Atrial septum puncture training model and method

Abstract

The invention discloses an atrial septum puncture training model and method, and belongs to the technical field of medical instruments. The puncture needle is connected with the puncture sheath, the puncture needle is connected with the wire, the binocular camera is connected with the control element and the display screen, the 3D heart model comprises a left atrium, a right atrium, a ventricle, a magnetic iron block and an electromagnetic coil, a port of the 3D heart model is composed of a ferromagnet and three red mark points, and the binocular camera and the white light light source are placed above the 3D heart model. A trumpet-shaped opening and an electromagnet catheter are placed at an ideal puncture point of the 3D heart model and used for simulating the force in the puncture process, and the binocular camera and the puncture point interface are connected with the controller and the screen. By simulating the anatomical structure and physiological environment of a real human body, a safe practice platform capable of being repeatedly operated is provided for medical staff.

Description

Technical Field

[0001] The invention belongs to the technical field of medical devices and relates to an atrial septal puncture training model and method. Background Art

[0002] In clinical practice, it is difficult for the catheter to enter the left atrium directly through the percutaneous approach, and it must rely on a complex retrograde path involving multiple turns of the aortic valve and mitral valve. This method is not only cumbersome in operation, but also easily leads to insufficient catheter positioning accuracy, thereby increasing the difficulty of the operation and the risk of complications. By puncturing the atrial septum, the catheter can enter the left atrium directly from the right atrium, thereby simplifying and realizing the possibility of left heart system inspection operations. At present, atrial septal puncture has become one of the most widely used techniques in the field of interventional cardiology, and is widely used in the treatment of left heart system arrhythmias, left atrial appendage closure, percutaneous left ventricular assist device implantation, and surgical treatment of various mitral valve diseases. With the rapid development of catheter ablation technology for atrial fibrillation, the requirements for atrial septal puncture technology are increasing, requiring not only the operator to successfully puncture the atrial septum, but also to accurately reach the optimal puncture site to improve the safety and effectiveness of the operation. However, there is currently a lack of effective training methods for atrial septal puncture practice. In order to improve the operational skills of medical staff, reduce operational risks, and improve the safety and effectiveness of patient treatment, a transseptal puncture training model has emerged in recent years and has become an important auxiliary tool in medical education and practice. Summary of the invention

[0003] The present invention aims at solving the problems in the prior art and provides a model and method for training atrial septal puncture.

[0004] A training model for atrial septal puncture includes a puncture needle, a puncture sheath, a 3D heart model, a binocular camera, a control element, a display screen, a wire, a magnetic iron block, and an electromagnetic coil. The puncture needle is connected to the puncture sheath, the puncture needle is connected to the wire, the binocular camera is connected to the control element and the display screen, the 3D heart model includes a left atrium, a right atrium, a ventricle, a magnetic iron block, and an electromagnetic coil. The port of the 3D heart model is composed of a ferromagnetic body and three red marking points. A binocular camera and a white photoelectric light source are placed above the 3D heart model. A trumpet-shaped opening and an electromagnet catheter are placed at the ideal puncture point of the 3D heart model to simulate the strength during the puncture process. The binocular camera and the puncture point interface are connected to the controller and the screen. It also includes an electromagnet device with adjustable resistance, and the resistance range is adjusted by a controller to simulate the difference in puncture strength of heart tissues of different patients.

[0005] A method for training atrial septal puncture comprises the following steps: a calibration and distortion correction step, a body position selection step, a position perception step, an image confirmation step, a puncture breakthrough feeling simulation step, a position determination step and a puncture step.

[0006] The advantages of the present invention are: avoiding damage to surrounding tissues and blood vessels, reducing the occurrence of complications, and helping to improve the quality of medical education. By simulating the real human anatomical structure and physiological environment, a safe and repeatable practice platform is provided for medical personnel. The design of the model fully considers various factors in the process of atrial septal puncture, such as the thickness, elasticity, and blood vessel distribution of the atrial septum, so that medical personnel can truly feel the difficulty and skill requirements of puncture during the operation.

[0007] Improve operation skills: The model can simulate puncture resistance, provide real-time visual feedback, and combine mechanical perception and operation path recording, which will help operators quickly master skills in actual clinical operations and shorten the learning curve. It is widely used in medical skills training, medical teaching demonstrations and scientific research experiments.

[0008] Enhanced safety: The design of this training model takes into account the thickness, elasticity and distribution of the surrounding blood vessels of the atrial septum. Through this highly restored model, medical staff can practice dealing with different complex situations without affecting patient safety, so as to better avoid damage to surrounding tissues and blood vessels in actual operations and reduce the occurrence of complications.

[0009] Provide real-time feedback: The model's built-in photoelectric sensors, controllers, and screen displays can provide real-time position information and operation prompts, ensuring that the operator can get timely feedback during training to understand whether the guidewire has reached the predetermined position and whether the puncture process has been completed correctly. This real-time feedback mechanism helps the operator discover and correct errors and improve training results.

[0010] Simulated puncture feeling: Through the breakthrough feeling simulation provided by the electromagnet device, the user can truly experience the resistance and penetration feeling during the puncture process, helping medical staff to accurately control the puncture force and angle, and improve the precision and stability of the operation.

[0011] Reusability and debuggability: The training model is designed to be reusable, providing a low-cost and efficient training method. At the same time, the training parameters such as puncture point location and resistance size can be adjusted through the controller to adapt to different training needs.

[0012] Reduce surgical risks: Through systematic practice with this training model, medical staff can better respond to emergencies in actual operations, reduce surgical failure rates, improve surgical safety and success rates, and protect patients’ lives.

[0013] Improve medical education: This training model is not only suitable for the training of professional doctors, but can also be used for teaching demonstrations and student practice in medical education, making medical education more interactive and practical and improving the quality of teaching.

[0014] Improve efficiency and confidence: Through repeated training and simulation of actual puncture operations, medical staff's surgical efficiency and confidence will be significantly improved, which will help reduce operation time in clinical settings and improve the overall effect of patient treatment.

[0015] This training model helps medical staff fully master atrial septal puncture techniques, reduce errors, and improve the safety and effectiveness of clinical operations through a series of high-precision technical simulations and feedback mechanisms.

[0016] The training model can provide real-time feedback and evaluation based on the medical staff’s operation, helping them to promptly identify and correct errors and deficiencies in their operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. As shown in the figure:

[0018] Figure 1 It is a schematic diagram of the method steps of the present invention.

[0019] Figure 2 This is a diagram showing the structure of the present invention.

[0020] Figure 3 The second diagram is a schematic diagram of the structure of the present invention.

[0021] Figure 4 It is a flow chart of the steps of the present invention.

[0022] Figure 5 It is the binocular vision principle diagram of the present invention.

[0023] Figure 6 It is a schematic diagram of camera placement of the present invention. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Example 1: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, a training model for atrial septal puncture includes a puncture needle, a puncture sheath, a 3D heart model 2, a binocular camera 8, a control element 7, a display screen 6, a wire 15, a magnetic iron block 17, and an electromagnetic coil 16.

[0026] The binocular camera 8 includes a left camera and a right camera.

[0027] The puncture needle and the puncture sheath are connected to form a puncture device 3. The outer shell 1 contains the puncture device 3 and the 3D heart model 2. The puncture device 3 is connected to the handle. The puncture needle is connected to the wire 15. The end of the wire 15 is fixed on the handle and operated by the experimenter. The handle is operated by the operator 5.

[0028] The binocular camera 8 is connected to the control element 7 and the display screen 6. The 3D heart model 2 contains the left atrium 12, the right atrium 9, the left ventricle 13, the right ventricle 14, the magnetic iron block 17 and the electromagnetic coil 16. The left atrium 12, the right atrium 9, the left ventricle 13 and the right ventricle 14 are respectively located in independent spaces in the model. The puncture point is located at the atrial septum between the left atrium and the right atrium, which is set to the optimal puncture point in the standard heart. The red mark point is located at the top of the operating guide wire and always exists inside the model space.

[0029] The port of the 3D heart model 2 consists of a magnetic iron block 17 and three red marking points 10. A binocular camera 8 and a white light source are placed above the 3D heart model 2. There is a trumpet-shaped opening and an electromagnet catheter at the ideal puncture point of the 3D heart model 2 to simulate the force during the puncture process. The binocular camera 8 and the puncture point interface are connected to the control element 7 and the display screen 6.

[0030] Example 2: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, a method for training atrial septal puncture includes the following steps: calibration and distortion correction step, body position selection step, position perception step, image confirmation step, puncture breakthrough feeling simulation step, position determination step, and puncture step.

[0031] Calibration and distortion correction steps:

[0032] Step 1. Binocular camera calibration: Use Zhang Zhengyou calibration method to calibrate the binocular camera to determine the intrinsic and extrinsic parameters of the camera to ensure the geometric accuracy of subsequent images.

[0033] Step 2. Camera distortion correction: Eliminate the distortion of the camera lens through the correction algorithm to ensure that the captured image is not affected by lens distortion and obtain real image data.

[0034] Step 3. Image capture: Use the installed binocular camera to collect images and capture the scene containing the probe and color markers.

[0035] Step 4. Image processing: Process the captured image, extract the RGB data, and identify the color marker points in the image for subsequent location information extraction.

[0036] Step 5. Probe position calculation: Based on the identified markers and image data, the three-dimensional position of the probe is calculated using stereo vision technology to ensure the precision and accuracy of the measurement.

[0037] Step 6. Corresponding the position to the real image frame by frame: Corresponding the calculated probe position to the real image captured to achieve synchronization of the position and image, which is convenient for subsequent analysis or application.

[0038] Steps to choose a posture:

[0039] Before training, users need to choose a suitable body position to obtain the best puncture angle and stability. Usually, the supine position or lateral position is selected to simulate the actual body position of the patient and make the training closer to the clinical operation scene.

[0040] Location Awareness Steps:

[0041] Start the binocular camera and white light source to ensure that the camera covers the entire cross-section of the heart model. When the wire enters the heart model, the camera captures the position of the wire and the position of the markers on the heart surface. The controller calculates and displays the relative position of the wire in real time to help the user perceive the spatial relationship between the wire and the structure inside the heart.

[0042] Image confirmation steps:

[0043] The image captured by the camera is transmitted to the controller for processing in real time, and the RGB data in the image is extracted and the red marker is identified. The three-dimensional coordinates of the marker are obtained using the depth of field calculation formula, and a simulated image matching the heart model is displayed on the screen to help the user confirm the position of the wire.

[0044] Steps to simulate the puncture breakthrough feeling:

[0045] During the simulated puncture process, when the wire reaches the ideal puncture point, the electromagnet device is activated to apply a certain resistance to the wire, simulating the breakthrough feeling encountered during puncture. The user can perceive the resistance and elasticity of the puncture through this feedback.

[0046] Steps to determine location:

[0047] When the guidewire port reaches the ideal puncture point, the photoelectric sensor detects the guidewire position and the controller issues a prompt, which is displayed on the screen to confirm that the guidewire has reached the target position.

[0048] Piercing steps:

[0049] After receiving the confirmation prompt, the user performs the puncture operation, breaking through the electromagnetic resistance through the wire to complete the puncture. When the end of the wire reaches the predetermined position, another photoelectric sensor will detect and turn off the electromagnet, and the screen will display that the puncture is successful. Afterwards, the system will prompt the user to withdraw the wire back to the initial position and fix it to complete the entire puncture training process.

[0050] Example 3: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, a method for training atrial septal puncture includes the following steps: the heart used in the simulator is a half heart model obtained by additive printing, and the model includes complete left and right atria and ventricles, and its surface color is blue.

[0051] A puncture needle is used during puncture, and the handheld end of the guidewire used is the same as the guidewire used in the actual operation. The port entering the heart consists of a ferromagnet and three red marking points, each of which has a diameter of 2mm.

[0052] A binocular camera and a white light source are placed above the heart model, and its optical field of view covers the entire heart section.

[0053] A trumpet-shaped opening and an electromagnet catheter are placed at the ideal puncture point of the heart model to simulate the force during the puncture process. The binocular camera and the puncture point interface are connected to the controller and the screen.

[0054] Before use, remove the binocular camera, calibrate and correct the distortion of the camera using Zhang Zhengyou's calibration method, and then install and fix it in a fixed position above the heart model.

[0055] The user inserts the wire into the heart model, uses a binocular camera to capture the entire image, and transmits the real-time image to the controller. First, the RGB value in the image is extracted, and the peak point of the red value is the marked point.

[0056] The binocular camera perceives objects in the following ways: Figure 5 As shown, the principle of calculating the three-dimensional position of an object in the camera is as follows Figure 6 As shown, according to the triangle similarity principle,

[0057] Triangle O l B'A and triangle O r PO l resemblance:

[0058] ΔO l B'A~ΔO r PO l.

[0059] The depth of field calculation formula is obtained:

[0060]

[0061] Where X w , Y w and Z w are the world coordinate values ​​of the marked points; X l With X r is the x-axis coordinate value of the image point in the left camera and the right camera; Y is the y-axis coordinate value of the point in the left and right cameras; B is the distance between the optical centers of the left and right cameras; f is the focal length of the two cameras; d is the parallax of the image point in the left and right cameras. The model principle is as follows Figure 5 shown.

[0062] The formula is used to obtain the three-dimensional coordinate value of the marking point, which corresponds to a set of simulated images and transmits the images to the screen.

[0063] The camera's acquisition and image display frequency is 10 samples per second.

[0064] A photoelectric sensor is placed at the catheter at the puncture point. When it detects that the wire port has reached the specified position, a prompt will appear on the screen that the ideal puncture position has been reached.

[0065] Start the electromagnet device to give a certain resistance to the puncture wire to simulate the puncture force. When another photoelectric sensor at the end of the catheter at the puncture point detects that the wire has reached the end position, the electromagnet is turned off and a successful puncture is displayed on the screen. After 20 seconds, the user is prompted to pull out the wire to its original position and fix it.

[0066] It helps medical staff improve their operational skills in practice and enhance the safety and effectiveness of patient treatment.

[0067] During the application of the model, medical staff can become familiar with and master the basic steps, key points of operation and precautions of atrial septal puncture through repeated practice.

[0068] At the same time, the model can also provide real-time feedback and evaluation based on the medical staff's operations, helping medical staff to promptly identify and correct errors and deficiencies in operations.

[0069] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A training model for atrial septal puncture, characterized in that: Contains puncture needle, puncture sheath, 3D heart model, binocular camera, control components, display screen, wire, magnetic iron block, electromagnetic coil, The puncture needle is connected to the puncture sheath, and the puncture needle is connected to the guide wire. The binocular camera is connected to the control element and the display screen. The 3D heart model contains the left atrium, right atrium, ventricle, magnetic iron block and electromagnetic coil. The port of the 3D heart model consists of a ferromagnet and three red marking points. A binocular camera and a white light source are placed above the 3D heart model. A trumpet-shaped opening and an electromagnet catheter are placed at the ideal puncture point of the 3D heart model to simulate the force during the puncture process. The binocular camera and the puncture point interface are connected to the controller and the screen.

2. The atrial septal puncture training model according to claim 1, characterized in that: It also includes an electromagnet device with adjustable resistance, and the resistance range is adjusted by a controller to simulate the difference in puncture intensity of heart tissues of different patients.

3. A method for training atrial septal puncture, characterized in that: The method comprises the following steps: a calibration and distortion correction step, a body position selection step, a position perception step, an image confirmation step, a puncture breakthrough simulation step, a position determination step and a puncture step.

4. A method for training atrial septal puncture according to claim 3, characterized in that: The calibration and distortion correction process consists of the following steps: Step 1. Binocular camera calibration: Use Zhang Zhengyou calibration method to calibrate the binocular camera to determine the camera's intrinsic and extrinsic parameters to ensure the geometric accuracy of subsequent images. Step 2. Camera distortion correction: Eliminate the distortion of the camera lens through the correction algorithm to ensure that the captured image is not affected by lens distortion and obtain real image data. Step 3. Image capture: Use the installed binocular camera to capture the scene containing the probe and the color markers. Step 4. Image processing: Process the captured image, extract the RGB data, and identify the color markers in the image for subsequent location information extraction. Step 5. Probe position calculation: Based on the identified markers and image data, the three-dimensional position of the probe is calculated using stereo vision technology to ensure the precision and accuracy of the measurement. Step 6. Corresponding the position to the real image frame by frame: Corresponding the calculated probe position to the real image captured to achieve synchronization of the position and image, which is convenient for subsequent analysis or application.

5. The atrial septal puncture training method according to claim 3, characterized in that: The step of selecting a body position consists of the following steps: Before training, users need to choose a suitable body position to obtain the best puncture angle and stability. Usually, they choose the supine or lateral position to simulate the patient's actual position and make the training closer to the clinical operation scenario.

6. A method for training atrial septal puncture according to claim 3, characterized in that: The location awareness step contains the following steps: Start the binocular camera and white light source to ensure that the camera covers the entire cross-section of the heart model. When the wire enters the heart model, the camera captures the position of the wire and the position of the marking point on the surface of the heart. The controller calculates and displays the relative position of the wire in real time to help the user perceive the spatial relationship between the wire and the structure inside the heart.

7. The atrial septal puncture training method according to claim 3, characterized in that: The image verification process includes the following steps: The image captured by the camera is transmitted to the controller for processing in real time. The RGB data in the image is extracted and the red marking points are identified. The three-dimensional coordinates of the marking points are obtained using the depth of field calculation formula, and a simulated image matching the heart model is displayed on the screen to help the user confirm the position of the wire.

8. The atrial septal puncture training method according to claim 3, characterized in that: The puncture breakthrough simulation procedure includes the following steps: During the simulated puncture process, when the wire reaches the ideal puncture point, the electromagnet device is started to apply a certain resistance to the wire to simulate the breakthrough feeling encountered during puncture. The user can perceive the resistance and elasticity of the puncture through this feedback.

9. The atrial septal puncture training method according to claim 3, characterized in that: The location determination step contains the following steps: When the guidewire port reaches the ideal puncture point, the photoelectric sensor detects the guidewire position and the controller issues a prompt, which is displayed on the screen to confirm that the guidewire has reached the target position.

10. The atrial septal puncture training method according to claim 3, characterized in that: The puncture procedure includes the following steps: after receiving the confirmation prompt, the user performs the puncture operation, breaks through the electromagnetic resistance through the wire, and completes the puncture action. When the end of the wire reaches the predetermined position, another photoelectric sensor will detect and turn off the electromagnet, and the screen will display that the puncture is successful. Then, the system will prompt the user to withdraw the wire to the initial position and fix it, completing the entire puncture training process. The real-time image confirmation in the step analyzes the relative relationship between the wire position and the heart model through an artificial intelligence algorithm, and generates a predicted value for the probability of successful puncture.

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