JP2010085687A - Position-detecting device, program thereof, monitoring system, and device for training person to insert tube into trachea - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make it possible to visually recognize a part that cannot be directly viewed with a relatively simple structure without using an imaging device.
SOLUTION: A tracheal intubation training apparatus 10 according to the present invention includes a force sensor 47 that measures a pressing force when a blade 25 of a laryngoscope 18 comes into contact with a tongue portion 36, and a tongue surface 36A based on a measurement value of the force sensor 47. A position detecting device 15 for obtaining the position and an image generating device 16 for visually presenting the shape of the tongue portion 36 based on the position of the tongue surface 36A are provided. The position detection device 15 assumes that a virtual structure 56 is disposed in the tongue 36, and determines the relationship between the magnitude of external force acting on the structure 56 and the position of each target point S in the tongue surface 36A. A storage means 53 in which an arithmetic expression to be expressed is stored in advance, and an arithmetic means 54 to obtain the position of each target point S by substituting the measured value of the force sensor 47 into the arithmetic expression. The image generation device 16 generates an image representing the shape of the tongue portion 36 by connecting the positions of the target points S on predetermined coordinates.
[Selection] Figure 1

Description

  The present invention relates to a position detection device that obtains the position of a predetermined part of an elastic body from a measurement value of a force sensor and a program thereof, and generates an image representing the shape of the predetermined part from the position of the predetermined part obtained by the position detection device. Thus, the present invention relates to a monitoring system that can monitor the elastic deformation state and displacement state of the elastic body without using an imaging device such as a camera, and further relates to a tracheal intubation training apparatus to which the monitoring system is applied.

  Consciousness disturbances and cardiopulmonary arrest occur due to illness or accident, and when general anesthesia is performed during surgery, the muscles in the lower jaw of those patients relax and the root of the tongue (lingual root) sinks. As a result, the air passage (airway) from the patient's mouth to the lungs is partially blocked, and air is not supplied to the patient's lungs. In such an airway obstruction state, a doctor or a paramedic inserts a tracheal intubation tube into the airway from the patient's mouth and forcibly sends air into the patient's lungs by the tracheal intubation tube. In this procedure, first, a device called a laryngoscope having a substantially L shape in a side view is used, a blade located on the tip side is inserted into the mouth, and the sunk tongue base is raised to lift the airway obstruction site. While checking the condition of the mouth with a laryngoscope, insert the tracheal intubation tube from the mouth into the airway. Here, the tracheal intubation tube includes a tube body provided with an air blowing portion on the most distal side thereof, and a cuff provided around the tube body slightly behind the blowing portion. . The cuff is provided in a balloon shape that can be expanded and contracted according to the amount of air injected into the cuff, and when the blowing portion reaches an appropriate intratracheal position in the airway, Air is sent into the cuff and expands to bring the cuff into contact with the tracheal wall. In this state, air from outside the body passes through the tube body and is supplied from the blowout portion into the trachea. At this time, the cuff around the tube body closes the gap between the outside of the tube body and the tracheal wall. As a result, it is possible to prevent air supplied in the lung direction from the blowing portion located deeper in the trachea than the cuff from flowing backward in the mouth direction on the opposite side of the lung, and in addition, blood that has flowed into the mouth and Foreign substances such as gastric juice from the esophagus can also be prevented from entering the lungs.

  In such a tracheal intubation procedure, since it is contested every moment, the tracheal intubation tube must be inserted instantaneously and appropriately into the airway, and for that purpose, daily training is indispensable. There are various points to consider in the treatment, and training that takes these points into consideration is necessary.

  For example, when using the laryngoscope to raise the tongue base, it is necessary to apply the blade on the tip side of the laryngoscope to the appropriate portion of the tongue, and the tongue can be lifted well by rotating the laryngoscope with this as a fulcrum. However, since the beginner may rotate the laryngoscope with the wrong part as a fulcrum and may not be able to lift the tongue well, find the correct part that will be the fulcrum of the laryngoscope and find the correct part quickly. Training to hit the blade is required. Also, when lifting the tongue with the laryngoscope, the blade may come into contact with the maxillary anterior teeth and the teeth may be broken.Do not press the maxillary anterior teeth with the blade when the laryngoscope rotates. There is also a need to train.

  Furthermore, when the tracheal intubation tube is taken in and out, the tracheal intubation tube passes through the gap formed at the center of the vocal cord. At this time, the tracheal intubation tube may be damaged by contact with the vocal cord. is there. Therefore, when putting in and out the tracheal intubation tube, it must be performed with careful attention to contact with the vocal cords.

  Moreover, the blowing part which becomes the forefront side of a tracheal intubation tube needs to be arrange | positioned in the intratracheal part before a bronchi. That is, when the blowout part reaches the one trachea branched from the bronchus, a one-lung state in which air is supplied only to one lung is caused. Therefore, it is also necessary to train to reliably arrange the blowout part at an appropriate part in the trachea before the bronchus.

  Further, when air is injected into the cuff, if the cuff does not bulge, the backflow of the supply air from the blow-out portion as described above occurs. On the other hand, if the cuff bulges too much, the mucous membrane of the trachea wall may be damaged and cell necrosis may occur. Therefore, training to inflate the cuff with an appropriate pressure is also necessary.

  Therefore, the present applicant has proposed a tracheal intubation training device that can objectively evaluate the tracheal intubation technique in consideration of the above-mentioned various points of consideration while doctors, paramedics, etc. are conducting tracheal intubation training. (See Patent Document 1).

In this tracheal intubation training apparatus, when a tracheal intubation instrument composed of the tracheal intubation tube and the laryngoscope is inserted into a simulated airway in a model during tracheal intubation training by a trainee, the trachea in contact with the simulated site in the simulated airway While the pressing force of the intubation instrument is measured by a force sensor, the tip position of the tracheal intubation tube is measured by a position detection sensor, and an evaluation value is calculated based on the measurement value of each sensor.
JP 2008-64824 A

  However, in the tracheal intubation training apparatus, since the human body is simulated, the state in the simulated airway provided inside the model cannot be directly viewed from the outside of the model, as in the human body. For this reason, when the tracheal intubation device is inserted into the simulated airway during tracheal intubation training, the elastic deformation state and the displacement state of the simulated region due to contact with the tracheal intubation device cannot be visually recognized. For example, in the tracheal intubation training apparatus, there is a part where the elastic deformation state and the displacement state of the tongue portion cannot be directly viewed due to the presence of the blade during the laryngeal deployment procedure in which the tongue portion is raised by the blade of the laryngoscope, and the blade is the tongue portion. It is difficult to visually confirm whether or not it is in the proper position. Therefore, making the state of the tongue part fully visible when the blade hits the tongue part will contribute to the improvement of the trainee's laryngeal deployment technique, as well as training for instructors attending the tracheal intubation training In general, it is thought that the effect of tracheal intubation training is further improved.

  Therefore, an imaging device such as a camera is provided in the simulated airway of the tracheal intubation training device, the state in the simulated airway is imaged by the imaging device, and the state can be visually observed by a trainer or an instructor using a display device such as a monitor. It is also possible to do so. However, since the tracheal intubation training device is formed by simulating the human body, the shape of the simulated airway extending from the mouth to the lung is complicated, and in order to make the state in the simulated airway completely visible, many The imaging device must be attached to the inside of the mouth and the trachea from various angles. Therefore, in this case, many imaging devices will appear in the simulated airway, and the imaging device may interfere with the insertion of the tracheal intubation instrument during tracheal intubation training, which is close to that of the human body. Not only can the tracheal intubation training be performed, but the entire apparatus becomes larger and complicated, leading to an increase in the manufacturing cost of the apparatus.

  The present invention has been devised by paying attention to such a problem, and an object of the present invention is to provide a position detection device for enabling visual recognition of a portion that cannot be directly viewed with a relatively simple structure without using an imaging device. It is in providing the program, the monitoring system, and the tracheal intubation training apparatus.

(1) In order to achieve the above object, the present invention provides position detection for determining the position of a predetermined portion of the elastic body from the measurement value of a force sensor provided on the elastic body that is displaced while elastically deforming when an external force is applied. A device,
Assuming that a virtual structure is arranged in the elastic body, storage means for storing in advance an arithmetic expression representing the relationship between the magnitude of the external force acting on the structure and the position of the predetermined part;
A configuration is adopted in which a calculation unit that obtains the position by substituting a value measured by the force sensor as the magnitude of the external force into the calculation formula is employed.

  (2) The structure is virtually arranged between a virtual link operable to simulate actual displacement of the elastic body, an attachment position of the force sensor and the virtual link, and the elastic body. It is constituted by a virtual spring that simulates the actual elastic deformation.

(3) Furthermore, the present invention provides a position detecting device for obtaining the position of a predetermined portion of the elastic body from a measurement value of a force sensor provided on the elastic body that is displaced while elastically deforming when an external force is applied. A program installed on
Assuming that a virtual structure is arranged in the elastic body, storage means for storing in advance an arithmetic expression representing the relationship between the magnitude of the external force acting on the structure and the position of the predetermined part;
A configuration is adopted in which the computer is caused to function as calculation means for obtaining the position by substituting a value measured by the force sensor as the magnitude of the external force into the calculation formula.

(4) Moreover, this invention is provided with the said position detection apparatus and the image generation apparatus which presents visually the shape of the said predetermined part based on the position of the predetermined part of the said elastic body calculated | required with the said position detection apparatus. Monitoring system,
In the position detection device, obtain the position of a plurality of target points set on the surface of the elastic body,
The image generation apparatus employs a configuration in which an image representing the shape of the predetermined part is generated by connecting the positions of the target points on predetermined coordinates.

(5) Furthermore, the present invention provides a tracheal intubation training apparatus for training a tracheal intubation technique using a tracheal intubation instrument.
A simulated airway in which the tracheal intubation instrument is inserted by simulating the airway of a living body, a simulated part of the living body exposed in the simulated airway, and a pressing force when the tracheal intubation instrument contacts the simulated part A force sensor, an evaluation device that evaluates a tracheal intubation procedure according to a measurement value of the force sensor, a position detection device that determines the position of the simulated region from the measurement value of the force sensor, and a position detection device An image generating device that visually presents the shape of the simulated part based on the position of the simulated part;
The position detection device assumes that a virtual structure is arranged in the simulated region, and the magnitude of an external force acting on the structure and the positions of a plurality of target points set in the simulated region. Storage means in which an arithmetic expression representing the relationship is stored in advance;
A calculation means for substituting a value measured by the force sensor as the magnitude of the external force into the calculation formula to obtain the position of each target point;
The image generation apparatus employs a configuration in which an image representing the shape of the simulated region is generated by connecting the positions of the target points on predetermined coordinates.

  According to the present invention, the position of a predetermined part of the elastic body can be obtained while using a force sensor used in another application. For example, in the tracheal intubation training apparatus, not only the evaluation value of the tracheal intubation training is calculated from the measurement value of the force sensor that measures the pressing force when the tracheal intubation instrument comes into contact with the simulated site expressed in the simulated airway, It is also possible to calculate the position of the simulated region where elastic deformation and displacement have occurred due to contact with the tracheal intubation device. Furthermore, since an image representing the state of the simulated region is generated from the measurement value of the force sensor that is already used for another purpose without separately arranging an imaging device such as a camera, the conventional device has a simple device configuration. Visualization of the simulated part that could not be seen directly becomes possible.

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

  FIG. 1 shows a schematic configuration diagram of a tracheal intubation training apparatus according to the present embodiment. In this drawing, a tracheal intubation training apparatus 10 allows a trainer such as a doctor or a paramedic to perform tracheal intubation training using the tracheal intubation device 12, and as a result of the training, can evaluate the tracheal intubation technique. Yes. This tracheal intubation training apparatus 10 has an external shape that simulates the upper body part of a human body, and includes a model 13 in which tracheal intubation training using the tracheal intubation device 12 is performed, and a tracheal intubation technique performed on the model 13. An evaluation device 14 that performs evaluation, a position detection device 15 that obtains the position of a predetermined portion in the model 13, and an image generation device 16 that visually presents the shape of the predetermined portion using the position detection device 15 are provided. Configured. The position detection device 15 and the image generation device 16 constitute a monitoring system that makes it possible to visually recognize the elastic deformation state and the displacement state of a predetermined part in the model 13 formed by an elastic body.

  Here, the tracheal intubation device 12 includes a known tracheal intubation tube 17 and a laryngoscope 18.

  The tracheal intubation tube 17 includes a tube body 20 through which air passes, an air blowing portion 21 provided on the most distal side of the tube body 20, and a tube body 20 slightly behind the blowing portion 21. And a cuff 22 provided. The cuff 22 can inject air into the inside from the outside, and is provided in a balloon shape that can be expanded and contracted according to the amount of air injected.

  The laryngoscope 18 is provided with a blade 25 that is substantially L-shaped in a side view on the tip side.

  The model 13 includes a cover 27 that simulates a surface portion of a human body, and a simulated body 28 that is covered with the cover 27 and that simulates a human body part necessary for tracheal intubation training.

  The simulated body 28 has a structure in which an airway structure from the mouth of the human body to the bronchus and an esophageal structure from the mouth are simulated. Specifically, as shown in FIG. 2, the simulated body 28 includes a head 30 corresponding to the head of a human body, a lower jaw 31 that is rotatably connected to the head 30, and the head 30 and the lower jaw. The mouth inside 32 that is provided between the portions 31 and that is open at the top in FIG. 2, the maxillary anterior teeth 34 fixed to the upper jaw 33 on the right side of the head 30 in FIG. 2, and the lower jaw 31 in FIG. 2. A tongue 36 provided on the left side and disposed in the mouth interior 32, a epiglottis 39 provided in the vicinity of the tongue base 37 on the back side of the mouth interior 32 to be the root of the tongue 36, and the epiglottis 39 2, the vocal cord part 41 provided on the right side of FIG. 2, the tracheal part 43 that continues to the mouth interior 32 via the vocal cord part 41, and the lower part of the trachea part 43 in FIG. And an esophagus part 44. Here, the interior space of the mouth interior 32 and the trachea part 43 constitutes a simulated airway simulating the human airway. The maxillary anterior teeth 34, the tongue 36, the tongue base 37, the epiglottis 39, and the trachea 43 constitute a simulated part of the human body that appears in the simulated airway.

  The maxillary anterior tooth portion 34 is provided with force sensors 46 connected to the evaluation device 14 at a plurality of locations on the surface on the mouth inner 32 side. The force sensor 46 acts on the surface of the maxillary anterior tooth portion 34. The magnitude of the external force is measured.

  The tongue portion 36 is formed in a shape close to the tongue by an elastic body having elasticity close to that of a human tongue. When an external force is applied from the tongue surface 36A side, the tongue portion 36 is elastically deformed in accordance with the external force. Displacement is possible with the root 37 side as a fulcrum. In addition, the tongue portion 36 is provided with a force sensor 47 connected to the evaluation device 14 and the position detection device 15, and the force sensor 47 measures the magnitude of the external force acting on the tongue surface 36 </ b> A. The force sensor 47 is not particularly limited, but is embedded in the surface layer portion on the tongue surface 36A side as shown in FIGS. 3 and 4, and arranged in five rows in the left-right direction in FIG. Nine rows are fixed in the vertical direction (the front-rear direction of the tongue portion 36) in the figure.

  As shown in FIG. 2, the vocal cord part 41 is provided with a force sensor 48 connected to the evaluation device 14 (see FIG. 1). In the force sensor 48, the magnitude of the external force acting on the vocal cord part 41 is provided. Is measured.

  The trachea portion 43 is provided with force sensors 49 and position detection sensors 50 connected to the evaluation device 14 at a plurality of locations on the inner wall surface. In this case, the force sensor 49 measures the magnitude of the external force acting on the inner wall of the trachea part 43, and the position detection sensor 50 detects the tracheal intubation tube 17 at a position in the trachea part 43 where the position detection sensor 50 is provided. It is sensed whether or not there is a blowing portion 21 on the tip side of the.

  A position detection sensor 51 connected to the evaluation device 14 is provided on the inner wall surface of the esophagus part 44, and the position detection sensor 51 detects intrusion of the tracheal intubation tube 17 into the esophagus part 44.

  In addition, as each of the sensors 46 to 51 described above, the structure disclosed in Patent Document 1 proposed by the present applicant is adopted, but the present invention is not limited to this, and the force sensors 46 to 49 are used. As long as it is possible to measure the magnitude of the external force applied to the portion where each of the force sensors 46 to 49 is attached, it can be replaced with another pressure sensor (pressure sensor) or the like. Further, the position detection sensors 50 and 51 can be replaced with sensors having other structures as long as the same position detection as in the present embodiment can be performed.

  The evaluation device 14, the position detection device 15, and the image generation device 16 are configured by one or a plurality of computers, and include a processor, a memory, a hard disk, a plurality of program modules, a processing circuit, and the like. A program that installs the following functions is installed.

  The evaluation device 14 calculates an evaluation value of the tracheal intubation technique using a previously stored evaluation function based on the measurement values from the force sensors 46 to 49 and the position detection sensors 50 and 51. ing. The calculation of the evaluation value employs the technique disclosed in Patent Document 1 and is not the essence of the present invention, and therefore detailed description thereof is omitted here.

  The position detection device 15 obtains the position of the tongue surface 36A (predetermined part) based on the measurement value of the force sensor 47 provided on the tongue 36. That is, during the tracheal intubation training, the trainee inserts the blade 25 of the laryngoscope 18 into the mouth interior 32 and, as shown in FIG. The position detection device 15 obtains the surface position of the tongue 36 that is displaced while being elastically deformed, by performing a laryngeal deployment procedure that opens the opening end 43A of the trachea 43 from the inside 32 of the mouth. It will be.

  The position detection device 15 has a relationship between the magnitude of the external force measured by 45 force sensors 47 provided on the tongue 36 and the position of the target point S on the tongue surface 36A to which the force sensor 47 is attached. Storage means 53 (see FIG. 1) in which an arithmetic expression representing the above is stored in advance, and arithmetic means 54 (see FIG. 1) for determining the position of the target point S by substituting the measured value of the force sensor 47 into the arithmetic expression. I have.

The arithmetic expression assumes that the virtual structure 56 shown in FIGS. 4 and 5 is disposed in the tongue 36 and acts on the target point S of the tongue 36 using the structure 56. The relationship between the external force f and the position (coordinates) of the target point S is dynamically derived. The coordinate system used in this calculation formula is the xy coordinate system of FIG. 5 with a predetermined point as the origin, and the coordinate (z axis) in the direction orthogonal to the paper surface in FIG. 5 is not considered. For convenience of the following description, among the object point S in FIG. 5, the object point S located on the most distal end side of the tongue 36 and the target point S _1, toward the base end side serving as the epiglottis 39 side The target points are S _{2 to} S ₉ in order. Also, the magnitude of the external force f acting to each object point S ₁ to S ₉ and f ₁ ~f _9, the external force f which is the same subscript and subscripts are added to the target point S is the appropriate It means the magnitude of the external force f acting on the target point S.

  The structure 56 extends in the front-rear direction (vertical direction in the figure) at five locations on the tongue surface 36A, as indicated by the alternate long and short dash line in FIG. Is assumed to exist within.

  Each of the structures 56 has the same structure, and as shown in FIG. 5, a virtual link 58 having a structure operable to simulate the displacement of the tongue portion 36 when an external force f is applied, The virtual link 58 is provided with virtual springs 59 attached to a plurality of locations. In addition, as the structure 56, a damper element can also be added as needed.

The virtual link 58 rotates the first, second, third, and fourth rod-shaped bodies 61, 62, 63, 64 made of a rigid body that does not elastically deform, and the first to fourth rod-shaped bodies 61-64. It consists of first, second and third connection points P ₁ , P ₂ and P ₃ which are connected to each other.

  The first to third rod-like bodies 61 to 63 are equal in length to each other and are connected in order from the distal end side of the tongue portion 36 toward the epiglottis 39 side which is the proximal end side. The fourth rod-like body 64 is connected to the third rod-like body 63 so as to extend into the epiglottis 39.

At each of the connection points P ₁ , P ₂ , P ₃ , the rods 61 to 64 are rotated only in the vertical direction of the tongue 36 (the direction along the paper surface in FIG. 5). It is assumed that a rotating spring 65 is provided to be urged in the direction of the arrow in FIG. The rotating spring 65 is set so that the first to third rod-shaped bodies 61 to 63 are in an initial state in which the first to third rod-shaped bodies 61 to 63 are connected to each other at a predetermined angle when no external force is applied to the tongue portion 36.

The virtual spring 59 includes a surface coupling spring 68 disposed between the target points S _{1 to} S _{9 to} which the force sensor 47 is attached and the first to third rod-like bodies 61 to 63, and the xy. along the x-axis direction of the coordinate system, and the third first supporting spring 70 extending to the virtual fixed end 69 from the connecting point P ₃ of, along the same y-axis direction, a virtual fixed from the third connecting point P ₃ of The second support spring 72 extends to the end 71.

The surface coupling spring 68 is connected from the target points S _{1 to} S ₃ to the first bar-shaped body 61, connected from the target points S _{4 to} S ₆ to the second bar-shaped body 62, and the target points S _{7 to} S _9. To the third rod 63. The surface coupling spring 68 extending from the object point S ₁ is attached to the position of the first rod-like body 61 the distance to the first connecting point P ₁ is the length of 5/6 of the first rod-like body 61 is is the surface connection spring 68 extending from the target point S ₂ is the position of the first rod-like body 61 the distance to the first connecting point P ₁ becomes the half of the length of the first rod-like body 61 attached is the surface connection spring 68 extending from the object point S _3, the position of the first rod-like body 61 the distance to the first connecting point P ₁ is the length of 1/6 of the first rod-like body 61 Is attached. Similarly, the surface connection spring 68 extending from the target points S _{4 to} S ₆ has a distance to the second connection point P ₂ of 5/6, 1/2, 1/6 of the second rod-shaped body 62. The second rod-like bodies 62 are attached to the positions. Further, in the surface connection spring 68 extending from the target points S _{7 to} S ₉ , the distance to the third connection point P ₃ is 5/6, 1/2, and 1/6 of the third rod-like body 63. They are attached to the positions of the third rod-like bodies 63, respectively. In addition, it is assumed that each surface coupling spring 68 is fixed at an angle of 90 degrees with respect to the first to third rod-like bodies 61 to 63.

  The arithmetic expression is constituted by the following expressions.

First, as shown in FIG. 5, the relative angle of the second rod-shaped body 62 with respect to the first rod-shaped body 61 is set to the first angle θ _1, and the relative of the third rod-shaped body 63 with respect to the second rod-shaped body 62 is set. The angle is a second angle θ ₂ and the angle of the third rod 63 with respect to the y-axis is a third angle θ ₃ . The first, second, and third angles θ ₁ , θ ₂ , θ ₃ in the initial state where no external force is applied to each of the target points S _{1 to} S ₉ are constants A ₁ , A ₂ , and a _3.

Then, the first to third connecting point _P 1 _of, P 2, the moment about _M 1 of _{P 3,} M 2, _{M 3,} the external force _f 1 ~f ₉ is applied to each object point _S 1 to S ₉ The first, second, and third angles θ ₁ , θ ₂ , θ _{3 at the time} are as follows. Here, the lengths of the first to third rod-shaped bodies 61 to 63 are set to a predetermined constant value l, and the spring constant of the rotation spring 65 provided at the _first connection point P ₁ is k ₁ , the spring constant of the rotation spring 65 provided on the connecting point P ₂ of 2 k _2, the spring constant of the rotation spring 65 provided on the third connection point P ₃ of the k _3. These spring constants k ₁ , k ₂ , and k ₃ are constant values set in advance.

Next, when the external forces f _{1 to} f ₉ are applied to the target points S _{1 to} S ₉ , the positions of the first to third connection points P _{1 to} P _{3 in} the xy coordinate system are as follows: Street. Here, the coordinates of the first connection point P ₁ are (x ₁ , y ₁ ), the coordinates of the second connection point P ₂ are (x ₂ , y ₂ ), and the coordinates of the _third connection point P ₃ . Is (x ₃ , y ₃ ). The third coordinate of the coupling point P ₃ of in the initial state, a preset fixed value (a, b). The spring constant of the first support spring 70 is k ₄ , and the spring constant of the second support spring 72 is k ₅ . These spring constants k ₄ and k ₅ are also set to predetermined constant values.

Further, when an external force _f 1 ~f ₉ is applied to each object point _S 1 to S _9, the shortest distance _l n with each object point _S 1 to S ₉ and the first to third rod-like members 61-63 ( n = integer of 1 to 9) is as follows. Here, the spring constant of each surface coupling spring 68 is K _n (n = 1 to 9), and the length of each surface coupling spring 68 in the initial state is L _n (n = 1 to 9). The spring constant K _n and the spring length L _n are constant values set in advance. Note that the subscript n here corresponds to the subscript number of each of the target points S _{1 to} S _9. For example, at the target point S ₁ , the external force f ₁ , the shortest distance l ₁ , and the spring constant K _1. This means that the spring length L ₁ and the target point S ₉ are the external force f ₉ , the shortest distance l ₉ , the spring constant K ₉ , and the spring length L ₉ .

The coordinates of the target points S _{1 to} S ₉ when the external forces f _{1 to} f ₉ are applied to the target points S _{1 to} S ₉ are as follows. Here, the coordinates of the target point S ₁ are (x _S1 , y _S1 ), the coordinates of the target point S ₂ are (x _S2 , y _S2 ), and the coordinates of the target point S ₃ are (x _S3 , y _S3 ). , the coordinate of the target point _{S 4} and _{(x S4, y S4),} and the coordinates of the target point _{S 5} and _{(x S5, y S5),} and the coordinates of the target point _{S 6} and _{(x S6, y S6),} target The coordinates of the point S ₇ are (x _S7 , y _S7 ), the coordinates of the target point S ₈ are (x _S8 , y _S8 ), and the coordinates of the target point S ₉ are (x _S9 , y _S9 ).

When the external force f _{1 to} f ₉ acting on each of the target points S _{1 to} S ₉ is measured by the force sensor 47, the calculation unit 54 uses each of the target points using the above-described mathematical formula stored in the storage unit 53. The coordinates (x _S1 , y _S1 ) to (x _S9 , y _S9 ) of S _{1 to} S ₉ are obtained.

In the image generation device 16, the coordinates (x _S1 , y _S1 ) to (x _S9 , y _S9 ) of the target points S _{1 to} S ₉ are obtained by the position detection device 15 for each of the five structures 56. Then, the target points S are connected by a known method such as a spline interpolation method, and the outer shape of the tongue portion 36 is estimated. Then, a 3D graphics image of the tongue 36 is formed based on the estimation, and the image is presented on a display device such as a monitor (not shown). As a result, the trainer or the instructor can visually confirm the state of the laryngeal deployment procedure while viewing the 3D graphics image having a shape corresponding to the actual elastic deformation and displacement of the tongue portion 36 during training. .

  Therefore, according to such an embodiment, the force sensor 47 used for the tracheal intubation technique evaluation is used in combination without using an imaging device such as a camera that images the actual elastic deformation and displacement of the tongue 36 during training. Thus, 3D graphics images corresponding to the elastic deformation and displacement can be presented to the trainer and the instructor. As a result, even if such an image presentation function is newly added to the conventional tracheal intubation training apparatus, it is only necessary to add the minimum necessary apparatus configuration, and the enlargement and complexity of the entire apparatus can be avoided.

  In the above-described embodiment, the 3D graphics image of the tongue 36 is generated. However, other simulated parts made of an elastic body that is displaced while being elastically deformed when an external force is applied to the structural body as in the above-described embodiment. 56 may be virtually arranged, the position of the simulated part when an external force is applied is obtained dynamically, and a 3D graphics image of the simulated part may be generated based on the position. For example, when the cuff 22 of the tracheal intubation tube 17 presses the inner wall of the tracheal part 43, it is also possible to generate a 3D graphics image representing the elastic deformation and displacement of the inner wall portion.

  Further, the position detection device 15 is not limited to use for generating a 3D graphics image, but can be used for other applications where it is necessary to obtain the position of an elastic body accompanied by elastic deformation and displacement.

  Furthermore, the position detection device 15 and the image generation device 16 are not limited to the application to the tracheal intubation training device 10 but can be used alone or applied to other devices.

  In addition, the configuration of each part of the apparatus in the present invention is not limited to the illustrated configuration example, and various modifications are possible as long as substantially the same operation is achieved.

The schematic block diagram of the tracheal intubation training apparatus which concerns on this embodiment. The expanded sectional view of a simulation body. The schematic side view of a tongue part. The schematic front view of a tongue part. The enlarged side view for demonstrating the structure of the structure virtually arrange | positioned in the tongue part.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Tracheal intubation training apparatus 12 Tracheal intubation instrument 14 Evaluation apparatus 15 Position detection apparatus 16 Image generation apparatus 32 Inside of mouth (simulated airway)
34 Maxillary anterior teeth (simulated part)
36 Tongue (elastic body, simulated part)
36A Tongue surface (predetermined part)
37 Tongue base (simulated part)
39 Epiglottis (simulated part)
41 Vocal cord part (simulated part)
43 Trachea (simulated airway)
44 Esophageal part (simulated esophagus)
47 Force sensor 53 Storage means 54 Calculation means 56 Structure 58 Virtual link 59 Virtual spring S Target point

Claims (5)

A position detection device for obtaining a position of a predetermined portion of the elastic body from a measurement value of a force sensor provided on the elastic body that is displaced while elastically deforming when an external force is applied,
Assuming that a virtual structure is arranged in the elastic body, storage means for storing in advance an arithmetic expression representing the relationship between the magnitude of the external force acting on the structure and the position of the predetermined part;
A position detection apparatus comprising: a calculation unit that obtains the position by substituting a value measured by the force sensor into the calculation formula as the magnitude of the external force.   The structure is virtually arranged between a virtual link operable to simulate an actual displacement of the elastic body, an attachment position of the force sensor and the virtual link, and an actual elastic deformation of the elastic body. The position detection device according to claim 1, wherein the position detection device is configured by a virtual spring that simulates the above. A program installed in a position detection device for obtaining a position of a predetermined portion of the elastic body from a measurement value of a force sensor provided on the elastic body that is displaced while elastically deforming when an external force is applied,
Assuming that a virtual structure is arranged in the elastic body, storage means for storing in advance an arithmetic expression representing the relationship between the magnitude of the external force acting on the structure and the position of the predetermined part;
A program for a position detection apparatus, wherein the computer is caused to function as calculation means for substituting a value measured by the force sensor as the magnitude of the external force into the calculation formula to obtain the position. A position detection device according to claim 1 and an image generation device that visually presents the shape of the predetermined portion based on the position of the predetermined portion of the elastic body obtained by the position detection device. A monitoring system,
In the position detection device, obtain the position of a plurality of target points set on the surface of the elastic body,
The monitoring system according to claim 1, wherein the image generation device generates an image representing a shape of the predetermined portion by connecting positions of the target points on predetermined coordinates. In the tracheal intubation training device for training the tracheal intubation technique using the tracheal intubation instrument,
A simulated airway in which the tracheal intubation instrument is inserted by simulating the airway of a living body, a simulated part of the living body exposed in the simulated airway, and a pressing force when the tracheal intubation instrument contacts the simulated part A force sensor, an evaluation device that evaluates a tracheal intubation procedure according to a measurement value of the force sensor, a position detection device that determines the position of the simulated region from the measurement value of the force sensor, and a position detection device An image generating device that visually presents the shape of the simulated part based on the position of the simulated part;
The position detection device assumes that a virtual structure is arranged in the simulated region, and the magnitude of an external force acting on the structure and the positions of a plurality of target points set in the simulated region. Storage means in which an arithmetic expression representing the relationship is stored in advance;
A calculation means for substituting a value measured by the force sensor as the magnitude of the external force into the calculation formula to obtain the position of each target point;
The tracheal intubation training apparatus characterized in that the image generating apparatus generates an image representing the shape of the simulated region by connecting the positions of the target points on predetermined coordinates.

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