Urethral catheterization operation device and urethral catheterization training method

Abstract

The invention discloses a urethral catheterization operation device and a urethral catheterization training method. The device comprises urethral catheterization equipment, a trunk simulation part, a sensing assembly, an acquisition assembly and a main control platform, the trunk simulation part comprises a bladder simulation part and a urethra simulation part, and the urethra simulation part is communicated with the bladder simulation part; the sensing assembly comprises a gyroscope and a flexible plate annularly arranged on the urethra simulation part, and a magnetic positioning sensor is arranged on the flexible plate; the acquisition assembly comprises a projection light source and a micro-image acquisition sensor which are arranged in the urethra simulation part; the main control platform is in communication interaction with the urinary catheterization equipment, the gyroscope, the magnetic positioning sensor and the micro-image acquisition sensor respectively. According to the urethral catheterization operation device and the urethral catheterization training method provided by the embodiment of the invention, the urethral catheterization operation simulation training of an operator can be monitored in real time by designing the perfectly designed urethral catheterization operation device, so that whether the training is standard or not is intuitively judged during the urethral catheterization operation simulation training; and corresponding real-time feedback guidance can be conveniently provided for problems existing in the training process of each operator.

Description

Technical Field

[0001] The present invention relates to the technical field of catheterization teaching, and particularly to a catheterization operation device and a catheterization training method. Background Art

[0002] Catheterization is an auxiliary examination method used to check the normal urination function. It is commonly used for urinary retention, collecting urine for bacterial culture, accurately recording urine volume, understanding the causes of oliguria or anuria, measuring residual urine volume, bladder capacity and bladder pressure measurement, injecting contrast agent, bladder irrigation, detecting urethral stricture and preoperative preparation of pelvic organs, etc.

[0003] In clinical applications, on the one hand, due to the relatively dangerous and complex real human anatomical structure, most students rarely have the opportunity to operate in person. Therefore, their mastery of catheterization is usually limited and it is difficult to achieve an ideal teaching effect. On the other hand, medical professors often explain catheterization operation training through classroom theoretical teaching, resulting in a lack of practical experience.

[0004] Therefore, it has become an urgent technical problem for those skilled in the art to design a catheterization operation device that can be operated and can monitor the simulated catheterization operation training of the operator in real time. Summary of the Invention

[0005] The present invention provides a catheterization operation device and a catheterization training method to solve the technical problem of the lack of catheterization teaching equipment in the prior art. By designing a perfect catheterization operation device, the simulated catheterization operation training of the operator can be monitored in real time, so that it is possible to intuitively judge whether the training is standardized during the simulated catheterization operation training, and it is convenient to give corresponding real-time feedback guidance on the problems existing in the training process for each operator.

[0006] To solve the above technical problems, an embodiment of the present invention provides a catheterization operation device, including a catheterization device, a torso simulation part, an induction component, a collection component and a main control platform;

[0007] The torso simulation part includes a bladder simulation part and a urethra simulation part that matches the catheterization device. One end of the urethra simulation part is communicated with the bladder simulation part, and the other end of the urethra simulation part is provided with a urethra simulation opening;

[0008] The induction component at least includes a gyroscope and a flexible plate arranged around the urethra simulation part. The gyroscope is arranged at the urethra simulation opening, and a plurality of magnetic positioning sensors that are evenly aligned with the urethra simulation part are arranged on the flexible plate;

[0009] The collection component at least includes a projection light source and a micro-image collection sensor arranged in the urethra simulation part;

[0010] The master control platform communicates and interacts with the urinary catheterization device, the gyroscope, the magnetic positioning sensor, and the micro-image acquisition sensor respectively.

[0011] As a preferred solution, the urinary catheterization operation device further includes a liquid part, and the liquid part is communicated with the bladder simulation part through a liquid pipeline.

[0012] As a preferred solution, the torso simulation part is made of a transparent material.

[0013] As a preferred solution, the urinary catheterization operation device further includes an instrument table and a gesture sensing component arranged on the instrument table;

[0014] A disinfection device and an operation device are arranged on the instrument table;

[0015] The gesture sensing component communicates and interacts with the master control platform.

[0016] Another embodiment of the present invention provides a urinary catheterization training method, which is applied to the urinary catheterization operation device as described above. The urinary catheterization training method includes:

[0017] In response to a urinary catheterization training instruction, verify the identity information input by the operator on the master control platform;

[0018] If the verification is passed, start the projection light source, wherein the projection light source is used to project a regular pattern;

[0019] During the process of using the urinary catheterization device to perform a training action on the urethra simulation part, respectively and real-time obtain the first data collected by the gyroscope, the second data collected by the magnetic positioning sensor, and the third data collected by the micro-image acquisition sensor;

[0020] Extract the reflected image of the regular pattern projected onto the urinary catheterization device in the third data;

[0021] Calculate the distortion degree of the regular pattern in the reflected image, and determine the surface curvature data of the urinary catheterization device based on the calculation result;

[0022] Determine at least based on the first data, the second data, and the surface curvature data the movement path of the urinary catheterization device caused by the training action;

[0023] Real-time display the movement path on the display interaction interface of the master control platform, and construct a urinary catheterization training result log based on the movement path.

[0024] As a preferred solution, the regular pattern is composed of stripes arranged at intervals.

[0025] As one of the preferred solutions, after obtaining the movement path, the catheterization training method further includes:

[0026] Performing three-dimensional scanning and modeling on the catheterization device and the torso simulation part to obtain a three-dimensional virtual scene;

[0027] In the three-dimensional virtual scene, the attitude change of the catheterization device during movement along the movement path is displayed in real time.

[0028] As one of the preferred solutions, constructing the catheterization training result log based on the movement path includes:

[0029] Querying the standard path matching the catheterization training instruction in a preset teaching database;

[0030] Comparing and analyzing the movement path and the standard path;

[0031] Constructing the catheterization training result log based on the comparison and analysis result.

[0032] As one of the preferred solutions, the catheterization training method further includes:

[0033] Obtaining first operation data obtained by the operator performing training actions using the display interaction interface and the catheterization operation device, and obtaining second operation data obtained by the operator performing training actions using the mixed reality device and the catheterization operation device;

[0034] Scoring the first operation data and the second operation data, and displaying the scoring result log and the teaching feedback log corresponding to the scoring result log on the display interaction interface.

[0035] As one of the preferred solutions, during the process of using the catheterization device to perform training actions on the urethra simulation part, the catheterization training method further includes:

[0036] Collecting real-time images of the training actions;

[0037] Extracting the hand gesture data of the operator in the real-time images;

[0038] When it is detected that the hand gesture data does not meet the preset requirements, at least outputting corresponding training teaching correction information through the display interaction interface and / or the voice device of the main control platform.

[0039] Compared with the prior art, the beneficial effects of the embodiments of the present invention are at least one of the following:

[0040] Design a perfect mold for the urinary catheterization operation device, enabling operators to perform hands-on operations, which is beneficial for the practical operation and mastery of urinary catheterization techniques. The induction component and the acquisition component in the urinary catheterization operation device cooperate with each other to create an accurate data acquisition system. During the process of operators' urinary catheterization training, they can accurately and real-time obtain the path changes of the urinary catheterization device in the urethral simulation part, providing intuitive and accurate feedback guidance for subsequent urinary catheterization teaching. In order to obtain the attitude changes of the urinary catheterization device in the urethral simulation part, by projecting a regular pattern, the degree of distortion of the pattern reflected by the urinary catheterization device is calculated, so as to obtain more accurate curvature data. This is because the initially projected pattern is regular, but the urethral simulation part must be a bent channel. Then, when the operator inserts the urinary catheterization device into the urethral simulation part, the urinary catheterization device will deform, and thus the regular pattern on its own surface will also deform. The comparison between the two is very obvious, which is beneficial for accurately calculating the surface curvature changes of the urinary catheterization device and finally obtaining the accurate movement path of the urinary catheterization device. The entire urinary catheterization operation device and the urinary catheterization training method can monitor the simulated urinary catheterization operation training of operators in real time, so as to intuitively judge whether the training is standardized during the simulated urinary catheterization operation training, and facilitate giving corresponding real-time feedback guidance to the problems existing in each operator during the training process, promoting the intelligent process in the field of medical teaching. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is a schematic structural diagram of the urinary catheterization operation device in one embodiment of the present invention;

[0042] Figure 2 is a schematic flow diagram of the urinary catheterization training method in one embodiment of the present invention;

[0043] Reference Signs:

[0044] Among them, 1. Bladder simulation part; 2. Urethral simulation part; 21. Urethral simulation opening; 22. Internal urethral orifice; 23. First narrow and curved part; 24. Second physiological curved part; 3. Magnetic positioning sensor; 4. Liquid part; 5. Liquid pipeline; 6. Lower computer. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0046] In the description of this application, the terms "first", "second", "third", etc. are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second", "third", etc. may explicitly or implicitly include one or more of such features. In the description of this application, unless otherwise stated, the meaning of "a plurality" is two or more.

[0047] In the description of this application, it should be noted that unless otherwise clearly specified and defined, the terms "installed", "connected", "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. The terms "vertical", "horizontal", "left", "right", "up", "down" and similar expressions used herein are only for illustrative purposes and do not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0048] In the description of this application, it should be noted that unless otherwise defined, all technical and scientific terms used in this invention have the same meanings as those commonly understood by those skilled in the technical field to which this invention belongs. The terms used in the specification of this invention are only for the purpose of describing specific embodiments and are not intended to limit this invention. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0049] One embodiment of the present invention provides a urinary catheterization operation device. Specifically, please refer to Figure 1 , Figure 1 which shows a schematic structural diagram of the urinary catheterization operation device in one of the embodiments of the present invention. It includes a urinary catheterization device, a torso simulation part, a sensing component, a collection component, and a main control platform. It should be noted that the urinary catheterization device is held and operated by an operator and is not shown in the figure.

[0050] The torso simulation part includes a bladder simulation part 1 and a urethra simulation part 2 that matches the urinary catheterization device. One end of the urethra simulation part 2 is connected to the bladder simulation part 1, and the other end of the urethra simulation part 2 is provided with a urethra simulation opening 21 (i.e., the external urethral orifice). It should be noted that the urethra simulation part 2 must be a bent channel in order to simulate the real human body. In the embodiment of the present invention, in order to reflect the degree of bending of the urethra simulation part, a first narrow bending part 23 is provided at a position close to the internal urethral orifice 22, and a second physiological bending part 24 is provided at a position close to the urethra simulation opening 21 (i.e., the external urethral orifice). Of course, the urethra simulation part of the urinary catheterization operation device needs to be designed according to the actual simulation object. For example, there are differences between men, women, the elderly, and children, and no specific limitation is made in the embodiment of the present invention.

[0051] In order to obtain the position information of the urinary catheterization device in the urethra simulation part 2, in the embodiment of the present invention, a gyroscope is provided at the urethra simulation opening 21, and a flexible plate is annularly arranged on the periphery of the urethra simulation part 2. A plurality of magnetic positioning sensors 3 that are evenly aligned with the urethra simulation part 2 are provided on the flexible plate. Small magnetic positioning sensors 3 are built in near the urethra simulation part 2 and connected through the flexible plate. A magnetic pole is provided on the urinary catheterization device. When the urinary catheterization device enters and exits the urethra simulation part 2, the spatial position of the urinary catheterization device is calculated through the change of the positive and negative poles of the magnetic positioning sensors 3. A gyroscope is provided at the urethra simulation opening 21 and connected through the flexible plate, so that the real-time change of the angle of the urinary catheterization device in the urethra simulation part 2 can be obtained.

[0052] Preferably, in the above embodiment, the magnetic positioning sensors 3 are installed on the flexible plate at intervals of 3 mm. The flexible plate as a whole can be installed below the urethra simulation part 2. There are a total of 32 magnetic positioning sensors 3 to achieve complete real-time positioning. The magnetic pole can be installed at the head of the urinary catheterization device, provided that it does not affect the operation of the head end of the urinary catheterization device to bulge and fix. No specific limitation is made here. Projection positioning is carried out in 3-mm segments, with the head end of the urinary catheterization device as the other pole. Through magnetic positioning technology, the current real-time position of the urinary catheterization device in the urethra simulation part 2 can be known. After the sensors are converted by the slave board program of the lower computer, the real-time position and timestamp are sent to the upper computer in the form of an array. After receiving the data from the lower computer, the upper computer calculates the current real-time position through data reverse calculation.

[0053] Preferably, in the above embodiment, water discharge valves are provided on both sides of the bladder simulation part 1. Of course, the valves of the water discharge valves can also be electrically controlled by the central control platform, which will not be elaborated here. In addition, the urinary catheterization operation device further includes a liquid part 4. The liquid part 4 is connected to the bladder simulation part 1 through a liquid pipeline 5. Optionally, the liquid part 4 is a liquid collection bag. Relevant pressure valves can also be provided on the liquid pipeline 5 to control the liquid flow rate in the pipeline.

[0054] Preferably, in the above embodiments, the outer epidermis of the urinary catheterization operation device is made of silica gel, the filling material is sponge, and the lower computer 6 and the above flexible plate are fixed inside the urinary catheterization operation device. The urethra simulation part and the bladder simulation part 1 are made of hollow elastic material (such as low-hardness silica gel). In addition, in order to realize the intuitive display of the actions of urinary catheterization operation, the torso simulation part can be prepared from transparent materials.

[0055] Preferably, in the above embodiments, the urinary catheterization operation device further includes an instrument table and a gesture sensing component provided on the instrument table; a disinfection device and an operation device are provided on the instrument table; the gesture sensing component communicates with the main control platform. The gesture sensing component can sense the movement trajectory of the human hand, so as to obtain the actions on the instrument table, and further provide data support for the evaluation and teaching of this action. Optionally, the gesture sensing component can be a depth camera, an infrared sensor, an ultrasonic sensor, and / or a microwave radar sensor. By selecting the appropriate sensor type and installation position, accurate sensing and tracking of the movement trajectory of the human hand can be achieved. Of course, information such as instrument selection, placement position, disinfection trajectory, etc. can all be used as the basis for subsequent evaluation and teaching, and will not be described in detail here.

[0056] It should be noted that the urinary catheterization operation device provided by the embodiments of the present invention can achieve the communication function through relevant communication components, and can also set relevant database modules, data management modules, cloud interaction modules, etc. to further improve the intelligence level of the urinary catheterization operation device. For example, the user operation data obtained through the human-computer interaction module can be stored in the database and uploaded to the cloud for analysis and processing through network communication.

[0057] Another embodiment of the present invention provides a urinary catheterization training method, which is applied to the above urinary catheterization operation device. Specifically, please refer to Figure 2 , Figure 2 which shows a schematic flow chart of the urinary catheterization training method in one of the embodiments of the present invention, and specifically includes steps S1 to S7:

[0058] S1. In response to the urinary catheterization training instruction, verify the identity information input by the operator on the main control platform;

[0059] S2. If the verification is passed, start the projection light source, where the projection light source is used to project a regular pattern;

[0060] S3. During the process of using the urinary catheterization device to perform training actions (the training actions include at least insertion or extraction) on the urethra simulation part, respectively and in real time obtain the first data collected by the gyroscope, the second data collected by the magnetic positioning sensor, and the third data collected by the micro-image acquisition sensor;

[0061] S4. Extract the reflected image of the regular pattern projected onto the urinary catheter device from the third data;

[0062] S5. Calculate the degree of distortion of the regular pattern in the reflected image, and determine the surface curvature data of the urinary catheter device based on the calculation result;

[0063] S6. Determine the movement path of the urinary catheter device caused by the training action based on at least the first data, the second data, and the surface curvature data;

[0064] S7. Real-time display the movement path on the display interaction interface of the main control platform, and construct a urinary catheter training result log based on the movement path.

[0065] In order to improve the security and confidentiality of data, in the above step S1, it is necessary to first verify the identity information input by the operator on the main control platform. Different identity information corresponds to different operation permissions, so as to ensure the reasonable use of the urinary catheter operation device.

[0066] In the above embodiment, considering that the urethral simulation part is bent in shape, when inserting the urinary catheter device into the urethral simulation part, it will inevitably be bent. In order to accurately detect this bending phenomenon and provide an accurate teaching basis for subsequent urinary catheter operations, it is necessary to obtain accurate path information of the urinary catheter device. Due to the influence of the bending phenomenon, the microscopic error of this information is relatively large. Therefore, in the embodiment of the present invention, data is not directly obtained, but a regular pattern is first projected onto the urinary catheter device by a projection light source. When the urinary catheter device is bent, the regular pattern on its surface will inevitably be distorted. Since it was regular at the beginning and then became distorted, the contrast is very obvious, which is conducive to calculating the bending curvature of the object surface of the urinary catheter device. More importantly, since the size interval of the initial regular pattern is known, only by calculating the degree of distortion of the regular pattern (compared with the initial size interval), accurate curvature data can be obtained, and further provide data support for the accurate path calculation of the subsequent urinary catheter device.

[0067] In the above embodiment, the first data collected by the gyroscope, the second data collected by the magnetic positioning sensor, and the third data collected by the micro-image acquisition sensor are respectively obtained in real time. The first data can provide the insertion angle information of the urinary catheter device, the second data can provide the position information of the urinary catheter device in the urethral simulation part, and as can be seen from the above content, the third data can obtain accurate posture change information of the urinary catheter device. By integrating the above angle information, position information, and posture change information, accurate movement path information of the urinary catheter device can be obtained.

[0068] In the above embodiments, the regular pattern is composed of stripes arranged at intervals. The advantage of such a design is that the accurate curvature change of the surface of the urinary catheterization device can be deduced by comparing the distance between the stripes at the beginning and the distance between the stripes after bending. In addition, other regular patterns can also be used as the projected patterns, which will not be elaborated here additionally.

[0069] To more intuitively display the urinary catheterization operation, after obtaining the above-mentioned movement path, the urinary catheterization training method further includes:

[0070] Performing three-dimensional scanning and modeling on the urinary catheterization device and the torso simulation part to obtain a three-dimensional virtual scene; in the three-dimensional virtual scene, the attitude change of the urinary catheterization device when moving along the movement path is displayed in real time, so that doctors and teachers can intuitively understand the operation process of the current operator.

[0071] To accurately conduct teaching, it is necessary to analyze the movement path. Optionally, in the above embodiments, a urinary catheterization training result log is constructed based on the movement path, including:

[0072] (1) Querying the standard path matching the urinary catheterization training instruction in the preset teaching database;

[0073] (2) Comparing and analyzing the movement path and the standard path;

[0074] (3) Constructing a urinary catheterization training result log based on the comparison and analysis results.

[0075] In the above (2), the movement path and the standard path can be compared and analyzed by the method of extracting feature points to obtain accurate analysis results.

[0076] Furthermore, in the above embodiments, the first operation data obtained by the operator using the display device (display interaction interface) and the urinary catheterization operation device (which can be obtained through a camera) can be acquired, and the second operation data obtained by the operator using the mixed reality device and the urinary catheterization operation device to perform training actions can be acquired.

[0077] The first operation data and the second operation data are scored in stages, and the scoring result log and the teaching feedback log corresponding to the scoring result log are displayed on the display interaction interface, which is conducive to the operator learning about the deficiencies of the operation actions.

[0078] Optionally, when the operator uses the display device, the mouse, keyboard, and urinary catheterization operation device are used as input devices, and the operator performs urinary catheterization operations based on the teaching content and the urinary catheterization operation process, in combination with the urinary catheterization operation device. When the operator uses the mixed reality device, gesture recognition and the urinary catheterization operation device are used as input devices. The operator performs urinary catheterization operations based on the teaching content and the urinary catheterization operation process, in combination with the urinary catheterization operation device.

[0079] Optionally, obtain the first operation data obtained by the operator performing a catheterization operation using a display device and a catheterization operation model, including:

[0080] When the operator performs an operation, after completing the preoperative communication operation and the preoperative preparation operation for catheterization with the patient, the operator performs instrument selection, instrument placement position operation, and disinfection operation on the display via a mouse and a keyboard to obtain instrument selection data, position placement data, and disinfection operation data;

[0081] Determine the instrument selection data, position placement data, and disinfection operation data as the first operation data.

[0082] In this embodiment, when the operator uses the display device, the preoperative communication operation and the preoperative preparation operation for catheterization with the patient include double-checking, informed consent, patient communication, item preparation, item preparation, privacy protection, patient guidance, vulva examination, laying a drape, patient preparation, and body position.

[0083] Then, perform instrument selection, instrument placement position operation, and disinfection operation on the display via a mouse and a keyboard, specifically including hand disinfection, opening the puncture kit, wearing gloves, counting cotton balls, preparing for disinfection, starting disinfection, performing hand disinfection again, opening the catheterization kit, wearing gloves, laying a drape, and placing items, so as to obtain instrument selection data, position placement data, and disinfection operation data.

[0084] Optionally, obtain the second operation data obtained by the operator performing a catheterization operation using a mixed reality device and a catheterization operation device, including:

[0085] Perform inspection and pretreatment operations on the catheter (catheterization device) to obtain catheter pretreatment operation data;

[0086] Insert the catheter into the catheterization operation device and fix it to complete the catheterization operation to obtain catheter insertion operation data and catheter depth data;

[0087] Determine the catheter pretreatment operation data, catheter insertion operation data, and catheter depth data as the second operation data.

[0088] In this embodiment, when the operator uses the mixed reality device, gesture recognition and the catheterization operation device need to be used as input devices. First, perform inspection and pretreatment operations on the catheter, including inspecting the catheter, lubricating the catheter, lubricating the catheter, disinfecting again, and organizing items, to obtain catheter pretreatment operation data.

[0089] Then, start inserting the catheter into the urinary catheterization operation device and fix it to complete the urinary catheterization operation, including fixing the position of the penis, inserting the catheter, inflating the balloon, fixing the catheter, fixing the urine collection bag, pasting the label, and ending the operation, so as to obtain the operation data of catheter insertion and the depth data of the catheter.

[0090] When obtaining the scoring result log through scoring, different human-computer interaction behaviors can be designed according to the operation process. Different behaviors have different scoring criteria. For example: 1) Select instruments and props in the menu - there are correct items and confusing items. Correct items score points, and confusing items do not score; 2) Set multiple-choice questions - there are correct items and confusing items. Correct items score points, and confusing items do not score; 3) Free smearing - record the trajectory of the mouse operation to judge the range and sequence of the smearing operation, and score accordingly; 4) Magnetic positioning sensor data tracking and judgment - record the angle and depth of the catheter transmitted by the magnetic positioning sensor, and judge whether the angle and depth data transmitted during this operation step meet the standards, and score accordingly; 5) Record the operation duration of the operator and set a scoring rule that the operation must be completed within the specified time range, and points will be deducted for overtime; 6) Record the operation steps of the user and set a scoring rule that if a step is skipped, that step will not score. 7) The overall scoring rule is designed according to the clinical assessment operation scoring standard.

[0091] In addition, when the operator uses the mixed reality device, gesture recognition and the urinary catheterization operation device need to be used as input devices. The content to be judged includes whether it is in this step, whether the operation of this step is correct, whether the fixed penis angle is correct, whether the catheter depth is correct during urinary catheterization, and whether the penis angle is correct during urinary catheterization.

[0092] In order to further enrich the urinary catheterization training experience and improve the teaching effect, in the embodiment of the present invention, during the process of using the urinary catheterization device to perform training actions on the urethral simulation part, it further includes:

[0093] Collect real-time images of the training actions through the camera;

[0094] Extract the hand gesture data of the operator in the real-time image;

[0095] When it is detected that the hand gesture data does not meet the preset, at least output corresponding training teaching correction information through the display interaction interface of the main control platform and / or the voice device of the main control platform, so that the operator can correct his actions according to the prompts during the training process, improving the effect of the teaching experience.

[0096] As can be seen from the above, since all the content presented by MR is 3D and very vivid, intuitive and vivid, it helps students understand and remember. With the help of MR technology, the classroom experience of students has leaped from 2D to 3D, no longer the flat content presented by books or blackboards, but vivid three-dimensional content. With the use of special devices, it can be visually displayed, which helps to improve cognition and understanding.

[0097] When students use MR technology to learn, they no longer rote learn, but experience the learning content and personally participate in the teaching. In this process, students can recall their previous relevant experiences and establish a deeper connection with the knowledge learned before.

[0098] The visualization and interactivity of MR can naturally design very attractive gamified teaching content, combining education with entertainment, thus greatly improving students' learning willingness, stimulating learning interest and improving learning effect.

[0099] Clinical skills teaching can be dangerous if real patients are used as objects, but with the help of MR technology, virtual experiments can be completely carried out while obtaining the same effect. In this way, the risks in teaching and training can be greatly reduced.

[0100] The beneficial effects of a urinary catheterization operation device and a urinary catheterization training method provided by an embodiment of the present invention are as follows:

[0101] Design a perfect mold for the urinary catheterization operation device, so that it is possible for the operator to start operating, which is beneficial to the practical operation and mastery of the urinary catheterization technique.

[0102] The induction component and the acquisition component in the urinary catheterization operation device cooperate with each other to create an accurate data acquisition system. During the process of the operator's urinary catheterization training, the path change of the urinary catheterization device in the urethral simulation part can be accurately and real-time obtained, providing intuitive and accurate feedback guidance for subsequent urinary catheterization teaching.

[0103] In order to obtain the attitude change of the urinary catheterization device in the urethral simulation part, by projecting a regular pattern, the distortion degree of the pattern reflected by the urinary catheterization device is calculated, so as to obtain more accurate curvature data. This is because the initially projected pattern is regular, but the urethral simulation part must be a bent channel. Then when the operator inserts the urinary catheterization device into the urethral simulation part, the urinary catheterization device will deform, and then the regular pattern on its own surface will deform. The contrast between the two is very obvious, which is beneficial to accurately calculate the surface curvature change of the urinary catheterization device and finally obtain the accurate movement path of the urinary catheterization device.

[0104] The entire urinary catheterization operation device and the urinary catheterization training method can monitor the simulated urinary catheterization operation training of the operator in real time, so that it is possible to intuitively judge whether the training is standardized during the simulated urinary catheterization operation training, facilitating the provision of corresponding real-time feedback guidance for the problems existing in each operator during the training process, and promoting the intelligent process in the field of medical teaching.

[0105] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the appended claims.

Claims

1. A urinary catheterization operation device, characterized in that, It includes a urinary catheterization device, a torso simulation part, a sensing component, a collection component, and a main control platform; The torso simulation part includes a bladder simulation part and a urethra simulation part that matches the urinary catheterization device. One end of the urethra simulation part is communicated with the bladder simulation part, and the other end of the urethra simulation part is provided with a urethra simulation opening; The sensing component at least includes a gyroscope and a flexible plate arranged around the urethra simulation part. The gyroscope is arranged at the urethra simulation opening, and a plurality of magnetic positioning sensors that are evenly aligned with the urethra simulation part are arranged on the flexible plate; The collection component at least includes a projection light source and a micro-image collection sensor arranged in the urethra simulation part; The main control platform communicates and interacts with the urinary catheterization device, the gyroscope, the magnetic positioning sensor, and the micro-image collection sensor respectively.

2. The urinary catheterization operation device according to claim 1, wherein The urinary catheterization operation device further includes a liquid part, and the liquid part is communicated with the bladder simulation part through a liquid pipeline.

3. The urinary catheterization operation device according to claim 1, characterized in that The torso simulation part is made of a transparent material.

4. The urinary catheterization operation device according to claim 1, characterized in that, The urinary catheterization operation device further includes an instrument table and a gesture sensing component arranged on the instrument table; A disinfection device and an operation device are arranged on the instrument table; The gesture sensing component communicates and interacts with the main control platform.

5. A urethral catheterization training method, characterized in that, Applied to the urinary catheterization operation device according to any one of claims 1 to 4, the urinary catheterization training method includes: In response to a urinary catheterization training instruction, verify the identity information input by the operator on the main control platform; If the verification is passed, start the projection light source, wherein the projection light source is used to project a regular pattern; During the process of using the urinary catheterization device to perform a training action on the urethra simulation part, respectively and real-time obtain the first data collected by the gyroscope, the second data collected by the magnetic positioning sensor, and the third data collected by the micro-image collection sensor; Extract the reflected image of the regular pattern projected onto the urinary catheterization device from the third data; Calculate the distortion degree of the regular pattern in the reflected image, and determine the surface curvature data of the urinary catheterization device based on the calculation result; Determine the movement path of the urinary catheterization device caused by the training action at least based on the first data, the second data, and the surface curvature data; Real-time display the movement path on the display interaction interface of the main control platform, and construct a urinary catheterization training result log based on the movement path.

6. The catheterization training method according to claim 5, wherein The regular pattern is composed of stripes arranged at intervals.

7. The catheterization training method according to claim 5, characterized in that, After obtaining the movement path, the urinary catheterization training method further includes: Perform three-dimensional scanning and modeling on the urinary catheterization device and the torso simulation part to obtain a three-dimensional virtual scene; Real-time display the attitude change of the urinary catheterization device when moving along the movement path in the three-dimensional virtual scene.

8. The catheterization training method according to claim 5, wherein, The constructing the urinary catheterization training result log based on the movement path includes: Query a standard path that matches the urinary catheterization training instruction in a preset teaching database; Compare and analyze the movement path and the standard path; Construct the urinary catheterization training result log based on the comparison and analysis result.

9. The catheterization training method according to claim 5, characterized in that, The urinary catheterization training method further includes: Obtain first operation data obtained by the operator performing training actions using the display interaction interface and the catheterization operation device, and obtain second operation data obtained by the operator performing training actions using the mixed reality device and the catheterization operation device; Score the first operation data and the second operation data, and display a scoring result log and a teaching feedback log corresponding to the scoring result log on the display interaction interface.

10. The urinary catheterization training method according to claim 5, characterized in that, During the process of performing training actions on the urethra simulation part using the catheterization device, the catheterization training method further includes: Collect real-time images of the training actions; Extract the hand gesture data of the operator in the real-time images; When it is detected that the hand gesture data does not meet the preset, output corresponding training teaching correction information at least through the display interaction interface of the main control platform and / or the voice device of the main control platform.

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