JP7058425B1 - Simulation equipment, simulation method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simulation device, a simulation method and a program capable of improving the accuracy of reproducing the shape of an object deformed by the action of an external force on a screen.
SOLUTION: A simulation device is an image showing the result of mapping conversion of a sphere deformed by the action of an external force, and a plurality of mapping conversion images intersecting each other are subjected to a super-elliptic function for each external force acting on the sphere. A derivation unit that derives using and records a plurality of mapping conversion images and an external force acting on a sphere in a storage unit, an operation unit that accepts a manual operation that applies an external force, and an external force and a sphere that act on an object. A selection unit that selects a plurality of map-converted images to be reproduced from a plurality of map-converted images recorded for each external force acting on the sphere based on the correspondence with the external force acting on the sphere, and a plurality of selected images. It is provided with an image reproduction unit that reproduces the map conversion image of the above and displays the reproduced plurality of map conversion images as the shape of the deformed object on the screen.
[Selection diagram] Fig. 1

Description

The present invention relates to a simulation apparatus, a simulation method and a program.

A simulation device (simulator) for medical education that allows inexperienced doctors and medical students to understand the surgical process by palpating the target organ of the surgery with doctors and medical students, not as a preoperative surgical simulation. ) Is required. In actual surgery, when a surgical instrument comes into contact with an organ, the organ is deformed by the action of an external force from the surgical instrument. The simulation device displays a virtual space including an organ represented by computer graphics on the screen in order to reproduce the shape of the deformed organ in the virtual space. The surgical instruments move in the virtual space displayed on the screen according to the movements of the hands of doctors and medical students who operate the simulation device. Here, it is required to accurately reproduce the shape of an organ deformed by the action of an external force by a surgical instrument on a screen.

Japanese Patent No. 4129527 Japanese Patent No. 5762321

However, since the structure of an organ is complicated and the organ is constantly moving, the organ is deformed in a complicated manner by the action of an external force. Therefore, there is a problem that it is difficult to accurately reproduce the shape of the deformed organ on the screen. Such a problem is not limited to organs, but is a problem common to applications in which the shape of an object deformed by the action of an external force is accurately reproduced on a screen for an object having a complicated structure. .. As described above, conventionally, it has not been possible to accurately reproduce the shape of an object deformed by the action of an external force on the screen.

In view of the above circumstances, it is an object of the present invention to provide a simulation device, a simulation method, and a program capable of improving the accuracy of reproducing the shape of an object deformed by the action of an external force on a screen.

One aspect of the present invention is to derive and derive a set of mapping conversion images, which are images showing the result of mapping conversion of a sphere deformed by the action of an external force, for each external force acting on the sphere by using a super-elliptic function. An operation that accepts a manual operation of applying an external force to an object displayed on the screen of the display unit and a derivation unit that records the set of the map-converted images and the external force acting on the sphere in the storage unit in association with each other. A plurality of mapping conversions from a set of the mapping conversion images recorded for each external force acting on the sphere based on the correspondence between the unit and the external force acting on the object and the external force acting on the sphere. It is a simulation apparatus including a selection unit for selecting an image and an image reproduction unit for displaying the selected plurality of map conversion images on the screen as the shape of the object deformed by the action of an external force.

One aspect of the present invention is the above-mentioned simulation apparatus, in which the derivation unit receives a plurality of parameters of a transfer function that receives an external force acting on the sphere as an input and outputs the shape of the sphere subjected to the action of the external force. At least one of them is modified to derive the set of mapping-transformed images.

One aspect of the present invention is the above-mentioned simulation apparatus, and one of the plurality of parameters is a parameter representing the hardness of the object subject to the action of an external force.

One aspect of the present invention is the simulation device, wherein the operation unit causes the user to act on the reaction force of the object subjected to the action of an external force.

One aspect of the present invention is the simulation apparatus described above, wherein the object is an organ.

One aspect of the present invention is a simulation method executed by the above simulation apparatus, in which a set of mapping conversion images, which is an image showing the result of mapping conversion of a sphere deformed by the action of an external force, is subjected to an external force acting on the sphere. Each time, a derivation step of deriving by using a super-elliptic function and recording the set of the derived map-transformed images in association with the external force acting on the sphere is recorded in the storage unit, and the derivation step is displayed on the screen of the display unit. The above-mentioned recorded for each external force acting on the sphere based on the correspondence between the operation step of accepting the manual operation of applying the external force on the object and the external force acting on the object and the external force acting on the sphere. A selection step of selecting a plurality of map-converted images from a set of map-converted images, and displaying the selected plurality of map-converted images on the screen as the shape of the object deformed by the action of an external force. This is a simulation method including an image reproduction step.

One aspect of the present invention is a program for operating a computer as the above-mentioned simulation device.

INDUSTRIAL APPLICABILITY According to the present invention, it is possible to improve the accuracy of reproducing the shape of an object deformed by the action of an external force on the screen.

It is a figure which shows the configuration example of the simulation apparatus in embodiment. It is a figure which shows the example of the ellipse as a mapping transformation image which shows the contour of an object in embodiment. It is a figure which shows each example of the ellipse after deformation or movement in an embodiment. It is a figure which shows the example of the 1st slice and the 2nd slice in an embodiment. It is a figure which shows the example of the sphere before deformation, the sphere after deformation, and the mapping conversion image in an embodiment. It is a figure which shows the example of the set of the mapping transformation image in an embodiment. It is a figure which shows the example of the contour of the prostate after deformation as the example of organ deformation in an embodiment. It is a figure which shows the example of selection of the mapping transformation image in an embodiment. It is a figure which shows the example of the 3D image of the object after transformation in an embodiment. It is a flowchart which shows the structural example of the image derivation apparatus in embodiment. It is a flowchart which shows the structural example of the image reproduction apparatus in embodiment.

Embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing a configuration example of the simulation device 1 (simulator). The simulation device 1 is a device that simulates the shape of a deformed object on a screen. The simulation device 1 can accurately reproduce the shape of an object deformed by the action of an external force on the screen. The object is, for example, an organ such as the prostate. The deformation is not limited to plastic deformation, and may be elastic deformation.

The simulation device 1 includes an image derivation device 10, an image reproduction device 20, and a communication line 30. The image derivation device 10 and the image reproduction device 20 can communicate with each other via the communication line 30. The image derivation device 10 includes a derivation unit 100, a first storage unit 110, and a first communication unit 120. The image reproduction device 20 includes a second communication unit 200, a second storage unit 210, an operation unit 220, a selection unit 230, an image reproduction unit 240, and a display unit 250. The display unit 250 includes a display device such as a liquid crystal display, smart glasses, or a head-mounted display as a screen.

At least a part of each functional unit of the simulation device 1 stores processors such as GPGPU / GPU (General Purpose Computing on Graphics Processing Unit) and CPU (Central Processing Unit) in a computer such as a server in a storage unit. It is realized by executing the program. The storage unit is preferably a non-volatile recording medium (non-temporary recording medium) such as a flash memory or an HDD (Hard Disk Drive). The storage unit may include a volatile recording medium such as a RAM (Random Access Memory). At least a part of each functional unit of the simulation device 1 may be realized by using hardware (electronic circuit) such as LSI (Large Scale Integrated circuit) or ASIC (Application Specific Integrated Circuit), for example.

Hereinafter, an image showing the result of mapping conversion of a sphere deformed by the action of an external force is referred to as a "mapping conversion image". In the following, the object is, for example, the prostate. Although the prostate has a complicated structure and shape, the simulation device 1 can accurately reproduce the shape of the prostate deformed by the action of an external force on the screen.

Next, the image derivation device 10 will be described. In the image derivation device 10, the sphere and the external force are treated as data in the storage unit, respectively. That is, the sphere and the external force are treated as the sphere and the external force in the virtual space, respectively. For the external force acting on the sphere, a plurality of patterns are predetermined with respect to the magnitude of the force and the direction of the force.

The derivation unit 100 derives a set of map-transformed images by using a hyperelliptic function that is often used as a method of approximating the shape for each external force acting on the sphere. That is, the derivation unit 100 derives a set of mapping-transformed images by changing a large number of parameters for increasing the approximation accuracy of the superellipse function for each external force acting on the sphere. The derivation unit 100 records the set of the map-converted images and the external force in the first storage unit 110 in association with the set of the derived map-converted images and the external force acting on the sphere.

The first storage unit 110 stores a set of map-transformed images derived by the derivation unit 100 in association with an external force acting on the sphere. The first communication unit 120 communicates with the second communication unit 200 via the communication line 30. The first communication unit 120 transmits the set of the map conversion images derived by the derivation unit 100 and the data of the external force acting on the sphere to the second communication unit 200 in response to the request from the second communication unit 200. .. The derivation unit 100 and the first storage unit 110 may collectively transfer the data to the image reproduction device 20 in advance.

Next, the image reproduction device 20 will be described. In the image reproduction device 20, the object and the external force are treated as data in the storage unit, respectively. That is, the object and the external force are treated as the object and the external force in the virtual space, respectively.

The second communication unit 200 communicates with the first communication unit 120 via the communication line 30. The second communication unit 200 records in the second storage unit 210 a set of mapping conversion images downloaded from the first storage unit 110 via the communication line 30 and external force data acting on the sphere in association with each other. do. The second storage unit 210 stores the set of downloaded mapping conversion images and the external force data acting on the sphere in association with each other. When the simulation process in the simulation device 1 is completed, the second storage unit 210 erases the set of mapping conversion images and the external force data acting on the sphere from the second storage unit 210.

The operation unit 220 accepts a manual operation in which an external force is applied to an object displayed on the screen of the display unit 250. The operation unit 220 is, for example, a force sense device (force tactile sense device). The operation unit 220 may cause the user to act on the reaction force of the object subjected to the action of the external force in the virtual space as a physical reaction force. As a result, the operation unit 220 can give the user a tactile sensation of an affected part such as an organ.

The selection unit 230 records each external force acting on the sphere based on the correspondence between the external force acting on the object displayed on the screen of the display unit 250 and the external force acting on the sphere in the image deriving device 10. From the set of map-converted images, a plurality of map-converted images to be reproduced as a three-dimensional image are selected using computer graphics.

For example, the selection unit 230 selects an external force equal to the external force acting on the object from the patterns of the external force acting on the sphere. Based on the result of this selection, the selection unit 230 selects a plurality of mapping conversion images associated with the external force acting on the object from the set of mapping conversion images recorded in the second storage unit 210. select. The selection unit 230 may be remotely controlled by the derivation unit 100.

The image reproduction unit 240 uses computer graphics to convert a plurality of selected mapping conversion images into three-dimensional images using the first slice (sq plane) and the second slice (r plane) that intersect each other. Reproduce. The image reproduction unit 240 displays the reproduced plurality of map-converted images on the screen of the display unit 250 as the shape of the object (deformation object) deformed by the action of an external force corresponding to the manual operation. On this screen, the surgical instrument moves according to the movement of the hand of an operator such as a doctor who operates the operation unit 220. The display unit 250 displays the reproduced plurality of map-converted images on the screen of the display unit 250 as the shape of the object deformed by the action of the external force of the surgical instrument moved in response to the manual operation. The reaction force of the external force applied to the deformable object by the operation by the operator is returned to the operator from the deformable object displayed on the screen through the operation unit 220.

Next, a method of deriving the map-converted image will be described.
FIG. 2 is a diagram showing an example of an ellipse 300 as a mapping conversion image showing the outline of an object. The map-converted image includes a first region 310 (i = 1), a second region 320 (i = 2), a third region 330 (i = 3), and a fourth region 340 (i = 4). A fifth region 350 (j = 1) and a sixth region 360 (j = 2) are defined.

The first region 310 is a region of the first quadrant in the map conversion image. The second region 320 is a region of the second quadrant in the map conversion image. The third region 330 is a region of the third quadrant in the map conversion image. The fourth region 340 is a region of the fourth quadrant in the map conversion image. The fifth region 350 is a region of the first quadrant and the fourth quadrant in the map conversion image. The sixth region 360 is a region of the second quadrant and the third quadrant in the map conversion image. In addition, each region may be further subdivided.

FIG. 3 is a diagram showing each example of the ellipse 300 after deformation or movement. The derivation unit 100 performs a Zhukovskiy transformation on the ellipse 300 for each external force acting on the sphere. That is, the derivation unit 100 changes each parameter of the superellipse function for each external force acting on the sphere to deform or move the ellipse 300. The derivation unit 100 derives the deformed or moved ellipse 300 as a mapping conversion image. The function "Vi" that expresses the deformed or moved ellipse (result of deformation using the hyperelliptic function) is expressed by the equation (1).

Here, "lx" is a parameter for moving the ellipse 300 in the x-axis direction. "Ly" is a parameter for moving the ellipse 300 in the y-axis direction. "R" is a parameter for rotating (deforming) the ellipse 300. “Sy” is a parameter for deforming the ellipse 300 in the y-axis direction. "Xy" is a parameter for deforming the ellipse 300 in the x-axis direction.

Among the parameters of the hyperelliptic function, "sq _i ", "ti", "_{bi", and "sh i "} are prepared for each area " _i ". "Sq _i " is a parameter for deforming the ellipse 300 in a point symmetry. “Ti” is a parameter for deforming the ellipse 300 in the _y -axis symmetry in the first aspect. “B _i ” is a parameter for deforming the ellipse 300 in a y-axis symmetry in the second aspect. “Sh _i ” is a parameter for changing the deformation difficulty of the ellipse 300, and is, for example, a value in the range of 0 to 1. The difficulty of deforming the ellipse 300 corresponds to the hardness of the object. The hardness of the object varies depending on the material of the object.

In the example shown in FIGS. 2 and 3, the number of a plurality of parameters in the equation (1) (the number of parameters for deforming or moving the ellipse 300 using the superellipse function) is "lx" and "ly". , "R", "sy", and "xy", four from "sq ₁ " to "sq ₄ ", four from "t ₁ " to "t ₄ ", and "t 4". There are a total of 21 pieces, 4 pieces from "b ₁ " to "b ₄ " and 4 pieces from "sh ₁ " to "sh ₄ ". Each value of "i" and "j" is a value corresponding to the number of regions, and increases as the region is subdivided.

For example, "b" among the plurality of parameters in the equation (1) may be prepared for each area "j". That is, instead of " _bi " (from "b ₁ " to "b ₄ "), "b _j " (from "b ₁ " to "b ₂ ") is one of the plurality of parameters in equation (1). It may be prepared as a department. In this case, the total number of parameters for deforming or moving the ellipse 300 using the hyperelliptic function is 19.

FIG. 4 is a diagram showing an example of the first slice 400 (sq plane) and the second slice 410 (r plane). The first slice 400 and the second slice 410 intersect so as to form an angle "θ". For example, the first slice 400 and the second slice 410 are orthogonal to each other.

The number of the first slice 400 may be plural, such as from the first slice 400-1 to the first slice 400-P (P is an integer of 2 or more). Each first slice 400-p (p is an integer from 1 to P) is parallel to each other. Similarly, the number of the second slice 410 may be plural, such as from the second slice 410-1 to the second slice 410-R (R is an integer of 2 or more). Each second slice 410-r (r is an integer from 1 to R) is parallel to each other.

FIG. 5 is a diagram showing an example of a sphere 500 before deformation, a sphere 500 after deformation, and a mapping conversion image 420. The sphere 500 is deformed or moved by the action of an external force 510. The direction of the external force 510 is changed in various patterns with respect to the sphere 500. Further, the vector quantity of the external force 510 is changed in various patterns within a predetermined range. The derivation unit 100 derives the contour of the deformed sphere 500 by using, for example, the finite element method.

The derivation unit 100 changes each parameter of the superellipse function in the equation (1) for each external force 510 acting on the sphere 500 so that the contour of the sphere 500 is mapped to the first slice 400. The mapping conversion image 420 is derived. Similarly, the derivation unit 100 determines each parameter of the superelliptic function in the equation (1) for each external force 510 acting on the sphere 500 so that the contour of the sphere 500 is mapped to the second slice 410. Is changed to derive the mapping conversion image 420.

FIG. 6 is a diagram showing an example of a set of mapping conversion images 420. The derivation unit 100 associates the set of the derived map conversion images 420 with the external force 510 acting on the sphere 500, and obtains the data (size and direction) of the map conversion image 420 surgical instrument and the external force 510. Record in the first storage unit 110. The function "Fi" expressing the external force in the region "i" is expressed by the equation (2).

Here, "f _x " is an x-axis component of the external force 510. “F _y ” is a y-axis component of the external force 510. “Fz” is a _z -axis component of the external force 510.

The transfer function "Hi" in the region "i", the function "Fi" that expresses the external force in the region "i", and the function that expresses the deformed or moved elliptic (result of deformation using the super-elliptic function). The relationship with "Vi" is expressed by a determinant like the equation (3). The equation (3) may be modified and expressed as " ^{tHi · t Fi} = ^t Vi" using a transposed matrix.

FIG. 7 is a diagram showing an example of the contour 630 of the prostate 620 after deformation as an example of organ deformation. The contour 630 of the prostate 620 is preliminarily imaged by, for example, a Magnetic Resonance Imaging (MRI) device or the like. FIG. 7 shows the bladder 600, the urethra 610, and the prostate 620. Due to the action of the external force 510, the shape of the prostate 620 is deformed like the contour 630. The transfer function "Hi" shown in the equation (3) is expressed as in the equation (4). The transfer function "Hi" is a function for inputting an external force acting on a sphere, determining the shape of the sphere affected by the external force, and outputting the determined shape. The equation (4) may be modified and expressed as " ^tHi = ^tVi · Fi" using a transposed matrix.

Here, " ^tFi " is a transposed matrix of "Fi" and represents an external force transmitted to the region "i" through the operation unit 220 (force sense device). The physical meaning of " ^t Fi" and the physical meaning of "Fi" are the same, and the transposed matrix " ^t Fi" is an example of a modified expression used to derive the transfer function "Hi". The number of columns of the transfer function (vector type transfer function) "Hi" expressed in the form of a matrix is equal to the number of a plurality of parameters in the equation (1). That is, in the transfer function "Hi", "n" is the number of results obtained by subtracting 1 from the number of a plurality of parameters in the equation (1). By predetermining the transfer function "Hi" based on the parameters and the external force whose approximate deformation is predetermined using a magnetic resonance image or the like, the deformation of the contour 630 with respect to the external force "Fi" applied to the prostate 620 is generated. I can decide.

The _coefficient "a ₀ " to the coefficient "an" represent each deformation component in the x-axis direction. The coefficient "b ₀ " to the coefficient "b _n " represent each deformation component in the y-axis direction. The coefficient " _{c 0} " to the coefficient "cn" represent each deformation component in the z-axis direction. The deformation component becomes a parameter for enlargement or contraction when an organ is represented in the virtual space.

After deformation or movement in the x-axis direction of the virtual space, when the external force "Fi" by the operation unit 220 is applied to the prostate 620, or when the prostate 620 is pulled by the external force "Fi" by the operation unit 220. Each value from "h ₀ " to " _hn " is predetermined for each component in the x-axis direction in the transfer function so that the function "Vi" representing the later ellipse 300 approximates the contour 630. After deformation or movement in the y-axis direction of the virtual space, when the external force "Fi" by the operation unit 220 is applied to the prostate 620, or when the prostate 620 is pulled by the external force "Fi" by the operation unit 220. Each value from "_h'0" to "_h'n" is predetermined for each component in the y-axis direction in the transfer function so that the function "Vi" representing the later ellipse 300 approximates the contour 630. .. After deformation or movement in the z-axis direction of the virtual space, when the external force "Fi" by the operation unit 220 is applied to the prostate 620, or when the prostate 620 is pulled by the external force "Fi" by the operation unit 220. Each value from "h" ₀ "to" h " ₀ " is preliminarily for each component in the z-axis direction in the transfer function, so that the function "Vi" representing the later ellipse 300 approximates contour 630. It is decided.

Next, a method of selecting the mapping conversion image 420 will be described.
FIG. 8 is a diagram showing an example of selection of the mapping conversion image 420. The selection unit 230 derives the degree of approximation between the contour 630 of the deformed prostate 620 and the mapping conversion image 420 by, for example, deriving the difference in pixel values between the contour 630 and the mapping conversion image 420. The selection unit 230 stores the map conversion image 420 that approximates the contour 630 of the deformed prostate 620 in the case where the external force 510 acts on the sphere 500, and the map conversion image 420 stored in the second storage unit 210. Choose from a set.

FIG. 9 is a diagram showing an example of a three-dimensional image of the deformed object. The image reproduction unit 240 arranges the mapping conversion image 420-s selected as the mapping conversion image that approximates the contour 630 of the prostate 620 on the first slice 400-p. The image reproduction unit 240 arranges the mapping conversion image 420-n selected as the mapping conversion image that approximates the contour 630 of the prostate 620 on the second slice 410-r. The image reproduction unit 240 executes an arrangement process of the map conversion image 420 for the plurality of first slices 400 and the plurality of second slices 410. In this way, the image reproduction unit 240 uses computer graphics of the selected plurality of mapping conversion images using the first slice 400 (sq plane) and the second slice 410 (r plane) that intersect each other. Is reproduced as a three-dimensional image using.

Next, the operation of the simulation device 1 will be described.
FIG. 10 is a flowchart showing a configuration example of the image derivation device 10. The derivation unit 100 changes the parameters of the hyperelliptic function shown in the equation (1) for each region “i” in FIG. 2 as shown in FIG. 6 for each external force 510 acting on the sphere 500, and shows FIG. A set of mapping-converted images 420 as shown is derived (step S101). The derivation unit 100 records the set of the map conversion images 420 in the first storage unit 110 in association with the set of the derived map conversion images 420 and the external force 510 acting on the sphere 500 (step S102).

FIG. 11 is a flowchart showing a configuration example of the image reproduction device 20. The second communication unit 200 associates the set of the map conversion images 420 downloaded from the first storage unit 110 via the communication line 30 with the external force data acting on the sphere to the second storage unit 210. Record (step S201).

The operation unit 220 accepts a manual operation of applying an external force 510 “Fi” to an object (for example, the prostate) displayed on the screen of the display unit 250 (step S202). The selection unit 230 records each external force 510 acting on the sphere 500 based on the correspondence between the external force 510 acting on the object displayed on the screen of the display unit 250 and the external force 510 acting on the sphere 500. From the set of the map-converted images 420, the map-converted image 420-n and the map-converted image 420-m to be reproduced are selected (step S203).

The image reproduction unit 240 reproduces the selected mapping conversion image 420-n and the mapping conversion image 420-m as shown in FIG. 9 by using the first slice 400 and the second slice 410 that intersect each other. The map-converted image 420-n and the map-converted image 420-m approximate the contour of each cross section of the prostate 620 by the first slice 400 and the second slice 410 (step S204). The image reproduction unit 240 displays a plurality of map conversion images 420 reproduced so as to approximate the contour of the prostate 620 on the screen of the display unit 250 as the shape of the object deformed by the action of the external force 510 (step). S205).

As described above, the derivation unit 100 changes the parameters of the hyperelliptic function shown in the equation (1) for each region “i” in FIG. 2 as shown in FIG. 3 for each external force 510 acting on the sphere 500. Then, a set of mapping-converted images 420 as shown in FIG. 6 is derived. The mapping conversion image 420 is an image showing the result of mapping conversion of the sphere 500 deformed by the action of the external force 510. The derivation unit 100 records the set of the map-converted images 420 in the first storage unit 110 in association with the set of the plurality of map-converted images 420 and the external force 510 acting on the sphere 500.

The second storage unit 210 stores a set of map conversion images 420 downloaded from the first storage unit 110 via the communication line 30. The operation unit 220 accepts a manual operation in which an external force 510 is applied to an object displayed on the screen of the display unit 250. The selection unit 230 is selected from a set of mapping conversion images 420 recorded for each external force 510 acting on the sphere 500 based on the correspondence between the external force 510 acting on the object and the external force 510 acting on the sphere 500. As a three-dimensional image to be reproduced by computer graphics, for example, a mapping conversion image 420-n and a mapping conversion image 420-m are selected as shown in FIG.

The image reproduction unit 240 reproduces the selected mapping conversion image 420-n and the mapping conversion image 420-m using the first slice 400 and the second slice 410 intersecting each other, for example, as shown in FIG. .. The plurality of map-converted images 420 intersect each other as shown in FIG. 9 so as to approximate the contour of the object (for example, the contour 630 of the prostate 620 previously captured by a magnetic resonance imaging device or the like) in three dimensions. .. The image reproduction unit 240 displays, for example, a plurality of map conversion images 420 reproduced as shown in FIG. 9 on the screen of the display unit 250 as the shape of the object deformed by the action of the external force 510. The map-converted image 420-n and the map-converted image 420-m approximate the contour of the object in three dimensions as shown in FIG. The operation unit 220 (force sense device) may cause the user to act on the reaction force of the object subjected to the action of the external force 510.

In this way, the derivation unit 100 derives a set of the map-transformed images 420 using a super-elliptic function for each external force acting on the sphere 500. This makes it possible to improve the accuracy of reproducing the shape of an object (for example, an organ such as the prostate) deformed by the action of an external force on the screen. In the medical field, the operation unit 220 can give the user a tactile sensation of an affected part such as an organ so that the user can confirm the surgical process involving palpation of the affected part by a surgical instrument and deformation of the organ. In addition, medical students and doctors can experience the process in laparoscopic surgery, for example, as medical technique learning or preoperative palpation.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs and the like within a range that does not deviate from the gist of the present invention.

For example, the image reproduction unit 240 uses one of the first slice (sq plane) and the second slice (r plane) intersecting each other with the selected plurality of mapping conversion images 420 for computer graphics. It may be used and reproduced as a two-dimensional image.

For example, the derivation unit 100 may derive a set of mapping-converted images 420 by deep learning.

For example, various modified expressions are possible in each of the above-mentioned mathematical expressions, and the expression of each mathematical expression is not limited to a specific expression (type).

1 ... Simulation device, 20 ... Image reproduction device, 30 ... Communication line, 100 ... Derivation unit, 110 ... First storage unit, 120 ... First communication unit, 200 ... Second communication unit, 210 ... Second storage unit, 220 ... operation unit, 230 ... selection unit, 240 ... image reproduction unit, 250 ... display unit, 300 ... ellipse, 310 ... first area, 320 ... second area, 330 ... third area, 340 ... fourth area, 350 ... 5th region, 360 ... 6th region, 400 ... 1st slice, 410 ... 2nd slice, 420 ... mapping conversion image, 500 ... sphere, 510 ... external force, 600 ... bladder, 610 ... urethra, 620 ... prostate, 630 ... Contour

Claims (7)

A set of mapping transformation images, which are images showing the result of mapping transformation of a sphere deformed by the action of an external force, is derived for each external force acting on the sphere using a super-elliptic function, and the derived mapping conversion image is derived. A derivation unit that records the set and the external force acting on the sphere in the storage unit in association with each other.
An operation unit that accepts manual operations that apply an external force to the object displayed on the screen of the display unit,
Based on the correspondence between the external force acting on the object and the external force acting on the sphere, a plurality of mapping conversion images are selected from the set of the mapping conversion images recorded for each external force acting on the sphere. Selection part to do,
A simulation device including an image reproduction unit that displays the plurality of selected mapping conversion images on the screen as the shape of the object deformed by the action of an external force. The derivation unit changes at least one of a plurality of parameters of the transfer function that inputs the external force acting on the sphere and outputs the shape of the sphere affected by the external force, and changes the mapping-converted image. The simulation apparatus according to claim 1, wherein a set of the above is derived. The simulation apparatus according to claim 2, wherein one of the plurality of parameters is a parameter representing the hardness of the object subject to the action of an external force. The simulation device according to any one of claims 1 to 3, wherein the operation unit causes a user to act on the reaction force of the object subjected to the action of an external force. The simulation apparatus according to any one of claims 1 to 4, wherein the object is an organ. It is a simulation method executed by a simulation device.
A set of mapping transformation images, which are images showing the result of mapping transformation of a sphere deformed by the action of an external force, is derived for each external force acting on the sphere using a super-elliptic function, and the derived mapping conversion image is derived. A derivation step of associating the set with the external force acting on the sphere and recording it in the storage unit, and
An operation step that accepts a manual operation that applies an external force to the object displayed on the screen of the display unit, and
Based on the correspondence between the external force acting on the object and the external force acting on the sphere, a plurality of mapping conversion images are selected from the set of the mapping conversion images recorded for each external force acting on the sphere. Selection steps to do and
A simulation method including an image reproduction step of displaying the plurality of selected mapping conversion images on the screen as the shape of the object deformed by the action of an external force. A program for operating a computer as the simulation apparatus according to any one of claims 1 to 5.

Images