Training simulator and evaluation method for hiatus hernia repair surgery

Abstract

The invention provides a training simulator and an evaluation method for an esophageal hiatus hernia repair operation, and the training simulator comprises a body part which is constructed to simulate the body of a human body and is provided with an intervention hole allowing a surgical instrument to extend into; the viscera part is arranged in the body part to simulate the viscera structure of the human body; the first sensor is arranged between the body part and the viscera part and is configured to collect data of force borne by the viscera part when the surgical instrument performs an operation on the viscera part; and the track acquisition part is configured to acquire track data of the execution end of the surgical instrument.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to the technical field of surgical instruments, and more particularly to a training simulator and evaluation method for hiatal hernia repair surgery. Background Art

[0002] Hiatal hernia is the most common type of diaphragmatic hernia. Laparoscopic hiatal hernia repair is widely used in treatment surgery due to its advantages of fast postoperative recovery, low bleeding and few complications.

[0003] During the operation of hiatal hernia repair, higher requirements are placed on the operating skills of the surgical operator due to the complex anatomical structure of the lesion area, the special operating angle, the small degree of freedom and flexibility of the surgical instruments, and the limited tactile feedback. Before the actual operation, the operator needs to undergo systematic training simulation surgery and skill evaluation to ensure that they have sufficient surgical operation skills before the actual operation. However, the current training simulator cannot efficiently restore the surgical scene. In addition, the operator's surgical operation skills are generally evaluated by observing the operator's operation based on the personal experience of the supervising doctor. There are subjective factors in the evaluation method, and it is difficult to accurately feedback the operator's operation level. Summary of the invention

[0004] In view of this, the present disclosure provides a training simulator and evaluation method for hiatal hernia repair surgery, which are used to at least partially solve the above technical problems, improve the operator's surgical operation experience, and improve the objectivity and accuracy of surgical operation evaluation.

[0005] According to a first aspect of the present disclosure, there is provided a training simulator for hiatal hernia repair surgery, comprising: a body part constructed to simulate a human body and provided with an intervention hole allowing surgical instruments to be inserted; an visceral part disposed in the body part to simulate the visceral structure of the human body; a first sensor disposed between the body part and the visceral part and configured to collect force data exerted on the visceral part when the surgical instrument performs surgery on the visceral part; and a trajectory acquisition part configured to collect trajectory data of the execution end of the surgical instrument.

[0006] According to an embodiment of the present disclosure, the training simulator further includes a support plate configured to carry internal organs and disposed on the first sensor.

[0007] According to an embodiment of the present disclosure, the visceral component includes: a diaphragm portion, which is provided with a first through hole and is constructed to simulate the diaphragm structure of the human body; and a suture piece, which is provided with a second through hole with a diameter smaller than or equal to the first through hole and can be detachably surrounded by the edge of the first through hole to replace the suture piece.

[0008] According to an embodiment of the present disclosure, at least one positioning post is provided on the diaphragm portion, and a positioning hole cooperating with the positioning post is provided on the suture sheet so as to install the suture sheet on the diaphragm portion.

[0009] According to an embodiment of the present disclosure, the visceral component also includes: a stomach portion disposed in the diaphragm portion; and an esophageal portion connected to the stomach portion and partially passing through the second through hole; wherein the second through hole is sutured to a preset caliber by operating a surgical instrument.

[0010] According to an embodiment of the present disclosure, the visceral component further includes: a venous tube and an arterial tube, which pass through the visceral component and the body component; and a driving assembly, which is configured to drive the circulation of liquid in the venous tube and the arterial tube to simulate the blood flow in the human body. Preferably, the driving assembly includes: a hose, which is connected to the venous tube and / or the arterial tube; and a driving pump, which is connected to the hose and is configured to drive the circulation of liquid.

[0011] According to an embodiment of the present disclosure, the body part includes: a shell, which is constructed to simulate the trunk structure of a human body, and a clearance port is provided on the shell; and a skin layer, which covers the outside of the shell to simulate the skin of a human body, and an intervention hole is provided on the skin layer and is provided corresponding to the clearance port to allow a surgical instrument to pass through the intervention hole and the clearance port to sew the suture piece. Preferably, an opening is provided at the end of the shell opposite to the suture piece to replace the suture piece.

[0012] According to an embodiment of the present disclosure, the shell includes: a first shell, on which the clearance port is arranged; and a second shell, which is detachably connected to the first shell, on which the internal organs are arranged.

[0013] According to an embodiment of the present disclosure, the trajectory acquisition component includes: a magnetic field generator, which is arranged on the body component to generate a magnetic field; and a second sensor, which is arranged at the execution end of the surgical instrument to sense the change of the magnetic field to obtain trajectory data.

[0014] A second aspect of the present disclosure provides an evaluation method based on the above-mentioned training simulator, including acquiring force data and trajectory data to obtain an intermediate data set; performing standardization processing based on the intermediate data set to obtain a multidimensional data set; performing principal component analysis processing based on the multidimensional data set to obtain target indicators; and obtaining a classification level based on the target indicators and preset indicators.

[0015] According to the training simulator and evaluation method for hiatal hernia repair surgery provided by the present invention, the operator operates the surgical instrument to extend into the interior of the body part from the intervention hole on the body part, and performs the surgical operation by operating the execution end of the surgical instrument. During the operation, the body part and the internal organs can simulate the precise data of the human trunk, and provide the operator with feedback close to the real biological sense, so as to provide the operator with an effective and reliable training simulation environment, so that the operator has a more realistic surgical operation experience; when the operator uses the surgical instrument to perform the surgical operation on the internal organs, the first sensor collects the force data of the internal organs, and at the same time the trajectory collection component collects the trajectory data of the execution end of the surgical instrument, so as to objectively evaluate the operator's surgical simulation operation based on the force data and the trajectory data, thereby improving the objectivity and accuracy of the surgical operation evaluation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other objects, features and advantages of the present disclosure will become more apparent through the following description of the embodiments of the present disclosure with reference to the accompanying drawings, in which:

[0017] Figure 1 A three-dimensional schematic diagram of a training simulator for hiatal hernia repair surgery according to an embodiment of the present disclosure is schematically shown;

[0018] Figure 2 Schematically shows a usage state diagram of a training simulator according to an embodiment of the present disclosure;

[0019] Figure 3 A partial diagram of a training simulator according to an embodiment of the present disclosure is schematically shown;

[0020] Figure 4 Schematically shows an exploded view of a training simulator according to an embodiment of the present disclosure;

[0021] Figure 5 A partial diagram of a training simulator according to an embodiment of the present disclosure is schematically shown;

[0022] Figure 6 A partial view of the diaphragm portion according to an embodiment of the present disclosure is schematically shown;

[0023] Figure 7 A partial view of a diaphragm portion and a suture sheet according to an embodiment of the present disclosure is schematically shown;

[0024] Figure 8 Schematically showing side views of three suture pieces of different calibers according to an embodiment of the present disclosure;

[0025] Fig. 9 schematically illustrates a side view of an end portion of a housing according to an embodiment of the present disclosure; and

[0026] Fig.10 The flowchart of the evaluation method of the training simulator according to the embodiment of the present disclosure is schematically shown.

[0027] Reference numerals

[0028] 1. Body parts;

[0029] 11. housing; 111. first housing; 1111. opening; 112. second housing; 113. opening;

[0030] 12, cortex; 121, interventional foramen;

[0031] 2. Internal organs;

[0032] 21. diaphragm portion; 211. first through hole; 212. positioning column;

[0033] 22, suture sheet; 221, second through hole; 222, positioning hole;

[0034] 23. Stomach;

[0035] 24. Esophagus;

[0036] 25. Venous tube;

[0037] 26. Arterial tube;

[0038] 27. drive assembly; 271. hose; 272. drive pump;

[0039] 28. Liver;

[0040] 3. The first sensor;

[0041] 4. Trajectory collection components;

[0042] 41. Magnetic field generator;

[0043] 5. Support plate;

[0044] 6. Surgical instruments. DETAILED DESCRIPTION

[0045] In order to make the objectives, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0046] The terms used herein are only for describing specific embodiments and are not intended to limit the present disclosure. The terms "comprise", "include", etc. used herein indicate the existence of the features, steps, operations and / or components, but do not exclude the existence or addition of one or more other features, steps, operations or components.

[0047] All terms used herein, including technical and scientific terms, have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein should be interpreted as having a meaning consistent with the context of this specification, and should not be interpreted in an idealized or overly rigid manner.

[0048] When using expressions such as "at least one of A, B, and C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, and C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc. When using expressions such as "at least one of A, B, or C, etc.", it should generally be interpreted as the meaning of the expression generally understood by those skilled in the art. For example, "a system having at least one of A, B, or C" should include but not be limited to a system having A alone, B alone, C alone, A and B, A and C, B and C, and / or A, B, C, etc.

[0049] It should also be noted that the directional terms mentioned in the embodiments, such as "upper", "lower", "front", "back", "left", "right", etc., are only reference directions of the drawings and are not intended to limit the scope of protection of the present disclosure. Throughout the drawings, the same elements are represented by the same or similar reference numerals. Conventional structures or configurations will be omitted when they may cause confusion in the understanding of the present disclosure.

[0050] Hiatal hernia repair requires high skills from the operator during the operation. Therefore, before the actual operation, the operator needs to undergo systematic training simulation and skill evaluation to ensure that they have sufficient surgical skills before the actual operation. However, the current training simulator cannot efficiently restore the surgical scene. In addition, the method of evaluating the operator's surgical skills by observing the operator's operation and relying on the personal experience of the supervising doctor has subjective factors and it is difficult to accurately feedback the operator's operating level.

[0051] Figure 1 A three-dimensional schematic diagram of a training simulator for hiatal hernia repair surgery according to an embodiment of the present disclosure is schematically shown. Figure 2 The following schematically shows a usage status diagram of a training simulator according to an embodiment of the present disclosure. Figure 3 A partial diagram of a training simulator according to an embodiment of the present disclosure is schematically shown.

[0052] The embodiment of the present disclosure provides a training simulator for hiatal hernia repair surgery, such as Figure 1 , Figure 2 and Figure 3 As shown, the training simulator includes a body part 1, an internal organ part 2, a first sensor 3 and a trajectory acquisition part 4. The body part 1 is constructed to simulate the human body, and is provided with an intervention hole 121 for allowing the surgical instrument 6 to extend. The internal organ part 2 is arranged in the body part 1 to simulate the internal organ structure of the human body. The first sensor 3 is arranged between the body part 1 and the internal organ part 2, and is configured to collect force data on the internal organ part 2 when the surgical instrument 6 performs surgery on the internal organ part 2. The trajectory acquisition part 4 is configured to collect trajectory data of the execution end of the surgical instrument 6.

[0053] In detail, the torso component 1 uses CT to obtain accurate data of the torso, generates a three-dimensional model, and is made of silicone material to provide a realistic model for training simulation. The material of the torso component 1 is not limited here. The visceral component 2 simulates the structure of the human viscera, efficiently restores and simulates the symptoms of esophageal hiatal hernia lesions, simulates the distribution position of the visceral structure and the texture of the organism, and provides an effective and reliable training simulation environment for operators, so that operators have a more realistic surgical operation experience.

[0054] Specifically, the first sensor 3 may be a three-dimensional force sensor, which collects force data generated during the interaction between the operator's operation of the surgical instrument 6 and the visceral component 2, and the force data includes but is not limited to the force data on the X-axis, Y-axis and Z-axis of the visceral component 2 exerted by the execution end of the surgical instrument 6 at different moments of the surgical operation. The trajectory acquisition component 4 may be an electromagnetic tracking system, an optical tracking system, an ultrasonic positioning system, a robotic arm sensor, etc., which are not limited here.

[0055] According to the embodiment of the present disclosure, the operator operates the surgical instrument 6 to extend into the interior of the body part 1 from the intervention hole 121 on the body part 1. During the surgical operation on the internal organ part 2 by operating the surgical instrument 6, the first sensor 3 collects the force data exerted on the internal organ part 2, and at the same time, the trajectory collection component 4 collects the trajectory data of the execution end of the surgical instrument 6, so as to objectively evaluate the operator's surgical simulation operation based on the force data and the trajectory data, thereby improving the objectivity and accuracy of the surgical operation evaluation.

[0056] Figure 4 An exploded view of a training simulator according to an embodiment of the present disclosure is schematically shown.

[0057] In an exemplary embodiment, Figure 1 and Figure 4As shown, the body part 1 includes a shell 11 and a skin layer 12. The shell 11 is constructed to simulate the trunk structure of a human body, and a clearance opening 1111 is provided on the shell 11. The skin layer 12 covers the outside of the shell 11 to simulate the skin of a human body, and an intervention hole 121 is provided on the skin layer 12 and is provided corresponding to the clearance opening 1111 to allow the surgical instrument 6 to pass through the intervention hole 121 and the clearance opening 1111.

[0058] In detail, the cortex 12 is made of soft silicone material to simulate human skin. The material of the cortex 12 is not limited here, and it is understandable that the cortex 12 can also be made of rubber material. There are multiple intervention holes 121, and the multiple intervention holes 121 penetrate the cortex 12 and are distributed at intervals, which is convenient for the operator to operate the surgical instrument 6 to extend into the body part 1 from different positions of the shell 11. The clearance port 1111 on the shell 11 is arranged opposite to the intervention hole 121, allowing the surgical instrument 6 passing through the intervention hole 121 to extend into the body part 1, so as to perform surgical operation simulation training on the internal organs 2.

[0059] In an exemplary embodiment, Figure 1 and Figure 4 As shown, the housing 11 includes a first housing 111 and a second housing 112. The opening 1111 is arranged on the first housing 111. The second housing 112 is detachably connected to the first housing 111, and the internal organs 2 are arranged on the second housing 112.

[0060] In an exemplary embodiment, Figure 1 and Figure 4 As shown, the second housing 112 is placed horizontally. The first housing 111 is detachably connected to the second housing 112 by, but not limited to, bolt connection, snap connection, plug connection, and other connection methods.

[0061] According to the embodiment of the present disclosure, after the visceral component 2 is placed on the second shell 112, the first shell 111 is installed on the second shell 112, and then the skin layer 12 is sleeved outside the shell, thereby improving the disassembly, assembly and replacement of the body component 1 and the visceral component 2.

[0062] Figure 5 A partial diagram of a training simulator according to an embodiment of the present disclosure is schematically shown.

[0063] In an exemplary embodiment, Figure 4 and Figure 5 As shown, the training simulator further includes a support plate 5, which is installed at the bottom of the visceral component 2 by means of connection including but not limited to bolt connection, snap connection, plug connection, etc., to support the visceral component 2. The support plate 5 is placed above the first sensor 3 and installed on the first sensor 3.

[0064] According to the embodiment of the present disclosure, the support plate 5 is disposed at the bottom of the visceral component 2, and can bear the visceral component 2. The support plate 5 is mounted on the first sensor 3, and can completely support the visceral component 2 on the first sensor 3, so as to avoid placing part of the visceral component 2 on the second shell 112, so that the force data generated by the operator operating the surgical instrument 6 and the visceral component 2 during the interaction is inaccurate, thereby improving the accuracy of the force data collected by the first sensor 3.

[0065] In an exemplary embodiment, the center of gravity of the visceral component 2 and the support plate 5 is placed on the first sensor 3. In this way, the visceral component 2 and the support plate 5 are more balanced on the first sensor 3, further improving the accuracy of the force data collected by the first sensor 3.

[0066] Figure 6 A partial view of the diaphragm portion according to an embodiment of the present disclosure is schematically shown. Figure 7 A partial view of a diaphragm portion and a suture sheet according to an embodiment of the present disclosure is schematically shown. Figure 8 The side views of three suture pieces with different calibers according to an embodiment of the present disclosure are schematically shown.

[0067] In an exemplary embodiment, Figure 5 , Figure 6 and Figure 7 As shown, the visceral component 2 includes a diaphragm portion 21 and a suture piece 22. The diaphragm portion 21 is provided with a first through hole 211, which is configured to simulate the diaphragm structure of a human body. The suture piece 22 is provided with a second through hole 221 having a diameter less than or equal to that of the first through hole 211, and is detachably surrounded at the edge of the first through hole 211, so as to replace the suture piece 22.

[0068] In detail, the diaphragm portion 21 is made of a hard resin material. The suture piece 22 is made of a polydimethylsiloxane-modified silicone rubber material, which can simulate the biological texture of real diaphragm tissue. The mechanical parameters of silicone rubber include tear strength, elongation at break, tensile strength, etc., which can be changed by adjusting the proportion of dimethyl silicone oil. The suture piece 22 can adjust the caliber size and mechanical parameters of the second through hole 221 according to actual needs. Figure 8 As shown, three different caliber sizes of second through holes 221 and suture pieces 22 with mechanical parameters can be quickly replaced during the training simulation process to simulate the caliber sizes of the diaphragm 21 position of patients with different hiatal hernia diseases, thereby meeting different clinical needs.

[0069] It should be noted that the suture piece 22 in a normal human body is a part of the diaphragm 21 and is an integral structure with the diaphragm 21. The training simulator sets the diaphragm 21 and the suture piece 22 as two parts, which is convenient for replacing the suture piece 22 of the second through hole 221 with different calibers, so as to be suitable for simulating patients with different disease severity, meet different clinical needs, and improve the applicability and convenience of the training simulator.

[0070] In an exemplary embodiment, Figure 7 and Figure 8 As shown, at least one positioning post 212 is disposed on the diaphragm portion 21 , and a positioning hole 222 matching with the positioning post 212 is disposed on the suture sheet 22 , so that the suture sheet 22 can be installed on the diaphragm portion 21 .

[0071] In an exemplary embodiment, the cross section of the positioning post 212 parallel to the suture sheet 22 is a polygonal structure. In this way, when the positioning hole 222 of the suture sheet 22 cooperates with the positioning post 212, the suture sheet 22 can be installed on the diaphragm part 21.

[0072] In an exemplary embodiment, Figure 7 and Figure 8 As shown, a plurality of positioning posts 212 may be provided, and the plurality of positioning posts 212 are spaced apart around the periphery of the first through hole 211. A plurality of positioning holes 222 are provided, and cooperate with the positioning posts 212 to mount the suture sheet 22 on the diaphragm portion 21.

[0073] Fig. 9 A side view of a housing end according to an embodiment of the present disclosure is schematically shown.

[0074] In an exemplary embodiment, Figure 4 and Fig. 9 As shown, an opening 113 is provided at the end of the housing 11 opposite to the sewing piece 22 to facilitate replacement of the sewing piece 22 .

[0075] According to the embodiment of the present disclosure, the operator can disassemble and replace the sewing piece 22 at the opening 113 without having to disassemble the first shell 111 and the second shell 112 before replacing the sewing piece 22, thereby improving the convenience of use.

[0076] In an exemplary embodiment, Figure 3 and Figure 4 As shown, the visceral component 2 further includes a stomach 23 and an esophagus 24. The stomach 23 is disposed in the diaphragm 21. The esophagus 24 is connected to the stomach 23 and partially passes through the second through hole 221 and is located outside the diaphragm 21. The second through hole 221 is sutured to a preset caliber by operating the surgical instrument 6.

[0077] Specifically, the stomach 23 and the esophagus 24 are made of silicone material to approximate the actual texture of the stomach and esophagus of the human body. The stomach 23 and the esophagus 24 are integrally formed with a tubular structure with a wall thickness of 2 mm, which is not limited here. The wall thickness of the stomach 23 and the esophagus 24 is limited according to actual needs. The stomach 23 can be inserted and matched with the diaphragm 21 through an intubation tube to install the stomach 23 in the diaphragm 21, thereby positioning the stomach 23 and the esophagus 24.

[0078] In an exemplary embodiment, Figure 3 and Figure 4 As shown, the visceral component 2 also includes a liver, which is arranged in the diaphragm portion 21 to simulate the visceral organ group of the human body and enhance the operator's intuitive understanding of the visceral structure.

[0079] In an exemplary embodiment, Figure 1 and Figure 3 As shown, the visceral component 2 further includes a venous tube 25 and an arterial tube 26. The venous tube 25 and the arterial tube 26 pass through the visceral component 2 and the body component 1. The driving component 27 is configured to drive the circulation of the liquid in the venous tube 25 and the arterial tube 26 to simulate the blood flow in the human body.

[0080] In detail, the venous tube 25 and the arterial tube 26 are tubular structures with a wall thickness of 2 mm and a tube diameter of 20 mm, which are not limited here, and the wall thickness and the tube diameter are limited according to actual needs. The housing 11 is provided with plug-in holes respectively connected to the ends of the venous tube 25 and the ends of the arterial tube 26 to install the venous tube 25 and the arterial tube 26.

[0081] According to the embodiment of the present disclosure, by providing the visceral component 2, a near-real anatomical model can be provided for the operator, so as to facilitate simulation training before the actual operation, so that medical students and surgeons can better understand the anatomical structure of hiatal hernia and its surgical process. At the same time, during the training simulation operation, the visceral component 2 can be subjected to common operations such as turning and squeezing, and the operation of pulling the stomach 23 herniated into the chest cavity back to the abdomen during the hiatal hernia repair operation can be completed.

[0082] In an exemplary embodiment, Figure 1 and Figure 3As shown, the driving assembly 27 includes a hose 271 and a driving pump 272. Two driving assemblies 27 are provided, and the hose 271 of one driving assembly 27 is connected to the two ends of the venous tube 25. The driving pump 272 is connected to the hose 271, so that the hose 271 and the venous tube 25 form a closed loop with the driving pump 272. The hose 271 of the other driving assembly 27 is connected to the two ends of the arterial tube 26. The driving pump 272 is connected to the hose 271, so that the hose 271 and the arterial tube 26 form a closed loop with the driving pump 272. The two driving pumps 272 respectively drive the liquid circulation in the two closed loops to simulate the blood flow in the human body.

[0083] In an alternative exemplary embodiment, the first end of the venous tube 25 and the first end of the arterial tube 26 are connected to each other. A driving assembly 27 is provided, and the driving assembly 27 includes a hose 271 and a driving pump 272. The two ends of the hose 271 are respectively connected to the second end of the venous tube 25 and the second end of the arterial tube 26. The driving pump 272 is connected to the hose 271, so that the venous tube 25, the arterial tube 26 and the hose 271 form a closed loop with the driving pump 272, and drive the liquid in the closed loop to circulate to simulate the blood flow in the human body.

[0084] In an exemplary embodiment, Figure 3 and Figure 4 As shown, the trajectory acquisition component 4 includes a magnetic field generator 41 and a second sensor (not shown in the figure). The magnetic field generator 41 is arranged on the body component 1 to generate a magnetic field. The second sensor is arranged at the execution end of the surgical instrument 6 to sense the change of the magnetic field and obtain trajectory data.

[0085] In an exemplary embodiment, the magnetic field generator 41 can generate a known magnetic field in a specific space within the body part 1. The second sensor can be a Hall effect sensor, a magnetoresistive sensor, or other type of sensor that can sense changes in the magnetic field, etc., which is not limited here and is specifically limited according to actual needs. The second sensor is set at the execution end of the surgical instrument 6 to collect spatial position coordinate data of the execution end on the X-axis, Y-axis, and Z-axis at different times.

[0086] According to an embodiment of the present disclosure, when the second sensor moves to different positions with the execution end of the surgical instrument 6, the second sensor can detect changes in the magnetic field. The second sensor converts the detected changes in the magnetic field into electrical signals, which are then converted into digital signals through an analog converter after processing. After the digital signal is analyzed and processed by the data acquisition system, the magnetic field data that changes with time can be determined, and the position change of the object can be determined, thereby obtaining the trajectory data of the execution end. The force data on the visceral component 2 is collected by the first sensor 3, and at the same time, the trajectory acquisition component 4 collects the trajectory data of the execution end of the surgical instrument 6, so as to objectively evaluate the surgical simulation operation of the operator based on the force data and trajectory data, thereby improving the objectivity and accuracy of the surgical operation evaluation.

[0087] The embodiment of the present disclosure further provides a training simulator evaluation method, including operations S110 to S140.

[0088] Fig.10 The flowchart of the evaluation method of the training simulator according to the embodiment of the present disclosure is schematically shown.

[0089] In operation S110 , force data and trajectory data are acquired to obtain an intermediate data set.

[0090] In an exemplary embodiment, the force data of the visceral component 2 is collected by the first sensor. The force data includes the force data of the visceral component 2 on the X-axis, Y-axis and Z-axis of the execution end of the surgical instrument 6 at different times. The expression of the force and time point sequence is:

[0091] (1);

[0092] in, is the sequence of force and time points, where Indicated in Force data of internal organs at the moment.

[0093] The intermediate data set representation constructs corresponding skill evaluation indicators based on force information, such as force integral, maximum absolute force area, maximum force change rate, total force instability, force jump and force error number.

[0094] Among them, the force integral represents the accumulated amount of force over time during the entire surgical simulation operation. The maximum force change rate represents the maximum amplitude of the force mutation applied to the visceral component 2 during the process of suturing and knotting the suture piece 22 of the visceral component 2 by the execution end of the surgical instrument 6. The total force instability represents the sum of the force mutations applied to the visceral component 2 during the operation of the visceral component 2 by the execution end of the surgical instrument 6. The force jump represents the severity of the force change applied to the visceral component 2. The force error number represents the number of times the force repeatedly violates the threshold range in each surgical operation, and the threshold range is 1.5N-3.5N. For example, 1.5N, 2.5N and 3.5N, etc.

[0095] The trajectory acquisition component acquires the trajectory data of the execution end of the surgical instrument 2. The trajectory data includes the spatial position coordinate data of the execution end on the X-axis, Y-axis and Z-axis at different times. The expression of the spatial position coordinate data and the time point sequence is:

[0096] (2);

[0097] in, is a sequence of spatial positions and time points, where Indicated in The spatial position coordinate data of the execution end of the surgical instrument at the moment.

[0098] The intermediate data set representation constructs corresponding skill evaluation indicators based on trajectory data, such as total task duration, total movement distance of the execution end, movement speed of the execution end, operation idle time, movement jump of the execution end, depth distance, two-handed path ratio, trajectory mean square error, and number of avoidable errors.

[0099] Among them, the moving speed of the execution end represents the average speed of the execution end movement in the surgical simulation operation. The idle time represents the time occupied by the operator's hands without movement during the surgical simulation operation. The movement jump of the execution end represents the first-order derivative of the acceleration of the execution end movement with respect to time. The depth distance represents the total path length of the surgical instrument 6 equipped with a laparoscope along the direction of the surgical instrument 6 equipped with a suture needle inserted into the visceral component 2. The two-handed path ratio represents the ratio of the total paths of the surgical instruments 6 operated by the left and right hands during the entire surgical simulation operation. The trajectory mean square error represents the remoteness of the evaluation trajectory data relative to the center of gravity of the trajectory during the surgical simulation operation. The number of avoidable errors represents the number of times the operator makes mistakes in both-hand operation when completing the surgical simulation operation.

[0100] In an exemplary embodiment, the intermediate data set can be further screened by one-way ANOVA.

[0101] In operation S120, a standardization process is performed based on the intermediate data set to obtain a multi-dimensional data set.

[0102] According to an embodiment of the present disclosure, the expression of the standardized processing:

[0103] (3);

[0104] in, For the data after standardization, are variables in the intermediate data (force data and trajectory data), is the mean of the middle data set, is the standard deviation of the middle data set.

[0105] In operation S130, a target index is obtained by principal component analysis based on the multidimensional data set.

[0106] According to an embodiment of the present disclosure, principal component analysis is performed to optimize the multidimensional data set to obtain target indicators, which include corresponding skill evaluation indicators constructed based on the force data and trajectory data after processing.

[0107] In operation S140, a classification level is obtained based on the target index and the preset index.

[0108] According to the embodiments of the present disclosure, the preset indicators represent the skill evaluation indicators of the three research groups in the database, namely the novice group, the intermediate group and the expert group. Based on the target indicators and the preset indicators, the classification level of the operator is determined as one of the novice group, the intermediate group or the expert group, so as to evaluate the surgical simulation operation of the operator and improve the objectivity and accuracy of the surgical operation evaluation.

[0109] According to the training simulator and evaluation method for hiatal hernia repair surgery provided in this embodiment, the operator operates the surgical instrument 6 to extend into the interior of the body part 1 from the intervention hole 121 on the body part 1, and performs the surgical operation by operating the execution end of the surgical instrument 6. During the operation, the body part 1 and the visceral part 2 can simulate the precise data of the human trunk, and provide the operator with feedback close to the real bio-material feel, providing the operator with an effective and reliable training simulation environment, so that the operator has a more realistic surgical operation experience; when the operator uses the surgical instrument 6 to perform a surgical operation on the visceral part 2, the first sensor 3 collects the force data exerted on the visceral part 2, and the trajectory acquisition component 4 collects the trajectory data of the execution end of the surgical instrument 6, so as to objectively evaluate the operator's surgical simulation operation based on the force data and trajectory data, thereby improving the objectivity and accuracy of the surgical operation evaluation.

[0110] The embodiments of the present disclosure are described above. However, these embodiments are only for the purpose of illustration and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the various embodiments cannot be used in combination to advantage. The scope of the present disclosure is defined by the attached claims and their equivalents. Without departing from the scope of the present disclosure, those skilled in the art may make various substitutions and modifications, which should all fall within the scope of the present disclosure.

Claims

1. A training simulator for hiatal hernia repair surgery, characterized in that: include: A body part (1) is constructed to simulate a human body and is provided with an intervention hole (121) for allowing a surgical instrument (6) to extend therein; An internal organ component (2) is arranged in the body component (1) to simulate the internal organ structure of the human body; A first sensor (3) is disposed between the body part (1) and the internal organ part (2), and is configured to collect force data exerted on the internal organ part (2) when the surgical instrument (6) performs surgery on the internal organ part (2); as well as The trajectory acquisition component (4) is configured to acquire trajectory data of the execution end of the surgical instrument (6).

2. The training simulator according to claim 1, characterized in that: It also comprises a support plate (5) which is configured to carry the internal organs (2) and is arranged on the first sensor (3).

3. The training simulator according to claim 1, characterized in that: The internal organs (2) include: The diaphragm part (21) is provided with a first through hole (211) and is configured to simulate the diaphragm structure of a human body; and The sewing sheet (22) is provided with a second through hole (221) having a diameter smaller than or equal to that of the first through hole (211), and is detachably arranged around an edge of the first through hole (211) so as to replace the sewing sheet (22).

4. The training simulator according to claim 3, characterized in that: The diaphragm portion (21) is provided with at least one positioning column (212), and the suture sheet (22) is provided with a positioning hole (222) that cooperates with the positioning column (212) so as to install the suture sheet (22) on the diaphragm portion (21).

5. The training simulator according to claim 3, characterized in that: The visceral parts (2) also include: a stomach portion (23) disposed within the diaphragm portion (21); and an esophagus portion (24), connected to the stomach portion (23) and partially passing through the second through hole (221); Wherein, the second through hole (221) is sutured to a preset caliber by operating the surgical instrument (6).

6. The training simulator according to claim 1, characterized in that: The visceral parts (2) also include: a venous tube (25) and an arterial tube (26) passing through the visceral part (2) and the body part (1); and The driving component (27) is configured to drive the liquid in the venous tube (25) and the arterial tube (26) to circulate so as to simulate the blood flow in the human body. Preferably, the driving assembly (27) comprises: a hose (271) connected to the venous tube (25) and / or the arterial tube (26); and The driving pump (272) is connected to the hose (271) and is configured to drive the liquid to circulate.

7. A training simulator according to any one of claims 1 to 6, characterized in that: The body part (1) comprises: A shell (11) is constructed to simulate the trunk structure of a human body, and a clearance opening (1111) is provided on the shell (11); and The skin layer (12) covers the outside of the shell (11) to simulate human skin. The intervention hole (121) is arranged on the skin layer (12) and is arranged corresponding to the clearance port (1111) to allow the surgical instrument (6) to pass through the intervention hole (121) and the clearance port (1111) to sew the suture sheet (22). Preferably, an opening (113) is provided at a position of the end of the housing (11) opposite to the sewing piece (22) to facilitate replacement of the sewing piece (22).

8. The training simulator according to claim 7, characterized in that: The housing (11) comprises: A first shell (111), the clearance opening (1111) being arranged on the first shell (111); and The second shell (112) is detachably connected to the first shell (111), and the internal organs (2) are arranged on the second shell (112).

9. The training simulator according to any one of claims 1 to 6, characterized in that: The trajectory collection component (4) comprises: a magnetic field generator (41) disposed on the body member (1) to generate a magnetic field; and A second sensor is arranged at the execution end of the surgical instrument (6) to sense the change of the magnetic field to obtain the trajectory data.

10. An evaluation method based on a training simulator according to any one of claims 1 to 9, characterized in that: include: Obtain force data and trajectory data to obtain an intermediate data set; Performing standardization processing based on the intermediate data set to obtain a multidimensional data set; Obtaining target indicators based on the multidimensional data set through principal component analysis; as well as Based on the target indicator and the preset indicator, a classification level is obtained.

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