Dynamic liver puncture training model under respiratory movement

Abstract

The invention provides a dynamic liver puncture training model under respiratory movement. The dynamic liver puncture training model comprises a liver puncture training model and a respiratory movement training model, the liver puncture training model comprises a simulated thoracic cavity structure, a simulated organ, a liver movement device and a bottom plate, the simulated thoracic cavity structure is arranged on the bottom plate, the simulated organ is arranged on the simulated thoracic cavity structure, and the liver movement device is arranged at one end of the simulated thoracic cavity structure, is connected with the simulated organ and is fixed on the bottom plate; the respiratory movement simulation device comprises a respiratory movement mechanism and is connected with the liver puncture training model; the respiratory movement mechanism comprises a motor, and the motor converts rotary movement into reciprocating pneumatic displacement conforming to physiological laws on the basis of a human respiratory movement mathematical model. Through the liver puncture training model and the breathing movement simulation device, the motor is constrained through a human body breathing movement mathematical model, the influence of liver movement on puncture operation in the breathing process is precisely reduced, and a key technical guarantee is provided for simulating a real operation environment.

Description

Technical Field

[0001] This application relates to the field of surgical training models in the field of medical devices, and specifically, to a dynamic liver puncture training model under respiratory movement. Background Art

[0002] In interventional therapy and image-guided puncture surgery, the respiratory movement of the liver poses a severe challenge to the operation accuracy of doctors. Due to the influence of human physiological movements, the liver will produce complex displacements during respiration, and this dynamic movement characteristic increases the surgical difficulty. Doctors need to adjust the puncture path in real time to avoid accidentally puncturing blood vessels, bile ducts or important surrounding organs. However, current pre-clinical liver puncture training still mainly relies on static models or animal experiments, which are difficult to truly reproduce the dynamic movement characteristics of the human liver under respiratory drive. As a result, doctors lack adaptive training in complex dynamic environments during the training process, restricting their operation performance in actual surgeries. Although animal experiments can provide a certain degree of tissue biomechanical feedback, they have problems such as high costs, complex ethical approvals, and limited repeatable training, and are difficult to meet the training requirements of high frequency and strong controllability in clinical training. In addition, precise puncture training under image guidance has extremely high requirements for the image compatibility of model materials, and it is necessary to ensure that the target tissue has good imaging characteristics under CT and ultrasound imaging, so as to facilitate doctors to perform precise intraoperative positioning and path planning.

[0003] Therefore, there is an urgent need to design a new type of liver puncture training model that integrates real liver imaging characteristics, a dynamic respiratory movement simulation mechanism, and an image-guided puncture function, so as to truly restore the clinical surgical environment, effectively improve the operation ability of doctors under dynamic and complex conditions, and further enhance the accuracy and safety of interventional therapy.

[0004] Through the retrieval of the prior art, it is found that Chinese Patent CN113763794A, with the title of "A Respiratory Movement Simulation Device", includes: a bottom plate and a reciprocating movement mechanism and a symmetric movement mechanism installed on the upper side of the bottom plate. The bottom plate is used to support the overall device, and the reciprocating movement mechanism and the symmetric movement mechanism drive the pushing components on both sides to reciprocate, for simulating the respiratory process. This device only realizes respiratory movement and does not present the true thoracic liver characteristics of the human body.

[0005] In further retrieval, it is found that Chinese Patent CN118887856A, with the title of "A Lung Nodule Puncture Training Model", includes: a rib simulation model, a bronchial model, a skin layer, and at least one puncture block. The bronchial model contains simulation structures of bronchi, pulmonary arteries, and pulmonary veins, and is provided with a plurality of puncture block installation positions to simulate puncture operations of lung nodules at different positions. However, this patent cannot simulate respiratory movement and does not support ultrasound scanning. Summary of the Invention

[0006] Aiming at one of the defects in the prior art, the purpose of this application is to provide a dynamic liver puncture training model under respiratory movement.

[0007] In the first aspect of this application, a dynamic liver puncture training model under respiratory movement is provided, including: a liver puncture training model and a respiratory movement training model;

[0008] The liver puncture training model includes: a simulated thoracic cavity structure, a simulated organ, a liver movement device and a bottom plate. The simulated thoracic cavity structure is arranged on the bottom plate, the simulated organ is arranged on the simulated thoracic cavity structure, and the liver movement device is arranged at one end of the simulated thoracic cavity structure and connected to the simulated organ, and is fixed on the bottom plate for supporting the simulated organ;

[0009] The respiratory movement simulation device includes a respiratory movement mechanism, which is connected to the liver puncture training model for driving the liver puncture training model; wherein, the respiratory movement mechanism includes a motor, and the motor converts the rotational movement into a reciprocating pneumatic displacement conforming to physiological laws based on the human respiratory movement mathematical model.

[0010] Optionally, the liver puncture training model further includes a gas conduit, one end of the gas conduit is connected to the simulated organ, and the other end is connected to the respiratory movement mechanism.

[0011] Optionally, the respiratory movement mechanism further includes: a motor fixing part, a speed reducer, a rack fixing part and a cylinder assembly;

[0012] The motor is connected to the speed reducer through the motor fixing part, and the speed reducer is used for processing the driving force of the motor;

[0013] The speed reducer is connected to the cylinder assembly through the rack fixing part, and the rack fixing part is used for transmitting the processed driving force of the motor to the cylinder assembly.

[0014] Optionally, the cylinder assembly includes a gear, a piston, a cylinder body and a rack;

[0015] The gear is connected to the speed reducer, the rack is arranged on the rack fixing part, and the gear meshes with the rack for converting the processed driving force of the motor by the speed reducer into the telescopic movement of the rack;

[0016] The cylinder body and the piston form a sealed cavity, and one end of the piston is connected to the rack for driving the piston to move in the cylinder body.

[0017] Optionally, the mathematical expression of the motor based on the human respiratory movement mathematical model is:

[0018]

[0019] In the formula, V(t) is the inflation volume; n is a high-order frequency factor representing the number of fluctuations or the degree of subdivision; A n and are the amplitude and phase of the cosine function, which may vary according to different breathing patterns; R is the reduction ratio of the speed reducer, I is the ratio of the gear and the rack, K is the mapping ratio of the rack stroke to the gas volume; t is the time, ω is the angular frequency, defined as ω = 2πf, where f is the basic breathing frequency in Hz; B n is the initial position;

[0020] Among them, the breathing pattern can be adapted to the dynamic characteristics of various breaths through the combination of cosine functions of different orders.

[0021] Optionally, the simulated organ includes a simulated lung, a simulated heart, a simulated liver, and a simulated tumor;

[0022] The simulated lung, the simulated heart, the simulated liver, and the simulated tumor are correspondingly arranged in the simulated thoracic cavity structure according to the human body structure, and the simulated liver is connected to the liver movement device;

[0023] Among them, the simulated tumor is replaceable.

[0024] Optionally, the liver movement device includes: a liver support, an elastic reset device, and a metal soft spring;

[0025] One end face of the elastic reset device is connected to one end of the liver support, and one end of the metal soft spring is arranged on the other end face of the elastic reset device;

[0026] The other end of the liver support is nested and connected to the simulated liver, used to support the simulated liver, and realize the three-dimensional displacement of the simulated liver through the elastic reset device and the metal soft spring;

[0027] Among them, the liver support is made of pink foamed polyurethane.

[0028] Optionally, the simulated lung is made of red silica gel, used to accommodate the gas transported by the breathing motion simulation device and the gas conduit, and expand or contract according to the gas volume, simulating the real liver movement of the human body;

[0029] The simulated heart is made of flesh-colored resin and is located between the simulated lung and the simulated liver;

[0030] The simulated liver is provided with a groove, which is fully nested and matched with the simulated tumor;

[0031] The simulated tumor is made of magenta hydrogel.

[0032] Optionally, the simulated thoracic cavity structure includes: simulated ribs, simulated bones, simulated skin, simulated muscles, and simulated diaphragms;

[0033] The simulated ribs are connected to the simulated bones and fixed on the bottom plate;

[0034] The simulated muscles and the simulated skin are arranged on the simulated ribs and the simulated bones;

[0035] The simulated diaphragms are fixed on the bottom plate;

[0036] Among them, the simulated ribs, simulated bones, simulated skin, simulated muscles, and simulated diaphragms are made of different materials using different tissues, and all support CT and ultrasonic medical imaging.

[0037] Optionally, the simulated ribs and the simulated diaphragms are made of transparent silica gel; the simulated bones are made of white resin; the simulated skin material is made of skin-colored silica gel;

[0038] The simulated muscle material is made of red gel, has good penetration for ultrasound, and supports CT imaging.

[0039] A dynamic liver puncture training model under respiratory movement provided by the present application adopts the technical means of combining a liver puncture training model with a respiratory movement simulation device, can realize highly simulated dynamic liver movement under the influence of respiratory movement, effectively construct a surgical training scenario close to the real clinical environment, and significantly improve the adaptability and operation accuracy of doctors in performing puncture operations under dynamic conditions; at the same time, the motor in the respiratory movement simulation device is constrained by a human respiratory movement mathematical model, and the rotational movement is converted into a reciprocating pneumatic displacement conforming to physiological laws, improving the displacement process of abdominal organs under respiratory drive, and providing key technical guarantees for simulating the real surgical environment.

[0040] Other technical effects brought by the additional features will be further elaborated in the corresponding embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, objects, and advantages of the present application will become more apparent:

[0042] Figure 1 FIG. is a schematic structural diagram of a dynamic liver puncture training model under respiratory movement shown according to an exemplary embodiment;

[0043] Figure 2 FIG. is a schematic structural diagram of a liver puncture training model shown according to an exemplary embodiment;

[0044] Figure 3 Schematic structural diagram of a simulated chest cavity shown according to an exemplary embodiment;

[0045] Figure 4 Schematic structural diagram of a liver movement device shown according to an exemplary embodiment;

[0046] Figure 5 Schematic structural diagram of a respiratory movement simulation device shown according to an exemplary embodiment;

[0047] Figure 6 Schematic structural diagram of a respiratory movement mechanism shown according to an exemplary embodiment;

[0048] Figure 7 Schematic structural diagram of another angle of the respiratory movement mechanism shown according to an exemplary embodiment

[0049] Figure 8 Schematic structural diagram of a cylinder assembly shown according to an exemplary embodiment

[0050] In the figure: 1 is a liver puncture training model; 2 is a respiratory movement simulation device;

[0051] 11 is the simulated chest cavity structure; 12 is the simulated organ; 13 is the liver movement device; 14 is the bottom plate; 15 is the gas conduit;

[0052] 111 is the simulated rib; 112 is the simulated bone; 113 is the simulated skin; 114 is the simulated muscle; 115 is the simulated thoracic diaphragm;

[0053] 121 is the simulated lung; 122 is the simulated heart; 123 is the simulated liver; 124 is the simulated tumor;

[0054] 131 is the liver support; 132 is the elastic reset device; 133 is the metal soft spring; 134 is the fixing member;

[0055] 21 is the box body; 22 is the respiratory movement mechanism;

[0056] 221 is the motor; 222 is the motor fixing member; 223 is the speed reducer; 224 is the rack fixing member; 225 is the cylinder assembly;

[0057] 2251 is the gear; 2252 is the piston; 2253 is the cylinder block; 2254 is the rack; 2255 is the power switch. Detailed implementation manners

[0058] The present application will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can be made, and these all belong to the protection scope of the present application. For the parts not described in detail in the following embodiments, the prior art can be adopted to implement them.

[0059] In the description of the embodiments of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present application.

[0060] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features.

[0061] In the description of the embodiments of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically defined. In the present application, unless otherwise clearly specified and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0062] In the embodiments of the present application, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products, or devices.

[0063] In the prior art, although the liver puncture model can achieve simulated puncture, the breathing motion simulation device has a low control accuracy for the liver model. Based on the above problems, the embodiments of the present application provide a dynamic liver puncture training model under breathing motion to solve the above existing problems.

[0064] Referring Figure 1 As shown, in an embodiment of the present application, a dynamic liver puncture training model under breathing motion includes: a liver puncture training model 1 and a breathing motion training model;

[0065] The liver puncture training model 1 includes: a simulated thoracic cavity structure 11, a simulated organ 12, a liver motion device 13, and a bottom plate 14; the simulated thoracic cavity structure 11 is arranged on the bottom plate 14, the simulated organ 12 is arranged on the simulated thoracic cavity structure 11, and the liver motion device 13 is arranged at one end of the simulated thoracic cavity structure 11 and connected to the simulated organ 12, and is fixed on the bottom plate 14 for supporting the simulated organ 12; the breathing motion simulation device 2 includes a breathing motion mechanism 22, which is connected to the liver puncture training model 1 for driving the liver puncture training model 1.

[0066] Among them, the breathing motion mechanism 22 includes a motor 221, and the motor 221 converts the rotational motion into a reciprocating pneumatic displacement that conforms to the physiological law based on the human breathing motion mathematical model.

[0067] Specifically, the liver puncture training model 1 is constructed, the simulated thoracic cavity structure 11 is installed on the bottom plate 14, and the simulated organ 12 is arranged thereon; the liver motion device 13 is installed, one end of which is connected to the simulated thoracic cavity structure 11, and the other end is fixed on the bottom plate 14 to support the simulated organ 12 and simulate the motion of the liver. The motor 221 in the breathing motion training model is controlled according to the human breathing motion mathematical model, and the rotational motion is converted into a reciprocating pneumatic displacement that conforms to the physiological law. Through the drive of the motor 221, the entire training model can simulate the dynamic changes of the human body under breathing motion.

[0068] In the above embodiments of the present application, by combining the liver puncture training model 1 and the breathing motion training model, the physiological state of the human body under breathing motion can be more realistically simulated, providing a highly simulated training environment. Among them, the simulated thoracic cavity structure 11 and the simulated organ 12 make it closer to the actual clinical operation, improving the operation skills and accuracy of medical staff; the coordinated use of the liver motion device 13 and the breathing motion simulation device 2 realizes the three-dimensional displacement of the liver, and can simulate the dynamics of the liver during breathing. By constraining the motor 221 in the breathing motion simulation device 2 through the human breathing motion mathematical model, the authenticity and effectiveness of the training are further improved, accurately restoring the influence of the liver movement on the puncture operation during breathing, and significantly enhancing the clinical restoration degree and training efficiency of the doctor's interventional operation.

[0069] In order to accurately connect the respiratory motion mechanism 22 with the simulated organ 12, in some specific embodiments of the present application, the liver puncture training model 1 further includes a gas conduit 15. One end of the gas conduit 15 is connected to the simulated organ 12, and the other end is connected to the respiratory motion mechanism 22.

[0070] Specifically, by arranging a gas conduit 15 between the respiratory motion mechanism 22 and the simulated organ 12, the gas generated by the better respiratory motion simulation device 2 is transmitted into the simulated organ 12 through the gas conduit 15, accurately controlling the breathing process of the simulated organ 12 and improving the restoration degree of the influence of the movement of the liver during breathing on the puncture operation.

[0071] In some specific embodiments of the present application, the respiratory motion mechanism 22 further includes: a motor fixing member 222, a speed reducer 223, a rack fixing member 224, and a cylinder assembly 225.

[0072] The motor 221 is connected to the speed reducer 223 through the motor fixing member 222, and the speed reducer 223 is used to process the driving force of the motor 221; the speed reducer 223 is connected to the cylinder assembly 225 through the rack fixing member 224, and the rack fixing member 224 is used to transmit the processed driving force of the motor 221 to the cylinder assembly 225.

[0073] Specifically, in the respiratory motion mechanism 22, the motor 221 is connected to the speed reducer 223 through the motor fixing member 222 to further control the driving force of the motor 221 and process the driving force to achieve simulation restoration under different real situations. At the same time, the speed reducer 223 is connected to the cylinder assembly 225 through the rack fixing member 224, and the processed driving force of the speed reducer 223 is transmitted into the cylinder assembly 225 to achieve restoration under different conditions of the simulated organ 12.

[0074] Among them, the rack fixing member 224 is formed by connecting the speed reducer 223 to the rack of the cylinder assembly 225 through a gear keyway.

[0075] It should be noted that the respiratory motion simulation device 2 further includes a box body 21, and the respiratory motion mechanism 22 is arranged inside the box body 21 to prevent the respiratory motion mechanism 22 from being exposed outside for a long time, causing damage and improving the service life.

[0076] In the above embodiments of the present application, the motor fixing member 222, the speed reducer 223, the rack fixing member 224, and the cylinder assembly 225 are provided. After the motor 221 is stably installed via the motor fixing member 222, it is connected to the speed reducer 223. The speed reducer 223 precisely processes and adjusts the driving force output by the motor 221. Subsequently, the speed reducer 223 stably and effectively transmits the processed driving force to the cylinder assembly 225 via the rack fixing member 224, establishing a complete power transmission and execution system to ensure that the breathing motion mechanism 22 can stably and precisely simulate the human breathing-related motions.

[0077] In some specific embodiments of the present application, for the cylinder assembly 225, it includes a gear 2251, a piston 2252, a cylinder block 2253, and a rack 2254.

[0078] The gear 2251 is connected to the speed reducer 223. The rack 2254 is arranged on the rack fixing member 224. The gear 2251 meshes with the rack 2254 and is used to convert the driving force of the motor 221 processed by the speed reducer 223 into the telescopic motion of the rack 2254. The cylinder block 2253 and the piston 2252 form a sealed cavity. One end of the piston 2252 is connected to the rack 2254 and is used to drive the piston 2252 to move within the cylinder block 2253.

[0079] Specifically, by setting the gear 2251 and the rack 2254 to be connected to the breathing motion mechanism 22, the driving force processed by the speed reducer 223 is converted into the telescopic force of the rack 2254 via the gear 2251. By controlling the telescopic motion of the rack 2254 and combining with the sealed chamber formed by the cylinder block 2253 and the piston 2252, the gas generated by the cylinder block 2253 is transported to the simulation organ 12 via the gas conduit 15, realizing the simulation of the movement of the simulation organ 12 on the real liver movement of the human body, and improving the simulation effect and accuracy.

[0080] It should be noted that it may further include a power switch 2255 for supplying power to the device. The movement of the motor 221 needs to be constrained based on the breathing motion mathematical model.

[0081] In the above embodiments of the present application, a sealed cavity structure is formed by the cylinder block 2253 and the piston 2252. The driving force of the motor 221 processed by the speed reducer 223 is converted into the telescopic force for driving the rack 2254 via the gear 2251. After that, the rack 2254 controls the piston 2252 to move within the cylinder block 2253, realizing the precise restoration of the breathing process.

[0082] In some specific embodiments, the mathematical expression of the motor 221 based on the human breathing motion mathematical model is:

[0083]

[0084] Where V(t) is the inflation volume; n is a high-order frequency factor, indicating the number of fluctuations or the degree of subdivision; A n and is the amplitude and phase of the cosine function, which may vary depending on the breathing pattern; R is the reduction ratio of the reducer, I is the ratio of the gear and rack, and K is the mapping ratio of the rack stroke to the gas volume; t is time, ω is the angular frequency, defined as ω = 2πf, where f is the basic breathing frequency in Hz; B n is the initial position.

[0085] Among them, the breathing pattern can be adapted to various breathing dynamic characteristics by combining cosine functions of different orders.

[0086] In some specific embodiments, the simulated organ 12 includes a simulated lung 121 , a simulated heart 122 , a simulated liver 123 , and a simulated tumor 124 .

[0087] The simulated lung 121 , the simulated heart 122 , the simulated liver 123 and the simulated tumor 124 are arranged in the simulated chest structure 11 according to the human body structure; the simulated liver 123 is connected to the liver movement device 13 .

[0088] The simulated tumor 124 is replaceable.

[0089] In the above embodiments of the present application, firstly, the simulated lung 121, the simulated heart 122, the simulated liver 123 and the simulated tumor 124 are arranged in the simulated chest structure 11 according to the human body structure, which highly restores the organ layout in the human chest cavity, provides a very realistic operating environment for the trainee, and helps him to more accurately grasp the positional relationship of each organ during liver puncture. At the same time, the simulated tumor 124 is replaceable to avoid interference with the puncture needle trajectory after multiple punctures. At the same time, targeted training can be carried out according to different diseases and different tumor types.

[0090] In some specific embodiments, the liver movement device 13 includes: a liver support 131 , an elastic reset device 132 and a metal soft spring 133 .

[0091] One end face of the elastic reset device 132 is connected to one end of the liver support 131, and one end of the metal soft spring 133 is arranged on the other end face of the elastic reset device 132; the other end of the liver support 131 is nested and connected with the simulated liver 123, which is used to support the simulated liver 123, and realize the three-dimensional displacement of the simulated liver 123 through the elastic reset device 132 and the metal soft spring 133.

[0092] The liver support 131 is made of pink foamed polyurethane.

[0093] Specifically, the simulated lung 121, the simulated heart 122, the simulated liver 123, and the replaceable simulated tumor 124 are accurately arranged in the simulated thoracic cavity structure 11 according to the real human body structure. At the same time, the liver movement device 13 is connected to the simulated liver 123. The liver movement device 13 consists of a liver support 131, an elastic reset device 132, and a metal soft spring 133. One end of the elastic reset device 132 is connected to one end of the liver support 131, and one end of the metal soft spring 133 is arranged at the other end of the elastic reset device 132. The other end of the liver support 131 is nestedly connected to the simulated liver 123. By means of the elastic reset device 132 and the metal soft spring 133, the displacement simulation of the simulated liver 123 in three-dimensional space is realized.

[0094] Among them, the liver movement device 13 is fixed on the bottom plate 14 through a fixing member 134.

[0095] In the above embodiments of the present application, the liver movement device 13 realizes the three-dimensional displacement of the simulated liver 123 through the liver support 131, the elastic reset device 132, and the metal soft spring 133, which can accurately simulate the dynamic changes of the liver during the human respiratory movement, and realize liver puncture training under conditions closer to the real clinical scenario, effectively improving its operation skills and the ability to handle complex situations.

[0096] In some specific embodiments of the present application, the simulated lung 121 is made of red silica gel, which is used to accommodate the gas transported by the respiratory movement simulation device 2 and the gas conduit 15, and realizes relaxation or contraction according to the gas volume, simulating the real liver movement of the human body; the simulated heart 122 is made of flesh-colored resin and is located between the simulated lung 121 and the simulated liver 123; the simulated liver 123 is provided with a groove, which is fully nested and matched with the simulated tumor 124; the simulated tumor 124 is made of purple-red hydrogel and has a good CT imaging effect.

[0097] In the above embodiments of the present application, by making the simulated lung 121 of red silica gel, which can accommodate gas and realize relaxation or contraction according to the gas volume, the dynamic changes of the human lungs during breathing can be vividly simulated. Cooperating with the respiratory movement simulation device 2, it creates an environment closer to the real breathing scenario for training; the simulated heart 122 is selected as flesh-colored resin and is located between the simulated lung 121 and the simulated liver 123, restoring the actual layout of the organs in the human thoracic cavity and improving the trainer's clear understanding of the positional relationship of each organ; the groove is provided on the simulated liver 123 and is fully nested and matched with the simulated tumor 124, ensuring the stability and accuracy of tumor placement and improving the accuracy of training operations; the simulated tumor 124 is made of purple-red hydrogel and has a good CT imaging effect, which is not only visually closer to the real tumor but also clearly displayed under CT images, facilitating the trainer to perform precise puncture training in combination with the images and comprehensively improving the quality and effect of liver puncture training.

[0098] In some specific embodiments, the simulated thoracic cavity structure 11 includes: simulated ribs 111, simulated bones 112, simulated skin 113, simulated muscles 114, and simulated diaphragms 115.

[0099] The simulated ribs 111 are connected to the simulated bones 112 and fixed on the bottom plate 14; the simulated muscles 114 and the simulated skin 113 are arranged on the simulated ribs 111 and the simulated bones 112; the simulated diaphragms 115 are fixed on the bottom plate 14.

[0100] Among them, the simulated ribs 111, the simulated bones 112, the simulated skin 113, the simulated muscles 114, and the simulated diaphragms 115 are made of different materials and all support CT and ultrasonic medical imaging.

[0101] Specifically, by integrally fixing the simulated ribs 111, the simulated bones 112, the simulated skin 113, the simulated muscles 114, and the simulated diaphragms 115 on the bottom plate 14, the true thoracic cavity contour of an adult male is restored 1:1. Among them, different tissues are processed and made of different materials, support CT and ultrasonic medical imaging, and the simulated bones 112 are guaranteed to withstand a heavy pressure of at least 5 kg.

[0102] In some specific embodiments, the simulated ribs 111 and the simulated diaphragms 115 are made of transparent silicone material; the simulated bones 112 are made of white resin; the simulated skin 113 material is made of skin-colored silicone; the simulated muscles 114 material is made of red gel.

[0103] Specifically, the simulated ribs 111 are fixed on the simulated bones 112, and the materials are transparent silicone and white resin, which can support a heavy object of not less than 5 kg for a long time; the simulated skin 113 material is skin-colored silicone, and the simulated muscles 114 material is red gel, which has good penetration for ultrasound and supports CT imaging; the diaphragm material is transparent silicone. Different simulated tissues cooperate closely to jointly form a human thoracic cavity simulation structure.

[0104] In the above embodiments of the present application, the liver puncture training model 1 is strictly constructed according to the human body proportion, truly restores the liver and its surrounding important anatomical structures, and is compatible with medical ultrasound and CT imaging modes, providing reliable image support and anatomical reference for preoperative target area positioning and puncture path planning.

[0105] In the above embodiments, each preferred feature can be used alone in any one embodiment, and can also be used in any combination on the premise of not conflicting with each other. In addition, the parts not described in detail in the embodiments can be implemented by using the prior art.

[0106] Some specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and those skilled in the art can make various deformations or modifications within the scope of the claims, which do not affect the essence of the present application. The above preferred features can be used in any combination without conflict.

Claims

1. A dynamic liver puncture training model under respiratory movement, characterized in that, Comprising: A liver puncture training model and a respiratory movement training model; The liver puncture training model includes: a simulated thoracic cavity structure, a simulated organ, a liver movement device, and a bottom plate. The simulated thoracic cavity structure is arranged on the bottom plate, the simulated organ is arranged on the simulated thoracic cavity structure, and the liver movement device is arranged at one end of the simulated thoracic cavity structure and connected to the simulated organ, and is fixed on the bottom plate for supporting the simulated organ; The respiratory movement simulation device includes a respiratory movement mechanism, which is connected to the liver puncture training model for driving the liver puncture training model; wherein, the respiratory movement mechanism includes a motor, and the motor converts rotational movement into reciprocating pneumatic displacement conforming to physiological laws based on the human respiratory movement mathematical model.

2. The dynamic liver puncture training model during respiratory movement according to claim 1, wherein The liver puncture training model further includes a gas conduit, one end of which is connected to the simulated organ and the other end is connected to the respiratory movement mechanism.

3. A dynamic liver puncture training model during respiratory movement according to claim 1, characterized in that The respiratory movement mechanism further includes: a motor fixing member, a speed reducer, a rack fixing member, and a cylinder assembly; The motor is connected to the speed reducer through the motor fixing member, and the speed reducer is used for processing the driving force of the motor; The speed reducer is connected to the cylinder assembly through the rack fixing member, and the rack fixing member is used for transmitting the processed driving force of the motor to the cylinder assembly.

4. A dynamic liver puncture training model under respiratory movement according to claim 3, characterized in that The cylinder assembly includes a gear, a piston, a cylinder body, and a rack; The gear is connected to the speed reducer, the rack is arranged on the rack fixing member, and the gear meshes with the rack for converting the driving force of the motor processed by the speed reducer into the telescopic movement of the rack; The cylinder body and the piston form a sealed cavity, and one end of the piston is connected to the rack for driving the piston to move in the cylinder body.

5. The dynamic liver puncture training model during respiratory movement according to claim 4, characterized in that, The mathematical expression of the motor based on the human respiratory movement mathematical model is: Wherein, V(t) is the inflation volume; n is a high-order frequency factor, representing the number of fluctuations or the degree of subdivision; A n and are the amplitude and phase of the cosine function, which may vary according to different breathing patterns; R is the reduction ratio of the speed reducer, I is the ratio of the gear and the rack, and K is the mapping ratio of the rack stroke to the gas volume; where \(t\) is time and \(\omega\) is the angular frequency defined as \(\omega = 2\pi f\), where \(f\) is the fundamental breathing frequency in Hz; \(B\) n is the initial position; Wherein, the respiratory mode adapts to the dynamic characteristics of various breaths through a combination of cosine functions of different orders.

6. The dynamic liver puncture training model during respiratory movement according to claim 2, characterized in that The simulated organ includes a simulated lung, a simulated heart, a simulated liver, and a simulated tumor; The simulated lung, the simulated heart, the simulated liver, and the simulated tumor are arranged in the simulated thoracic cavity structure according to the human body structure, and the simulated liver is connected to the liver movement device; Wherein, the simulated tumor is replaceable.

7. A dynamic liver puncture training model under respiratory movement according to claim 6, characterized in that The liver movement device includes: a liver support member, an elastic reset device, and a metal soft spring; One end face of the elastic reset device is connected to one end of the liver support member, and one end of the metal soft spring is arranged on the other end face of the elastic reset device; The other end of the liver support member is nestedly connected to the simulated liver for supporting the simulated liver and realizing three-dimensional displacement of the simulated liver through the elastic reset device and the metal soft spring; Wherein, the liver support member is made of pink foamed polyurethane.

8. A dynamic liver puncture training model under respiratory movement according to claim 6, characterized in that, The simulated lung is made of red silicone, and is used for accommodating the gas transported by the respiratory movement simulation device and the gas conduit, and realizing diastolic or systolic according to the gas volume, simulating the real liver movement of the human body; The simulated heart is made of flesh-colored resin and is located between the simulated lung and the simulated liver; The simulated liver is provided with a groove that fully nests and cooperates with the simulated tumor; The simulated tumor is made of purplish-red hydrogel.

9. A dynamic liver puncture training model under respiratory movement according to claim 1, characterized in that, The simulated thoracic cavity structure includes: simulated ribs, simulated bones, simulated skin, simulated muscles, and simulated diaphragms; The simulated ribs are connected to the simulated bones and fixed on the bottom plate; The simulated muscles and the simulated skin are arranged on the simulated ribs and the simulated bones; The simulated diaphragm is fixed on the bottom plate; Among them, the simulated ribs, simulated bones, simulated skin, simulated muscles, and simulated diaphragms are made of different materials and all support CT and ultrasonic medical imaging.

10. A dynamic liver puncture training model under respiratory movement according to claim 9, characterized in that, The simulated ribs and the simulated diaphragm are made of transparent silicone material; The simulated bones are made of white resin; The simulated skin material is made of skin-colored silicone; The simulated muscle material is made of red gel.

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