A CT puncture simulation training device and method

Abstract

The present invention belongs to the technical field of medical auxiliary equipment, and discloses a CT puncture simulation training device and method, comprising a fixing seat, a simulated rib structure, a simulated undulating structure, a simulated lesion structure, a simulated skin and a control module, wherein the simulated rib structure and the simulated undulating structure are fixedly mounted on the fixing seat, the simulated rib structure and the simulated undulating structure are connected to each other and work together, the simulated lesion structure is fixedly mounted on the simulated rib structure, the simulated skin wraps the entire device, the simulated rib structure, the simulated undulating structure, and the simulated lesion structure are electrically connected to the control device, and the device of the present invention can realize simulated breathing training in conjunction with a breathing positioning device, effectively helping doctors to become familiar with the operation of respiratory gating, improving practical experience, reducing the time for doctors to learn respiratory gating, and thus reducing the workload of doctors.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical auxiliary equipment, and in particular relates to a CT puncture simulation training device and method. Background Art

[0002] During lung surgery, the patient's lungs are first scanned with imaging equipment such as CT to obtain lung images, and then punctures are performed according to the position matched by the navigation system during surgery. Because lung lesions move during breathing, the patient's breathing amplitude must be kept consistent during scanning and puncture to reduce deviations. Therefore, it is very important to accurately control the patient's breathing status during puncture. The patient's breathing status may be affected by many factors, such as mood swings, physical condition, etc., which are difficult to control.

[0003] In the prior art, a respiratory gating device is generally used to monitor and control the patient's breathing. The respiratory gating device is a device that controls the scanning or puncture equipment to operate under a specific respiratory state by monitoring the patient's respiratory signal. This device can effectively ensure that the patient's respiratory state is consistent during scanning and puncture, reduce the individual ability differences of doctors, thereby reducing deviations and improving the accuracy of diagnosis and treatment. During CT scanning, the patient is controlled to hold his breath by the respiratory gating device, and the CT image of the patient in this state is recorded. During surgery, the doctor controls the respiratory gating device to control the patient's breathing according to the respiratory state waveform at the time of scanning. This requires the doctor to have a certain judgment ability on the device and the patient's respiratory state. Therefore, the use of the respiratory gating device requires the doctor to have certain operating experience. Secondly, the respiratory gating device needs to be learned in actual patient puncture, and the learning and use threshold is high. Therefore, how to design a CT puncture simulation training device to help doctors improve the accuracy of puncture has become an urgent problem to be solved. Summary of the invention

[0004] The purpose of the present invention is to provide a CT puncture simulation training device and method to solve the above-mentioned technical problems.

[0005] In order to solve the above technical problems, the specific technical solutions of a CT puncture simulation training device and method of the present invention are as follows:

[0006] A CT puncture simulation training device comprises a fixing seat, a simulated rib structure, a simulated undulating structure, a simulated lesion structure, a simulated skin and a control module, wherein the simulated rib structure and the simulated undulating structure are fixedly mounted on the fixing seat, the simulated rib structure and the simulated undulating structure are connected to each other and work together, the simulated lesion structure is fixedly mounted on the simulated rib structure, the simulated skin wraps the entire device, the simulated rib structure, the simulated undulating structure and the simulated lesion structure are electrically connected to a control device, the control device is used to control the simulated rib structure, the simulated undulating structure, the simulated lesion structure and the simulated heart structure to work, the simulated rib structure is used to simulate human ribs and simulate rib undulations, the simulated undulating structure is used to simulate skin surface undulations, and the simulated lesion structure is used to simulate lesions and simulate the movement of lesions.

[0007] Furthermore, the fixing seat includes a base, a front panel and a rear panel, the front panel and the rear panel are fixedly installed in front and behind the base, and the simulated skin is wrapped between the front panel and the rear panel.

[0008] Furthermore, the simulated rib structure includes a left rib structure and a right rib structure, and the left rib structure and the right rib structure simultaneously perform an undulating motion driven by the simulated undulating structure.

[0009] Furthermore, the left rib structure includes a left bearing seat, a rotating shaft, and a left simulated rib. The left bearing seat is fixedly installed on the base, one end of the rotating shaft is rotatably connected to the left bearing seat, and the other end is rotatably connected to the through hole on the rear panel, one end of the left simulated rib has a fixed part, the fixed part is fixedly connected to the rotating shaft, and the right side of the fixed part is fixedly connected with a swing rod, and the swing rod drives the fixed part of the left simulated rib to rotate under the drive of the simulated undulating structure, thereby driving the left simulated rib to undulate.

[0010] Furthermore, the right rib structure includes a right bearing seat, a second rotating shaft, and a right simulated rib. The right bearing seat is fixedly installed on the base. On the opposite side of the left bearing seat, one end of the second rotating shaft is rotatably connected to the right bearing seat, and the other end is rotatably connected to the through hole on the front panel. One end of the right simulated rib has a second fixing part, and the second fixing part is fixedly connected to the second rotating shaft. A second swing rod is fixedly connected to the right side of the second fixing part. When driven by the simulated undulating structure, the second swing rod drives the second fixing part of the right simulated rib to rotate, thereby driving the right simulated rib to undulate.

[0011] Furthermore, the simulated undulating structure includes an undulating motor, a guide rail, a slider, a connecting rod, and an undulating platform. The undulating motor is fixedly mounted on the base. The undulating platform includes an undulating platform 1 and an undulating platform 2. The undulating platform 1 and the undulating platform 2 are fixedly connected by a connecting rod. The guide rail has two groups, one of which is fixedly mounted on the undulating motor and the other is fixedly mounted on a fixed seat. The two sliders are respectively slidably connected to the two groups of guide rails. The undulating platform 1 and the undulating platform 2 are respectively fixedly connected to the two sliders. The height of the undulating platform 1 is smaller than that of the undulating platform 2. The upper end of the undulating platform 2 is in contact with the simulated skin. There is a gap between the undulating platform 1 and the simulated skin. The two undulating platforms move up and down simultaneously along the two sets of guide rails driven by the undulating motor. There is a distance of -mm between the front panel and the undulating platform 1. The simulated skin surface between these sections is used to simulate the smallest part of the human body's breathing fluctuation. The output end of the undulating motor is fixedly connected to the slider on the same side. The left side of the undulating platform 1 has a linkage rod 1, which is axially connected to the swing rod 2. The right side of the undulating platform 2 has a linkage rod 2, which is axially connected to the swing rod 1, so as to realize the linkage between the simulated rib structure and the undulating platform.

[0012] Furthermore, the simulated lesion structure is installed on the second rotating shaft of the right rib structure, and can rotate around the axis of the second rotating shaft with the right rib structure. The simulated lesion structure includes a mobile drive motor, a synchronous belt, a pulley, a fixed rod mounting seat, a fixed rod and a simulated lesion. The mobile drive motor and the fixed rod mounting seat are fixedly installed on the second rotating shaft of the right rib structure. The synchronous belt is connected to the output shaft and the pulley of the mobile drive motor, and the pulley is fixedly connected to the fixed rod mounting seat. The direction of the synchronous belt is parallel to the second rotating shaft. One end of the fixed rod is fixedly installed on the fixed rod mounting seat, and the other end is used to fix the simulated lesion. The rotation of the mobile drive motor drives the fixed rod mounting seat to rotate, thereby driving the simulated lesion to rotate. The simulated lesion is made of conductive silicone and is connected to the control module by a thin copper wire. The simulated lesion also contains barium sulfate powder for CT development. The angle of the fixed rod is neither parallel nor perpendicular to the second rotating shaft.

[0013] Furthermore, it includes a simulated heart structure, which is installed on a simulated rib structure. The simulated heart structure is electrically connected to a control device, which controls the operation of the simulated lesion structure. The simulated heart structure is used to simulate the heart. The simulated heart structure includes a heart mold, an electromagnet and a spring. The heart mold contains silicone containing metal powder. The heart mold is fixed to the left simulated rib by a spring. The spring is made of plastic nylon to avoid electromagnet adsorption. The electromagnet is fixedly installed on the left simulated rib. The electromagnet is turned on and off to adsorb the heart mold containing metal powder. Under the action of the spring elastic force, the heart mold beats regularly, thereby simulating the beating of the heart. A metal ring is provided at the bottom of the heart mold, and the metal ring is connected to the control module by a thin copper wire.

[0014] Furthermore, the control module includes a controller, a puncture contact detection chip, a motor controller, an electromagnetic driver, a button, a status indicator light, a power module and a communication interface module. The puncture contact detection chip, the motor controller, the electromagnetic driver, the button, the status indicator light, the power module and the communication interface module are all electrically connected to the controller. The metal ring at the bottom of the heart mold and the thin copper wire simulating the lesion are electrically connected to multiple interfaces of the puncture contact detection chip. The puncture contact detection chip is used to trigger the puncture needle contact signal. The motor controller is used to drive the undulation motor and the moving drive motor to work respectively. The electromagnetic driver is electrically connected to the electromagnet to provide an electromagnetic signal. The button is installed on the front panel to control the power switch of the device. The status indicator light is used to issue a light alarm indication and a power indication. The power module is used to provide the required power for the device. The power module is connected to the power cord through the power socket installed on the front panel. The communication interface module is used to establish a connection with an external training host.

[0015] The present invention also discloses a simulation training method of a CT puncture simulation training device, comprising the following steps:

[0016] Step 1: The external training host randomly selects the breathing amplitude during CT scanning, and the navigation planning software of the training host imports the CT image of the simulation training device corresponding to the breathing amplitude, performs surgical planning, and determines the puncture target and puncture path channel;

[0017] Step 2: Turn on the device power: Plug the power cord into the power socket, turn on the device button, start the device, and the status indicator lights up green, indicating that the power is on;

[0018] Step 3: Check the fixed position of respiratory gating: Set respiratory gating surrounding fixed marks on the simulated skin with the largest and smallest fluctuations on the simulated training device, and on the simulated skin with simulated rib structure and not in the same cross section as the lesion. The best position is marked with two green straight lines, and the position simulating the smallest fluctuation of human breathing is marked with two red straight lines. Through the straight line marks, observe whether the trainee fixes the respiratory gating at the position with the largest fluctuation of the human body;

[0019] Step 4: Breath-holding check during puncture: require trainees to observe the breathing curve on the external training host. When the breathing amplitude of the simulation training device at a certain moment is consistent with the breathing amplitude set in step 2, click the lock button on the external training host, and the external training host will issue a stop command. It is used to simulate the puncture and require the patient to hold his breath until it is consistent with the CT scan;

[0020] Step 5: Perform simulated puncture training: If the heart mold is punctured, the puncture contact detection chip will be triggered to send a signal, and the status indicator light will light up red. If the simulated lesion is punctured, the puncture contact detection chip will be triggered to send a signal, and the status indicator light will light up blue.

[0021] A CT puncture simulation training device and method of the present invention have the following advantages: the device of the present invention can realize simulated breathing training in conjunction with a respiratory positioning device, effectively helping doctors to become familiar with the operation of respiratory gating, improving practical experience, and reducing the time for doctors to learn respiratory gating, thereby reducing the workload of doctors; by using the training phantom of the present invention, the accuracy of surgical operations can be improved; compared with the existing method of learning and training on actual patients, the present invention can be repeatedly learned multiple times in a short period of time, effectively reducing the economic burden on medical institutions; the training device of the present invention can not only simulate the patient's respiratory state, but also simulate other physiological states of the patient, such as heartbeat, etc., which will help to improve the comprehensiveness and accuracy of treatment.

[0022] Due to the advanced nature of the technical solution, it can be widely used in application fields such as medical simulation technology, respiratory training equipment, and human model manufacturing. In the field of medical simulation technology, the present invention can provide a simulation environment that is more realistic and closer to the patient's actual breathing state, which helps to improve the doctor's operating skills and accuracy. In the field of human model manufacturing, the present invention can be used as a new type of human model for medical teaching and research to improve the effect of teaching and research. In addition, since the present invention can simulate the patient's breathing state and other physiological states, it also has broad application prospects in the fields of biomedical research, medical device research and development, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the external structure of the CT puncture simulation training device of the present invention;

[0024] Figure 2 This is a schematic diagram of the internal structure of the CT puncture simulation training device of the present invention;

[0025] Figure 3 This is a schematic diagram of the internal decomposition structure of the CT puncture simulation training device of the present invention;

[0026] Figure 4 It is a schematic diagram of the simulated undulating structure of the present invention;

[0027] Figure 5 is a control module block diagram of the present invention;

[0028] Explanation of the markings in the figure: 1. Fixed seat; 11. Base; 12. Front panel; 13. Rear panel; 2. Simulated rib structure; 21. Left rib structure; 211. Left bearing seat; 212. Rotating shaft one; 213. Left simulated rib; 2131. Fixed part one; 2132. Swing rod one; 22. Right rib structure; 221. Right bearing seat; 222. Rotating shaft two; 223. Right simulated rib; 2231. Fixed part two; 2232. Swing rod two; 3. Simulated undulating structure; 31. Undulating motor; 32. Guide rail; 33. Slider; 34. Connecting rod; 35. Undulating platform; 351. Undulating Platform one; 3511, linkage rod one; 352, undulating platform two; 3521, linkage rod two; 4, simulated lesion structure; 41, mobile drive motor; 42, synchronous belt; 43, pulley; 44, fixed rod mounting seat; 45, fixed rod; 46, simulated lesion; 5. simulated heart structure; 51, heart mold; 52, electromagnet; 53, spring; 6, simulated skin; 7, control module; 71, controller; 72, puncture contact detection chip; 73, motor controller; 74, electromagnetic driver; 75, button; 76, status indicator light; 77, power module; 78, communication interface module. DETAILED DESCRIPTION

[0029] In order to better understand the purpose, structure and function of the present invention, the CT puncture simulation training device and method of the present invention are further described in detail below in conjunction with the accompanying drawings.

[0030] like Figure 1-Figure 4As shown, a CT puncture simulation training device of the present invention comprises a fixing seat 1, a simulated rib structure 2, a simulated undulating structure 3, a simulated lesion structure 4, a simulated heart structure 5, a simulated skin 6 and a control module 7, wherein the simulated rib structure 2 and the simulated undulating structure 3 are fixedly mounted on the fixing seat 1, the simulated rib structure 2 and the simulated undulating structure 3 are connected to each other and work together, the simulated lesion structure 4 is fixedly mounted on the simulated rib structure 2, the simulated heart structure 5 is mounted on the simulated rib structure 2, the simulated skin 6 wraps the entire device, and the control module 7 is mounted at a suitable position in the device and is electrically connected to the simulated rib structure 2, the simulated undulating structure 3, the simulated lesion structure 4, and the simulated heart structure 5, and is used to control the simulated rib structure 2, the simulated undulating structure 3, the simulated lesion structure 4, and the simulated heart structure 5 to work. The simulated rib structure 2 is used to simulate human ribs and simulate rib undulations, the simulated undulating structure 3 is used to simulate skin surface undulations, the simulated lesion structure 4 is used to simulate lesions and simulate the movement of lesions, and the simulated heart structure 5 is used to simulate the heart. Preferably, the control module 7 is mounted in the chest cavity formed by the simulated rib structure 2 to save space.

[0031] The fixing base 1 includes a base 11, a front panel 12 and a rear panel 13, the front panel 12 and the rear panel 13 are fixedly mounted on the front and rear of the base 11, and the simulated skin 6 is wrapped between the front panel 12 and the rear panel 13. The simulated skin 6 is preferably a rubber skin, the thickness of the rubber skin is 5 mm, the material is medical silicone, and has good biocompatibility and elasticity.

[0032] The simulated rib structure 2 includes a left rib structure 21 and a right rib structure 22. The left rib structure 21 and the right rib structure 22 perform undulating motion simultaneously under the drive of the simulated undulating structure 3. The left rib structure 21 includes a left bearing seat 211, a rotating shaft 212, and a left simulated rib 213. The left bearing seat 211 is fixedly mounted on the base 11. One end of the rotating shaft 212 is rotatably connected to the left bearing seat 211, and the other end is rotatably connected to the through hole on the rear panel 13. The left simulated rib 213 includes four ribs, one end of which has a fixed portion 2131, which is fixedly connected to the rotating shaft 212. A swing rod 2132 is fixedly connected to the right side of the fixed portion 2131. The swing rod 2132 drives the fixed portion 2131 of the left simulated rib 213 to rotate under the drive of the simulated undulating structure 3, thereby driving the left simulated rib 213 to undulate. The right rib structure 22 includes a right bearing seat 221, a second rotating shaft 222, and a right simulated rib 223. The right bearing seat 221 is fixedly installed on the base 11. On the opposite side of the left bearing seat 211, one end of the second rotating shaft 222 is rotatably connected to the right bearing seat 221, and the other end is rotatably connected to the through hole on the front panel 12. The right simulated rib 223 includes four roots, one end of which has a second fixed portion 2231, and the second fixed portion 2231 is fixedly connected to the second rotating shaft 222. A second swing rod 2232 is fixedly connected to the right side of the second fixed portion 2231. The second swing rod 2232 drives the second fixed portion 2231 of the right simulated rib 223 to rotate under the drive of the simulated undulating structure 3, thereby driving the right simulated rib 223 to fluctuate.

[0033] The first rotating shaft 212 and the second rotating shaft 222 are carbon fiber tubes with a diameter of 30 mm and a length of 400 mm. The material is high-strength carbon fiber with good wear resistance and toughness. The left simulated rib 213 and the right simulated rib 223 are hard plastic with a diameter of 15 mm and a length of 180 mm. The ribs are evenly spaced.

[0034] The simulated undulating structure 3 includes an undulating motor 31, a guide rail 32, a slider 33, a connecting rod 34, and an undulating platform 35. The undulating motor 31 is fixedly mounted on the base 11. The undulating platform 35 includes an undulating platform 1 351 and an undulating platform 2 352. The undulating platform 1 351 and the undulating platform 2 352 are fixedly connected by a connecting rod 34. The guide rail 32 has two groups, one of which is fixedly mounted on the undulating motor 31, and the other is fixedly mounted on the fixed seat 1. The two sliders 33 are respectively slidably connected with the two groups of guide rails 32. The undulating platform 1 351 and the undulating platform 2 352 are respectively fixedly connected with the two sliders 33. The height of the undulating platform 1 351 is less than that of the undulating platform 2 352. The upper end of the undulating platform 2 352 contacts the simulated skin 6. There is a gap between the undulating platform 1 351 and the simulated skin 6, which is used to simulate the different undulating heights of the skin surface. The two undulating platforms 35 move up and down simultaneously along the two groups of guide rails 32 under the drive of the undulating motor 31 to simulate the undulation of the skin surface during breathing. Preferably, there is a distance of 50-100 mm between the front panel 12 and the undulating platform 1 351, and the surface of the simulated skin 6 between this section is used to simulate the smallest part of the human body's breathing fluctuation. The undulating motor 31 is a 56mm series stepper motor, and the output end of the undulating motor 31 is fixedly connected to the slider 33 on the same side. The left side of the undulating platform 1 351 has a linkage rod 1 3511, and the linkage rod 1 3511 is connected to the swing rod 2232 axis. The right side of the undulating platform 2 352 has a linkage rod 2 3521, and the linkage rod 2 3521 is connected to the swing rod 1 2132 axis, so as to realize the linkage between the simulated rib structure 2 and the undulating platform 35.

[0035] The simulated lesion structure 4 is installed on the second rotating shaft 222 of the right rib structure 22, and can rotate around the axis of the second rotating shaft 222 with the right rib structure 22. The simulated lesion structure 4 includes a mobile drive motor 41, a synchronous belt 42, a pulley 43, a fixed rod mounting seat 44, a fixed rod 45, and a simulated lesion 46. The mobile drive motor 41 and the fixed rod mounting seat 44 are fixedly installed on the second rotating shaft 222 of the right rib structure 22. The synchronous belt 42 is connected to the output shaft of the mobile drive motor 41 and the pulley 43. The pulley 43 is fixedly connected to the fixed rod mounting seat 44. The direction of the synchronous belt 42 is consistent with the rotation direction. The axis 222 is parallel, one end of the fixed rod 45 is fixedly mounted on the fixed rod mounting seat 44, and the other end is used to fix the simulated lesion 46. The mobile drive motor 41 rotates to drive the fixed rod mounting seat 44 to rotate, thereby driving the simulated lesion 46 to rotate. Preferably, multiple fixed rods 45 and simulated lesions 46 are set, each simulated lesion 46 is of different sizes, and is used to simulate multiple lesions of different sizes and different positions. The simulated lesion 46 is made of conductive silicone (silicone containing metal powder) and is connected to the control module 7 through a thin copper wire. The simulated lesion 46 also contains barium sulfate powder for CT development. The angle of the fixed rod 45 is neither parallel nor perpendicular to the rotating axis 222, so that the simulated lesion 46 can be moved in three dimensions in the xyz spatial direction, thereby more realistically simulating the displacement of the lesion with the fluctuation of breathing. Preferably, the mobile drive motor 41 is a 28mm series stepping motor; the fixed rod 45 is a carbon fiber rod made of high-strength carbon fiber with good wear resistance and toughness.

[0036] The simulated heart structure 5 includes a heart mold 51, an electromagnet 52 and a spring 53. The heart mold 51 is a 3D printed human heart shell mold. Silicone containing metal powder is injected into the heart mold 51. The heart mold 51 is fixed on the left simulated rib 213 by a spring 53. The spring 53 is made of plastic nylon to avoid the adsorption of the electromagnet 52. The electromagnet 52 is fixedly mounted on the left simulated rib 213, and the electromagnet 52 is turned on and off to adsorb the heart mold 51 containing metal powder. Under the action of the elastic force of the spring 53, the heart mold 51 is regularly beat, thereby simulating the beating of the heart. There is a metal ring at the bottom of the heart mold 51, and the metal ring is connected to the control module 7 by a thin copper wire. The simulated heart structure 5 is used to identify the position of the heart to prevent mispuncture during training. Preferably, the electromagnet 52 is formed by winding 50 circles of Ø0.2 diameter enameled wire near the left simulated rib 213 near the heart mold 51.

[0037] Since the CT image of the simulated training device is required during training, and the heart mold 51 containing iron powder will cause large artifacts, in order to improve the clarity of CT imaging, a heart mold without metal powder can be made, and the enameled wire on the left simulated rib 213 is removed during CT scanning, and the heart mold without metal powder is used to scan and obtain CT images, and then the heart phantom is replaced with the heart mold 51 containing metal powder, and the left simulated rib 213 is rewound with the enameled coil. In this way, the heart mold 51 is not affected in developing, and the dynamic beating requirements of the heart mold 51 can be met.

[0038] The control module 7 is electrically connected to the undulating motor 31, the moving driving motor 41, the electromagnet 52, the simulated lesion 46 and the heart mold 51, and is used to control the operation of the undulating motor 31, the moving driving motor 41 and the electromagnet 52 and receive puncture signals of the simulated lesion 46 and the heart mold 51. Figure 5 As shown, the control module 7 includes a controller 71, a puncture contact detection chip 72, a motor controller 73, an electromagnetic driver 74, a button 75, a status indicator light 76, a power module 77, and a communication interface module 78. The puncture contact detection chip 72, the motor controller 73, the electromagnetic driver 74, the button 75, the status indicator light 76, the power module 77, and the communication interface module 78 are all electrically connected to the controller 71. The controller 71 adopts STM32F103RCT6, and the puncture contact detection chip 72 adopts the SC04A touch chip of Jingzun Micro. The metal ring at the bottom of the heart mold 51 and the thin copper wire simulating the lesion 46 are electrically connected to multiple interfaces of the puncture contact detection chip 72. The puncture contact detection chip 72 is used to detect the triggering puncture needle contact signal. The motor controller 73 adopts L298P013TR, which is used to drive the undulating motor 31 and the moving drive motor 41 to work respectively, and can accurately control the speed and rotation direction of the motor. The electromagnetic driver 74 uses a MOS tube AO3400A to be electrically connected to the electromagnet 52 for driving the electromagnet 52. The button 75 is installed on the front panel 12 and is used to control the power switch of the device. The status indicator light 76 is used to issue a light alarm indication and a power indication. The power module 77 is used to provide the required power for the device, and the power module 77 is connected to the power cord 79 through the power socket installed on the front panel 12. The communication interface module 78 can use a Bluetooth HC-08 module to establish a connection with an external training host. The external training host can send start and pause commands, and can also obtain the current motor motion position data of the device.

[0039] After the simulation training device is powered on, once the communication interface module 78 receives the start command from the external training host, the undulation motor 31 and the mobile drive motor 41 work according to the set rules under the control of the motor controller 73, thereby driving the undulation platform 35 and the simulated rib structure 2 to undulate; at the same time, the simulated lesion 46 produces multi-directional displacement under the action of the undulation motor 31 and the mobile drive motor 41. In this process, the speed and angle of the undulation motor 31 and the mobile drive motor 41 can be accurately adjusted by the motor controller 73 to simulate different breathing frequencies and depths.

[0040] In this embodiment: the control of the undulating motor 31 is to drive the undulating platform 3 installed on the slider 33 to reciprocate up and down through the undulating motor 31, and at the same time, the undulating platform 3 is linked to the rotating shaft 1 212 and the rotating shaft 2 222 through the connecting rod 34 to reciprocate, so that the left simulated rib 213 and the right simulated rib 223 installed on the rotating shaft 1 212 and the rotating shaft 2 222 rise and fall, thereby simulating the human chest breathing. In this process, the speed and angle of the undulating motor 31 can be accurately adjusted by the motor controller to simulate different breathing frequencies and depths. Normal human breathing is 12 to 20 times per minute. In this embodiment, the speed of the undulating motor 31 is 30rpm, which drives the undulating platform 35 to rise and fall 15 times per minute, simulating 15 times of human breathing per minute, and the undulating height of the undulating platform 35 is 3cm. At the same time, the undulating platform 35 drives the left simulated rib 213 and the right simulated rib 223 to rotate, each rotation 30 degrees. The breathing difference (a difference in chest circumference measured when breathing and inhaling) is 8cm.

[0041] In this embodiment, the mobile drive motor 41 is controlled by driving the fixed rod 45 to rotate through the pulley 43, driving the simulated lesion 46 fixed on the fixed rod 45 to move in the right side of the middle chest cavity, so as to simulate the back and forth movement of the lesion in the chest cavity when the patient breathes. The fixed rod 45 where the simulated lesion 46 is located is 10 cm long, and the arc length of the simulated lesion 46 at the end of the fixed rod 45 during the whole back and forth movement is 1.2 cm, and the rotation angle of the mobile drive motor 41 is 14.2 degrees each time. The mobile drive motor 41 must be synchronized with the undulating motor 31. In this embodiment, each rotation is once every 4 seconds, and the length L of the fixed rod 45 × the rotation angle (radian) = the movement length of the lesion.

[0042] In this embodiment, the simulated heart beat is controlled by the pulse signal output by the electromagnetic driver of the control module 7. The electromagnet 52 is continuously turned on and off, thereby adsorbing the heart mold 51 containing metal iron powder. The heart mold 51 simulates the heart beat under the action of the spring 53.

[0043] The external training host divides a reciprocating cycle of the motor into several breathing stages, and simulates different amplitudes of human breath holding by issuing start, pause, and start commands. The present embodiment preferably has 8 stages.

[0044] The CT puncture simulation training method of this device is as follows:

[0045] The simulation training device needs to be initialized before the training begins. If it has been initialized, go directly to step 2. Preferably, a heart mold 51 that does not contain metal powder is installed on the left rib structure 21. The external training host performs CT scans at different breathing amplitude stages by issuing start and stop commands to obtain different CT scan images at different breathing amplitudes, which are used to simulate the CT images corresponding to different breath holding amplitudes during human body scanning. The CT image is used by the external surgical navigation host to plan surgery for a certain breathing amplitude of the simulation training device. After the scan, the heart mold 51 containing metal powder is replaced and installed on the left rib structure 21.

[0046] Step 1: The external training host randomly selects the breathing amplitude during CT scanning, and the navigation planning software of the training host imports the CT image of the simulation training device corresponding to the breathing amplitude to carry out surgical planning and determine the puncture target and puncture path channel.

[0047] Step 2: Turn on the power of the device: insert the power cord 79 into the power socket, turn on the device button 75, start the device, and the status indicator light 76 lights up green, indicating that the power is on.

[0048] Step 3: Check the fixed position of respiratory gating: Set respiratory gating surrounding fixed marks on the largest and smallest parts of the simulated skin 6 of the simulation training device, and on the simulated skin 6 with simulated rib structure 2, which is not in the same cross-section as the lesion. The best position is marked with two green straight lines, and the position with the smallest simulated human respiratory fluctuation is marked with two red straight lines. Through the straight line marks, observe whether the trainees fix the respiratory gating at the position with larger human fluctuation to ensure the effectiveness of respiratory gating monitoring.

[0049] Step 4: Breath-holding check during puncture: require trainees to observe the breathing curve on the external training host. When the breathing amplitude of the simulation training device at a certain moment is consistent with the breathing amplitude set in step 2, click the lock button on the external training host. The external training host issues a stop command to simulate puncture and require the patient to hold his breath until it is consistent with the scanning.

[0050] Step 5: Perform simulated puncture training. If the heart mold 51 is punctured, the puncture contact detection chip will be triggered to send a signal, and the status indicator light 76 will light up red. If the simulated lesion 46 is punctured, the puncture contact detection chip will be triggered to send a signal, and the status indicator light 76 will light up blue.

[0051] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A CT puncture simulation training device, comprising a fixing seat (1), a simulated rib structure (2), a simulated undulating structure (3), a simulated lesion structure (4), a simulated skin (6) and a control module (7), characterized in that: The simulated rib structure (2) and the simulated undulating structure (3) are fixedly mounted on a fixing seat (1); the simulated rib structure (2) and the simulated undulating structure (3) are interconnected and work together; the simulated lesion structure (4) is fixedly mounted on the simulated rib structure (2); the simulated skin (6) wraps the entire device; the simulated rib structure (2), the simulated undulating structure (3), and the simulated lesion structure (4) are electrically connected to a control device; the control device is used to control the operation of the simulated rib structure (2), the simulated undulating structure (3), the simulated lesion structure (4), and the simulated heart structure (5); the simulated rib structure (2) is used to simulate human ribs and simulate rib undulations; the simulated The simulated undulating structure (3) is used to simulate the undulation of the surface of the skin (6); the simulated lesion structure (4) is used to simulate the lesion (46) and simulate the movement of the lesion (46); the simulated rib structure (2) comprises a left rib structure (21) and a right rib structure (22); the left rib structure (21) and the right rib structure (22) simultaneously perform undulating motion under the drive of the simulated undulating structure (3); the left rib structure (21) comprises a left bearing seat (211), a rotating shaft (212), and a left simulated rib (213); the left bearing seat (211) is fixedly mounted on the base (11); one end of the rotating shaft (212) is connected to the left bearing seat (211) and the rotating shaft (212) is connected to the left bearing seat (211). The left simulated rib (213) is rotatably connected to the left simulated rib (213), and the other end is rotatably connected to the through hole on the rear panel (13); one end of the left simulated rib (213) has a fixing portion (2131), and the fixing portion (2131) is fixedly connected to the rotating shaft (212); the right side of the fixing portion (2131) is fixedly connected to a swing rod (2132); the swing rod (2132) drives the fixing portion (2131) of the left simulated rib (213) to rotate under the drive of the simulated undulating structure (3), thereby driving the left simulated rib (213) to undulate; the right rib structure (22) comprises a right bearing seat (221), a rotating shaft (222), and a right simulated rib (223); the right bearing seat (2 21) is fixedly mounted on the base (11), on the opposite side of the left bearing seat (211), one end of the second rotating shaft (222) is rotatably connected to the right bearing seat (221), and the other end is rotatably connected to the through hole on the front panel (12), one end of the right simulated rib (223) has a second fixed portion (2231), the second fixed portion (2231) is fixedly connected to the second rotating shaft (222), and the right side of the second fixed portion (2231) is fixedly connected to a second swing rod (2232), and the second swing rod (2232) drives the second fixed portion (2231) of the right simulated rib (223) to rotate under the drive of the simulated undulating structure (3), thereby driving the right simulated rib (223) to undulate;The simulated lesion structure (4) is mounted on the second rotating shaft (222) of the right rib structure (22) and can rotate along with the right rib structure (22) around the axis of the second rotating shaft (222). The simulated lesion structure (4) comprises a mobile drive motor (41), a synchronous belt (42), a pulley (43), a fixed rod mounting seat (44), a fixed rod (45) and a simulated lesion (46). The mobile drive motor (41) and the fixed rod mounting seat (44) are fixedly mounted on the second rotating shaft (222) of the right rib structure (22). The synchronous belt (42) is connected to the output shaft of the mobile drive motor (41) and the pulley (43). The pulley (43) is connected to the output shaft of the mobile drive motor (41) and the pulley (43). 43) is fixedly connected to the fixed rod mounting seat (44), the direction of the synchronous belt (42) is parallel to the second rotating shaft (222), one end of the fixed rod (45) is fixedly mounted on the fixed rod mounting seat (44), and the other end is used to fix the simulated lesion (46), the mobile drive motor (41) rotates to drive the fixed rod mounting seat (44) to rotate, thereby driving the simulated lesion (46) to rotate, the simulated lesion (46) is made of conductive silicone and connected to the control module (7) through a thin copper wire, the simulated lesion (46) also contains barium sulfate powder for CT development, and the angle of the fixed rod (45) is neither parallel nor perpendicular to the second rotating shaft (222). ; 2. The CT puncture simulation training device according to claim 1, characterized in that: The fixing seat (1) comprises a base (11), a front panel (12) and a rear panel (13); the front panel (12) and the rear panel (13) are fixedly mounted on the front and rear of the base (11); and the simulated skin (6) is wrapped between the front panel (12) and the rear panel (13).

3. The CT puncture simulation training device according to claim 2, characterized in that: The simulated undulating structure (3) comprises an undulating motor (31), a guide rail (32), a slider (33), a connecting rod (34), and an undulating platform (35). The undulating motor (31) is fixedly mounted on a base (11). The undulating platform (35) comprises an undulating platform 1 (351) and an undulating platform 2 (352). The undulating platform 1 (351) and the undulating platform 2 (352) are fixedly connected via a connecting rod (34). The guide rail (32) comprises two groups, one group of guide rails (32) is fixedly mounted on the undulating motor (31), and the other group is fixedly mounted on a fixed seat (1). The two sliders (33) are respectively slidably connected to the two groups of guide rails (32). The undulating platform 1 (351) and the undulating platform 2 (352) are respectively fixedly connected to the two sliders (33). The height of the undulating platform 1 (351) is smaller than that of the undulating platform 2 (352). The upper end of the undulating platform 2 (352) is connected to the simulated undulating structure (3). The present invention relates to a device for simulating the contact between the undulating platform 1 (351) and the simulated skin (6), wherein there is a gap between the undulating platform 1 (351) and the simulated skin (6), and the two undulating platforms (35) are driven by the undulating motor (31) to move up and down simultaneously along the two sets of guide rails (32). There is a distance of 50-100 mm between the front panel (12) and the undulating platform 1 (351), and the surface of the simulated skin (6) between these sections is used to simulate the smallest part of the human body's breathing fluctuation. The output end of the undulating motor (31) is fixedly connected to the slider (33) on the same side, and the left side of the undulating platform 1 (351) has a linkage rod 1 (3511), and the linkage rod 1 (3511) is connected to the swing rod 2 (2232) axis, and the right side of the undulating platform 2 (352) has a linkage rod 2 (3521), and the linkage rod 2 (3521) is connected to the swing rod 1 (2132) axis, so as to realize the linkage between the simulated rib structure (2) and the undulating platform (35).

4. The CT puncture simulation training device according to claim 3, characterized in that: The invention comprises a simulated heart structure (5), wherein the simulated heart structure (5) is mounted on a simulated rib structure (2), the simulated heart structure (5) is electrically connected to a control device, the control device controls the operation of a simulated lesion structure (4), the simulated heart structure (5) is used to simulate a heart, the simulated heart structure (5) comprises a heart mold (51), an electromagnet (52) and a spring (53), the heart mold (51) contains silicone containing metal powder, the heart mold (51) is fixed to a left simulated rib (213) via a spring (53), the spring (53) is made of plastic nylon to prevent the electromagnet (52) from being adsorbed, the electromagnet (52) is fixedly mounted on the left simulated rib (213), the electromagnet (52) is electrically turned on and off to adsorb the heart mold (51) containing metal powder, and the heart mold (51) is regularly beat under the action of the elastic force of the spring (53), thereby simulating the beating of the heart, and the bottom of the heart mold (51) has a metal ring, which is connected to a control module (7) via a thin copper wire.

5. The CT puncture simulation training device according to claim 4, characterized in that: The control module (7) comprises a controller (71), a puncture contact detection chip (72), a motor controller (73), an electromagnetic driver (74), a button (75), a status indicator light (76), a power module (77) and a communication interface module (78); the puncture contact detection chip (72), the motor controller (73), the electromagnetic driver (74), the button (75), the status indicator light (76), the power module (77) and the communication interface module (78) are all electrically connected to the controller (71); the metal ring at the bottom of the heart mold (51) and the thin copper wire simulating the lesion (46) are electrically connected to multiple interfaces of the puncture contact detection chip (72); The detection chip (72) is used to trigger the puncture needle contact signal, the motor controller (73) is used to drive the undulation motor (31) and the moving drive motor (41) to work respectively, the electromagnetic driver (74) is electrically connected to the electromagnet (52) and is used to provide an electromagnetic signal, the button (75) is installed on the front panel (12) and is used to control the power switch of the device, the status indicator light (76) is used to issue a light alarm indication and a power indication, the power module (77) is used to provide the required power for the device, the power module (77) is connected to the power line through the power socket installed on the front panel (12), and the communication interface module (78) is used to establish a connection with an external training host.

6. A simulation training method of the CT puncture simulation training device according to any one of claims 1 to 5, characterized in that: The steps include: Step 1: The external training host randomly selects the breathing amplitude during CT scanning, and the navigation planning software of the training host imports the CT image of the simulation training device corresponding to the breathing amplitude, performs surgical planning, and determines the puncture target and puncture path channel; Step 2: Turn on the device power: Plug the power cord into the power socket, turn on the device button (75), start the device, and the status indicator (76) lights up green, indicating that the power is on; Step 3: Check the fixed position of respiratory gating: Set respiratory gating surrounding fixed marks on the simulated skin (6) of the simulation training device at the largest and smallest parts of the fluctuation, and at the simulated skin (6) with the simulated rib structure (2) and at a position that is not in the same cross section as the lesion. The best position is marked with two green straight lines, and the position simulating the smallest fluctuation of human breathing is marked with two red straight lines. Through the straight line marks, observe whether the trainee fixes the respiratory gating at the position with the largest fluctuation of the human body; Step 4: Breath-holding check during puncture: require trainees to observe the breathing curve on the external training host. When the breathing amplitude of the simulation training device at a certain moment is consistent with the breathing amplitude set in step 2, click the lock button on the external training host, and the external training host will issue a stop command. It is used to simulate the puncture and require the patient to hold his breath until it is consistent with the CT scan; Step 5: Conduct simulated puncture training: If the heart mold (51) is punctured, the puncture contact detection chip (72) will be triggered to send a signal, and the status indicator light (76) will light up in red; if the simulated lesion (46) is punctured, the puncture contact detection chip (72) will be triggered to send a signal, and the status indicator light (76) will light up in blue.

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