Neuroendoscope analogue simulation training device and system thereof

Abstract

The invention relates to the technical field of medical instruments, in particular to a neuroendoscope analogue simulation training device and a system thereof.The neuroendoscope analogue simulation training device comprises a base and a supporting frame, the supporting frame is fixedly installed at the upper end of the base, an operation table is fixedly installed on the front side of the supporting frame, and a simulation operation instrument is arranged on the surface of the operation table. Through the arrangement of the simulation operation instrument, the operation hand feeling closer to that of a real instrument is achieved in the field of a neuroendoscopy training mode, and a more real sense of operation immediacy is provided for a trainee in cooperation with highly real brain data; k endoscope images are carried by a touch display to be matched with optical mark point tracking of a simulation operation instrument, a three-dimensional model is reconstructed in real time, and the problem that actual operation cannot be provided due to the fact that operation training of the minimally invasive surgery instrument, namely the neuroendoscope, only adopts methods such as observation training and video watching training is solved; the training time is greatly shortened, and the training cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a neuroendoscopic simulation training device and a system thereof. Background Art

[0002] Nowadays, neuroendoscopy is widely used in brain surgery. It belongs to the category of minimally invasive neurosurgery and represents the development direction of neurosurgery. Compared with traditional neurosurgery, neuroendoscopic surgery has the advantages of fine operation under direct vision, less trauma, less time, faster recovery, and better prognosis. In some aspects, it has irreplaceable advantages over microneurosurgery. With the rapid development of modern optical technology, neuroimaging technology and microsurgical instruments, neuroendoscopy is combined with stereotactic, neuronavigation, laser, artificial intelligence and microsurgical technology, and has now spread to all fields of neurosurgery.

[0003] The widespread use of neuroendoscopy has also given rise to the demand for its training. At present, there is no special training system or equipment for neuroendoscopy in the market. Most of them adopt the method of training courses, centralized observation and training, or one-on-one tutoring of "mentor-apprentice system", and the effect and efficiency of training are relatively low. From the system composition of the human-computer interaction equipment used for training of other existing endoscopic systems (such as laparoscopes, hysteroscopes, etc.), the current endoscopic surgery virtual simulation system is mainly based on general-purpose robot equipment composed of parallel mechanisms and serial mechanisms. For example, it has entered the mainstream consumer product market and has been widely used. It has been widely used in endoscopic and laparoscopic surgery training systems. Compared with the endoscopic system used in special surgical occasions such as neuroendoscopy, these general-purpose robot equipment with parallel mechanisms or serial mechanisms are inconsistent with the actual surgical scenes, and the operation methods are very different, which is greatly limited in promotion and use.

[0004] In summary, neuroendoscopic surgery is a minimally invasive surgical technique that requires extremely high operating skills of doctors. At present, although standardized endoscopic surgery training institutions including neuroendoscopy have been established, neuroendoscopy training is still basically in the traditional medical surgery training stage of centralized lecture training, video explanation and observation training, and "apprenticeship" training. There is no mature product for training neuroendoscopy as a surgical instrument. Since neuroendoscopy is an expensive surgical instrument and the surgical conditions have great potential risks, the existing training methods have the disadvantages of small training audiences, the inability to integrate the training process with actual operations, poor training results, and long training cycles. For this reason, we proposed a neuroendoscopic simulation training device and its system to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to provide a neuroendoscopy simulation training device and system thereof to solve the problems of the existing training methods proposed in the above background technology, such as small training audience, inability to integrate the training process with actual operation, poor training effect, and long training cycle.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solutions: a neuroendoscopic simulation training device and a system thereof, comprising a base and a support frame, wherein the support frame is fixedly installed on the upper end of the base, an operating table is fixedly installed on the front side of the support frame, and a simulated operating instrument is arranged on the surface of the operating table; The simulation operation instrument comprises a mirror sheath tube, a locator, an instrument interface connecting rod, a mirror sheath probe, an operating handle, an instrument rotating operating handle and an instrument operating clamp. The surface of the operating table is provided with a mirror sheath tube, a locator is installed at the rear end of the mirror sheath tube, an instrument interface connecting rod is fixedly installed at the rear end of the locator, a mirror sheath probe is installed at the rear end of the instrument interface connecting rod, an operating handle is fixedly installed at the front end of the mirror sheath tube, an instrument rotating operating handle is fixedly connected to the front end of the operating handle, an instrument operating clamp is installed at the front end of the instrument rotating operating handle, and a first connecting line is connected to the bottom of the operating handle; A force feedback mechanism is arranged on the surface of the operating table, and the force feedback mechanism comprises a left force feedback component and a right force feedback component, and the left force feedback component and the right force feedback component are symmetrically installed with respect to the center of the operating table; A connecting plate is installed at the center of the operating table, and a neuroendoscopy simulation model is arranged at the center of the connecting plate.

[0007] Preferably, the left force feedback component comprises a fixed seat, a servo motor, a rotating block, a driving motor, a first movable arm, a second movable arm, a connecting piece and a positioning ring. Two sets of fixed seats are installed on the surface of the operating table. Servo motors are installed in both the left force feedback component and the right force feedback component. The upper output end of the servo motor is fixedly connected to the rotating block, the driving motor is installed in the rotating block, the rear output end of the driving motor is connected to the first movable arm, the upper end of the first movable arm is movably connected to the second movable arm, a connecting piece is installed at the end of the second movable arm, and a positioning ring is inserted in the connecting piece.

[0008] Preferably, the right force feedback component includes an air pump, a connecting tube and an airbag, the air pump is fixedly installed inside the right force feedback component, the outer end of the air pump is fixedly connected to the connecting tube, the other end of the connecting tube is connected to the airbag, and the airbag is connected to another set of positioning rings.

[0009] Preferably, a tactile feedback mechanism is provided inside the neuroendoscopic simulation model, and the tactile feedback mechanism includes an electric telescopic rod, a second connecting line, a force sensor and a third connecting line. Two groups of electric telescopic rods are installed inside the neuroendoscopic simulation model, and the outer ends of the electric telescopic rods are fixedly connected to the second connecting line. Two groups of force sensors are installed inside the rear side of the neuroendoscopic simulation model, and the outer ends of the force sensors are fixedly connected to the third connecting line.

[0010] Preferably, a fixing tube is fixedly connected to the bottom of the neuroendoscope simulation model, a fixing box is installed at the lower end of the second connecting line, the other ends of the second connecting line and the third connecting line are connected to the fixing box, and the rear end of the third connecting line is connected to the support frame.

[0011] Preferably, a touch display is installed on the top of the support frame, and two sets of tactile gloves are placed on the surface of the operating table.

[0012] Preferably, a control host is installed on the upper end of the base, a connection socket is provided on the front side of the control host, a control panel is installed on the front side of the control host, and the control panel is located on the lower side of the connection socket.

[0013] Preferably, a placement rack is fixedly installed on the right side of the operating table, and auxiliary equipment is placed in the placement rack.

[0014] Preferably, the system of the neuroendoscopic simulation training device includes: a data input and reconstruction system, a hardware operation and feedback system, and a real-time simulation and evaluation system; the data input and reconstruction system includes: MRI / CT import and 3D pathology modeling, and a touch display installed on a support frame; the hardware operation and feedback system includes: endoscope motion tracking and tactile resistance feedback, a left force feedback component and a right force feedback component set on the surface of the operating table; and a tactile feedback mechanism inside the neuroendoscopic simulation model; the real-time simulation and system evaluation system includes: a biomechanical counting and operation scoring system, a fixed box installed at the bottom of the operating table, and a control host installed on the base.

[0015] Preferably, the system of the neuroendoscopic simulation training device, the operation method of the system includes: the first step, system login; inputting data to select the training mode and wearing the device and tactile gloves, and reconstructing the three-dimensional model according to the input data; the second step, starting the operation; adjusting the simulation operation instrument through the tactile gloves; the third step, real-time feedback; real-time transmission of the instrument posture and position to the hardware operation and feedback system interface, and force feedback according to the instrument posture and position relationship; the fourth step, generating a training report; generating a report according to the system score.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention achieves an operation feel closer to that of real instruments in the field of neuroendoscopy training through the setting of simulated operation instruments, and provides trainees with a more realistic sense of surgical presence with highly realistic brain data; a three-dimensional model is reconstructed in real time by using a touch display equipped with K endoscope images in conjunction with optical marker point tracking of simulated operation instruments, thereby solving the problem that the operation training of a minimally invasive surgical instrument such as a neuroendoscopy only adopts methods such as observation and video training, and cannot provide actual operation; the training time is greatly shortened and the training cost is reduced.

[0017] 2. The present invention sets a force feedback mechanism. The simulated endoscope sets a left force feedback component and a right force feedback component to facilitate the simulation of the approach, rotation, and insertion actions of a real endoscope. The sensor inside the tactile glove can be used to analyze the operator's concentration and muscle coordination to optimize the training intensity.

[0018] 3. The present invention restores the internal tissue resistance of the neuroendoscopic simulation model through the setting of a tactile feedback mechanism through an electric telescopic rod, and the tactile gloves provide resolution pressure feedback. On the basis of ensuring the measurement accuracy and system displacement resolution, the compactness of the system is further guaranteed.

[0019] 4. The present invention supports multi-person collaboration mode by placing auxiliary instruments in the placement frame, simulating the collaboration between the main surgeon and assistant instruments, simulating the real surgical scene, and recording the communication during the operation through AI voice recognition to generate a quantitative evaluation report. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 It is a schematic front view of the structure of the present invention; Figure 2 It is a schematic top view of the structure of the present invention; Figure 3 It is a structural schematic diagram of the simulation operation device of the present invention; Figure 4 It is a structural schematic diagram of the force feedback mechanism of the present invention; Figure 5 It is a schematic front view of the structure of the present invention; Figure 6 For the present invention Figure 5 A is a partial enlarged schematic diagram; Figure 7It is a schematic diagram of the system principle of the neuroendoscopy simulation training device of the present invention; Figure 8 This is a system usage flow chart of the neuroendoscopic simulation training device of the present invention.

[0022] In the figure: 1, base; 2, support frame; 3, operating table; 4, simulation operation instrument; 41, mirror sheath tube; 42, positioner; 43, instrument interface connecting rod; 44, mirror sheath probe; 45, operating handle; 46, instrument rotation operating handle; 47, instrument operating clamp; 5, first connecting line; 6, force feedback mechanism; 61, left force feedback component; 611, fixed seat; 612, servo motor; 613, rotating block; 614, driving motor; 615, first movable arm; 616, second movable arm; 617, Connector; 618, positioning ring; 62, right force feedback component; 621, air pump; 622, connecting tube; 623, air bag; 7, connecting plate; 8, neuroendoscopy simulation model; 9, tactile feedback mechanism; 91, electric telescopic rod; 92, second connecting line; 93, force sensor; 94, third connecting line; 95, fixing tube; 96, fixing box; 10, touch display; 11, tactile gloves; 12, control host; 13, connecting socket; 14, control panel; 15, placement rack; 16, auxiliary equipment. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0024] See also Figure 1-8 The present invention provides an embodiment: a neuroendoscopic simulation training device and a system thereof, comprising a base 1 and a support frame 2, wherein the support frame 2 is fixedly installed on the upper end of the base 1, an operating table 3 is fixedly installed on the front side of the support frame 2, and a simulation operating instrument 4 is arranged on the surface of the operating table 3; The simulation operation instrument 4 includes a mirror sheath tube 41, a positioner 42, an instrument interface connecting rod 43, a mirror sheath probe 44, an operating handle 45, an instrument rotating operating handle 46 and an instrument operating clamp 47. The mirror sheath tube 41 is arranged on the surface of the operating table 3, the rear end of the mirror sheath tube 41 is installed with a positioner 42, the rear end of the positioner 42 is fixedly installed with an instrument interface connecting rod 43, the rear end of the instrument interface connecting rod 43 is installed with a mirror sheath probe 44, the front end of the mirror sheath tube 41 is fixedly installed with an operating handle 45, the front end of the operating handle 45 is fixedly connected with an instrument rotating operating handle 46, the front end of the instrument rotating operating handle 46 is installed with an instrument operating clamp 47, and the bottom of the operating handle 45 is connected with a first connecting line 5; A force feedback mechanism 6 is provided on the surface of the operating table 3. The force feedback mechanism 6 includes a left force feedback component 61 and a right force feedback component 62. The left force feedback component 61 and the right force feedback component 62 are installed symmetrically with respect to the center of the operating table 3. A connecting plate 7 is installed at the center of the operating table 3, and a neuroendoscopic simulation model 8 is arranged at the center of the connecting plate 7; The device solves the problems of the existing training methods such as small training audience, inability to integrate the training process with actual operation, poor training effect, and long training cycle by setting up the simulation operation instrument 4 and the force feedback mechanism 6.

[0025] Furthermore, the left force feedback component 61 includes a fixed seat 611, a servo motor 612, a rotating block 613, a driving motor 614, a first movable arm 615, a second movable arm 616, a connecting piece 617 and a positioning ring 618. Two sets of fixed seats 611 are installed on the surface of the operating table 3. The servo motor 612 is installed in the left force feedback component 61 and the right force feedback component 62. The upper output end of the servo motor 612 is fixedly connected to the rotating block 613. The driving motor 614 is installed in the rotating block 613. The rear output end of the driving motor 614 is connected to the first movable arm 615. The upper end of the first movable arm 615 is movably connected to the second movable arm 616. The connecting piece 617 is installed at the end of the second movable arm 616. A positioning ring 618 is inserted into the connecting piece 617. Figure 4 As shown, the structure is used to insert the mirror sheath tube 41 into the positioning ring 618, and confirm through the positioner 42 that the position of the mirror sheath probe 44 matches the inside of the neuroendoscopy simulation model 8, and take corresponding reaction force according to the system judgment force feedback, start the servo motor 612 to drive the rotating block 613 to adjust the angle, and drive the first movable arm 615 and the second movable arm 616 to change their positions through the driving motor 614, so that the mirror sheath tube 41 in the positioning ring 618 feels the matching resistance, thereby enhancing the authenticity of the device.

[0026] Further, the right force feedback component 62 includes an air pump 621, a connecting tube 622 and an air bag 623. The air pump 621 is fixedly installed in the right force feedback component 62. The outer end of the air pump 621 is fixedly connected to the connecting tube 622. The other end of the connecting tube 622 is connected to the air bag 623. The air bag 623 is connected to another set of positioning rings 618. Figure 4 As shown, this structure is used to start the air pump 621 when inserting through the endoscope sheath 41, and inflate the airbag 623 through the connecting tube 622. Under the action of the airbag 623, corresponding resistance is generated when the endoscope sheath 41 is inserted or pulled, thereby restoring the operating feel of a real neuroendoscope (rotation, advance and retreat, angle adjustment) in a 1:1 manner.

[0027] Furthermore, a tactile feedback mechanism 9 is provided inside the neuroendoscopic simulation model 8, and the tactile feedback mechanism 9 includes an electric telescopic rod 91, a second connecting line 92, a force sensor 93 and a third connecting line 94. Two sets of electric telescopic rods 91 are installed inside the neuroendoscopic simulation model 8, and the outer ends of the electric telescopic rods 91 are fixedly connected to the second connecting line 92. Two sets of force sensors 93 are installed inside the rear side of the neuroendoscopic simulation model 8, and the outer ends of the force sensors 93 are fixedly connected to the third connecting line 94. Figure 6 As shown, the structure is used to drive the electric telescopic rod 91 and the force sensor 93 through the second connecting line 92 and the third connecting line 94 to simulate the physical properties (elasticity, viscosity, bleeding) of brain tissue, blood vessels, and tumors.

[0028] Furthermore, a fixing tube 95 is fixedly connected to the bottom of the neuroendoscopic simulation model 8, a fixing box 96 is installed at the lower end of the second connecting line 92, the other ends of the second connecting line 92 and the third connecting line 94 are connected to the fixing box 96, and the rear end of the third connecting line 94 is connected to the support frame 2. Figure 6 As shown, the structure is used to connect with the inside of the neuroendoscopic simulation model 8 through a fixing box 96, and display the internal image of the neuroendoscopic simulation model 8 through a touch display 10 to provide high-precision anatomical structure imaging.

[0029] Furthermore, a touch display 10 is installed on the top of the support frame 2, and two sets of tactile gloves 11 are placed on the surface of the operating table 3. Figure 2 As shown, the structure is used to collect operation data through the tactile glove 11, perform AI algorithm analysis on the operation path, instrument stability, bleeding control, etc., and generate a scoring report and error warning.

[0030] Furthermore, a control host 12 is installed at the upper end of the base 1, a connection socket 13 is provided at the front side of the control host 12, a control panel 14 is installed at the front side of the control host 12, and the control panel 14 is located at the lower side of the connection socket 13. Figure 5As shown, the structure is used to control the host 12 and the control panel 14, which is suitable for the skill-level training of residents and specialists from basic anatomy to complex lesion treatment. Support remote teaching: experts guide trainees in real time and mark key anatomical structures; zero-risk training: no real patients are required, reducing the risk of medical accidents.

[0031] Furthermore, a placement rack 15 is fixedly installed on the right side of the operating table 3, and an auxiliary device 16 is placed in the placement rack 15. Figure 2 As shown, the structure is used to connect to the control host 12 by inserting the auxiliary instrument 16 into the connection socket 13. The multi-person collaboration mode supports the collaborative operation of the surgeon and the assistant, simulating the division of labor of a real surgical team (such as the linkage of the aspirator and the flushing system).

[0032] The system of the neuroendoscopic simulation training device includes: a data input and reconstruction system, a hardware operation and feedback system, and a real-time simulation and evaluation system; the data input and reconstruction system includes: MRI / CT import and 3D pathology modeling, and a touch display 10 installed on the support frame 2; the hardware operation and feedback system includes: endoscope motion tracking and tactile resistance feedback, a left force feedback component 61 and a right force feedback component 62 set on the surface of the operating table 3; and a tactile feedback mechanism 9 inside the neuroendoscopic simulation model 8; the real-time simulation and system evaluation system includes: a biomechanical counting and operation scoring system, a fixed box 96 installed at the bottom of the operating table 3, and a control host 12 installed on the base 1.

[0033] The system of the neuroendoscopic simulation training device, the operation method of the system includes: the first step, system login; inputting data to select the training mode and wearing the device and tactile gloves 11, and reconstructing the three-dimensional model according to the input data; the second step, starting the operation; adjusting the simulation operation instrument 4 through the tactile gloves 11; the third step, real-time feedback; real-time transmission of the instrument posture and position to the hardware operation and feedback system interface, and force feedback according to the instrument posture and position relationship; the fourth step, generating a training report; generating a report according to the system score.

[0034] Working principle: When used, Figure 1 and Figure 2 As shown, the system is logged in through the touch display 10; the data is input to select the training mode and the tactile gloves 11 and the simulation operation instrument 4 are worn to reconstruct the three-dimensional model according to the input data. The multi-person collaboration mode can be selected to support the collaborative operation of the main surgeon and the assistant. The main surgeon holds the operating handle 45 and the instrument operating forceps 47. At this time, the mirror sheath tube 41 is located in the positioning ring 618, as shown in FIG. Figure 4As shown, the operation is started, and the position of the sheath probe 44 is confirmed by the positioner 42 to match the inside of the neuroendoscopy simulation model 8. According to the system judgment force feedback, the corresponding reaction force is taken through the real-time feedback of the touch display 10, and the servo motor 612 is started to drive the rotating block 613 to adjust the angle. The first movable arm 615 and the second movable arm 616 are driven by the driving motor 614 to change the position, so that the sheath tube 41 in the positioning ring 618 feels the matching resistance, and the air pump 621 is started. The airbag 623 is inflated through the connecting tube 622. Under the action of the airbag 623, the corresponding resistance is generated when the sheath tube 41 is inserted or pulled, and a 1:1 restoration is achieved. The operational feel (rotation, advance and retreat, angle adjustment) of a real neuroendoscope is connected to the inside of the neuroendoscope simulation model 8 through a fixed box 96, and the internal image of the neuroendoscope simulation model 8 is displayed through a touch display 10 to provide high-precision anatomical structure imaging. The electric telescopic rod 91 and the force sensor 93 are driven by the second connecting line 92 and the third connecting line 94 to simulate the physical properties (elasticity, viscosity, bleeding effect) of brain tissue, blood vessels, and tumors. After completion, the operation data is collected through the control host 12 and the tactile glove 11, and the AI ​​algorithm is used to analyze the operation path, instrument stability, bleeding control, etc., and a scoring report and error warning are generated. The above is the entire working principle of the present invention.

[0035] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. Neuroendoscopy simulation training device, characterized by: It comprises a base (1) and a support frame (2), wherein the support frame (2) is fixedly mounted on the upper end of the base (1), an operating table (3) is fixedly mounted on the front side of the support frame (2), and a simulated operating instrument (4) is arranged on the surface of the operating table (3); The simulation operation instrument (4) comprises a mirror sheath tube (41), a positioner (42), an instrument interface connecting rod (43), a mirror sheath probe (44), an operation handle (45), an instrument rotation operation handle (46) and an instrument operation clamp (47); the mirror sheath tube (41) is arranged on the surface of the operation platform (3); the rear end of the mirror sheath tube (41) is equipped with a positioner (42); the rear end of the positioner (42) is fixedly equipped with an instrument interface connecting rod (43); the rear end of the instrument interface connecting rod (43) is equipped with a mirror sheath probe (44); the front end of the mirror sheath tube (41) is fixedly equipped with an operation handle (45); the front end of the operation handle (45) is fixedly connected to the instrument rotation operation handle (46); the front end of the instrument rotation operation handle (46) is equipped with an instrument operation clamp (47); and the bottom of the operation handle (45) is connected to a first connecting line (5); A force feedback mechanism (6) is arranged on the surface of the operating table (3), the force feedback mechanism (6) comprising a left force feedback component (61) and a right force feedback component (62), the left force feedback component (61) and the right force feedback component (62) being installed symmetrically with respect to the center of the operating table (3); A connecting plate (7) is installed at the center of the operating table (3), and a neuroendoscopic simulation model (8) is arranged at the center of the connecting plate (7).

2. The neuroendoscopy simulation training device according to claim 1, characterized in that: The left force feedback component (61) comprises a fixed seat (611), a servo motor (612), a rotating block (613), a driving motor (614), a first movable arm (615), a second movable arm (616), a connecting piece (617) and a positioning ring (618). Two sets of fixed seats (611) are installed on the surface of the operating table (3). The servo motor (612) is installed in the left force feedback component (61) and the right force feedback component (62). The upper output end of the servo motor (612) is fixedly connected to the rotating block (613). The driving motor (614) is installed in the rotating block (613). The rear output end of the driving motor (614) is connected to the first movable arm (615). The upper end of the first movable arm (615) is movably connected to the second movable arm (616). The connecting piece (617) is installed at the end of the second movable arm (616). The positioning ring (618) is inserted into the connecting piece (617).

3. The neuroendoscopic simulation training device according to claim 1, characterized in that: The right force feedback component (62) comprises an air pump (621), a connecting tube (622) and an air bag (623); the air pump (621) is fixedly installed in the right force feedback component (62); the outer end of the air pump (621) is fixedly connected to the connecting tube (622); the other end of the connecting tube (622) is connected to the air bag (623); and the air bag (623) is connected to another set of positioning rings (618).

4. The neuroendoscopic simulation training device according to claim 1, characterized in that: A tactile feedback mechanism (9) is arranged inside the neuroendoscopic simulation model (8), and the tactile feedback mechanism (9) comprises an electric telescopic rod (91), a second connecting line (92), a force sensor (93) and a third connecting line (94). Two groups of electric telescopic rods (91) are installed inside the neuroendoscopic simulation model (8), and the outer ends of the electric telescopic rods (91) are fixedly connected to the second connecting line (92). Two groups of force sensors (93) are installed inside the rear side of the neuroendoscopic simulation model (8), and the outer ends of the force sensors (93) are fixedly connected to the third connecting line (94).

5. The neuroendoscopic simulation training device according to claim 4, characterized in that: A fixing tube (95) is fixedly connected to the bottom of the neuroendoscopic simulation model (8); a fixing box (96) is installed at the lower end of the second connecting line (92); the other ends of the second connecting line (92) and the third connecting line (94) are connected to the fixing box (96); and the rear end of the third connecting line (94) is connected to the support frame (2).

6. The neuroendoscopic simulation training device according to claim 1, characterized in that: A touch display (10) is installed on the top of the support frame (2), and two sets of tactile gloves (11) are placed on the surface of the operating table (3).

7. The neuroendoscopic simulation training device according to claim 1, characterized in that: A control host (12) is installed at the upper end of the base (1), a connection socket (13) is provided on the front side of the control host (12), a control panel (14) is installed on the front side of the control host (12), and the control panel (14) is located on the lower side of the connection socket (13).

8. The neuroendoscopic simulation training device according to claim 1, characterized in that: A placement rack (15) is fixedly mounted on the right side of the operating table (3), and an auxiliary instrument (16) is placed in the placement rack (15).

9. A system of a neuroendoscopic simulation training device, characterized in that: include: Data input and reconstruction system, hardware operation and feedback system and real-time simulation and evaluation system; The data input and reconstruction system comprises: MRI / CT import and 3D pathology modeling, a touch display (10) mounted on a support frame (2); The hardware operation and feedback system comprises: endoscope motion tracking and tactile resistance feedback, a left force feedback component (61) and a right force feedback component (62) arranged on the surface of an operating table (3); and a tactile feedback mechanism (9) inside a neuroendoscopic simulation model (8); The real-time simulation and system evaluation system comprises: a biomechanical counting and operation scoring system, a fixing box (96) installed at the bottom of an operation table (3), and a control host (12) installed on a base (1).

10. The system of the neuroendoscopic simulation training device according to claim 9, characterized in that: The method of operation of the system includes: The first step is to log in to the system; input data, select the training mode and wear the device and tactile gloves (11), and reconstruct the three-dimensional model based on the input data; The second step is to start the operation; adjusting the simulation operation instrument (4) through the tactile glove (11); The third step is real-time feedback: real-time transmission of the device posture and position to the hardware operation and feedback system interface, and force feedback based on the relationship between the device posture and position; The fourth step is to generate a training report; generate a report based on the system score.

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