An interactive eye movement and neuropathology simulation teaching system

Abstract

The application discloses an interactive eyeball movement and neuropathology simulation teaching system, and relates to the technical field of medical education tools, and comprises a physical eyeball model module, a movement execution control module, a wireless communication module, a mobile terminal interaction module, a digital twin display module and a neuropathology simulation module. The system drives the physical eyeball to move in multiple degrees of freedom through a servo motor, and realizes wireless control and three-dimensional digital twin synchronous display through a mobile terminal. The system can simulate normal eyeball movement, the innervation relationship of the extraocular muscles, and the pathological state after the oculomotor nerve, the trochlear nerve and the abducens nerve are damaged, and can reproduce typical clinical signs through algorithms such as movement range limitation, resting position bias and dynamic gain adjustment, and can also control eyeball movement in real time according to user gestures and analyze movement abnormalities. The application has the functions of entity interaction, digital visualization and pathology simulation, and is suitable for medical teaching, neural rehabilitation training and clinical auxiliary teaching scenes.

Description

Technical Field

[0001] This invention belongs to the field of medical education tools technology, specifically relating to an interactive eye movement and neuropathology simulation teaching system that integrates a mechanical eyeball model, digital twin display, wireless communication control, neuropathology simulation algorithm, and gesture interaction detection function. Background Technology

[0002] The oculomotor system is a crucial component of the human nervous system and its coordinated muscle control. Its motor function primarily relies on the coordinated action of extraocular muscles such as the lateral rectus, medial rectus, superior rectus, inferior rectus, superior oblique, and inferior oblique muscles, and is precisely innervated by the oculomotor nerve, trochlear nerve, and abducens nerve. In neurology, ophthalmology, rehabilitation medicine, and medical education, the examination of oculomotor function and the analysis of neuropathological processes are important teaching contents.

[0003] Currently, teaching methods for eye movement and nerve injury in medical education mainly include two-dimensional textbook illustrations, static anatomical models, and verbal explanations from doctors. Traditional two-dimensional textbooks can only display images of eye positions at fixed angles, lacking dynamic demonstration capabilities and failing to intuitively reflect the different extraocular muscle contraction processes and the characteristics of movement limitation after nerve injury. Static models usually cannot achieve realistic movement simulations, nor can they reflect the dynamic changes of the eyeball under different neuropathological states. Although some digital teaching software can demonstrate eye movement through animation, it lacks realistic physical feedback, resulting in a weak understanding of spatial motion relationships among students.

[0004] Furthermore, most existing teaching systems design physical models and software animations separately, lacking synchronous linkage between physical motion and digital twin models, and thus failing to simultaneously meet the dual needs of realistic spatial perception and digital pathology demonstration. In neuropathology teaching, the clinical manifestations of diseases such as oculomotor nerve palsy, trochlear nerve palsy, and abducens nerve palsy involve complex mechanisms such as strabismus, diplopia, limited range of motion, and compensatory movements, which traditional teaching equipment struggles to simulate dynamically, interactively, and parametrically.

[0005] On the other hand, while some existing robot eye models employ servo motor-driven structures, their control logic is typically only used for simple rotation demonstrations and lacks motion constraint algorithms specific to ocular neuropathology, thus failing to accurately simulate typical clinical signs following nerve injury. Furthermore, traditional control systems often use wired connections, resulting in low equipment integration and insufficient flexibility for teaching.

[0006] Therefore, there is an urgent need to provide an interactive eye movement and neuropathology simulation teaching system that can integrate physical eyeball models, digital twin models, neuropathology algorithms, and wireless interactive control technology to achieve synchronous visualization teaching of normal eyeball movements, nerve innervation relationships, and pathological states. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention aims to solve the problem that traditional teaching equipment often separates physical models from software animations, making dynamic, interactive, and parametric simulations difficult and resulting in poor teaching effectiveness. The purpose of this invention is to provide an interactive eye movement and neuropathology simulation teaching system. By constructing a system architecture that coordinates physical mechanical eyeballs and digital twin models, it enables dynamic simulation teaching of normal eye movements, extraocular muscle nerve innervation relationships, and neuropathological states, thereby improving spatial perception, pathological cognition, and interactive experience in medical teaching.

[0008] To achieve the above objectives, the invention adopts the following technical solution: an interactive eye movement and neuropathology simulation teaching system, comprising: a physical eye model module, a movement execution control module, a wireless communication module, a mobile terminal interaction module, a digital twin display module, and a neuropathology simulation module;

[0009] The physical eyeball model module includes the eyeball body, the eyeball-socket support structure, and a multi-degree-of-freedom motion mechanism.

[0010] The motion execution control module includes multiple servo motors, a microcontroller unit, and a PWM drive circuit.

[0011] The wireless communication module is used to enable Bluetooth Low Energy communication between the mobile terminal and the microcontroller unit.

[0012] The mobile terminal interaction module is set in an iPad or Android mobile terminal and is used to realize user interaction, motion control, pathological mode selection and synchronous display of digital models.

[0013] The digital twin display module is used to generate a three-dimensional virtual eyeball model that moves synchronously with the physical eyeball model;

[0014] The neuropathology simulation module is used to restrict, bias, and dynamically correct eye movement control parameters according to different nerve injury patterns.

[0015] According to another embodiment of the invention or any of the foregoing embodiments, the simulated teaching system wherein the eyeball body adopts a spherical structure with a diameter of 20mm to 30mm, and the eyeball body is installed in the ball-and-socket support structure through a three-degree-of-freedom universal joint structure to achieve horizontal rotation, vertical rotation and combined directional rotation.

[0016] According to another embodiment of the invention or any of the foregoing embodiments, the simulation teaching system includes a horizontal motion servo motor and a vertical motion servo motor, which are respectively connected to the eyeball body through a linkage mechanism to simulate the contraction and relaxation of extraocular muscles.

[0017] According to another embodiment of the invention or any of the foregoing embodiments, the simulation teaching system wherein the microcontroller unit adopts an MCU chip with integrated BLE communication function, which is used to receive eye position control commands sent by the mobile terminal and output corresponding PWM control signals according to the inverse kinematics algorithm.

[0018] According to another embodiment of the invention or any of the foregoing embodiments, the mobile terminal interaction module includes a monocular extraocular muscle demonstration interface, a nerve innervation display interface, a nerve injury case interface, and an eye movement examination interface.

[0019] According to another embodiment of the invention or any of the foregoing embodiments, the inverse kinematics algorithm is used to convert the target eye position angle into target rotation angle parameters of the horizontal motion servo motor and the vertical motion servo motor.

[0020] According to another embodiment of the invention or any of the foregoing embodiments, the simulation teaching system includes a neuropathology simulation module comprising an abducens nerve injury simulation unit, a trochlear nerve injury simulation unit, and a complete oculomotor nerve paralysis simulation unit.

[0021] The abducens nerve injury simulation unit is used to limit the range of motion of the eyeball in the abducens direction and to apply an adduction bias to the resting position of the eyeball.

[0022] The trochlear nerve injury simulation unit is used to reduce the downturn control gain and apply an upturn bias during eye adduction.

[0023] The oculomotor nerve complete paralysis simulation unit is used to restrict eye movements in the upward, downward, and adduction directions, while adjusting the resting position of the eye to a hypotropic exotropia position.

[0024] According to another embodiment of the invention or any of the foregoing embodiments, the simulation teaching system wherein the wireless communication module adopts the GATT communication method based on the BLE protocol, the mobile terminal acts as a central device, the microcontroller unit acts as a peripheral device, and eye position control data and pathological mode switching data are sent through feature value writing.

[0025] According to another embodiment of the invention or any of the foregoing embodiments, the simulation teaching system further includes a gesture recognition module, which is used to acquire the user's finger movement trajectory through a camera and map the two-dimensional gesture coordinates into eye pitch angle and horizontal angle control parameters.

[0026] According to another embodiment of the invention or any of the foregoing embodiments, the simulated teaching system wherein the gesture recognition module is based on the MediaPipe Hands model or the Apple Vision hand recognition model, performs real-time detection of key points on the hand, and extracts the coordinates of the index fingertip as eye control input.

[0027] According to another embodiment of the invention or any of the foregoing embodiments, the simulation teaching system further includes a motion feedback diagnosis module, which is used to detect the deviation between the servo motor feedback value and the target value, and to determine the abnormal state of eye movement based on the deviation result.

[0028] The beneficial effects of this invention are:

[0029] 1. This invention utilizes servo motors, inverse kinematics algorithms, and pathological constraint algorithms to achieve dynamic simulation of normal eye movements and neuropathological states, realistically reproducing typical clinical signs following injuries to the oculomotor, trochlear, and abducens nerves. Through a fusion architecture of physical and digital twin models, it simultaneously provides realistic spatial motion displays and virtual pathological animations, significantly enhancing the intuitiveness and immersion of medical teaching. The digital twin synchronous display mechanism enables synchronized movement of the virtual 3D eyeball with the physical eyeball, facilitating student observation of eye positions and pathological changes from different directions. The introduction of gesture recognition control and motion feedback diagnostic functions enables non-contact eye movement control and motion anomaly analysis, improving interactive teaching capabilities.

[0030] 2. This invention employs BLE wireless communication to achieve low-power wireless control between the mobile terminal and the physical model, improving system integration and flexibility in teaching. Through control mechanisms such as dynamic gain adjustment, motion range limitation, and resting position bias, parametric modeling under pathological conditions is achieved, enhancing the accuracy of pathological simulation. Attached Figure Description

[0031] Figure 1 A schematic diagram of the overall structure of the interactive eye movement and neuropathology simulation teaching system described in the invention;

[0032] Figure 2 This is a schematic diagram of the interface demonstrating the function of a single extraocular muscle according to the present invention;

[0033] Figure 3 This is a schematic diagram illustrating the nerve innervation function of the extraocular muscles according to the present invention.

[0034] Figure 4 This is a schematic diagram illustrating a nerve injury case of the present invention;

[0035] Figure 5 This is a schematic diagram of the eye movement examination interface under nerve injury conditions according to the present invention. Detailed Implementation

[0036] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] The main English abbreviations, English terms, and technical terms involved in this patent are explained below:

[0038] MCU: Microcontroller Unit, microcontroller unit / single-chip microcomputer;

[0039] BLE: Bluetooth Low Energy;

[0040] iPad: iPad Tablet Computer, Apple tablet computer;

[0041] PWM: Pulse Width Modulation;

[0042] Android: Android Operating System;

[0043] 3D: Three Dimensional;

[0044] GATT: Generic Attribute Profile;

[0045] UUID: Universally Unique Identifier;

[0046] Central: Central Device;

[0047] Peripheral: Peripheral Device;

[0048] Core Bluetooth: Core Bluetooth Framework, Apple's Bluetooth development framework;

[0049] Pitch: Pitch Angle;

[0050] Yaw: Yaw Angle;

[0051] MediaPipe Hands: MediaPipe Hands is Google's hand keypoint recognition model;

[0052] Apple Vision: Apple Vision Framework, Apple's visual recognition framework;

[0053] PLA: Polylactic Acid;

[0054] USB: Universal Serial Bus;

[0055] VIN: Voltage Input;

[0056] like Figure 1 , 2 As shown in Figure 5, this embodiment provides an interactive eye movement and neuropathology simulation teaching system. The system includes a physical eye model module, a movement execution control module, a wireless communication module, a mobile terminal interaction module, a digital twin display module, a neuropathology simulation module, and a movement feedback diagnosis module.

[0057] The physical eyeball model module includes the eyeball body, a socket support structure, and a gimbal motion mechanism. The eyeball body is manufactured using high-precision 3D printing with resin or PLA as the printing material. The iris and pupil areas are formed on the outer surface of the eyeball to enhance visual realism. The eyeball body is installed inside the socket support structure, and the gimbal structure enables the eyeball to rotate in both horizontal and vertical directions. Horizontal movement is driven by a horizontal servo motor, and vertical movement is driven by a vertical servo motor. The two servo motors are connected to the eyeball body via tie rod structures, thereby simulating the coordinated contraction and antagonistic movement of the extraocular muscles.

[0058] The microcontroller unit in the motion execution control module uses an MCU chip with integrated BLE functionality. The MCU is connected to the horizontal and vertical servo motors via PWM output interfaces. The servo motors are high-precision digital micro servo motors to improve the control accuracy and smoothness during eye movements.

[0059] The power module adopts an independent 5V power supply structure, the servo motor is powered by an independent regulated power supply, and the MCU is powered by a USB interface or a lithium battery. At the same time, the servo motor power ground wire and the MCU ground wire share the same ground to ensure the stability of the PWM control signal.

[0060] The wireless communication module uses BLE (Browser-Low-Power) communication, with the mobile terminal acting as the central device and the MCU acting as the peripheral device. The mobile terminal identifies the target device by scanning the service UUID and establishes a BLE communication connection.

[0061] The mobile terminal interaction module runs on an iPad or Android device, and the system interface includes:

[0062] (1) Demonstration interface for the function of the extraocular muscles of the eye;

[0063] (2) Interface displaying the innervation relationship of extraocular muscles;

[0064] (3) Interface for displaying pathological cases of nerve injury;

[0065] (4) Interface for examining eye movement under nerve damage.

[0066] The digital twin display module uses a 3D graphics rendering engine to construct a virtual eyeball model. The virtual eyeball model is updated synchronously with the physical eyeball, realizing the linkage display of physical movement and digital animation.

[0067] The normal methods of controlling eye movement are as follows:

[0068] First, the user starts the physical eyeball model, the MCU executes the initialization program, adjusts the servo motor to the center zero position, and starts BLE broadcasting.

[0069] Subsequently, the mobile application initializes the Core Bluetooth communication module and scans for target devices. Once the corresponding service UUID is identified, a BLE connection is automatically established.

[0070] When a user taps a target eye position on the mobile device interface, such as the upper right eye position, the system converts the target eye position into horizontal and vertical angle parameters and generates the corresponding data packet.

[0071] The data packet is sent to the MCU via BLE eigenvalue writing. After receiving the data, the MCU decodes the target angle and calls the inverse kinematics algorithm to calculate the corresponding PWM output parameters.

[0072] After the PWM control signal is output, the horizontal servo motor and the vertical servo motor synchronously drive the eyeball body to rotate, so that the physical eyeball moves to the target eye position.

[0073] At the same time, the digital twin module updates the spatial pose of the three-dimensional virtual eyeball, enabling the virtual model and the physical model to move synchronously.

[0074] like Figure 5 As shown, the system supports nine diagnostic eye position controls, including: forward eye position, upward eye position, downward eye position, left eye position, right eye position, left-upward eye position, left-downward eye position, right-upward eye position, and right-downward eye position. In addition, the system also supports smooth tracking motion and saccade motion simulation.

[0075] In smooth tracking mode, the system controls the servo motor to rotate smoothly according to a continuous trajectory; in scanning mode, the system achieves rapid eye position changes by switching rapidly in a high-speed instantaneous manner.

[0076] Neuropathological simulation control methods:

[0077] like Figure 4 As shown, the system has built-in abducens nerve injury mode, trochlear nerve injury mode, and oculomotor nerve complete paralysis mode.

[0078] When the user selects the abducens nerve injury mode, the system sends a pathological mode switching command to the MCU. Upon receiving the command, the MCU switches the system state to the abducens nerve injury state. In this state, the control algorithm sets a motion restriction threshold in the horizontal abduction direction. When the user sends an abduction command exceeding the threshold, the algorithm automatically clamps the target value. Simultaneously, the system applies a resting adduction bias to the horizontal motion servo motor, causing the eyeball to present an esotropia state when at rest.

[0079] When the user selects the trochlear nerve injury mode, the system monitors the horizontal and vertical movement directions in real time. When the eye is in the adduction direction and the user sends a downward turning command, the system reduces the vertical motion control gain, causing the eye to exhibit limited downward turning in the adduction state. At the same time, the system applies a slight upward turning bias to the vertical motion servo motor, causing the eye to appear in an upward strabismus state.

[0080] When the user selects the complete oculomotor nerve paralysis mode, the system strictly restricts upward, downward, and adduction movements. Simultaneously, the system applies an abduction bias to the horizontal motion servo motors and a downward bias to the vertical motion servo motors, naturally placing the eyeballs in a hypotropic exotropia state. In the complete oculomotor nerve paralysis mode, only abduction and partial downward movement capabilities are retained to simulate the residual functions of the abducens and trochlear nerves.

[0081] When the user exits pathology mode, the MCU clears the pathology status flag and drives the eyeball back to the center zero position.

[0082] This system enables an eye-movement interaction method based on gesture recognition.

[0083] The system acquires images of the user's hand using the iPad's front-facing camera or an external high-definition camera. The gesture recognition module, based on the MediaPipe Hands model or the Apple Vision model, performs real-time detection of key hand points. The system extracts the coordinates of the index fingertip and maps these two-dimensional coordinates to eye pitch and horizontal angle parameters.

[0084] During the mapping process, the system first enters the calibration phase. Following the prompts, the user moves their finger to the top left corner, bottom right corner, and center of the screen. The system records the corresponding coordinates and establishes a mapping relationship between the camera coordinates and the eye movement coordinates. After calibration, when the user moves their index finger, the system generates the corresponding pitch and yaw parameters in real time and sends them to the MCU via BLE. Upon receiving the data, the MCU generates the corresponding PWM control signal to drive the eye model to move synchronously. The motion feedback diagnostic module detects the deviation between the servo motor feedback value and the target value in real time.

[0085] When the system detects insufficient eye movement angle, slow movement, or abnormal vibration, it automatically displays a movement abnormality warning. Simultaneously, the system records the current command value, feedback value, and deviation data, and generates corresponding diagnostic analysis results. The system can analyze and determine possible types of nerve damage based on the completion of eye-following movements and the characteristics of movement restriction in different directions.

[0086] This patent provides a synchronous teaching method based on digital twins.

[0087] The digital twin display module constructs a virtual eyeball, extraocular muscles, and nerve innervation relationship model through three-dimensional modeling.

[0088] When the physical eyeball moves, the mobile terminal synchronously acquires the target eye position parameters and drives the three-dimensional virtual eyeball to perform synchronous posture changes.

[0089] In pathological mode, the system automatically highlights the extraocular muscles corresponding to the diseased nerves with color, and displays the direction of restricted movement, the nerve name, and pathological description information.

[0090] During the teaching process, teachers can switch between different pathological modes through a touch interface and observe the synchronous changes of the physical model and the virtual model in real time.

[0091] Students can simultaneously observe real eye movements, three-dimensional structural changes, and neural innervation relationships, thereby improving their spatial anatomical cognition and pathological understanding abilities.

[0092] The working principle of the software interface involved in this invention is as follows:

[0093] like Figure 2-5 As shown, Figure 2This system can demonstrate the function of a single extraocular muscle. The interface primarily demonstrates the impact of a single extraocular muscle contraction on the direction of eye movement. When a user clicks on the name of an extraocular muscle on the iPad interface, the mobile terminal interaction module first identifies the corresponding muscle's anatomical and functional attributes and calls a preset extraocular muscle motion mapping database. For example, clicking on the "medial rectus muscle" automatically maps it to "eye adduction" movement; clicking on the "superior rectus muscle" maps it to "eye upward rotation accompanied by slight inward rotation" movement. Subsequently, the application converts the target eye position parameters into horizontal and pitch angle data and sends them to the MCU via the BLE communication protocol. After receiving the control data, the MCU calls the inverse kinematics algorithm to calculate the target PWM pulse width values ​​of the horizontal and vertical servo motors, driving the eyeball to rotate around the gimbal structure, thereby completing the directional change of the physical eyeball. Simultaneously, the three-dimensional virtual eyeball in the digital twin module synchronously performs the same angle change and displays the motion trajectory, main acting muscles, and synergistic muscle relationships in real time on the interface.

[0094] Figure 3 This system can demonstrate the neural functions controlling the extraocular muscles. The interface primarily displays the innervation relationships of the oculomotor nerve, trochlear nerve, and abducens nerve to different extraocular muscles. When the user selects a specific cranial nerve, the system first accesses the neural innervation database to identify the set of extraocular muscles controlled by that nerve. For example, when the oculomotor nerve is selected, the system automatically activates the corresponding control channels for the superior rectus, inferior rectus, medial rectus, and inferior oblique muscles; when the abducens nerve is selected, only the lateral rectus muscle's motor control logic is activated. Subsequently, the application generates corresponding muscle drive parameters based on the neural innervation relationships and sends the control data to the MCU. The MCU, based on the current neural pattern, controls the output of the servo motor in the corresponding direction, causing the physical eyeball to produce movement matching the nerve's excitation state.

[0095] At the same time, the corresponding neural pathways and extraocular muscles in the digital twin model will be highlighted in color, and the direction of neural signal transmission will be dynamically displayed. The system can also simultaneously display the nerve name, function description, and typical movement direction, enabling students to understand the complete control chain between brain nerves, extraocular muscles, and eye movements.

[0096] Figure 4The system can demonstrate cases of nerve injuries that control the extraocular muscles. When a user selects a specific nerve injury mode, the mobile terminal sends the corresponding pathological mode command to the MCU. For example, when "abducens nerve injury" is selected, the system enters the CNVI injury state; when "oculomotor nerve injury" is selected, the system enters the CN III injury state. After receiving the pathological mode, the MCU modifies its internal control parameters, including: range of motion restriction, dynamic gain attenuation, resting position bias, and residual motion retention. For example, in the abducens nerve injury mode, the system limits the maximum angle of eye abduction and applies a bias in the adduction direction, causing the eye to appear esotropia when at rest; in the oculomotor nerve injury mode, it restricts upward, downward, and adduction movements, while adjusting the default eye position to a "hypotropia" state.

[0097] Subsequently, the MCU regenerates the PWM control signal based on the new pathological parameters, driving the physical eyeball to form the corresponding pathological eye position. The digital twin model then simultaneously displays the diseased nerves, affected muscles, and restricted movement directions, highlighting abnormal areas with color markings.

[0098] Figure 5 This demonstration showcases eye movement assessment for nerve damage. In this mode, users can guide their eyes to nine diagnostic eye positions via button control, gesture control, or finger tracking. The system collects the target eye position parameters input by the user in real time and sends them to the MCU via BLE.

[0099] After receiving the target eye position, the MCU first reads the current pathological status flag and determines whether the current direction is restricted by nerve damage. If the target direction is within the normal range of motion, the system outputs the PWM control signal normally; if the target direction is within the control range of the damaged muscle, the pathological constraint algorithm restricts, attenuates, or clamps the control signal.

[0100] For example, in the trochlear nerve injury mode, when the eyeball is in an adducted state and attempts to look down, the system will automatically reduce the vertical motion gain, causing the eyeball to exhibit the typical manifestation of "difficulty in turning downward in adducted position"; in the oculomotor nerve injury state, when the user attempts to look upward, because the control of the superior rectus muscle is restricted, the system will ignore the corresponding instructions, making it impossible for the eyeball to complete the upward turning action.

[0101] Meanwhile, the motion feedback diagnostic module reads the servo motor feedback values ​​in real time and calculates the deviation between the target angle and the actual angle. When the deviation exceeds a threshold, the system automatically determines that there is a motion obstacle in the corresponding direction and generates a diagnostic prompt on the interface.

[0102] The digital twin model will simultaneously display: normal direction of movement, current restricted direction, diseased nerve, cause of movement failure, and typical clinical manifestations.

[0103] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the above embodiments are merely illustrative of the technical concept and characteristics of the present invention, intended to enable those skilled in the art to understand and implement the invention, and should not be construed as limiting the scope of protection of the present invention. All equivalent changes or modifications made in accordance with the spirit and essence of the present invention should be covered within the scope of protection of the present invention.

Claims

1. An interactive eye movement and neuropathology simulation teaching system, characterized in that: include: The module includes a physical eyeball model module, a motion execution control module, a wireless communication module, a mobile terminal interaction module, a digital twin display module, and a neuropathology simulation module. The physical eyeball model module includes the eyeball body, the eyeball-socket support structure, and a multi-degree-of-freedom motion mechanism. The motion execution control module includes multiple servo motors, a microcontroller unit, and a pulse width modulation drive circuit. The wireless communication module is used to enable Bluetooth Low Energy communication between the mobile terminal and the microcontroller unit. The mobile terminal interaction module is located in the tablet-type mobile terminal and is used to realize user interaction, motion control, pathological mode selection and synchronous display of digital models. The digital twin display module is used to generate a three-dimensional virtual eyeball model that moves synchronously with the physical eyeball model; The neuropathology simulation module is used to restrict, bias, and dynamically correct eye movement control parameters according to different nerve injury patterns.

2. The interactive eye movement and neuropathology simulation teaching system according to claim 1, characterized in that: The physical eyeball model module has a spherical structure with a diameter of 20-30mm. The eyeball body is installed in the ball-and-socket support structure through a three-degree-of-freedom universal joint structure to achieve horizontal rotation, vertical rotation, and combined directional rotation.

3. The interactive eye movement and neuropathology simulation teaching system according to claim 1, characterized in that: The motion execution control module includes a horizontal motion servo motor and a vertical motion servo motor. The horizontal motion servo motor and the vertical motion servo motor are respectively connected to the eyeball body through a linkage mechanism to simulate the contraction and relaxation of the extraocular muscles. The microcontroller unit of the motion execution control module adopts a microcontroller unit chip with integrated Bluetooth low power communication function, which is used to receive eye position control commands sent by the mobile terminal and output corresponding pulse width modulation control signals according to the inverse kinematics algorithm. The inverse kinematics algorithm is used to convert the target eye position angle into the target rotation angle parameters of the horizontal motion servo motor and the vertical motion servo motor.

4. The interactive eye movement and neuropathology simulation teaching system according to claim 1, characterized in that: The software interface of the mobile terminal interaction module includes a monocular extraocular muscle demonstration interface, a nerve innervation display interface, a nerve injury case interface, and an eye movement examination interface.

5. The interactive eye movement and neuropathology simulation teaching system according to claim 1, characterized in that: The neuropathology simulation module includes an abducens nerve injury simulation unit, a trochlear nerve injury simulation unit, and a complete oculomotor nerve paralysis simulation unit. The abducens nerve injury simulation unit is used to limit the range of motion of the eyeball in the abducens direction and to apply an adduction bias to the resting position of the eyeball. The trochlear nerve injury simulation unit is used to reduce the downturn control gain and apply an upturn bias during eye adduction. The oculomotor nerve complete paralysis simulation unit is used to restrict eye movements in the upward, downward, and adduction directions, while adjusting the resting position of the eye to a hypotropic exotropia position.

6. The interactive eye movement and neuropathology simulation teaching system according to claim 1, characterized in that: The wireless communication module adopts a general attribute protocol communication method based on Bluetooth Low Energy protocol. The mobile terminal is the central device and the microcontroller unit is the peripheral device. It sends eye position control data and pathological mode switching data through feature value writing.

7. The interactive eye movement and neuropathology simulation teaching system according to claim 1, characterized in that: It also includes a gesture recognition module, which is used to acquire the user's finger movement trajectory through a camera and map the two-dimensional gesture coordinates into eye pitch and horizontal angle control parameters.

8. The interactive eye movement and neuropathology simulation teaching system according to claim 7, characterized in that: The gesture recognition module is based on the Google hand recognition model or the Apple visual recognition framework hand recognition model. It performs real-time detection of key points on the hand and extracts the coordinates of the index fingertip as eye control input.

9. An interactive eye movement and neuropathology simulation teaching system according to any one of claims 1-8, characterized in that: It also includes a motion feedback diagnosis module, which is used to detect the deviation between the servo motor feedback value and the target value, and to determine the abnormal state of eye movement based on the deviation result.

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