A lumbar puncture training system based on magnetorheological technology and its working method

Abstract

The present invention relates to a lumbar puncture training system based on magnetorheological technology and its working method, characterized in that: the lumbar puncture training system based on magnetorheological technology includes a puncture system, a force feedback system and a hydraulic auxiliary system; the puncture system performs puncture on the force feedback system; the force feedback system feeds back the puncture force corresponding to the puncture position to the puncture system, so that the puncture system can control the puncture rhythm in real time; the hydraulic auxiliary system is installed on the force feedback system and is used to send a signal indicating that the puncture is complete. The present invention introduces magnetorheological technology and a hydraulic system into lumbar puncture training, which not only enables the flexible setting of the puncture force required for various samples, but also accurately captures the signal indicating that the puncture is complete. Therefore, doctors can set training samples according to their own needs during training and can also accurately capture the moment and displacement when the puncture is completed, greatly improving the training effect.

Description

Technical field:

[0002] The present invention belongs to the field of medical teaching instruments, and more specifically, relates to a lumbar puncture training system based on magnetorheological technology. Background technology:

[0004] The lumbar puncture training system refers to an educational method that uses simulation technology to reproduce patients and clinical environments, replacing real patients for clinical teaching and practical operations. Trainees will not suffer adverse consequences due to improper operation, nor will medical accidents occur, thereby reducing the psychological pressure of trainees, improving their proficiency in lumbar puncture, and enhancing their puncture skills during clinical operations.

[0005] At present, lumbar puncture training systems are mainly divided into two types: lumbar puncture training systems based on physical structures and lumbar puncture training systems based on virtual reality. In the former, the physical structure will produce irreversible wear after repeated and high-frequency use, thereby affecting the accuracy of force feedback. In addition, the internal structure of the entity is fixed, so the force of structural feedback when the puncture needle is inserted is also fixed, resulting in one physical structure can only represent one case model and poor variability. In the latter, virtual equipment is a high-end electronic product, and frequent use will inevitably lead to high incidence of equipment failures. The cost of maintenance and upgrades is expensive, and virtual imaging cannot simulate real palpation, such as covering the patient with a towel, disinfection, and injection of drugs, so trainees cannot get a real tactile experience. Summary of the invention:

[0007] In view of the above-mentioned defects of the prior art and the need for improvement, the purpose of the present invention is to overcome the shortcomings of the prior art and provide a lumbar puncture training system based on magnetorheological technology; the lumbar puncture training system based on magnetorheological technology of the present invention can not only flexibly set the puncture force corresponding to each tissue position of different samples during the puncture process, but also accurately capture the signal of puncture completion, so that doctors can set training samples according to their own needs during training, and can also accurately capture the moment and displacement when the puncture is completed, thereby greatly improving the training effect.

[0008] To achieve the above objectives, the present invention adopts a technical solution: a lumbar puncture training system based on magnetorheological technology, characterized by comprising a puncture system, a force feedback system, and a hydraulic auxiliary system; the puncture system punctures the force feedback system; the force feedback system feeds back the puncture force corresponding to the puncture position to the puncture system, so that the puncture system can obtain the specific puncture force in real time;

[0009] The puncture system includes a puncture needle and a signal acquisition element; the puncture needle and the signal acquisition element are assembled together, and after the puncture needle penetrates the force feedback system, the signal acquisition element can obtain the puncture force of the puncture needle when penetrating the force feedback system in real time;

[0010] The force feedback system includes a magnetorheological damper and a silicone body; the silicone body is installed at the end of the piston rod of the magnetorheological damper; the silicone body is used to simulate skin tissue; the puncture needle will first penetrate the silicone body during puncture to simulate the process of the puncture needle breaking the skin, and then the puncture needle pushes the piston rod of the magnetorheological damper to move, and the puncture force is fed back through the length of the piston rod pushed.

[0011] Furthermore, the above-mentioned puncture system is also provided with a puncture feeding element, which is composed of a stepping motor, a screw, a slide rail I, a slider I and a storage table. The output end of the stepping motor is connected to the screw to drive the rotation, the screw is threadedly connected to the storage table, the slider I is connected to the lower part of the storage table, the slider I is slidably connected to the slide rail I, the puncture needle and the signal acquisition element are fixedly arranged on the storage table, and when the stepping motor is working, it drives the storage table and the puncture needle and signal acquisition element thereon to slide along the slide rail I, thereby causing the puncture needle to penetrate the silicone body; that is, the function of the puncture feeding element is to provide puncture feeding action for the puncture needle and the signal acquisition element.

[0012] Furthermore, the magnetorheological damper provides a damping force corresponding to the position by adjusting the current and according to the displacement of the piston rod, thereby simulating the puncture force obtained when the puncture needle penetrates various tissues in the body.

[0013] Furthermore, the puncture system is further provided with a hydraulic auxiliary system, which includes a hydraulic valve, a water storage device, a drainage device, a slide rail II and a slider II; the lower portion of the hydraulic valve is connected to the slider II, and through the cooperation between the slider II and the slide rail II, one side of the hydraulic valve is connected to the piston rod end of the magnetorheological damper, and the hydraulic valve is connected to the piston rod and can move synchronously with the movement of the piston rod.

[0014] Furthermore, the water storage device is installed at the water inlet end of the hydraulic valve; the drainage device is installed at the water outlet end of the hydraulic valve; the opening and closing of the hydraulic valve is controlled by electrical control. When the puncture is completed, the valve of the hydraulic valve opens, and the liquid in the water storage device flows into the water outlet end of the hydraulic valve due to gravity, and is discharged through the drainage device, thereby simulating the process of cerebrospinal fluid being discharged from the body due to negative pressure.

[0015] Furthermore, the force feedback system is also provided with an artificial skin tissue, which has a touch similar to that of real skin and is placed on the support frame at the end of the piston rod of the magnetorheological damper, so that trainees can simulate operations such as covering the patient with a towel and disinfecting before puncture.

[0016] The working method of the lumbar puncture training system based on magnetorheological technology of the present invention is characterized in that the steps of lumbar puncture training are:

[0017] First, the puncture needle is fed toward the silicone body and penetrates into the silicone body, thereby simulating the puncture needle breaking through the skin tissue;

[0018] Then, the puncture needle will continue to feed and push the piston rod of the magnetorheological damper to move. At this time, the magnetorheological damper will feedback the real-time position of the piston rod and the puncture force corresponding to this position to the signal acquisition element, that is, the signal acquisition element can detect the puncture force in real time, thereby simulating the different puncture forces obtained when the puncture needle penetrates various tissues in the body.

[0019] Finally, when the puncture needle is fed to the target position, the hydraulic valve will open, so that the liquid in the water storage device will flow out of the drainage device due to gravity, thereby simulating the cerebrospinal fluid being discharged from the body due to negative pressure, which means that the entire puncture operation is completed.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. The lumbar puncture training system of the present invention can adjust the feedback force as needed, thereby simulating a variety of cases with high variability;

[0022] 2. The lumbar puncture training system of the present invention can accurately and quickly provide stepless, controllable puncture force. It also provides simulated skin tissue that feels similar to real skin. Therefore, the trainee can cover the simulated skin tissue with a towel and disinfect it before puncture. During the puncture process, the trainee can feel continuous and precise puncture force feedback, thus providing a clinical operation experience.

[0023] 3. The lumbar puncture training system of the present invention can provide a visual puncture completion signal when the puncture is completed, so that the trainee can accurately capture the moment and displacement when the puncture is completed. Description of the drawings:

[0025] Figure 1 Schematic diagram of the overall structure of the lumbar puncture training system of the present invention;

[0026] Figure 2 This is a front view of the lumbar puncture training system of the present invention;

[0027] Figure 3 This is a schematic diagram of the hydraulic assist device of the present invention;

[0028] Figure 4 This is a schematic diagram of the puncture starting position of the lumbar puncture training system of the present invention;

[0029] Figure 5 This is a schematic diagram of the puncture end position of the lumbar puncture training system of the present invention;

[0030] Figure 6 This is a schematic diagram of the operation of the lumbar puncture training system of the present invention;

[0031] Figure 7 It is an axonometric diagram of the overall structure of the lumbar puncture training system of the present invention;

[0032] Figure numerals: 1-puncture system; 2-hydraulic auxiliary system; 3-force feedback system; 11-stepping motor; 12-signal acquisition element; 13-puncture needle; 14-slide rail I; 15-storage table; 16-slider I; 17-screw; 21-slider II; 22-slide rail II; 23-water storage device; 24-water outlet; 25-drainage device; 26-hydraulic valve; 27-water inlet; 31-imitation skin tissue; 32-silicone body; 33-piston rod; 34-magnetorheological damper. Specific implementation method:

[0034] The present invention will be described in further detail below with reference to the accompanying drawings.

[0035] like Figure 1 As shown, a lumbar puncture training system based on magnetorheological technology includes a puncture system 1, a force feedback system 3 and a hydraulic auxiliary system 2; the puncture system 1 performs puncture on the force feedback system 3; the force feedback system 3 feeds back the puncture force corresponding to the puncture position to the puncture system 1, so that the puncture system 1 can obtain the specific puncture force in real time, which is conducive to controlling the puncture rhythm; the hydraulic auxiliary system 2 is installed on the force feedback system 3 to send a signal that the puncture is completed.

[0036] In this embodiment, the puncture system includes a puncture needle 13, a signal acquisition element 12 and a puncture feeding element; the puncture needle 13 is assembled with the signal acquisition element 12, so that the signal acquisition element 12 can obtain the puncture force of the puncture needle 13 when it penetrates the force feedback system 3 in real time.

[0037] In this embodiment, the puncture feeding element is composed of a stepping motor 11, a screw 17, a slide rail I 14, a slider I 16 and a storage table 15; the function of the puncture feeding element is to provide puncture feeding action for the puncture needle 13 and the signal acquisition element 12.

[0038] The lower end of the storage platform 15 is connected to the slider Ⅰ16 and moves as the slider Ⅰ16 moves on the slide rail Ⅰ14; the upper end of the storage platform 15 is used to place the signal acquisition element 12 and the puncture needle 13. During operation, the stepper motor 11 drives the screw rod to rotate, and the screw rod drives the storage platform 15, the signal acquisition element 12 and the puncture needle 13 to move axially, so that the puncture needle 13 penetrates the silicone body 32.

[0039] In this embodiment, the force feedback system 3 includes a magnetorheological damper 34, a silicone body 32 and an artificial skin tissue 31; the silicone body 32 is installed at the end of the piston rod 33 of the magnetorheological damper 34; the silicone body 32 is used to simulate skin tissue; the puncture needle 13 will first penetrate the silicone body 32 during puncture to simulate the process of the puncture needle 13 breaking the skin, and then push the piston rod 33 of the magnetorheological damper 34 to move, and the size of the axial displacement of the piston rod 33 reflects the puncture force.

[0040] The magnetorheological damper is an existing component that provides resistance to movement and is a device that dissipates kinetic energy. The magnetorheological damper 34 can adjust the current and provide a damping force corresponding to the position according to the displacement of the piston rod 33, thereby simulating the puncture force obtained when the puncture needle 13 penetrates various tissues in the body.

[0041] In this embodiment, the hydraulic auxiliary system 2 includes a hydraulic valve 26, a water storage device 23, a drainage device 25, a slide rail II 22, and a slider II 21. The lower portion of the hydraulic valve 26 is connected to the slider II 21. The slider II 21 cooperates with the slide rail II 22 to provide the hydraulic valve 26 with movement in the feed direction. A side portion of the hydraulic valve 26 is connected to the end of the piston rod 33 of the magnetorheological damper 34. The hydraulic valve 26 can move with the movement of the piston rod 33.

[0042] In this embodiment, the water storage device 23 is installed at the water inlet end 27 of the hydraulic valve 26; the drainage device 25 is installed at the water outlet end 24 of the hydraulic valve 26; the opening and closing of the hydraulic valve 26 is achieved by electronic control. When the puncture is completed, the valve of the hydraulic valve 26 is opened, and the liquid in the water storage device 23 will flow into the water outlet end 24 of the hydraulic valve 26 due to gravity, and be discharged through the drainage device 25, thereby simulating the process of cerebrospinal fluid being discharged from the body due to the influence of negative pressure.

[0043] In this embodiment, the steps of lumbar puncture training are:

[0044] First, the puncture needle 13 is fed toward the silicone body 32 and penetrates into the silicone body 32 , thereby simulating the puncture needle 13 breaking through the skin tissue.

[0045] Then, the puncture needle 13 will continue to feed and push the piston rod 33 of the magnetorheological damper 34 to move. At this time, the magnetorheological damper 34 will feedback the puncture force 13 corresponding to the position to the puncture needle 13 according to the real-time position of the piston rod 33, so that the signal acquisition element 12 can detect the puncture force in real time, thereby simulating the different puncture forces obtained when the puncture needle 13 penetrates various tissues in the body.

[0046] Finally, when the puncture needle 13 is fed to the target position, the hydraulic valve 26 will be opened by electronic control, so that the liquid in the water storage device 23 will flow out of the drainage device 25 due to gravity, thereby simulating the cerebrospinal fluid being discharged from the body due to negative pressure, which means that the entire puncture operation is completed.

[0047] In this embodiment, the artificial skin tissue 31 has a touch similar to that of real skin and is placed on a support frame at the end of the magnetorheological damper piston rod 33, allowing trainees to simulate operations such as covering a patient with a towel and disinfecting the patient before puncture.

[0048] In this embodiment, if Figure 6 As shown, when the trainee is training, the puncture feeding element of the puncture system 1 is removed, leaving only the signal acquisition element 12 and the puncture needle 13, so that the trainee can hold the signal acquisition element 12 and the puncture needle 13 and pierce the force feedback system 3, and then feel the puncture force fed back by the force feedback system 3, which is then fed back to the trainee so that the trainee can adjust the intensity of subsequent training.

Claims

1. A lumbar puncture training system based on magnetorheological technology, characterized by: The invention comprises a puncture system (1), a force feedback system (3) and a hydraulic auxiliary system (2); the puncture system (1) punctures the force feedback system (3); the force feedback system (3) feeds back the puncture force corresponding to the puncture position to the puncture system (1), so that the puncture system (1) can obtain the specific puncture force in real time; The puncture system comprises a puncture needle (13) and a signal acquisition element (12); the puncture needle (13) and the signal acquisition element (12) are assembled together, and after the puncture needle (13) pierces the force feedback system (3), the signal acquisition element (12) can obtain the puncture force of the puncture needle (13) when it pierces the force feedback system (3) in real time; The force feedback system (3) includes a magnetorheological damper (34) and a silicone body (32); the silicone body (32) is installed at the end of the piston rod (33) of the magnetorheological damper (34); the silicone body (32) is used to simulate skin tissue; the puncture needle (13) will first penetrate the silicone body (32) during puncture to simulate the process of the puncture needle (13) breaking the skin, and then the puncture needle (13) pushes the piston rod (33) of the magnetorheological damper (34) to move, and the puncture force is fed back by the length of the piston rod (33) pushed; the puncture system is also provided with a puncture feeding element, which is composed of a stepping motor (11), a screw rod (17), a slide rail I (14), a slider I (16) and a storage table (15), and the output end of the stepping motor (11) is connected to the screw rod (17) to drive the rotation work, and the screw rod ( 17) is threadedly connected to the storage platform (15), the slider I (16) is connected to the lower part of the storage platform (15), the slider I (16) is slidably connected to the slide rail I (14), the puncture needle (13) and the signal acquisition element (12) are fixedly arranged on the storage platform (15), and when the stepper motor (11) is working, the storage platform (15) and the puncture needle (13) and the signal acquisition element (12) thereon are driven to slide along the slide rail I (14), thereby causing the puncture needle (13) to penetrate the silicone body (32); that is, the function of the puncture feeding element is to provide a puncture feeding action for the puncture needle (13) and the signal acquisition element (12); the magnetorheological damper (34) provides a damping force corresponding to the position by adjusting the current and according to the displacement of the piston rod (33), thereby simulating the puncture force obtained when the puncture needle (13) penetrates various tissues in the body.

2. The lumbar puncture training system based on magnetorheological technology according to claim 1, characterized in that: The puncture system is further provided with a hydraulic auxiliary system (2), which includes a hydraulic valve (26), a water storage device (23), a drainage device (25), a slide rail II (22) and a slider II (21); the lower portion of the hydraulic valve (26) is connected to the slider II (21), and through the cooperation between the slider II (21) and the slide rail II (22), one side of the hydraulic valve (26) is connected to the end of the piston rod (33) of the magnetorheological damper (34), and the hydraulic valve (26) is connected to the piston rod (33) and can move synchronously with the movement of the piston rod (33).

3. The lumbar puncture training system based on magnetorheological technology according to claim 2, characterized in that: The water storage device (23) is installed at the water inlet end (27) of the hydraulic valve (26); the drainage device (25) is installed at the water outlet end (24) of the hydraulic valve (26); the opening and closing of the valve of the hydraulic valve (26) is controlled by electric control. When the puncture is completed, the valve of the hydraulic valve (26) is opened by electric control, and the liquid in the water storage device (23) flows into the water outlet end (24) of the hydraulic valve (26) due to gravity and is discharged through the drainage device (25), thereby simulating the process of cerebrospinal fluid being discharged from the body due to the influence of negative pressure.

4. The lumbar puncture training system based on magnetorheological technology according to claim 2, characterized in that: The force feedback system (3) is further provided with an artificial skin tissue (31), which has a touch similar to that of real skin and is placed on a support frame at the end of the piston rod of the magnetorheological damper, allowing trainees to simulate operations such as covering a patient with a towel and disinfecting the patient before puncture.

5. A method for operating a lumbar puncture training system based on magnetorheological technology according to any one of claims 2 to 4, characterized in that: The steps for lumbar puncture training are: First, the puncture needle is fed toward the silicone body and penetrates into the silicone body, thereby simulating the puncture needle breaking through the skin tissue; Then, the puncture needle will continue to feed and push the piston rod of the magnetorheological damper to move. At this time, the magnetorheological damper will feed back the real-time position of the piston rod and the puncture force corresponding to that position to the signal acquisition element. That is, the signal acquisition element can detect the puncture force in real time, thereby simulating the different puncture forces obtained when the puncture needle penetrates various tissues in the body; Finally, when the puncture needle is fed to the target position, the hydraulic valve will open, so that the liquid in the water storage device will flow out of the drainage device due to gravity, thereby simulating the cerebrospinal fluid being discharged from the body due to negative pressure, which means that the entire puncture operation is completed.

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