Interventional operation type training system and method for tricuspid valve structural heart disease

Abstract

The invention provides a tricuspid valve structural heart disease interventional operation type training system and method. The system comprises a right heart model, an image function module and electronic equipment. A right heart anatomical model module of the model is an anatomical structure of a right heart chamber; the soft tissue interaction module takes the module as a mounting base and is mounted in the module. The soft tissue interaction module comprises a detachable tricuspid valve ring, and the image function module comprises a plurality of image acquisition devices facing the tricuspid valve ring. The electronic equipment comprises a scanning visual angle switching module, a scene display module and a video playing module. The scene display module acquires video data streams acquired by the image function module in real time, and the scanning view angle switching module switches view angles of different image acquisition devices to conform to an actual view angle; the video playing module plays X-ray and ultrasonic images of different operation stages. According to the design, an anatomy-operation-image association mode is adopted, so that an operator can quickly understand tricuspid valve structural heart disease operation type knowledge and operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical device training systems, and in particular to a tricuspid valve structural heart disease interventional procedure training system and method. Background Art

[0002] Currently, the existing medical anatomical models are mainly solid models, which can display the internal structure of the heart but cannot perform simulated operations. The current surgical training models are mainly simplified models or integrated models. After a single simulated operation, it is impossible to remove the implanted artificial valves, anchoring needles and other structures, and it is impossible to repeat the simulated operation. In addition, it is difficult to open them to intuitively display the internal anatomical structures related to interventional surgery.

[0003] Moreover, since tricuspid valve structural heart disease surgery is a new procedure, there is currently no relevant simulation surgery training program. Regarding the training of this type of professional procedure, it is necessary to follow the Standard Operation Procedure (SOP) in the actual operation, and to be familiar with the X-ray and ultrasound images seen in the actual operation, that is, to learn what to do at each step in the tricuspid valve structural heart disease surgery and what image results to see. This demand has not been met in all current training systems. Summary of the invention

[0004] In order to provide a simulated surgical training program for tricuspid valve structural heart disease procedures, the present invention provides a tricuspid valve structural heart disease interventional procedure training system and method. The technical solution proposed by the present invention is as follows: In a first aspect, the present invention provides a tricuspid valve structural heart disease interventional procedure training system, comprising: a right heart model, an imaging function module and an electronic device; wherein the right heart model comprises a right heart anatomical model module and a soft tissue interaction module; The right heart anatomical model module is the right heart anatomical structure of the right heart chamber; The soft tissue interaction module uses the right heart anatomical model module as a mounting base and is installed in the right heart anatomical model module, and the soft tissue interaction module includes a detachable tricuspid valve ring; The imaging function module includes a plurality of image acquisition devices facing the tricuspid valve annulus; The electronic device comprises a scanning view angle switching module, a scene display module and a video playback module; The scene display module is connected to the imaging function module, and is used to obtain the video data stream collected by the imaging function module in real time, and to display the images of the right heart model from multiple perspectives in real time; The scanning angle switching module is connected to the imaging function module and is used to switch the angles of view of different image acquisition devices so that the angle of view of the displayed image acquisition device is consistent with the actual angle of view; The video playback module is used to play X-ray and ultrasound images of different surgical stages, and switch video clips synchronously with surgical steps through button operation.

[0005] Optionally, the electronic device further comprises a surgical step prompt module for providing the operator with operation prompts and precautions at different surgical stages, and the prompt information and precautions can be switched synchronously with the X-ray and ultrasound images.

[0006] Optionally, the soft tissue interaction module also includes tissue surrounding the tricuspid annulus, part of the right ventricular septum tissue, the puncture site of the right atrium and surrounding tissue; The tricuspid valve ring and surrounding tissue are 3D printed with soft light-cured resin to install an artificial valve during surgery; The part of right ventricular septum tissue is processed from a composite material of a soft clay base, and is used for inserting an anchoring needle during surgery; The puncture site of the right atrium and the surrounding tissue are processed from high-density sponge to simulate the purse-string structure of right heart puncture during surgery.

[0007] Optionally, the right heart anatomical model module includes a right atrium, a right ventricle, and part of the superior and inferior vena cava connected to the heart, which are made of light-cured 3D printing resin.

[0008] Optionally, the right atrium, the right ventricle and parts of the superior and inferior vena cava connected to the heart are completely assembleable hard parts and are connected and mounted to each other via magnets.

[0009] Optionally, the right heart anatomical structure is a transparent structure or a non-transparent structure.

[0010] Optionally, the imaging function module includes three image acquisition devices, which are oriented toward the tricuspid valve ring and are arranged as a right atrium perspective, a right ventricle perspective, and a ventricular septum tangent perspective, respectively.

[0011] In a second aspect, the present invention further provides a tricuspid valve structural heart disease interventional procedure training method, based on the tricuspid valve structural heart disease interventional procedure training system described in the first aspect, the method comprising: The trainer held a right heart model and disassembled it to introduce the scene of tricuspid valve intervention surgery; Fix the right heart model on the table and demonstrate the operation of each step using the corresponding surgical instruments according to the standard procedure of tricuspid valve intervention surgery; Display the relative position relationship between the interventional device and the right heart anatomical structure by using the image function module or opening the right heart model; Acquire pre-set X-ray and ultrasound images of different stages of the operation, combine the X-ray and ultrasound images, and simultaneously introduce the operation from the aspects of right heart anatomical structure, operation techniques and video data stream.

[0012] Optionally, the electronic device further includes a surgical procedure prompt module, and the method further includes: Obtain operation prompts and precautions at different surgical stages, and switch the prompt information and precautions synchronously with the X-ray and ultrasound images during the introduction of the surgery.

[0013] Optionally, the soft tissue interaction module further includes surrounding tissue of the tricuspid annulus, part of the right ventricular septal tissue, the puncture site of the right atrium and surrounding tissue; the method further includes: After the surgical introduction, the artificial valve installed on the tricuspid annulus and the anchoring pins installed in the portion of the right ventricular septal tissue are removed.

[0014] Based on the above technical solution, the beneficial effects of the present invention compared with the prior art are as follows: The present invention provides a system and method for training interventional procedures for tricuspid valve structural heart disease. The system includes a relatively realistic right heart anatomical structure to facilitate the training and demonstration of the interventional surgery environment, and can repeatedly simulate tricuspid valve structural heart disease procedures with a certain degree of realism, and at the same time uses electronic equipment for the standardized surgical process of the procedure based on professional experience. Based on this, the design uses anatomy-operation-image association to enable the trained operator to quickly understand, learn, and repeatedly practice the knowledge and operation of tricuspid valve structural heart disease procedures. The operator can repeatedly practice surgical skills without contacting real patients to improve the proficiency and accuracy of surgical operations.

[0015] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description, claims and drawings.

[0016] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1a It is a schematic structural diagram of the tricuspid valve structural heart disease interventional procedure training system provided by the present invention when the upper cover of the right heart anatomical model module is completely opened.

[0019] Figure 1b It is a structural schematic diagram of the tricuspid valve structural heart disease interventional procedure training system provided by the present invention when the upper cover of the right heart anatomical model module is opened.

[0020] Figure 1c It is a schematic structural diagram of the tricuspid valve structural heart disease interventional procedure training system provided by the present invention when the upper cover of the right heart anatomical model module is completely covered.

[0021] Figure 1d It is a schematic structural diagram of the tricuspid valve structural heart disease interventional procedure training system provided by the present invention when the tricuspid valve ring of the right heart anatomical model module is removed.

[0022] Figure 2 It is a structural schematic diagram of the right heart model provided by the present invention.

[0023] Figure 3 It is a schematic structural diagram of the right heart anatomical model module provided by the present invention in two versions, transparent and non-transparent.

[0024] Figure 4a yes Figure 1a Schematic diagram of the structure when the right heart anatomical model module is a transparent version.

[0025] Figure 4b yes Figure 1b Schematic diagram of the structure when the right heart anatomical model module is a transparent version.

[0026] Figure 4c yes Figure 1c Schematic diagram of the structure when the right heart anatomical model module is a transparent version.

[0027] Figure 4d yes Figure 1d Schematic diagram of the structure when the right heart anatomical model module is a transparent version.

[0028] Figure 5 It is a schematic structural diagram of the right heart model provided by the present invention under two installation positions of image acquisition devices.

[0029] Figure 6The present invention provides a flow chart of the interventional training method for tricuspid valve structural heart disease. In the figure, 1. right heart model; 100. right heart anatomical model module; 101. tricuspid valve ring; 102. upper cover; 110. soft tissue interaction module; 111. right ventricular septal tissue; 112. right atrium puncture site and surrounding tissue; 2. imaging function module; 201. image acquisition device connector; 3. electronic device; 301. scene display module; 302. video playback module; 303. surgical step prompt module; 4. surgical instruments. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings 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 creative work are within the scope of protection of the present invention.

[0031] Combine the following Figure 1a , 1b , 1c, 1d, and Figure 2 The tricuspid valve structural heart disease interventional procedure training system of the present invention is described. By combining a simulation body and training software, it is specifically used to assist and train novice doctors to become familiar with the tricuspid valve structural heart disease surgical process, master the correct use of surgical instruments 4, and clarify the key operations during the operation, and establish anatomy-operation-image association. The training software can be installed and deployed on an electronic device 3 of the operating system, such as a computer, and the hardware is fixed on the desktop, in conjunction with professional surgical instruments 4, to assist and train novice doctors. The core module of the system covers multiple aspects. It is easy to install, carry and fix, and can be flexibly applied to a variety of environments, significantly improving training efficiency and operation accuracy.

[0032] The core modules of the system include a right heart model 1, an imaging function module 2 and an electronic device 3. The right heart model 1 includes a right heart anatomical model module 100 and a soft tissue interaction module 110.

[0033] The above-mentioned right heart anatomical model module 100 is the main structure of the simulation body (i.e., the above-mentioned right heart model 1). This module not only displays the main anatomical structure of the right heart chamber (hereinafter referred to as the right heart anatomical structure), but also serves as the installation base for other modules. This module accurately replicates the anatomical structure of the human right heart, including the right atrium, right ventricle, heart wall, and parts of the superior and inferior vena cava connected to the heart. It provides a model of real size and proportion for the operator to operate in the simulated surgery.

[0034] The above-mentioned soft tissue interaction module 110 is a local structure on the right heart model 1 that will directly contact the surgical instrument 4, and is used to show the soft tissue state of the contact part. This module uses the right heart anatomical model module 100 as a mounting base and is installed in the right heart anatomical model module 100, simulating the soft tissue characteristics of the heart, especially the tricuspid valve ring 101 and its surrounding ligaments and muscle tissues. The tricuspid valve ring 101 is detachable, allowing the operator to perform operations such as tricuspid valve repair or replacement during simulated surgery. In addition, the soft tissue interaction module 110 also provides the necessary resistance and elasticity to make the operation feel closer to real surgery.

[0035] The imaging function module 2 includes a plurality of image acquisition devices facing the tricuspid annulus 101. These devices (such as high-definition cameras or endoscopes) are fixed at different positions of the system and facing the tricuspid annulus 101 to capture details during the operation. They can transmit high-definition video data streams in real time for observation and analysis by the operator and the trainer.

[0036] The electronic device 3 comprises a scanning viewing angle switching module, a scene display module 301 and a video playing module 302 .

[0037] The scene display module 301 is connected to the image function module 2. This module is a three-view camera display module for the right heart model 1. It is mainly responsible for scanning the external camera device, receiving the video data stream collected by the image function module 2 in real time, and displaying the pictures of the right heart model 1 from multiple perspectives in real time on a tablet computer, a touch screen display, etc. This module is compatible with a variety of image acquisition device (such as camera) types and resolutions to ensure the clarity and smoothness of the picture. This module allows the user to switch the perspectives of different image acquisition devices through the interface of the electronic device 3, so as to observe the surgical process from different angles. This helps the operator understand the surgical steps from multiple angles and improves the accuracy and safety of the surgical operation.

[0038] This module assists the operator in understanding the current surgical step, the position where the surgical instrument is inserted into the heart, and the internal scene of the heart in the current step by clearly displaying the three perspectives of the right heart model 1 in real time. It helps the operator to understand the internal situation of the right heart and what needs to be done at different stages during the actual operation, so as to complete the operation more efficiently. This module has efficient data processing capabilities to ensure the real-time and integrity of the real-time transmission process and reduce any possible delays or data loss. At the same time, this module can pre-process the real-time video of the image acquisition device in a variety of ways, including but not limited to scaling, cropping, etc. to adapt to display on different controls.

[0039] The scanning angle switching module is connected to the image function module 2, and is used to switch the angle of view of the image acquisition device assigned to different angles of view, so that the angle of view of the displayed image acquisition device is consistent with the actual angle of view. When a camera device is inserted into the external hardware port of the computer, the local computer will automatically randomly assign a number to the camera device corresponding to the hardware port. The use of the camera number in the software becomes random, which cannot meet the needs in most cases. After the machine is restarted or the software is reopened, the number will be randomly disrupted. In addition to the camera device of this system, most computers also have their own cameras, so that the built-in cameras also occupy the number. The function of this module is mainly used to solve the above-mentioned problems, making the whole system more convenient to build and use.

[0040] This module greatly simplifies the perspective switching process by establishing a mapping between image acquisition devices and numbers, and improves the flexibility of the system and user experience. By clicking the perspective switch button, a pop-up window will appear, with drop-down boxes assigned to the three cardiac perspectives. The boxes contain the image acquisition devices scanned by the current module. By selecting different image acquisition devices for different perspectives on the interface, multiple devices can be detected and adjusted in real time and dynamically, ensuring that the perspective is always consistent with the image acquisition device screen, avoiding the inconvenience caused by the confusion of camera numbers.

[0041] The video playback module 302 is used to play / pause the X-ray and ultrasound images of different surgical stages during the actual operation, and switch the video clips synchronously with the surgical steps through button operation. This module stores the X-ray and ultrasound image data of different surgical stages. The surgeon can switch the video clips synchronously with the surgical steps through button operation, so as to have a deeper understanding of the surgical process, anatomical structure and operation skills. The surgeon can understand the correct position and posture of the surgical instruments in the images at different stages through these actual surgical images, so as to better train.

[0042] The module supports variable-speed playback by flexibly controlling the interval between each two frames of images, meeting the surgeon's needs for video viewing speed at different stages of surgery. In addition, it supports a variety of surgical video formats and uses efficient decoding methods to ensure smooth and clear video playback. At the same time, the loop playback function allows the surgeon to repeatedly watch important steps to further consolidate surgical operation skills.

[0043] The tricuspid valve structural heart disease interventional procedure training system provided by the present invention not only includes a relatively realistic right heart anatomical structure to facilitate the training and demonstration of the interventional surgery environment, but also can repeatedly simulate the tricuspid valve structural heart disease procedure with a certain degree of authenticity, and at the same time uses an electronic device 3 of the standardized surgical process of the procedure made based on professional experience. Based on this, the design uses the anatomy-operation-image association method to enable the trainees to quickly understand, learn, and repeatedly practice the knowledge and operation of the tricuspid valve structural heart disease procedure.

[0044] By simulating the real surgical environment and operation process, the system provides a safe and efficient training platform for surgeons. Surgeons can repeatedly practice surgical skills without contacting real patients to improve the proficiency and accuracy of surgical operations. Compared with traditional training methods, the system reduces the dependence on real surgical materials and equipment and reduces training costs. At the same time, since the system can be reused, it has a higher cost-effectiveness. Through functions such as real-time video display, multi-angle view switching and synchronous video playback, the system provides surgeons with a more intuitive and comprehensive learning experience. This helps surgeons better understand and master surgical skills. By simulating various situations and challenges during surgery, it helps to reduce surgical risks and improve surgical success rates.

[0045] In an optional embodiment, the electronic device 3 further includes a surgical step prompt module 303, which is an important component of the electronic device 3 and is designed to assist operators in training for interventional surgery of tricuspid valve structural heart disease. The module integrates detailed surgical step information, operation prompts, and key precautions, and is used to provide operators with operation prompts and precautions at different surgical stages, aiming to help operators gradually master surgical skills during the simulated surgery and understand the key points and potential risks of each stage.

[0046] This module contains complete step-by-step information from surgical preparation to postoperative treatment. Each step is described in detail, including the required surgical instruments, positioning of the surgical site, and operating techniques. This information is presented in the form of text, charts, or animations to ensure that the surgeon can clearly understand it. By clicking the step button, prompt information, X-rays, and ultrasound images can be switched synchronously, allowing the surgeon to quickly grasp the key points of the current stage. This module has efficient information processing capabilities and can instantly present accurate text prompts during the surgical operation, helping the surgeon to quickly obtain the required information in each step. In addition, the system's text content synchronization function ensures that the surgeon has a seamless transition when switching between different steps, reducing information gaps in operations and improving overall learning efficiency.

[0047] At each critical stage of the simulated surgery, the surgical step prompt module 303 provides real-time operation prompts. These prompts may include specific hand movements, how to use surgical instruments, anatomical structures that need attention, etc. Through these prompts, the surgeon can perform surgical steps more accurately and avoid misoperation.

[0048] In addition to operation tips, the module also lists matters that need to be paid attention to at each stage of the operation. These matters may involve surgical risks, potential complications, preventive measures, etc. By understanding these matters, the surgeon can better assess the risks of the operation and develop a coping strategy.

[0049] The surgical step prompt module 303 is closely integrated with the video playback module 302, and the prompt information and precautions can be switched synchronously with the X-ray and ultrasound images. When the surgeon watches the image of a certain surgical stage in the video playback module 302, the surgical step prompt module 303 will automatically display the surgical step information, operation prompts and precautions related to the stage. This synchronous switching function helps the surgeon to combine theoretical knowledge with practical operations and understand the surgical process more deeply.

[0050] The present invention provides comprehensive surgical guidance to the operator through the surgical step prompt module 303, helping them to gradually master surgical skills. Through real-time operation prompts and reminders of precautions, the operator can perform the surgical steps more accurately and reduce the risk of misoperation. This helps to improve the training effect and enable the operator to reach a higher surgical level in a shorter time. The surgical step prompt module 303 can also serve as a bridge for interaction between the coach and the operator. The coach can adjust the detail and presentation of the prompt information according to the actual situation and needs of the operator. At the same time, the operator can also provide the coach with his or her own learning progress and difficulties encountered through the feedback mechanism, so that the coach can provide more personalized guidance and support. By providing comprehensive surgical step information and precautions, the surgical step prompt module 303 helps the operator identify potential risks in simulated surgery and formulate corresponding preventive measures. This improvement in risk awareness helps to reduce the incidence of complications in real surgery and improve surgical safety.

[0051] In an optional embodiment, from a physiological structure perspective, the above-mentioned right heart anatomical model module 100 includes structures such as the right atrium, right ventricle, and parts of the superior and inferior vena cava connected to the heart. Since these parts will not come into contact with the surgical instrument 4 according to the standard surgical procedure, there is no need to show their soft tissue state. The module accurately simulates the physiological structures such as the right atrium, right ventricle, and parts of the superior and inferior vena cava connected to the heart, and fully considers the interaction between these parts and the surgical instrument 4 in the standard surgical procedure, thereby achieving both accurate and efficient structural simulation.

[0052] Regarding displaying the internal structure of the heart, the present invention designs a detachable right heart anatomical model (including the right atrium, right ventricle, and part of the superior and inferior vena cava connected to the heart) with a realistic inner wall and high overall restoration based on real human right heart CT images, and uses 3D printing to produce it. The model can be opened at any time before and during the simulated surgery or partially replaced with a printout of transparent material to display the internal structure of the real-time surgery.

[0053] All three parts are made of light-curing 3D printing resin, which ensures the high precision and durability of the model. The choice of resin material also allows the model to have good transparency and non-transparency options while maintaining structural stability to meet different teaching and training needs.

[0054] Reference Figure 1a , 1b 1c are schematic diagrams showing that the upper cover 102 of the right heart anatomical model module 100 is completely opened, partially opened, and completely covered, respectively. Figure 1d This is a schematic diagram of the right heart anatomical model module 100 with the tricuspid valve ring 101 removed.

[0055] In an optional embodiment, the above-mentioned right heart anatomical model module 100 is designed to be composed of three fully assembled hard parts and is composed of light-cured 3D printing resin, which respectively represent the right atrium, the right ventricle and the part of the superior and inferior vena cava connected to the heart. This modular design is not only convenient for assembly and disassembly, but also allows users to flexibly combine and adjust according to actual needs. The right atrium, the right ventricle and the part of the superior and inferior vena cava connected to the heart are integrated into three parts and connected to each other by magnets. This design not only simplifies the assembly process, but also ensures a firm connection between the parts. At the same time, the magnet connection also allows the user to easily disassemble and replace parts without destroying the model structure.

[0056] In an optional embodiment, in order to meet the needs of different users, the right heart anatomical model module 100 provides a reference Figure 3 There are two versions shown, transparent and non-transparent. The transparent version allows the user to clearly observe the anatomical structure inside the model and the operation of the surgical instrument 4, while the non-transparent version focuses more on the appearance and texture of the model. Figure 3 The left part is the transparent version. Figure 3 The right part is the non-transparent version. Figure 1a , Figure 1b , Figure 1c , Figure 1d The structure of the tricuspid valve structural heart disease interventional procedure training system is shown in FIG. 1 when the right heart anatomical model module 100 is a non-transparent version. Figure 4a , Figure 4b , Figure 4c , Figure 4dIt is a schematic diagram of the structure of the tricuspid valve structural heart disease interventional procedure training system when the right heart anatomical model module 100 is a transparent version.

[0057] The present invention provides an intuitive and vivid teaching tool for medical education and training by accurately simulating the physiological structure of the heart through the right heart anatomical model module 100. The operator can observe and operate the model to have a deeper understanding of the cardiac anatomical structure and the surgical operation process, thereby improving learning efficiency. The modular design and magnet connection method allow the operator to perform various surgical operation exercises on the model, such as tricuspid valve repair, valve replacement, etc. This practical exercise not only helps the operator to master surgical skills, but also improves their practical ability and surgical success rate. Compared with traditional anatomical models, the right heart anatomical model module 100 has higher cost performance and reusability. It can not only be used for medical education and training, but also as a reference tool for clinicians to help them better understand the cardiac anatomical structure and surgical operation process. This versatility makes the model have a wide range of application prospects and important value in teaching and clinical practice.

[0058] In an optional embodiment, from a physiological structural point of view, the soft tissue interaction module 110 is a complex structure integrating the tricuspid ring and surrounding tissues, part of the right ventricular septum tissue 111, the puncture site of the right atrium and surrounding tissues 112, aiming to provide a highly realistic operating environment for simulated surgery. Since the surgical instruments contacting these three parts are at different positions, the designs are different.

[0059] Reference Figure 5 As shown, the above-mentioned image acquisition device can be installed on the side or below the puncture site of the right atrium and the surrounding tissue 112 (ie, the part in the circle), so that the image acquisition device is directed from the right atrium to the tricuspid valve ring 101.

[0060] The structure of the tricuspid valve ring 101 and surrounding tissues is similar to that of a real human tricuspid valve ring, and is used to install an artificial valve during surgery and remove it after surgery. The tricuspid valve ring 101 and surrounding tissues are 3D printed using soft photocurable resin, which has good flexibility and durability and can simulate the touch and elasticity of real heart tissue. The tricuspid valve ring 101 is a surrounding structure surrounding the right atrioventricular orifice and is a key part for installing an artificial valve. The soft photocurable resin has a certain viscosity, and during surgery, the artificial valve can be adhered to the tricuspid valve ring 101. Through 3D printing technology, the complex morphology and anatomical structure of the tricuspid valve ring 101 and its surrounding tissues can be accurately replicated, providing the operator with a real surgical operation experience.

[0061] The above-mentioned part of the right ventricular septal tissue 111 is processed using a composite material with a soft clay base. The soft clay material has good plasticity and stability, is easy to deform and will not dry and harden. It can simulate the hardness and toughness of the right ventricular septal tissue 111, and is used to insert the anchoring needle during surgery and remove it after surgery. The right ventricular septal tissue 111 is an important part for inserting the anchoring needle. In the simulated surgery, the surgeon can understand how to accurately insert the anchoring needle into the right ventricular septal tissue 111 and ensure its stability by operating the anchoring needle on the soft clay base.

[0062] The puncture site of the right atrium and the surrounding tissue 112 are processed with high-density sponge to simulate the purse-string structure of right heart puncture during surgery, providing a certain elastic support effect for the puncture surgical instruments. The high-density sponge has good elasticity and recovery, and can simulate the elasticity and toughness of right atrial tissue. The puncture site of the right atrium is the key part for right heart puncture. By simulating the purse-string structure, the operator can learn how to accurately perform right heart puncture and understand the risks and countermeasures that may occur during the puncture process.

[0063] Regarding the ability to perform simulated surgeries repeatedly, the present invention designs part of the model's structure (tricuspid valve ring 101 and surrounding local structures, and part of the right ventricular septum structure that contacts the anchoring needle) into a soft material structure that is easy to disassemble and assemble, thereby allowing the installed artificial valve and anchoring needle to be removed after a single simulated surgery.

[0064] The present invention provides a highly realistic simulated surgical environment for the operator through the soft tissue interaction module 110, so that they can gradually master surgical skills in practice. Through repeated practice, the operator can become more familiar with the surgical steps and key points of operation and improve the level of surgical skills. Through the soft tissue interaction in the simulated operation, the operator can have a deeper understanding of the characteristics and anatomical structure of the cardiac tissue, so as to make more accurate judgments and operations in the actual operation. This helps to reduce surgical risks and improve the success rate of the operation. The soft tissue interaction module 110 can serve as a bridge for interaction between the coach and the operator. The coach can adjust the difficulty and complexity of the simulated operation according to the actual situation and needs of the operator. At the same time, the operator can also feedback his learning progress and difficulties encountered to the coach through interaction with the soft tissue interaction module 110, so that the coach can provide more personalized guidance and support.

[0065] In an optional embodiment, the imaging function module 2 is a camera system on the right heart model 1, which can replace X-ray, ultrasound and other imaging systems in simulated surgery to provide real-time images inside the right heart model. Regarding the ability to perform simulated surgery, the present invention designs three image acquisition device positions and a detachable image acquisition device connector 201 on the model, which can respectively capture the front, back, and side of the tricuspid valve ring in the model. These angles also correspond to the ultrasonic imaging images during surgery to a certain extent. When performing a simulated surgery, after the operator controls the interventional surgical instrument to puncture into the simulated body through the superior vena cava, inferior vena cava, or right atrium, the position of the interventional surgical instrument inside the model can be judged through the real-time images of these three image acquisition devices, thereby completing the simulated surgery.

[0066] Specifically, the module includes three high-precision image acquisition devices that can capture and record key information during surgical simulation in real time. Each device has been carefully designed and calibrated to ensure high clarity and accuracy of the image.

[0067] Reference Figure 2 As shown, the three image acquisition devices are arranged in the right atrium perspective, the right ventricle perspective, and the septum tangent perspective with the tricuspid valve ring 101 as the orientation, and can display the surgical instrument posture parameters that need to be focused on in the standard surgical process in real time. The right atrium perspective mainly focuses on the structure and dynamic changes of the right atrium, and can clearly show the anatomical relationship between the tricuspid valve ring 101 and the right atrium, as well as the operation of the surgical instrument 4 in the right atrium. The right ventricle perspective focuses on the anatomical structure and function of the right ventricle, especially the area between the tricuspid valve ring 101 and the right ventricular outflow tract. It helps the surgeon understand the surgical operation process and potential risks in the right ventricle. The septum tangent perspective provides a tangent view between the septum and the tricuspid valve ring 101, which can clearly show the anatomical structure of the septum and the relationship with the tricuspid valve ring 101. This is of great significance for understanding the surgical treatment of heart diseases such as ventricular septal defect and heart valve disease.

[0068] The three image acquisition devices are all oriented toward the tricuspid annulus 101, which helps ensure the accuracy and consistency of image acquisition. By focusing on the tricuspid annulus 101 and its surrounding tissues, the operator can have a deeper understanding of the structure and function of the heart valve, as well as the key operating points during the operation.

[0069] The present invention provides an intuitive and vivid surgical simulation environment for the operator through the image function module 2. By observing and recording the image information during the operation in real time, the operator can have a deeper understanding of the cardiac anatomical structure and the surgical operation process, thereby improving the level of surgical skills. By simulating the image acquisition and analysis during the operation, the operator can more accurately judge the surgical risks and potential complications. This helps them make more wise decisions in actual operations, thereby reducing surgical risks and improving the success rate of operations. The image function module 2 can serve as a bridge for interaction between the coach and the operator. The coach can provide the operator with personalized guidance and feedback by observing and analyzing the image information. At the same time, the operator can also understand his or her own shortcomings and areas for improvement by observing and analyzing his or her own surgical operation process.

[0070] Regarding the professional surgical training capability, the present invention has developed a computer software for training according to the standardized surgical process, which can switch and display the step names, operation key points, and X-ray and ultrasound videos of real samples according to different surgical stages. In conjunction with the real-time images of the above three image acquisition devices, the trainees can be familiar with the professional surgical process, the real intraoperative images, and the control effect of the interventional surgical instruments.

[0071] Figure 6 It is a flow chart of the interventional procedure training method for tricuspid structural heart disease according to an embodiment of the present invention. The interventional procedure training method for tricuspid structural heart disease according to an embodiment of the present application is based on the interventional procedure training system for tricuspid structural heart disease provided by the above embodiment. The interventional procedure training method for tricuspid structural heart disease provided by the present invention is described below, and the interventional procedure training method for tricuspid structural heart disease described below and the interventional procedure training system for tricuspid structural heart disease described above can be referenced to each other.

[0072] like Figure 6 As shown, the method for training interventional procedures for tricuspid valve structural heart disease provided by the embodiment of the present invention comprises: S501. The trainer holds the right heart model 1 and introduces the scene of tricuspid valve interventional surgery by disassembling and displaying the right heart model 1.

[0073] The trainee holds a finely crafted right heart model 1, which can simulate the structure and function of a real heart. By splitting and combining different parts of the model, the trainee can intuitively display the scene of tricuspid valve intervention surgery, including the entry path of the surgical instrument 4, the anatomical structure inside the heart, etc. This helps the operator to have a preliminary understanding and perceptual understanding of the surgical process.

[0074] S502, fix the right heart model 1 on the table, and use the corresponding surgical instruments 4 to demonstrate the operation of each step according to the standard procedure of tricuspid valve intervention surgery.

[0075] Fix the right heart model 1 on the table to ensure that the model is stable and easy to observe. According to the standard process of tricuspid valve intervention surgery, use the corresponding surgical instruments 4 (such as catheters, guidewires, occluders, etc.) to demonstrate the operation of each step on the model. The trainer can explain while operating to ensure that the operator can clearly understand the purpose and operation method of each step.

[0076] S503 . Display the relative position relationship between the interventional surgical instrument and the right heart anatomical structure by using an image function module or opening the right heart model 1 .

[0077] The relative position relationship between the interventional surgical instrument and the right heart anatomical structure is displayed by means of an image function module (such as three-dimensional image reconstruction, virtual reality and other technologies) or by opening the right heart model 1. This helps the operator to more intuitively understand the position and movement trajectory of the surgical instrument 4 inside the heart, as well as the relationship between them and the heart anatomical structure.

[0078] S504, obtaining pre-set X-ray and ultrasound images of different stages of the operation, combining the X-ray and ultrasound images, and synchronously introducing the operation from the aspects of right heart anatomical structure, operation technique and video data stream.

[0079] Obtain the pre-set X-ray and ultrasound images of different stages of the operation. When introducing the operation, combine these images to synchronously introduce the operation from the aspects of right heart anatomy, operation techniques and video data stream. This helps the surgeon to better understand the details and difficulties of the operation and improve the level of surgical skills.

[0080] In an optional embodiment, the electronic device 3 further includes a surgical step prompting module 303, and the method further includes: Obtain operation tips and precautions at different surgical stages. During the surgical procedure, the prompt information and precautions are synchronously switched with the X-ray and ultrasound images to ensure that the operator can understand the key points and precautions of each step in real time.

[0081] In an optional embodiment, the soft tissue interaction module 110 further includes surrounding tissue of the tricuspid annulus 101, part of the right ventricular septal tissue 111, and the puncture site and surrounding tissue 112 of the right atrium; the method further includes: The trainer can simulate the process of installing the artificial valve and the anchoring needle. After the surgical introduction, the artificial valve installed on the tricuspid valve ring 101 and the anchoring needle installed on the portion of the right ventricular septal tissue 111 are removed. This helps the operator to have a deeper understanding of the actual operation and details during the operation, and improve the proficiency and accuracy of the surgical operation.

[0082] Through the display and demonstration in various ways, the present invention enables the operator to more intuitively understand the process and key points of tricuspid valve interventional surgery, thereby improving the training effect. At the same time, the simultaneous introduction of X-ray and ultrasound images helps the operator to better understand the anatomical structure and operation techniques during the operation. By simulating the surgical operation process, the operator can learn and master surgical skills in practice, and improve the accuracy and safety of the operation. The application of the soft tissue interaction module 110 allows the operator to personally experience the actual operation and details of the operation, further deepening the understanding and mastery of the operation.

[0083] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tricuspid valve structural heart disease interventional procedure training system, characterized in that: include: A right heart model, an imaging function module and an electronic device; wherein the right heart model includes a right heart anatomical model module and a soft tissue interaction module; The right heart anatomical model module is the right heart anatomical structure of the right heart chamber; The soft tissue interaction module uses the right heart anatomical model module as a mounting base and is installed in the right heart anatomical model module, and the soft tissue interaction module includes a detachable tricuspid valve ring; The imaging function module includes a plurality of image acquisition devices facing the tricuspid valve annulus; The electronic device comprises a scanning view angle switching module, a scene display module and a video playback module; The scene display module is connected to the imaging function module, and is used to obtain the video data stream collected by the imaging function module in real time, and to display the pictures of the right heart model from multiple perspectives in real time; The scanning angle switching module is connected to the imaging function module and is used to switch the angles of view of different image acquisition devices so that the angle of view of the displayed image acquisition device is consistent with the actual angle of view; The video playback module is used to play X-ray and ultrasound images of different surgical stages, and switch video clips synchronously with surgical steps through button operation.

2. The tricuspid valve structural heart disease interventional procedure training system according to claim 1, characterized in that: The electronic device also includes a surgical step prompt module for providing the operator with operation prompts and precautions at different surgical stages, and the prompt information and precautions can be switched synchronously with the X-ray and ultrasound images.

3. The tricuspid valve structural heart disease interventional procedure training system according to claim 1, characterized in that: The soft tissue interaction module also includes the surrounding tissue of the tricuspid annulus, part of the right ventricular septal tissue, the puncture site of the right atrium and the surrounding tissue; The tricuspid valve ring and surrounding tissue are 3D printed with soft light-cured resin to install an artificial valve during surgery; The part of right ventricular septum tissue is processed from a composite material of a soft clay base, and is used for inserting an anchoring needle during surgery; The puncture site of the right atrium and the surrounding tissue are processed from high-density sponge to simulate the purse-string structure of right heart puncture during surgery.

4. The tricuspid valve structural heart disease interventional procedure training system according to claim 1, characterized in that: The right heart anatomical model module includes a right atrium, a right ventricle, and parts of the superior and inferior vena cava connected to the heart, which are made of light-cured 3D printing resin.

5. The tricuspid valve structural heart disease interventional procedure training system according to claim 4, characterized in that: The right atrium, the right ventricle and the parts of the superior and inferior vena cava connected to the heart are hard parts that can be completely assembled and are connected and installed with each other through magnets.

6. The tricuspid valve structural heart disease interventional procedure training system according to claim 1, characterized in that: The right heart anatomical structure is a transparent structure or a non-transparent structure.

7. The tricuspid valve structural heart disease interventional procedure training system according to claim 1, characterized in that: The imaging function module includes three image acquisition devices, which are oriented toward the tricuspid valve ring and are arranged as a right atrium perspective, a right ventricle perspective, and a ventricular septum tangent perspective, respectively.

8. A method for training interventional procedures for tricuspid valve structural heart disease, characterized in that: Based on the tricuspid valve structural heart disease interventional procedure training system according to any one of claims 1 to 7, the method comprises: The trainer held a right heart model and disassembled it to introduce the scene of tricuspid valve intervention surgery; Fix the right heart model on the table and demonstrate the operation of each step using the corresponding surgical instruments according to the standard procedure of tricuspid valve intervention surgery; Display the relative position relationship between the interventional device and the right heart anatomical structure by using the image function module or opening the right heart model; Acquire pre-set X-ray and ultrasound images of different stages of the operation, combine the X-ray and ultrasound images, and simultaneously introduce the operation from the aspects of right heart anatomical structure, operation techniques and video data stream.

9. The method for training interventional procedures for tricuspid valve structural heart disease according to claim 8, characterized in that: The electronic device further includes a surgical procedure prompt module, and the method further includes: Obtain operation prompts and precautions at different surgical stages, and switch the prompt information and precautions synchronously with the X-ray and ultrasound images during the introduction of the surgical procedure.

10. The method for training interventional procedures for tricuspid structural heart disease according to claim 8, characterized in that: The soft tissue interaction module also includes the surrounding tissue of the tricuspid annulus, part of the right ventricular septal tissue, the puncture site of the right atrium and the surrounding tissue; the method also includes: After the surgical introduction, the artificial valve installed on the tricuspid annulus and the anchoring pins installed in the portion of the right ventricular septal tissue are removed.

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