A catheterization device and a catheterization training method

Abstract

The application discloses a catheterization operation device and a catheterization training method. The device comprises a catheterization equipment, a trunk simulation part, a sensing assembly, a collecting 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 arranged around the urethra simulation part, and a magnetic positioning sensor is arranged on the flexible plate. The collecting assembly comprises a projection light source and a micro image collecting sensor arranged in the urethra simulation part. The main control platform is in communication interaction with the catheterization equipment, the gyroscope, the magnetic positioning sensor and the micro image collecting sensor. The catheterization operation device and the catheterization training method provided by the application can monitor the simulation catheterization operation training of the operator in real time through the designed perfect catheterization operation device, so that whether the training is standard can be judged intuitively during the simulation catheterization operation training, and the corresponding real-time feedback guidance can be given to the problems existing in the training process of each operator.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of urethral catheterization teaching, in particular to a urethral catheterization operation device and a urethral catheterization training method. BACKGROUND

[0002] Urethral catheterization is an auxiliary examination method for checking whether the urination function is normal. It is commonly used for urine retention, urine culture, accurate recording of urine volume, understanding of the causes of oliguria or anuria, determination of residual urine volume, bladder capacity and bladder pressure measurement, injection of contrast medium, bladder irrigation, detection of urethral stenosis and pelvic organ preoperative preparation, etc.

[0003] In clinical application, on the one hand, due to the relative danger and complexity of the real human anatomy structure, most students rarely have the opportunity to personally operate, so the mastery of urethral catheterization is usually limited, and it is difficult to achieve ideal teaching effect; on the other hand, medical professors often explain urethral catheterization operation training through classroom theoretical teaching, which leads to lack of practical experience.

[0004] Therefore, how to design a urethral catheterization operation device that can be operated and can monitor the simulated urethral catheterization operation training of the operator in real time has become a technical problem to be solved by those skilled in the art. SUMMARY

[0005] The present application provides a urethral catheterization operation device and a urethral catheterization training method to solve the technical problem of lack of urethral catheterization teaching equipment in the prior art. Through the design of a perfect urethral catheterization operation device, the simulated urethral catheterization operation training of the operator can be monitored in real time, so that it can be judged whether the training is standardized during the simulated urethral catheterization operation training, and the corresponding real-time feedback guidance can be given to the problems existing in the training process of each operator.

[0006] In order to solve the above technical problem, the present application provides a urethral catheterization operation device, which comprises a urethral catheterization device, a trunk simulation part, a sensing assembly, a collecting assembly and a main control platform.

[0007] The trunk simulation part comprises a bladder simulation part and a urethra simulation part matched with the urethral 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 sensing assembly at least comprises a gyroscope and a flexible plate arranged around the urethra simulation part, the gyroscope is arranged at the urethra simulation opening, and the flexible plate is provided with a plurality of magnetic positioning sensors uniformly aligned with the urethra simulation part.

[0009] The collecting assembly at least comprises a projection light source and a micro image collecting sensor arranged in the urethra simulation part.

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

[0011] As one preferred embodiment, the catheterization device further includes a liquid section, which is connected to the bladder simulation section via a liquid conduit.

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

[0013] As one preferred embodiment, the catheterization device further includes an instrument table and a gesture sensing component disposed on the instrument table;

[0014] The instrument table is equipped with disinfection and operating equipment;

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

[0016] Another embodiment of the present invention provides a catheterization training method, applied in the catheterization operation device described above, the catheterization training method comprising:

[0017] In response to a catheterization training command, the system verifies the identity information entered by the operator on the main control platform.

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

[0019] During the training process of the urethral simulation part using the catheterization device, 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 acquired in real time.

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

[0021] The degree of distortion of the regular pattern in the reflected image is calculated, and the surface curvature data of the catheterization device is determined based on the calculation results;

[0022] Based at least on the first data, the second data, and the surface curvature data, the motion path of the catheterization device caused by the training action is determined;

[0023] The movement path is displayed in real time on the interactive interface of the main control platform, and a catheterization training result log is constructed based on the movement path.

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

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

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

[0027] The posture changes of the catheterization device as it moves along the motion path are displayed in real time in the three-dimensional virtual scene.

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

[0029] Search the preset teaching database for a standard path that matches the catheterization training instructions;

[0030] The motion path and the standard path are compared and analyzed.

[0031] The catheterization training result log was constructed based on the comparative analysis results.

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

[0033] Acquire first operation data obtained by the operator performing training actions using the display interface and the catheterization device, and acquire second operation data obtained by the operator performing training actions using the mixed reality device and the catheterization device.

[0034] The first operation data and the second operation data are scored, and the scoring result log and the corresponding teaching feedback log are displayed on the display interface.

[0035] As one preferred embodiment, during the training of the urethral simulation portion using the catheterization device, the catheterization training method further includes:

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

[0037] Extract the operator's hand posture data from the real-time image;

[0038] When the hand posture data is detected to be inconsistent with the preset, corresponding training and teaching correction information shall be output at least through the display interface of the main control platform 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] The well-designed catheterization operation device mold allows operators to easily master the procedure, facilitating their practical experience and mastery of catheterization. The sensing and data acquisition components within the device work together to create an accurate data acquisition system. During catheterization training, operators can accurately and in real-time acquire the path changes of the catheterization device within the urethral simulation section, providing intuitive and accurate feedback for subsequent catheterization instruction. To obtain the posture changes of the catheterization device within the urethral simulation section, a regular pattern is projected, and the distortion of the reflected pattern is calculated to obtain more accurate curvature data. This is because the initially projected pattern is regular, but the urethral simulation section is necessarily a curved channel. When the operator inserts the catheterization device into the urethral simulation section, the device deforms, causing the regular pattern on its surface to deform as well. The contrast between the two is very obvious, facilitating precise calculation of the surface curvature changes of the catheterization device, ultimately leading to an accurate movement path. The entire catheterization operation device and catheterization training method can monitor the operator's simulated catheterization operation training in real time, thereby intuitively judging whether the training is standardized during simulated catheterization operation training. This facilitates providing corresponding real-time feedback and guidance for each operator's problems during training, thus promoting the intelligent process in the field of medical teaching. Attached Figure Description

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

[0042] Figure 2 This is a flowchart illustrating a catheterization training method in one embodiment of the present invention;

[0043] Figure label:

[0044] Among them, 1. Bladder simulation part; 2. Urethral simulation part; 21. Urethral simulation orifice; 22. Internal urethral orifice; 23. First narrow bend; 24. Second physiological bend; 3. Magnetic positioning sensor; 4. Liquid part; 5. Liquid pipeline; 6. Lower computer. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all 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 effort are within the scope of protection of the present invention.

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

[0047] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components. The terms "vertical," "horizontal," "left," "right," "upper," "lower," and similar expressions used herein are for illustrative purposes only and do not indicate or imply that the device or component referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items. Those skilled in the art can understand the specific meaning of the above terms in this application based on the 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 meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing specific embodiments only and is not intended to limit the invention. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0049] One embodiment of the present invention provides a catheterization device; for details, please refer to [link to specific details]. Figure 1 , Figure 1 The diagram shows a schematic of the urinary catheterization device in one embodiment of the present invention. It includes a urinary catheterization device, a torso simulation unit, a sensing component, a data acquisition component, and a main control platform. It should be noted that the urinary catheterization device is operated by hand by the operator and is not shown in the figure.

[0050] The trunk simulation section includes a bladder simulation section 1 and a urethral simulation section 2 that matches the catheterization device. One end of the urethral simulation section 2 is connected to the bladder simulation section 1, and the other end of the urethral simulation section 2 is provided with a urethral simulation opening 21 (i.e., the external urethral opening). It should be noted that the urethral simulation section 2 must be a curved channel in order to simulate a real human body. In this embodiment of the invention, in order to reflect the degree of curvature of the urethral simulation section, a first narrow curved section 23 is provided near the internal urethral opening 22, and a second physiological curved section 24 is provided near the urethral simulation opening 21 (i.e., the external urethral opening). Of course, the urethral simulation section of the catheterization device needs to be designed according to the actual simulation object, such as males, females, the elderly, and children, which are all different. In this embodiment of the invention, no specific limitation is made.

[0051] To obtain the position information of the catheterization device within the urethral simulation section 2, this embodiment of the invention includes a gyroscope at the urethral simulation opening 21 and a flexible plate surrounding the urethral simulation section 2. The flexible plate is equipped with several magnetic positioning sensors 3 evenly aligned with the urethral simulation section 2. Small magnetic positioning sensors 3 are embedded near the urethral simulation section 2 and connected via the flexible plate. Magnetic poles are provided on the catheterization device. As the catheterization device moves in and out of the urethral simulation section 2, the spatial position of the catheterization device is calculated by the changes in the positive and negative poles of the magnetic positioning sensors 3. By installing a gyroscope at the urethral simulation opening 21 and connecting it via the flexible plate, the real-time changes in the angle of the catheterization device within the urethral simulation section 2 can be obtained.

[0052] Preferably, in the above embodiment, the magnetic positioning sensors 3 are installed on the flexible plate at 3mm intervals. The entire flexible plate can be installed below the urethral simulation part 2, with a total of 32 magnetic positioning sensors 3, achieving complete real-time positioning. The magnetic poles can be installed at the head of the catheterization device, provided that it does not affect the expansion and fixation operation of the catheterization device head, and no specific limitation is made here. Projection positioning is performed with 3mm intervals, with the catheterization device head as the other pole. Through magnetic positioning technology, the real-time position of the catheterization device in the urethral simulation part 2 can be determined. The sensors can be converted by the lower-level master program and the real-time position and timestamp are sent to the upper-level computer in the form of an array. After receiving the data from the lower-level computer, the upper-level computer calculates the current real-time position in reverse using the data.

[0053] Preferably, in the above embodiment, the bladder simulation unit 1 is provided with drain valves on both sides. Of course, the drain valves can also be electrically controlled by the central control platform, which will not be described in detail here. In addition, the catheterization device also includes a liquid unit 4, which is connected to the bladder simulation unit 1 through a liquid pipeline 5. Optionally, the liquid unit 4 is a collection bag, and a pressure valve can also be installed on the liquid pipeline 5 to control the flow rate of the liquid in the pipeline.

[0054] Preferably, in the above embodiments, the outer skin of the catheterization device is made of silicone, and the filling material is sponge. The lower unit 6 and the aforementioned flexible plate are fixed inside the catheterization device. The urethra simulation part and the bladder simulation part 1 are made of hollow elastic material (e.g., low-hardness silicone). In addition, in order to achieve intuitive display of the catheterization operation, the torso simulation part can be made of transparent material.

[0055] Preferably, in the above embodiments, the catheterization device further includes an instrument table and a gesture sensing component disposed on the instrument table; the instrument table is equipped with disinfection equipment and operating equipment; the gesture sensing component communicates and interacts with the main control platform. The gesture sensing component can sense the movement trajectory of a human hand, thereby acquiring the action on the instrument table, and thus providing 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 appropriate sensor types and installation positions, accurate sensing and tracking of the human hand's movement trajectory can be achieved. Of course, information such as instrument selection, placement, disinfection trajectory, etc., can all serve as the basis for subsequent evaluation and teaching, and will not be elaborated further here.

[0056] It should be noted that the catheterization device provided in this embodiment of the invention can achieve communication functions through related communication components, and can also be equipped with related database modules, data management modules, cloud interaction modules, etc., to further improve the intelligence level of the catheterization device. For example, 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 via network communication.

[0057] Another embodiment of the present invention provides a catheterization training method, applied to the catheterization device described above. For details, please refer to [link to relevant documentation]. Figure 2 , Figure 2 The diagram shown is a flowchart of a catheterization training method according to one embodiment of the present invention, which specifically includes steps S1 to S7:

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

[0059] S2. If the verification is successful, the projection light source is activated, wherein the projection light source is used to project a regular pattern;

[0060] S3. During the process of performing training actions (including at least insertion or withdrawal) on the urethral simulation part using the catheterization device, 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 acquired in real time respectively.

[0061] S4. Extract the reflected image of the regular pattern in the third data projected onto the catheterization device;

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

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

[0064] S7. Display the motion path in real time on the display interface of the main control platform, and construct a catheterization training result log based on the motion path.

[0065] To improve data security and confidentiality, in step S1 above, it is necessary to first verify the identity information entered by the operator on the main control platform. Different identity information corresponds to different operating permissions, thereby ensuring the proper use of the catheterization device.

[0066] In the above embodiments, considering that the urethral simulation part is bent, bending will inevitably occur when the catheterization device is inserted into the urethral simulation part. In order to accurately detect this bending phenomenon and provide accurate teaching basis for subsequent catheterization operations, it is necessary to obtain accurate catheterization device path information. This information has a large microscopic error due to the influence of the bending phenomenon. Therefore, the embodiments of the present invention do not directly obtain data, but first project a regularized pattern onto the catheterization device through a projection light source. When the catheterization device bends, the regularized pattern on its surface will inevitably be distorted. Since it is regular at the beginning and then becomes distorted, the contrast is very obvious, which is conducive to calculating the bending curvature of the surface of the catheterization device. More importantly, since the size interval of the regularized pattern at the beginning is known, it is only necessary to calculate the degree of distortion of the regularized pattern (compared with the initial size interval) to obtain accurate curvature data, thereby providing data support for the accurate path calculation of the catheterization device in the future.

[0067] In the above embodiments, first data collected by a gyroscope, second data collected by a magnetic positioning sensor, and third data collected by a micro-image acquisition sensor are acquired in real time. The first data provides the angle information of the catheter insertion device, the second data provides the position information of the catheter within the urethral simulation section, and the third data, as described above, provides accurate information on the posture changes of the catheter. By combining the angle information, position information, and posture change information, accurate motion path information of the catheter can be obtained.

[0068] In the above embodiments, the regular pattern is composed of stripes spaced apart. The advantage of this design is that the curvature change of the surface of the catheterization device can be accurately calculated by comparing the initial spacing of the stripes with the spacing of the stripes after bending. In addition, other regular patterns can also be used as projected patterns, which will not be elaborated further here.

[0069] To more intuitively demonstrate the catheterization procedure, after obtaining the aforementioned movement path, the catheterization training method also includes:

[0070] A 3D scanning model of the catheterization device and the trunk simulation part is performed to obtain a 3D virtual scene. The posture changes of the catheterization device as it moves along the motion path are displayed in real time in the 3D virtual scene, so that doctors and teachers can intuitively understand the operation process of the current operator.

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

[0072] (1) Search the pre-set teaching database for the standard path that matches the catheterization training instructions;

[0073] (2) Compare and analyze the motion path and the standard path;

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

[0075] In (2) above, the motion path and the standard path can be compared and analyzed by the feature extraction point method to obtain accurate analysis results.

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

[0077] The first and second operation data are scored in stages, and the scoring result log and the corresponding teaching feedback log are displayed on the interactive interface, which helps operators learn and understand the shortcomings of their operation actions.

[0078] Optionally, when the operator uses a display device, a mouse, keyboard, and catheterization device are required as input devices. The operator performs the catheterization operation based on the teaching content and catheterization procedure, in conjunction with the catheterization device. When the operator uses a mixed reality device, gesture recognition and the catheterization device are required as input devices. The operator performs the catheterization operation based on the teaching content and catheterization procedure, in conjunction with the catheterization device.

[0079] Optionally, the operator performs a catheterization procedure using a display device and a catheterization operation model to obtain first operation data, including:

[0080] When the operator performs the procedure, after completing the preoperative communication with the patient and the precautionary preparation for catheterization, the operator uses the mouse and keyboard to select instruments, place instruments, and perform disinfection on the monitor, and obtains instrument selection data, placement data, and disinfection data.

[0081] The instrument selection data, placement data, and disinfection operation data are determined as the primary operational data.

[0082] In this embodiment, when the operator uses the display device, preoperative communication and catheterization preparation procedures are carried out with the patient, including double verification, informed consent, patient communication, preparation of supplies, protection of privacy, patient guidance, examination of the vulva, draping of the drape, patient preparation and positioning.

[0083] Then, using a mouse and keyboard, the instrument selection, instrument placement, and disinfection procedures are performed on the monitor. Specifically, this includes hand disinfection, opening the puncture kit, putting on gloves, counting cotton balls, preparing for disinfection, starting disinfection, hand disinfection again, opening the catheterization kit, putting on gloves, draping, and placing supplies, thereby obtaining instrument selection data, placement data, and disinfection operation data.

[0084] Optionally, second operational data is obtained by acquiring data from the operator's use of mixed reality equipment and catheterization device to perform catheterization, including:

[0085] The catheter (urine catheterization device) is inspected and pre-treated to obtain catheter pre-treatment data;

[0086] Insert the urinary catheter into the urinary catheterization device and fix it in place to complete the urinary catheterization operation and obtain urinary catheter insertion operation data and urinary catheter depth data.

[0087] The catheter pretreatment operation data, catheter insertion operation data, and catheter depth data were determined as the second operation data.

[0088] In this embodiment, when the operator uses the mixed reality device, a gesture recognition and catheterization operation device are required as input devices. First, the catheter is inspected and pre-treated, including inspecting the catheter, lubricating the catheter, disinfecting again, and tidying up the equipment, to obtain catheter pre-treatment operation data.

[0089] Then, the catheterization procedure begins with inserting and securing the catheter into the catheterization device, completing the catheterization operation, including fixing the penis position, inserting the catheter, inflating the balloon, securing the catheter, securing the urine collection bag, affixing a label, and ending the operation. This yields catheter insertion data and catheter depth data.

[0090] When obtaining the scoring results log, different human-computer interaction behaviors can be designed according to the operation process. Different behaviors have different scoring standards. For example: 1) Selecting instruments and props in the menu - there are correct and confusing options. Correct options score points, confusing options do not; 2) Setting multiple-choice questions - there are correct and confusing options. Correct options score points, confusing options do not; 3) Free painting - record the trajectory of mouse operation to determine whether the range and sequence of painting operations are correct, and score accordingly; 4) Tracking and judging magnetic positioning sensor data - record the angle and depth of the catheter transmitted by the magnetic positioning sensor, judge whether the angle and depth data transmitted during the operation step meet the standard, and score accordingly; 5) Record the operator's operation time and establish scoring rules. The operation must be completed within the specified time, and points will be deducted for exceeding the time limit; 6) Record the user's operation steps and establish scoring rules. If any step is skipped, no points will be awarded for that step; 7) The overall scoring rules are designed according to the clinical assessment operation scoring standards.

[0091] In addition, when operators use mixed reality devices, they need to use gesture recognition and catheterization operation devices as input devices. The judgment includes whether the step is in that step, whether the step is performed correctly, whether the fixed penis angle is correct, whether the catheter depth is correct during catheterization, and whether the penis angle is correct during catheterization.

[0092] To further enrich the catheterization training experience and improve teaching effectiveness, in this embodiment of the invention, the process of performing training actions on the urethral simulation part using a catheterization device also includes:

[0093] Real-time images of training movements are captured via camera;

[0094] Extract the operator's hand posture data from real-time images;

[0095] When hand posture data is detected to be inconsistent with the preset, corresponding training and teaching correction information is output through the main control platform's display interface and / or the main control platform's voice device. This allows operators to correct their movements based on the prompts during training, thus improving the teaching experience.

[0096] As can be seen from the above, because MR presents content entirely in 3D, it is very vivid, intuitive, and engaging, which helps students understand and remember. With the help of MR technology, students' classroom experience leaps from 2D to 3D, no longer limited to flat content presented in books or on blackboards, but rather to lifelike three-dimensional content. When used with specialized devices, it can be displayed visually, further enhancing cognition and understanding.

[0097] When students use MR technology to learn, they no longer resort to rote memorization, but rather experience the learning content and actively participate in the teaching process. In this process, students can connect their past experiences with the knowledge they have learned before, creating a deeper understanding.

[0098] The visualization and interactivity of MR can naturally lead to the design of highly engaging gamified teaching content, making learning fun and significantly increasing students' willingness to learn, stimulating their interest in learning, and improving learning outcomes.

[0099] Teaching clinical skills using real patients carries certain risks, but with the help of MR technology, virtual experiments can be conducted to achieve the same results. This significantly reduces the risks in teaching and training.

[0100] The catheterization operation device and catheterization training method provided in this embodiment of the invention have the following advantages:

[0101] A well-designed mold for the catheterization operation device allows operators to learn how to operate it, which is beneficial for their practical operation and mastery of catheterization.

[0102] The sensing and data acquisition components in the catheterization device work together to create an accurate data acquisition system. During catheterization training, operators can accurately and in real time obtain the path changes of the catheterization device in the urethral simulation section, providing intuitive and accurate feedback guidance for subsequent catheterization teaching.

[0103] In order to obtain the posture changes of the catheterization device in the urethral simulation section, the distortion of the pattern reflected by the catheterization device is calculated by projecting a regular pattern, thereby obtaining more accurate curvature data. This is because the initially projected pattern is regular, but the urethral simulation section is necessarily a curved channel. When the operator inserts the catheterization device into the urethral simulation section, the catheterization device will deform, which in turn will cause the regular pattern on its surface to deform. The contrast between the two is very obvious, which is conducive to accurately calculating the surface curvature change of the catheterization device and finally obtaining the accurate movement path of the catheterization device.

[0104] The entire catheterization operation device and catheterization training method can monitor the operator's simulated catheterization operation training in real time, thereby intuitively judging whether the training is standardized during simulated catheterization operation training. This facilitates providing corresponding real-time feedback and guidance for each operator's problems during training, thus promoting the intelligent process in the field of medical teaching.

[0105] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A catheterization training method, applied to a catheterization operating device, characterized in that, The catheterization device includes a catheterization unit, a trunk simulation unit, a sensing component, a data acquisition component, and a main control platform. The trunk simulation unit includes a bladder simulation unit and a urethral simulation unit that matches the catheterization device. One end of the urethral simulation unit is connected to the bladder simulation unit, and the other end of the urethral simulation unit is provided with a urethral simulation port. The sensing component includes at least a gyroscope and a flexible plate arranged around the urethral simulation part. The gyroscope is located at the urethral simulation opening, and the flexible plate is provided with a plurality of magnetic positioning sensors uniformly aligned with the urethral simulation part. The acquisition component includes at least a projection light source and a micro-image acquisition sensor disposed within the urethra simulation unit; The main control platform communicates and interacts with the catheterization device, the gyroscope, the magnetic positioning sensor, and the micro-image acquisition sensor, respectively. The catheterization training method includes: In response to a catheterization training command, the system verifies the identity information entered by the operator on the main control platform. If the verification is successful, the projection light source is activated, wherein the projection light source is used to project a regular pattern; During the training process of the urethral simulation part using the catheterization device, 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 acquired in real time. Extract the reflected image of the regular pattern in the third data projected onto the catheterization device; The degree of distortion of the regular pattern in the reflected image is calculated, and the surface curvature data of the catheterization device is determined based on the calculation results; Based at least on the first data, the second data, and the surface curvature data, the motion path of the catheterization device caused by the training action is determined; The movement path is displayed in real time on the interactive interface of the main control platform, and a catheterization training result log is constructed based on the movement path.

2. The catheterization training method as described in claim 1, characterized in that, The regular pattern is composed of stripes arranged at intervals.

3. The catheterization training method as described in claim 1, characterized in that, After obtaining the movement path, the catheterization training method further includes: Three-dimensional scanning and modeling were performed on the catheterization device and the torso simulation part to obtain a three-dimensional virtual scene; The posture changes of the catheterization device as it moves along the motion path are displayed in real time in the three-dimensional virtual scene.

4. The catheterization training method as described in claim 1, characterized in that, The construction of the catheterization training result log based on the motion path includes: Search the preset teaching database for a standard path that matches the catheterization training instructions; The motion path and the standard path are compared and analyzed. The catheterization training result log was constructed based on the comparative analysis results.

5. The catheterization training method as described in claim 1, characterized in that, The catheterization training method also includes: Acquire first operation data obtained by the operator performing training actions using the display interface and the catheterization device, and acquire second operation data obtained by the operator performing training actions using the mixed reality device and the catheterization device. The first operation data and the second operation data are scored, and the scoring result log and the corresponding teaching feedback log are displayed on the display interface.

6. The catheterization training method as described in claim 1, characterized in that, During the training process of using the catheterization device to perform training actions on the urethral simulation part, the catheterization training method further includes: Acquire real-time images of the training actions; Extract the operator's hand posture data from the real-time image; When the hand posture data is detected to be inconsistent with the preset, corresponding training and teaching correction information shall be output at least through the display interface of the main control platform and / or the voice device of the main control platform.

7. The catheterization training method as described in claim 1, characterized in that, The catheterization device also includes a liquid section, which is connected to the bladder simulation section via a liquid pipeline.

8. The catheterization training method as described in claim 1, characterized in that, The torso simulation part is made of transparent material.

9. The catheterization training method as described in claim 1, characterized in that, The catheterization device also includes an instrument table and a gesture sensing component disposed on the instrument table. The instrument table is equipped with disinfection and operating equipment; The gesture sensing component communicates and interacts with the main control platform.

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