultrasonic bone knife includes a virtual hand-held device 23 and a virtual The ultrasonic bone knife head, the virtual human tissue type includes at least one of cortical bone, cancellous bone and soft tissue that may be encountered during the operation. The position coordinates in the virtual scene correspond to the position coordinates in the real world, and the processor 21 can map the actual position information of the force feedback device 22 to the virtual scene on the basis of obtaining the actual position information of the force feedback device 22 to obtain the hand-held The virtual position information of the device 23 in the virtual scene.

Then, the processor 21 determines and outputs the preset resistance according to at least one of the virtual position information, the human tissue type information corresponding to the virtual position information, and the kinematics information of the handheld device. The preset resistance in this application includes the resistance of human tissue and the frictional force experienced by the hand-held device 23 when it is pulled in reverse, wherein the resistance of human tissue is the cutting resistance corresponding to the type of human tissue. The human tissue type is common cortical bone, cancellous bone, soft tissue, etc. during surgery, and the human tissue type information is a definite human tissue type corresponding to the current virtual position information.

The positions of various human tissues in the virtual scene can be preset, so each position in the virtual scene corresponds to a different type of preset resistance, so the preset resistance can be directly determined according to the virtual position information of the handheld device 23 . On the other hand, the human tissue type information of the hand-held device 23 can also be determined according to the virtual position information. Since different human tissue types have different resistances to the ultrasonic osteotome when being cut, in the virtual scene, the human tissue type information can also be determined according to the human tissue type information. The information directly determines the different preset resistances. Furthermore, since different movement directions of the handheld device 23 will result in different types of preset resistance, the preset resistance can also be roughly judged according to the movement direction.

In other embodiments, the preset resistance may also be jointly determined according to multiple pieces of information in virtual position information, human tissue type information, and kinematic information. For example, it may be determined according to kinematics information whether the preset resistance is friction or a type of human tissue resistance, and then the specific type of human tissue resistance may be determined according to virtual position information. It is also possible to determine, according to the kinematics information, whether the preset resistance to be output should be friction force or human tissue resistance corresponding to the human tissue type information after the information of the human tissue type is obtained.

Finally, the force feedback device 22 acquires a preset resistance and transmits the preset resistance to the handheld device 23 to simulate a real surgical scene.

In the simulation system of the ultrasonic osteotome in this embodiment, the preset resistance corresponding to different human tissue types in the bone cutting process is output through the processor 21, and the preset resistance is transmitted to the handheld device 23 through the force feedback device 22, providing surgery The real grip feeling in the process realizes the simulated exercise of the ultrasonic osteotome, which solves the problem that the practice method of the ultrasonic osteotome in the related technology is mainly to conduct experiments on animals or corpses, which leads to high practice costs, and takes into account While improving the effect of practice, the cost of practice is reduced.

In some of the embodiments, the ultrasonic osteotome simulation system further includes a display device, which is used to display the position of the virtual handheld device 23 in the virtual scene, so that the operator can watch the operation process and adjust the operation in time.

In some of these embodiments, the virtual position information of the handheld device 23 can be calculated by the following method: first, before formally performing the simulation training, the processor 21 determines the initial position information of the handheld device 23 according to the position information of the force feedback device 22, specifically For, the processor 21 obtains the position information of the force feedback device 22, since the force feedback device 22 and the handheld device 23 are rigidly connected through the mechanical arm, and the arm length of the mechanical arm is known, so the processor 21 can obtain the mechanical The position information at the joint between the arm and the handheld device 23 is used as the initial position information of the handheld device 23; secondly, in the course of operation, the processor 21 calculates the actual position information of the handheld device 23 according to the initial position information and kinematic information of the handheld device 23, Wherein, in this embodiment, the kinematics information is obtained by the kinematics sensor on the handheld device 23, and the kinematics information is information related to the position of the handheld device 23 in the real world, such as the direction of motion, acceleration, and motion time. one or more. In this embodiment, the position information at the connection between the mechanical arm and the handheld device 23 is calculated as the position information of the handheld device 23, and in the process of operating the handheld device 23, the processor 21 can calculate the actual position information of the handheld device 23 in real time; finally , the processor 21 calculates the virtual position information of the virtual handheld device 23 corresponding to the actual position information in the virtual scene according to the actual position information of the handheld device 23 . In this embodiment, the initial position information of the hand-held device 23 is determined by the position information of the force feedback device 22, and then its actual position information is calculated in real time according to the kinematic information of the hand-held device 23, so as to improve the accuracy of calculation and help improve the accuracy of simulation exercises Accuracy and practice efficiency.

It should be noted that, in addition to the virtual handheld device 23, the virtual scene also includes the head of the virtual ultrasonic bone knife, and various geometric parameters of the head, such as length, angle, thickness, etc., can be preset. The processor 21 may also calculate the position information of the cutter head, and determine the type of human tissue corresponding to the current ultrasonic osteotome based on the position information of the cutter head and the position information of the handheld device 23 .

In some of these embodiments, a kinematic sensor is configured at the end of the handheld device 23 for acquiring kinematic information of the handheld device 23 . In this embodiment, the processor 21 acquires kinematic information of the handheld device 23 through a kinematic sensor, and the processor 21 outputs preset resistance according to the kinematic information and the type information of human tissue. Specifically, the motion direction information of the handheld device 23 in the kinematics information can determine whether the preset resistance should be friction or human tissue resistance, and the velocity and/or acceleration in the kinematics information can determine whether to output human tissue resistance. Therefore, in this embodiment, on the basis of kinematics information, the preset resistance is jointly determined in combination with the information of human tissue type, and it is possible to accurately determine how to output the preset resistance and provide feedback to improve the practice effect.

Further, when determining the preset resistance, on the one hand, the processor 21 selects one of the friction force and the resistance of the human body tissue as the preset resistance output according to the direction information of the handheld device 23 in the kinematics information, wherein, the resistance of the human body tissue and the resistance of the human body The tissue type information corresponds; on the other hand, the processor 21 acquires and outputs the type of human tissue resistance according to the human tissue type information. Specifically, the human tissue type information may determine whether to output cortical bone resistance, cancellous bone resistance, or soft tissue resistance when outputting human tissue resistance. Therefore, in this embodiment, based on the tissue type information of the human body, the actual output preset resistance type can be obtained, which can provide the practitioner with a more realistic surgical scene experience during the exercise process, and finally improve the exercise effect.

In other embodiments, the processor 21 may also determine whether to output the preset resistance corresponding to the type of human tissue according to the kinematics information and the preset range. Specifically, the processor 21 obtains the kinematic information of the handheld device 23 through the kinematic sensor. If the kinematic information is within the preset range, the processor 21 outputs the preset resistance according to the type of human tissue. If the kinematic information is not within the preset range , the processor 21 does not output the preset resistance. Wherein, the preset range corresponds to the kinematic information, which can be set according to experience, or can be calculated by algorithms such as neural network models.

Further, the kinematic sensor in this embodiment may be an inertial sensor, further, may be a miniature inertial sensor, so as to be integrated at the end of the handheld device 23 . The kinematics information in this embodiment is preferably acceleration, and correspondingly, the preset range is a limitation on acceleration. Specifically, when the acceleration of the handheld device 23 is relatively large and within the preset range, the processing outputs the corresponding human tissue resistance according to the tissue type information; when the acceleration of the handheld device 23 is small and not within the preset range, then Processor 21 does not output resistance.

It should be noted that, except for the inertial sensor, the kinematics sensor can be replaced by any sensor that can obtain kinematics information. The kinematics information can be anything related to the bone cutting resistance, such as the direction of motion and speed of the handheld device 23, in addition to the acceleration. amount of exercise.

In this embodiment, by analyzing the kinematic information, it is determined whether the preset resistance is output, so as to simulate a real operation state and provide a better practice environment.

In other embodiments, the actual position information of the handheld device 23 may be provided by a force feedback device, the kinematic information of the handheld device 23 may be provided by an inertial sensor, and the processor 21 directly obtains the virtual Human tissue type information corresponding to the handheld device.

Further, the processor 21 determines the type of human tissue corresponding to the virtual position information according to the virtual position information, and outputs the preset resistance according to the following rules according to the type of human tissue: when the type of human tissue is cortical bone, output the preset resistance of cortical bone Resistance or cortical bone friction; when the human tissue type is cancellous bone, output the preset cancellous bone resistance or cancellous bone friction; when the human tissue type is soft tissue, output the preset soft tissue resistance Or soft tissue friction. Normally, the general structure of bone is divided into cortical bone and cancellous bone, and the bone density of cancellous bone is lower than that of cortical bone, so when cutting bone, the resistance of ultrasonic osteotome in cortical bone will be greater than that in cancellous bone It should be noted that for the cortical bone near the non-vascular nerve side and the cortical bone near the vascular nerve side, the resistance generated in the bone is the same, and the difference lies in the way the operator operates the ultrasonic osteotome. On the other hand, there is a protective soft tissue around the bone tissue, and the resistance of the ultrasonic osteotome in the soft tissue is different from that of cortical bone and cancellous bone.

Furthermore, in the area of cancellous bone, if the bone is cut downward, the ultrasonic osteotome is subjected to the resistance of the cancellous bone, and if it is pulled upward, it will be subjected to the friction generated between the knife head and the surrounding soft tissue, so in this embodiment, The processor 21 can also determine the simulated output cancellous bone resistance or cancellous bone friction force according to the acceleration direction of the hand-held device 23, which is similar in the cortical bone area and soft tissue area. When determining whether to output friction, it is also necessary to judge based on kinematic information, such as acceleration.

In this embodiment, the processor 21 outputs the corresponding preset resistance according to the type of human tissue, so as to better simulate the resistance encountered during the actual operation, improve the sense of reality of the exercise, and improve the effect of the exercise.

In some of the embodiments, the preset resistance is also related to the operation mode of the head of the ultrasonic osteotome. The processor 21 acquires the operation mode of the cutting head corresponding to the handheld device 23, and outputs a preset resistance according to the operation mode of the cutting head and the type of human tissue. Specifically, ultrasonic osteotome includes various types, for example, in minimally invasive spine surgery, craniotomy, fracture repair, jaw cyst, dental bad tooth extraction, need to use different types of ultrasonic osteotome, corresponding to various Different cutter heads have different operation modes. In this embodiment, the preset resistance corresponding to the cutter head can be output according to different operation modes, so as to simulate the osteotomy of various cutter heads in the actual operation process. Resistance to improve the scene adaptability of the simulation system.

Further, the processor 21 can also output preset resistance according to one or more factors among the moving direction of the handheld device 23 , the head type of the ultrasonic osteotome, the operation mode of the head, and the corresponding human tissue type.

Further, in order to realize the simulation of different types of ultrasonic osteotome in the ultrasonic osteotome simulation system, the force feedback device 22 and the hand-held device 23 are set as detachable connections in this embodiment, therefore, the force feedback device 22 can be connected to different Various types of handheld devices 23 facilitate the operator to experience the gripping feeling of different types of ultrasonic osteotome, and further improve the scene adaptability of the ultrasonic osteotome simulation system. Preferably, the force feedback device 22 and the handheld device 23 are snap-fitted.

In some of these embodiments, the virtual scene in the processor 21 includes two scenes, easy and difficult. In a simple scenario, the bone tissue and soft tissue including cortical bone and cancellous bone are separated from each other, with a gap of 0.5 mm in the middle; in a difficult scenario, the bone tissue and soft tissue are closely attached without a gap in the middle. In order to evaluate the operation result of the operator, the processor 21 also includes an evaluation module, which is used to evaluate the operation score of the handheld device 23 according to the evaluation parameters, wherein the evaluation parameters include at least one of the following: human tissue in the virtual scene Injuries, the number of incisions in human tissue, the operating time of the handheld device 23, and the degree of operation specification of the handheld device 23. Specifically, human tissue damage is damage to soft tissue, and the operating time of the handheld device 23 can be the time it takes the handheld device 23 to reach the operation area, or the time it takes for the entire bone cutting process. Whether to operate according to the operation mode corresponding to the tool head, for example, for the limitation of amplitude and distance during operation. Each evaluation parameter includes different evaluation grades, and different evaluation grades correspond to different grade scores, and the final evaluation module calculates the operator's operation score according to the weights and scores of different evaluation parameters. Table 1 is the operation score evaluation form according to the embodiment of the present application, as shown in Table 1:

Table 1

As shown in Table 1, each evaluation parameter is divided into three grades: excellent, standard and poor, corresponding to 1 point, 0.5 point and 0 point respectively, and the weight of soft tissue injury is 50%, the weight of operation time is 25%, the incision Quantity has a weight of 15%, and the degree of operational specification has a weight of 10%. Specifically, for soft tissue injuries, the grade is determined according to the contact depth between the ultrasonic osteotome and soft tissue; for the operation duration, the grade is determined according to the actual operation duration of the operator and the preset time range; for the number of incisions, the grade is determined according to the actual number of incisions and the preset time range. The preset number of incisions determines the grade, and the degree of operation regulation can be divided into three grades: complete compliance, only underlying cortical bone compliance, and complete non-compliance according to the amplitude and distance of the ultrasonic bone knife used by the operator during the operation , where the underlying cortical bone is the cortical bone close to the blood vessels and nerves.

In this embodiment, by evaluating the operation of the operator, the practice situation can be fed back to the operator, which is beneficial for the operator to carry out targeted improvement exercises.

Furthermore, the ultrasonic osteotome simulation system can also output a path report of the operator's ultrasonic osteotome model, combined with the above evaluation parameters and the operator's historical use records, to evaluate the operator's skill learning and mastery, to ensure The operator's practice effect.

The embodiments of the present application are described and illustrated through preferred embodiments below.

FIG. 3 is a schematic diagram of a simulation system of an ultrasonic osteotome according to an embodiment of the present application. As shown in FIG. , the force feedback device 22 and the computer 34.

As shown in Figure 3, the miniature inertial sensor 31 is embedded in the handheld device 23, the handheld device 23 is connected to the force feedback device 22 through a buckle 32, the handheld device 23 can move three-dimensionally at the connection, and the force feedback device 22 is connected to the base 33 , the base 33 contains a motor, which is used to output mechanical information, and transmit the position information of the connection point and the movement direction of the handheld device 23 to the computer 34 according to the user's operation. Wherein, the buckle 32 can connect the handles of different types of ultrasonic osteotome. In addition, the handheld device 23 and the force feedback device 22 are respectively connected to the computer 34 through independent data lines for exchanging generated usage signals. The computer 34 displays the three-dimensional experimental model and the real-time position of the virtual ultrasonic bone knife in the virtual scene. The three-dimensional experiment simulates the human tissue to be cut, and the virtual ultrasonic osteotome includes a virtual handheld device 23 and a virtual ultrasonic osteotome head. The joint may be the position of the virtual ultrasonic bone knife head in the virtual scene.

All data calculations need to be carried out in the computer 34. In this embodiment, the three-dimensional experimental model is a finite element model, which has a density distribution similar to that of bone tissue. For example, the cortical bone adopts a small-scale mesh, while the cancellous bone adopts a large-scale mesh. grid.

Fig. 4 is a schematic diagram of the operation of the simulation system of the ultrasonic osteotome according to the embodiment of the present application. As shown in Fig. 4, the operator can hold the handheld device 23 with both hands in this embodiment, and in other embodiments, the handheld device 23 can also be Dental ultrasonic osteotome for one-handed operation.

Fig. 5 is a flow chart of the operation method of the simulation system of the ultrasonic osteotome according to the embodiment of the present application. Zero operations. The zeroing point is (0, 0, 0). The computer 34 matches the three-dimensional experimental model in the virtual scene with the zero point to realize the mapping of spatial position information, and at the same time, the computer 34 will display the position of the virtual handheld device 23 in the virtual scene in real time. During operation, the computer 34 will first judge whether the hand-held device is in cortical bone, cancellous bone or soft tissue. If it is in cortical bone or cancellous bone, the acceleration of the hand-held device 23 will be obtained through the miniature inertial sensor 31. According to the value of the acceleration Determine whether to output the corresponding preset resistance, for example, if the downward acceleration is greater than 5m/s ² or the horizontal acceleration is greater than 5m/s ² , then output the corresponding cortical bone resistance or cancellous bone resistance, and then output the preset resistance Afterwards, it is considered that the corresponding bone tissue has been resected, so the grid in the computer 34 will be eliminated accordingly. If it is in the soft tissue, then the soft tissue resistance will be output. Since the ultrasonic osteotome will not remove the soft tissue, the computer 34 will output the soft tissue resistance. There is no need to delete the corresponding grid afterwards. Finally, after the corresponding grid is deleted, or the corresponding preset resistance is not output, or the soft tissue friction force is output, or the soft tissue resistance is output, the force feedback device continues to obtain the actual position information of the handheld device until the end of the entire operation process.

Specifically, when the operator cuts the bone downward, the miniature inertial sensor 31 collects the motion direction and acceleration of the handheld device 23, the force feedback device 22 outputs the position information of the connection as the position information of the handheld device 23, and the computer 34 according to the motion direction, Acceleration and the position information of the handheld device 23 calculate the position of the connection, and then obtain the virtual position information of the handheld device 23 in the virtual scene, and transmit the corresponding preset resistance to the force feedback device 22 according to the virtual position information. The device 23 obtains this resistance.

For example, when cutting bone tissue, the computer 34 determines whether the ultrasonic osteotome in the virtual scene touches soft tissue based on the position information of the joint, changes the bone cutting resistance and transmits it to the force feedback device 22 when it touches soft tissue, and achieves a feeling of falling. When the handheld device 23 continues to move down, the miniature inertial sensor 31 outputs the direction of motion and acceleration. If the downward acceleration is greater than 5m/s ² or the acceleration in the horizontal direction is greater than 5m/s ² , the computer 34 outputs the corresponding preset resistance. After judging that the corresponding bone tissue has been resected, the computer 34 eliminates the three-dimensional experimental model of the resected bone tissue in contact with the ultrasonic osteotome, and no longer provides position information, but for soft tissue, the ultrasonic osteotome will not remove it, so The 3D experimental model corresponding to the soft tissue in the virtual scene will not be excised. When the ultrasonic osteotome in the virtual scene touches the soft tissue in the three-dimensional experimental model, the force feedback device 22 outputs the corresponding soft tissue resistance. If the operator reversely pulls in the cancellous bone area, and the upward acceleration is greater than 5m/s ² , the computer 34 outputs the friction force to simulate the friction effect between the cutter head and the surrounding tissue.

The simulation system of the ultrasonic osteotome in this embodiment can ensure the convenience and easy construction of the simulation system of the ultrasonic osteotome for academic exchanges or foreign teaching due to the use of the notebook computer force feedback device 22 and the configuration without a physical model performance while effectively controlling system costs. Furthermore, the simulation system of the ultrasonic osteotome can provide more accurate force direction and force feedback, which can realize precise practice without worrying about the economic cost, and finally achieve the purpose of proficient use of the ultrasonic osteotome and reduce the risk of intraoperative operation.

It should be noted that each of the above-mentioned modules may be a function module or a program module, and may be realized by software or by hardware. For the modules implemented by hardware, the above modules may be located in the same processor; or the above modules may be located in different processors in any combination.

The present application also provides a simulation method of an ultrasonic osteotome. FIG. 6 is a flowchart of a simulation method of an ultrasonic osteotome according to an embodiment of the present application. As shown in FIG. 6 , the method includes the following steps:

Step S610, obtaining the actual position information of the handheld device through the force feedback device, and obtaining the virtual position information of the handheld device in the virtual scene according to the actual position information;

Step S620, determining and outputting a preset resistance according to at least one of the virtual position information, the human tissue type information corresponding to the virtual position information, and the kinematics information of the handheld device;

Step S630, controlling the force feedback device to obtain a preset resistance, and transmitting the preset resistance to the handheld device through the force feedback device.

Through the above steps S610 to S630, the preset resistances corresponding to different human tissue types are output during the osteotomy process, and the preset resistances are transmitted to the handheld device through the force feedback device, so as to provide a real grip feeling during the operation and realize the The simulation exercise of the ultrasonic osteotome solves the problem that the practice method of the ultrasonic osteotome in the related art is mainly to conduct experiments on animals or corpses, which leads to high cost of practice, and reduces the cost of practice while taking into account the effect of practice.

It should be noted that the steps shown in the above flow or in the flow chart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flow chart, the In some cases, the steps shown or described may be performed in an order different from that herein.

The method embodiments provided in this application can be executed in a terminal, a computer or a similar computing device. Taking running on a terminal as an example, FIG. 7 is a block diagram of a hardware structure of a terminal in a method for simulating an ultrasonic osteotome according to an embodiment of the present application. As shown in FIG. 7, the terminal 70 may include one or more (only one is shown in FIG. 7) processors 702 (the processors 702 may include but not limited to processing devices such as microprocessor MCU or programmable logic device FPGA, etc.) and a memory 704 for storing data. Optionally, the terminal may further include a transmission device 706 and an input and output device 708 for communication functions. Those skilled in the art may understand that the structure shown in FIG. 7 is only for illustration, and does not limit the structure of the above-mentioned terminal. For example, the terminal 70 may also include more or fewer components than those shown in FIG. 7 , or have a different configuration than that shown in FIG. 7 .

The memory 704 can be used to store control programs, for example, software programs and modules of application software, such as the control program corresponding to the ultrasonic bone knife simulation method in the embodiment of the present application, the processor 702 runs the control program stored in the memory 704, Thereby executing various functional applications and data processing, that is, realizing the above-mentioned method. The memory 704 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 704 may further include a memory that is remotely located relative to the processor 702, and these remote memories may be connected to the terminal 70 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

Transmission device 706 is used to receive or transmit data via a network. The specific example of the above network may include a wireless network provided by the communication provider of the terminal 70 . In one example, the transmission device 706 includes a network interface controller (NIC for short), which can be connected to other network devices through a base station so as to communicate with the Internet. In an example, the transmission device 706 may be a radio frequency (Radio Frequency, RF for short) module, which is used to communicate with the Internet in a wireless manner.

This embodiment also provides an electronic device, including a memory and a processor, where a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

Optionally, the above-mentioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the above-mentioned processor, and the input-output device is connected to the above-mentioned processor.

Optionally, in this embodiment, the above-mentioned processor may be configured to execute the following steps through a computer program:

S1, obtaining the actual position information of the handheld device through the force feedback device, and obtaining the virtual position information of the handheld device in the virtual scene according to the actual position information;

S2. Determine and output preset resistance according to at least one of virtual position information, human tissue type information corresponding to the virtual position information, and kinematic information of the handheld device;

S3, controlling the force feedback device to obtain a preset resistance, and transmitting the preset resistance to the handheld device through the force feedback device.

It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details will not be repeated in this embodiment.

In addition, in combination with the simulation method of the ultrasonic osteotome in the foregoing embodiments, the embodiments of the present application may provide a storage medium for implementation. A computer program is stored on the storage medium; when the computer program is executed by the processor, any simulation method of the ultrasonic bone knife in the above-mentioned embodiments is implemented.

The technical features of the above-mentioned embodiments can be combined arbitrarily. To make the description concise, all possible combinations of the technical features in the above-mentioned embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, should be considered as within the scope of this specification.

The above-mentioned embodiments only represent several implementation modes of the present application, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the scope of the patent for the invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the scope of protection of the patent application should be based on the appended claims.

Claims (10)

1. A simulation system of an ultrasonic osteotome, characterized in that it comprises a processor, a force feedback device and a handheld device, wherein the force feedback device is mechanically connected to the handheld device, and the force feedback device is connected to the handheld device. The devices are connected in communication with the processors respectively; The processor obtains the actual position information of the handheld device through the force feedback device, and obtains the virtual position information of the handheld device in the virtual scene according to the actual position information; The processor determines and outputs preset resistance according to at least one of the virtual position information, human tissue type information corresponding to the virtual position information, and kinematic information of the handheld device; The force feedback device acquires the preset resistance and transmits the preset resistance to the handheld device. 2. The simulation system of the ultrasonic osteotome according to claim 1, wherein the processor obtains the actual position information of the handheld device through the force feedback device, and obtains the actual position information according to the actual position information. The virtual position information of the handheld device in the virtual scene includes: The processor determines the initial position information of the handheld device according to the position information of the force feedback device; The processor calculates the actual position information of the handheld device according to the initial position information and kinematics information of the handheld device, wherein the kinematics information includes the moving direction, acceleration and moving time of the handheld device, the The kinematic information is obtained through a kinematic sensor on the handheld device; The processor calculates virtual position information of a virtual handheld device corresponding to the actual position information in the virtual scene according to the actual position information of the handheld device. 3. The simulation system of ultrasonic osteotome according to claim 1, characterized in that, the end of the handheld device is equipped with a kinematics sensor, and the processor is based on the virtual position information, the virtual position information corresponding At least one of the human tissue type information and the kinematic information of the handheld device to determine and output the preset resistance includes: The processor acquires kinematic information of the handheld device through the kinematic sensor; The processor outputs the preset resistance according to the kinematics information and the human tissue type information. 4. The simulation system of the ultrasonic osteotome according to claim 3, wherein the processor outputting the preset resistance according to the kinematics information and the human tissue type information comprises: The processor selects one of friction force and human tissue resistance according to the kinematic information as the preset resistance output, wherein the human tissue resistance corresponds to human tissue type information; The processor obtains and outputs the type of resistance of the human tissue according to the type information of the human body tissue. 5. The simulation system of ultrasonic osteotome according to claim 1, characterized in that, the processor according to the virtual position information, the human tissue type information corresponding to the virtual position information and the motion of the handheld device Determining and outputting at least one of the preset resistances includes: The processor obtains the operation mode of the cutter head corresponding to the handheld device, and outputs the preset resistance according to the operation mode and the type of human tissue. 6. The simulation system of the ultrasonic osteotome according to claim 1, wherein the processor includes an evaluation module, and the evaluation module is used to evaluate the operation score of the hand-held device according to the evaluation parameters, wherein the evaluation The parameters include at least one of the following: human tissue damage in the virtual scene, the number of incisions in the human tissue, the operating time of the handheld device, and the operating standard of the handheld device. 7. The ultrasonic osteotome simulation system according to claim 1, wherein the force feedback device is detachably connected to the hand-held device. 8. The simulation system of ultrasonic osteotome according to claim 1, characterized in that, the simulation system of said ultrasonic osteotome also comprises a display device, and said display device is used to display the virtual hand-held device in said virtual scene s position. 9. A method for simulating an ultrasonic osteotome, comprising: Obtaining the actual position information of the handheld device through the force feedback device, and obtaining the virtual position information of the handheld device in the virtual scene according to the actual position information; determining and outputting a preset resistance according to at least one of the virtual position information, human tissue type information corresponding to the virtual position information, and kinematic information of the handheld device; The force feedback device is controlled to obtain the preset resistance, and the preset resistance is transmitted to the handheld device through the force feedback device. 10. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to perform the ultrasonic osteotome described in claim 9 the simulation method.

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