Comprehensive Catheterization Whole Process Simulation System

Abstract

The present invention provides a comprehensive catheterization whole-process simulation system, which includes a urethra simulation device, a urethral resistance simulation device, a urination simulation device, a gastric lavage simulation device, and a sensor and measurement system. The urethra simulation device is arranged at the anal position of a human genital model; the urethral resistance simulation device includes a peristaltic pump and an airbag connected to the peristaltic pump. The airbag is arranged at the anal position, and the inflation of the airbag exerts pressure on the urethra simulation device; the urination simulation device includes a water pump, and the water pump is connected to the urethra simulation device; the sensor and measurement system includes a first sensor, a first permanent magnet connected to the first sensor, and a catheter. The catheter is provided with a first permanent magnet; the first sensor collects the magnetic field data of the first permanent magnet, and calculates the insertion depth of the catheter in the urethra simulation device according to the magnetic field data. The present invention can completely present the whole process of comprehensive catheterization, and users can repeatedly practice and learn in a relatively real and integrated environment, improving the training efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of medical device simulation, and particularly relates to a comprehensive catheterization whole-process simulation system and a method for calculating the insertion depth of a urinary catheter. Background Art

[0002] With the continuous development of medical technology and the increasing requirements for the standardization and precision of medical operations, medical device training simulators play an increasingly important role in medical education and the training of medical staff. However, in terms of comprehensive catheterization training simulation, existing medical device training simulators have many deficiencies.

[0003] Currently, almost no medical device training simulator products on the market can fully present the comprehensive catheterization process. During urinary catheterization, on the one hand, the moving depth of the urinary catheter in the urethra is a key parameter, which is directly related to the accuracy and safety of the urinary catheterization operation. For example, inserting too deep may damage the bladder mucosa or even cause bladder perforation, while inserting too shallow may not effectively drain urine or cause the urinary catheter to fall out. However, most existing simulator products fail to achieve accurate measurement of the moving depth of the urinary catheter in the urethra and cannot provide accurate operation feedback for trainees. On the other hand, the simulation setting of urethral resistance is also an important part of comprehensive catheterization training. The urethral physiological structure and pathological state of different patients will cause significant differences in urethral resistance. For example, the urethral resistance of elderly male patients with benign prostatic hyperplasia is usually larger, while the female urethra is relatively short and has less resistance. Therefore, trainees need to practice urinary catheterization operations in an environment simulating different urethral resistances to improve their ability to handle various actual clinical situations. However, existing simulator products perform poorly in this regard and are difficult to set different urethral resistance levels, unable to truly simulate the catheterization operation conditions in various clinical scenarios.

[0004] In addition, existing simulator products also have obvious limitations in the urinary catheter position detection technology. Most products only use infrared to segment and collect the tube to determine the position of the urinary catheter. This method can only roughly judge whether the urinary catheter passes through certain preset segmented positions, but cannot determine the specific position of the urinary catheter in the urethra in real time and accurately. This makes it impossible for trainees to timely understand the accurate position information of the urinary catheter during the operation and difficult to precisely adjust the operation, seriously affecting the training effect and the improvement of operation skills.

[0005] In summary, there is a lack of medical device training simulation human products on the current market that can implement a complete comprehensive catheterization process, which greatly restricts the quality and effectiveness of medical education and the comprehensive catheterization operation training of medical staff. There is an urgent need to develop a new type of medical device training simulation human product that can overcome the above defects and completely simulate the comprehensive catheterization process to meet the growing needs of medical education and clinical training, and improve the comprehensive catheterization operation level and medical service quality of medical staff. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to overcome the problems existing in the existing medical device training simulation human in the comprehensive catheterization simulation, such as inaccurate measurement of the insertion depth of the urinary catheter, single simulation setting of urethral resistance, inability to completely simulate the entire process of comprehensive catheterization, and serious impact on the training effect and the improvement of operation skills, and to provide a comprehensive catheterization full-process simulation system and a method for calculating the insertion depth of the urinary catheter.

[0007] Based on the above purpose, the present invention provides a comprehensive catheterization full-process simulation system, including:

[0008] A urethra simulation device, which is arranged at the anal position of the human genital model;

[0009] A urethral resistance simulation device, which includes a peristaltic pump and an airbag connected to the peristaltic pump. The airbag is arranged at the anal position of the human genital model, and when the airbag expands, the expanded airbag can apply pressure to the urethra simulation device;

[0010] A urination simulation device, which includes a water pump. The water pump is connected to the urethra simulation device, and the water pump is used to simulate urination behaviors under different physiological states;

[0011] A gastric lavage simulation device, which includes a depth sensor and a balloon connected to the depth sensor. The other end of the depth sensor is connected to a simulated esophagus tube, and the simulated esophagus tube is connected to a simulated gastric bag. The balloon is used to simulate the oral swallowing state of the human body, and the depth sensor can detect the distance that the gastric lavage catheter enters the esophagus from the oral cavity to reach the simulated gastric bag;

[0012] A sensor and measurement system, which includes a first sensor, a first permanent magnet and a urinary catheter. The port of the urinary catheter is embedded with the first permanent magnet, and the first permanent magnet is electrically connected to the first sensor;

[0013] Wherein, when the urinary catheter moves in the urethra simulation device, the first sensor collects the magnetic field data of the first permanent magnet, and calculates the insertion depth of the urinary catheter in the urethra simulation device according to the magnetic field data.

[0014] In one embodiment, the urethra simulation device includes a PC tube and a liquid storage bag. One end of the PC tube is connected to the water pump, and the other end of the water pump is connected to the liquid storage bag.

[0015] In one embodiment, the sensor and the measurement system further include a second sensor and a second permanent magnet. The second permanent magnet is disposed on the rotating component of the peristaltic pump. The second permanent magnet is electrically connected to the second sensor. When the peristaltic pump rotates, the second sensor collects the magnetic field data of the second permanent magnet, and calculates the urethral resistance data according to the magnetic field data.

[0016] In one embodiment, a gender switching simulation device is further included. The gender switching simulation device includes an air pipe joint and a 4P interface. One end of the air pipe joint is connected to the peristaltic pump, and the other end of the air pipe joint is respectively connected to the air bags on the male genital model and the female genital model. The 4P interface is used to receive the signals of the male genital model and the female genital model. Among them, the human genital model includes a male genital model and a female genital model.

[0017] In one embodiment, the sensor and the measurement system further include a third sensor and a third permanent magnet. The male genital model and the female genital model are further provided with a third permanent magnet and a third sensor. The magnetic field data of the third permanent magnet is collected by the third sensor, and the gender of the model is detected according to the magnetic field data.

[0018] In one embodiment, a micro gyroscope is further included, and a micro gyroscope is disposed at the position of the penis of the male genital model.

[0019] Based on the same inventive concept, the present invention further provides a method for calculating the insertion depth of a catheter in an integrated catheterization full-process simulation system. The method is applied to an integrated catheterization full-process simulation system as described above. The method includes the following steps:

[0020] Step S1: Normalize the magnetic field data of the first permanent magnet collected by the first sensor, and smooth the normalized magnetic field data;

[0021] Step S2: Introduce a weight coefficient and calculate a weight value based on the weight coefficient;

[0022] Step S3: Calculate the insertion depth of the catheter in the urethra simulation device according to the weight value;

[0023] Step S4: Determine whether there is sensor data exceeding the threshold or significant changes in multiple sensor data. If so, adaptively and dynamically adjust the weight value, and calculate the insertion depth of the catheter in the urethra simulation device based on the adjusted weight value. If not, calculate the insertion depth of the catheter in the urethra simulation device based on the weight value obtained in Step S2.

[0024] In one embodiment, in Step S2, the method for calculating the weight value includes:

[0025] Step S2.1: Set the weight coefficient ;

[0026] Step S2.2: Calculate the weight value based on the difference between the weight coefficient , the smoothed data and the average value of the first sensor. The formula for calculating the weight value is:

[0027] ;

[0028] In the formula, represents the smoothed data, represents the average value of the first sensor.

[0029] In one embodiment, in Step S3, the formula for calculating the insertion depth of the catheter in the urethra simulation device is:

[0030] ;

[0031] In the formula, represents the weight value.

[0032] In one embodiment, in Step S4, the method for adaptively and dynamically adjusting the weight value includes:

[0033] ;

[0034] In the formula, represents the adaptive weight value, represents the weight value, represents the coefficient for the tilt compensation mechanism.

[0035] As can be seen from the above, the integrated catheterization full-process simulation system and its catheter insertion depth calculation method provided by the present invention integrate the urethra simulation device, urethral resistance simulation device, urination simulation device, and sensor and measurement system into a simulation system. Each part works together to completely present the full process of integrated catheterization. Users can practice and learn repeatedly in a relatively real and integrated environment, improving the training efficiency and reducing the problem of poor learning effects caused by using scattered and incomplete simulation tools.

[0036] Through the collaborative work of the first permanent magnet and the first sensor, the present invention can accurately calculate the insertion depth of the catheter in real time, effectively ensuring the accuracy and safety of catheterization operations, avoiding problems such as bladder perforation or catheter prolapse caused by improper depth, enabling trainers to adjust operations in a timely manner based on precise feedback; in terms of simulating urethral resistance, with the help of a peristaltic pump and an airbag at the anal position, the degree of airbag inflation can be adjusted as needed to accurately simulate urethral resistance under different physiological and pathological conditions, solving the problem that it is difficult to set different resistance levels in existing products, allowing trainers to practice in diverse simulation scenarios and enhancing their ability to handle complex clinical situations; moreover, the water pump can simulate urination behaviors under different physiological states, further enriching the simulation scenarios.

[0037] The present invention adopts an advanced sensor and measurement system, which can accurately determine the specific position of the catheter in the urethra in real time, providing detailed and accurate position information for trainers, facilitating their timely and precise adjustment during the operation, greatly improving the training effect and the efficiency of enhancing operation skills, thus fully meeting the urgent needs of medical education and clinical training for simulating the complete and comprehensive catheterization process, and strongly promoting the progress of the comprehensive catheterization operation level of medical staff and the improvement of medical service quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0039] Figure 1 It is a schematic structural diagram of a comprehensive catheterization full-process simulation system in one embodiment.

[0040] Figure 2 It is a schematic structural diagram of a catheter in one embodiment.

[0041] Figure 3 It is a schematic flow diagram of a method for calculating the insertion depth of a catheter in a comprehensive catheterization full-process simulation system in one embodiment.

[0042] Figure 4 It is a flowchart of gastric catheterization in one embodiment.

[0043] Among them, the reference numerals are explained as follows: 11, PC tube; 12, liquid storage bag; 21, peristaltic pump; 22, tracheal joint; 23, airbag; 31, water pump; 4, anus; 51, catheter; 311, balloon; 312, depth sensor; 313, simulated esophagus; 314, simulated gastric bag. Detailed Implementation Modes

[0044] To make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to specific embodiments and the accompanying drawings.

[0045] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should be of the ordinary meanings understood by those of ordinary skill in the field to which the present invention pertains. The terms "first", "second" and similar terms used in the embodiments of the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "comprising" or "including" mean that the elements or objects appearing before this term cover the elements or objects listed after this term and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to indicate relative positional relationships, and when the absolute positions of the objects being described change, the relative positional relationships may also change accordingly.

[0046] To keep the following description of the embodiments of the present invention clear and concise, the detailed descriptions of some known functions and known components are omitted in the present invention.

[0047] As Figure 1 shown in an embodiment, a comprehensive catheterization whole-process simulation system includes a urethra simulation device, a urethral resistance simulation device, a urination simulation device, and a sensor and measurement system. The urethra simulation device is disposed at the position of the anus 4 of the human genital model; the urethral resistance simulation device includes a peristaltic pump 21 and an airbag 23 connected to the peristaltic pump 21. The airbag 23 is disposed at the position of the anus 4 of the human genital model, and when the airbag 23 expands, the expanded airbag 23 can apply pressure to the urethra simulation device; the urination simulation device includes a water pump 31, and the water pump 31 is connected to the urethra simulation device. The water pump 31 is used to simulate urination behaviors under different physiological states; the sensor and measurement system includes a first sensor, a first permanent magnet, and a catheter 51. A first permanent magnet is embedded at the port of the catheter 51, and the first permanent magnet is electrically connected to the first sensor; wherein, when the catheter 51 moves in the urethra simulation device, the first sensor collects the magnetic field data of the first permanent magnet, and calculates the insertion depth of the catheter 51 in the urethra simulation device according to the magnetic field data.

[0048] A comprehensive catheterization whole-process simulation system and a method for calculating the insertion depth of a urinary catheter provided by the present invention integrate a urethra simulation device, a urethral resistance simulation device, a urination simulation device, and a sensor and measurement system in a simulation system. Each part works together to completely present the whole process of comprehensive catheterization. Users can practice and learn repeatedly in a relatively real and integrated environment, improving the training efficiency and reducing the problem of poor learning effects caused by using scattered and incomplete simulation tools.

[0049] As an embodiment, the above urethra simulation device includes a PC tube 11 and a liquid storage bag 12. One end of the PC tube 11 is connected to a water pump 31, and the other end of the water pump 31 is connected to the liquid storage bag 12. Preferably, the PC tube 11 is a high-strength PC tube 11 with an inner diameter of 8 mm and an outer diameter of 10 mm. The inner wall of the PC tube 11 is smooth and the thickness is appropriate, which can better allow the urinary catheter 51 to pass through. In this embodiment, the connection between the PC tube 11, the liquid storage bag 12, and the water pump 31 constructs the basic structure and functional system of the simulated urethra. First, an inner diameter of 8 mm can provide a relatively suitable passing space for the urinary catheter 51, neither being too narrow to cause difficulty or jamming in inserting the urinary catheter 51, nor being too wide to distort the simulation effect, ensuring the smoothness and stability of the urinary catheter 51 during its movement. Second, the outer diameter of 10 mm and the high-strength characteristics enable the PC tube 11 to have sufficient structural strength to withstand certain external forces, such as the frictional force and pressure brought by the repeated insertion and operation of the urinary catheter 51 during the simulation process, preventing the PC tube 11 from deforming or being damaged, thereby ensuring the long-term stable operation of the simulation device.

[0050] Furthermore, the water pump 31, as a urine output device, has extremely low noise when starting, large pumping power, and can control the power of the water pump through PWM. In addition, one-way valves are installed at the output end and the input end respectively to effectively prevent the phenomenon of liquid backflow.

[0051] As an embodiment, the sensor and the measurement system further include a second sensor and a second permanent magnet. The second permanent magnet is disposed on the rotating component of the peristaltic pump 21 and is electrically connected to the second sensor. When the peristaltic pump 21 rotates, the second sensor collects the magnetic field data of the second permanent magnet, and the urethral resistance data is calculated based on the magnetic field data. Preferably, the second sensor uses a Hall sensor, which can generate corresponding electrical signals according to the change of the magnetic field and has the advantages of high precision, high sensitivity and fast response. During the rotation of the peristaltic pump 21, the change of the magnetic field generated by the second permanent magnet can be accurately captured by the Hall sensor, and the magnetic field signal is converted into an electrical signal. There is a clear corresponding relationship between this electrical signal and the magnetic field data, so that the urethral resistance data can be calculated according to the change of the electrical signal. This method provides an effective means for real-time and accurate measurement of urethral resistance, enabling users to more intuitively understand the magnitude of the simulated urethral resistance, which is very helpful for simulating the urethral conditions of different patients (such as normal urethral resistance, urethral resistance under pathological conditions, etc.) and evaluating the resistance changes during catheterization operations. The urethral resistance data obtained in this way can be combined with other simulation parameters (such as the insertion depth of the catheter 51, urination status, etc.) to provide more comprehensive simulation training feedback for medical staff or trainees, helping them better master the operation skills of comprehensive catheterization under various urethral resistance conditions.

[0052] Further, the peristaltic pump 21 can be a black silicone tube with an inner diameter of 1 mm and an outer diameter of 3 mm, and the airbag 23 is a silicone airbag 23 with an inner diameter of 3 m, ensuring that the silicone tube will not be deformed by vacuum extrusion during the normal operation of the peristaltic pump 21. The peristaltic pump 21 is an important device in the resistance setting device, and there are 3 rolling wheels that circulate and roll the silicone tube around the central axis of the rotor, and the amount of gas output each time is the same. By accurately controlling the number of moving coils of the peristaltic pump 21, the total amount of gas output by the peristaltic pump can be controlled. This combination can better reflect the urethral resistance of patients in different situations during the experiment.

[0053] Among them, the setting of the urethral resistance size depends on the output of the peristaltic pump 21 and the length and radius of the silicone airbag 23 connected. The output gas volume V0 of the peristaltic pump 21 is related to the radius r0 of the silicone tube of the peristaltic pump 21, the length d0 rolled by each roller each time n and the number of rolling times,

[0054] ;

[0055] Among them, V0 represents volume, π represents pi, r0 represents the radius of the silicone tube of the peristaltic pump 21, d0 represents the length rolled by the roller.n Indicates the number of rolling presses.

[0056] The resistance F received by the above-mentioned silicone tube is proportional to the pressure P of the airbag 23. k is the proportionality constant and can be approximately expressed by a linear relationship as Similarly, the volume of the airbag V can be calculated using the volume formula of a cylinder as d; where r represents the maximum radius of the airbag, and d represents the maximum length of the airbag.

[0057] Using the ideal gas law: PV=nRT , in this experimental environment, it can be defaulted that n , T is unchanged, and the air pressure for each inflation is the ordinary atmospheric pressure p0 , so the relationship between the gas output volume of the peristaltic pump 21 and the volume change can be known as ; To simulate the insertion resistance under normal conditions, the resistance is a constant. According to the above formula, it can be found that when the silicone tube and the airbag 23 slide relative to each other, the magnitude of the resistance is related to the number of inflation times of the peristaltic pump 21, that is , in the formula, represents the proportionality constant, represents the ordinary atmospheric pressure, represents the length of the roller rolling, represents the maximum length of the airbag 23, represents the maximum radius of the airbag 23.

[0058] In actual clinical catheterization, sometimes it is necessary to inflate the airbag 23 to fix the catheter 51. However, the current simulation human products lack a device that can collect and feedback the inflation volume, and the training personnel cannot know whether the inflation volume is appropriate, which may lead to problems such as insufficient inflation of the airbag 23 causing the catheter to fall off, or over-inflation damaging the bladder mucosa. Therefore, under the condition of determined material selection, it is necessary to accurately control the number of inflation times to simulate the corresponding resistance magnitude. During the experiment, an STC32 single-chip microcomputer can be used as the main controller, and a high-precision pressure sensor is placed in the area where the airbag 23 and the silicone tube slide relative to each other to accurately measure the resistance magnitude generated when the peristaltic pump 21 pumps out gas each time. Then, through multiple repeated experiments, it is determined that the silicone tube can pass through normally and smoothly when the number of inflation times is 1 - 4 times. When it is 5 - 16 times, a linearly increasing pressure value will be generated. When it is 17 - 20 times, the airbag 23 reaches the maximum diameter. Exceeding this range will cause the balloon to exceed the range and affect the normal simulation of the resistance. This scheme has good feasibility in the topic of simulating insertion resistance.

[0059] As an implementation manner, the first permanent magnet is preferably a cylindrical permanent magnet, and the first sensor is preferably a Hall sensor. Refer to Figure 2 As shown, the urinary catheter 51 is a double-channel urinary catheter with an outer diameter of 6 mm and a balloon. A cylindrical permanent magnet with a diameter of 3 mm and a length of 10 mm is placed at the urine inlet at the front end of the original urinary catheter 51. Then, a new urine inlet is opened 3 mm behind the original urine inlet, thus manufacturing a urinary catheter 51 that can be used in conjunction with a Hall sensor (the magnetic pole direction of the magnet does not affect the use). In this implementation manner, by placing the cylindrical permanent magnet at a specific position at the front end of the urinary catheter 51 and opening a new urine inlet at an appropriate distance, when the urinary catheter moves in the PC tube, the Hall sensor can collect the change in the magnetic field data of the permanent magnet in real time, and then calculate the insertion depth of the urinary catheter in the PC tube. This design enables the urinary catheter to automatically and accurately feedback its position information in the simulated urethra while performing the simulated urinary catheterization task, providing core position data support for the entire simulated system to achieve an accurate comprehensive catheter placement process simulation, helping the training personnel accurately master the operation skills of the insertion depth of the urinary catheter 51, improving the effect and quality of the simulation training, and at the same time providing accurate data basis for the subsequent analysis and research of the urinary catheterization process.

[0060] As an implementation manner, a comprehensive catheter placement full-process simulation system further includes a gender switching simulation device. The gender switching simulation device includes a tracheal joint 22 and a 4P interface. One end of the tracheal joint 22 is connected to the silicone tube of the peristaltic pump 21, and the other end of the tracheal joint 22 is respectively connected to the balloons 23 on the male genital model and the balloons 23 on the female genital model. The 4P interface is used to receive the signals of the male genital model and the female genital model. Among them, the human genital model includes a male genital model and a female genital model. In actual clinical work, there are obvious differences in the urethral structures of men and women. For example, the male urethra is longer and has a physiological curvature, while the female urethra is relatively short and straight. By switching to the male genital model, the simulation system can adjust relevant parameters (such as the length, curvature of the urethral simulation device, and the resistance change unique to the male urethra simulated in cooperation with the balloon, etc.) to simulate the male urinary catheterization scenario; when switching to the female genital model, the relatively simple urethral structure and resistance situation of women can be simulated, which enables the training personnel to practice urinary catheterization operations in different gender scenarios, better master the urinary catheterization skills for patients of different genders, and improve the ability to handle patients of different genders in actual work.

[0061] Furthermore, the above-mentioned sensor and measurement system further include a third sensor and a third permanent magnet. Third permanent magnets and third sensors are also provided on the male genital model and the female genital model. The magnetic field data of the third permanent magnet is collected by the third sensor, and the gender of the model is detected based on the magnetic field data. In actual operation, when the simulation scenario needs to be switched between male and female, the system does not require manual input or complex external intervention to confirm the current model gender. Instead, it relies on the magnetic field data automatically obtained by the third sensor for judgment. This automatic detection method improves the convenience and accuracy of using the simulation system, and avoids the occurrence of gender simulation errors caused by human misjudgment or operational negligence.

[0062] In addition, a comprehensive whole-process catheterization simulation system further includes a micro gyroscope. A micro gyroscope is provided at the position of the penis of the male genital model, which can accurately read the angle at which the penis is lifted. During catheterization operations, different lifting angles of the penis may cause changes in the curvature and direction of the urethra, thereby affecting the difficulty and path of catheter insertion. By accurately measuring this angle, the simulation system can more realistically simulate catheterization under different penis postures, providing more diverse simulation scenarios for training personnel, enabling them to learn how to accurately insert the catheter 51 under various penis position conditions, and improving the ability to handle different penis posture situations that may occur in actual clinical practice.

[0063] As a urine receiving device, a high-precision and small-sized infrared sensor is placed at the end of the drainage bag head to determine whether the catheter 51 is connected. The part of the controller is placed between the Robert clip and the drainage bag head and sealed well, so that it can communicate with the main controller wirelessly and transmit the information to the main controller for signal processing. In addition, when injecting air into the catheter with a syringe, the injection volume can be synchronized to the main controller in real time.

[0064] In actual operation, first prepare the following materials: 12V50ml / min peristaltic pump 21, 12V water pump 31, two-way 300ml water bag, cable tie, a set of electronic catheterization models, black silicone tube with inner diameter 1mm and outer diameter 3mm, 13*13 tracheal connector 22, 3*3 tracheal connector 22, STC32G main controller, 4p connector, one-way valve, 3D printed shell. The peristaltic pump 21 is placed in a fixed printing shell. There is a fixed structure inside the printing shell. The inner surface of the printing shell is pasted with 5mm sound-absorbing foam, which has the function of isolating sound and reducing vibration. There is also sound-absorbing foam on the fixed shell cover. One end of the peristaltic pump 21 is connected to a black silicone tube, and the other end is placed inside the printing shell to prevent dust inhalation. The black silicone tube is connected to the air bag 23 at the other end through the air pipe joint 22, and the air is pumped and exhausted to adjust the resistance. The water pump 31 is also placed in the printing shell and soundproofed and shock-absorbing. The water pump 31 is fixed with a cable tie at the connection between the water pump 31 and the double-pass water bag to prevent liquid from flowing out. The other end is connected to the male and female genital model. After injecting physiological saline into the double-pass water bag, the water pump 31 can be controlled to pump out liquid to achieve the effect of simulating urine. The main controller is installed in the 3D printing shell, and the controller is treated with three-proof paint to prevent the influence of water leakage on the circuit.

[0065] The present invention can accurately calculate the insertion depth of the catheter 51 in real time through the coordinated work of the first permanent magnet and the first sensor, effectively ensuring the accuracy and safety of the catheterization operation, avoiding problems such as bladder perforation or catheter dislocation caused by improper depth, and allowing trainers to adjust the operation in time according to accurate feedback; in terms of urethral resistance simulation, with the help of the peristaltic pump 21 and the air bag 23 at the anus position, the expansion degree of the air bag 23 can be adjusted as needed, and the urethral resistance under different physiological and pathological conditions can be accurately simulated, which solves the problem that it is difficult to set different resistance sizes for existing products, allowing trainers to practice in a variety of simulation scenarios and improve their ability to cope with complex clinical conditions; and the water pump 31 can simulate urination behavior under different physiological states, further enriching the simulation scenarios.

[0066] Based on the same inventive concept, the present invention also provides a method for calculating the insertion depth of a urinary catheter in a comprehensive catheterization full-process simulation system. The method is applied to a comprehensive catheterization full-process simulation system as described above, referring to Figure 3 As shown, the method comprises the following steps:

[0067] Step S1: normalizing the magnetic field data of the first permanent magnet acquired by the first sensor, and smoothing the normalized magnetic field data;

[0068] Step S2: introducing a weight coefficient and calculating a weight value based on the weight coefficient;

[0069] Step S3: Calculate the insertion depth of the urinary catheter 51 in the urethra simulation device according to the weight value;

[0070] Step S4: Determine whether there is sensor data exceeding the threshold or significant changes in multiple sensor data. If so, adaptively and dynamically adjust the weight value, and calculate the insertion depth of the urinary catheter 51 in the urethra simulation device according to the adjusted weight value. If not, calculate the insertion depth of the urinary catheter 51 in the urethra simulation device according to the weight value obtained in Step S2.

[0071] Among them, in Step S1, first normalize the Hall sensor data, and normalize the current value of each sensor to between 0 and 1. The normalization calculation formula is:

[0072] ;

[0073] In the formula, represents the value after normalization of the current sensor, and ∈ [0,1], represents the actual value of the current sensor, represents the minimum value of the current sensor, represents the maximum value of the current sensor.

[0074] Then perform smoothing processing on the normalized data. The smoothing processing formula is:

[0075] ;

[0076] In the formula, represents the smoothed value, represents the previous smoothed value, represents the smoothing coefficient, The value of can be adjusted according to the data during the experiment. In this embodiment, the value is

[0077] Among them, in Step S2, the method for calculating the weight value includes:

[0078] Step S2.1: Set the weight coefficient ;

[0079] Step S2.2: Calculate the weight value based on the difference between the weight coefficient , the smoothed data and the average value of the first sensor. The weight value calculation formula is:

[0080] ;

[0081] In the formula, represents the smoothed data, Represents the first sensor average value.

[0082] Wherein, in step S3, the calculation formula for the insertion depth of the catheter in the urethra simulation device is:

[0083] ;

[0084] In the formula, Represents the weight value.

[0085] Wherein, in step S4, since the permanent magnet may tilt during movement, which will cause the data to change suddenly, it is necessary to dynamically adjust the weight value to reduce the influence caused by the tilt. By monitoring the sensor data, it is judged whether there is sensor data exceeding the threshold or multiple sensor data changing significantly, so as to determine whether the magnet is tilted. If so, the weight value is adaptively and dynamically adjusted:

[0086] ;

[0087] In the formula, Represents the adaptive weight value, Represents the weight value, Represents the coefficient for the tilt compensation mechanism.

[0088] As an implementation manner, a comprehensive catheterization whole-process simulation system includes the following 4 main steps. The first step is sputum suction. According to the depth detection method in the above embodiment content, the depth of sputum suction is detected. The insertion depth into the oral cavity is 15 cm, and the sputum suction depth into the nasal cavity is 15 cm. The second step is gastric lavage. According to the depth detection method in the above embodiment content, the insertion depth into the stomach is detected. The gastric intubation depth is 60 cm, and a resistance interference is set at the throat to reflect the real situation during insertion. The third step is catheterization, and the fourth step is enema.

[0089] The present invention adopts an advanced sensor and measurement system, which can accurately determine the specific position of the catheter in the urethra in real time, provide detailed and accurate position information for the training personnel, facilitate their timely and precise adjustment during the operation process, greatly improve the training effect and the efficiency of improving the operation skills, thus fully meeting the urgent needs of medical education and clinical training for the complete comprehensive catheterization process simulation, and strongly promoting the progress of the comprehensive catheterization operation level of medical staff and the improvement of the medical service quality.

[0090] Those of ordinary skill in the art should understand that the discussion of any of the above embodiments is only exemplary and is not intended to imply that the scope of the present invention (including the claims) is limited to these examples; within the concept of the present invention, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the embodiments of the present invention as described above, and they are not provided in detail for the sake of brevity.

[0091] In addition, for simplicity of explanation and discussion, and in order not to make the embodiments of the present invention difficult to understand, the well-known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided drawings. Further, the devices may be shown in block diagram form in order to avoid making the embodiments of the present invention difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present invention are to be implemented (i.e., these details should be fully within the understanding of those skilled in the art). In cases where specific details (such as circuits) are set forth to describe exemplary embodiments of the present invention, it will be apparent to those skilled in the art that the embodiments of the present invention may be implemented without these specific details or with variations of these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0092] Although the present invention has been described in connection with specific embodiments thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those of ordinary skill in the art in light of the foregoing description. For example, other memory architectures (such as dynamic RAM (DRAM)) may be used with the embodiments discussed.

[0093] The embodiments of the present invention are intended to cover all such alternatives, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the embodiments of the present invention shall be included within the protection scope of the present invention.

Claims

1. A comprehensive whole-process simulation system for catheter placement, characterized in that Comprising: A urethra simulation device, which is arranged at the anal position of the human genital model; A urethral resistance simulation device, which includes a peristaltic pump and an airbag connected to the peristaltic pump. The airbag is arranged at the anal position of the human genital model, and when the airbag expands, the expanded airbag can apply pressure to the urethra simulation device; A urination simulation device, which includes a water pump. The water pump is connected to the urethra simulation device, and the water pump is used to simulate urination behaviors under different physiological states; A gastric lavage simulation device, which includes a depth sensor and a balloon connected to the depth sensor. The other end of the depth sensor is connected to a simulated esophagus tube, and the simulated esophagus tube is connected to a simulated gastric bag; A sensor and measurement system, which includes a first sensor, a first permanent magnet, and a catheter. The port of the catheter is embedded with the first permanent magnet, and the first permanent magnet is electrically connected to the first sensor; Wherein, when the catheter moves in the urethra simulation device, the first sensor collects the magnetic field data of the first permanent magnet, and calculates the insertion depth of the catheter in the urethra simulation device according to the magnetic field data. The urethra simulation device includes a PC tube and a liquid storage bag. One end of the PC tube is connected to the water pump, and the other end of the water pump is connected to the liquid storage bag; The sensor and measurement system further includes a second sensor and a second permanent magnet. The second permanent magnet is arranged on the rotating part of the peristaltic pump, and the second permanent magnet is electrically connected to the second sensor. When the peristaltic pump rotates, the second sensor collects the magnetic field data of the second permanent magnet, and calculates the urethral resistance data according to the magnetic field data; It further includes a gender switching simulation device. The gender switching simulation device includes an air pipe joint and a 4P interface. One end of the air pipe joint is connected to the peristaltic pump, and the other end of the air pipe joint is respectively connected to the airbags on the male genital model and the female genital model. The 4P interface is used to receive the signals of the male genital model and the female genital model. Among them, the human genital model includes a male genital model and a female genital model; The sensor and measurement system further includes a third sensor and a third permanent magnet. The male genital model and the female genital model are also provided with a third permanent magnet and a third sensor. The magnetic field data of the third permanent magnet is collected by the third sensor, and the model gender is detected according to the magnetic field data; 2. The integrated catheter placement full-process simulation system according to claim 1, wherein: It further includes a micro gyroscope, and a micro gyroscope is arranged at the penis position of the male genital model; 3. A method for calculating the insertion depth of a urinary catheter in a comprehensive catheter placement full-process simulation system, characterized in that: This method is applied to a comprehensive catheterization full-process simulation system as described in any one of claims 1-2. This method includes the following steps: Step S1: Normalize the magnetic field data of the first permanent magnet collected by the first sensor, and smooth the normalized magnetic field data; Step S2: Introduce a weight coefficient, and calculate a weight value based on the weight coefficient; Step S3: Calculate the insertion depth of the catheter in the urethra simulation device according to the weight value; Step S4: Determine whether any sensor data exceeds the threshold value or whether significant changes occur in multiple sensor data. If so, adaptively and dynamically adjust the weight value, and calculate the insertion depth of the catheter in the urethra simulation device based on the adjusted weight value. If not, calculate the insertion depth of the catheter in the urethra simulation device based on the weight value obtained in Step S2.

4. The method for calculating the insertion depth of a urinary catheter in an integrated catheterization full-process simulation system according to claim 3, wherein: In Step S2, the method for calculating the weight value includes: Step S2.1: Set the weight coefficient ; Step S2.2: Based on the weight coefficient , calculate the weight value based on the difference between the smoothed data and the average value of the first sensor. The formula for calculating the weight value is: ； In the formula, represents the smoothed data, represents the first sensor average value.

5. The method for calculating the insertion depth of a urinary catheter in an integrated catheterization full-process simulation system according to claim 4, characterized in that: In Step S3, the calculation formula for the insertion depth of the catheter in the urethra simulation device is: ； In the formula, represents the weight value.

6. The method for calculating the insertion depth of a urinary catheter in an integrated catheterization whole-process simulation system according to claim 4, wherein: In Step S4, the method for adaptively and dynamically adjusting the weight value includes: ； In the formula, represents the adaptive weight value, represents the weight value, represents the coefficient for the tilt compensation mechanism.

Images