CN104580973A - Recording and playback method and device of virtual surgical simulation process - Google Patents

Abstract

The invention provides a recording and playback method and a device of a virtual surgical simulation process. The method comprises the steps: event pre-classification: obtaining a plurality of operation signals in different surgery types, abstracting each operation signal into a response event, mapping the response events into an integer set comprising a plurality of integer identifications, and corresponding the response events to the integer identifications one to one; recording: storing an initial scene state, sequentially obtaining the operation signals of the current surgery type, inquiring and storing the integer identifications corresponding to the operation signals of the current surgery type respectively according to the obtained operation signals at the same time, and generating a recording segment according to the stored integer identifications and the initial scene state; and playback: obtaining the initial scene state, sequentially obtaining the integer identification in the recording segment according to a storage sequence, and responding and rendering according to the obtained integer identifications and the initial scene state at the same time to generate and display a new scene state.

Description

A recording and playback method and device for a virtual surgery simulation process

technical field

The present invention relates to a virtual surgery data processing technology, in particular to a method and device for recording and replaying a virtual surgery simulation process.

Background technique

Virtual surgery is a technology that uses medical imaging data and uses virtual reality technology to create a virtual environment in the computer, enabling doctors to use the information in the virtual environment to plan, train, and guide surgery in actual operations. The use of virtual reality technology to virtualize the surgical environment can immerse medical workers in the virtual scene, perceive and learn various surgical operations through sight, hearing, and touch, and experience and learn how to deal with the actual situation in clinical operations. This saves the cost and time of training medical personnel, greatly reduces the risk of unskilled personnel performing operations, and has special significance for improving the efficiency and quality of medical education and training and improving the current situation of unbalanced development of medical operations.

Currently, there are mainly three methods for recording virtual surgical procedures:

(1) Screen recording software.

In this method, before simulating the surgical process, first open the screen recording software such as CamStudio and Camtasia Studio to record the entire screen.

The defects of this method are as follows: First, this method is not only cumbersome and complicated to operate, and does not conform to user habits, but also increases the dependence of virtual surgery simulation software on third-party software (screen recording software), which greatly increases virtual surgery simulation. The complexity and engineering volume of environment construction. Secondly, this method requires a lot of system resources to record the screen, which will have an impact on the simulation process of the virtual surgery itself, specifically reflected in the significant drop in the simulation frame rate, which greatly damages the simulation experience of the surgery itself. Finally, the essence of this method is to extract screenshots from the frame buffer at a certain frame rate and perform video transcoding to output a common video format (usually avi format). Therefore, the recording of the simulated surgical process using this method is actually the recording of all changes on the entire screen during the surgical process, so a large amount of redundant information irrelevant to the virtual surgical interface will be recorded.

(2) Extract images from the graphics API (Application Programming Interface) frame buffer for recording.

In order to improve the reality of scene rendering and the user's visual immersion in virtual surgery, graphics API (OpenGL or DirectX) is usually used to draw surgical scenes and models. In order to generate dynamic and continuous picture effects, this type of graphics API has two front and rear frame buffers for On-Screen display and Off-Screen rendering respectively. This method extracts continuous images from the frame buffer at a certain frequency, or performs video encoding for common file format output, or saves them to the hard disk for playback (redisplays the saved images at a certain frame rate).

The disadvantage of this method is that the extracted original image is usually large in size, and if it is saved without processing, it will consume a lot of storage space. Reducing the image space occupied by real-time compression will affect the real-time performance of virtual surgery simulation, resulting in a decrease in the simulation frame rate. Reducing the space occupied by reducing the image quality will reduce the image quality during playback, resulting in a decline in user experience. Therefore, this method usually faces a trade-off between image quality, storage space, and simulation efficiency, and cannot be optimized at the same time.

(3) Record by recording the rendering state of each frame.

During the rendering process of the virtual surgery scene, the graphics API and the objects in the scene have a "rendering state" that changes frame by frame, usually including the state of the transformation matrix, the state of the model deformation, and so on. This method indirectly records each frame of the simulation process by saving the rendering state of each frame during the rendering process. When playing back, by restoring the previously saved rendering state frame by frame, the screen playback of the surgical process is realized.

The main problems of this method are: its space occupation and time efficiency are directly proportional to the complexity of the virtual surgery scene. The higher the complexity of the scene, the larger the number of dynamic models, the more rendering states need to be saved in each frame, and the larger the system resources occupied. Therefore, this method has relatively large limitations and is only suitable for applications where the virtual surgery scene is relatively simple.

Contents of the invention

The main purpose of the embodiments of the present invention is to provide a method and device for recording and replaying a virtual surgery simulation process, so as to realize a virtual surgery simulation process with strong pertinence, less resource occupation, good picture quality, less space occupation, and no redundant data Record and playback steps.

In order to achieve the above object, an embodiment of the present invention provides a method for recording and replaying a virtual surgery simulation process. The method for recording and replaying a virtual surgery simulation process includes: an event pre-classification step: acquiring multiple operations in different types of surgery signal, each of the operation signals is abstracted into a response event, and the response event is mapped to an integer set containing a plurality of integer identifiers, and the response event is in one-to-one correspondence with the integer identifiers; the recording step: storing In the initial scene state, a plurality of the operation signals of the current operation type are sequentially obtained, and at the same time, a plurality of integer identifiers respectively corresponding to the plurality of operation signals of the current operation type are queried and stored according to the obtained operation signals; according to A plurality of integer identifiers stored and the initial scene state generate a recording segment; playback step: obtain the initial scene state, sequentially obtain a plurality of integer identifiers in the recording segment according to the order of storage, and simultaneously obtain the integer identifier and The initial scene state responds, renders, generates and displays a new scene state.

In one embodiment, the above recording step includes: Step a: Initialize the recording timer, set the recording refresh frequency and recording trigger moment of the recording timer; the recording timer is used to discretize the continuous time into a fixed length The recording time segment, the length of the recording time segment is the recording timing interval between each recording trigger moment; step b: receive a start recording signal, and record according to the described start recording signal; step c: store the described The initial scene state is in a standard library container, and the initial scene state includes: obtaining the model state and rendering state when the initial scene state is obtained; step d: obtaining the operation signal at the trigger moment of the current recording;

Step e: Query and obtain the integer identifier corresponding to the operation signal at the current recording trigger moment from the integer set, and store the obtained integer identifier in the standard library container; Step f: In the recording timer At the next recording trigger moment, return to and execute the above step d to step f until the operation signal obtained in the step d is the recording end signal, query and obtain the recording end signal from the integer set in the integer Concentrate the corresponding recording end integer identifiers, and store the recording end integer identifiers in the standard library container; step g: generate the Record the clip.

In one embodiment, the relationship between the recording frame rate in the recording step and the recording refresh rate is expressed by the following formula: m/f=1000, where m is the recording frame rate and f is the recording refresh rate frequency.

In an embodiment, when there is no operation signal at the recording triggering time of the recording timer, the response event is a null event, and the null event corresponds to the integer identifier 0 in the integer set.

In one embodiment, the above playback steps include: Step h: Initialize the playback timer, set the playback refresh frequency and playback triggering time of the playback timer; the playback timer is used to discretize continuous time into fixed-length Playback time segment, the length of the playback time segment is the playback timing interval between each described playback trigger moment; step i: receive a start playback signal, and play back according to the start playback signal; step j: set the playback start time The scene state is pushed onto the stack and stored in the preset stack data structure; step k: obtain the initial scene state from the standard library container; step l: at the current playback trigger moment of the playback timer, obtain An integer identifier stored in the standard library container; step m: judging whether the integer identifier obtained in the step 1 is the integer identifier of the recording end; if not, according to the corresponding response event and the scene to be responded to by the obtained integer identifier The state response generates a response scene state, and renders the response scene state, generates and displays the new scene state, updates the playback timer to the next playback trigger moment, and updates the scene state to be responded to the said new scene state, and return to execute said step 1; if so, acquire and display the scene state at the beginning of said playback from said stack data structure; wherein, at the first of said playback timer At the playback trigger moment, the scene state to be responded to is the initial scene state; wherein, in the step 1, at different playback trigger moments, according to the storage sequence of the integer identifier in the recording segment, sequentially acquire a The integer ID described above.

In an embodiment, at one of the playback triggering moments of the playback timer, when the integer identifier obtained in the step m is the integer identifier 0, render the pending response corresponding to one of the playback triggering moments Scene state, generating a new scene state corresponding to the empty event.

In one embodiment, when the playback timing interval is equal to the recording timing interval, in the playback step, the recorded segment is played back at the same speed as the recording step; when the playback timing interval is less than During the recording timing interval, in the playback step, playback the recorded segment at a speed faster than the recording step; when the playback timing interval is greater than the recording timing interval, in the playback step , to play back said recorded segment at a speed slower than said recorded step.

In one embodiment, when reading n response events at each of the playback timing intervals, in the playback step, fast-play the recorded segment at n times speed; When reading 1/n of the response events at regular intervals, in the playback step, slow down the recorded segment at n times speed, wherein n is a positive integer.

An embodiment of the present invention also provides a recording and playback device for a virtual surgery simulation process. The recording and playback device for a virtual surgery simulation process includes: an event pre-classification unit for acquiring multiple operation signals in different types of surgery, Abstracting each of the operation signals into a response event, and mapping the response event to an integer set including a plurality of integer identifiers, the response event corresponds to the integer identifiers one by one; the recording unit is used to store In the initial scene state, a plurality of the operation signals of the current operation type are sequentially obtained, and at the same time, a plurality of integer identifiers respectively corresponding to the plurality of operation signals of the current operation type are queried and stored according to the obtained operation signals; according to A plurality of stored integer identifiers and the initial scene state generate a recording segment; a playback unit is used to obtain the initial scene state, sequentially obtain a plurality of integer identifiers in the recording segment according to the order of storage, and at the same time according to the obtained integer Identify and describe the initial scene state to respond, render, generate and display a new scene state.

In one embodiment, the above-mentioned recording unit includes: a recording initialization module, configured to initialize a recording timer, and set the recording refresh frequency and recording trigger moment of the recording timer; the recording timer is used to set the continuous time Discretized into fixed-length recording time segments, the length of the recording time segment is the recording timing interval between each recording trigger moment; the recording module is used to receive a recording start signal, and record according to the recording start signal; initial The scene state storage module is used to store the initial scene state in a standard library container, and the initial scene state includes: the model state and rendering state when obtaining the initial scene state; the operation signal acquisition module is used to obtain The operation signal at the current recording trigger moment; an integer identifier acquisition module, configured to query and obtain the integer identifier corresponding to the operation signal at the current recording trigger moment from the integer set, and store the obtained integer identifier in the standard library container middle; the recording end integer identification acquisition module is used to query and obtain the recording end corresponding to the recording end signal in the integer set from the integer set when the operation signal acquired by the integer identification acquisition module is a recording end signal An integer identifier, and store the recording end integer identifier in the standard library container; a recording segment generation module, configured to generate the recording according to the stored multiple integer identifiers, the recording end integer identifier and the initial scene state fragment.

In one embodiment, the relationship between the recording frame rate of the recording unit and the recording refresh rate is expressed by the following formula: m/f=1000, where m is the recording frame rate and f is the recording refresh rate frequency.

In an embodiment, when there is no operation signal at the recording triggering time of the recording timer, the response event is a null event, and the null event corresponds to the integer identifier 0 in the integer set.

In one embodiment, the above-mentioned playback unit includes: a playback initialization module, configured to initialize a playback timer, set the playback refresh frequency and playback triggering moment of the playback timer; the playback timer is used to discretize continuous time into A playback time segment of a fixed length, the length of the playback time segment is the playback timing interval between each described playback trigger moment; the playback module is used to receive a playback signal at the beginning, and playback is performed according to the playback start signal; during playback The scene state storage module is used to push and save the scene state at the beginning of playback to a preset stack data structure; the initial scene state acquisition module is used to obtain the initial scene state from the standard library container; the integer identifier The acquisition module is used to acquire an integer identifier stored in the standard library container at the current playback trigger moment of the playback timer; wherein, at different playback trigger moments, the integer identifier acquisition module presses the recording segment The storage order of the integer identification in the middle, obtains one described integer identification successively; The new scene state generating module is used to judge whether the integer identification obtained by the new scene state generating module is the recording end integer identification; if not, according to the obtained integer Identify the corresponding response event and the scene state to be responded to respond to generate a response scene state, and render the response scene state, generate and display the new scene state, update the playback timer to the next playback trigger moment, and set The scene state to be responded to is updated to the new scene state, triggering the integer identification acquisition module again; if so, triggering the scene state display module during playback; wherein, in the first one of the playback timer When playback is triggered, the scene state to be responded to is the initial scene state; the scene state display module during playback is used to obtain and display the scene state at the beginning of playback from the stack data structure.

In an embodiment, the above-mentioned new scene state generating module is further configured to: when the acquired integer identifier is the integer identifier 0, render the current scene state and generate a new scene state corresponding to the empty event.

In one embodiment, when the playback timing interval is equal to the recording timing interval, the playback unit plays back the recording segment at the same speed as the recording unit records the recording segment; when the When the playback timing interval is less than the recording timing interval, the playback unit playbacks the recording segment at a speed faster than the recording unit recording the recording segment; when the playback timing interval is greater than the recording timing interval , the playback unit plays back the recorded segment at a speed slower than that recorded by the recording unit.

In one embodiment, when reading n response events at each of the playback timing intervals, the playback unit fast-plays the recorded segment at n times speed; when at each of the playback timing intervals When reading 1/n of the response events, the playback unit slows down the recording segment at n times speed, wherein n is a positive integer.

The beneficial effects of the embodiments of the present invention are that, through the present invention, the recording and playback steps of the virtual surgery simulation process with strong pertinence, less resource occupation, good picture quality, less space occupation and no redundant data can be realized.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments. Obviously, the accompanying drawings in the following description are only of the present invention. For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without paying creative efforts.

Fig. 1 is the flow chart of the method for recording and replaying a virtual surgery simulation process according to an embodiment of the present invention;

FIG. 2 is a flow chart of recording step 2 according to an embodiment of the present invention;

3 is a flow chart of playback step 3 according to an embodiment of the present invention;

4 is a schematic structural diagram of a recording and playback device for a virtual surgery simulation process according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a recording unit 5 according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of the playback unit 6 according to an embodiment of the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Embodiments of the present invention provide a method and device for recording and playing back a virtual surgery simulation process. The present invention will be described in detail below in conjunction with the accompanying drawings.

Embodiments of the present invention provide a recording and playback method of a virtual surgery simulation process, as shown in Figure 1, the recording and playback method of the virtual surgery simulation process includes:

Event pre-classification step 1: Obtain multiple operation signals in different operation types, abstract each operation signal into a response event, and map the response event to an integer set containing multiple integer identifiers. The response event and the integer identifier are the same One-to-one correspondence (S1).

Recording step 2: store the initial scene state, obtain multiple operation signals of the current operation type in sequence, and at the same time query and store multiple integer identifiers corresponding to the multiple operation signals of the current operation type according to the obtained operation signals; An integer identifier and an initial scene state generate a recording segment (S2).

Playback step 3: Obtain the initial scene state, obtain multiple integer identifiers in the recorded clips in sequence according to the storage order, respond and render according to the obtained multiple integer identifiers and the initial scene state, and generate and display a new scene state (S3).

The recording and playback method of the virtual surgery simulation process in the embodiment of the present invention abstractly maps the response events corresponding to the various operation signals generated in the virtual surgery simulation process into general data type identifiers (such as integer identifiers), and during the recording process The time sequence of each response event is stored, and the integer identifier corresponding to the response event is stored to generate a recording segment. During the playback process, the stored integer identifiers are read according to the stored timing, and a new response is performed to display the new scene state corresponding to each integer identifier, so as to realize the playback of the recorded segment. The recording and playback method of the virtual surgery simulation process in the embodiment of the present invention realizes the recording and playback of the virtual surgery simulation process, and can realize the recording and playback process of the virtual surgery simulation process with less operating resource occupation, less storage space occupation, and fast processing speed .

The process of the method for recording and replaying the virtual surgery simulation process of the embodiment of the present invention will be specifically described below in conjunction with examples.

The simulation process of virtual surgery is actually a process in which the operator operates the surgical instrument and interacts with the computer-simulated virtual surgical instrument model. In practical application, the simulation process of various types of virtual surgery can be presented by computer. In the embodiment of the present invention, the simulation process of cardiovascular and cerebrovascular interventional surgery is taken as an example for illustration, but the present invention is not limited thereto. In the simulation process of cardiovascular and cerebrovascular interventional surgery, the operator operates surgical instruments such as catheters and guide wires, controls the computer-simulated virtual surgical instrument model, and interacts with the 3D human blood vessel and organ models presented by computer simulation in real time.

Specifically, in the simulation process of cardiovascular and cerebrovascular interventional surgery, it can include the operator's lifting and rotation of the C-arm, the rotation and translation of surgical instruments such as catheter guide wires, and various simulations such as contrast injection, stent placement, and balloon expansion. operate. These operations are all response events for the virtual operator to interact with the simulation system, and these response events correspond to corresponding operation signals. The sources of operation signals in the virtual surgery simulation process mainly include the operation signals of virtual surgical instruments captured by motion sensors such as guide wire motion capture sensors and C-arm operation sensors, as well as user input input through peripheral devices such as keyboards and mice. Operation signals for issuing instructions, etc. For the motion sensor, the signal value of the motion sensor can be accessed by using the method of timing query and converted into the displacement of the virtual surgical instrument. For operation signals such as keyboard and mouse, MFC (Microsoft Foundation Class Library) software framework processes the operation signals through message mapping and message queue mechanism. That is, all operational signals that can be interacted with during the virtual surgery simulation are recorded where all signal sources occur.

Different types of virtual surgery can contain a variety of different operating signals, and each operating signal corresponds to a response event, and the senders of each operating signal are different. In the virtual surgery simulation process of the embodiment of the present invention In the recording and playback methods of the virtual surgery, all possible respondable operation signals that may appear in the simulation process of virtual surgery are abstracted into response events, and the response events are mapped to an integer set containing integers 0-E _max , and E _max + 1 integer as an integer ID for each response event. In addition, among all the response events, there is a special event that occurs when the operator does not interact with the computer or the virtual surgical instrument model, and no operation signal is generated at this time. The response event corresponding to this special event is is called the null event, which corresponds to the integer identity 0 in the integer set.

In the above-mentioned event pre-classification step 1, various operations in different types of virtual surgery simulation processes are organized and mapped into an integer set. A unified recordable integer format type is provided for the subsequent recording process, which occupies less bytes and saves storage space.

During specific implementation, as shown in Figure 2, the above-mentioned recording step 2 may include the following steps:

Step 201: Initialize the recording timer, and set the recording refresh frequency and recording triggering time of the recording timer (S201). At the beginning of the virtual surgery, first set the recording refresh frequency and recording trigger moment by initializing the recording timer. The recording timer is used to discretize continuous time into recording time segments of fixed length, and the length of the recording time segments is the recording timing interval between recording triggering moments.

Since the recording process occurs during the rendering of each frame, the frame rate of the recording is the same as the frame rate of the simulated rendering. The relationship between the recording frame rate m and the recording timer timing value t is: m=1000/t, and the relationship between the recording frame rate m and the recording refresh frequency f is: m/f=1000.

In order to ensure the real-time of the virtual surgery simulation process and smooth visual experience of the operator, the recording timer timing value t usually does not exceed 33 milliseconds, that is, the refresh rate of the simulation screen is above 30 Hz. This means that all interactive simulation operations and rendering processes must be completed within t milliseconds.

Step 202: Receive a recording start signal, and record according to the recording start signal (S202). After the setting of the recording timer is completed, the recording start signal sent by the operator is received, and the simulation process of the virtual surgery is recorded according to the recording start signal.

Step 203: Store the initial scene state in a standard library container (S203). When the recording start signal from the operator is received, the initial scene state at the current moment is first saved in a standard library container (vector) (for example: C++ standard library container). The initial scene state mainly includes two parts. The first part is the model state, that is, the position and deformation state of the human organ model (viscera, blood vessel, etc.) and the surgical instrument model (catheter, guide wire, balloon stent, etc.); the second part It is the rendering state, that is, the state related to the real-time rendering of the 3D model, including coordinate transformation matrix, material, texture, etc.

Step 204: Obtain the operation signal at the current recording trigger moment (S204). After the recording process starts, at the triggering moment of the recording timer, read different operation data from the external sensor (the signal that the external sensor can receive includes not only the operation signal corresponding to the surgical instrument model, but also the operation signal of the mouse, keyboard, etc.). The operation process reads various operation signals, such as: displacement signals of surgical instruments, etc.

Step 205: Query and acquire the integer identifier corresponding to the operation signal at the current recording trigger moment from the integer set, and store the acquired integer identifier in the standard library container (S205). After the displacement signal is transformed into an abstract response event of the virtual surgery, the integer identifier corresponding to the response event is queried and obtained from the above-mentioned integer set. Since the mapping relationship between the response event and the integer identifier in the integer set has actually been generated in one-to-one correspondence in the above-mentioned event pre-classification step 1, the corresponding integer identifier is queried and read according to the displacement signal during the recording process, and the read to The integer identifiers for are stored in the standard library containers described above.

Step 206: At the next triggering moment of the recording timer, obtain the operation signal in the virtual surgery simulation process again, query and obtain the corresponding integer identifier of the operation signal in the integer set, and save the integer identifier to the above-mentioned standard library container middle (S206).

According to the above steps 204 to 206, at each triggering moment of the recording timer, an operation signal in the virtual surgery simulation process is respectively obtained, and when the operation signal is obtained, it is queried and obtained from the above integer set The integer identifier corresponding to the operation signal, and saved to the above-mentioned standard library container.

And when the operation signal obtained in the above step 204 is a recording end signal, query and obtain the recording end integer identifier corresponding to the recording end signal in the integer set from the above-mentioned integer set, and store the recording end integer identifier in the above-mentioned standard library in the container. The recording end signal also corresponds to a response event, that is, the recording end event. The recording end event corresponds to the recording end integer identifier in the above-mentioned integer set, and the recording end integer identifier serves as the end mark of the recording process.

Step 207: Generate a recording segment according to the stored multiple integer identifiers, the recording end integer identifier and the initial scene state (S207). After obtaining the above-mentioned recording end integer identifier, stop recording all response events, and form a recording segment together with the scene state saved at the beginning of the recording and the integer identifier corresponding to the response event recorded during the recording process, and save it for subsequent playback process use.

The above is the recording step 2 in the recording and playback method of the virtual surgery simulation process according to the embodiment of the present invention. Through the recording step 2, the only scene state at the moment when the recording is started is stored and recorded, as well as each subsequent recording trigger moment. Integer ID corresponding to the action signal. It can be seen that the content recorded in the recording process occupies less space and is also convenient for query and acquisition.

As shown in Figure 3, the playback step 3 above mainly includes the following steps:

Step 301: Initialize the playback timer, and set the playback refresh frequency and playback triggering time of the playback timer (S301). The playback timer is used to discretize continuous time into playback time segments of fixed length, and the length of the playback time segment is the playback timing interval between each playback trigger moment.

Step 302: Receive a playback start signal, and perform playback according to the playback start signal (S302). After the playback timer is set, the playback start signal sent by the operator is received, and the simulation process of the virtual surgery is played back according to the playback start signal.

Step 303: Push and save the scene state at the beginning of playback to a preset stack data structure (S303). At the moment when the playback starts according to the playback start signal sent by the operator, the scene state at this time is first pushed and saved in a pre-set data stack structure.

Step 304: Get the initial scene state from the standard library container (S304). After the scene state at the start of playback is pushed and saved, read the initial scene state saved in step 2 of the recording above, and set it as the initial scene state at the beginning of playback.

Step 305: At the current playback triggering moment of the playback timer, obtain an integer identifier stored in the standard library container (S305);

Step 306: Determine whether the integer identifier obtained in step 305 is the integer identifier of the recording end; if not, generate a response scene state according to the response event corresponding to the obtained integer identifier and the scene state response to be responded, and render the response Scene state, generate and display the new scene state, update the playback timer to the next playback trigger moment, update the scene state to be responded to the new scene state, return to execute the steps 305: If yes, acquire and display the scene state at the beginning of the playback from the stack data structure (S306).

In the actual playback process, at the first triggering time t1 of the playback timer, read an integer identifier from the recording segment stored in the standard library container according to the order in which the integer identifiers are stored in the standard library container in the recording step 2 . After the integer identifier is read, it is judged whether the integer identifier is the above-mentioned recording end integer identifier. If the integer identifier is not the integer identifier of the end of recording, the above-mentioned initial scene state is re-responsed according to the type of the integer identifier. Specifically, it is to trigger the message mapping mechanism of MFC, and call the corresponding response function (the response function here can actually be realized through a section of response program. During the virtual surgery simulation process, for each virtual surgery model, mouse or keyboard For any operation, there will be a corresponding program to process and calculate the operation. For example, when receiving the translation signal of the external guide wire, it will call the program specially for the translation of the guide wire according to this signal, so as to control the different external The operation performs targeted processing and calculation) to respond to the scene state according to the type of the response event corresponding to the integer identifier. Then, re-render the scene state after the response. After the rendering is completed, generate and display a new scene state combined with the response event corresponding to the read integer identifier. At this time, all the current triggering time t1 of the playback timer After the work is completed, enter the waiting stage and wait for the next playback trigger moment of the playback timer.

At the next playback trigger time t2 of the playback timer, update the scene state generated at the playback trigger time t1 to the current scene state at the playback trigger time t2, and return to execute the above-mentioned step 305. The order in which ids are stored into the standard library container, the next integer id is read from the recording segment stored in the standard library container. After the integer identifier is read, the above step 306 is executed to determine whether the integer identifier is the above-mentioned recording end integer identifier. If the integer identifier is not the integer identifier of the recording end, respond to the new scene state generated at the playback trigger time t1 according to the type of the integer identifier, and re-render the scene after the response, generate and display combined with the playback trigger time t2 acquisition The integer identifies the scene state of the corresponding response event, and waits for the next playback trigger moment of the playback timer.

After generating a new scene state combined with the integer identifier obtained at the playback trigger time t2, at the next playback trigger time t3 of the playback timer, update the scene state generated at the playback trigger time t2 to the current scene state at the playback trigger time t3 The scene state, and return to execute the above step 305, and obtain the next integer identifier stored in the standard library container according to the storage order of the integer identifiers in the recording segment. After the integer identifier is read, the above step 306 is executed to determine whether the integer identifier is the above-mentioned recording end integer identifier. If the integer identifier is not the integer identifier of the recording end, respond and render according to the response event corresponding to the integer identifier acquired at the playback trigger moment t3 and the new scene state generated at the playback trigger moment t2, thereby generating and displaying the playback trigger moment t3 The corresponding new scene state, and wait for the next playback trigger time t4 of the playback timer. The above-mentioned steps 305 and 306 are repeatedly executed in this way, thereby generating and displaying the scene states corresponding to each playback triggering time t1-tn, until at a certain playback triggering time, the above-mentioned step 306 judges that the integer obtained in step 305 is identified as Integer identifier of the end of recording as described above.

When the integer identifier obtained in the above step 305 is the integer identifier of the end of recording, the scene state at the beginning of the playback is obtained from the above stack data structure and displayed. At each triggering moment of the playback timer, an integer identifier is taken from the standard library container and processed. When the obtained integer identifier is the above-mentioned recording end integer identifier, it indicates that the playback of the current recording segment has been completed. At this time, the scene state pushed to the top of the stack at the beginning of the playback is obtained from the above stack data structure through the stack operation and restored. So far Until now, the playback of the above recorded segment is completed.

From the above description, it can be seen that due to the different data ranges that can be represented by different data types, the recording and playback method of the virtual surgery simulation process in the embodiment of the present invention can be mapped to character type, short Integer, unsigned integer, long integer and many other data types. This adjustment will affect the size of the recording segment. The smaller the bit width of the data type mapped to, the smaller the space occupied by the analog segment, so as to achieve strong pertinence, less resource occupation, good picture quality, less space occupation, and no redundant data. The recording and playback process of the virtual surgery simulation process.

In one embodiment, when the integer identifier obtained in the above step 305 is an integer identifier of 0, it means that the response event at the current playback trigger moment is an empty event, which means that at the corresponding recording trigger moment in recording step 2, the external sensor and MFC None of them receive the operator's operation signal, so there is no response event to be processed, only the entire scene needs to be re-rendered.

In one embodiment, when the playback timer interval of the playback step 3 is equal to the recording timer interval of the recording step 2, the playback step 3 plays the recording segment at the same speed as the recording step 2 recording the recording segment. And, by setting a different timer interval in playback step 3 than in recording step 2, playback can be performed at a different speed than the recording frame rate: when the playback timer interval of playback step 3 is smaller than the recording timer interval of recording step 2 , the playback step 3 plays the recording segment at a speed faster than that of the recording step 2; when the timer interval of the playback step 3 is greater than the timer interval of the recording step 2, the playback step 3 is recorded slower than the recording step 2 The speed of the recording slows down the recording.

In another embodiment, by adjusting the number of events read at each timer interval, playback at a speed different from the recording frame rate can also be realized, thereby realizing the fast-forward function. Assuming that 2 events are read at each timer interval for simulation, then the display result of one frame during playback is equivalent to two frames during recording, thus achieving 2x speed playback. Therefore, if each timer interval reads n events, then playback step 3 realizes fast-forward playback at n times speed. When reading 1/n of the response events at each playback timing interval, in the playback step 3, slow down the recorded segment at n times speed, wherein the above n is a positive integer.

In practical applications, in the recording step 2, recording at different frame rates can be achieved by setting different timing values for the recording timer. For example, when the timing value is 16 milliseconds, video recording at 60 frames per second can be realized, and when the timing value is 33 milliseconds, video recording at 30 frames per second can be realized.

The following are the screen recording software mentioned in the background technology, the screenshot of the graphics API frame buffer, recording by recording the rendering state of each frame and the recording and playback method of the virtual surgery simulation process in the embodiment of the present invention, in the same The actual recording process experiment carried out in the environment, the experimental results are shown in Table 1 below:

Table I

As shown in Table 1, the experimental results of the recording and playback method of the virtual surgery simulation process according to the embodiment of the present invention do not reduce the rendering frame rate. Compared with the three methods mentioned in the background technology, the memory usage is extremely low, and the improvement of the CPU usage is basically negligible. Both the API frame buffer screenshot method and the rendering state recording method need to temporarily save the recording results to the memory and then transfer them to the hard disk, so these two methods occupy a large amount of memory. It can be seen from the experimental results that using the recording and playback method of the virtual surgery simulation process in the embodiment of the present invention to record and playback the virtual surgery simulation process has significant advantages of less resource occupation, low space occupation, and no influence on the original simulation process.

In terms of playback, the recording and playback method of the virtual surgery simulation process in the embodiment of the present invention has no loss in image quality, and can be played back at a speed of 60 frames per second and a resolution of 1920×1080. And you can set the playback parameters to perform fast forward and slow playback. The replay results are exactly the same as the original simulation.

In summary, through the recording and playback method of the virtual surgery simulation process in the embodiment of the present invention, it is possible to complete the recording of the simulation process with high resolution, high image quality, and high frame rate with minimal occupation of system resources, and the recorded information No redundancy, takes up less space, and can be played immediately without format conversion.

The embodiment of the present invention also provides a recording and playback device for a virtual surgery simulation process. As shown in FIG. The event pre-classification unit 4, the recording unit 5 and the playback unit 6 are described in detail below in conjunction with examples.

The simulation process of virtual surgery is actually a process in which the operator operates the surgical instrument and interacts with the computer-simulated virtual surgical instrument model. In practical application, the simulation process of various types of virtual surgery can be presented by computer. In the embodiment of the present invention, the simulation process of cardiovascular and cerebrovascular interventional surgery is taken as an example for illustration, but the present invention is not limited thereto. In the simulation process of cardiovascular and cerebrovascular interventional surgery, the operator operates surgical instruments such as catheters and guide wires, controls the computer-simulated virtual surgical instrument model, and interacts with the 3D human blood vessel and organ models presented by computer simulation in real time.

Specifically, in the simulation process of cardiovascular and cerebrovascular interventional surgery, it can include the operator's lifting and rotation of the C-arm, the rotation and translation of surgical instruments such as catheter guide wires, and various simulations such as contrast injection, stent placement, and balloon expansion. operate. These operations are all response events for the virtual operator to interact with the simulation system, and these response events correspond to corresponding operation signals. The sources of operation signals in the virtual surgery simulation process mainly include the operation signals of virtual surgical instruments captured by motion sensors such as guide wire motion capture sensors and C-arm operation sensors, as well as user input input through peripheral devices such as keyboards and mice. Operation signals for issuing instructions, etc. For the motion sensor, the signal value of the motion sensor can be accessed by using the method of timing query and converted into the displacement of the virtual surgical instrument. For operation signals such as keyboard and mouse, MFC (Microsoft Foundation Class Library) software framework processes the operation signals through message mapping and message queue mechanism. That is, all operational signals that can be interacted with during the virtual surgery simulation are recorded where all signal sources occur.

Different types of virtual surgery can contain a variety of different operating signals, and each operating signal corresponds to a response event, and the senders of each operating signal are different. In the virtual surgery simulation process of the embodiment of the present invention The recording and playback device of the virtual surgery abstracts all possible respondable operational signals in the simulation process of virtual surgery into response events, and maps the response events to an integer set containing integers 0-E _max , using E _max +1 integers as an integer ID for each response event. In addition, among all the response events, there is a special event that occurs when the operator does not interact with the computer or the virtual surgical instrument model, and no operation signal is generated at this time. The response event corresponding to this special event is is called the null event, which corresponds to the integer identity 0 in the integer set.

The above-mentioned event pre-classification unit 4 is used to sort out various operations in different types of virtual surgery simulation processes and map them into an integer set. A unified recordable integer format type is provided for the subsequent recording process, which occupies less bytes and saves storage space.

During specific implementation, as shown in Figure 5, the above-mentioned recording unit 5 mainly consists of the following parts: a recording initialization module 51, a recording module 52, an initial scene state storage module 53, an operation signal acquisition module 54, an integer identification acquisition module 55, The recording end integer identifier acquisition module 56 and the recording segment generation module 57 .

The above-mentioned recording initialization module 51 is used to initialize the recording timer, and set the recording refresh frequency and recording trigger time of the recording timer. At the beginning of the virtual surgery, first set the recording refresh frequency and recording trigger moment by initializing the recording timer. The recording timer is used to discretize continuous time into recording time segments of fixed length, and the length of the recording time segments is the recording timing interval between recording triggering moments.

Since the recording process occurs during the rendering of each frame, the frame rate of the recording is the same as the frame rate of the simulated rendering. The relationship between the recording frame rate m and the recording timer timing value t is: m=1000/t, and the relationship between the recording frame rate m and the recording refresh frequency f is: m/f=1000.

In order to ensure the real-time of the virtual surgery simulation process and smooth visual experience of the operator, the recording timer timing value t usually does not exceed 33 milliseconds, that is, the refresh rate of the simulation screen is above 30 Hz. This means that all interactive simulation operations and rendering processes must be completed within t milliseconds.

The recording module 52 is configured to receive a recording start signal, and perform recording according to the recording start signal. After the setting of the recording timer is completed, the recording start signal sent by the operator is received, and the simulation process of the virtual surgery is recorded according to the recording start signal.

The initial scene state storage module 53 is used to store the initial scene state in a standard library container. When the recording start signal from the operator is received, the initial scene state at the current moment is first saved in a standard library container (vector) (for example: C++ standard library container). The initial scene state mainly includes two parts. The first part is the model state, that is, the position and deformation state of the human organ model (viscera, blood vessel, etc.) and the surgical instrument model (catheter, guide wire, balloon stent, etc.); the second part It is the rendering state, that is, the state related to the real-time rendering of the 3D model, including coordinate transformation matrix, material, texture, etc.

The operation signal obtaining module 54 is used to obtain the operation signal at the current recording trigger moment. After the recording process starts, at the triggering moment of the recording timer, read different operation data from the external sensor (the signal that the external sensor can receive includes not only the operation signal corresponding to the surgical instrument model, but also the operation signal of the mouse, keyboard, etc.). The operation process reads various operation signals, such as: displacement signals of surgical instruments, etc.

The integer identifier acquisition module 55 is configured to query and acquire the integer identifier corresponding to the operation signal at the current recording trigger moment from the integer set, and store the acquired integer identifier in the standard library container. After the displacement signal is transformed into an abstract response event of the virtual surgery, the integer identifier corresponding to the response event is queried and obtained from the above-mentioned integer set. Since the mapping relationship between the response event and the integer identifier in the integer set has actually been generated by the one-to-one correspondence of the above-mentioned event pre-classification unit 4, the corresponding integer identifier is queried and read according to the displacement signal during the recording process, and the read Integer IDs are stored in the standard library containers described above.

The recording end integer identification acquisition module 56 is used to obtain the operation signal in the virtual surgery simulation process again at the next triggering moment of the recording timer, query and obtain the corresponding integer identification of the operation signal in the integer set, and save the integer identification into the C++ Standard Library container described above. At each triggering moment of the recording timer, an operation signal in the virtual surgery simulation process is obtained respectively, and at the same time when the operation signal is obtained, the integer identifier corresponding to the operation signal is queried and obtained from the above-mentioned integer set, and Save to the standard library container described above.

And when the operation signal acquired by the above-mentioned operation signal acquisition module 54 is a recording end signal, query and obtain the recording end integer identifier corresponding to the recording end signal in the integer set from the above-mentioned integer set, and store the recording end integer identifier in the above-mentioned in the standard library container. The recording end signal also corresponds to a response event, that is, the recording end event. The recording end event corresponds to the recording end integer identifier in the above-mentioned integer set, and the recording end integer identifier serves as the end mark of the recording process.

The recording segment generating module 57 is configured to generate the recording segment according to the stored multiple integer identifiers, the recording end integer identifier and the initial scene state. After obtaining the above-mentioned recording end integer identifier, stop recording all response events, and form a recording segment together with the scene state saved at the beginning of the recording and the integer identifier corresponding to the response event recorded during the recording process, and save it for subsequent playback process use.

The above is the recording unit 5 in the recording and playback device of the virtual surgery simulation process in the embodiment of the present invention, through which the recording unit 5 stores and records the only scene state at the moment when the recording starts, and the operation at each subsequent recording triggering moment Integer ID corresponding to the signal. It can be seen that the content recorded in the recording process occupies less space and is also convenient for query and acquisition.

As shown in Figure 6, above-mentioned playback unit 6 mainly is made up of following several parts: playback initialization module 61, playback module 62, scene state storage module 63 during playback, initial scene state acquisition module 64, integer identification acquisition module 65, new scene A state generation module 66 and a scene state display module 67 during playback.

The playback initialization module 61 mentioned above is used to initialize the playback timer, and set the playback refresh frequency and playback triggering time of the playback timer. The playback timer is used to discretize continuous time into playback time segments of fixed length, and the length of the playback time segment is the playback timing interval between each playback trigger moment.

The playback module 62 is configured to receive a playback start signal, and perform playback according to the playback start signal. After the playback timer is set, the playback start signal sent by the operator is received, and the simulation process of the virtual surgery is played back according to the playback start signal.

The scene state storage module 63 during playback is used to push and save the scene state at the start of playback into a preset stack data structure. At the moment when the playback starts according to the playback start signal sent by the operator, the scene state at this time is first pushed and saved in a pre-set data stack structure.

The initial scene state obtaining module 64 is used to obtain the initial scene state from the standard library container. After the scene state at the start of playback is pushed and saved, read the initial scene state saved by the recording unit 5 and set it as the initial scene state at the beginning of playback.

The integer identifier obtaining module 65 is used for obtaining an integer identifier stored in the standard library container at the current playback triggering moment of the playback timer according to the storage order of the integer identifiers in the recording segments.

New scene state generation module 66 is used for judging whether the integer mark that described new scene state generation module obtains is the recording end integer mark; If not, according to the response event corresponding to the integer mark that obtains and the scene state response to be responded to generate response scene state , and render the response scene state, generate and display the new scene state, update the playback timer to the next playback trigger moment, and update the scene state to be responded to the new scene state , trigger the integer identifier acquisition module 65 again; if so, trigger the scene state display module 67 during playback. The relationship and specific applications between the integer identifier acquisition module 65 and the new scene state generation module 66 will be described in detail below.

In the actual playback process, at the first trigger moment t1 of the playback timer, the integer identifier acquisition module 65 stores the integer identifiers in the standard library container according to the order in which the integer identifiers are stored in the standard library container during the recording process of the recording unit 5, from the stored in the standard library container. An integer identifier read from the recording segment. After the integer identifier acquisition module 65 reads the integer identifier, the new scene state generation module 66 judges whether the integer identifier is the above-mentioned recording end integer identifier. If the integer identifier is not the integer identifier of the end of recording, the above-mentioned initial scene state is re-responsed according to the type of the integer identifier. Specifically, it is to trigger the message mapping mechanism of MFC, and call the corresponding response function (the response function here can actually be realized through a section of response program. During the virtual surgery simulation process, for each virtual surgery model, mouse or keyboard For any operation, there will be a corresponding program to process and calculate the operation. For example, when receiving the translation signal of the external guide wire, it will call the program specially for the translation of the guide wire according to this signal, so as to control the different external The operation performs targeted processing and calculation) to respond to the scene state according to the type of the response event corresponding to the integer identifier. Then, re-render the scene state after the response. After the rendering is completed, generate and display a new scene state combined with the response event corresponding to the read integer identifier. At this time, all the current triggering time t1 of the playback timer After the work is completed, enter the waiting stage and wait for the next playback trigger moment of the playback timer.

At the next playback trigger time t2 of the playback timer, the new scene state generation module 66 updates the scene state generated at the playback trigger time t1 to the current scene state at the playback trigger time t2, and triggers the above-mentioned integer identifier acquisition module 65. Through the integer identifier obtaining module 65, according to the order in which the recording unit 5 stores each integer identifier in the standard library container, the next integer identifier is read from the recorded segment stored in the standard library container. After the integer identifier acquisition module 65 reads the integer identifier, the new scene state generation module 66 judges whether the integer identifier is the above-mentioned recording end integer identifier. If the integer identifier is not the integer identifier of the end of recording, then respond to the new scene state generated at the playback trigger moment t1 according to the type of the integer identifier, and re-render the scene after the response, generate and display the scene obtained in conjunction with the playback trigger moment t2 The integer identifies the scene state corresponding to the response event, and waits for the next playback trigger moment of the playback timer.

After generating the scene state combined with the integer identifier acquired at the playback triggering moment t2, at the next playback triggering moment t3 of the playback timer, the new scene state generation module 66 updates the new scene state generated at the playback triggering moment t2 to the current scene state, and trigger the above-mentioned integer identifier acquisition module 65. Through the integer identifier acquiring module 65, the next integer identifier stored in the standard library container is acquired according to the storage order of the integer identifiers in the recorded segments. After the integer identifier acquisition module 65 reads the integer identifier, the new scene state generation module 66 judges whether the integer identifier is the above-mentioned recording end integer identifier. If the integer identifier is not the integer identifier of the recording end, respond and render according to the response event corresponding to the integer identifier acquired at the playback trigger moment t3 and the new scene state generated at the playback trigger moment t2, thereby generating and displaying the playback trigger moment t3 The corresponding new scene state, and wait for the next playback trigger moment t4 of the playback timer, and so on, through the above-mentioned integer identification acquisition module 65 and the new scene state generation module 66, at each playback trigger moment of the playback timer , respectively generate and display the scene states corresponding to each playback triggering moment t1-tn, until at a certain playback triggering moment, the above-mentioned new scene state generating module 66 judges that the integer identifier acquired by the integer identifier acquiring module 65 is the recording end integer identifier .

When the new scene state generation module 66 judges that the integer mark obtained by the integer mark acquisition module 65 is the recording end integer mark, it triggers the above-mentioned scene state display module 67 during playback. Structure to get and display the state of the scene when playback starts. At each triggering moment of the playback timer, an integer identifier is taken from the standard library container and processed. When the obtained integer identifier is the above-mentioned recording end integer identifier, it indicates that the playback of the current recording segment has been completed. At this time, the scene state pushed to the top of the stack at the beginning of the playback is obtained from the above stack data structure through the stack operation and restored. So far Until now, the playback of the above recorded segment is completed.

From the above description, it can be seen that due to the different data ranges that can be represented by different data types, the recording and playback device of the virtual surgery simulation process in the embodiment of the present invention can be mapped to character type, short Integer, unsigned integer, long integer and many other data types. This adjustment will affect the size of the recording segment. The smaller the bit width of the data type mapped to, the smaller the space occupied by the analog segment, so as to achieve strong pertinence, less resource occupation, good picture quality, less space occupation, and no redundant data. The recording and playback process of the virtual surgery simulation process.

In one embodiment, when the integer identifier acquired by the new scene state generating module 66 is the above integer identifier 0, it means that the response event at the trigger moment of the current playback is an empty event, which means that the corresponding recording event when the recording unit 5 is recording At the moment of triggering, neither the external sensor nor the MFC has received the operator's operation signal. Therefore, there is no response event to be processed, and only the entire scene needs to be re-rendered.

In one embodiment, when the playback timer interval set in the playback unit 6 is equal to the recording timer interval set in the recording unit 5, the playback unit 6 plays the recording at the same speed at which the recording unit 5 records the recording segment. fragment. And, by setting a timer interval different from that of the recording unit 5 in the playback unit 6, playback can be performed at a speed different from the recording frame rate: when the playback timer interval of the playback unit 6 is smaller than the recording timer interval of the recording unit 5 , the playback unit 6 plays the recording segment at a speed faster than the recording unit 5 recording the recording segment; The recording is played at the recorded speed.

In another embodiment, by adjusting the number of events read at each timer interval, playback at a speed different from the recording frame rate can also be realized, thereby realizing the fast-forward function. Assuming that 2 events are read at each timer interval for simulation, then the display result of one frame during playback is equivalent to two frames during recording, thus achieving 2x speed playback. Therefore, if n events are read at intervals of each timer, the playback unit 6 realizes n-fold fast-forward playback. When reading 1/n of the response events at each playback timing interval, the playback unit 6 slows down the recorded segment at n times speed, wherein the above n is a positive integer.

In practical applications, the recording unit 5 can realize recording at different frame rates by setting different timing values for the recording timer. For example, when the timing value is 16 milliseconds, video recording at 60 frames per second can be realized, and when the timing value is 33 milliseconds, video recording at 30 frames per second can be realized.

Those of ordinary skill in the art can understand that all or part of the steps in the methods of the above-mentioned embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, such as ROM/RAM, disk , CD, etc.

The specific embodiments described above have further described the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above descriptions are only specific embodiments of the present invention and are not intended to limit the scope of the present invention. Protection scope, within the spirit and principles of the present invention, any modification, equivalent replacement, improvement, etc., shall be included in the protection scope of the present invention.

Claims (16)

1. the recording of virtual surgery simulation process, a back method, it is characterized in that, recording, the back method of described virtual surgery simulation process comprise:

Event preclassification step: obtain the multiple operation signals in different type of surgery, by abstract for operation signal described in each be a response events, and described response events is mapped to one comprise multiple integer mark set of integers in, described response events and described integer identify one_to_one corresponding;

Record step: storing initial scene state, obtain the multiple described operation signal of current procedure type successively, inquire about simultaneously and store the multiple integers corresponding respectively with the multiple described operation signal of described current procedure type identifying according to the described operation signal obtained; Generate according to the multiple integer mark stored and described initial scene state and record fragment;

Replay procedure: obtain described initial scene state, obtains the multiple integer marks in described recording fragment successively, carries out responding, playing up, generate and show new scene state according to the multiple integer marks obtained and described initial scene state by storage order.

2. the recording of virtual surgery simulation process according to claim 1, back method, it is characterized in that, described recording step comprises:

Step a: timer is recorded in initialization, arranges the recording refreshing frequency of described recording timer and records trigger instants; Described recording timer is used for recording time fragment continuous print time discrete being become regular length, and the length of described recording time fragment is the recording fixed time interval between each recording trigger instants;

Step b: receive recording signal at the beginning, records according to described recording start signal;

Step c: the initial scene state described in storage is in a java standard library container, and described initial scene state comprises: model state when obtaining described initial scene state and rendering state;

Steps d: the operation signal obtaining current recording trigger instants;

Step e: obtain integer mark corresponding to the operation signal of described current recording trigger instants from described integer Integrated query, and store the integer obtained and be identified in described java standard library container;

Step f: record trigger instants at the next one of described recording timer, return the steps d ~ step f described in execution, until when the operation signal obtained in described steps d is for recording end signal, obtain the recording corresponding described set of integers of described recording end signal terminate integer mark from described integer Integrated query, and store described recordings end integer and be identified in described java standard library container;

Step g: according to the multiple integer marks stored, recording terminates integer mark and described initial scene state generates described recording fragment.

3. the recording of virtual surgery simulation process according to claim 2, back method, it is characterized in that, the recording frame per second of described recording step and the relation of described recording refreshing frequency are represented by following formula: m/f=1000, wherein, m is described recording frame per second, and f is described recording refreshing frequency.

4. the recording of virtual surgery simulation process according to claim 2, back method, it is characterized in that, when there is no described operation signal at the recording trigger instants of described recording timer, described response events is null event, and described null event and the integer in described set of integers identify 0 corresponding.

5., according to recording, the back method of virtual surgery simulation process according to claim 4, it is characterized in that, described replay procedure comprises:

Step h: initialization playback timer, arranges playback refreshing frequency and the playback trigger instants of described playback timer; Described playback timer is used for playback duration fragment continuous print time discrete being become regular length, and the length of described playback duration fragment is the playback fixed time interval between each described playback trigger instants;

Step I: receive playback signal at the beginning, carries out playback according to described beginning playback signal;

Step j: scene state pop down when playback being started is saved in default stack data structures;

Step k: the initial scene state described in obtaining from described java standard library container;

Step l: at the current playback trigger instants of described playback timer, obtains the integer mark be stored in described java standard library container;

Step m: judge whether the integer mark obtained in described step l is record to terminate integer mark; If not, response events corresponding to the integer mark obtained and treat that responding scene condition responsive generates responding scene state, and play up described responding scene state, generate and show described new scene state, described playback timer is updated to next playback trigger instants, described is treated that responding scene state updating is described new scene state, and returns the step l described in execution; If so, obtain from described stack data structures and playback described in showing time scene state; Wherein, at first playback trigger instants of described playback timer, described responding scene state for the treatment of is described initial scene state;

Wherein, in described step l, at different playback trigger instants, by the storage order of integer mark in described recording fragment, obtain the integer mark described in successively.

6. the recording of virtual surgery simulation process according to claim 5, back method, it is characterized in that, at a wherein playback trigger instants of described playback timer, the integer obtained in described step m is designated described integer when identifying 0, described in playing up wherein a playback trigger instants corresponding treat responding scene state, generate the new scene state that described null event is corresponding.

7. the recording of virtual surgery simulation process according to claim 6, back method, is characterized in that:

When described playback fixed time interval equals described recording fixed time interval, in described replay procedure, with the recording fragment described in the speed playback identical with described recording step;

When described playback fixed time interval is less than described recording fixed time interval, in described replay procedure, with the recording fragment described in the speed playback faster than described recording step;

When described playback fixed time interval is greater than described recording fixed time interval, in described replay procedure, with the recording fragment described in the speed playback being slower than described recording step.

8. the recording of virtual surgery simulation process according to claim 6, back method, is characterized in that, when reading n described response events at each described playback fixed time interval, in described replay procedure, puts described recording fragment soon with n speed; When reading 1/n described response events at each described playback fixed time interval, in described replay procedure, put described recording fragment slowly with n speed, wherein, n is positive integer.

9. the recording of virtual surgery simulation process, a playback reproducer, it is characterized in that, recording, the playback reproducer of described virtual surgery simulation process comprise:

Event is presorted unit, for obtaining the multiple operation signals in different type of surgery, by abstract for operation signal described in each be a response events, and described response events is mapped to one comprise multiple integer mark set of integers in, described response events and described integer identify one_to_one corresponding;

Recording elements, for storing initial scene state, obtain the multiple described operation signal of current procedure type successively, inquire about simultaneously and store the multiple integers corresponding respectively with the multiple described operation signal of described current procedure type identifying according to the described operation signal obtained; Generate according to the multiple integer mark stored and described initial scene state and record fragment;

Playback unit, for obtaining described initial scene state, obtain the multiple integer marks in described recording fragment by storage order successively, carry out responding, playing up according to the multiple integer marks obtained and described initial scene state, generate and show new scene state.

10. the recording of virtual surgery simulation process according to claim 9, playback reproducer, it is characterized in that, described recording elements comprises:

Record initialization module, record timer for initialization, the recording refreshing frequency of described recording timer is set and records trigger instants; Described recording timer is used for recording time fragment continuous print time discrete being become regular length, and the length of described recording time fragment is the recording fixed time interval between each recording trigger instants;

Recording module, for receiving recording signal at the beginning, recording according to described recording start signal;

Initial scene state-storage module, for storing described initial scene state in a java standard library container, described initial scene state comprises: model state when obtaining described initial scene state and rendering state;

Operation signal acquisition module, for obtaining the operation signal of current recording trigger instants;

Integer identifier acquisition module, for obtaining integer mark corresponding to the operation signal of described current recording trigger instants from described integer Integrated query, and stores the integer obtained and is identified in described java standard library container;

Record and terminate integer identifier acquisition module, operation signal for obtaining in described integer identifier acquisition module is when recording end signal, obtain the recording corresponding described set of integers of described recording end signal terminate integer mark from described integer Integrated query, and store described recordings end integer and be identified in described java standard library container;

Record fragment generation module, for generating described recording fragment according to the multiple integer marks stored, recording end integer mark and described initial scene state.

The recording of 11. virtual surgery simulation processes according to claim 10, playback reproducer, it is characterized in that, the recording frame per second of described recording elements and the relation of described recording refreshing frequency are represented by following formula: m/f=1000, wherein, m is described recording frame per second, and f is described recording refreshing frequency.

The recording of 12. virtual surgery simulation processes according to claim 10, playback reproducer, it is characterized in that, when there is no described operation signal at the recording trigger instants of described recording timer, described response events is null event, and described null event and the integer in described set of integers identify 0 corresponding.

13. according to the recording of virtual surgery simulation process according to claim 12, playback reproducer, and it is characterized in that, described playback unit comprises:

Playback initialization module, for initialization playback timer, arranges playback refreshing frequency and the playback trigger instants of described playback timer; Described playback timer is used for playback duration fragment continuous print time discrete being become regular length, and the length of described playback duration fragment is the playback fixed time interval between each described playback trigger instants;

Playback module, for receiving playback signal at the beginning, carries out playback according to described beginning playback signal;

Scene state memory module during playback, scene state pop down during for playback being started is saved to default stack data structures;

Initial scene state acquisition module, for the initial scene state from described java standard library container described in acquisition;

Integer identifier acquisition module, for the current playback trigger instants at described playback timer, obtains the integer mark be stored in described java standard library container; Wherein, at different playback trigger instants, described integer identifier acquisition module, by the storage order of integer mark in described recording fragment, obtains the integer mark described in successively;

New scene state generation module, for judging whether the integer mark that described new scene state generation module obtains is record to terminate integer mark; If not, response events corresponding to the integer mark obtained and treat that responding scene condition responsive generates responding scene state, and play up described responding scene state, generate and show described new scene state, described playback timer is updated to next playback trigger instants, described is treated that responding scene state updating is described new scene state, again triggers described integer identifier acquisition module; Scene state display module when if so, then triggering playback; Wherein, at first playback trigger instants of described playback timer, described responding scene state for the treatment of is described initial scene state;

Scene state display module during playback, for obtain from described stack data structures and playback described in showing time scene state.

The recording of 14. virtual surgery simulation processes according to claim 13, playback reproducer, it is characterized in that, described new scene state generation module also for: when obtain integer be designated described integer identify 0 time, play up current scene state, generate the new scene state that described null event is corresponding.

The recording of 15. virtual surgery simulation processes according to claim 14, playback reproducer, is characterized in that:

When described playback fixed time interval equals described recording fixed time interval, described playback unit is to record recording fragment described in the identical speed playback of the speed of described recording fragment with described recording elements;

When described playback fixed time interval is less than described recording fixed time interval, described playback unit is with the recording fragment described in the speed playback of recording described recording fragment faster than described recording elements;

When described playback fixed time interval is greater than described recording fixed time interval, described playback unit is with the recording fragment described in the speed playback being slower than described recording elements and recording described recording fragment.

The recording of 16. virtual surgery simulation processes according to claim 14, playback reproducer, is characterized in that, when reading n described response events at each described playback fixed time interval, described playback unit puts described recording fragment soon with n speed; When reading 1/n described response events at each described playback fixed time interval, described playback unit puts described recording fragment slowly with n speed, and wherein, n is positive integer.