WO2025121679A1 - Virtual environment-based incision simulation modeling device - Google Patents

Abstract

The present specification discloses a virtual environment-based incision simulation modeling device. The incision simulation modeling device according to the present specification includes: a memory unit for storing modeling data for a virtual object that has three layers and modeling data for a virtual medical tool; a virtual space providing unit for providing a virtual space in which the virtual object and the virtual medical tool are arranged; a virtual medical tool control unit for controlling the movement of the virtual medical tool in the virtual space according to an external input signal; and a feedback control unit for generating feedback on the virtual object or the virtual medical tool when the virtual object and the virtual medical tool come into contact with each other in the virtual space.

Description

Virtual environment-based incision simulation modeling device

The present invention relates to a cutting simulation modeling device, and more specifically, to a virtual environment-based cutting simulation modeling device.

The material described in this section merely provides background information on the embodiments described herein and does not necessarily constitute prior art.

With the development of virtual environment technology, medical surgery simulation technology in a virtual environment is being developed to improve the surgical skills of doctors with insufficient clinical experience. In order to increase the immersion of the trainee in the above medical surgery simulation, it is required to implement the physical phenomena occurring during actual medical surgery in a virtual environment similar to reality.

Figure 1 illustrates a method for implementing incision of a wound in a conventional medical surgical simulation.

Referring to Fig. 1, in a conventional medical surgery simulation, a virtual three-dimensional affected area object is implemented as a plurality of mesh shapes formed by cloud points. In order to implement an incision of a patient's affected area performed in an actual medical surgery site, a computer calculates the intersection points between the actual cutting curve of a virtual medical tool and the lines forming the mesh (Fig. 1 (a)). Thereafter, the computer calculates a sampled cutting curve connecting each of the intersection points. Thereafter, the computer performs a computational process of reconstructing the existing mesh shape into a plurality of sub-meshes using the sampled cutting curve and each of the intersection points.

Conventional medical surgery simulations require a relatively large amount of computation to implement the patient's incision. As a result, the time required to render the incision in the virtual environment is long, which slows down the response speed and increases the cost of building and maintaining the infrastructure.

[Prior art literature]

[Non-patent literature]

(Non-patent Document 1) Virtual Reality Simulator for Training in Myringotomy with Tube Placement, Caiwen Huang et al.. 2016, J. Med. Biol. Eng.

The purpose of this specification is to provide a virtual environment-based incision simulation modeling device.

This specification is not limited to the tasks mentioned above, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

The incision simulation modeling device according to the present specification for solving the above-described problem may include a memory unit storing modeling data for a virtual object having three layers and modeling data for a virtual medical tool; a virtual space providing unit providing a virtual space in which the virtual object and the virtual medical tool are placed; a virtual medical tool control unit controlling movement of the virtual medical tool within the virtual space according to an external input signal; and a feedback control unit generating feedback for the virtual object or the virtual medical tool when the virtual object and the virtual medical tool come into contact within the virtual space.

According to one embodiment of the present specification, the three layers of the virtual object may include a first layer forming an incision target; a second layer forming a non-incision target; and a third layer for generating a vertical repulsive force of the virtual medical tool.

At this time, the second layer is placed between the first layer and the third layer, and the second layer can be formed with an area corresponding to the first layer as a blank area.

According to one embodiment of the present specification, the first layer has a mesh shape formed by cloud points, and the feedback control unit can annihilate the mesh of an area of the first layer that comes into contact with the virtual medical tool.

According to one embodiment of the present specification, the feedback control unit can generate a feedback signal regarding a movement resistance of the virtual medical tool when the virtual medical tool comes into contact with the first layer.

According to one embodiment of the present specification, the feedback control unit can move the position of a cloud point adjacent to a mesh that has disappeared in contact with the virtual medical tool among the areas of the first layer by a preset amount in the direction in which the virtual medical tool has moved.

According to one embodiment of the present specification, the feedback control unit can generate feedback by modeling the outflow of body fluid when the mesh object is destroyed.

According to one embodiment of the present specification, the feedback control unit can generate a feedback signal that restricts entry of the virtual medical tool when the virtual medical tool contacts the third layer.

The incision simulation modeling device according to the present specification may be a component of an incision simulation system, including a virtual medical tool control device that outputs a movement signal of the virtual medical tool to a virtual medical tool control unit of the incision simulation modeling device.

According to one embodiment of the present specification, the virtual medical tool control device may include an incision signal generation unit that outputs an incision signal to the incision simulation modeling device.

According to one embodiment of the present specification, the virtual medical tool control device may include a haptic providing unit that provides a haptic response to a user by a signal output from a feedback control unit of the incision simulation modeling device.

The incision simulation system according to the present specification may further include a display device that displays a virtual space provided by a virtual space providing unit of the incision simulation modeling device, the virtual object, and a virtual medical tool.

According to one embodiment of the present specification, the display device may be a display of a predetermined form that is mounted on a user's head.

Other specific details of the present invention are included in the detailed description and drawings.

According to one aspect of the present specification, by implementing only the area of the first layer forming the incision target as a mesh shape formed by cloud points, a virtual object can be modeled using relatively less memory compared to conventional techniques.

According to another aspect of the present disclosure, by destroying the mesh of the area in contact with the virtual medical tool, the incision simulation can be modeled with relatively less computational effort compared to conventional techniques.

According to another aspect of the present specification, the incision simulation can be modeled with a smaller amount of computation than before, so that the response speed of the simulation can be relatively faster than before.

According to another aspect of the present disclosure, modeling of incision simulations can be achieved with less computational effort than before, thereby requiring relatively less infrastructure construction, use and/or maintenance costs.

The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

Figure 1 illustrates a method for implementing incision of a wound in a conventional medical surgical simulation.

FIG. 2 is a block diagram of a cutting simulation modeling device according to one embodiment of the present specification.

Figure 3 shows an image of the eardrum of a human body.

Figure 4 is an example image of modeling data of a virtual object loaded into a modeling program.

Figure 5 is an example image of incision simulation modeling according to this specification.

Figure 6 is another example image of incision simulation modeling according to the present specification.

Figure 7 is another example image of the incision simulation modeling according to the present specification.

FIG. 8 is a block diagram of a cutting simulation system according to one embodiment of the present specification.

FIG. 9 is a block diagram of a cutting simulation system according to another embodiment of the present specification.

The advantages and features of the invention disclosed in this specification, and the methods for achieving them, will become apparent by referring to the embodiments described in detail below together with the accompanying drawings. However, the present specification is not limited to the embodiments disclosed below and may be implemented in various different forms, and the present embodiments are provided only to make the disclosure of the present specification complete and to fully inform those skilled in the art (hereinafter referred to as 'ordinary skilled in the art') of the scope of the present specification, and the scope of rights of the present specification is defined only by the scope of the claims.

The terminology used herein is for the purpose of describing embodiments only and is not intended to limit the scope of the present disclosure. In this specification, the singular also includes the plural unless specifically stated otherwise. The terms "comprises" and/or "comprising" as used herein do not exclude the presence or addition of one or more other components in addition to the components mentioned.

Throughout the specification, the same reference numerals refer to the same elements, and "and/or" includes each and every combination of one or more of the elements mentioned. Although "first", "second", etc. are used to describe various elements, it is to be understood that these elements are not limited by these terms. These terms are merely used to distinguish one element from another. Accordingly, it should be understood that a first element mentioned below may also be a second element within the technical scope of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in the meaning commonly understood by those skilled in the art to which this specification belongs. In addition, terms defined in commonly used dictionaries shall not be ideally or excessively interpreted unless explicitly specifically defined.

The spatially relative terms "below," "beneath," "lower," "above," "upper," and the like can be used to easily describe the relationship of one component to other components as depicted in the drawings. The spatially relative terms should be understood to include different orientations of the components when used or operated in addition to the orientations depicted in the drawings. For example, if a component depicted in the drawings is flipped over, a component described as "below" or "beneath" another component may now be "above" the other component. Thus, the exemplary term "below" can include both the above and below orientations. The components may also be oriented in other directions, and the spatially relative terms may be interpreted accordingly.

Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

FIG. 2 is a block diagram of a cutting simulation modeling device according to one embodiment of the present specification.

Referring to FIG. 2, an incision simulation modeling device (10) according to one embodiment of the present specification may include a memory unit (100), a virtual space providing unit (110), a virtual medical tool control unit (120), and a feedback control unit (130).

The above memory unit (100) can store modeling data for a virtual object having three layers and modeling data for a virtual medical instrument. The virtual object can correspond to a virtual affected area modeled for incision simulation. In addition, the virtual object can correspond to a virtual human body structure including a specific affected area modeled for incision simulation.

According to one embodiment of the present specification, the virtual object may correspond to a virtual tympanic membrane modeled for myringotomy simulation. In addition, the virtual object may correspond to a virtual human body structure including the tympanic membrane and middle ear region modeled for myringotomy simulation. In addition, the virtual object may correspond to a virtual human body structure including the tympanic membrane, external auditory canal, and/or middle ear region modeled for myringotomy simulation. This is only an example, and the virtual object may vary depending on the type of incision simulation to be implemented in a virtual environment. In addition, the memory unit (100) may store modeling data for at least one virtual object for at least one incision simulation.

The above virtual medical tool may correspond to a virtual myringotomy knife for cutting the virtual eardrum. This is an example, and the virtual medical tool may vary depending on the type of surgical incision simulation to be implemented in the virtual environment. In addition, the memory unit (100) may store modeling data for at least one virtual medical tool for at least one incision simulation.

According to one embodiment of the present specification, the three layers of the virtual object may include a first layer forming an incision target, a second layer forming a non-incision target, and a third layer for generating a vertical repulsive force of the virtual medical tool.

Figure 3 shows an image of the eardrum of a human body.

Referring to Figure 3, the tympanic membrane can be divided into an anterior superior and posterior superior regions attached to the malleus, and an anterior inferior and posterior inferior regions not attached to the malleus. When performing an actual tympanostomy, the anterior inferior and posterior inferior regions are incised to drain effusion. The anterior refers to the direction toward the face of the human body and the direction toward the back of the head, the superior refers to the direction toward the crown, and the inferior refers to the direction toward the legs.

In the modeling data of the virtual object stored in the memory unit (100) for the above-mentioned tympanotomy simulation, the modeling data for the first layer may correspond to modeling data for the anterior lower and posterior lower regions of the tympanic membrane. The modeling data for the second layer may correspond to modeling data for the anterior upper and posterior upper regions of the tympanic membrane including the malleus. In addition, the modeling data for the second layer may further include modeling data for a portion of the external auditory canal. The modeling data for the third layer may correspond to modeling data for a portion of the inner wall of the middle ear.

The virtual space providing unit (110) can provide a virtual space in which the virtual object and virtual medical tool are placed. The memory unit (100) can further include modeling data for the virtual space. The virtual space providing unit (110) can load the modeling data of the virtual space from the memory unit (100). The virtual space providing unit (110) can render the virtual space using the modeling data of the virtual space.

Figure 4 is an example image of modeling data of a virtual object loaded into a modeling program.

Referring to FIG. 4, the modeling data of the virtual object (200) stored in the memory unit (100) may include the first layer (210), the second layer (220), and the third layer (230). The second layer (220) may be placed between the first layer (210) and the third layer (230). This may mean that the first layer (210), the second layer (220), and the third layer (230) are stacked.

The first layer (210) may have a relatively largest z-axis coordinate value in the virtual space. The second layer (220) may have a z-axis coordinate value that is next largest after the first layer (210) in the virtual space. The third layer (230) may have a relatively smallest z-axis coordinate value in the virtual space. This may mean that the first layer (210), the second layer (220), and the third layer (230) are stacked on the z-axis of the virtual space.

The difference between the z-axis coordinate value of the first layer (210) and the z-axis coordinate value of the second layer (220) can be set within a predetermined difference. The difference between the z-axis coordinate value of the second layer (220) and the z-axis coordinate value of the third layer (230) can be set within a predetermined difference.

The coordinate axes along which the first layer (210), the second layer (220), and the third layer (230) are stacked in the virtual space may vary depending on the orientation of the virtual object (200) and are not limited by a specific coordinate axes.

The first layer (210) may overlap the second layer (220). The area of the second layer (220) where the first layer (210) overlaps may be formed as a blank area.

The shape of the blank area may be the same as the shape of the first layer (210). In addition, the shape of the blank area may be larger than the shape of the first layer (210) by a predetermined size. In addition, the shape of the blank area may be smaller than the shape of the first layer (210) by a predetermined size.

Figure 5 is an example image of incision simulation modeling according to this specification.

Referring to FIG. 5, the virtual object (200) and the virtual medical tool (300) can be placed in the virtual space.

The above virtual medical tool control unit (120) can control the movement of the virtual medical tool (300) within the virtual space according to an external input signal.

The above feedback control unit (130) can generate feedback for the virtual object (200) and/or the virtual medical tool (300) when the virtual object (200) and the virtual medical tool (300) come into contact within the virtual space.

The feedback control unit (130) can determine whether the virtual object (200) and the virtual medical tool (300) are in contact within the virtual space. When the feedback control unit (130) determines that the virtual object (200) and the virtual medical tool (300) are in contact, the feedback control unit (130) can generate a visual feedback that changes the shape of the virtual object (200). In addition, the feedback control unit (130) can generate a tactile feedback signal corresponding to a force generated when cutting human tissue with an actual medical tool.

According to one embodiment of the present specification, the feedback control unit (130) can determine whether the virtual medical tool (300) is in contact with the first layer (210). When the feedback control unit (130) determines that the first layer (210) and the virtual medical tool (300) are in contact, the feedback control unit (130) can generate the visual feedback in the first layer (210). The visual feedback generated in the virtual first layer (210) can mean implementing an incision of human tissue in an actual medical surgical procedure.

In order to implement the incision of the human tissue, the modeling data of the first layer (210) may correspond to modeling data that generates the first layer (210) in the virtual space as a mesh structure based on cloud points (Fig. 5 (a)). The modeling data of the second layer (220) and the third layer (230) may correspond to surface modeling data. This is an example and is not limited by the modeling method. By generating only the first layer (210) as the mesh structure, the incision simulation modeling device (10) according to the present specification can model a virtual object using relatively less memory than a conventional incision simulation modeling device.

Referring to (a) of FIG. 5, if the feedback control unit (130) determines that the first layer (210) and the virtual medical tool (300) are not in contact, the feedback control unit (130) may not generate the visual feedback to the first layer (210).

Referring to (b) of Fig. 5, it can be confirmed that when the virtual object (200) is rendered, the visual feedback by the feedback control unit (130) is not generated in the area corresponding to the first layer (210).

Referring to (c) of Fig. 5, if the feedback control unit (130) determines that the first layer (210) and the virtual medical tool (300) are in contact, the feedback control unit (130) can generate the visual feedback to the first layer (210). The feedback control unit (130) can generate the visual feedback by removing the area of the first layer (210) that the virtual medical tool (300) is in contact with.

The feedback control unit (130) can generate information about the coordinate values of the area where the first layer (210) and the virtual medical tool (300) come into contact. The feedback control unit (130) can generate the visual feedback to annihilate the mesh of the first layer (210) including the coordinate values of the area. This may mean that the feedback control unit (130) generates the visual feedback to delete data that generates the mesh including the coordinate values of the area in the virtual space. Alternatively, it may mean that the feedback control unit (130) generates the visual feedback to delete data of points that constitute the mesh including the coordinate values of the area.

Referring to (d) of FIG. 5, when the virtual object (200) is rendered, the area of the first layer (210) that the virtual medical tool (300) came into contact with can be removed by the visual feedback generated by the feedback control unit (130).

In order to determine whether the first layer (210) and the virtual medical tool (300) are in contact, bounding box collision detection, separating axis theorem, bounding volume hierarchy (BVH), or Gilbert-Johnson-Keerthi (GJK) algorithm, etc. may be used, which are examples and are not limited by a specific algorithm.

The incision simulation modeling device (10) according to the present specification can perform relatively fewer operations by removing the mesh of the first layer (210) in the area where the virtual medical tool (300) comes into contact, thereby omitting the computational process of reconstructing the mesh into a sub-mesh in a conventional incision simulation device.

When the area of the first layer (210) that the virtual medical tool (300) contacts is removed, the area of the third layer (230) corresponding to the removed area can be modeled to be visible. At this time, the third layer (230) can be modeled with a color value that is relatively darker than the first layer (210) and the second layer (220). Alternatively, the third layer (230) can be modeled with a color value that is different from the first layer (210) and the second layer (220). Alternatively, the third layer (230) can be modeled to include a marker of a predetermined shape. This is an example and is not limited by the above methods.

Figure 6 is another example image of incision simulation modeling according to the present specification.

Referring to (a) and (b) of FIG. 6, the virtual medical tool (300) can move to the lower right while maintaining contact with the first layer (210). The feedback control unit (130) can annihilate the mesh of the first layer (210) that the virtual medical tool (300) contacts while moving.

In addition, the feedback control unit (130) can deform the mesh of the first layer (210) toward the direction in which the virtual medical tool (300) moved. The feedback control unit (130) can move the position of a cloud point adjacent to the mesh that has disappeared by contact with the virtual medical tool (300) by a preset amount in the direction in which the virtual medical tool (300) moved.

For example, the virtual medical tool (300) can move downward while maintaining contact with the first layer (210) ((c) of FIG. 6). The feedback control unit (130) can annihilate the mesh of the first layer (210) that is in contact with the virtual medical tool (300) ((d) of FIG. 6). The feedback control unit (130) can select a cloud point adjacent to the annihilated mesh in (d) of FIG. 6. Thereafter, the feedback control unit (130) can move the cloud point in the direction in which the virtual medical tool (300) moved by a preset amount. Using this, the feedback control unit (130) can implement in the virtual object (200) that the cutting surface of the human tissue is pulled in the moving direction of the surgical tool due to the frictional force between the surgical tool and the cutting surface of the human tissue during an actual incision surgery. This is an example and is not limited by a specific moving direction of the virtual medical tool (300).

In (b) of FIG. 6, when the virtual medical tool (300) moves to the lower right while maintaining contact with the first layer (210), the feedback control unit (130) can generate a tactile feedback signal for the movement resistance of the virtual medical tool (300). The movement resistance may refer to a reaction force that the surgical tool receives from human tissue located in the movement direction during an actual incision surgery. In addition, the movement resistance may correspond to a frictional force that the surgical tool receives from a cut surface of human tissue during an actual incision surgery. In addition, the movement resistance may refer to a net force of the reaction force and the frictional force. In addition, the movement resistance may refer to a net force for all forces acting in the opposite direction to the movement direction of the surgical tool due to the interaction between the surgical tool and human tissue. Referring to (b) of the above Fig. 6, the feedback control unit (130) can generate a tactile feedback signal for a movement resistance force acting in the upper left direction opposite to the movement direction of the virtual medical tool (300). This is an example and is not limited by a specific direction.

The above feedback control unit (130) can generate visual feedback by modeling the outflow of body fluid when the mesh of the first layer (210) disappears. The memory unit (100) can further include body fluid outflow modeling data. The feedback control unit (130) can load the body fluid outflow modeling data from the memory unit (100). The feedback control unit (130) can model the body fluid outflow in the area where the mesh disappears when the mesh of the first layer (210) disappears. In the myringotomy simulation, the body fluid outflow modeling data can correspond to data modeling the outflow of exudate. This is an example and is not limited by the body fluid.

Figure 7 is another example image of the incision simulation modeling according to the present specification.

Referring to FIG. 7, the virtual medical tool (300) may pass through a blank area between the first layer (210) and the third layer (230) and contact the third layer (230). When the virtual medical tool (300) contacts the third layer (230), the feedback control unit (130) may generate a tactile feedback signal that restricts the entry of the virtual medical tool (300). The feedback signal may be a signal corresponding to a vertical repulsive force acting in a direction opposite to the entry direction of the virtual medical tool (300).

The entry direction of the above virtual medical tool (300) may mean a vertical direction from the first layer (210) toward the third layer (230).

In the above virtual space, the first layer (210) may have a relatively larger z-axis coordinate value than the third layer (230). The entry direction of the virtual medical tool (300) may be a direction in which the z-axis coordinate value becomes relatively smaller.

During an actual myringotomy, there may be a situation where the surgical instrument cuts the tympanic membrane and comes into contact with the inner wall of the middle ear. At this time, a vertical repulsive force may be applied to the surgical instrument from the inner wall of the middle ear.

When the virtual medical tool (300) comes into contact with the third layer (230) in the tympanostomy simulation, the feedback control unit (130) can output a tactile feedback signal corresponding to the vertical repulsive force occurring during the actual surgery to the virtual medical tool (300).

FIG. 8 is a block diagram of a cutting simulation system according to one embodiment of the present specification.

Referring to FIG. 8, an incision simulation system (1) according to one embodiment of the present specification may include an incision simulation modeling device (10) and a virtual medical tool control device (20). The virtual medical tool control device (20) may output a signal according to a user's movement to the virtual medical tool control unit (120). The virtual medical tool control unit (120) may receive the movement signal and control the movement of the virtual medical tool (300). The virtual medical tool control device (20) may be a pen-shaped device connected to a plurality of robotic arms or a device having the same shape as an actual surgical tool, which is merely an example and is not limited by a specific shape.

The above virtual medical tool control device (20) may include an incision signal generation unit that outputs an incision signal to the incision simulation modeling device (10). The incision signal generation unit may correspond to a button or a touch sensor of a predetermined shape, which is an example and is not limited by a specific device.

When the virtual medical tool (300) comes into contact with the first layer (210), the user can generate an incision signal using the incision signal generating unit. The incision signal may correspond to a signal that causes the feedback control unit (130) to remove the mesh in the area where the virtual medical tool (300) comes into contact with the first layer (210).

The virtual medical tool control device (20) may include a haptic providing unit that provides a haptic response to a user by a signal output from the feedback control unit (130). The signal output from the feedback control unit (130) may correspond to a signal corresponding to the movement resistance force and/or the vertical repulsive force. The virtual medical tool control device (20) may relatively increase the user's sense of simulation immersion by providing the user with a haptic response to the movement resistance force and/or the vertical repulsive force.

FIG. 9 is a block diagram of a cutting simulation system according to another embodiment of the present specification.

Referring to FIG. 9, an incision simulation system (1') according to another embodiment of the present specification may include an incision simulation modeling device (10), a virtual medical tool control device (20), and a display device (30).

The display device (30) can display the virtual space provided by the virtual space providing unit (110), the virtual object (200), and the virtual medical tool (300). The display device (30) can be a display of a predetermined form mounted on the user's head. For example, the display device can correspond to smart glasses, smart goggles, a head mounted display, or a helmet mounted display of a VR (virtual reality) device and/or an AR (augmented reality) device. This is only an example, and the display device can be various, such as a CRT (Cathode-Ray Tube), a PDP (Plasma Display Panel), an LCD (Liquid Crystal Display), an LED (Light Emitting Diode), or an OLED (Organic Light Emitting Diode), and is not limited by a specific display device.

The above memory unit (100), virtual space providing unit (110), virtual medical tool control unit (120), and feedback control unit (130) may include a processor, an ASIC (application-specific integrated circuit), another chipset, a logic circuit, a register, a communication modem, a data processing device, etc. known in the technical field to which the present invention belongs in order to execute calculations and various control logics. In addition, when the above-described control logic is implemented as software, the memory unit (100), virtual space providing unit (110), virtual medical tool control unit (120), and feedback control unit (130) may be implemented as a set of program modules. At this time, the program modules may be stored in the memory device and executed by the processor.

In this specification, a simulation situation of myringotomy is assumed and explained. This is an example, and modeling data for virtual objects and virtual medical tools may vary depending on various incision simulations such as pericardiotomy and/or durotomy, and the generated feedback may also vary. Therefore, it is not limited to the simulation of myringotomy, and various embodiments may be created depending on the type of incision simulation.

Although the embodiments of the present invention have been described above with reference to the attached drawings, it will be understood by those skilled in the art to which the present invention pertains that the present invention may be implemented in other specific forms without changing the technical idea or essential characteristics thereof. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

[Explanation of symbols]

1: Incision simulation system

10: Incision simulation modeling device

20: Virtual Medical Tool Control Device

30 : Display device

100 : Memory section

110: Virtual space provider

120: Virtual Medical Tool Control Unit

130 : Feedback control unit

Claims (13)

A memory section storing modeling data for a virtual object with three layers and modeling data for a virtual medical tool; A virtual space providing unit providing a virtual space in which the above virtual objects and virtual medical tools are placed; A virtual medical tool control unit that controls the movement of the virtual medical tool within the virtual space according to an external input signal; and An incision simulation modeling device, comprising: a feedback control unit that generates feedback for the virtual object or the virtual medical tool when the virtual object and the virtual medical tool come into contact within the virtual space. In claim 1, The three layers of the above virtual object are: The first layer forming the incision target; a second layer forming a non-incision target; and An incision simulation modeling device, comprising a third layer for generating vertical repulsive force of the virtual medical tool. In claim 2, The second layer is positioned between the first layer and the third layer, A cutting simulation modeling device, characterized in that the second layer is formed as a blank area in an area corresponding to the first layer. In claim 2, The above first layer has a mesh shape formed by cloud points, The above feedback control unit is an incision simulation modeling device that destroys the mesh of an area of the first layer that is in contact with the virtual medical tool. In claim 4, The above feedback control unit, An incision simulation modeling device that moves the position of a cloud point adjacent to a mesh that has been destroyed by contact with the virtual medical tool in the area of the first layer by a preset amount in the direction in which the virtual medical tool has moved. In claim 4, The above feedback control unit, An incision simulation system that generates a feedback signal regarding the resistance to movement of the virtual medical tool when the virtual medical tool comes into contact with the first layer. In claim 4, The above feedback control unit, An incision simulation modeling device that generates feedback by modeling the outflow of body fluid when the above mesh object is destroyed. In claim 8, The above feedback control unit, An incision simulation modeling device that generates a feedback signal that restricts the entry of the virtual medical tool when the virtual medical tool comes into contact with the third layer. A cutting simulation modeling device according to any one of claims 1 to 8; and An incision simulation system, comprising: a virtual medical tool control device for outputting a movement signal of the virtual medical tool to a virtual medical tool control unit of the incision simulation modeling device. In claim 9, The above virtual medical tool control device, An incision simulation system, comprising: an incision signal generating unit for outputting an incision signal to the above-mentioned incision simulation modeling device. In claim 9, The above virtual medical tool control device, An incision simulation system, comprising a haptic providing unit that provides a haptic response to a user by a signal output from a feedback control unit of the incision simulation modeling device. In claim 9, An incision simulation system further comprising a display device for displaying a virtual space provided by a virtual space providing unit of the incision simulation modeling device, the virtual object, and a virtual medical tool. In claim 12, The above display device, An incision simulation system characterized by a display of a predetermined form mounted on a user's head.

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