Devices for simulating organ dynamic deformation, devices and methods for evaluating registration accuracy.

Abstract

This invention provides a device for simulating dynamic organ deformation, a device for evaluating registration accuracy, and a method for simulating surgical navigation. The simulation device includes a support assembly; a hollow, elastic organ model mounted on the support assembly; and a force assembly including a drive unit, a transmission unit, and a traction unit. The transmission unit is connected to the drive unit, and the traction unit connects the transmission unit and the organ model. The drive unit drives the transmission unit to reciprocate, applying or removing tension to the organ model via the traction unit. When the organ model is subjected to tension, it deforms; when the tension is removed, the organ model returns to its original shape. This simulation device can be applied to simulate intraoperative navigation, thereby evaluating the accuracy of registration operations during navigation information acquisition and providing a basis for optimizing and improving registration methods.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a device for simulating dynamic organ deformation, a device for evaluating registration accuracy, and a method thereof. Background Technology

[0002] With the development of computer technology and medical imaging technology, the application of surgical navigation technology is becoming increasingly widespread. Surgical navigation technology registers a 3D model generated from preoperative static medical images of the surgical subject with information collected intraoperatively by sensors within the surgical subject's body, establishing a mapping relationship between the intraoperative surgical subject coordinate system and the 3D model coordinate system. This allows the real-time position of surgical instruments to be converted into the 3D model for intraoperative navigation.

[0003] In practice, the shape of some organs, such as the bronchi, changes with breathing. When using existing surgical navigation technology, the registration accuracy is not high because it only relies on static medical images to generate three-dimensional models without considering dynamic deformation. This results in low navigation accuracy. Summary of the Invention

[0004] The purpose of this invention is to provide a device for simulating dynamic deformation of organs, a device and method for evaluating registration accuracy, and to evaluate registration accuracy in order to provide optimization of registration methods.

[0005] To achieve the above objectives, the present invention provides a simulation device for organ dynamic deformation, used to simulate surgical navigation, the simulation device comprising:

[0006] Support components;

[0007] A flexible organ model, wherein the organ model is a hollow structure and is mounted on the support component;

[0008] The power assembly includes a drive unit, a transmission unit, and a traction unit, wherein the transmission unit is connected to the drive unit, and the traction unit is connected to the transmission unit and the organ model;

[0009] The drive unit is used to drive the transmission unit to reciprocate, so as to apply or remove the tension to the organ model through the traction unit. When the organ model is subjected to tension, the organ model deforms, and when the tension is removed, the organ model returns to its original shape.

[0010] Optionally, the transmission part includes a first transmission member, a second transmission member, and a third transmission member; the first transmission member is connected to the drive part, and the second transmission member and the third transmission member are respectively connected to the first transmission member; the traction part includes a first traction part group and a second traction part group, the first traction part group is connected to the second transmission member and the organ model, and the second traction part group is connected to the third transmission member and the organ model;

[0011] The drive unit is used to drive the first transmission member to reciprocate linearly along a first direction, thereby driving the second transmission member to reciprocate linearly along a second direction, and applying or canceling tension to the organ model through the second traction unit group, and driving the third transmission member to reciprocate linearly along a third direction, and applying or canceling tension to the organ model through the second traction unit group.

[0012] Optionally, the simulation device further includes a guiding mechanism, at least partially disposed on the support assembly; the guiding mechanism includes a first guiding portion, a second guiding portion, and a third guiding portion, the first guiding portion defining the first direction, the second guiding portion defining the second direction, and the third guiding portion defining the third direction;

[0013] The first transmission member is at least partially disposed on the first guide portion, the second transmission member is at least partially disposed on the second guide portion, and the third transmission member is at least partially disposed on the third guide portion.

[0014] Optionally, the second guide portion is rotatably connected to the support assembly; and / or, the third guide portion is rotatably connected to the support assembly.

[0015] Optionally, the driving unit includes a first sub-driving unit, which is connected to the first transmission member to drive the first transmission member to perform reciprocating linear motion along the first direction.

[0016] Optionally, the transmission unit further includes a fourth transmission member, which is connected to the drive unit and movably disposed on the support assembly; the traction unit further includes a third traction unit group, which connects the fourth transmission member and the organ model.

[0017] The drive unit is also used to drive the fourth transmission member to reciprocate linearly along the fourth direction, and to apply or cancel tension to the organ model through the third traction unit group.

[0018] Optionally, the third guide portion is connected to the fourth transmission member.

[0019] Optionally, the drive unit further includes a second sub-drive unit, which is connected to the fourth transmission member to drive the fourth transmission member to perform reciprocating linear motion along the fourth direction.

[0020] Optionally, the first sub-drive unit includes a first rotating wheel, a connecting rod, and a second rotating wheel. The first rotating wheel is used to receive driving force and rotate under the drive force. The first rotating wheel is provided with a plurality of engagement holes arranged radially at intervals. One end of the connecting rod is selectively rotatably connected to one of the engagement holes, and the other end of the connecting rod is rotatably connected to the second rotating wheel. The second rotating wheel is connected to the first transmission member.

[0021] Optionally, the first guide portion is rotatably connected to the support assembly.

[0022] Optionally, the support assembly includes a fixing part and an adjusting ring, the adjusting ring being rotatably connected to the fixing part, and the first guide part being disposed on the adjusting ring.

[0023] Optionally, the first sub-drive unit includes a motor, a lead screw, and a lead screw nut. The lead screw is connected to the output end of the motor, and the lead screw nut is sleeved on the lead screw and threadedly engages with the lead screw to perform helical transmission. The lead screw nut is also connected to the first transmission component.

[0024] Optionally, the motor and the first guide portion are both rotatably connected to the support assembly; or, the support assembly includes a fixed portion and an adjusting ring, the motor is rotatably disposed on the fixed portion, the adjusting ring is rotatably connected to the fixed portion, and the first guide portion is disposed on the adjusting ring.

[0025] Optionally, the second transmission member and the third transmission member are rotatably connected to the first transmission member.

[0026] Optionally, the traction unit includes a traction rope, and the transmission unit is provided with a connecting through hole. One end of the traction rope passes through the connecting through hole to connect with the transmission unit, and the other end is connected to the organ model.

[0027] Optionally, the traction unit includes a traction rope and a threaded connector. The transmission unit is provided with a threaded through hole. The threaded connector is connected to the threaded through hole. One end of the traction rope is spirally wound and connected to the threaded connector, and the other end is connected to the organ model.

[0028] Optionally, the traction unit includes a traction rope and a connecting ring. The connecting ring includes a loop and a buckle. The loop is disposed on the organ model. There are multiple buckles, which are arranged circumferentially on the loop. The traction rope selectively passes through at least one of the buckles.

[0029] In addition, to achieve the above objectives, the present invention also provides a device for evaluating registration accuracy, comprising a medical catheter, a processing unit, and a device for simulating organ dynamic deformation as described above; wherein,

[0030] The medical catheter is used to partially mount within the organ model and is movable within the organ model;

[0031] The processing unit establishes a three-dimensional model of the organ model and a three-dimensional model of the medical catheter, registers the three-dimensional model of the organ model with a predetermined object, and registers the three-dimensional model of the medical catheter with the medical catheter. It also evaluates the registration accuracy of the three-dimensional model of the organ model with the predetermined object and the registration accuracy of the three-dimensional model of the medical catheter with the catheter according to predetermined standards.

[0032] Furthermore, to achieve the above objectives, the present invention also provides a method for evaluating registration accuracy, based on the aforementioned simulation device for organ dynamic deformation, the evaluation method comprising the following steps:

[0033] Step S1: Partially place the medical catheter into the organ model;

[0034] Step S2: Control the movement of the medical catheter, and also control the drive unit to drive the transmission unit to reciprocate;

[0035] Step S3: Establish a three-dimensional model of the organ model and a three-dimensional model of the medical catheter;

[0036] Step S4: Register the 3D model of the organ model with the predetermined object, and register the 3D model of the medical catheter with the medical catheter; and,

[0037] Step S5: Evaluate the registration accuracy between the three-dimensional model of the organ model and the predetermined object according to predetermined standards, and evaluate the registration accuracy between the three-dimensional model of the catheter and the catheter.

[0038] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium having a program stored thereon, which, when executed, performs at least steps S3 to S5 of the registration accuracy evaluation method as described above.

[0039] Compared with the prior art, the organ dynamic deformation simulation device, registration accuracy evaluation device and method of the present invention have the following advantages:

[0040] The aforementioned organ dynamic deformation simulation device is used to simulate surgical navigation. The simulation device includes a support assembly, an organ model, and a power assembly. The organ model is mounted on the support assembly and is elastic and hollow. The drive assembly includes a drive section, a transmission section, and a traction section. The transmission section is connected to the drive section, and the traction section connects the transmission section and the organ model. The drive section drives the transmission section to reciprocate, thereby applying or removing tension to the organ model via the traction section. When the organ model is subjected to tension, it deforms; when the tension is removed, the organ returns to its original shape. The organ model refers to a model of an organ that deforms due to respiratory movements, such as a bronchial model. In the organ dynamic deformation simulation device provided by this invention, the drive section drives the transmission section to simulate respiratory movements, and the traction section pulls or relaxes the organ model, causing the organ model to deform or return to its original shape, thus simulating the process of dynamic organ deformation during respiratory movements. With this configuration, the simulation device for the dynamic deformation of the organ can be used to simulate the navigation process during surgery, so as to evaluate the registration accuracy and provide a basis for optimizing the registration method. Attached Figure Description

[0041] The accompanying drawings are provided to better understand the invention and are not intended to unduly limit the scope of the invention. Wherein:

[0042] Figure 1 This is a schematic diagram of a bronchoscopic surgery robot performing surgery using existing technology;

[0043] Figure 2 This is a schematic diagram of the framework of a device for simulating dynamic organ deformation according to an embodiment of the present invention;

[0044] Figure 3 This is a schematic diagram of the respiratory movement model of the surgical subject lying flat on the surgical platform according to Embodiment 1 of the present invention;

[0045] Figure 4 This is a schematic diagram of the overall structure of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention;

[0046] Figure 5 This is a partial structural schematic diagram of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention;

[0047] Figure 6This is a schematic diagram of the structure of the second transmission component of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention;

[0048] Figure 7 This is a schematic diagram of the connection between the traction rope and the second transmission component of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention;

[0049] Figure 8 This is a partial structural schematic diagram of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention;

[0050] Figure 9 This is a schematic diagram of the connection between the traction rope and the second transmission component of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention;

[0051] Figure 10 This is a schematic diagram of the structure of the connecting ring provided by the organ dynamic deformation simulation device according to Embodiment 1 of the present invention;

[0052] Figure 11 This is a schematic diagram of the connection between the traction rope and the organ model of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention. The difference between a) and b) in the figure is that in b), the second transmission member moves a larger amplitude along the positive direction of the second direction and the third transmission member moves a larger amplitude along the positive direction of the third direction.

[0053] Figure 12 This is a schematic diagram of the structure of the first sub-drive unit of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention, and the first sub-drive unit includes a connecting rod;

[0054] Figure 13 This is a schematic diagram of the structure of the first rotating wheel of the first sub-drive unit of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention;

[0055] Figure 14 This is a schematic diagram of the first rotating wheel of the first sub-drive unit for organ dynamic deformation according to Embodiment 1 of the present invention rotating clockwise under the action of driving force, and the first transmission member moving in the positive direction of the first direction.

[0056] Figure 15 This is a schematic diagram of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention. The diagram shows the way in which the first rotating wheel receives the driving force, and the driving force is provided manually.

[0057] Figure 16 yes Figure 15 A partial structural schematic diagram of the device simulating the dynamic deformation of an organ;

[0058] Figure 17This is a schematic diagram of the structure of the first sub-drive unit of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention, and the first sub-drive unit includes two connecting rods;

[0059] Figure 18 This is a schematic diagram of the structure of the first sub-drive unit and the first transmission component of the organ dynamic deformation simulation device provided in Embodiment 1 of the present invention. The number of the first sub-drive unit and the first transmission component in the figure are both two.

[0060] Figure 19 Show Figure 18 The diagram shows the method by which the first rotating wheel of the simulated organ dynamic deformation device receives driving force. The diagram also shows that the two first rotating wheels receive driving force through the same belt and drive wheel.

[0061] Figure 20 Show Figure 18 The diagram shows the method by which the first rotating wheel of the simulated organ dynamic deformation receives driving force. The two first rotating wheels receive driving force through a belt and a drive wheel, respectively.

[0062] Figure 21 This is a schematic diagram of the connection relationship between the first guide portion and the support component for dynamic deformation of the organ according to Embodiment 1 of the present invention. The first guide portion shown in a), b) and c) rotates at different angles relative to the support component.

[0063] Figure 22 This is a schematic diagram of the organ dynamic deformation simulation device provided in Embodiments 2 and 3 of the present invention;

[0064] Figure 23 This is a schematic diagram of the connection relationship between the first guide portion and the adjustment ring of the support component of the organ dynamic deformation simulation device provided in Embodiments 2 and 3 of the present invention. The first guide portion shown in a) and b) has a different setting angle relative to the fixed portion of the support component.

[0065] Figure 24 This is a schematic diagram of the structure of the first sub-drive unit of the organ dynamic deformation simulation device provided in Embodiment 3 of the present invention;

[0066] Figure 25 This is a schematic diagram of the respiratory movements of the surgical subject lying on the surgical platform according to Embodiment 4 of the present invention;

[0067] Figure 26 This is a schematic diagram of the overall structure of the organ dynamic deformation simulation device provided in Embodiment 4 of the present invention;

[0068] Figure 27 This is a partial structural schematic diagram of the organ dynamic deformation simulation device provided in Embodiment 4 of the present invention.

[0069] [The annotations in the attached figures are explained below]:

[0070] 10-Surgical operating device, 11-robotic arm, 20-bronchoscope, 30-surgical subject;

[0071] 1000-Support assembly, 1100-First support member, 1200-Second support member, 1300-Third support member, 1400-Rotating shaft, 1500-Fourth support member, 1600-Fifth support member, 1700-Sixth support member, 1800-Adjusting ring, 2000-Organ model, 3000-Power assembly, 3100-Drive unit, 3110-First sub-drive unit, 3111-First rotating wheel, 3112-Connecting rod, 3113-Second rotating wheel, 3114-Matching hole, 3115-Motor, 3116-Lead screw, 3117-Lead screw nut, 3121-Drive wheel, 3122-Belt, 3123-Rock arm, 3 124-Drive shaft, 3125-Driven wheel, 3226-Connecting rod, 3200-Transmission part, 3210-First transmission component, 3220-Second transmission component, 3230-Third transmission component, 3240-Fourth transmission component, 3250-Fifth transmission component, 3201-Connecting through hole, 3202-Plate body, 3203-Threaded through hole, 3300-Traction part, 3310-Traction rope, 3320-Threaded connector, 3330-Connecting ring, 3331-Ring sleeve, 3332-Ring buckle, 4000-Guiding mechanism, 4100-First guide part, 4200-Second guide part, 4300-Third guide part, 4400-Fourth guide part. Detailed Implementation

[0072] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in this embodiment are only schematic representations of the basic concept of the present invention. Therefore, the drawings only show components related to the present invention and are not drawn according to the actual number, shape, and size of components in the actual implementation. In the actual implementation, the type, quantity, and proportion of each component can be arbitrarily changed, and the component layout may also be more complex.

[0073] Furthermore, while each embodiment described below possesses one or more technical features, this does not imply that users of the present invention must simultaneously implement all technical features of any embodiment one, or can only implement some or all technical features of different embodiments separately. In other words, provided it is feasible, those skilled in the art can selectively implement some or all of the technical features of any embodiment one, or selectively implement a combination of some or all of the technical features of multiple embodiments, based on the disclosure of the present invention and depending on design specifications or implementation requirements, thereby increasing the flexibility in implementing the present invention.

[0074] As used herein, the singular forms “a,” “an,” and “the” include plural objects, and the plural form “a plurality” includes two or more objects, unless otherwise expressly indicated. As used herein, the term “or” is generally used to include the meaning of “and / or,” unless otherwise expressly indicated, and the terms “install,” “connect,” and “link” should be interpreted broadly, for example, as a fixed connection, a detachable connection, or an integral connection. Connections can be mechanical or electrical. Connections can be direct or indirect through an intermediate medium, and can represent internal communication between two elements or an interaction between two elements. Those skilled in the art will understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0075] To make the objectives, advantages, and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that the drawings are all in a very simplified form and use non-precise proportions, and are only used to facilitate and clearly illustrate the objectives of the embodiments of the present invention. The same or similar reference numerals in the drawings represent the same or similar parts.

[0076] Figure 1 This is a schematic diagram of a bronchoscopic surgical robot system performing surgery. The bronchoscopic surgical robot system includes a control device, a surgical operating device 10, and a bronchoscope (not shown in the figure). The surgical operating device 10 includes a robotic arm 11, with the bronchoscope 20 mounted at its distal end. The bronchoscope 20 includes a catheter and a position acquisition unit located at the distal end of the catheter. The position acquisition unit is used to acquire dynamic positioning data of the distal end of the catheter in real time. The control device is communicatively connected to the surgical operating device 10 and the position acquisition unit to navigate the movement of the robotic arm 11 based on the dynamic positioning data of the distal end of the catheter, thereby driving the movement of the bronchoscope so that its distal end extends into the bronchus of the surgical subject 30 and reaches a predetermined position, thus performing bronchoscopic surgery.

[0077] Those skilled in the art will understand that the control device establishes a mapping relationship between the intraoperative surgical object coordinate system and the three-dimensional model coordinate system by registering a three-dimensional model of the surgical object (e.g., bronchus) generated from preoperative static medical images of the surgical object with a predetermined object (e.g., bronchus or lung), and by registering the three-dimensional model of the bronchoscope 20 with the bronchoscope 20. This allows the device to convert the dynamic positioning data of the catheter tip acquired by the position acquisition unit during the operation into the three-dimensional model for intraoperative navigation. In other words, the accuracy of the registration operation has a crucial impact on the accuracy of the navigation.

[0078] The purpose of this invention is to provide a simulation device for dynamic deformation of organs. This simulation device can be used to simulate the dynamic deformation of the organ to be navigated during surgery, thereby simulating the intraoperative navigation process to evaluate the accuracy of surgical navigation and the accuracy of registration operations during the navigation process.

[0079] Figure 2 A schematic diagram of the overall framework of a device for simulating dynamic organ deformation according to an embodiment of the present invention is shown. Figure 2 As shown, the simulation device includes a support assembly 1000, an organ model 2000, and a power assembly 3000. The organ model 2000 is mounted on the support assembly 1000 and is elastic with a hollow structure. The power assembly 3000 includes a drive unit 3100, a transmission unit 3200, and a traction unit 3300. The transmission unit 3200 is connected to the drive unit 3100, and the traction unit 3300 connects the transmission unit 3200 and the organ model 2000. The drive unit 3100 drives the transmission unit 3200 to reciprocate, so that the traction unit 3300 applies tension or releases tension on the organ model 2000 during the reciprocating motion of the transmission unit 3200. When the organ model 2000 is subjected to tension, it deforms; when the tension is released, it returns to its original shape.

[0080] In this embodiment of the invention, the organ model 2000 is, for example, a bronchus model. Therefore, the reciprocating motion of the transmission unit 3200, driven by the drive unit 3100, can simulate the respiratory motion of the surgical subject, and the dynamic deformation of the bronchus under respiratory motion can be simulated by the deformation or recovery of the organ model 2000. In other words, the organ dynamic deformation simulation device can be used for navigation simulation in bronchoscopy to evaluate the accuracy of the registration operation. Based on the evaluation results, those skilled in the art can optimize and improve the registration method, or select the registration method with the highest accuracy from multiple registration methods for application in actual surgery.

[0081] Those skilled in the art will understand that when using the simulation device for navigation simulation during bronchoscopy, the operation can be exactly the same as the actual bronchoscopy procedure. Specifically, a predetermined position is set in the organ model 2000, and then the distal end of the bronchoscope's catheter is placed within the organ model 2000. The bronchoscope is then moved according to intraoperative navigation to bring the distal end of the catheter to the predetermined position. After navigation is complete, the accuracy of the registration operation during navigation can be evaluated according to predetermined criteria.

[0082] The optional structures of the simulation device will be described in further detail below with reference to specific embodiments.

[0083] <Example 1>

[0084] Figure 3 This diagram illustrates a respiratory movement model of a surgical patient lying supine on a surgical platform. Figure 3 As shown in the respiratory motion model, during the surgical subject's inhalation, the anterior thoracic portion of lung 31 expands along the back towards the chest (as shown by arrow S1), while the lower portion of lung 31 near the abdomen expands along the head towards the feet (as shown by arrow S2). The lower portion of lung 31 near the back remains largely unchanged, allowing the outline of the surgical subject's lung 31 to switch from the state shown by the solid line to the state shown by the dashed line. During the surgical subject's exhalation, the anterior thoracic portion of lung 31 contracts along the chest towards the back (as shown by arrow S3), while the lower portion of lung 31 near the abdomen contracts along the feet towards the head (as shown by arrow S4). The lower portion of lung 31 near the back remains largely unchanged, allowing the outline of the surgical subject's lung 31 to switch back to the state shown by the solid line. The movement pattern of bronchus 32 is the same as that of lung 31.

[0085] This embodiment is for Figure 3 The respiratory motion model shown provides a simulation device for the dynamic deformation of organs. Please refer to... Figure 4 and Figure 5 The transmission unit 3200 includes a first transmission member 3210, a second transmission member 3220, and a third transmission member 3230. The first transmission member 3210 is connected to the drive unit (…). Figure 4 Not marked in the text Figure 5(Not shown in the figure) The second transmission member 3220 and the third transmission member 3230 are respectively connected to the first transmission member 3210. The traction unit 3300 includes a first traction unit group and a second traction unit group. The first traction unit group connects the second transmission member 3220 and the organ model 2000, and the second traction unit group connects the third transmission member 3230 and the organ model. The driving unit is used to drive the first transmission member 3210 to perform reciprocating linear motion along a first direction (as shown in Figure A), and further drive the second transmission member 3220 to perform reciprocating linear motion along a second direction (as shown in Figure B) to apply or cancel tension on the organ model 2000 through the first traction unit group, and drive the third transmission member 3230 to perform reciprocating linear motion along a third direction (as shown in Figure C) to apply or cancel tension on the organ model 2000 through the second traction unit group. In this embodiment, at least a portion of the structure of the driving unit is used to drive the first transmission member 3210 to move, and this portion of the structure is referred to as the first sub-driving unit 3110.

[0086] Specifically, when the first sub-drive unit 3110 drives the first transmission member 3210 to move along the positive direction of the first direction (as shown in A1 in the figure), the second transmission member 3220 moves along the positive direction of the second direction (as shown in B1 in the figure) so that the first traction unit group applies a pulling force to the organ model 2000. At the same time, the third transmission member 3230 moves along the positive direction of the third direction (as shown in C1 in the figure) so that the second traction unit group applies a pulling force to the organ model 2000, thereby the organ model 2000 expands and deforms simultaneously along the positive direction of the second direction and the positive direction of the third direction. Subsequently, the first sub-drive unit 3110 drives the first transmission member 3210 to move in the negative direction of the first direction (as shown in A2 in the figure), so that the second transmission member 3220 moves in the negative direction of the second direction (as shown in B2 in the figure), thereby causing the tension exerted on the organ model 2000 by the first traction unit group to gradually decrease until it disappears. At the same time, the third transmission member 3230 moves in the negative direction of the third direction (as shown in C2 in the figure), so that the tension exerted on the organ model 2000 by the second traction unit group gradually decreases to zero. At this time, the organ model 2000 contracts and restores its deformation (that is, the organ model 2000 returns to its natural state when it is not under tension). By alternating in this way, the dynamic deformation of the bronchus 32 of the surgical object can be simulated. It should be understood that the specific orientations of the first direction, the second direction, and the third direction can all be set as needed. As long as the second transmission member 3220 moves along the positive direction of the second direction and the third transmission member 3230 moves along the positive direction of the third direction, the expansion direction of the bronchial model (i.e., the organ model 2000) is in line with... Figure 3 The expansion direction of the lung 31 shown should match the overall expansion direction. In this embodiment, the first direction, the second direction, and the third direction can all be located in... Figure 4 and Figure 5 On the XZ plane shown, there is a non-zero angle between any two of the first direction, the second direction, and the third direction, that is, the first direction, the second direction, and the third direction are different.

[0087] Please continue to refer to this. Figure 5 The traction unit 3300 includes a plurality of traction ropes 3310, one end of each traction rope 3310 is connected to the transmission unit 3200, specifically to the second transmission member 3220 or the third transmission member 3230, and the other end is connected to the organ model 2000.

[0088] The traction rope 3310 and the transmission unit 3200 can be connected in any suitable manner. In one optional manner, the transmission unit 3200 is provided with a connecting through hole 3201 (e.g., Figure 6 (as marked), specifically, such as Figure 6 As shown, both the second transmission component 3220 and the third transmission component 3230 include a plate 3202. The plate 3202 has a connecting through hole 3201. One end of the traction rope 3310 passes through the connecting through hole 3201 and is knotted (e.g., ...). Figure 7 (as shown) or any other suitable manner to connect to the plate 3202. In another alternative manner, such as Figure 8 and Figure 9 As shown, both the second transmission component 3220 and the third transmission component 3230 include a plate 3202, on which a threaded through hole 3203 is formed. The traction unit 3300 also includes a threaded connector 3320, which passes through one of the threaded through holes 3303 and is threadedly connected to the threaded through hole 3303. One end of the traction rope 3310 is spirally wound and connected to the threaded connector 3320. That is, the traction rope 3310 is connected to the transmission unit 3200 through the threaded connector 3320.

[0089] The other end of the traction rope 3310 can be connected to the organ model 2000 in any suitable manner. Please refer to... Figure 10 and Figure 11In an alternative embodiment, the traction unit 3300 further includes a connecting ring 3330, which comprises a loop 3331 and a buckle 3332. The buckles 3332 are multiple and spaced circumferentially on the loop 3331. The loop 3331 is disposed on the organ model 2000, and the other end of the traction rope 3310 selectively passes through at least one buckle 3332 and is connected to the buckle 3332 by knotting or other means.

[0090] It should be noted that, in this embodiment, the organ model 2000 includes multiple branches, each of which is fitted with a loop 3331 and connected to the second transmission member 3220 and / or the third transmission member 3230 via at least one traction rope 3310. That is, the first traction assembly includes multiple traction ropes 3310, all of which are used to connect the second transmission member 3220 and the organ model 2000; and the second traction assembly includes multiple traction ropes 3310, which are used to connect the third transmission member 3230 and the organ model 2000.

[0091] For further information, please refer back to the reference section. Figure 4 The simulation device further includes a guide mechanism 4000, which is at least partially disposed on the support assembly 1000 and includes a first guide portion 4100, a second guide portion 4200, and a third guide portion 4300. The first guide portion 4100 defines a first direction, the second guide portion 4200 defines a second direction, and the third guide portion 4300 defines the third direction. A first transmission member 3210 is at least partially disposed on the first guide portion 4100, such that the first transmission member 3210 reciprocates linearly along the first direction under the guidance of the first guide portion 4100. A second transmission member 3220 is at least partially disposed on the second guide portion 4200, such that the second transmission member 3220 reciprocates linearly along the second direction under the guidance of the second guide portion 4200. The third transmission member 3230 is at least partially disposed on the third guide portion 4300, so that the third transmission member 3230 performs reciprocating linear motion along the third direction under the guidance of the third guide portion 4300.

[0092] Optionally, the first transmission member 3210 may be a rod-shaped structure, and the first guide portion 4100 may be a guide sleeve through which the first transmission member 3210 passes. Alternatively, the first transmission member 3210 may be a plate-shaped structure, in which case the first guide portion 3100 may include a fixed plate and a guide rail or guide groove (not shown in the figure) disposed on the fixed plate, the plate-shaped structure being slidably connected to the guide rail or guide groove. The second guide portion 4200 may include a fixed plate and a guide rail or guide groove disposed on the fixed plate. The third guide portion 4300 may include a fixed plate and a guide rail or guide groove disposed on the fixed plate.

[0093] Please continue to refer to this. Figure 4 The support assembly 1000 includes a first support member 1100, a second support member 1200, and a third support member 1300. The second support member 1200 and the third support member 1300 are arranged parallel to each other and opposite to each other. The first support member 1100 is vertically connected to both the second support member 1200 and the third support member 1300. In actual use, the first support member 1100 is arranged horizontally, while the second support member 1200 and the third support member 1300 are arranged vertically.

[0094] The second guide portion 4200 is connected to the second support member 1200, and preferably the second guide portion 4200 and the second support member 1200 are rotatably connected, for example, they are rotatably connected via a pivot 1400. The advantage of this arrangement is that the specific orientation of the second direction can be adjusted by rotating the second guide portion 4200 relative to the second support member 1200 according to the actual situation of the surgical patient. Correspondingly, the second transmission member 3220 is preferably rotatably connected to the first transmission member 3210.

[0095] The third guide portion 4300 is connected to the third support member 1300. Similar to the connection between the second transmission portion 4200 and the second support member 1200, it is preferable that the third guide portion 4300 and the third support member 1300 are rotatably connected via another rotating shaft 1400. Furthermore, it is even more preferable that the third transmission member 3230 is rotatably connected to the first transmission member 3210.

[0096] Please return to the reference. Figure 4The support assembly 1000 further includes a fourth support member 1500, a fifth support member 1600, and a sixth support member 1700. The fourth support member 1500 is arranged parallel to the first support member 1100, and the two can be an integral structure or a separate structure. The fifth support member 1600 is perpendicularly connected to the fourth support member 1500 and is located on the side of the third support member 1300 away from the second support member 1200. The sixth support member 1700 is perpendicularly connected to the fourth support member 1500 and is located on the side of the fifth support member 1600 away from the third support member 1300. The first guide portion 4100 is disposed on the fifth support member 1600. The first sub-drive portion 3110 is connected to the sixth support member 1700.

[0097] Please continue to refer to this. Figure 4 and combined Figure 12 and Figure 13 The first sub-drive unit 3110 includes a first rotating wheel 3111, a connecting rod 3112, and a second rotating wheel 3113. The first rotating wheel 3111 is rotatably mounted on the sixth support rod 1700 and receives driving force, rotating under the influence of that force. One end of the connecting rod 3112 is rotatably connected to the first rotating wheel 3111, and the other end is rotatably connected to the second rotating wheel 3113. The second rotating wheel 3113 is connected to the first transmission member 3210. Figure 14 As shown, the rotation of the first rotating wheel 3111 causes one end of the connecting rod 3112 connected to the first rotating wheel 3111 to rotate around the central axis of the first rotating wheel 3111, thereby causing the first transmission member 3210 to reciprocate linearly along the first direction. Figure 14 Taking the indicated orientation as an example, when the first rotating wheel 3111 rotates clockwise, the end of the connecting rod 3112 connected to the first rotating wheel 3111 rotates clockwise around the central axis of the first rotating wheel 3111, thereby driving the first transmission member 3210 to move in the positive direction of the first direction. Subsequently, it drives the first rotating wheel 3111 to rotate counterclockwise, and the end of the connecting rod 3112 connected to the first rotating wheel 3111 rotates counterclockwise around the central axis of the first rotating wheel 3111, thereby driving the first transmission member 3210 to move in the negative direction of the first direction.

[0098] More preferably, the first rotating wheel 3111 is provided with a plurality of engagement holes 3114 arranged radially at intervals, and one end of the connecting rod 3112 is selectively connected to one of the engagement holes 3114. By connecting the connecting rod 3112 to different engagement holes 3114, the movement distance of the first transmission member 3210 when it makes reciprocating linear motion along the first direction can be adjusted, thereby adjusting the movement distance of the second transmission member 3220 when it makes reciprocating linear motion along the second direction, and the movement distance of the third transmission member 3230 when it makes reciprocating linear motion along the third direction, thereby adjusting the deformation amplitude of the organ model 2000. Specifically, the greater the distance from the connecting hole 3114 connected to the connecting rod 3112 to the central axis of the first rotating wheel 3111, the greater the movement distance of the first transmission member 3210 in the first direction, and consequently the greater the movement distance of the second transmission member 3220 in the second direction and the greater the movement distance of the third transmission member 3230 in the third direction, and the greater the deformation amplitude of the organ model 2000.

[0099] It is understandable that, in one implementation method, such as Figure 12 , Figure 15 and Figure 16 As shown, the number of the first rotating wheel 3111, the connecting rod 3112, and the second rotating wheel 3113 can all be one. Alternatively, as... Figure 17 As shown, the number of the first rotating wheel 3111 and the second rotating wheel 3112 can be one, but the number of the connecting rods 3112 is two, and the two connecting rods 3112 are arranged symmetrically. In these implementations, the first rotating wheel 3111 receives driving force through a pulley assembly. The pulley assembly includes a drive wheel 3121 and a belt 3122, and the drive wheel 3121 is connected to the first rotating wheel 3111 through the belt 3121. A rocker arm 3123 can be provided on the drive wheel 3121, and the user applies a driving force to the drive wheel 3121 by applying a driving force to the rocker arm 3123, so that the drive wheel 3121 rotates and transmits the driving force to the first rotating wheel 3111 through the belt 3122. Of course, the drive wheel can also be sleeved on the output shaft of a drive motor, that is, the driving force is generated by the drive motor (not shown in the figure). It should be understood that, here, the number of the first transmission member 3210 is also one, and the second transmission member 3220 and the third transmission member 3230 are simultaneously connected to one of the first transmission members 3210.

[0100] In another implementation, such as Figure 18As shown, there are two first sub-drive units 3110. The two first sub-drive units 3110 are arranged in parallel, and the first rotating wheels 3111 of the two first sub-drive units 3110 are connected, the second rotating wheels 3113 of the two first sub-drive units 3110 are connected, and in the two first sub-drive units 3110, the connecting rod 3112 is connected to the first rotating wheel 3111 at the same position, for example, both are connected to the engagement hole 3114 closest to the axis of the first rotating wheel 3111, so that the two sub-drive units 3110 can move synchronously. There are also two first transmission members 3210, and the two first transmission members 3210 are respectively connected to the second rotating wheels 3113 of the two first sub-drive units 3110.

[0101] Please refer to Figure 19 The two first sub-drive units 3110 can be controlled to operate synchronously through the same pulley assembly. Specifically, the first rotating wheels 3111 of the two first sub-drive units 3110 are connected by a drive shaft 3124, and both first rotating wheels 3111 rotate synchronously with the drive shaft 3114. The pulley assembly includes not only the driving wheel 3121 and the belt 3122, but also a driven wheel 3125. The driven wheel 3125 is fixedly sleeved on the drive shaft 3124, and the driving wheel 3121 is connected to the driven wheel 3125 through the belt 3122.

[0102] Alternatively, please refer to Figure 20 The two first sub-drive units 3110 receive driving force and move through two pulley assemblies. Here, the pulley assembly includes the drive pulley 3121 and the belt 3122, with each drive pulley 3121 connected to one of the first rotating pulleys 3111 via the belt 3122. Preferably, the two drive pulleys are mounted on the same output shaft of the drive motor (not shown in the figure) to facilitate synchronous control of the two drive pulleys, thereby enabling the two first sub-drive units to operate synchronously.

[0103] For further information, please refer back to the reference section. Figure 4 and combined Figure 21Preferably, the first guide portion 4100 and the fourth support member 1500 are rotatably connected. This allows for adjustment of the specific orientation of the first direction by the relative rotation of the first guide portion 4100 and the fourth support member 1500. Furthermore, when the first transmission member 3210 reciprocates along the first direction, the movement distance of the second transmission member 3220 reciprocating along the second direction, and the movement distance of the third transmission member 3230 reciprocating along the third direction, are adjusted, thereby achieving the purpose of adjusting the deformation amplitude of the organ model 2000.

[0104] The technical solution provided in this embodiment can simulate the deformation of organs during respiratory movements, and can also adjust the direction and magnitude of the deformation of the organ model 2000 according to actual needs to make it more consistent with the actual situation of the surgical subject.

[0105] <Example 2>

[0106] The difference between this embodiment and Embodiment 1 lies in the connection method between the first guide portion 4100 and the support component 1000. Please refer to... Figure 22 and Figure 23 The support assembly 1000 includes a fixing part and an adjusting ring 1800. The fixing part includes at least a first support member 1100, a second support member 1200, a third support member 1300, a rotating shaft 1400, a fourth support member 1500, and a sixth support member 1700. The adjusting ring 1800 can be rotatably connected to any structure of the fixing part. The first guide part 4100 is disposed on the adjusting ring 1800 and rotates synchronously with the adjusting ring 1800 to adjust the specific orientation of the first direction.

[0107] In this embodiment, the first rotating wheel 3111 can be rotatably connected to the sixth support rod 1700 via a connecting rod 3226, and the first rotating wheel 3111 is rotatably connected to the connecting rod 3226.

[0108] <Example 3>

[0109] The difference between this embodiment and Embodiment 1 lies in the structure of the first sub-driving unit 3110. Please refer to... Figure 24In this embodiment, the first sub-drive unit 3110 includes a motor 3115, a lead screw 3116, and a lead screw nut 3117. The motor 3115 can be mounted on the sixth support member 1700. The lead screw 3116 is connected to the output shaft of the motor 3115, and the lead screw nut 3117 is sleeved on the lead screw 3116 and threadedly engaged with the lead screw 3116 for helical transmission. The first transmission member 3210 is connected to the lead screw nut 3117. It should be understood that in this embodiment, the lead screw 3116 extends along the first direction, and the variation law of the driving force output by the motor 3115 conforms to a sine wave.

[0110] Furthermore, the first guide portion 4100 is rotatably connected to the third support member 1300, while the motor 3115 is connected to the sixth support member 1700. Alternatively, as... Figure 22 and Figure 23 As shown, when the support assembly includes the fixing part and the adjusting ring 1800, the first guide part 4100 can be disposed on the adjusting ring 1800, and the motor 3115 is rotatably connected to the sixth support member 1700.

[0111] <Example 4>

[0112] Figure 25 This diagram illustrates another respiratory movement model when the surgical subject lies supine on the surgical platform. Figure 25 As shown, in this respiratory movement model, during the inhalation of the surgical subject 30, the anterior thoracic portion of the lungs 31 expands along the back towards the chest (as shown by arrow S1), while the lower portion of the lungs 31 near the abdomen and the lower portion of the lungs near the back expands along the head towards the feet (as shown by arrow S3), thus changing the outline of the surgical subject's lungs 31 from the state described by the solid line to the state shown by the dashed line. When the surgical subject exhales, the anterior thoracic portion of the lungs 31 contracts along the chest towards the back (as shown by arrow S3), while the lower portion of the lungs 31 near the abdomen and the lower portion of the lungs 31 near the back contracts along the feet towards the head (as shown by arrow S4), thus changing the outline of the surgical subject 30's lungs 31 from the state described by the dashed line to the state shown by the solid line. The movement pattern of the bronchi 32 is the same as that of the lungs 31.

[0113] This embodiment provides a solution for... Figure 25 The simulated device for organ dynamic deformation of the respiratory movement model shown is an improvement on the first embodiment.

[0114] like Figure 26 and Figure 27As shown, the difference between this embodiment and Embodiment 1 is that the transmission unit 3200 further includes a fourth transmission member 3240, which is connected to the drive unit 3100 and movably disposed on the support assembly 1000, specifically on the first support member 1100. The traction unit 3300 further includes a third traction unit group, which connects the fourth transmission member 3240 and the organ model 2000. The drive unit 3100 is also used to drive the fourth transmission member 3240 to perform reciprocating linear motion along a fourth direction (as shown by D in the figure), and to apply or cancel the pulling force to the organ model 2000 through the third traction unit group. Specifically, when the fourth transmission member 3240 moves along the positive direction of the fourth direction (as shown in D1 in the figure), the third traction assembly applies a pulling force to the organ model 2000. When the fourth transmission member 3240 moves along the negative direction of the fourth direction (as shown in D2 in the figure), the pulling force applied to the organ model 2000 by the third traction assembly gradually decreases. In practice, the fourth direction can be... Figure 25 and Figure 26 The direction of the X-axis extension is shown in the diagram.

[0115] Optionally, the transmission unit 3200 further includes a fifth transmission member 3250, which connects the fourth transmission member 3240 and the drive unit 3100 (i.e., the fourth transmission member 3240 is indirectly connected to the drive unit 3100 through the fifth transmission member 3250). The guide mechanism 4000 preferably also includes a fourth guide portion 4400, which defines the fourth direction. The fifth transmission member 3250 is at least partially disposed on the fourth guide portion 3240, such that the fifth transmission member 3250 is driven by the drive unit 3100 to perform reciprocating linear motion along the fourth direction, thereby driving the fourth transmission member 3240 to perform reciprocating linear motion along the fourth direction. Alternatively, the fourth guide portion is disposed on the first support member, and the fourth transmission member is at least partially disposed on the fourth guide portion (not shown in the figure).

[0116] Furthermore, in this embodiment, the support assembly 1000 may not include the third support member; instead, the third guide portion 4300 is connected to the fourth transmission member 4240. The drive unit 3100 includes a first sub-drive unit 3110 and a second sub-drive unit 3130. The first sub-drive unit 3110 drives the first transmission member 3210 to reciprocate linearly along the first direction, and the second sub-drive unit 3130 drives the fourth transmission member 3240 to reciprocate. The structure of the second sub-drive unit 3130 may be the same as or different from that of the first sub-drive unit 3110, as long as it can drive the fourth transmission member 3240 to reciprocate linearly along the fourth direction by driving the fifth transmission member 3250 to reciprocate.

[0117] In addition, the third traction assembly also includes a plurality of traction ropes 3310, and the connection method between the traction ropes 3310 and the organ model 2000 and the fourth transmission component 3240 can be referred to the description in Embodiment 1.

[0118] In actual operation, the organ dynamic deformation simulation device provided in this embodiment, while the first sub-drive unit 3110 drives the second drive member 3220 to move in the positive direction of the second direction and the third drive member 3230 to move in the positive direction of the third direction via the first drive member 3210, the second sub-drive unit 3120 also drives the fourth drive member 3240 to move in the positive direction of the fourth direction via the fifth drive member 3250, so that the organ model 2000 expands and deforms. While the first sub-drive unit 3110 drives the second drive member 3220 to move in the negative direction of the second direction and the third drive member 3230 to move in the negative direction of the third direction via the first drive member 3210, the second sub-drive unit 3120 also drives the fourth drive member 3240 to move in the negative direction of the fourth direction via the fifth drive member 3250, so that the organ model 2000 gradually contracts to recover its deformation.

[0119] <Example 5>

[0120] This embodiment provides a registration accuracy evaluation device, which includes a medical catheter, a processing unit, and a device for simulating organ dynamic deformation as described above. The medical catheter is partially disposed within the organ model and is movable within the organ model. The processing unit establishes a three-dimensional model of the organ model and a three-dimensional model of the medical catheter, registers the three-dimensional model of the organ model with a predetermined object, and registers the three-dimensional model of the medical catheter with the medical catheter. It also evaluates the registration accuracy of the three-dimensional model of the organ model with the predetermined object and the registration accuracy of the medical catheter according to predetermined criteria.

[0121] When the organ model is a bronchial model, the medical catheter is a bronchoscope, and the intended target can be the bronchus or lung of the surgical subject. The predetermined criteria can be determined by medical personnel according to actual needs.

[0122] In practice, the medical catheter is mounted on the robotic arm of a surgical robot and moves under the drive of the robotic arm, causing the distal end of the medical catheter to move within the organ model and reach a predetermined position. During the movement of the medical catheter, the drive unit drives the first and fifth transmission components to reciprocate, causing the second, third, and fourth transmission components to reciprocate linearly. The traction unit applies or removes tension on the organ model, causing the organ model to expand or contract. Furthermore, the processing unit generates navigation information based on the registration results of the 3D model of the organ model and the predetermined object, and the registration results of the 3D model of the medical catheter and the medical catheter itself. Based on this navigation information, the processing unit guides the movement of the medical catheter until its distal end reaches the predetermined position. The phrase "evaluating the registration accuracy of the 3D model of the organ model with the predetermined object according to predetermined standards, and evaluating the registration accuracy of the 3D model of the medical catheter with the medical catheter" can refer to evaluating the accuracy of navigation information according to predetermined standards, and then evaluating the registration accuracy of the 3D model of the organ model with the predetermined object, and evaluating the registration accuracy of the medical catheter. Its actual purpose is to evaluate the registration algorithm, providing a basis for optimization and improvement of the registration algorithm by those skilled in the art. It should be understood that the evaluation device can also use multiple registration algorithms preoperatively to register the 3D model of the organ model with the predetermined object, and the 3D model of the medical catheter with the medical catheter, and evaluate the registration accuracy of different registration methods, thereby selecting the optimal registration method for application in actual surgery and improving surgical safety.

[0123] Example 6

[0124] The purpose of this embodiment is to provide a method for evaluating registration accuracy, which is based on the registration accuracy evaluation device provided in Embodiment 5. The evaluation method includes the following steps:

[0125] Step S1: Partially place the medical catheter into the organ model;

[0126] Step S2: Control the movement of the medical catheter, and also control the drive unit to drive the transmission unit to reciprocate;

[0127] Step S3: Establish a three-dimensional model of the organ model and a three-dimensional model of the medical catheter;

[0128] Step S4: Register the 3D model of the organ model with the predetermined object, and register the 3D model of the medical catheter with the medical catheter; and,

[0129] Step S5: Evaluate the registration accuracy between the three-dimensional model of the organ model and the predetermined object according to predetermined standards, and evaluate the registration accuracy between the three-dimensional model of the catheter and the catheter.

[0130] <Example 7>

[0131] The purpose of this embodiment is to provide a computer-readable storage medium having a program stored thereon, which, when executed, at least performs step S3 sub-step S5 of the registration accuracy evaluation method described in Embodiment Six.

[0132] While the present invention has been disclosed above, it is not limited thereto. Those skilled in the art can make various modifications and variations to the present invention without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims and their equivalents, the present invention also intends to include such modifications and variations.

Claims

1. An apparatus for simulating dynamic deformation of an organ for simulating surgical navigation to evaluate accuracy of a registration method used in a surgical navigation process, characterized by, The simulation device comprises: a support assembly; an organ model with elasticity, the organ model being a hollow structure and arranged on the support assembly, the organ model being configured to receive a distal end of a medical catheter and allow the distal end of the medical catheter to move based on intraoperative navigation to simulate surgical navigation; a power assembly comprising a driving part, a transmission part and a traction part, the transmission part being connected with the driving part, and the traction part being connected with the transmission part and the organ model; the driving part is configured to drive the transmission part to perform reciprocating motion during simulation of surgical navigation, so as to apply or cancel tension to the organ model through the traction part, the organ model deforming when the tension is applied, and the organ model recovering from deformation when the tension is canceled.

2. The apparatus for simulating dynamic organ deformation of claim 1, wherein, the transmission part comprises a first transmission member, a second transmission member and a third transmission member, the first transmission member being connected with the driving part, and the second transmission member and the third transmission member being connected with the first transmission member respectively, the traction part comprises a first traction part group and a second traction part group, the first traction part group being connected with the second transmission member and the organ model, and the second traction part group being connected with the third transmission member and the organ model; the driving part is configured to drive the first transmission member to perform reciprocating linear motion in a first direction, so as to drive the second transmission member to perform reciprocating linear motion in a second direction and apply or cancel tension to the organ model through the second traction part group, and drive the third transmission member to perform reciprocating linear motion in a third direction and apply or cancel tension to the organ model through the second traction part group.

3. The apparatus for simulating dynamic organ deformation of claim 2, wherein, The simulation device further comprises a guide mechanism arranged at least partially on the support assembly, the guide mechanism comprising a first guide part, a second guide part and a third guide part, the first guide part defining the first direction, the second guide part defining the second direction, and the third guide part defining the third direction; the first transmission member is arranged at least partially on the first guide part, the second transmission member is arranged at least partially on the second guide part, and the third transmission member is arranged at least partially on the third guide part.

4. The apparatus for simulating dynamic organ deformation of claim 3, wherein, The second guide part is rotatably connected with the support assembly, and / or the third guide part is rotatably connected with the support assembly.

5. The apparatus for simulating dynamic organ deformation of claim 3 or 4, wherein, The driving part comprises a first sub-driving part connected with the first transmission member, so as to drive the first transmission member to perform reciprocating linear motion in the first direction.

6. The apparatus for simulating dynamic organ deformation of claim 5, wherein, The transmission part further comprises a fourth transmission member connected with the driving part and movably arranged on the support assembly, and the traction part further comprises a third traction part group connected with the fourth transmission member and the organ model; the driving part is further configured to drive the fourth transmission member to perform reciprocating linear motion in a fourth direction and apply or cancel tension to the organ model through the third traction part group.

7. The apparatus for simulating dynamic organ deformation of claim 6, wherein, The third guide part is connected with the fourth transmission member.

8. The apparatus for simulating dynamic organ deformation of claim 6, wherein, The driving part further comprises a second sub-driving part connected with the fourth transmission member for driving the fourth transmission member to make reciprocating linear motion along the fourth direction.

9. The apparatus for simulating dynamic organ deformation of claim 5, wherein, The first sub-driving part comprises a first rotating wheel, a connecting rod and a second rotating wheel, the first rotating wheel is used for receiving driving force and rotates under the driving force, a plurality of engaging holes are arranged on the first rotating wheel in a radial direction, one end of the connecting rod is selectively rotatably connected with one of the engaging holes, the other end of the connecting rod is rotatably connected with the second rotating wheel, and the second rotating wheel is connected with the first transmission member.

10. The apparatus for simulating dynamic organ deformation of claim 3 or 9, wherein, The first guiding part is rotatably connected with the supporting assembly.

11. The apparatus for simulating dynamic organ deformation of claim 3 or 9, wherein, The supporting assembly comprises a fixing part and an adjusting ring, the adjusting ring is rotatably connected with the fixing part, and the first guiding part is arranged on the adjusting ring.

12. The apparatus for simulating dynamic organ deformation of claim 5, wherein, The first sub-driving part comprises a motor, a screw rod and a screw nut, the screw rod is connected with the output end of the motor, the screw nut is sleeved on the screw rod and is screwed with the screw rod for screw transmission, and the screw nut is further connected with the first transmission member.

13. The apparatus for simulating dynamic organ deformation of claim 12, wherein, The motor and the first guiding part are rotatably connected with the supporting assembly, or the supporting assembly comprises a fixing part and an adjusting ring, the motor is rotatably arranged on the fixing part, the adjusting ring is rotatably connected with the fixing part, and the first guiding part is arranged on the adjusting ring.

14. The apparatus of claim 2, wherein, The second transmission member and the third transmission member are respectively rotatably connected with the first transmission member.

15. The apparatus of claim 1, wherein, The traction part comprises a traction rope, the transmission part is provided with a connecting through hole, one end of the traction rope passes through the connecting through hole to be connected with the transmission part, and the other end is connected with the organ model.

16. The apparatus of claim 1, wherein, The traction part comprises a traction rope and a threaded connecting piece, the transmission part is provided with a threaded through hole, the threaded connecting piece is connected with the threaded through hole, one end of the traction rope is spirally wound and connected on the threaded connecting piece, and the other end is connected with the organ model.

17. The apparatus of claim 1, wherein, The traction part comprises a traction rope and an engaging ring, the engaging ring comprises a ring sleeve and a plurality of ring buckles, the ring sleeve is arranged on the organ model, the plurality of ring buckles are arranged on the ring sleeve in a circumferential direction, and the traction rope selectively passes through at least one of the ring buckles.

18. An apparatus for evaluating registration accuracy, characterized by The medical catheter, the processing unit and the organ dynamic deformation simulation device according to any one of claims 1-17 are included; wherein, The medical catheter is used for being partially arranged in the organ model and being movable in the organ model; The processing unit establishes a three-dimensional model of the organ model and a three-dimensional model of the medical catheter, registers the three-dimensional model of the organ model with a predetermined object and registers the three-dimensional model of the medical catheter with the medical catheter, and further evaluates registration accuracy of the three-dimensional model of the organ model with the predetermined object and registration accuracy of the three-dimensional model of the medical catheter with the catheter according to a predetermined standard.

19. A method of evaluating the registration accuracy based on the simulation device of the dynamic organ deformation according to any one of claims 1 to 17, characterized in that, The evaluation method comprises the following steps: Step S1: partially placing the medical catheter in the organ model; Step S2: controlling the medical catheter to move, and also controlling the driving part to drive the transmission part to do reciprocating motion; Step S3: establishing a three-dimensional model of the organ model and a three-dimensional model of the medical catheter; Step S4: registering the three-dimensional model of the organ model with a predetermined object, and registering the three-dimensional model of the medical catheter with the medical catheter; and, Step S5: evaluating the registration accuracy of the three-dimensional model of the organ model with the predetermined object, and evaluating the registration accuracy of the three-dimensional model of the catheter with the catheter according to a predetermined standard.

20. A computer-readable storage medium having stored thereon a program, the program comprising instructions which, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 19. When the program is executed, at least steps S3 to S5 in the registration accuracy evaluation method as claimed in claim 19 are executed.

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