A simulation system and simulation method for human respiratory movement

Abstract

The present invention discloses a simulation system for human respiratory movement. A control unit is used to control the operation of a motor. The operation of the motor drives the reciprocating movement of a moving platform, and the reciprocating movement of the moving platform is utilized to simulate human respiratory movement. In the control unit, a communication module inputs the amplitude and frequency of real human respiratory movement in real time; a cyclic movement module calculates the theoretical pulse of the motor according to the amplitude of real human respiratory movement, and controls the motor to operate under this theoretical pulse; the communication module also acquires the amplitude and frequency of the reciprocating movement of the moving platform, i.e., the amplitude and frequency of the simulated human respiratory movement, and sends them to an adjustment module; the adjustment module adopts adaptive PID adjustment, and corrects the theoretical pulse according to the difference between the amplitude of real movement and the amplitude of simulated movement to obtain the corrected pulse of the motor, and controls the motor to operate under this corrected pulse; a waveform display module respectively displays the relationship curves between the amplitude of real movement and the amplitude of simulated movement and time.

Description

Technical Field

[0001] The present invention relates to the technical field of human motion simulation devices, and in particular to a simulation system and method for human respiratory motion. Background Art

[0002] Looking at the entire current radiotherapy process, no matter which method of precise radiotherapy is used, the CT positioning images used in treatment planning are static images. However, during the actual treatment process, the patient is always in a breathing state, and the tumors in the lungs, liver, and mediastinum always move back and forth with the respiratory motion. The actual irradiation position of the patient's tumor and the distribution of the received irradiation dose will be affected to a certain extent due to the respiratory motion. In order to solve the influence of respiratory motion on radiotherapy, conduct relevant research on the influence of respiration on the position and dose of precise radiotherapy, observe the changes in tumor position and volume, accurately evaluate the influence of respiratory motion on tumor position and dose, and a respiratory motion platform that simulates human respiratory motion is an indispensable device for experiments.

[0003] The instruments on the market that can simulate human respiratory motion for radiotherapy are relatively expensive. The respiratory motion platform built in the experiment uses an open-loop control system, with insufficient motion accuracy. After the system is debugged, it cannot be adjusted specifically according to the respiratory characteristics of the human body, and the fitting degree is not high; moreover, it cannot intuitively display the motion curve of human respiratory motion; the control method is complex, requiring professional personnel to adjust the motor parameters, and it cannot perform convenient human-computer interaction. Summary of the Invention

[0004] In order to overcome the defects in the above-mentioned prior art, the present invention provides a simulation system for human respiratory motion, which adopts a closed-loop control system to improve the motion accuracy.

[0005] To achieve the above object, the present invention adopts the following technical solutions, including:

[0006] A simulation system for human respiratory motion, including: a control unit, a motor, and a motion platform; the control unit is used to control the operation of the motor, the operation of the motor drives the reciprocating motion of the motion platform, and the reciprocating motion of the motion platform is used to simulate human respiratory motion;

[0007] The control unit includes: a communication module, a cyclic motion module, and an adjustment module;

[0008] The communication module is used to obtain the real motion parameters of real human respiratory motion, and the motion parameters include amplitude and frequency; the communication module is respectively connected to the cyclic motion module and the adjustment module, and sends the real motion parameters to the cyclic motion module and the adjustment module respectively;

[0009] The cyclic motion module is connected to the motor and is used to control the rotation of the motor; the cyclic motion module calculates the theoretical pulses of the motor in real time according to the real motion parameters.

[0010] The communication module is further used to obtain the amplitude and frequency of the reciprocating motion of the motion platform, that is, the simulated motion parameters simulating human breathing motion, and the communication module also sends the simulated motion parameters to the adjustment module.

[0011] The adjustment module is connected to the cyclic motion module and is used to correct the theoretical pulses calculated by the cyclic motion module in real time according to the difference between the real motion parameters and the simulated motion parameters.

[0012] The theoretical pulses of the motor calculated by the cyclic motion module in real time according to the amplitude of the real human breathing motion are as follows:

[0013]

[0014] Among them, q represents the theoretical pulses of the motor; A represents the amplitude of the real human breathing motion; D represents the diameter of the motor shaft; Q represents the total number of pulses required for the motor to rotate one circle.

[0015] The pulse frequency f is:

[0016]

[0017] Among them, f represents the pulse frequency of the motor; v represents the rotational speed of the motor.

[0018] The adjustment module adopts adaptive PID adjustment and corrects the theoretical pulses calculated by the cyclic motion module in real time according to the difference between the amplitude of the real human breathing motion and the amplitude of the simulated human breathing motion to obtain the corrected pulses of the motor, which are as follows:

[0019]

[0020] ΔA = W - A

[0021] q' = q + Δq

[0022] Among them, q represents the theoretical pulses of the motor; Δq represents the pulse correction amount of the motor; q' represents the corrected pulses of the motor; A represents the amplitude of the real human breathing motion; W represents the amplitude of the simulated breathing motion; ΔA represents the difference between the amplitude of the real human breathing motion and the amplitude of the simulated human breathing motion; K P 、T I 、T D are the coefficients of PID adjustment respectively; t represents time.

[0023] The communication module calculates the amplitude of the reciprocating motion of the moving platform by collecting the actual pulses during the operation of the motor, that is, the amplitude of the simulated human breathing motion, as follows:

[0024]

[0025] Among them, q ture represents the actual pulse during the operation of the motor; D represents the diameter of the motor shaft; Q represents the total number of pulses required for the motor to rotate one circle.

[0026] The control unit further includes: a waveform display module;

[0027] The communication module is connected to the waveform display module and sends the actual motion parameters and the simulated motion parameters to the waveform display module respectively;

[0028] The waveform display module is used to display the relationship curve between the amplitude and time, including: the relationship curve between the amplitude and time of the actual human breathing motion, and the relationship curve between the amplitude and time of the simulated human breathing motion.

[0029] The communication module obtains the amplitude and frequency of the actual human breathing motion by manual input, or obtains the amplitude and frequency of the actual human breathing motion by connecting a data acquisition device for the actual human breathing motion.

[0030] The control unit includes a host computer and a slave computer;

[0031] Each module in the control unit is implemented through the host computer; the host computer sends instructions to the slave computer through a data transmission interface, and the slave computer parses the instructions into motor pulse signals and sends them to the motor to control the operation of the motor.

[0032] The moving platform includes: a lead screw, a slide table, a limiter, and a zero adjuster;

[0033] The operation of the motor drives the rotation of the lead screw, and the slide table moves along with the lead screw. The limiter and the zero adjuster are used to limit the movement of the slide table. When the slide table moves to the positions of the limiter and the zero adjuster, the motor rotates in the reverse direction to drive the lead screw to rotate in the reverse direction, and the slide table makes a reciprocating motion between the limiter and the zero adjuster.

[0034] The present invention also provides a method for simulating human breathing motion, which is characterized by including the following steps;

[0035] S1. The communication module obtains the amplitude and frequency of the actual human breathing motion in real time;

[0036] S2. The cyclic motion module calculates the theoretical pulse q of the motor in the i-th breathing cycle according to the amplitude A of the actual human breathing motion in the i-th breathing cycle i of the motor in the i-th breathing cycle i;

[0037] S3, the theoretical pulse q of the motor in the i-th breathing cycle i operates to drive the reciprocating motion of the motion platform, simulating the i-th breathing cycle of human body breathing motion, and obtaining the amplitude W of the simulated human body breathing motion in the i-th breathing cycle i ;

[0038] S4, the adjustment module calculates the pulse correction amount Δq of the i-th breathing cycle according to the amplitude A of the real human body breathing motion in the i-th breathing cycle i and the amplitude W of the simulated human body breathing motion in the i-th breathing cycle i ; i ;

[0039] S5, the cyclic motion module calculates the theoretical pulse q of the motor in the (i + 1)-th breathing cycle according to the amplitude A of the real human body breathing motion in the (i + 1)-th breathing cycle i+1 , and uses the pulse correction amount Δq of the i-th breathing cycle i+1 to correct the theoretical pulse q of the (i + 1)-th breathing cycle i , obtaining the corrected pulse q i+1 ' of the motor in the (i + 1)-th breathing cycle i+1 ';

[0040] S6, the motor operates under the corrected pulse q i+1 ' of the (i + 1)-th breathing cycle to drive the reciprocating motion of the motion platform, simulating the (i + 1)-th breathing cycle of human body breathing motion, and obtaining the amplitude W of the simulated human body breathing motion in the (i + 1)-th breathing cycle i+1 ;

[0041] wherein, i = 1, 2, 3...; if i = 1, that is, in the first breathing cycle, the theoretical pulse q of the motor in the first breathing cycle is not corrected, and the motor directly operates under the theoretical pulse q 1 of the first breathing cycle to drive the reciprocating motion of the motion platform, simulating the first breathing cycle of human body breathing motion, and obtaining the amplitude W of the simulated human body breathing motion in the first breathing cycle 1 ; 1 ;

[0042] S7, continue to simulate the next breathing cycle of human body breathing motion in the manner of steps S4 - S6

[0043] The advantages of the present invention are as follows:

[0044] (1) By establishing a closed-loop control system, the present invention improves the motion accuracy and controls the motion error to be less than 0.5 mm

[0045] (2) The waveform display module of the present invention is used for the relationship curve between the amplitude of the real human body breathing movement and the amplitude and time of the simulated human body breathing movement, which is convenient for observing the error between the real movement and the simulated movement.

[0046] (3) The present invention collects the real pulses during the operation of the motor, calculates through data arrangement, obtains the amplitude of the simulated human body breathing movement, and displays the simulated breathing movement curve, which is convenient for observation and improves the level of human-computer interaction.

[0047] (4) The control unit of the present invention is integrated into the upper computer interface, where the amplitude and frequency of the human body breathing movement can be directly set on the interface, and the segmented setting of the forward waveform and the return waveform can be realized. Through calculation by the upper computer, its amplitude is converted into the number of motor pulses, which can be directly sent to the driver for execution through the port program, making the movement adjustment more convenient and meeting different breathing experiment requirements.

[0048] (5) The present invention uses an adaptive PID to adjust the pulses of the motor, making the movement of the motor more stable and approaching the natural breathing of the human body.

[0049] (6) A limiter and a zero adjuster are adopted in the movement platform of the present invention as the mechanical origin of the sliding table, playing a safety protection role.

[0050] (7) By collecting motor data and arranging the data, it is displayed as a breathing movement curve, which is convenient for observation and facilitates the realization of medical experiment requirements. Description of the Drawings

[0051] Figure 1 It is a schematic structural diagram of a simulation system for human body breathing movement.

[0052] Figure 2 It is a method flow chart of a simulation method for human body breathing movement. Detailed Embodiments

[0053] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0054] As shown by Figure 1 A simulation system for human body breathing movement includes: a control unit 1, a motor 2, and a movement platform 3. 1. The control unit 1 is used to control the operation of the motor 2, and the operation of the motor 2 drives the reciprocating movement of the movement platform 3, and the reciprocating movement of the movement platform 3 is used to simulate the human body breathing movement.

[0055] As shown in Figure 2 Figure 2 , the control unit 1 includes: a communication module 11, a circular motion module 12, an adjustment module 13, and a waveform display module 14.

[0056] The communication module 11 is used to obtain the real motion parameters of the real human breathing motion. The motion parameters include amplitude and frequency. The communication module 11 is respectively connected to the circular motion module 12 and the adjustment module 13, and sends the real motion parameters to the circular motion module 12 and the adjustment module 13 respectively.

[0057] The circular motion module 12 is connected to the motor 2 and is used to control the rotation of the motor 2. The circular motion module 12 calculates the pulses of the motor 2 in real time according to the real motion parameters, obtains the theoretical pulses of the motor 2, and controls the motor 2 to operate under the theoretical pulses.

[0058] The communication module 11 is also used to obtain the amplitude and frequency of the reciprocating motion of the motion platform 3, that is, the simulated motion parameters of the simulated human breathing motion. The communication module 11 also sends the simulated motion parameters to the adjustment module 13.

[0059] The adjustment module 13 is connected to the circular motion module 12 and is used to correct the theoretical pulses calculated by the circular motion module 12 in real time according to the difference between the real motion parameters and the simulated motion parameters, obtain the corrected pulses of the motor 2, and the motor 2 operates under the corrected pulses.

[0060] The communication module 11 is also connected to the waveform display module 14 and sends the real motion parameters and the simulated motion parameters to the waveform display module 14 respectively.

[0061] The waveform display module 14 is used to display the relationship curve between the amplitude and time, including: the relationship curve between the amplitude and time of the real human breathing motion, and the relationship curve between the amplitude and time of the simulated human breathing motion, which is convenient for observing the current motion characteristics.

[0062] In the present invention, the circular motion module 12 calculates the theoretical pulses of the motor 2 in real time according to the amplitude of the real human breathing motion, as specifically shown below:

[0063]

[0064] Among them, q represents the theoretical pulses of the motor 2; A represents the amplitude of the real human breathing motion; D represents the diameter of the motor shaft; Q represents the total number of pulses required for the motor to rotate one circle;

[0065] The pulse frequency f is:

[0066]

[0067] Among them, f represents the pulse frequency of the motor 2; v represents the rotational speed of the motor 2.

[0068] In the present invention, the adjustment module 13 adopts adaptive PID adjustment. According to the difference between the amplitude of the real human body breathing movement and the amplitude of the simulated human body breathing movement, the theoretical pulse obtained by real-time calculation of the cyclic movement module 12 is corrected to obtain the corrected pulse of the motor 2, which is specifically as follows:

[0069]

[0070] ΔA = W - A

[0071] q' = q + Δq

[0072] Among them, q represents the theoretical pulse of the motor 2; Δq represents the pulse correction amount of the motor 2; q' represents the corrected pulse of the motor 2; A represents the amplitude of the real human body breathing movement; W represents the amplitude of the simulated breathing movement; ΔA represents the difference between the amplitude of the real human body breathing movement and the amplitude of the simulated human body breathing movement; K P 、T I 、T D are respectively the coefficients of PID adjustment; t represents time.

[0073] Adopting adaptive PID adjustment makes the movement of the motor more stable and approach the natural breathing of the human body. The method of PID adjustment in this embodiment is: adjust K P (the proportionality degree) to make the system response curve decay at a ratio of 4:1 or 10:1, and then calculate the PID value according to the formula.

[0074] In the present invention, the communication module 11 calculates the amplitude of the reciprocating movement of the moving platform 3, that is, the amplitude of the simulated human body breathing movement, by collecting the real pulse when the motor 2 is running, which is specifically as follows:

[0075]

[0076] Among them, q ture represents the real pulse when the motor 2 is running; D represents the diameter of the motor shaft; Q represents the total number of pulses required for the motor to rotate one circle.

[0077] In the present invention, by collecting the real pulse when the motor 2 is running, through data collation, the amplitude of the simulated human body breathing movement is obtained, and the simulated breathing movement curve is displayed, which is convenient for observation and improves the level of human-computer interaction.

[0078] In the present invention, the control unit 1 includes, in terms of hardware: a motion control software, i.e., a host computer, and a motion control board, i.e., a slave computer. The host computer sends instructions to the slave computer through an RS232 communication interface. The slave computer 2 parses the instructions into pulse signals and sends them to the driver of the motor 2. The driver of the motor 2 amplifies the signals and uses them to drive the operation of the motor 2.

[0079] The communication module 11 can obtain the amplitude and frequency of the real human respiratory movement either through direct input on the interface or by connecting to relevant acquisition devices of the real human respiratory movement. The present invention can directly set the human respiratory movement on the interface and can achieve segmented setting of the forward waveform and the return waveform. Through calculation, its amplitude is converted into motor pulses and sent to the driver of the motor 2 for execution through the port program, making the motion adjustment more convenient. The cyclic motion module 12 can manually control the operation, zeroing, and stopping of the simulated human respiratory movement through the interface.

[0080] The present invention adjusts the amplitude and frequency of the human respiratory movement through the host computer interface to meet the requirements of the non-breathing experiment.

[0081] The motion platform 3 includes: a lead screw, a slide table, a limiter, and a zero adjuster.

[0082] Among them, the operation of the motor 2 drives the lead screw to rotate. The slide table moves along with the lead screw. The limiter and the zero adjuster are used to limit the movement of the slide table. When the slide table moves to the positions of the limiter and the zero adjuster, the motor 2 reversely rotates to drive the lead screw to rotate in the reverse direction, and the slide table makes a reciprocating motion between the limiter and the zero adjuster.

[0083] In this embodiment, the motor 2 is a stepper motor, and a closed-loop control system is established to control the motion error to be less than 0.5 mm. If higher control accuracy is required, the stepper motor can be replaced with a servo motor, and a closed-loop control system can be established in combination with a grating and a linear guide, and the control accuracy can reach 0.01 mm.

[0084] A simulation method for a human respiratory movement simulation system of the present invention includes the following steps;

[0085] S1, the communication module 11 continuously obtains the amplitude and frequency of the real human respiratory movement;

[0086] S2, the cyclic motion module 12 calculates the theoretical pulse q of the motor 2 in the i-th respiratory cycle according to the amplitude A of the real human respiratory movement in the i-th respiratory cycle i ; i ;

[0087]

[0088] S3, the theoretical pulse q of the motor 2 in the i-th respiratory cyclei operates under this condition to drive the reciprocating motion of the moving platform 3, simulating the i-th breathing cycle of human body breathing motion, and obtaining the amplitude W of the simulated human body breathing motion in the i-th breathing cycle i ;

[0089] Among them, by collecting the real pulse q when the motor 2 operates ture , the amplitude W of the simulated human body breathing motion in the i-th breathing cycle is calculated i :

[0090]

[0091] S4. The adjustment module 13 calculates the pulse correction amount Δq of the i-th breathing cycle according to the amplitude A of the real human body breathing motion in the i-th breathing cycle i and the amplitude W of the simulated human body breathing motion in the i-th breathing cycle i ; i ;

[0092]

[0093] ΔA i =W i -A i

[0094] S5. The cyclic motion module 12 calculates the theoretical pulse q of the motor 2 in the (i + 1)-th breathing cycle according to the amplitude A of the real human body breathing motion in the (i + 1)-th breathing cycle i+1 , and uses the pulse correction amount Δq of the i-th breathing cycle i+1 to correct the theoretical pulse q of the (i + 1)-th breathing cycle i to obtain the corrected pulse q' of the motor 2 in the (i + 1)-th breathing cycle i+1 ; i+1 ';

[0095] q i+1 ' = q i+1 +Δq i

[0096] S6. The motor operates under the corrected pulse q' of the (i + 1)-th breathing cycle i+1 to drive the reciprocating motion of the moving platform 3, simulating the (i + 1)-th breathing cycle of human body breathing motion, and obtaining the amplitude W of the simulated human body breathing motion in the (i + 1)-th breathing cycle i+1 ;

[0097] Among them, i = 1, 2, 3...; if i = 1, that is, in the first breathing cycle, the theoretical pulse q of the motor 2 in the first breathing cycle is not corrected, and the motor 2 directly operates under the theoretical pulse q of the first breathing cycle 1 ;1 operates below to drive the reciprocating motion of the moving platform 2, simulating the first breathing cycle of the human body's breathing motion, and obtaining the amplitude value W of the simulated human body's breathing motion in the first breathing cycle 1 ;

[0098] S7. Continue to simulate the next breathing cycle of the human body's breathing motion in the manner of steps S4 to S6.

[0099] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A simulation system for human respiratory movement, characterized in that, it includes: a control unit (1), a motor (2), and a moving platform (3); the control unit (1) is used to control the operation of the motor (2), and the operation of the motor (2) drives the reciprocating movement of the moving platform (3), and the reciprocating movement of the moving platform (3) is used to simulate human respiratory movement; the control unit (1) includes: a communication module (11), a cyclic motion module (12), and an adjustment module (13); the communication module (11) is used to obtain the real motion parameters of real human respiratory movement, and the motion parameters include amplitude and frequency; the communication module (11) is respectively connected to the cyclic motion module (12) and the adjustment module (13), and sends the real motion parameters to the cyclic motion module (12) and the adjustment module (13) respectively; the cyclic motion module (12) is connected to the motor (2) and is used to control the rotation of the motor (2); the cyclic motion module (12) calculates the theoretical pulse of the motor (2) in real time according to the real motion parameters; the communication module (11) is also used to obtain the amplitude and frequency of the reciprocating movement of the moving platform (3), that is, the simulated motion parameters of the simulated human respiratory movement, and the communication module (11) also sends the simulated motion parameters to the adjustment module (13); the adjustment module (13) is connected to the cyclic motion module (12) and is used to correct the theoretical pulse calculated by the cyclic motion module (12) in real time according to the difference between the real motion parameters and the simulated motion parameters.

2. The simulation system for human respiratory movement according to claim 1, characterized in that, the theoretical pulse of the motor (2) calculated by the cyclic motion module (12) in real time according to the amplitude of the real human respiratory movement is specifically as follows: where q represents the theoretical pulse of the motor (2); A represents the amplitude of the real human respiratory movement; D represents the diameter of the motor shaft; Q represents the total number of pulses required for the motor to rotate one circle; the pulse frequency f is: where f represents the pulse frequency of the motor (2); v represents the rotational speed of the motor (2).

3. The simulation system for human respiratory movement according to claim 1, characterized in that, the adjustment module (13) adopts adaptive PID adjustment, and corrects the theoretical pulse calculated by the cyclic motion module (12) in real time according to the difference between the amplitude of the real human respiratory movement and the amplitude of the simulated human respiratory movement to obtain the corrected pulse of the motor (2), specifically as follows: ΔA = W - A q' = q + Δq Among them, q represents the theoretical pulse of the motor (2); Δq represents the pulse correction amount of the motor (2); q' represents the corrected pulse of the motor (2); A represents the amplitude of the real human body breathing movement; W represents the amplitude of the simulated breathing movement; ΔA represents the difference between the amplitude of the real human body breathing movement and the amplitude of the simulated human body breathing movement; K P , T I , T D are the coefficients of PID regulation respectively; t represents time.

4. The simulation system for human respiratory movement according to claim 1, characterized in that, the communication module (11) calculates the amplitude of the reciprocating movement of the moving platform (3), that is, the amplitude of the simulated human respiratory movement, by collecting the real pulses during the operation of the motor (2), specifically as follows: where q ture represents the actual pulse when the motor (2) is running; D represents the motor shaft diameter; Q represents the total number of pulses required for the motor to rotate one circle.

5. The simulation system for human respiratory movement according to claim 1, characterized in that, the control unit (1) further includes: a waveform display module (14); The communication module (11) is connected to the waveform display module (14) and sends the real motion parameters and the simulated motion parameters to the waveform display module (14) respectively. The waveform display module (14) is used to display the relationship curve between the amplitude and time, including: the relationship curve between the amplitude and time of the real human breathing motion, and the relationship curve between the amplitude and time of the simulated human breathing motion.

6. A simulation system for human breathing motion according to claim 1, characterized in that the communication module (11) obtains the amplitude and frequency of the real human breathing motion by means of manual input, or obtains the amplitude and frequency of the real human breathing motion by connecting a data acquisition device for the real human breathing motion.

7. A simulation system for human breathing motion according to claim 1 or 5 or 6, characterized in that the control unit (1) includes a host computer and a slave computer; Each module in the control unit (1) is implemented by the host computer; the host computer sends instructions to the slave computer through a data transmission interface, and the slave computer analyzes the instructions into motor pulse signals and sends them to the motor (2) to control the operation of the motor (2).

8. A simulation system for human breathing motion according to claim 1, characterized in that the motion platform (3) includes: a lead screw, a slide table, a limiter, and a zero adjuster; The operation of the motor (2) drives the lead screw to rotate, and the slide table moves along with the lead screw. The limiter and the zero adjuster are used to limit the movement of the slide table. When the slide table moves to the positions of the limiter and the zero adjuster, the motor (2) rotates in the reverse direction to drive the lead screw to rotate in the reverse direction, and the slide table moves back and forth between the limiter and the zero adjuster.

9. A simulation method applicable to the simulation system for human breathing motion according to any one of claims 1 to 4, characterized in that it includes the following steps; S1, the communication module (11) obtains the amplitude and frequency of the real human breathing motion in real time; S2. The cyclic motion module (12) calculates the theoretical pulse q of the motor (2) in the i-th breathing cycle according to the amplitude Ai of the real human breathing motion in the i-th breathing cycle i ; S3. The motor (2) operates under the theoretical pulse q in the i-th breathing cycle, driving the reciprocating motion of the motion platform (3) to simulate the i-th breathing cycle of the human body's breathing motion, and obtaining the amplitude W of the simulated human body's breathing motion in the i-th breathing cycle i ; i ; S4, the adjustment module (13) calculates the pulse correction amount Δq of the i-th breathing cycle according to the amplitude A of the real human breathing motion in the i-th breathing cycle i and the amplitude W of the simulated human breathing motion in the i-th breathing cycle i ; i ; S5. The cyclic motion module (12) calculates the theoretical pulse q of the motor (2) in the (i + 1)-th breathing cycle according to the amplitude A of the true human breathing motion in the (i + 1)-th breathing cycle i+1 , and uses the pulse correction amount Δq in the i-th breathing cycle i+1 to correct the theoretical pulse q in the (i + 1)-th breathing cycle i to obtain the corrected pulse q' of the motor (2) in the (i + 1)-th breathing cycle i+1 . i+1 '; S6. The motor (2) operates under the corrected pulse q i+1 ' in the (i + 1)-th breathing cycle, driving the reciprocating motion of the moving platform (3) to simulate the (i + 1)-th breathing cycle of the human body's breathing motion, and obtaining the amplitude W of the simulated human body's breathing motion in the (i + 1)-th breathing cycle i+1 ; where \(i = 1, 2, 3,\cdots\); if \(i = 1\), that is, in the first breathing cycle, the theoretical pulse \(q\) of the motor (2) in the first breathing cycle is not corrected 1 and the motor (2) operates directly under the theoretical pulse \(q\) of the first breathing cycle 1 to drive the reciprocating motion of the moving platform (3), simulate the first breathing cycle of the human body's breathing motion, and obtain the amplitude \(W\) of the simulated human body's breathing motion in the first breathing cycle 1 ; S7, continue to simulate the next breathing cycle of the human breathing motion in the manner of steps S4 to S6.

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