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Title:: A Laparoscopic Training Assessment System based on Micro Electronic ?Mechanical System Acceleration Sensor

Author(s):: XU Mingzhe; WANG Shuyi; SUN Changying; School of Medical Instrument and Food Engineering,University of Shanghai for Science and Technology,Shanghai 200093,China

Keywords:: Laparoscopic surgery; Acceleration sensor; Laparoscopic; Motion measurement; Kalman filtering; Training system

摘要:: 我们设计了一种腹腔镜训练评价系统，并通过测试验证了系统的可行性。本研究选择了操作时间、平均速度、运动平稳度和空闲率作为评价系统的测量指标。利用MEMS加速度传感器系统完成运动参数采集。开发并设计MEMS加速度传感器模块，采取卡尔曼滤波算法对加速度计以及陀螺仪数据进行时域方面滤波，并通过欧拉角算法消除重力对加速度数据的影响；开发了指标计算软件平台，实现了由原始数据到指标参数的计算和数据保存。本研究通过对培训者10次培训操作过程的数据分析得到其操作时间训练前后减少了32%，左右手的操作平均速度分别降低45%和32%，左右手平稳度分别提高15%和19%，空闲率降低53%。

Abstract:: To design a laparoscopic training evaluation system, and verify the feasibility of the system through the test. The operation time, the average speed, the stability of movement and the free rate were choosen as the measurement index of this evaluation system. The micro electronic mechanical system(MEMS) acceleration sensor was used and the module of MEMS acceleration sensor was designed；the Kalman filtering algorithm was taken for data filtering of accelerometer and gyroscope in time domain, and the influence of gravity acceleration data through the Euler Angle algorithm was eliminated and the index calculation software platform was developed, the computation and data storage from raw data to the index parameter were implemented. Through the data analysis of the trainees′ 10 times training operation, it shows that the operation time is reduced by 32% before and after the training, the average operating speed of both hands is reduced by 45% and 32% respectively, the stability is increased by 15% and 19% respectively，and the free rate is reduced by 53%.