Comprehensive puncture simulation system based on automatic injector

Abstract

The invention relates to the technical field of medical training, in particular to a comprehensive puncture simulation system based on an automatic injector. The system comprises a user training puncture simulation operation selection module, a puncture gyroscope deviation calibration module, a puncture training scene path simulation generation module and a puncture simulation path visualization module, and can select a puncture scene needing to be simulated and configure a puncture needle and an operation instrument for a corresponding automatic injector; performing puncture comprehensive simulation operation on the selected simulated puncture scene to generate a selected puncture scene simulation process; performing puncture gyroscope measurement processing and neural network regression deviation estimation on the selected puncture scene simulation process, and performing static deviation calibration calculation and puncture path simulation identification analysis to generate a puncture simulation training path; and performing puncture simulation visualization processing on the puncture simulation training path to execute a corresponding puncture scene visualization teaching process. The effectiveness of puncture simulation training can be remarkably improved.

Description

Technical Field

[0001] The invention relates to the technical field of medical training, and in particular to a comprehensive puncture simulation system based on an automatic injector. Background Art

[0002] As an innovative pioneer in the field of modern medical training, the puncture simulation system integrates highly simulated physical models and cutting-edge intelligent technology to create a zero-risk, high-efficiency practical exercise platform for students, nurses and doctors in the medical field. The system simulates the real tissue structure of various parts of the human body and the dynamic mechanical feedback during the puncture process, so that the trainees can feel as if they are in a real surgical scene, thereby significantly improving their puncture operation accuracy, skill proficiency and hand-eye coordination ability. This not only covers a wide range of common puncture types such as the chest, abdomen, and lumbar spine, but also integrates multiple functional modes such as demonstration, actual training, and assessment and evaluation to meet the personalized needs of learners at different levels. In addition, the simulation system also has a visual teaching function, which helps trainees intuitively understand the operation details and improve the teaching effect by displaying the puncture path and surrounding tissue structure in real time.

[0003] More importantly, the puncture simulation system of the present invention also uses a gyroscope sensor as one of the core technologies. The gyroscope is responsible for identifying the angular rotation of the automatic syringe during operation and providing real-time and accurate operation feedback to the trainee. However, although the gyroscope sensor plays a pivotal role in this application, its accuracy in actual operation depends largely on the performance of its inertial measurement unit, which easily causes the gyroscope measurement error term to be large and has noise characteristics, thereby affecting the accuracy of the puncture path recognition simulation. Summary of the invention

[0004] Based on this, it is necessary for the present invention to provide a comprehensive puncture simulation system based on an automatic syringe to solve at least one of the above technical problems.

[0005] To achieve the above purpose, a comprehensive puncture simulation system based on an automatic syringe includes the following modules: The user training puncture simulation operation selection module is used to select the puncture scene to be simulated through the trainer user interface, and configure the corresponding puncture needle and puncture injection depth operation instrument for the automatic injector according to the selected simulated puncture scene to obtain the selected simulated puncture automatic injector; use the selected simulated puncture automatic injector to perform a comprehensive puncture simulation operation on the corresponding selected simulated puncture scene to generate a simulation process of the selected puncture scene; The puncture gyroscope deviation calibration module is used to use the gyroscope sensor in the selected simulated puncture automatic syringe to perform puncture gyroscope measurement processing on the selected puncture scene simulation process and upload it to the computer processing unit to obtain the gyroscope measurement value of the puncture simulation process; use the computer processing unit to perform neural network regression deviation estimation on the gyroscope measurement value of the puncture simulation process to obtain the gyroscope regression deviation deterministic part; perform static deviation calibration calculation on the gyroscope measurement value of the puncture simulation process based on the gyroscope regression deviation deterministic part to obtain the gyroscope deviation calibration value of the puncture process; A puncture training scene path simulation generation module is used to perform puncture path simulation identification analysis on the selected puncture scene simulation process based on the gyroscope deviation calibration value of the puncture process, so as to generate a puncture simulation training path corresponding to the selected puncture scene simulation process; The puncture simulation path visualization module is used to use the trainer user interface to perform puncture simulation visualization processing on the puncture simulation training path corresponding to the selected puncture scene simulation process, so as to execute the corresponding puncture scene visualization teaching process.

[0006] Furthermore, the user training puncture simulation operation selection module includes the following functions: Select the puncture scene to be simulated through the trainer user interface to obtain the simulated puncture scene selected for training, wherein the simulated puncture scene selected for training includes a thoracic puncture simulation scene, a lumbar puncture simulation scene, an abdominal puncture simulation scene, and a bone marrow puncture simulation scene; According to the simulated puncture scenario selected for training, the corresponding automatic injector is equipped with a corresponding puncture needle and a puncture injection depth operation instrument to obtain the selected simulated puncture automatic injector; The puncture scene environment parameters are set for the selected simulated puncture scene for training to obtain the selected simulated puncture scene environment parameter set; the device performance test and optimization of the selected simulated puncture automatic injector is performed based on the selected simulated puncture scene environment parameter set to obtain the simulated puncture device optimized automatic injector; Design the simulated puncture operation process for the simulated puncture device optimized automatic syringe to generate the simulated puncture operation process design step document; Based on the simulated puncture operation process design step document, a comprehensive puncture simulation operation is performed on the simulated puncture scenario selected for training to generate a simulation process for the selected puncture scenario.

[0007] Furthermore, the puncture gyroscope deviation calibration module includes the following functions: Using the gyro sensor in the selected simulated puncture automatic syringe to perform puncture gyro measurement processing on the selected puncture scene simulation process to obtain the gyro measurement value of the puncture simulation process; uploading the gyro measurement value of the puncture simulation process measured in real time on the gyro sensor to the computer processing unit through wireless transmission technology; Using a computer processing unit to obtain a gyro coordinate system of the gyro sensor corresponding to the puncture simulation process, and based on the gyro coordinate system, converting the gyro measurement value of the puncture simulation process into a measurement value coordinate system to obtain a corresponding gyro measurement value in the gyro coordinate system; Based on the gyro coordinate system of the puncture simulation process, a statistical analysis of the angular velocity vector of the gyro sensor corresponding to the selected puncture scene simulation process is performed to obtain the actual angular velocity vector of the gyro corresponding to the gyro coordinate system; Performing gyroscope error modeling on the corresponding gyroscope sensor in the selected puncture scenario simulation process according to the corresponding gyroscope measurement value in the gyroscope coordinate system and the actual angular velocity vector of the gyroscope to generate a puncture simulation gyroscope error mathematical model; The zero-order calibration part of the gyroscope deviation is obtained by configuring a stationary condition for the gyroscope sensor and performing a zero-order calibration process on the gyroscope deviation part in the mathematical model of the puncture simulation gyroscope error based on the stationary condition; a virtual gyroscope array and a gyroscope sensor are set up through a resistor element to form a gyroscope virtual module, wherein each gyroscope virtual module is composed of orthogonal gyroscopes on three directional axes, and a neural network regression-assisted calibration estimation is performed on the zero-order calibration part of the gyroscope deviation based on the gyroscope virtual module to obtain a gyroscope regression deviation deterministic part; Based on the deterministic part of the gyroscope regression deviation, a static deviation calibration calculation is performed on the corresponding gyroscope measurement value in the gyroscope coordinate system to obtain the gyroscope deviation calibration value of the puncture process.

[0008] Furthermore, the puncture simulation gyroscope error mathematical model is specifically: ; In the formula, In the gyroscope coordinate system The corresponding gyroscope measurements are: In the gyroscope coordinate system The corresponding actual angular velocity vector of the gyroscope is, is the matrix of gyroscope off-diagonal elements and scale factor errors, is the gyro bias part, is zero-mean Gaussian white noise.

[0009] Furthermore, the zero-order calibration process of the gyroscope deviation part in the puncture simulation gyroscope error mathematical model based on the static condition includes: Based on the static condition, the mathematical model of the puncture simulation gyroscope error is used to measure the relevant parameters when the gyroscope is static for a series of times, and the corresponding angular velocity measurement vector and Gaussian measurement white noise under a series of static conditions of the gyroscope are obtained; The error model is reconstructed according to the angular velocity measurement vector corresponding to a series of stationary conditions of the gyroscope and the Gaussian measurement white noise to obtain the gyroscope error reconstruction model under stationary conditions: ; In the formula, For the The corresponding gyroscope measurements under substationary conditions, For the The corresponding angular velocity measurement vector under sub-stationary conditions is: For the The corresponding gyroscope estimated bias under substationary conditions is, For the The corresponding Gaussian measurement white noise under substationary conditions; By assuming that the Gaussian measurement white noise tends to zero mean through the zero-order calibration method, the gyroscope measurement value tends to zero accordingly, and the expected operator is taken on both sides of the above formula for zero-order calibration processing to obtain the zero-order calibration part of the gyroscope bias: ; in It is the zero-order calibration part of the gyroscope bias.

[0010] Furthermore, the neural network regression-assisted calibration estimation of the gyroscope deviation zero-order calibration part based on the gyroscope virtual module includes: A neural network regression assisted calibration method is designed through a gyroscope virtual module, wherein the neural network regression assisted calibration method is a calibration method assisted by adding a gyroscope input channel or a calibration method assisted by adding real and virtual gyroscope training data; Based on the neural network regression assisted calibration method, the zero-order calibration part of the gyroscope deviation is assisted in calibration estimation to obtain the deterministic part of the gyroscope regression deviation.

[0011] Furthermore, the method for assisting calibration based on adding a gyroscope input channel to assist calibration includes: A convolutional neural network architecture is designed by adding a gyroscope input channel to assist in the calibration method. The convolutional neural network architecture consists of a convolutional layer, a LeakyReLU activation function, and a maximum pooling layer, and each gyroscope module feature is input into the convolutional layer: ,in is the number of gyroscope virtual modules, is the window size; In the The network output in the convolutional layer ,in is the window kernel size, For the The gyroscope bias value at the window kernel, is the stride, For the The weight at the window kernel; according to the The network output in the convolutional layer can be defined as the LeakyReLU activation function ; Based on The network output in the convolutional layer is pooled in the maximum pooling layer. ,in is the pooling size and flattens its input into a 2D tensor to calculate the first fully connected layer ,in is the weight of the first fully connected layer, is the bias of the first fully connected layer; By introducing the LeakyReLU activation function, the second fully connected layer connected to it is repeatedly calculated to obtain the final neural network regression output ,in and are the weights and biases of the second fully connected layer respectively; the neural network regression loss is calculated by the mean square error loss function ,in is the total number of training samples; By inputting the zero-order calibration part of the gyroscope bias to assist in the calibration estimation, the deterministic part of the gyroscope regression bias is obtained: .

[0012] Furthermore, the method for assisting calibration based on adding real and virtual gyroscope training data to assist in calibration estimation of the gyroscope bias zero-order calibration part includes: Collect real gyroscope measurements from the gyroscope virtual module ,in , and They represent the actual measurement readings of the orthogonal gyroscopes on the three directional axes within the gyroscope virtual module; Generate virtual gyroscope measurement data from the gyroscope virtual module through simulation ,in , and They represent the virtual measurement readings of the gyroscopes on the three orthogonal axes in the gyroscope virtual module; Combine the real gyroscope measurement data and the virtual gyroscope measurement data into a training set , and input it into the convolutional neural network for neural network regression training, so that the network outputs the gyroscope deviation values ​​on the three-axis orthogonal gyroscope ,in For the The weight matrix of the layer, For the The neural network activation value of the layer, For the The bias term of the layer; The neural network regression loss is calculated based on the gyroscope bias values ​​on the three orthogonal gyroscope axes: ; in is the total number of training samples, are the indices of the three orthogonal gyroscopes; Update and optimize the weight matrix and bias terms through the back-propagation method: ; ; in is the learning rate; By inputting the zero-order calibration part of the gyroscope bias to assist in the calibration estimation, the deterministic part of the gyroscope regression bias is obtained: .

[0013] Furthermore, the puncture training scenario path simulation generation module includes the following functions: Obtaining gyroscope calibration measurement values ​​corresponding to different time points of the selected puncture scenario simulation process through gyroscope deviation calibration values ​​during the puncture process; Based on the corresponding gyroscope calibration measurement values ​​at different time points, a three-dimensional virtual space scene is constructed for the corresponding selected puncture scene simulation process to generate a gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process; The gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process is subjected to dynamic simulation recognition analysis of the puncture path to generate a puncture simulation training path corresponding to the selected puncture scene simulation process.

[0014] Furthermore, the dynamic simulation and identification analysis of the puncture path of the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process includes: Annotating key puncture nodes of the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to obtain key puncture nodes of the gyroscope puncture corresponding to the selected puncture simulation process; Performing physical geometric constraint analysis on the gyroscopic puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to obtain the gyroscopic puncture physical geometric constraint conditions corresponding to the selected puncture simulation process; Based on the gyroscope puncture physical geometric constraint conditions corresponding to the selected puncture simulation process, a puncture path preset tracking analysis is performed on the corresponding gyroscope puncture key nodes to generate a gyroscope puncture constraint preset path corresponding to the selected puncture simulation process; Based on the selected puncture scene simulation process, a puncture process mechanical simulation analysis is performed on the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to generate a puncture mechanical response simulation field corresponding to the selected puncture simulation process; According to the puncture mechanical response simulation field corresponding to the selected puncture simulation process, the puncture path dynamic simulation identification analysis is performed on the gyroscope puncture constraint preset path corresponding to the selected puncture simulation process to generate a puncture simulation training path corresponding to the selected puncture scene simulation process.

[0015] Beneficial effects of the present invention: The comprehensive puncture simulation system based on automatic syringe proposed in the present invention is composed of a user training puncture simulation operation selection module, a puncture gyroscope deviation calibration module, a puncture training scene path simulation generation module and a puncture simulation path visualization module. Compared with the prior art, the beneficial effect of the present application is that by using the trainer user interface to select the puncture scene to be simulated, it provides users with a personalized and targeted puncture simulation training experience. The key to this step is that it allows trainers to select specific puncture types according to their own needs, such as thoracic, lumbar, abdominal and bone marrow punctures, etc. This flexibility can not only enhance the learners' active participation, but also ensure that training is carried out in the required actual scenarios, thereby improving the effectiveness and pertinence of learning. By configuring the corresponding puncture needle and puncture injection depth operation device for the automatic syringe according to the selected simulated puncture scene, the key is to select the appropriate puncture needle and injection depth operation device for different puncture types. The effectiveness of this step is reflected in the accuracy and adaptability of the equipment. By using equipment for specific scenarios, trainees can experience a feeling closer to real operation in a simulated environment. The appropriate equipment configuration not only ensures the safety of training, but also enables learners to master the characteristics and requirements of different puncture techniques, thereby improving the training effect. At the same time, by using the selected simulated puncture automatic syringe to perform comprehensive puncture simulation operations on the corresponding selected simulated puncture scene, it can provide trainees with a comprehensive practice opportunity. The key of this step is to provide trainees with a platform that can combine theory with practice, allowing them to practice operations in real simulated scenarios. Through comprehensive simulation, trainees can experience the application of different puncture techniques and further consolidate their puncture skills and knowledge, thereby providing puncture data support for the subsequent puncture gyroscope deviation calibration process. Secondly, by using the gyroscope sensor in the selected simulated puncture automatic syringe to perform puncture gyroscope measurement processing on the selected puncture scene simulation process, the gyroscope dynamic information during the puncture simulation process can be effectively captured. These gyroscope measurement values ​​reflect the posture changes of the automatic syringe device during the puncture simulation process, laying the foundation for subsequent gyroscope deviation data analysis. These data are also uploaded to the computer processing unit in real time through wireless transmission technology, ensuring the timeliness and accuracy of data transmission. This real-time performance can ensure that any abnormal situation is immediately identified and recorded during the puncture simulation process, thereby improving the safety and effectiveness of the puncture operation.By using a computer processing unit to perform neural network regression deviation estimation on the gyroscope measurement value during the puncture simulation process, the deviation part of the gyroscope can be effectively corrected. By creating a virtual gyroscope array, the accuracy and stability of the deviation calibration can be further enhanced. The neural network regression method is used for calibration estimation, which can realize the identification and correction of complex deviation patterns, thereby significantly improving the accuracy of gyroscope measurement. This step can not only reduce the error in the use of gyroscope equipment, but also improve the repeatability and reliability of puncture simulation, so that more consistent results can be obtained in practical applications. In addition, by performing static deviation calibration calculation on the corresponding gyroscope measurement value in the gyroscope coordinate system based on the deterministic part of the gyroscope regression deviation, the gyroscope deviation calibration value during the puncture process can be obtained. It ensures that the data and models accumulated in the previous steps can be effectively applied to the actual scene. Through the precise correction of the static deviation, not only the accuracy of the gyroscope measurement can be improved, but also the safety of the puncture operation can be enhanced, so that the error term in the gyroscope measurement process can be effectively calibrated. Then, the gyroscope deviation calibration value in the puncture simulation process obtained by the previous calibration calculation is used to perform dynamic simulation and identification analysis of the puncture path for the corresponding selected puncture scene simulation process. This process can identify and generate the best puncture path, and provide scientific guidance for trainers' medical training. By simulating and analyzing different paths, we can better understand the best practices and potential challenges in puncture operations, so as to formulate more reasonable training plans. This dynamic simulation can not only reflect the complexity of actual operations, but also adjust the path in real time, and provide personalized guidance according to different scenarios and patient conditions. The resulting puncture simulation training path can be used as a reference for medical staff training, providing them with clear operating steps and techniques, thereby improving the accuracy of puncture path recognition simulation. Finally, the puncture simulation training path is visualized by using the trainer user interface. This step greatly enhances the intuitiveness and interactivity of puncture simulation learning through graphical display. Through visualization technology, trainees can clearly see every detail of the puncture process and further understand the key points and difficulties of the operation. This visual learning tool can not only attract the trainees' attention, but also enhance their learning interest and participation. The visualized teaching process makes complex puncture techniques easier to understand and master, making the entire puncture simulation process more efficient and effective. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments thereof made with reference to the following drawings: Figure 1 It is a schematic diagram of the modules of the comprehensive puncture simulation system based on the automatic injector of the present invention; Figure 2 for Figure 1 A functional flow chart of a puncture simulation operation selection module for user training; Figure 3 for Figure 1 Functional flow diagram of the mid-puncture gyroscope bias calibration module; Figure 4 A schematic diagram of the depth of the human chest puncture simulation of the present invention; Figure 5 A schematic diagram of the depth of the lumbar puncture simulation of the present invention; Figure 6 A schematic diagram of the depth of the human abdominal cavity puncture simulation of the present invention; Figure 7 It is a schematic diagram of the depth of the simulation of puncture of the human bone marrow according to the present invention. DETAILED DESCRIPTION

[0017] The technical system of the present invention is described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by technicians in this field without creative work are within the scope of protection of the present invention.

[0018] To achieve this, please refer to Figures 1 to 3 The present invention provides a comprehensive puncture simulation system based on an automatic syringe, the system comprising the following modules: The user training puncture simulation operation selection module is used to select the puncture scene to be simulated through the trainer user interface, and configure the corresponding puncture needle and puncture injection depth operation instrument for the automatic injector according to the selected simulated puncture scene to obtain the selected simulated puncture automatic injector; use the selected simulated puncture automatic injector to perform a comprehensive puncture simulation operation on the corresponding selected simulated puncture scene to generate a simulation process of the selected puncture scene; The puncture gyroscope deviation calibration module is used to use the gyroscope sensor in the selected simulated puncture automatic syringe to perform puncture gyroscope measurement processing on the selected puncture scene simulation process and upload it to the computer processing unit to obtain the gyroscope measurement value of the puncture simulation process; use the computer processing unit to perform neural network regression deviation estimation on the gyroscope measurement value of the puncture simulation process to obtain the gyroscope regression deviation deterministic part; perform static deviation calibration calculation on the gyroscope measurement value of the puncture simulation process based on the gyroscope regression deviation deterministic part to obtain the gyroscope deviation calibration value of the puncture process; A puncture training scene path simulation generation module is used to perform puncture path simulation identification analysis on the selected puncture scene simulation process based on the gyroscope deviation calibration value of the puncture process, so as to generate a puncture simulation training path corresponding to the selected puncture scene simulation process; The puncture simulation path visualization module is used to use the trainer user interface to perform puncture simulation visualization processing on the puncture simulation training path corresponding to the selected puncture scene simulation process, so as to execute the corresponding puncture scene visualization teaching process.

[0019] In the embodiment of the present invention, please refer to Figure 1 FIG. 1 is a schematic diagram of a module of a comprehensive puncture simulation system based on an automatic syringe according to the present invention. In this example, the comprehensive puncture simulation system based on an automatic syringe includes the following modules: S1: A user training puncture simulation operation selection module is used to select a puncture scene to be simulated through a trainer user interface, and configure a corresponding puncture needle and a puncture injection depth operation device for the automatic injector according to the selected simulated puncture scene to obtain the selected simulated puncture automatic injector; use the selected simulated puncture automatic injector to perform a comprehensive puncture simulation operation on the corresponding selected simulated puncture scene to generate a simulation process of the selected puncture scene; In the embodiment of the present invention, the trainer user interface in the system is used to select the puncture scenario to be simulated, including thoracotomy (such as Figure 4 ), lumbar puncture (as shown in Figure 5 as shown), abdominal puncture (as shown Figure 6 as shown) and bone marrow aspiration (as Figure 7As shown in the figure, the user selects the scene through the interactive interface, which can display the detailed information and applicable instructions of each scene in real time, so as to select the puncture scene selected for the simulation. According to the simulated puncture scene selected in the previous training, the corresponding automatic syringe is configured with the corresponding puncture injection depth operation instrument and puncture needle. For each puncture scene, the type and size of the puncture needle and the parameters of the injection depth operation instrument are determined. For example, the chest puncture uses a hose puncture needle, a 5ml syringe and a 50ml syringe; the abdominal puncture also uses a hose puncture needle, a 5ml syringe and a 50ml syringe; the abdominal puncture uses a lumbar puncture needle, a 5ml syringe, a pressure measuring tube, and a test tube; and the bone marrow puncture uses a bone marrow puncture needle, a 5ml syringe, and a 20ml syringe. This process uses professional medical equipment configuration tools to ensure that all components meet medical standards and technical requirements. After the configuration is completed, the automatic syringe and the puncture instrument are assembled to obtain the selected simulated puncture automatic syringe. Then, by using the configured and assembled selected simulated puncture automatic syringe, a comprehensive simulation operation of puncture is performed on the previously selected simulated puncture scene for training, so as to execute the entire puncture process through the automatic syringe, monitor various parameters and feedback information in real time, and enhance the simulation experience by using virtual reality technology. The images and sounds generated by the simulation system make the operation more immersive and realistic. After completion, all data in the simulation process are recorded to provide a basis for subsequent analysis and evaluation, ensure the effectiveness and scientificity of the training, and finally record and generate the simulation process of the selected puncture scene.

[0020] Among them, the automatic injector includes a shell and a push-pull rod slidably fitted in the shell, the front end of the push-pull rod is sealed and slidably connected to the inner wall of the shell, so that a length-adjustable accommodating chamber is formed between the front end surface of the push-pull rod and the front end wall of the shell, and an injection interface connected to the accommodating chamber is provided at the front end of the shell, and the injection interface can be configured with a corresponding puncture needle, for example, the hose puncture needle, lumbar puncture needle and bone marrow puncture needle in the present invention. An opening is provided at the rear end of the shell for the push-pull rod to be inserted, and a resistor element is provided on the push-pull rod along the length direction, and the resistor element is electrically connected to the detection circuit. In addition, the resistor element can correspond to the gyroscope sensor used in the present invention to form a gyroscope virtual module containing orthogonal gyroscopes on three directional axes, so that the gyroscope measurement value monitored in real time by the gyroscope virtual module can be transmitted to the computer processing unit electrically connected to the gyroscope sensor through the detection circuit.

[0021] S2: a puncture gyroscope deviation calibration module, which is used to perform puncture gyroscope measurement processing on the selected puncture scene simulation process using the gyroscope sensor in the selected simulated puncture automatic syringe and upload it to the computer processing unit to obtain the gyroscope measurement value of the puncture simulation process; use the computer processing unit to perform neural network regression deviation estimation on the gyroscope measurement value of the puncture simulation process to obtain the gyroscope regression deviation deterministic part; perform static deviation calibration calculation on the gyroscope measurement value of the puncture simulation process based on the gyroscope regression deviation deterministic part to obtain the gyroscope deviation calibration value of the puncture process; In the embodiment of the present invention, the gyroscope attitude change during the selected puncture scene simulation process is monitored in real time by using the previously configured gyroscope sensor embedded in the selected simulated puncture automatic syringe. During the puncture simulation process, the gyroscope sensor collects and records the gyroscope measurement value, including angular velocity and acceleration data, so as to obtain the gyroscope measurement value of the puncture simulation process. At the same time, the gyroscope measurement value of the puncture simulation process measured in real time on the gyroscope sensor is quickly uploaded to the computer processing unit electrically connected thereto by using wireless transmission technology such as Bluetooth or Wi-Fi, thereby ensuring the integrity and timeliness of data transmission. By using a computer processing unit to receive the gyroscopic measurement values ​​of the puncture simulation process obtained by real-time monitoring previously, and converting them into the corresponding gyroscopic coordinate system in the puncture simulation process, it is ensured that the data analyzed subsequently accurately reflects the actual motion state in the puncture process, and by combining the gyroscopic coordinate system obtained previously, the corresponding gyroscopic sensor in the selected puncture scene simulation process is statistically analyzed for the angular velocity vector, so as to aggregate the measurement data at each time point by using a statistical analysis tool, and calculate the actual angular velocity vector in the gyroscopic coordinate system. At the same time, by combining the corresponding gyroscopic measurement values ​​and the actual gyroscopic angular velocity vector obtained in the previous analysis in the gyroscopic coordinate system, a corresponding gyroscopic error mathematical calculation model is established, and by using the least squares method or Kalman filtering algorithm, the collected data is fitted and modeled, the gyroscopic system deviation and Gaussian white noise are identified, and a dedicated error model suitable for the puncture scene is formed, for example: Then, by configuring the corresponding static state conditions for it, a zero-order calibration process is performed, that is, the gyroscope sensor is placed in a static state, the gyroscope measurement values ​​in this state are collected, and the deviation part is extracted. At the same time, the corresponding gyroscope sensor is measured under multiple static state conditions configured previously to obtain the angular velocity measurement vector corresponding to a series of static conditions of the gyroscope. and Gaussian measurement white noise , and obtain the angular velocity measurement vector and Gaussian measurement white noise Input into the previously constructed puncture simulation gyroscope error mathematical model to reconstruct the error model to obtain the corresponding gyroscope error reconstruction model ; In the formula, For the The corresponding gyroscope measurements under substationary conditions, For the The corresponding angular velocity measurement vector under sub-stationary conditions is: For the The corresponding gyroscope estimated bias under substationary conditions is, For the The Gaussian measurement white noise corresponding to the sub-stationary condition; the Gaussian measurement white noise is assumed to be zero mean by using the zero-order calibration method. Since the gyroscope is in a stationary state, the gyroscope measurement value also tends to zero accordingly, and the expected operator is taken on both sides of the gyroscope error reconstruction model for zero-order calibration, which is also approximately equal to the zero-order calibration part: ; Thus, the zero-order calibration part of the gyroscope deviation is obtained. Subsequently, a virtual gyroscope array containing multiple orthogonal gyroscopes is constructed by simulating the resistor element configured on the automatic syringe, and a corresponding gyroscope virtual module is formed with the actual gyroscope sensor. The gyroscope virtual module is applied to build a corresponding neural network regression environment to improve the performance of gyroscope calibration. This environment uses a high-performance computing platform and combines the existing convolutional neural network model with the gyroscope sensor data. It assists in calibration by using real gyroscopes and virtual gyroscope arrays, that is, a single gyroscope module composed of three gyroscopes, and adopts the corresponding neural network regression calibration method, which specifically adds a gyroscope input channel to assist in calibration: by designing a convolutional neural network architecture, wherein the convolutional neural network architecture consists of a convolutional layer, a LeakyReLU activation function, and a maximum pooling layer, and by inputting the features of each gyroscope module in the convolutional layer: ,in is the number of gyroscope virtual modules, is the window size; in The network output in the convolutional layer ,in is the window kernel size, For the The gyroscope bias value at the window kernel, is the stride, For the The weight at the window kernel; according to the The network output in the convolutional layer can be defined as the LeakyReLU activation function Based on The network output in the convolutional layer is pooled in the maximum pooling layer. ,in is the pooling size and flattens its input into a 2D tensor to calculate the first fully connected layer ,in is the weight of the first fully connected layer, is the bias of the first fully connected layer; the LeakyReLU activation function is introduced to repeatedly calculate the second fully connected layer connected to it to obtain the final neural network regression output ,in and are the weights and biases of the second fully connected layer respectively; the neural network regression loss is calculated by the mean square error loss function ,in is the total number of training samples; then the assisted calibration estimation is performed by inputting the zero-order calibration part of the gyroscope bias to obtain the regression bias deterministic part of the method Or an assisted calibration method that adds real and virtual gyroscope training data: real gyroscope measurement data through the gyroscope virtual module ,in , and Respectively represent the real measurement readings of the orthogonal gyroscopes on the three axes in the gyroscope virtual module; generate the virtual gyroscope measurement data of the gyroscope virtual module through simulation ,in , and Represents the virtual measurement readings of the gyroscope on the three orthogonal axes in the gyroscope virtual module; the real gyroscope measurement data and the virtual gyroscope measurement data are combined into a training set , and input it into the convolutional neural network for neural network regression training, so that the network outputs the gyroscope deviation values ​​on the three-axis orthogonal gyroscope ,in For the The weight matrix of the layer, For the The neural network activation value of the layer, For the The bias term of the layer; the neural network regression loss is calculated based on the gyroscope bias values ​​on the three axis orthogonal gyroscopes: ;in is the total number of training samples, are the indices of the three orthogonal gyroscopes; the weight matrix and bias terms are updated and optimized by the back-propagation method: ; ; in is the learning rate; the regression bias deterministic part of the method is obtained by inputting the gyroscope bias zero-order calibration part to assist in calibration estimation: Any of the above neural network model regression calibration methods can continuously optimize the model parameters through supervised learning to reduce the error between the model prediction output and the actual gyroscope data, thereby regressing and calculating the corresponding gyroscope regression bias deterministic part. Finally, by combining the gyroscope regression bias deterministic part estimated by the previous calibration The gyroscope measurement value corresponding to the gyroscope coordinate system is calibrated to calculate the bias so that the calculated deterministic bias will be subtracted from the gyroscope measurement value: , and finally the gyroscope deviation calibration value of the puncture process is obtained.

[0022] S3: a puncture training scene path simulation generation module, used to perform puncture path simulation identification analysis on the selected puncture scene simulation process based on the gyroscope deviation calibration value of the puncture process, so as to generate a puncture simulation training path corresponding to the selected puncture scene simulation process; In an embodiment of the present invention, the time-series change analysis of the gyroscope deviation calibration value of the puncture process obtained after the real-time gyroscope deviation calibration is performed to analyze and record the measurement calibration value of the gyroscope at each time point in the selected puncture scene simulation process, and the corresponding gyroscope calibration measurement values ​​at different time points obtained by combining the previous analysis are used to construct a virtual space scene for the corresponding selected puncture scene simulation process using a three-dimensional modeling software, so as to establish a three-dimensional coordinate system based on the gyroscope measurement calibration data at different time points, and draw an accurate three-dimensional model according to the puncture path, puncture angle and time dynamic changes, the model includes the motion trajectory of the puncture needle and the morphology of the target tissue, these elements are integrated together through numerical calculation to form a complete three-dimensional virtual space model of the puncture simulation process, so as to intuitively reflect the changes of the puncture process at different time points. Then, the puncture path is simulated and analyzed by using dynamic simulation analysis tools (including 3D modeling software (such as Blender or Maya), finite element analysis software (such as ANSYS or COMSOL) and mechanical simulation software (such as MATLAB or Simulink)) for the previously constructed 3D virtual space model. This process simulates the motion trajectory of the puncture needle through an algorithm and interacts with the physical properties of the target tissue in real time. By using computer vision technology and machine learning algorithms, the effectiveness and safety of different puncture paths are analyzed. The dynamic simulation tool can evaluate the possible risks in the puncture process and generate a visual training path diagram. The output puncture simulation training path can provide a reference for the actual puncture operation to ensure the accuracy and safety of the operation. Finally, the puncture simulation training path corresponding to the selected puncture scene simulation process is simulated and generated.

[0023] S4: a puncture simulation path visualization module, which is used to perform puncture simulation visualization processing on the puncture simulation training path corresponding to the selected puncture scene simulation process using the trainer user interface, so as to execute the corresponding puncture scene visualization teaching process.

[0024] In an embodiment of the present invention, the generated puncture simulation training path corresponding to the selected puncture scene simulation process is visualized by using a trainer user interface, so that the simulation path is graphically presented through 3D visualization software, and the model of the real scene is superimposed on the path to ensure that the user can intuitively understand the puncture process. During the visualization process, the operator can view the details of each step through interface interaction, and learn and train in combination with the corresponding teaching content. This visualization processing improves learning efficiency and makes the teaching process of the puncture scene more vivid and specific, thereby enhancing the operator's practical ability.

[0025] Further, as an embodiment of the present invention, refer to Figure 2 As shown, Figure 1 FIG. 1 is a functional flow chart of a user training puncture simulation operation selection module in FIG. 1 . In this embodiment, the user training puncture simulation operation selection module includes the following functions: S11: selecting a puncture scene to be simulated through the trainer user interface to obtain a simulated puncture scene selected for training, wherein the simulated puncture scene selected for training includes a thoracic puncture simulation scene, a lumbar puncture simulation scene, an abdominal puncture simulation scene, and a bone marrow puncture simulation scene; In an embodiment of the present invention, a trainer user interface within the system is used to select a puncture scenario that needs to be simulated, including thoracic puncture, lumbar puncture, abdominal puncture, and bone marrow puncture, etc. The user selects the scenario through an interactive interface, and the interface can display detailed information and applicable instructions for each scenario in real time. The system records the selected scenario and generates a corresponding configuration file to ensure that subsequent steps can accurately reference the specific parameters and requirements of the scenario, and finally select the simulated puncture scenario selected for training.

[0026] S12: configuring a corresponding puncture needle and a puncture injection depth operating device for a corresponding automatic injector according to the simulated puncture scenario selected for training, so as to obtain the selected simulated puncture automatic injector; In an embodiment of the present invention, the corresponding automatic injector is configured with a corresponding puncture injection depth operating instrument and puncture needle according to the simulated puncture scenario selected by the previous training, and the type and size of the puncture needle and the parameters of the injection depth operating instrument are determined for each puncture scenario. For example, a hose puncture needle, a 5ml syringe and a 50ml syringe are used for thoracic puncture; a hose puncture needle, a 5ml syringe and a 50ml syringe are also used for abdominal puncture; a lumbar puncture needle, a 5ml syringe, a pressure measuring tube and a test tube are used for abdominal puncture; and a bone marrow puncture needle, a 5ml syringe and a 20ml syringe are used for bone marrow puncture. This process uses a professional medical device configuration tool to ensure that all components meet medical standards and technical requirements. After the configuration is completed, the automatic injector is assembled with the puncture instrument to form an automatic injector specifically for the selected simulated puncture scenario, and finally the selected simulated puncture automatic injector is obtained.

[0027] S13: setting the puncture scene environment parameters for the selected simulated puncture scene for training to obtain a selected simulated puncture scene environment parameter set; performing device performance test and optimization on the selected simulated puncture automatic injector based on the selected simulated puncture scene environment parameter set to obtain a simulated puncture device optimized automatic injector; In an embodiment of the present invention, the environment parameters of the previously selected simulated puncture scene are set, so as to establish a scene model by using the environment simulation software, input key environment parameters related to puncture, such as tissue density, vascular distribution and organ position of the simulated person, and confirm that all environment variables are set correctly through the debugging interface, and generate an environment parameter set, which will be used for subsequent equipment testing and simulation operations to ensure the realism and effectiveness of the simulation, thereby obtaining the selected simulated puncture scene environment parameter set. At the same time, the corresponding puncture automatic injector is performance tested and tuned by combining the previously set selected simulated puncture scene environment parameter set, so as to simulate different puncture conditions by using the performance test platform, monitor the reaction and output of the device by gradually increasing the puncture depth and adjusting the puncture speed, and in this process, collect data to evaluate the stability and accuracy of the device, adjust the parameters of the device in time, ensure that the optimized simulated puncture device is finally obtained, meet all safety and performance standards, and finally obtain the simulated puncture device optimized automatic injector.

[0028] S14: Design a simulated puncture operation process for the simulated puncture device by optimizing the automatic syringe to generate a simulated puncture operation process design step document; In an embodiment of the present invention, an operation process design is performed for the optimized puncture automatic injector, so that each operation step is recorded in detail by using a standardized operation process document template, including preparations before puncture, key actions during the puncture process, and post-puncture treatment methods. The operation process is gradually improved through multiple drills and feedback to ensure that its logic is clear and easy to execute, and finally a simulated puncture operation process design step document is designed and generated.

[0029] S15: Performing a comprehensive puncture simulation operation on the simulated puncture scenario selected for training based on the simulated puncture operation process design step document to generate a simulation process for the selected puncture scenario.

[0030] In an embodiment of the present invention, a comprehensive simulation operation is performed on the selected simulated puncture scene by combining the simulated puncture operation process design step document generated by the previous design, so as to perform the entire puncture process through an automatic syringe, monitor various parameters and feedback information in real time, and enhance the simulation experience by using virtual reality technology. The images and sounds generated by the simulation system make the operation more immersive and realistic. After completion, all data in the simulation process are recorded to provide a basis for subsequent analysis and evaluation, ensure the effectiveness and scientificity of the training, and finally record and generate the simulation process of the selected puncture scene.

[0031] Further, as an embodiment of the present invention, refer to Figure 3 As shown, Figure 1 The functional flow diagram of the puncture gyroscope deviation calibration module in this embodiment includes the following functions: S21: using the gyro sensor in the selected simulated puncture automatic syringe to perform puncture gyro measurement processing on the selected puncture scene simulation process to obtain puncture simulation process gyro measurement values; uploading the puncture simulation process gyro measurement values ​​measured in real time on the gyro sensor to the computer processing unit through wireless transmission technology; In the embodiment of the present invention, the gyroscope attitude change during the selected puncture scene simulation process is monitored in real time by using the previously configured gyroscope sensor embedded in the selected simulated puncture automatic syringe. During the puncture simulation process, the gyroscope sensor collects and records the gyroscope measurement value, including angular velocity and acceleration data, so as to obtain the gyroscope measurement value of the puncture simulation process. At the same time, by using wireless transmission technology such as Bluetooth or Wi-Fi, the gyroscope measurement value of the puncture simulation process measured in real time on the gyroscope sensor is quickly uploaded to a computer processing unit electrically connected thereto, and the computer processing unit is capable of receiving and displaying the data in real time, thereby ensuring the integrity and timeliness of data transmission.

[0032] S22: using a computer processing unit to obtain a gyroscope coordinate system of the gyroscope sensor corresponding to the puncture simulation process, and performing a measurement value coordinate system conversion on the gyroscope measurement value of the puncture simulation process based on the gyroscope coordinate system to obtain a corresponding gyroscope measurement value in the gyroscope coordinate system; In the embodiment of the present invention, the gyroscope measurement value of the puncture simulation process previously monitored in real time is received by using a computer processing unit, and converted to the corresponding gyroscope coordinate system in the puncture simulation process. First, by defining the gyroscope coordinate system, it is ensured that the origin of the coordinate system is consistent with the position of the gyroscope sensor. Then, the measurement value in the puncture simulation process is converted into a coordinate system through a mathematical conversion formula to obtain the corresponding measurement value in the gyroscope coordinate system. This process ensures that the data analyzed subsequently accurately reflects the actual motion state in the puncture process, and finally obtains the corresponding gyroscope measurement value in the gyroscope coordinate system.

[0033] S23: performing statistical analysis on the angular velocity vector of the gyroscope sensor corresponding to the selected puncture scene simulation process based on the gyroscope coordinate system of the puncture simulation process to obtain the actual angular velocity vector of the gyroscope corresponding to the gyroscope coordinate system; In an embodiment of the present invention, the angular velocity vector of the corresponding gyroscope sensor in the selected puncture scene simulation process is statistically analyzed by combining the gyroscope coordinate system of the puncture simulation process previously obtained, so as to aggregate the measurement data at each time point by using a statistical analysis tool, and calculate the actual angular velocity vector in the gyroscope coordinate system. This analysis process takes into account multiple factors, such as the sensitivity of the sensor and changes in the simulation environment, to ensure that the obtained angular velocity vector can accurately reflect the dynamic changes in the puncture operation, and finally obtain the actual angular velocity vector of the gyroscope corresponding to the gyroscope coordinate system.

[0034] S24: performing gyroscope error modeling on the corresponding gyroscope sensor in the selected puncture scenario simulation process according to the corresponding gyroscope measurement value in the gyroscope coordinate system and the actual gyroscope angular velocity vector, so as to generate a puncture simulation gyroscope error mathematical model; In an embodiment of the present invention, a corresponding gyroscope error mathematical calculation model is established by combining the corresponding gyroscope measurement values ​​and the actual angular velocity vector of the gyroscope in the gyroscope coordinate system obtained in the previous analysis, and the collected data is fitted and modeled by adopting the least squares method or the Kalman filtering algorithm to identify the gyroscope system deviation and Gaussian white noise. This modeling process will help the calibration work in subsequent steps, ensure the measurement accuracy and reliability of the puncture simulation equipment under different conditions, form an exclusive error model suitable for the puncture scenario, and finally generate a puncture simulation gyroscope error mathematical model.

[0035] S25: by configuring a stationary condition for the gyroscope sensor, and performing a zero-order calibration process on the gyroscope deviation part in the puncture simulation gyroscope error mathematical model based on the stationary condition, a zero-order calibration part of the gyroscope deviation is obtained; a virtual gyroscope array and a gyroscope sensor are set up through a resistor element to form a gyroscope virtual module, wherein each gyroscope virtual module is composed of orthogonal gyroscopes on three direction axes, and a neural network regression-assisted calibration estimation is performed on the zero-order calibration part of the gyroscope deviation based on the gyroscope virtual module to obtain a gyroscope regression deviation deterministic part; In the embodiment of the present invention, the gyro sensor on the automatic injector is configured with corresponding static state conditions so as to perform zero-order calibration processing, that is, the gyro sensor is placed in a static state, the gyro measurement values ​​in this state are collected, and the deviation part thereof is extracted. At the same time, the corresponding gyro sensor is placed in a plurality of static state conditions configured previously for measurement, so as to obtain the angular velocity measurement vector corresponding to a series of static conditions of the gyro and Gaussian measurement white noise , and obtain the angular velocity measurement vector and Gaussian measurement white noise Input into the previously constructed puncture simulation gyroscope error mathematical model to reconstruct the error model to obtain the corresponding gyroscope error reconstruction model ; In the formula, For the The corresponding gyroscope measurements under substationary conditions, For the The corresponding angular velocity measurement vector under sub-stationary conditions is: For the The corresponding gyroscope estimated bias under substationary conditions is, For the The Gaussian measurement white noise corresponding to the sub-stationary condition; the Gaussian measurement white noise is assumed to be zero mean by using the zero-order calibration method. Since the gyroscope is in a stationary state, the gyroscope measurement value also tends to zero accordingly, and the expected operator is taken on both sides of the gyroscope error reconstruction model for zero-order calibration, which is also approximately equal to the zero-order calibration part: ; Thus, the zero-order calibration part of the gyroscope deviation is obtained. Subsequently, a virtual gyroscope array containing multiple orthogonal gyroscopes is constructed by simulating the resistor element configured on the automatic syringe, and a corresponding gyroscope virtual module is formed with the actual gyroscope sensor. The gyroscope virtual module is applied to build a corresponding neural network regression environment to improve the performance of gyroscope calibration. This environment uses a high-performance computing platform and combines the existing convolutional neural network model with the gyroscope sensor data. It assists in calibration by using real gyroscopes and virtual gyroscope arrays, that is, a single gyroscope module composed of three gyroscopes, and adopts the corresponding neural network regression calibration method, which specifically adds a gyroscope input channel to assist in calibration: by designing a convolutional neural network architecture, wherein the convolutional neural network architecture consists of a convolutional layer, a LeakyReLU activation function, and a maximum pooling layer, and by inputting the features of each gyroscope module in the convolutional layer: ,in is the number of gyroscope virtual modules, is the window size; in The network output in the convolutional layer ,in is the window kernel size, For the The gyroscope bias value at the window kernel, is the stride, For the The weight at the window kernel; according to the The network output in the convolutional layer can be defined as the LeakyReLU activation function Based on The network output in the convolutional layer is pooled in the maximum pooling layer. ,in is the pooling size and flattens its input into a 2D tensor to calculate the first fully connected layer ,in is the weight of the first fully connected layer, is the bias of the first fully connected layer; the LeakyReLU activation function is introduced to repeatedly calculate the second fully connected layer connected to it to obtain the final neural network regression output ,in and are the weights and biases of the second fully connected layer respectively; the neural network regression loss is calculated by the mean square error loss function ,in is the total number of training samples; then the gyroscope bias zero-order calibration part is input to assist in calibration estimation, and the gyroscope regression bias deterministic part is obtained: Or an assisted calibration method that adds real and virtual gyroscope training data: real gyroscope measurement data through the gyroscope virtual module ,in , and Respectively represent the real measurement readings of the orthogonal gyroscopes on the three axes in the gyroscope virtual module; generate the virtual gyroscope measurement data of the gyroscope virtual module through simulation ,in , and Represents the virtual measurement readings of the gyroscope on the three orthogonal axes in the gyroscope virtual module; the real gyroscope measurement data and the virtual gyroscope measurement data are combined into a training set , and input it into the convolutional neural network for neural network regression training, so that the network outputs the gyroscope deviation values ​​on the three-axis orthogonal gyroscope ,in For the The weight matrix of the layer, For the The neural network activation value of the layer, For the The bias term of the layer; the neural network regression loss is calculated based on the gyroscope bias values ​​on the three axis orthogonal gyroscopes: ;in is the total number of training samples, are the indices of the three orthogonal gyroscopes; the weight matrix and bias terms are updated and optimized by the back-propagation method: ; ; in is the learning rate; the gyroscope regression bias deterministic part is obtained by inputting the zero-order calibration part of the gyroscope bias to assist in calibration estimation: ,Any of the above regression calibration methods of the neural network models can continuously optimize the model parameters through supervised learning to reduce the error between the model prediction output and the actual gyroscope data, and finally regress the calculation to obtain the corresponding deterministic part of the gyroscope regression deviation.

[0036] S26: Based on the deterministic part of the gyroscope regression deviation, a static deviation calibration calculation is performed on the corresponding gyroscope measurement value in the gyroscope coordinate system to obtain a gyroscope deviation calibration value for the puncture process.

[0037] In an embodiment of the present invention, the gyroscope regression bias deterministic part is obtained by combining the previously calibrated estimate The gyroscope measurement value corresponding to the gyroscope coordinate system is calibrated to calculate the bias so that the calculated deterministic bias will be subtracted from the gyroscope measurement value: , and finally the gyroscope deviation calibration value of the puncture process is obtained.

[0038] Furthermore, the puncture simulation gyroscope error mathematical model is specifically: ; In the formula, In the gyroscope coordinate system The corresponding gyroscope measurements are: In the gyroscope coordinate system The corresponding actual angular velocity vector of the gyroscope is, is the matrix of gyroscope off-diagonal elements and scale factor errors, is the gyro bias part, is zero-mean Gaussian white noise.

[0039] The present invention obtains a puncture simulation gyroscope error mathematical model by using a specific mathematical model and verifying it, which is used to describe the gyroscope measurement deviation of the corresponding gyroscope sensor in the selected puncture scene simulation process during the puncture simulation process. The mathematical model fully considers the gyroscope coordinate system. The corresponding gyroscope measurement value is , in the gyroscope coordinate system The corresponding actual angular velocity vector of the gyroscope is , the matrix of gyroscope off-diagonal elements and scale factor errors , gyro bias part , zero-mean Gaussian white noise The correlation between the above parameters constitutes a functional relationship , the mathematical model can effectively correct the gyroscope's measurement value, thereby improving the measurement accuracy of the angular velocity during the puncture process. The deviation part and noise modeling in the model can reduce the measurement error, making the obtained angular velocity vector more accurate. At the same time, the mathematical model provides a systematic way to analyze the error sources of the gyroscope, including non-diagonal elements and proportional factor errors (matrix M). These factors will cause inconsistent measurements in different directions. These effects can be quantified through the model. Gyroscope deviation is often unavoidable in actual use, and its impact can be reduced through calibration. Gaussian white noise can be statistically analyzed by modeling the noise, thereby improving the stability of the measurement. By modeling and calibrating the gyroscope error, the robustness to external interference and internal noise can be greatly enhanced. In the puncture simulation, the gyroscope can more accurately reflect the actual operation situation, thereby reducing the failure rate and improving safety. By establishing a mathematical model, the error source and correction process are traceable, which is convenient for subsequent research and improvement. For future puncture processes or other related applications, corresponding optimization can be performed based on previous models and data, thus providing a powerful tool for improving the measurement accuracy, robustness and real-time performance of the puncture simulation process.

[0040] Furthermore, the puncture training scenario path simulation generation module includes the following functions: Obtaining gyroscope calibration measurement values ​​corresponding to different time points of the selected puncture scenario simulation process through gyroscope deviation calibration values ​​during the puncture process; In an embodiment of the present invention, by analyzing the time series changes of the gyroscope deviation calibration value of the puncture process obtained after the real-time gyroscope deviation calibration, the measurement calibration value of the gyroscope at each time point in the selected puncture scene simulation process is analyzed and recorded, and it is ensured that the measurement value at each time point is accurately calibrated, thereby eliminating the deviation caused by equipment error or environmental factors. By obtaining these calibration measurement values ​​through time series analysis, the dynamic changes of the puncture process can be better understood, and finally the gyroscope calibration measurement values ​​corresponding to the selected puncture scene simulation process at different time points can be obtained.

[0041] Preferably, a three-dimensional virtual space scene is constructed for the corresponding selected puncture scene simulation process based on the corresponding gyroscope calibration measurement values ​​at different time points to generate a gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process; In an embodiment of the present invention, a virtual space scene is constructed for the corresponding selected puncture scene simulation process using three-dimensional modeling software by combining the corresponding gyroscope calibration measurement values ​​at different time points obtained by previous analysis, so as to establish a three-dimensional coordinate system based on the gyroscope measurement calibration data at different time points, and draw an accurate three-dimensional model according to the puncture path, puncture angle and time dynamic changes. The model includes the motion trajectory of the puncture needle and the morphology of the target tissue. These elements are integrated together through numerical calculation to form a complete three-dimensional virtual space model of the puncture simulation process. The model not only has high precision, but also can intuitively reflect the changes in the puncture process at different time points. Finally, a gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process is generated by modeling.

[0042] Preferably, a puncture path dynamic simulation recognition analysis is performed on the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to generate a puncture simulation training path corresponding to the selected puncture scene simulation process.

[0043] In an embodiment of the present invention, a dynamic simulation analysis tool (including three-dimensional modeling software (such as Blender or Maya), finite element analysis software (such as ANSYS or COMSOL) and mechanical simulation software (such as MATLAB or Simulink)) is used to simulate, identify and analyze the puncture path of the previously constructed gyroscope puncture three-dimensional virtual space model. The process simulates the motion trajectory of the puncture needle through an algorithm and interacts with the physical properties of the target tissue in real time. By using computer vision technology and machine learning algorithms, the effectiveness and safety of different puncture paths are analyzed. The dynamic simulation tool can evaluate the possible risks in the puncture process and generate a visual training path diagram. The output puncture simulation training path can provide a reference basis for the actual puncture operation to ensure the accuracy and safety of the operation. Finally, the puncture simulation training path corresponding to the selected puncture scene simulation process is simulated and generated.

[0044] Furthermore, the dynamic simulation and identification analysis of the puncture path of the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process includes: Annotating key puncture nodes of the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to obtain key puncture nodes of the gyroscope puncture corresponding to the selected puncture simulation process; In an embodiment of the present invention, during the selected puncture simulation process, a corresponding gyroscope puncture three-dimensional virtual space model is first constructed, and after importing the model using three-dimensional modeling software (such as Blender or Maya), key nodes are annotated, wherein the key nodes include the starting point of the puncture, the puncture depth, and the boundary of the target tissue. By adding key node marks to the previously constructed gyroscope puncture three-dimensional virtual space model, it is ensured that these key nodes have clear coordinate information, and the coordinates of each key node are recorded through a three-dimensional coordinate system, and finally the gyroscope puncture key nodes corresponding to the selected puncture simulation process are obtained.

[0045] Preferably, a physical geometric constraint analysis is performed on the gyroscopic puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to obtain the gyroscopic puncture physical geometric constraint conditions corresponding to the selected puncture simulation process; In an embodiment of the present invention, a physical geometric constraint analysis is performed on the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process obtained by previous modeling, so as to simulate the mechanical properties of the model by applying finite element analysis software (such as ANSYS or COMSOL), and set material properties, boundary conditions and applied forces, and obtain the physical geometric constraint conditions of the model through meshing. This process ensures that the model can truly reflect the physical behavior during the simulated puncture process, and clarifies the interaction between the various components, especially the physical geometric stress distribution that may be encountered during the puncture process, and finally obtains the gyroscope puncture physical geometric constraint conditions corresponding to the selected puncture simulation process.

[0046] Preferably, based on the gyroscope puncture physical geometric constraint conditions corresponding to the selected puncture simulation process, a puncture path preset tracking analysis is performed on the corresponding gyroscope puncture key nodes to generate a gyroscope puncture constraint preset path corresponding to the selected puncture simulation process; In an embodiment of the present invention, the puncture path preset tracking analysis is performed on the corresponding gyroscope puncture key nodes by combining the gyroscope puncture physical geometric constraint conditions corresponding to the selected puncture simulation process obtained by the previous simulation constraint analysis, so as to generate an initial puncture path under the corresponding physical geometric constraint conditions for the gyroscope puncture key nodes by utilizing a path planning algorithm (such as an A* algorithm or a Dijkstra algorithm). The path will take into account the distance, direction and constraint conditions between the key nodes to ensure the smooth progress of the puncture process. The generated puncture constraint preset path is recorded in digital form and provided for use in subsequent dynamic simulation processes, and finally the gyroscope puncture constraint preset path corresponding to the selected puncture simulation process is tracked and generated.

[0047] Preferably, based on the selected puncture scene simulation process, a puncture process mechanical simulation analysis is performed on the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to generate a puncture mechanical response simulation field corresponding to the selected puncture simulation process; In an embodiment of the present invention, a mechanical simulation analysis of the puncture process is performed on the corresponding modeled gyroscope puncture three-dimensional virtual space model by combining the selected puncture scene simulation process, so as to implement puncture mechanical response simulation on the three-dimensional virtual space model by using mechanical simulation software (such as MATLAB or Simulink). In this process, the initial conditions and applied forces are set, and the puncture process is simulated by time steps to generate a mechanical response simulation field actually generated during the puncture scene simulation process. This simulation not only visualizes the force and response required for puncture, but also analyzes the mechanical performance at different depths, and finally generates a puncture mechanical response simulation field corresponding to the selected puncture simulation process.

[0048] Preferably, a puncture path dynamic simulation identification analysis is performed on the gyroscope puncture constraint preset path corresponding to the selected puncture simulation process according to the puncture mechanical response simulation field corresponding to the selected puncture simulation process, so as to generate a puncture simulation training path corresponding to the selected puncture scene simulation process.

[0049] In an embodiment of the present invention, a dynamic simulation identification analysis is performed on the preset path of the puncture constraint by combining the puncture mechanical response simulation field corresponding to the selected puncture simulation process generated by the previous simulation, so that the generated mechanical response is applied to the preset path by using dynamic simulation software (such as Unity or Unreal Engine), and the dynamic changes in the puncture simulation process are displayed through real-time simulation. This simulation analysis can identify potential path deviations and inadaptability, and optimize the puncture simulation training path according to the simulation results to ensure the accuracy and effectiveness of the training effect. The generated optimal puncture training path will provide a reference basis for actual puncture training, and finally simulate and generate the puncture simulation training path corresponding to the selected puncture scene simulation process.

[0050] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A comprehensive puncture simulation system based on an automatic syringe, characterized in that: Includes the following modules: The user training puncture simulation operation selection module is used to select the puncture scene to be simulated through the trainer user interface, and configure the corresponding puncture needle and puncture injection depth operation instrument for the automatic injector according to the selected simulated puncture scene to obtain the selected simulated puncture automatic injector; use the selected simulated puncture automatic injector to perform a comprehensive puncture simulation operation on the corresponding selected simulated puncture scene to generate a simulation process of the selected puncture scene; The puncture gyroscope deviation calibration module is used to use the gyroscope sensor in the selected simulated puncture automatic syringe to perform puncture gyroscope measurement processing on the selected puncture scene simulation process and upload it to the computer processing unit to obtain the gyroscope measurement value of the puncture simulation process; use the computer processing unit to perform neural network regression deviation estimation on the gyroscope measurement value of the puncture simulation process to obtain the deterministic part of the gyroscope regression deviation; Based on the deterministic part of the gyroscope regression bias, a static bias calibration calculation is performed on the gyroscope measurement value during the puncture simulation process to obtain a gyroscope bias calibration value during the puncture process; A puncture training scene path simulation generation module is used to perform puncture path simulation identification analysis on the selected puncture scene simulation process based on the gyroscope deviation calibration value of the puncture process, so as to generate a puncture simulation training path corresponding to the selected puncture scene simulation process; The puncture simulation path visualization module is used to use the trainer user interface to perform puncture simulation visualization processing on the puncture simulation training path corresponding to the selected puncture scene simulation process, so as to execute the corresponding puncture scene visualization teaching process.

2. The comprehensive puncture simulation system based on automatic syringe according to claim 1 is characterized in that: The user training puncture simulation operation selection module includes the following functions: Select the puncture scene to be simulated through the trainer user interface to obtain the simulated puncture scene selected for training, wherein the simulated puncture scene selected for training includes a thoracic puncture simulation scene, a lumbar puncture simulation scene, an abdominal puncture simulation scene, and a bone marrow puncture simulation scene; According to the simulated puncture scenario selected for training, the corresponding automatic injector is equipped with a corresponding puncture needle and a puncture injection depth operation instrument to obtain the selected simulated puncture automatic injector; The puncture scene environment parameters are set for the selected simulated puncture scene for training to obtain the selected simulated puncture scene environment parameter set; the device performance test and optimization of the selected simulated puncture automatic injector is performed based on the selected simulated puncture scene environment parameter set to obtain the simulated puncture device optimized automatic injector; Design the simulated puncture operation process for the simulated puncture device optimized automatic syringe to generate the simulated puncture operation process design step document; Based on the simulated puncture operation process design step document, a comprehensive puncture simulation operation is performed on the simulated puncture scenario selected for training to generate a simulation process for the selected puncture scenario.

3. The comprehensive puncture simulation system based on automatic syringe according to claim 1 is characterized in that: The puncture gyroscope bias calibration module includes the following functions: Using the gyro sensor in the selected simulated puncture automatic syringe to perform puncture gyro measurement processing on the selected puncture scene simulation process to obtain the gyro measurement value of the puncture simulation process; uploading the gyro measurement value of the puncture simulation process measured in real time on the gyro sensor to the computer processing unit through wireless transmission technology; Using a computer processing unit to obtain a gyro coordinate system of the gyro sensor corresponding to the puncture simulation process, and based on the gyro coordinate system, converting the gyro measurement value of the puncture simulation process into a measurement value coordinate system to obtain a corresponding gyro measurement value in the gyro coordinate system; Based on the gyro coordinate system of the puncture simulation process, a statistical analysis of the angular velocity vector of the gyro sensor corresponding to the selected puncture scene simulation process is performed to obtain the actual angular velocity vector of the gyro corresponding to the gyro coordinate system; Performing gyroscope error modeling on the corresponding gyroscope sensor in the selected puncture scenario simulation process according to the corresponding gyroscope measurement value in the gyroscope coordinate system and the actual angular velocity vector of the gyroscope to generate a puncture simulation gyroscope error mathematical model; The zero-order calibration part of the gyroscope deviation is obtained by configuring a stationary condition for the gyroscope sensor and performing a zero-order calibration process on the gyroscope deviation part in the mathematical model of the puncture simulation gyroscope error based on the stationary condition; a virtual gyroscope array and a gyroscope sensor are set up through a resistor element to form a gyroscope virtual module, wherein each gyroscope virtual module is composed of orthogonal gyroscopes on three directional axes, and a neural network regression-assisted calibration estimation is performed on the zero-order calibration part of the gyroscope deviation based on the gyroscope virtual module to obtain a gyroscope regression deviation deterministic part; Based on the deterministic part of the gyroscope regression deviation, a static deviation calibration calculation is performed on the corresponding gyroscope measurement value in the gyroscope coordinate system to obtain the gyroscope deviation calibration value of the puncture process.

4. The comprehensive puncture simulation system based on automatic syringe according to claim 3 is characterized in that: The mathematical model of the puncture simulation gyroscope error is specifically: ； In the formula, In the gyroscope coordinate system The corresponding gyroscope measurements are: In the gyroscope coordinate system The corresponding actual angular velocity vector of the gyroscope is, is the matrix of gyroscope off-diagonal elements and scale factor errors, is the gyro bias part, is zero-mean Gaussian white noise.

5. The comprehensive puncture simulation system based on automatic syringe according to claim 3 is characterized in that: The zero-order calibration process of the gyroscope deviation part in the puncture simulation gyroscope error mathematical model based on the static condition includes: Based on the static condition, the mathematical model of the puncture simulation gyroscope error is used to measure the relevant parameters when the gyroscope is static for a series of times, and the corresponding angular velocity measurement vector and Gaussian measurement white noise under a series of static conditions of the gyroscope are obtained; The error model is reconstructed according to the angular velocity measurement vector corresponding to a series of stationary conditions of the gyroscope and the Gaussian measurement white noise to obtain the gyroscope error reconstruction model under stationary conditions: ； In the formula, For the The corresponding gyroscope measurements under substationary conditions, For the The corresponding angular velocity measurement vector under sub-stationary conditions is: For the The corresponding gyroscope estimated bias under substationary conditions is, For the The corresponding Gaussian measurement white noise under substationary conditions; By assuming that the Gaussian measurement white noise tends to zero mean through the zero-order calibration method, the gyroscope measurement value tends to zero accordingly, and the expected operator is taken on both sides of the above formula for zero-order calibration processing to obtain the zero-order calibration part of the gyroscope bias: ； in It is the zero-order calibration part of the gyroscope bias.

6. The comprehensive puncture simulation system based on automatic syringe according to claim 3 is characterized in that: The neural network regression-assisted calibration estimation of the zero-order calibration part of the gyroscope deviation based on the gyroscope virtual module includes: A neural network regression assisted calibration method is designed through a gyroscope virtual module, wherein the neural network regression assisted calibration method is a calibration method assisted by adding a gyroscope input channel or a calibration method assisted by adding real and virtual gyroscope training data; Based on the neural network regression assisted calibration method, the zero-order calibration part of the gyroscope deviation is assisted in calibration estimation to obtain the deterministic part of the gyroscope regression deviation.

7. The comprehensive puncture simulation system based on automatic syringe according to claim 6, characterized in that: The method of assisting calibration of the zero-order calibration part of the gyroscope deviation based on adding a gyroscope input channel comprises: A convolutional neural network architecture is designed by adding a gyroscope input channel to assist in the calibration method. The convolutional neural network architecture consists of a convolutional layer, a LeakyReLU activation function, and a maximum pooling layer, and each gyroscope module feature is input into the convolutional layer: ,in is the number of gyroscope virtual modules, is the window size; In the The network output in the convolutional layer ,in is the window kernel size, For the The gyroscope bias value at the window kernel, is the stride, For the The weight at the window kernel; according to the The network output in the convolutional layer can be defined as the LeakyReLU activation function ; Based on The network output in the convolutional layer is pooled in the maximum pooling layer. ,in is the pooling size and flattens its input into a 2D tensor to calculate the first fully connected layer ,in is the weight of the first fully connected layer, is the bias of the first fully connected layer; By introducing the LeakyReLU activation function, the second fully connected layer connected to it is repeatedly calculated to obtain the final neural network regression output ,in and are the weights and biases of the second fully connected layer respectively; the neural network regression loss is calculated by the mean square error loss function ,in is the total number of training samples; By inputting the zero-order calibration part of the gyroscope bias to assist in the calibration estimation, the deterministic part of the gyroscope regression bias is obtained: 。 8. The comprehensive puncture simulation system based on automatic syringe according to claim 6, characterized in that: The method for assisting calibration based on adding real and virtual gyroscope training data to assist in estimating the zero-order calibration part of the gyroscope bias comprises: Collecting real gyroscope measurements from the gyroscope virtual module ,in , and They represent the actual measurement readings of the orthogonal gyroscopes on the three directional axes within the gyroscope virtual module; Generate virtual gyroscope measurement data from the gyroscope virtual module through simulation ,in , and They represent the virtual measurement readings of the gyroscopes on the three orthogonal axes in the gyroscope virtual module; Combine the real gyroscope measurement data and the virtual gyroscope measurement data into a training set , and input it into the convolutional neural network for neural network regression training, so that the network outputs the gyroscope deviation values ​​on the three-axis orthogonal gyroscope ,in For the The weight matrix of the layer, For the The neural network activation value of the layer, For the The bias term of the layer; The neural network regression loss is calculated based on the gyroscope bias values ​​on the three orthogonal gyroscope axes: ； in is the total number of training samples, are the indices of the three orthogonal gyroscopes; Update and optimize the weight matrix and bias terms through the back-propagation method: ； ； in is the learning rate; By inputting the zero-order calibration part of the gyroscope bias to assist in the calibration estimation, the deterministic part of the gyroscope regression bias is obtained: 。 9. The comprehensive puncture simulation system based on automatic syringe according to claim 1, characterized in that: The puncture training scenario path simulation generation module includes the following functions: Obtaining gyroscope calibration measurement values ​​corresponding to different time points of the selected puncture scenario simulation process through gyroscope deviation calibration values ​​during the puncture process; Based on the corresponding gyroscope calibration measurement values ​​at different time points, a three-dimensional virtual space scene is constructed for the corresponding selected puncture scene simulation process to generate a gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process; The gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process is subjected to dynamic simulation recognition analysis of the puncture path to generate a puncture simulation training path corresponding to the selected puncture scene simulation process.

10. The comprehensive puncture simulation system based on automatic injector according to claim 9, characterized in that: The dynamic simulation and identification analysis of the puncture path of the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process includes: Annotating key puncture nodes of the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to obtain key puncture nodes of the gyroscope puncture corresponding to the selected puncture simulation process; Performing physical geometric constraint analysis on the gyroscopic puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to obtain the gyroscopic puncture physical geometric constraint conditions corresponding to the selected puncture simulation process; Based on the gyroscope puncture physical geometric constraint conditions corresponding to the selected puncture simulation process, a puncture path preset tracking analysis is performed on the corresponding gyroscope puncture key nodes to generate a gyroscope puncture constraint preset path corresponding to the selected puncture simulation process; Based on the selected puncture scene simulation process, a puncture process mechanical simulation analysis is performed on the gyroscope puncture three-dimensional virtual space model corresponding to the selected puncture simulation process to generate a puncture mechanical response simulation field corresponding to the selected puncture simulation process; According to the puncture mechanical response simulation field corresponding to the selected puncture simulation process, the puncture path dynamic simulation identification analysis is performed on the gyroscope puncture constraint preset path corresponding to the selected puncture simulation process to generate a puncture simulation training path corresponding to the selected puncture scene simulation process.

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