CN113963592A - Virtual simulation jaw surgery training system, method, equipment and readable storage medium - Google Patents

Abstract

The invention relates to a virtual simulation jaw surgery training system, a method, equipment and a readable storage medium, comprising a surgery environment simulation system, a jaw surgery simulation system and a jaw surgery simulation system, wherein the surgery environment simulation system is used for providing a virtual surgery operation environment which comprises a virtual surgery environment, a three-dimensional virtual jaw model and a virtual simulation surgical instrument, and the three-dimensional virtual jaw model and the virtual simulation surgical instrument are positioned in the virtual surgery environment; the virtual reality head-mounted display equipment is used for displaying a virtual surgical operation environment constructed by the surgical environment simulation system; the operation micro-power system based on the force feedback handle utilizes the force feedback handle to replace surgical instruments used in actual operations for being held by a trainer, and when corresponding operation is performed in a VR operation scene, the force feedback handle can feed back the operation to a user in a vibration mode. The jaw bone fixing device can provide a virtual operation environment, and a user can cut, move and position the jaw bone at the designated position of the three-dimensional virtual jaw bone by using the operation micro-power system, and then perform jaw bone fixing operation of the virtual titanium plate and the titanium nail.

Description

Virtual simulation jaw surgery training system, method, equipment and readable storage medium

Technical Field

The invention relates to the technical field of virtual simulation, in particular to a virtual simulation jaw bone surgery training system, method, equipment and readable storage medium.

Background

Virtual reality, VR for short, is a technology that provides an immersive sensation in a three-dimensional environment generated on a computer and capable of interacting by comprehensively using a computer graphics system and various interface devices for reality and control.

Virtual reality head-mounted display equipment, referred to as VR head-mounted VR glasses for short, is a product which utilizes a plurality of technology sets such as simulation technology, computer graphics man-machine interface technology, multimedia technology, sensing technology, network technology and the like, and is a brand-new man-machine interaction means created by means of computers and latest sensor technology. VR head-display VR glasses are a cross-era product. Not only is every fan surprised and happy, but also the fan is deeply fascinated because the birth and prospect of the fan is unknown.

By means of VR, people can establish a virtual human body model, learn to know the structures of various organs in the human body by means of a trackball, an HMD and a sensing glove, perform operations on the virtual human body model and the like, observe the effects after the operations, and train new doctors by means of VR technology.

The oral jaw surgery relates to operations such as cutting bone, removing, location, fixing to the treatment dentognathic face deformity patient, the patient's of dentognathic face deformity of china's quantity is huge, but professional oral surgery doctor team is serious not enough, and regular oral surgery diagnosis and treatment work is carried out very limitedly. While a qualified dentist needs a lot of knowledge accumulation and a long training process, so the attention should be paid to develop a dentist with high quality, strong theoretical knowledge and clinical skill. At present, the culture method of the stomatologist in China is mainly based on multimedia teaching and combined with the observation and study of the oral surgery, and almost no experiment operation content related to the multimedia teaching is available, because experiment equipment, specimens and consumables required by the oral surgery are very expensive, such as: the jaw bone micro-power system comprises a micro electric saw, an electric drill and the like (15-20 ten thousand per set of domestic equipment and 40-60 ten thousand per set of imported equipment); the matched cutting consumables comprise saw blades and drill bits (100-; the jawbone firming internal fixation material comprises a titanium plate, a titanium nail, a reconstruction plate and the like (1-3 ten thousand per surgery); jaw bone specimen, including macromolecular material and true specimen (200-.

Disclosure of Invention

The present application provides a virtual simulated jaw surgery training system, method, device and readable storage medium for solving the above technical problems.

The application is realized by the following technical scheme:

virtual simulation jaw surgery training system includes:

the operation environment simulation system is used for providing a virtual operation environment, a virtual operation room environment, a three-dimensional virtual jaw bone model and a virtual simulation operation instrument which are positioned in the virtual operation room environment;

a virtual reality head-mounted display device for displaying the virtual surgical operating environment constructed by a surgical environment simulation system;

the operation micro-power system based on the force feedback handle utilizes the force feedback handle to replace surgical instruments used in actual operations for being held by a trainer, and when corresponding operation is performed in a VR operation scene, the force feedback handle can feed back the operation to a user in a vibration mode.

Further, the virtual simulation surgical instrument comprises at least one of a bone cutting saw, a loosening clamp, a drill, an osteotome, a wood handle, a titanium plate and a titanium nail.

Furthermore, the three-dimensional virtual jaw bone model has common jaw bone malformation form and has important anatomical landmark structures in anatomy.

The virtual simulation jaw bone surgery training method uses the virtual simulation jaw bone surgery training system, and specifically comprises the following steps:

1, loading the virtual surgical operation environment;

and 2, selecting a virtual simulation surgical instrument, and controlling the virtual simulation surgical instrument to move by a user through moving the force feedback handle so as to simulate surgical operation.

An apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the virtual simulated jaw surgery training method described above when executing the computer program.

A readable storage medium storing a computer program which, when executed by a processor, implements the virtual simulated jaw surgery training method described above.

Compared with the prior art, the method has the following beneficial effects:

the jaw bone fixing device can provide a virtual operation environment, a user can cut jaw bones at the appointed parts of three-dimensional virtual jaw bones by using an operation micro-power system, then the jaw bones are moved and positioned, then jaw bone firm internal fixing operation of a virtual titanium plate and a titanium nail is carried out, and a clinical actual jaw bone operation process can be basically simulated;

2, the application is beneficial to leading audiences (mainly oral medical students and stomatologists) to have clear understanding on the bone cutting part of the common jaw surgery;

3, the movement and the positioning of the bone segments after the jaw bone operation is cut can be intuitively understood by a user;

4, the user can understand the position of the firm internal fixation of the osteotomy posterior titanium plate titanium nail, the selection of the fixation method and the reason deeply.

Drawings

The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.

FIG. 1 is a schematic diagram of the present invention;

FIG. 2 is a front view of the force feedback handle;

FIG. 3 is a side view of the force feedback handle;

FIG. 4 is a schematic view of a VR interactive experience with a Le Fort type I osteotomy with remote viewing of the virtual skull and operating table;

fig. 5 is a schematic diagram of a VR interactive experience of a virtual skull and operating table for remote viewing during mandibular branch sagittal bone cleft.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments. It is to be understood that the described embodiments are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.

In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict. It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other.

The invention discloses a virtual simulation jaw surgery training system which comprises a surgery environment simulation system, virtual reality head-mounted display equipment and a surgery micro-power system based on a force feedback handle.

The virtual operating environment comprises a virtual operating room environment, a three-dimensional virtual jaw bone model and a virtual simulation surgical instrument, wherein the three-dimensional virtual jaw bone model and the virtual simulation surgical instrument are positioned in the virtual operating room environment;

the three-dimensional virtual jaw bone model has common jaw bone malformation form and has important anatomical landmark structure in anatomy;

the virtual simulation surgical instruments comprise various instruments which are needed to be used in actual jaw bone operations such as a bone cutting saw, a loosening clamp, a drilling device, a osteotome, an osteotome, a wood handle, a titanium plate, a titanium nail and the like.

The virtual reality head-mounted display equipment is connected with the operation environment simulation system and used for displaying the virtual operation environment constructed by the operation environment simulation system.

The operation micro-power system based on the force feedback handle utilizes the force feedback handle to replace surgical instruments used in actual operations for being held by a trainer, and when corresponding operation is performed in a VR operation scene, the force feedback handle can feed back the operation to a user in a vibration mode.

The use method of the virtual simulation jaw surgery training system comprises the following steps:

the user can know the important anatomical structure of the virtual three-dimensional jaw bone by rotating, overturning, separating and moving the three-dimensional virtual jaw bone model;

the user controls the motion of the virtual simulation surgical instrument by moving the force feedback handle, and then simulates related surgical operations, specifically as follows:

1, carrying out maxilla LeFort I type osteotomy by using a virtual maxilla miniature electric saw;

2, moving the upper jaw block to a specified position by using the virtual jaw bone loosening forceps;

3, punching a hole by using a virtual jaw bone drill and placing a virtual titanium plate titanium nail;

4, checking the position and occlusion of the upper jaw of the fixed virtual jaw bone;

5, using a virtual jaw miniature electric saw to perform mandibular ramus sagittal dissection;

6, moving the mandible block to a specified position by using the virtual mandible loosening forceps;

7, punching a hole by using a virtual jaw bone drill and placing a virtual titanium plate titanium nail;

8, checking the lower jaw position and occlusion after the virtual jaw is fixed;

and 9, detecting and knowing the influence of the operation on the important anatomical parts.

Finally, the three-dimensional virtual jaw model before and after the operation can be compared, and the correction effect of the simulation operation on the jaw deformity is evaluated.

Based on the virtual simulation jaw surgery training system, the application discloses two embodiments.

Example 1

As shown in fig. 1, the hardware of this embodiment includes a VR headset, a force feedback handle, a tracking locator, and an interactive host. The communication among the interaction host, the VR head-mounted device, the force feedback handle and the tracking locator can be in a wired mode or a wireless mode.

In this embodiment, the VR headset selects a VR headset of the HTC view PRO 2.0 type. Accordingly, the HTC VIVE force feedback handle is selected as the force feedback handle.

As shown in fig. 2 and 3, the force feedback handle specifically includes a handle body, and a menu key 1, a touch pad 2, a system key 3, a status indicator lamp 4, a Micro-USB port, a tracking sensor 6, a trigger 7, and a handle key 8 are provided on the handle body.

The menu key 1 is used for function jump, and returns to the system main interface when the key is pressed;

the touch pad 2 is used for adjusting the angle of the skull model;

the system key 3 is used for returning to the system main interface;

the trigger key 7 is used for grasping and holding the virtual simulation surgical instrument;

the handle key 8 assists the trigger key 7 to grab and hold the virtual simulation surgical instrument.

The tracking sensor 6 is used to communicate with a tracking locator. The tracking locator 6 is used for receiving various gestures made by the force feedback handle and feeding the gestures back to the interaction host machine in real time for corresponding operation.

The function of the operation environment simulation system is mainly realized by software, and relates to 3D simulation, VR technology, animation technology, OpenGL technology and the like. The implementation of the function of the surgical environment simulation system is conventional in the art and will not be described herein.

Example 2

Aiming at a new doctor, the virtual simulation jaw bone surgery training system of the embodiment is provided with a theoretical learning module and a manual operation module, wherein the theoretical learning module is mainly used for training through theoretical knowledge learning; the manual operation module is an offline virtual simulation practical training module which is used for further strengthening the early-stage theoretical learning effect and training the manual operation ability of the learner.

Based on this, the program main interface of the embodiment provides two choices of "watch teaching video" and "VR interaction experience".

The subordinate menus of 'watching teaching video' and 'VR interactive experience' all comprise a plurality of operation types, such as 'Le Fort I type osteotomy', 'mandibular branch sagittal fracture operation' and the like.

The training process is described in detail below:

(1) the user clicks the 'watch teaching video' and then selects the 'Le Fort I type osteotomy', and the Le Fort I type osteotomy video is automatically played for the user to learn.

After learning of the Le Fort I type osteotomy is finished, the menu key 1 of the force feedback handle is pressed, the user returns to the upper-level main program interface, and then clicks the options of 'watching teaching video' → 'mandibular sagittal osteotomy', so that the mandibular sagittal osteotomy video can be automatically played for the user to learn.

The teaching video content of this embodiment adopts the actual operation process that operating room 3D camera recorded, and the student can have immersive experience after wearing the VR glasses. The teaching video can be an online video or a local video.

(2) After accomplishing video study, the user can carry out the mutual experience of VR, and the mutual experience of VR needs to use aforementioned operation environment simulation system, the wear-type display device of virtual reality and the little driving system of operation based on force feedback handle.

Firstly, VR interactive experience steps of Le Fort type I osteotomy are as follows:

firstly, clicking a 'VR interactive experience' → 'Le Fort I type osteotomy' option through a surgical micro-power system to enter a virtual surgical operation environment, as shown in fig. 4;

then clicking 'start surgery', and carrying out simulated surgery operation according to the prompting steps of the system;

② the interactive action picks up the maxillary soft tissue retractor and pulls open the angle of mouth according to the voice prompt.

And (2) extending a handle to the desktop of the operating table, selecting a soft tissue retractor (a yellow prompting module is arranged in the system) according to the system prompt, then placing the soft tissue retractor at the prompting point position of the upper lip, pulling open the mouth corner, and exposing structures such as the mucous membrane on the labial side of the upper jaw, the vestibular sulcus and the like.

And thirdly, the interactive action picks up the tissue cut by the scalpel according to the voice prompt.

< Standard selection > the handle is extended to the desktop of the operating table, the scalpel (with a yellow prompting module) is selected according to the system prompt, and then the scalpel is used for incision according to the maxillary labial side indicating line

In the actual operation process, the intraoral incision of the Le Fort I-type osteotomy is designed at the position 5-6mm above the turning position of mucous membranes of the labial and buccal sulcus. From behind the zygomatic alveolar ridge on one side (the root tip of the second molar) onwards past the midline, ending behind the zygomatic alveolar ridge on the opposite side. The incision should not be too high behind it to cause the fat pad to spill out. When the periosteum at the zygomatic alveolar ridge is incised, the index finger is used to push the cheek fat pad upwards to prevent the incision of the cheek temporal fascia. The mucosa can be cut by an operating knife, and then the submucosal tissues and the muscles can be cut layer by an electric knife to reach the maxillary surface. In this embodiment, the key point analysis is presented in a voice prompt manner.

And fourthly, the nasal septum is chiseled according to the voice prompt.

< standard selection > stretch the handle to the operating table desktop, according to the suggestion of system, the left hand selects the septum chisel (has yellow suggestion module), and the hammer is selected to the right hand (has yellow suggestion module), then places septum chisel edge end in septum suggestion position department, and the right hand strikes the septum chisel with the hammer and cuts a hole.

In the actual operation process, a special nasal septal osteotome (an open U-shaped structure is formed forwards, a recess is formed in the middle of a blade) is used for separating nasal septal cartilage and a plow bone from a maxillary anterior nasal spine backwards. The nasal septum cartilage should be cut back carefully without puncturing the anesthetic endotracheal tube. If no special nasal septum chisel is provided, the connection between the nasal septum cartilage and the plow bone can be directly cut off by using a tissue scissors.

And (c) performing interaction for repeating the Le Fort I-type osteotomy according to the voice prompt.

And (4) extending a handle to the desktop of the operating table, selecting a reciprocating saw (with a yellow prompting module) according to system prompting, and cutting the bone walls on two sides of the maxilla from back to front according to a prompting line.

And cutting three vertical posts of the upper jaw bone and breaking the lower jaw bone according to the voice prompt.

< standard selection > the straight osteotome was picked up by the left hand, the hammer was picked up by the right hand, the bilateral canine struts and zygomatic process struts were each chiseled off according to the suggested point location, the bilateral maxillary and winged connections (the pterygoid process struts) were broken off using the bent osteotome, and then the two maxillary loosening forceps were used to break off the descending maxillary block and advance the maxillary bone.

In the actual operation process, the standard Le Fort type bone incision line runs from the lower part of the inferior turbinate at the edge of the piriform aperture to the connection part of the upper wing and the upper wing. Horizontal osteotomies are performed below the inferior turbinate to avoid damage to the nasolacrimal duct. Marking bone resection lines the maxillary horizontal bone resection lines were marked with a ball drill or a cleft drill. The anterior osteotomy line should be at least 5mm above the cuspid root tip, the posterior osteotomy line at least 5mm from the first molar root tip, at a distance of about 25mm from the jaw plane (or more than twice the height of the first molar crown from the gingival margin). The posterior osteotomy site cannot be too high or the maxillary pterygopalatine segment may be damaged, resulting in accidental bleeding.

And interaction, namely, placing the maxilla plate fixing maxilla block according to voice prompt, firmly fixing the maxilla block by using a titanium plate and titanium nails, and observing the occlusion relation.

According to the prompt, picking up the jaw plate and placing the jaw plate to bite the upper jaw and the lower jaw together and fixing the jaw by using a rubber ring, and then respectively placing a straight 4-hole micro titanium plate and an L-shaped 4-hole micro titanium plate on the two sides to perform firm internal fixation.

In the practical operation process, after the maxilla is in place, a micro titanium plate and a titanium nail are mostly adopted for firm internal fixation. The fixed position can be selected at the edge of the piriform aperture and the part with thicker bone, such as zygomatic crest, alveolar ridge and the like. Generally, 4-hole L-shaped micro titanium plates with certain intervals are used, and are pre-bent, formed and fixed according to the shape of the osteotomy section. Typically, a 5mm long miniscrew screw is selected for fixation, taking care not to injure the root of the tooth and avoiding penetration into the maxillary sinus cavity as much as possible.

Secondly, VR interactive experience steps of the sagittal bone splitting operation of the mandible branch are as follows:

(r < interactive > single click "VR interactive experience").

Selecting a 'mandibular branch sagittal bone splitting operation' option, and entering a virtual simulation operation experiment, as shown in fig. 5;

and secondly, clicking ' start operation ' by the interactive action ', and carrying out simulated operation according to the steps and the system prompt.

< standard selection > according to voice prompt, a soft tissue retractor is picked up to pull the angle of the mandibular mouth, then an incision is made at the anterior border of the mandibular ramus with a scalpel according to the prompt line, and then the soft tissue attached to the mandibular ramus is dissected, including dissecting the temporal muscle partially attached to the anterior border of the ascending ramus.

< Key analysis > in actual surgery, the mucosa was incised downward at the anterior border of the mandibular ramus approximately 1cm above the mandibular jaw plane to 6mm off the buccal side of the gingival buccal sulcus in the distal mandibular first molar, and the submucosal tissue, muscles and periosteum were incised continuously. If the soft tissue incision is too close, the buccal artery and vein running across the leading edge of the lifting leg may be severed, resulting in bleeding, at which time ligation or electrocoagulation should be performed. If the incision is located too far outboard, it may cause the fat pad to spill over, affecting the surgical field exposure and the surgical procedure, at which time the spilled fat pad may be removed.

And thirdly, performing right mandible branch sagittal bone cleft operation by < interactive action >.

And (4) picking up and sawing again according to voice prompt, making a horizontal bone incision line slightly above a lower jaw hole close to a lower jaw tongue, turning to a lower jaw branch front edge, gradually turning downwards and outwards to a second molar outer side bone plate from an inner side bone incision of a lifting branch front edge to make a sagittal bone incision line, and then turning downwards to make a vertical cortical bone incision at the front end of the incision line.

In the actual operation process, a large periosteum detacher or a special retractor for the inner side of a mandible branch is arranged above a mandible hole, so that the lower alveolar neurovascular bundle is protected, and the injury during the bone cutting is prevented. A thin blade reciprocating saw is used for carrying out bone incision at a position 2-3mm above the lower jaw uvula, and the bone incision is parallel to the lower jaw from the front edge of the lower jaw text backwards. The posterior end of the incision must pass beyond the posterior aspect of the jaw opening to the mandibular sulcus, but does not need to be incised to the posterior edge of the mandibular branch. When the bone is cut, the saw blade is inclined downwards to form an angle of 45 degrees with the bone surface, only the cortex of the tongue side bone is cut, the uncut bone is too deep, otherwise, the mandible branch can be transected. Long split drills may also be used to complete the medial debridement. The depth of the incision is easier to control by using a split drill for bone incision, but the split drill may be wound around surrounding soft tissues, and the operation is protected. When the sagittal bone is cut, the front end of the medial bone cut of the front edge of the ascending branch is gradually turned downwards and outwards to the lateral bone plate of the second molar, which is the expected sagittal bone splitting position, a plurality of holes are drilled on the cutting line by a ball drill or a short-split drill, and the bone holes are connected into a complete bone groove which is as deep as the bone marrow by a bone drill or a bone saw. The anterior end of the sulcus, namely the middle part of the second molar, is turned downwards to make vertical cortical bone incision by a reciprocating saw or a long-fracture drill until reaching the lower edge of the mandible. The osteotomy line should be perpendicular to the lower mandibular border or parallel to the anterior mandibular border.

And fourthly, performing the split of the right mandible.

According to voice prompt, the left hand picks up the osteotome, the right hand picks up the hammer, the left hand is inserted from the horizontal bone incision, the inner and outer bone plates of the mandible are slightly separated, then the left hand continues to pick up 2-3 osteotomes, the left hand is alternately inserted into the sagittal bone incision to separate the inner and outer bone plates of the mandible, and after the inner and outer bone plates are gradually separated, the left hand picks up the bone spreader and places the bone spreader at the sagittal bone incision gap to spread the inner and outer bone plates.

When the osteotome is inserted, the knife handle is slightly inclined towards the lingual side, the knife edge is tightly attached to the bone plate on the buccal side and is knocked in, when the gap of the bone incision is gradually widened and the internal and external bone plates are gradually separated, the walking of the mandibular canal and the neurovascular bundle of the lower alveolar is observed, if the knife edge is not positioned at the end close to the cardiac bone, the splitting direction and the splitting level are correct, at the moment, the wider osteotome can be used for continuously chiseling and slightly rotating, the bone resistance is sensed, and the violent prying is avoided so as to avoid accidental fracture.

Fifthly, performing left-side mandibular sagittal bone cleft operation by < interactive action >.

< standard selection > same right sagittal bone cleavage procedure.

And sixthly, the titanium plate and the titanium nail are firmly fixed in the inner part in the interaction way.

< standard selection > according to voice prompt, pick up the location jaw board and put into the dentition, carry out the intermaxillary ligature with the rubber band, then carry out the firm internal fixation of mandible with straight 4 hole small-size titanium plates, remove the jaw board and observe the interlock relation, sew up the wound at last.

The SSRO aims to correct the mandibular malformation by moving the distal bone segment with the mandibular dentition to a new position and re-fixing it with the proximal bone segment. If the surgery is used for correcting underdeveloped jaw, a telecentric bone segment needs to be advanced, if the surgery is used for treating underdeveloped jaw, a far-heart bone segment needs to be retreated, and at the time, secondary bone cutting needs to be carried out at a position perpendicular to a bone cutting position of the near-heart bone segment, and a cortical bone with a retreating distance equivalent to that of the telecentric bone segment is cut off. Whether the jaw plate forwards or backwards moves, the jaw plate which is manufactured in advance is worn into the dentition, the far-heart bone section is guided to move to a new correction position, and the stable and good occlusion relation of the upper jaw and the lower jaw after the operation is ensured. After the jaw plate is in place, the upper jaw tooth row and the lower jaw tooth row are connected together by using rubber rings or steel wires, so that the far heart bone segment is prevented from shifting in the following fixing process.

In another embodiment, the system can automatically record the time, accuracy and the like of the student simulation operation process, and automatically score after the operation is completed.

By using the jaw bone fixing device, an oral doctor and a student can hold the force feedback handle by hands, and cut jaw bones at the designated parts of the three-dimensional virtual jaw bones, so that important anatomical parts such as nerves, blood vessels, teeth and the like need to be avoided, and then the jaw bones are moved and positioned, and then jaw bone fixing and internal fixing operations of the virtual titanium plate and the titanium nails are carried out; the use of the present invention avoids the need to involve the purchase of high value equipment, consumables and specimens. The simulation is strong, the interestingness is high, and once the experiment is established, the experiment can be repeatedly implemented and iteratively improved.

Meanwhile, due to the standardization of the jaw surgery virtual simulation, the system can be set as follows: and automatically scoring according to the position of the final osteotomy line, the protection of important anatomical parts, the jaw bone moving and positioning and the accuracy and the precision of titanium plate titanium nail placement.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes. It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (8)

1. Virtual simulation jaw surgery training system, its characterized in that: the method comprises the following steps:

a surgical environment simulation system for providing a virtual surgical operating environment comprising a virtual operating room environment and a three-dimensional virtual jaw bone model and virtual simulated surgical instruments located within the virtual operating room environment;

a virtual reality head-mounted display device for displaying the virtual surgical operating environment constructed by a surgical environment simulation system;

the operation micro-power system based on the force feedback handle utilizes the force feedback handle to replace surgical instruments used in actual operations for being held by a trainer, and when corresponding operation is performed in a VR operation scene, the force feedback handle can feed back the operation to a user in a vibration mode.

2. The virtual simulated jaw surgery training system of claim 1, wherein: the virtual simulation surgical instrument comprises at least one of a bone cutting saw, a loosening clamp, a drill, a osteotome, an osteotome, a wood handle, a titanium plate and a titanium nail.

3. The virtual simulated jaw surgery training system of claim 1 or 2, wherein: the three-dimensional virtual jaw bone model has common jaw bone malformation forms and has important anatomical landmark structures in anatomy.

4. The virtual simulated jaw surgery training system of claim 1, wherein: the force feedback handle comprises a handle body, and a menu key, a touch pad, a system key, a state indicator lamp, a Micro-USB port, a tracking sensor, a trigger and a handle key are arranged on the handle body.

5. The virtual simulated jaw surgery training system of claim 1 or 4, wherein: a tracking locator is also included.

6. The virtual simulation jaw bone surgery training method is characterized in that: the virtual simulated jaw surgery training system as claimed in any one of claims 1 to 5 is used, the virtual simulated jaw surgery training method comprising the steps of:

1, loading the virtual surgical operation environment;

and 2, selecting a virtual simulation surgical instrument, and controlling the virtual simulation surgical instrument to move by a user through moving the force feedback handle so as to simulate surgical operation.

7. An apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: the processor, when executing the computer program, implements the method of claim 6.

8. A readable storage medium, storing a computer program, characterized in that the computer program, when executed by a processor, implements the method according to claim 6.

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