Control method and control system of anterior cervical intervertebral disc resection fusion operation trainer and storage medium

Abstract

The invention discloses a control system of an anterior cervical intervertebral disc resection and fusion operation trainer, the anterior cervical intervertebral disc resection and fusion operation trainer comprises a simulator base and a simulator shell which are detachably connected, one end of the simulator shell is provided with simulated neck skin, and the other end of the simulator shell is provided with simulated neck skin; the simulator base is provided with simulated muscle soft tissue, simulated tracheoesophagus, scapula tongue bone muscle and simulated sternocleidomastoid muscle; at least one section of simulated cervical vertebra is arranged below the simulated muscle soft tissue, and a simulated intervertebral artery and a simulated spinal cord are arranged in the at least one section of simulated cervical vertebra; the control system comprises a main control device, namely a test mode conversion button and a buzzer alarm which are arranged on the simulator base, and a tension sensor I and a tension sensor II which are arranged in the simulator base. According to the scheme, a scientific and instant training evaluation mechanism is comprehensively provided, and the technical level of operators can be improved; based on the control system, the invention further provides a control method and a storage medium of the training device for the anterior cervical intervertebral disc resection and fusion surgery.

Description

Priority application

[0001] This application claims the Chinese invention patent application filed on July 23, 2024 The priority of the invention patent application of [CN2024109978244] "[A control method and control system, and storage medium for anterior cervical discectomy and fusion surgery trainer]" is incorporated by reference in its entirety. Technical Field

[0002] The present invention relates to the technical field of surgical trainers, and in particular to a control method and a control system and a storage medium for an anterior cervical discectomy and fusion surgical trainer. Background Art

[0003] Anterior cervical discectomy and fusion is one of the common operations in spinal neurosurgery. The neck has a large number of complex tissues and organs, and is close to important human tissues such as the carotid artery and cervical plexus, which requires extremely high-precision operations and techniques. Before performing anterior cervical discectomy and fusion, it is necessary to palpate the carotid pulse to determine the location of the carotid artery, bluntly separate the carotid sheath from the tracheal space, expose the prevertebral fascia, identify and protect the superior laryngeal and recurrent laryngeal nerves, and then longitudinally incise the prevertebral fascia to expose the vertebral body and intervertebral disc, use a cervical spreader to spread the intervertebral space, and finally complete the cervical discectomy, nerve decompression, and placement of the intervertebral fusion device. Surgical simulator training can help doctors practice surgical skills in a virtual environment and improve operational accuracy and safety.

[0004] The existing surgical simulation and demonstration devices are of general structure, and there is no trainer for anterior cervical discectomy and fusion.

[0005] For example, the Chinese invention patent application with application number CN202110179881.8 discloses a transradial artery interventional surgery trainer, comprising: a human body model; a vascular model provided in the human body model, comprising: an aortic system model, including an aortic arch model and a brachiocephalic trunk model detachably connected to the aortic arch model, and the brachiocephalic trunk model is connected to the aortic arch model; and a radial artery system model, including a radial artery model connected to the aortic arch model, the radial artery model having a puncture point suitable for repeated punctures; and a blood circulation model provided in the human body model, for allowing simulated blood to circulate in the vascular model; wherein the connection position between the brachiocephalic trunk model and the aortic arch model is adjustable to form different aortic arch shapes. By adjusting the aortic arch shape, the trainee's needs for neurointervention training on different aortic arch shapes on the same human body model can be met, which can reduce training costs and improve training benefits.

[0006] The above-mentioned trainers have the following problems: (1) The cost is too high and most of them are not used, resulting in a waste of resources; (2) The soft tissue structure relationship of the neck is not simulated more finely, so that the simulation device has a low degree of restoration of the real surgical scene and the degree of simulation is not enough; (3) There is no timely feedback function. There is no timely feedback and signal prompts during simulation training, and the training efficiency is low; (4) The virtual simulation training equipment lacks physical touch and force feedback, which limits the trainees' ability to judge space.

[0007] Therefore, we designed a cervical anterior discectomy and fusion surgery trainer and its corresponding control method and control system. Summary of the invention

[0008] The purpose of the present invention is to provide a control method, control system and storage medium for an anterior cervical discectomy and fusion surgery trainer to partially alleviate or solve at least one of the problems raised in the above-mentioned background technology and improve the accuracy of the trainer in judging the number of errors.

[0009] In order to solve the above-mentioned technical problems, the present invention specifically adopts the following technical solutions:

[0010] A first aspect of the present invention is to provide a control system for an anterior cervical discectomy and fusion surgery trainer, wherein the anterior cervical discectomy and fusion surgery trainer comprises a detachably connected simulator base and a simulator shell, one end of the simulator shell is provided with simulated neck skin, and the simulator base is provided with simulated muscle soft tissue, simulated trachea and esophagus, omohyoid muscle and simulated sternocleidomastoid muscle; at least one simulated cervical vertebra is provided below the simulated muscle soft tissue, and the at least one simulated cervical vertebra is provided with simulated intervertebral arteries and simulated spinal cord; accordingly,

[0011] The control system comprises: a microcontroller, and a test mode conversion button, a test data display screen, and a buzzer alarm arranged on the simulator base, and tension sensors 1 and 2 are respectively arranged at both ends of the at least one simulated cervical vertebra; wherein one end of the simulated intervertebral artery is fixed on the simulated soft tissue support 2 in the simulator base, and the other end passes through one side of the at least one simulated cervical vertebra, bypasses the pull ring of the tension sensor 1, and then passes through the other side of the at least one simulated cervical vertebra and is fixed on the simulated soft tissue support 2; the two ends of the simulated spinal cord are respectively fixedly connected to the sensor support frame and the tension sensor 2 in the simulator base; the microcontroller is electrically connected to the test mode conversion button, and performs data communication with the tension sensor 1, the tension sensor 2, the buzzer alarm and the test data display screen; it comprises:

[0012] A working mode management module, for switching working modes in response to the user's operation of the test mode conversion button; the working modes include training mode and test mode; and when in the test mode, the buzzer alarm is set to a silent state; when in the training mode, the buzzer alarm is set to an alarm state;

[0013] A data acquisition module, used for periodically acquiring the pressure values ​​detected by the tension sensor 1 and the tension sensor 2 in the test mode;

[0014] The first identification module is used to calculate the pressure average of the tension sensor 1 in each cycle, and determine whether the pressure average of the tension sensor 1 in the current cycle is greater than a first set threshold value; and when it is determined that the pressure average of the tension sensor 1 is greater than or equal to the first set threshold value, determine whether the pressure fluctuation rate of the tension sensor 1 in the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made a continuous mistake once, and the duration of the mistake is recorded;

[0015] The second identification module is used to calculate the average pressure of the tension sensor 2 in each cycle, and determine whether the average pressure of the tension sensor 2 in the current cycle is greater than a second set threshold value; and when it is determined that the average pressure of the tension sensor 2 is greater than or equal to the second set threshold value, determine whether the pressure fluctuation rate of the tension sensor 2 in the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made a continuous mistake once, and the duration of the mistake is recorded.

[0016] As an improvement, the microcontroller further comprises:

[0017] The statistical module is used to classify the error levels in advance according to the alarm times of the buzzer alarm in each surgical operation link in the training mode, and obtain surgical operation links with high error frequency, surgical operation links with relatively high error frequency, surgical operation links with average error frequency, and surgical operation links with low error frequency; wherein the surgical operation links with high error frequency and relatively high error frequency are surgical operation links prone to errors;

[0018] The data acquisition module is also used to match the corresponding preset pressure value acquisition frequency in the database for at least one surgical operation link that is prone to errors once the mode is switched to the examination mode.

[0019] As an improvement, the statistical module is also used to identify the error-prone types of each surgical operation link that is prone to error, and the error-prone types include: touching the simulated intervertebral artery, or touching the simulated spinal cord;

[0020] The data acquisition module is also used to match the first preset pressure value acquisition frequency and the second preset pressure value acquisition frequency for the tension sensor 1 and the tension sensor 2 in the database when the statistical module identifies that the simulated intervertebral artery is touched, and the first pressure value acquisition frequency is greater than the second preset pressure value acquisition frequency; if the simulated spinal cord is touched, the third preset pressure value acquisition frequency and the fourth preset pressure value acquisition frequency are matched for the tension sensor 1 and the tension sensor 2 in the database, and the third pressure value acquisition frequency is less than the fourth preset pressure value acquisition frequency.

[0021] As an improvement, an image data acquisition module that can communicate data with the microcontroller is provided in the simulator base. Correspondingly, the microcontroller also includes: a reminder module, which is used to remind the examiner to retrieve the image data of the corresponding period for manual verification when it is determined that the tester has made a continuous mistake once and the duration of the mistake exceeds a set time threshold.

[0022] As an improvement, a simulated right carotid artery hose is arranged between the simulated soft tissue support one and the simulated soft tissue support two, one end of the simulated right carotid artery hose is connected to the output end of the carotid artery pneumatic device, and the other end passes through the simulated soft tissue support two and is fixed on the simulator base.

[0023] As an improvement, it also includes a signal indicator light arranged on the simulator base, the signal indicator light communicates data with the microcontroller, and the microcontroller is also used to control the signal indicator light to indicate the current operation error when the first recognition module or the second recognition module recognizes an error once.

[0024] A second aspect of the present invention is to provide a control method for an anterior cervical discectomy and fusion surgery trainer based on the above control system, comprising the following steps:

[0025] S101 periodically obtains the pressure values ​​detected by the tension sensor 1 and the tension sensor 2 in the test mode, and calculates the average pressure value of the tension sensor 1 and the average pressure value of the tension sensor 2 in each cycle;

[0026] S102a determines whether the average pressure value of the tension sensor 1 in the current cycle is greater than a first set threshold value; if so, execute step S103a, otherwise execute step S101;

[0027] S102b determines whether the average pressure value of the tension sensor 2 in the current cycle is greater than the second set threshold value; if so, execute step S103b, otherwise execute step S101;

[0028] S103a determines whether the pressure fluctuation rate of the tension sensor 1 in the current cycle is greater than the pressure fluctuation rate in the previous cycle; if so, it is determined that the tester has made two consecutive mistakes; otherwise, it is determined that the tester has made one consecutive mistake, and the duration of the mistake is recorded;

[0029] S103b determines whether the pressure fluctuation rate of the tension sensor 2 in the current cycle is greater than the pressure fluctuation rate in the previous cycle; if so, it is determined that the tester has made two consecutive mistakes; otherwise, it is determined that the tester has made one consecutive mistake and the duration of the mistake is recorded.

[0030] As an improvement, the following steps are also included:

[0031] S104 classifies the error levels in advance according to the alarm times of the buzzer alarm in each surgical operation link in the training mode, and obtains surgical operation links with high error frequency, surgical operation links with relatively high error frequency, surgical operation links with average error frequency, and surgical operation links with low error frequency; wherein the surgical operation links with high error frequency and relatively high error frequency are surgical operation links prone to errors;

[0032] Once the test mode is switched to S105, a corresponding preset pressure value acquisition frequency is matched in the database for at least one surgical operation link that is prone to errors.

[0033] As an improvement, the steps are also included:

[0034] Identify the error-prone types of each surgical operation link that is prone to errors, wherein the error-prone types include: touching the simulated intervertebral artery, or touching the simulated spinal cord;

[0035] When it is identified that the simulated intervertebral artery is touched, the first preset pressure value acquisition frequency and the second preset pressure value acquisition frequency are matched respectively to the tension sensor 1 and the tension sensor 2 in the database, and the first pressure value acquisition frequency is greater than the second preset pressure value acquisition frequency;

[0036] When it is identified that the simulated spinal cord is touched, the third preset pressure value acquisition frequency and the fourth preset pressure value acquisition frequency are matched for the tension sensor 1 and the tension sensor 2 in the database respectively, and the third pressure value acquisition frequency is less than the fourth preset pressure value acquisition frequency.

[0037] A third aspect of the present invention is to provide a computer-readable storage medium, in which computer program instructions are stored. When the computer program instructions are executed by at least one processor, they are used to implement any of the above-mentioned control methods.

[0038] The principles and beneficial effects of the present invention are:

[0039] The present invention designs a more realistic simulated cervical spine structure, combines a control system such as a main control board to monitor the operator's operation, integrates multiple judgment rules to judge the number of operator errors, and comprehensively provides a scientific and timely training evaluation mechanism.

[0040] Specifically, in the training mode, once the test subject makes an incorrect operation (of course, the incorrect operation is limited to the situation where the nerve is stretched), the trainer will remind the test subject through the buzzer, and the test subject will then correct the operation steps. At this time, the same incorrect operation will not usually continue; in the examination mode, in order to ensure that the test results are as close to the truth as possible, the buzzer is usually not turned on to remind the test subject. The test subject is very likely to cause continuous damage to the nerves due to the same operation without knowing that he has made an incorrect operation. When calculating the number of errors, it is a difficult problem to determine whether this situation is a single error or multiple errors; at this time, if a higher precision system is used for measurement, although the accuracy can be improved, the cost is too high and it is difficult to popularize.

[0041] The present invention uses periodic detection to make judgments based on the average pressure value and the fluctuation rate of pressure values ​​in adjacent periods, thereby effectively reducing the misjudgment rate. Furthermore, the present invention also classifies the weak links in the tester's operations in combination with the data in the training mode, and increases the acquisition frequency for the weak links during the test to improve the accuracy of the data in this part. Furthermore, since there are always certain omissions and misjudgments in machine judgment, this solution uses manual verification for situations where an error lasts too long, thereby further reducing the misjudgment rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale. Obviously, the drawings described below are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without paying creative labor.

[0043] Figure 1 It is a structural schematic diagram of a cervical anterior discectomy and fusion surgery trainer of the present invention;

[0044] Figure 2 This is a structural disassembly diagram of a cervical anterior discectomy and fusion surgery trainer according to the present invention;

[0045] Figure 3 This is a diagram of the internal structure of a cervical anterior discectomy and fusion surgery trainer of the present invention;

[0046] Figure 4 It is a front view of the internal structure of a cervical anterior discectomy and fusion surgery trainer of the present invention;

[0047] Figure 5 A top view of the internal structure of an anterior cervical discectomy and fusion surgery trainer of the present invention;

[0048] Figure 6 This is a schematic diagram of the structure of a cervical anterior discectomy and fusion surgery trainer simulating the fourth and fifth cervical vertebrae of the present invention;

[0049] Figure 7 It is a schematic structural diagram of a simulated carotid artery pneumatic device of a cervical anterior discectomy and fusion surgery trainer of the present invention;

[0050] Figure 8 This is a diagram of the internal structure of a cervical anterior discectomy and fusion surgery trainer of the present invention;

[0051] Fig. 9 It is a schematic diagram of the module structure of the control system of the controller of the present invention;

[0052] Fig.10 It is a control flow diagram of the control method of the trainer in the present invention.

[0053] Markings in the figure: 1. Simulator shell; 2. Simulated neck skin; 3. Shell clip; 4. Simulator switch; 5. Simulator base; 6. Carotid artery pneumatic device piston cylinder; 7. Tension sensor 1; 8. Simulated soft tissue bracket 1; 9. Sensor support frame; 10. Signal indicator light; 11. Simulator internal support partition; 12. Test mode conversion button; 13. Test data display screen; 14. Simulated soft tissue bracket 2; 15. Simulated muscle soft tissue; 16. Buzzer alarm; 17. Battery module; 18. Microcontroller; 19. Ocaplohyoid muscle; 20. Simulated sternocleidomastoid muscle; 21. Simulated right carotid artery hose; 22. Simulated spinal cord; 23. Simulated trachea and esophagus; 24. Tension sensor 2; 25. Simulated first to third cervical vertebrae; 26. Simulated fourth to fifth cervical vertebrae; 27. Simulated sixth to seventh cervical vertebrae; 28. Simulated intervertebral artery; 29. ​​Carotid artery pneumatic device telescope. DETAILED DESCRIPTION

[0054] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. 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 ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0055] Herein, suffixes such as "module", "component" or "unit" used to represent elements are only used to facilitate the description of the present invention, and have no specific meanings by themselves. Therefore, "module", "component" or "unit" can be used mixedly.

[0056] In this document, the terms "upper", "lower", "inner", "outer", "front", "back", "one end", "the other end" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0057] In this document, unless otherwise clearly specified and limited, the terms "installed", "provided with", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] Herein "and / or" includes any and all combinations of one or more of the associated listed items.

[0059] Herein, "plurality" means two or more than two, ie, it includes two, three, four, five, etc.

[0060] Embodiment 1

[0061] See also Figure 1-Figure 8 The present invention provides a cervical anterior discectomy and fusion surgery training device, comprising:

[0062] The simulator base 5 and the simulator shell 1 are detachably connected, and one end of the simulator shell 1 is provided with a simulated neck skin 2, and the simulated neck skin 2 is made of silicone material to improve the degree of restoration. When in use, the simulator shell 1 can be clamped and fixed to the simulator base 5 through multiple shell clamping strips 3. Two simulator switches 4 are provided on one side of the simulator base 5, and two test mode conversion buttons 12 and a test data display screen 13 are provided on the other side of the simulator base 5. The simulator base 5 is fixedly connected with a simulator internal support partition 11 and a buzzer alarm 16, and the simulator internal support partition 11 is clamped and fixed with a simulated soft tissue bracket 8 and a sensor support bracket 9.

[0063] A simulated soft tissue support 2 14 is provided on one side of the simulated soft tissue support 1 8, and a simulated muscle soft tissue 15, a simulated trachea esophagus 23, an omohyoid muscle 19 and a simulated sternocleidomastoid muscle 20 are bonded between the simulated soft tissue support 1 8 and the simulated soft tissue support 2 14. During the simulated surgical operation, tools are required to pull open the simulated sternocleidomastoid muscle 20 to expose the cone in the simulated fourth to fifth cervical vertebrae 26. The simulated muscle soft tissue 15 and the simulated trachea esophagus 23 are both made of silicone to improve the restoration degree of the anterior cervical discectomy and fusion surgery trainer.

[0064] A simulated right carotid artery hose 21 and a tension sensor 24 are provided between the simulated soft tissue support 14 and the simulator base 5. The tension sensor 24 is clamped and fixed between the simulated soft tissue support 14 and the simulator base 5. The downward force exerted on the simulated spinal cord 22 is measured by setting the tension sensor 24.

[0065] A carotid artery pneumatic device and a tension sensor 7 are clamped and fixed on the sensor support frame 9. The tension sensor 7 is set to measure the force exerted on the simulated intervertebral artery 28. A signal indicator light 10, a buzzer alarm 16, a battery module 17 and a microcontroller 18 are fixedly connected in the simulator base 5. It should be noted that the anterior cervical discectomy and fusion surgery trainer is divided into an examination mode and a training mode. In the examination mode, the flashing of the signal indicator light 10 will prompt an erroneous operation, and the number of errors will be recorded on the test data display screen 13; in the training mode, the buzzer alarm 16 will sound to prompt an erroneous operation, and the number of errors will be recorded on the test data display screen 13, so that the erroneous operation signals during training can be fed back to the operator in time. The signal indicator light 10, the test data display screen 13, the buzzer alarm 16, the battery module 17 and the microcontroller 18 are all existing devices and will not be elaborated on here.

[0066] The simulated muscle soft tissue 15 and the internal support partition 11 of the simulator are sequentially fixed with the simulated first to third cervical vertebrae 25, the simulated fourth to fifth cervical vertebrae 26 and the simulated sixth to seventh cervical vertebrae 27. The simulated fourth to fifth cervical vertebrae 26 are used for simulating the surgical operation module of removing the intervertebral disc. The simulated fourth to fifth cervical vertebrae 26 are 3D multi-head printed. The simulated fourth to fifth cervical vertebrae 26 are made of hard material. The simulated first to third cervical vertebrae 25 and the simulated sixth to seventh cervical vertebrae 27 on both sides of the simulated fourth to fifth cervical vertebrae 26 are provided. 7 is made of a relatively soft material, and a plurality of spheres are arranged in a stacked manner inside the intervertebral disc, which can be removed using tools during training to simulate the operation of removing the diseased nucleus pulposus during surgery; the simulated first to third cervical vertebrae 25, the simulated fourth to fifth cervical vertebrae 26, and the simulated sixth to seventh cervical vertebrae 27 are connected through simulated intervertebral arteries 28 and simulated spinal cord 22, and the two ends of the simulated intervertebral artery 28 are respectively fixedly connected to the tension sensor 1 7 and the simulated soft tissue support 2 14, and the two ends of the simulated spinal cord 22 are respectively fixedly connected to the sensor support frame 9 and the tension sensor 2 24.

[0067] The simulated carotid artery pneumatic device includes a carotid artery pneumatic device piston cylinder 6, a simulated right carotid artery hose 21 and a carotid artery pneumatic device telescope 29. During the simulated surgical operation, a tool is required to pull open the simulated right carotid artery hose 21 so that the simulated right carotid artery hose 21 and the simulated sternocleidomastoid muscle 20 are pulled open on the same side. The carotid artery pneumatic device piston cylinder 6 is clamped on the sensor support frame 9, and the carotid artery pneumatic device telescope 29 is arranged in the carotid artery pneumatic device piston cylinder 6. The simulated right carotid artery hose 21 passes through the simulated soft tissue support 14, and the two ends of the simulated right carotid artery hose 21 are respectively fixedly connected to the carotid artery pneumatic device piston cylinder 6 and the inner wall of the simulator base 5. When in use, the carotid artery pneumatic device telescope 29 drives the piston to reciprocate in the carotid artery pneumatic device piston cylinder 6 to realize the pulsation of the simulated right carotid artery hose 21, thereby improving the realism of the surgical simulation.

[0068] In some embodiments, the microcontroller 18 as the main control device is electrically connected to the test mode conversion button and performs data communication with the tension sensor 1, the tension sensor 2, the buzzer alarm and the test data display screen; it includes:

[0069] A working mode management module, for switching working modes in response to the user's operation of the test mode conversion button; the working modes include training mode and test mode; and when in the test mode, the buzzer alarm is set to a silent state; when in the training mode, the buzzer alarm is set to an alarm state;

[0070] A data acquisition module, used for periodically acquiring the pressure values ​​detected by the tension sensor 1 and the pressure sensor 2 in the test mode;

[0071] The first identification module is used to calculate the pressure average of the tension sensor 1 in each cycle, and determine whether the pressure average of the tension sensor 1 in the current cycle is greater than a first set threshold value; and when it is determined that the pressure average is greater than or equal to the first set threshold value, determine whether the pressure fluctuation rate of the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made a continuous mistake once, and the duration of the mistake is recorded;

[0072] The second identification module is used to calculate the average pressure of the tension sensor 2 in each cycle, and determine whether the average pressure of the tension sensor 2 in the current cycle is greater than a second set threshold value; and when it is determined that the average pressure of the tension sensor 2 is greater than or equal to the second set threshold value, determine whether the pressure fluctuation rate of the tension sensor 2 in the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made a continuous mistake once, and the duration of the mistake is recorded.

[0073] It can be seen that when either the first recognition module or the second recognition module determines that an error has occurred, it is recorded as an error. Of course, if both the first recognition module and the second recognition module determine that an error has occurred, the examiner is reminded to check and mark it. After the test is completed, the number of occurrences of this situation is counted. If it is greater than the preset number, the examiner is reminded to check the video (specifically, a camera can be set in the base to shoot the operation process).

[0074] In some embodiments, the microcontroller further comprises:

[0075] The statistical module is used to perform statistical analysis in advance based on the historical data of the buzzer alarm in each surgical operation link under the training mode, and obtain at least one operation step in which the tester is prone to make errors; specifically, the statistical module classifies the error levels according to the number of alarms of the buzzer alarm in each surgical operation link under the training mode, and obtains surgical operation links with high error frequency, surgical operation links with high error frequency, surgical operation links with average error frequency, and surgical operation links with low error frequency; among them, surgical operation links with high error frequency and high error frequency are surgical operation links that are prone to errors.

[0076] The data acquisition module is also used to match the corresponding preset pressure value collection frequency in the database for at least one surgical operation link that is prone to errors once switching to the examination mode, that is, to increase the pressure value collection frequency of at least one surgical operation link that is prone to errors.

[0077] In some embodiments, the statistical module is further used to identify the error-prone type of each surgical operation link that is prone to error, and the error-prone type includes: touching the simulated intervertebral artery, or touching the simulated spinal cord; specifically, when each error is determined, the corresponding error-prone type can be identified according to the corresponding pressure data source;

[0078] Correspondingly, the above-mentioned data acquisition module is used to match the first preset pressure value collection frequency and the second preset pressure value collection frequency for the tension sensor 1 and the tension sensor 2 respectively in the database when the statistical module identifies that the simulated intervertebral artery is touched, and the first pressure value collection frequency is greater than the second preset pressure value collection frequency; if the simulated spinal cord is touched, the third preset pressure value collection frequency and the fourth preset pressure value collection frequency are matched in the database for the tension sensor 1 and the tension sensor 2 respectively, and the third pressure value collection frequency is less than the fourth preset pressure value collection frequency.

[0079] The types of errors that may occur in each error-prone surgical operation are different. As long as any one of them occurs, it can be determined that an error has occurred; and each type of error may result in a continuous error. Therefore, by comparing the pressure fluctuation rate of the same type in two adjacent cycles, it can be determined whether it is a continuous error or it actually occurred twice.

[0080] Of course, usually, due to the different positions of the simulated intervertebral artery and the simulated spinal cord, the probability of the two types occurring simultaneously during the surgical operation is very low, and of course, it is impossible. When the two types occur simultaneously, it is recorded as one time, and the examiner is prompted to observe. Of course, the number and time of this situation during the entire examination process are counted, so that after the examination is completed, the video data shot by the camera preset inside the base can be retrieved for verification.

[0081] In some embodiments, an image data acquisition module capable of communicating data with the microcontroller is provided in the simulator base. Accordingly, the microcontroller also includes: a reminder module for reminding the examiner to retrieve the image data of the corresponding period for manual verification when it is determined that the test subject has made a continuous error once and the duration of the error exceeds a set time threshold.

[0082] In some embodiments, a signal indicator light is fixedly connected to the simulator base, the signal indicator light communicates data with the microcontroller, and the microcontroller is also used to control the signal indicator light to indicate a current operation error when the first recognition module recognizes an error once.

[0083] Working principle: the staff cuts open the simulated neck skin 2, identifies the simulated sternocleidomastoid muscle 20 set under the simulated neck skin 2, and the carotid pneumatic device telescopic machine 29 drives the piston to reciprocate in the carotid pneumatic device piston cylinder 6 to realize the pulsation of the simulated right carotid artery hose 21, so that the operator can quickly identify the simulated right carotid artery hose 21 and push it aside for surgery, thereby avoiding accidental injury to the simulated right carotid artery hose 21 during the operation; specifically, the operator uses tools to bluntly separate the simulated right carotid artery hose 21 from the simulated trachea and esophagus 23 to expose the vertebral body, longitudinally cut the prevertebral fascia to expose the simulated first to third cervical vertebrae 25, simulated fourth to fifth cervical vertebrae 26 and simulated sixth to seventh cervical vertebrae 27, so as to perform anterior cervical discectomy and fusion surgery;

[0084] At the same time, if the operator accidentally touches the simulated intervertebral artery 28 connected to the tension sensor 7, so that the tension detected by the tension sensor 7 is greater than the preset threshold, the tension signal generated by the elastic pulling of the simulated intervertebral artery 28 due to the erroneous operation is fed back to the operator, for example, in the training mode, the alarm is given through the buzzer alarm 16. For another example, in the examination mode, the indication is given through the signal indicator light 10 and the display screen 13.

[0085] Embodiment 2

[0086] Based on the above-mentioned anterior cervical discectomy and fusion surgery trainer, the present invention also provides a control system of the anterior cervical discectomy and fusion surgery trainer, which includes: a microcontroller, and a test mode conversion button 12, a test data display screen 13, and a buzzer alarm 16 arranged on the simulator base 5, and respectively arranged on the tension sensor one 7 and the tension sensor two 24 at both ends of the at least one simulated cervical vertebra; wherein one end of the simulated intervertebral artery 28 is fixed on the simulated soft tissue support two 14 in the simulator base 5, and the other end passes through one side of the at least one simulated cervical vertebra and then bypasses the pull ring of the tension sensor one 7, and then passes through the other side of the at least one simulated cervical vertebra and is fixed on the simulated soft tissue support two 14; the two ends of the simulated spinal cord 22 are respectively fixedly connected to the sensor support frame 9 and the tension sensor two 24 in the simulator base 5; the microcontroller is electrically connected to the test mode conversion button, and performs data communication with the tension sensor one 7, the tension sensor two 24, the buzzer alarm 16 and the test data display screen 13; the microcontroller includes:

[0087] A working mode management module, for switching working modes in response to the user's operation of the test mode conversion button; the working modes include training mode and test mode; and when in the test mode, the buzzer alarm is set to a silent state; when in the training mode, the buzzer alarm is set to an alarm state;

[0088] A data acquisition module, used for periodically acquiring the pressure values ​​detected by the tension sensor 1 7 and the tension sensor 2 24 in the test mode;

[0089] The first identification module is used to calculate the pressure average of the tension sensor 7 in each cycle, and determine whether the pressure average of the tension sensor 7 in the current cycle is greater than a first set threshold value; and when it is determined that the pressure average of the tension sensor 7 is greater than or equal to the first set threshold value, determine whether the pressure fluctuation rate of the tension sensor 7 in the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made a continuous mistake once, and the duration of the mistake is recorded;

[0090] The second identification module is used to calculate the average pressure of the tension sensor 2 in each cycle, and determine whether the average pressure of the tension sensor 2 in the current cycle is greater than a second set threshold value; and when it is determined that the average pressure of the tension sensor 2 is greater than or equal to the second set threshold value, determine whether the pressure fluctuation rate of the tension sensor 2 in the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made a continuous mistake once, and the duration of the mistake is recorded.

[0091] In some embodiments, the microcontroller also includes: a statistical module, which is used to pre-classify the error levels according to the number of alarms of the buzzer alarm in each surgical operation link in the training mode, and obtain surgical operation links with high error frequency, surgical operation links with high error frequency, surgical operation links with average error frequency, and surgical operation links with low error frequency; wherein, surgical operation links with high error frequency and high error frequency are surgical operation links that are prone to errors; the data acquisition module is also used to match the corresponding preset pressure value collection frequency in the database for at least one surgical operation link that is prone to errors once switching to the examination mode.

[0092] In some embodiments, the statistical module is further used to identify the error-prone types of each surgical operation link that is prone to error, and the error-prone types include: touching the simulated intervertebral artery, or touching the simulated spinal cord;

[0093] The data acquisition module is also used to match the first preset pressure value acquisition frequency and the second preset pressure value acquisition frequency for the tension sensor 1 and the tension sensor 2 in the database when the statistical module identifies that the simulated intervertebral artery is touched, and the first pressure value acquisition frequency is greater than the second preset pressure value acquisition frequency; if the simulated spinal cord is touched, the third preset pressure value acquisition frequency and the fourth preset pressure value acquisition frequency are matched for the tension sensor 1 and the tension sensor 2 in the database, and the third pressure value acquisition frequency is less than the fourth preset pressure value acquisition frequency.

[0094] In some embodiments, an image data acquisition module capable of communicating data with the microcontroller is provided in the simulator base 5. Accordingly, the microcontroller also includes: a reminder module for reminding the examiner to retrieve the image data of the corresponding period for manual verification when it is determined that the tester has made a continuous error once and the duration of the error exceeds a set time threshold.

[0095] In some embodiments, the signal indicator light 10 arranged on the simulator base 5 communicates data with the microcontroller, and the microcontroller is also used to control the signal indicator light to indicate the current operation error when the first recognition module or the second recognition module recognizes an error once.

[0096] Embodiment 3

[0097] like Fig.10 Based on the above trainer, the present invention also provides a control method for an anterior cervical discectomy and fusion surgery trainer, comprising the following steps:

[0098] S101 periodically obtains the pressure values ​​detected by the tension sensor 1 and the tension sensor 2 in the test mode, and calculates the average pressure value of the tension sensor 1 and the average pressure value of the tension sensor 2 in each cycle;

[0099] S102a determines whether the average pressure value of the tension sensor 1 in the current cycle is greater than the first set threshold value; if so, execute step S103a, otherwise execute step S101;

[0100] S102b determines whether the average pressure value of the tension sensor 2 in the current cycle is greater than the second set threshold value; if so, execute step S103b, otherwise execute step S101;

[0101] S103a determines whether the pressure fluctuation rate of the tension sensor 1 in the current cycle is greater than the pressure fluctuation rate in the previous cycle; if so, it is determined that the tester has made two consecutive mistakes; if not, it is determined that the tester has made one continuous mistake and the duration of the mistake is recorded;

[0102] S103b determines whether the pressure fluctuation rate of the tension sensor 2 in the current cycle is greater than the pressure fluctuation rate in the previous cycle; if so, it is determined that the tester has made two consecutive mistakes; otherwise, it is determined that the tester has made one consecutive mistake and the duration of the mistake is recorded.

[0103] It should be noted that the tension sensor collects pressure values ​​in real time and may collect multiple instantaneous pressure values ​​within a cycle (i.e., a time period). The pressure mean is obtained by calculating the average of multiple instantaneous pressure values ​​within a cycle. Correspondingly, the pressure fluctuation rate represents the fluctuation amplitude of each instantaneous pressure value collected within a cycle relative to the pressure mean. The larger the fluctuation amplitude, the higher the pressure fluctuation rate.

[0104] Accordingly, the acquisition frequency in the following text is reflected by the density of pressure values ​​collected within a cycle, that is, by the number of instantaneous pressure values ​​collected per unit time. The more instantaneous pressure values ​​collected per unit time, the higher the acquisition frequency.

[0105] In some other embodiments, the steps are also included:

[0106] S104: Statistical analysis is performed in advance based on historical data of buzzer alarms in each surgical operation link in the training mode to obtain at least one surgical operation link in which the tester is prone to make mistakes; specifically, error levels are divided according to the number of alarms to obtain surgical operation links with high error frequencies, surgical operation links with relatively high error frequencies, surgical operation links with average error frequencies, and surgical operation links with low error frequencies; wherein surgical operation links with high error frequencies and relatively high error frequencies are surgical operation links prone to making mistakes;

[0107] S105 Once the test mode is switched, a corresponding preset pressure value acquisition frequency is matched in the database for at least one surgical operation link that is prone to errors (for example, the acquisition frequency is increased).

[0108] In order to ensure the accuracy of the test results, each operation step may correspond to multiple cycles.

[0109] Furthermore, the error frequency of each surgical operation link in the training mode (i.e., the number of alarms of the buzzer alarm) can be pre-divided into multiple levels, for example, divided into high frequency, relatively high frequency, general frequency, and low frequency according to different preset alarm thresholds; wherein, the surgical operation links with high frequency and relatively high frequency are prone to errors; accordingly, different pressure value collection frequencies are set for surgical operation links with different error levels, for example, the surgical operation link with high frequency has the largest pressure value collection frequency, the surgical operation link with relatively high frequency has a relatively high pressure value collection frequency, and so on. That is, the higher the error level, the higher the corresponding pressure value collection frequency. Preferably, except for the surgical operation links that are prone to errors, the others all use the default pressure value collection frequency.

[0110] In other embodiments, the step is also included: identifying the error-prone type of each surgical operation link that is prone to errors, and the error-prone types include: touching the simulated intervertebral artery, or touching the simulated spinal cord; and when it is identified as touching the simulated intervertebral artery, the first preset pressure value acquisition frequency and the second preset pressure value acquisition frequency are matched for the tension sensor 1 and the tension sensor 2 in the database, respectively, and the first pressure value acquisition frequency is greater than the second preset pressure value acquisition frequency; when it is identified as touching the simulated spinal cord, the third preset pressure value acquisition frequency and the fourth preset pressure value acquisition frequency are matched for the tension sensor 1 and the tension sensor 2 in the database, respectively, and the third pressure value acquisition frequency is less than the fourth preset pressure value acquisition frequency.

[0111] In other embodiments, an image data acquisition module capable of data communication with the microcontroller is provided in the simulator base 5 for acquiring image data of the entire surgical process. Accordingly, the control method further comprises the steps of:

[0112] S106: When it is determined that the tester has made a continuous error and the duration of the error exceeds the set duration threshold, the examiner is reminded to retrieve the video of the corresponding period for manual verification.

[0113] The principle and effect of this scheme are:

[0114] In the training mode, once the test subject makes an incorrect operation (of course, the incorrect operation is limited to the case of accidentally touching the simulated intervertebral artery), the trainer will remind the test subject through the buzzer, and then the test subject will correct the operation steps. At this time, the same incorrect operation will not usually continue. In the examination mode, in order to ensure the authenticity of the test results, the buzzer is usually not turned on to remind the test subject. The test subject is very likely to cause continuous damage to the nerves due to the same operation without knowing that he has made an incorrect operation. When calculating the number of errors, it is a difficult problem to determine whether this situation is a single error or multiple errors. At this time, if a higher precision system is used for measurement, although the accuracy can be improved, the cost is too high and it is difficult to popularize.

[0115] This solution determines the number of errors through periodic detection and comparison of the volatility of adjacent periods, which effectively improves the accuracy of error statistics.

[0116] Furthermore, this solution also combines the data in the training mode to count the weak links in the test takers' operations, and increases the collection frequency during the test to improve the accuracy of this part of the data, thereby further improving the accuracy of the error count.

[0117] Furthermore, there are always some cases of missed or misjudgment in machine judgment. This solution adopts manual verification for possible misjudgment (for example, a misjudgment lasts too long), which further reduces the misjudgment rate.

[0118] In summary, this solution uses a human-machine combination and multiple judgment rules to effectively reduce the misjudgment rate while ensuring low costs.

[0119] The present invention also provides a storage medium for an anterior cervical discectomy and fusion surgery trainer, the storage medium comprising a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute any one of steps S101-S106 of the above method.

[0120] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0121] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation modes, which are merely illustrative rather than restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are within the protection of the present invention.

Claims

1. A control system for anterior cervical discectomy and fusion surgery trainer, characterized in that: The anterior cervical discectomy and fusion surgery trainer comprises a detachably connected simulator base (5) and a simulator shell (1); one end of the simulator shell (1) is provided with a simulated neck skin (2); the simulator base (5) is provided with simulated muscle soft tissue (15), a simulated trachea and esophagus (23), an omohyoid muscle (19) and a simulated sternocleidomastoid muscle (20); at least one simulated cervical vertebra is provided below the simulated muscle soft tissue (15), and the at least one simulated cervical vertebra is provided with a simulated intervertebral artery (28) and a simulated spinal cord (22); accordingly, The control system comprises: a microcontroller, and a test mode conversion button (12), a test data display screen (13), and a buzzer alarm (16) arranged on the simulator base (5), and respectively arranged on the tension sensor 1 (7) and the tension sensor 2 (24) at both ends of the at least one simulated cervical vertebra; wherein one end of the simulated intervertebral artery (28) is fixed on the simulated soft tissue support 2 (14) in the simulator base (5), and the other end passes through one side of the at least one simulated cervical vertebra and then bypasses the pull ring of the tension sensor 1 (7), and then passes through the other side of the at least one simulated cervical vertebra and then is fixed on the simulated soft tissue support 2 (14); the two ends of the simulated spinal cord (22) are respectively fixedly connected to the sensor support frame (9) and the tension sensor 2 (24) in the simulator base (5); the microcontroller is electrically connected to the test mode conversion button, and performs data communication with the tension sensor 1 (7), the tension sensor 2 (24), the buzzer alarm (16) and the test data display screen (13); it comprises: A working mode management module, for switching working modes in response to the user's operation of the test mode conversion button; the working modes include training mode and test mode; and when in the test mode, the buzzer alarm is set to a silent state; when in the training mode, the buzzer alarm is set to an alarm state; A data acquisition module, used for periodically acquiring the pressure values ​​detected by the tension sensor 1 (7) and the tension sensor 2 (24) in the test mode; The first identification module is used to calculate the pressure average of the tension sensor 1 (7) in each cycle, and determine whether the pressure average of the tension sensor 1 (7) in the current cycle is greater than a first set threshold value; and when it is determined that the pressure average of the tension sensor 1 (7) is greater than or equal to the first set threshold value, determine whether the pressure fluctuation rate of the tension sensor 1 (7) in the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made one continuous mistake, and the duration of the mistake is recorded; The second identification module is used to calculate the average pressure of the tension sensor 2 (24) in each cycle, and determine whether the average pressure of the tension sensor 2 (24) in the current cycle is greater than a second set threshold value; and when it is determined that the average pressure of the tension sensor 2 (24) is greater than or equal to the second set threshold value, determine whether the pressure fluctuation rate of the tension sensor 2 (24) in the current cycle is greater than the pressure fluctuation rate of the previous cycle; if it is greater than the pressure fluctuation rate of the previous cycle, it is determined that the tester has made two consecutive mistakes; if it is less than or equal to the pressure fluctuation rate of the previous cycle, it is determined that the tester has made a continuous mistake once, and the duration of the mistake is recorded.

2. The control system of the anterior cervical discectomy and fusion surgery trainer according to claim 1, characterized in that: The microcontroller also includes: The statistical module is used to classify the error levels according to the alarm times of the buzzer alarm (16) in each surgical operation link in the training mode, and obtain surgical operation links with high error frequency, surgical operation links with relatively high error frequency, surgical operation links with average error frequency, and surgical operation links with low error frequency; wherein the surgical operation links with high error frequency and relatively high error frequency are surgical operation links prone to errors; The data acquisition module is also used to match the corresponding preset pressure value acquisition frequency in the database for at least one surgical operation link that is prone to errors once the mode is switched to the examination mode.

3. The control system of the anterior cervical discectomy and fusion surgery trainer according to claim 2, characterized in that: The statistical module is also used to identify the error-prone types of each surgical operation link that is prone to error, and the error-prone types include: touching the simulated intervertebral artery, or touching the simulated spinal cord; The data acquisition module is also used to match the first preset pressure value acquisition frequency and the second preset pressure value acquisition frequency for the tension sensor 1 and the tension sensor 2 in the database when the statistical module identifies that the simulated intervertebral artery is touched, and the first pressure value acquisition frequency is greater than the second preset pressure value acquisition frequency; if the simulated spinal cord is touched, the third preset pressure value acquisition frequency and the fourth preset pressure value acquisition frequency are matched for the tension sensor 1 and the tension sensor 2 in the database, and the third pressure value acquisition frequency is less than the fourth preset pressure value acquisition frequency.

4. The control system of the anterior cervical discectomy and fusion surgery trainer according to claim 3, characterized in that: The simulator base (5) is provided with an image data acquisition module capable of performing data communication with the microcontroller. Correspondingly, the microcontroller further comprises: a reminder module for reminding the examiner to retrieve the image data of the corresponding period for manual verification when it is determined that the test subject has made a continuous error once and the duration of the error exceeds a set duration threshold.

5. The control system of the anterior cervical discectomy and fusion surgery trainer according to claim 1, characterized in that: A simulated soft tissue support 1 is arranged in the simulator base, and a simulated right carotid artery hose (21) is arranged between the simulated soft tissue support 1 (8) and the simulated soft tissue support 2 (14). One end of the simulated right carotid artery hose (21) is connected to the output end of the carotid artery pneumatic device, and the other end passes through the simulated soft tissue support 2 (14) and is fixed on the simulator base (5).

6. The control system of the anterior cervical discectomy and fusion surgery trainer according to claim 1, characterized in that: It also includes a signal indicator light (10) arranged on the simulator base (5), the signal indicator light (10) performs data communication with the microcontroller, and the microcontroller is also used to control the signal indicator light to indicate the current operation error when the first recognition module or the second recognition module recognizes an error once.

7. A control method for anterior cervical discectomy and fusion surgery trainer, characterized in that: A control system for a cervical anterior discectomy and fusion surgery trainer as claimed in any one of claims 1 to 6, wherein the control method comprises the steps of: S101 periodically obtains the pressure values ​​detected by the tension sensor 1 and the tension sensor 2 in the test mode, and calculates the average pressure value of the tension sensor 1 and the average pressure value of the tension sensor 2 in each cycle; S102a determines whether the average pressure value of the tension sensor 1 in the current cycle is greater than a first set threshold value; if so, execute step S103a, otherwise execute step S101; S102b determines whether the average pressure value of the tension sensor 2 in the current cycle is greater than a second set threshold; If yes, execute step S103b, otherwise execute step S101; S103a determines whether the pressure fluctuation rate of the tension sensor 1 in the current cycle is greater than the pressure fluctuation rate in the previous cycle; if so, it is determined that the tester has made two consecutive mistakes; otherwise, it is determined that the tester has made one consecutive mistake, and the duration of the mistake is recorded; S103b determines whether the pressure fluctuation rate of the tension sensor 2 in the current cycle is greater than the pressure fluctuation rate in the previous cycle; if so, it is determined that the tester has made two consecutive mistakes; otherwise, it is determined that the tester has made one consecutive mistake and the duration of the mistake is recorded.

8. The control method of the anterior cervical discectomy and fusion surgery trainer according to claim 7, characterized in that: Also includes the steps: S104 classifies the error levels in advance according to the alarm times of the buzzer alarm in each surgical operation link in the training mode, and obtains surgical operation links with high error frequency, surgical operation links with relatively high error frequency, surgical operation links with average error frequency, and surgical operation links with low error frequency; wherein the surgical operation links with high error frequency and relatively high error frequency are surgical operation links prone to errors; Once the test mode is switched to S105, a corresponding preset pressure value acquisition frequency is matched in the database for at least one surgical operation link that is prone to errors.

9. The control method of the anterior cervical discectomy and fusion surgery trainer according to claim 7, characterized in that: Also includes the steps: Identify the error-prone types of each surgical operation link that is prone to errors, wherein the error-prone types include: touching the simulated intervertebral artery, or touching the simulated spinal cord; When it is identified that the simulated intervertebral artery is touched, the first preset pressure value acquisition frequency and the second preset pressure value acquisition frequency are matched respectively to the tension sensor 1 and the tension sensor 2 in the database, and the first pressure value acquisition frequency is greater than the second preset pressure value acquisition frequency; When it is identified that the simulated spinal cord is touched, the third preset pressure value acquisition frequency and the fourth preset pressure value acquisition frequency are matched for the tension sensor 1 and the tension sensor 2 in the database respectively, and the third pressure value acquisition frequency is less than the fourth preset pressure value acquisition frequency.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, which are used to implement the control method described in any one of claims 6 to 9 when executed by at least one processor.

Images