Port puncture simulation system implanted into venous transfusion port

Abstract

The invention relates to the technical field of intravenous infusion ports, and particularly discloses a port puncture simulation system implanted into an intravenous infusion port, which is used for solving the problem that the puncture position and force of a needle cannot be accurately grasped. According to the method, the contact area mechanical equilibrium model is established through the first puncture parameter and the second material parameter of the needle head to analyze the optimal puncture strength, then the position and the puncture strength of the needle head are controlled and adjusted through the PID control algorithm, the port puncture deviation evaluation model is established based on the first puncture parameter, and the puncture deviation value is evaluated. Timely feedback is performed on puncture simulation practice, and the efficiency of puncture simulation teaching can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of implantable venous access ports, and more specifically, to a port puncture simulation system for implanting an intravenous access port. Background Art

[0002] An implantable venous access port is a medical device commonly used for long-term intravenous infusion therapy. Existing literature (Zhang Jing, Chen Fanglin, Chen Bihong, etc. Application effect of positioning stickers in the puncture of non-invasive needles for infusion ports in primary general hospitals [J]. Guide of China Medicine, 2024, 22(17): 15-18. DOI: 10.15912 / j.issn.1671-8194.2024.17.005.) shows a circular infusion port body as Figure 2 shown and a triangular infusion port body as Figure 3 shown. Traditional peripheral vein punctures often cause pain and discomfort, and multiple punctures may lead to vascular damage. Therefore, implantable venous access ports are particularly suitable for patients who require frequent intravenous injections, infusions, or blood draws. An implantable venous access port consists of a small reservoir (port) and a catheter connected to the central vein. The reservoir is usually implanted subcutaneously in the patient's chest or upper arm and is punctured with a non-invasive needle to connect to the central vein for infusion or drug injection. The non-invasive needle is designed to be curved to prevent damage to the silicone membrane of the port, thereby extending the service life of the port.

[0003] Existing puncture simulations usually use simulation subcutaneous tissue models made of materials such as silicone and polyurethane, with simulated blood vessels and infusion ports similar to human structures embedded inside. Trainees practice palpation and positioning techniques through tactile perception. Using touch technology to locate the center point of the port is the key to successful puncture. Medical staff determine the edge and center of the port by touching the skin to ensure that the needle can accurately enter the silicone membrane of the port. Patients often move their hands for various reasons and it is difficult to maintain the stability of the hand, so it is impossible to accurately grasp the position and strength of the needle for puncture. To solve the above problems, a port puncture deviation evaluation model is provided to evaluate the puncture deviation value and provide timely feedback for puncture simulation practice, which helps to improve the efficiency of puncture simulation teaching. Summary of the Invention

[0004] In order to overcome the above-mentioned defects of the prior art, the present invention provides a port puncture simulation system for implanting an intravenous access port. By establishing a mechanical equilibrium model of the contact area to analyze the optimal puncture force, and then using the PID control algorithm to control and adjust the position and puncture force of the needle, a port puncture deviation evaluation model is constructed based on the first puncture parameter to evaluate the puncture deviation value, which is used to provide timely feedback for puncture simulation practice and helps to improve the efficiency of puncture simulation teaching, so as to solve the problems raised in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A port puncture simulation system for implanting an intravenous infusion port, comprising a processor and a puncture parameter monitoring module, a contact area mechanical analysis module, a port puncture control module, and a puncture deviation correction evaluation module that are communicatively connected to the processor; the puncture parameter monitoring module is respectively connected to the contact area mechanical analysis module and the puncture deviation correction evaluation module, the contact area mechanical analysis module is connected to the port puncture control module, and the puncture deviation correction evaluation module is used to construct a port puncture deviation evaluation model to evaluate the puncture deviation value; the puncture deviation evaluation sub-module is used to import the position deviation value, angle deviation value, and depth deviation value of the needle puncture into the port puncture deviation evaluation model to obtain the puncture deviation value, and the puncture deviation value is obtained by weighting and summing the accurate factors in three dimensions of position, angle, and depth according to a preset relative weight. The formula of the puncture deviation evaluation model is:

[0007]

[0008] In the formula: c p is the puncture deviation value, ω a is the relative weight of the position deviation value of the needle puncture, Z tc is the position deviation value of the needle puncture, ω b is the relative weight of the angle deviation value of the needle puncture, θ tc is the angle deviation value of the needle puncture, ω c is the relative weight of the depth deviation value of the needle puncture, s tc is the depth deviation value of the needle puncture, is the maximum allowable deviation value of the needle puncture position, is the maximum allowable deviation value of the needle puncture angle, is the maximum allowable deviation value of the needle puncture depth.

[0009] As a further solution of the present invention, the puncture parameter monitoring module is used to obtain the first puncture parameter and the second material parameter of the needle; the contact area mechanical analysis module is used to establish a contact area mechanical balance model to analyze the optimal puncture force; the port puncture control module is used to control and adjust the position and puncture force of the needle through a PID control algorithm.

[0010] As a further solution of the present invention, the contact area mechanical analysis module is used to establish a contact area mechanical balance model to analyze the optimal puncture force, and the construction steps of the contact area mechanical balance model are:

[0011] Step 11: Determine the piercing resistance, frictional elastic force, and compressive force that need to be overcome when the needle pierces the port material respectively;

[0012] Step 12. Determine the needle puncture depth based on the puncture duration and puncture speed. Specifically, the needle puncture depth is the ratio of the puncture speed to the puncture duration.

[0013] Step 13. Establish a mechanical equilibrium model for the contact area to analyze the optimal puncture force. The formula for the mechanical equilibrium model of the contact area is:

[0014]

[0015] In the formula: F B is the optimal puncture force, F1 is the penetration resistance that needs to be overcome when the needle penetrates the port material, F2 is the frictional elastic force that needs to be overcome when the needle penetrates the port material, F3 is the compression force that needs to be overcome when the needle penetrates the port material, τ is the shear strength of the port material, π is the pi, d is the diameter of the needle, α is the cone angle of the needle tip, μ is the friction coefficient of the port material, F N is the normal force on the contact surface between the needle and the port material, σ Y is the compression strength of the port material, and z is the needle puncture depth.

[0016] As a further solution of the present invention, the port puncture control module is used to control and adjust the position and puncture force of the needle through the PID control algorithm. Based on the optimal puncture force F determined by the contact area mechanical analysis module B construct a port puncture feedback control model. The specific steps for constructing the port puncture feedback control model are as follows:

[0017] Step 21. Extract the optimal puncture force F determined by the contact area mechanical analysis module B , and obtain the actual puncture force F S and the actual needle puncture depth;

[0018] Step 22. Based on the optimal puncture force F B and the actual puncture force F S obtain the puncture force error value:

[0019] e F = F B (z i ) - F S ;

[0020] In the formula: e F is the puncture force error value, F B (z) is the optimal puncture force required for the actual needle puncture depth, z i is the actual needle puncture depth, and F S is the actual puncture force;

[0021] Step 23: Preset the puncture force thresholds for different needle puncture depths, and adjust the optimal puncture speed and the optimal needle puncture depth according to the force feedback control model. The formula of the force feedback control model is:

[0022] v Δk = v ic ·[1 + K f ·(F th (e i ) - F S )];

[0023] In the formula: v Δk is the optimal puncture speed, v ic is the initial needle puncture speed, K f is the force feedback gain, F th (e i ) is the puncture force threshold corresponding to the needle puncture depth of e i , e i is the needle puncture depth, F S is the actual puncture force;

[0024] Step 24: Real-time monitor the needle puncture force and the needle puncture depth, and obtain the puncture speed adjustment value based on the PID control algorithm:

[0025]

[0026] In the formula: v z is the puncture speed adjustment value, is the proportional gain of the needle puncture force control, is the integral gain of the needle puncture force control, is the derivative gain of the needle puncture force control, e F is the puncture force error value.

[0027] As a further solution of the present invention, the puncture deviation correction evaluation module further includes a parameter extraction sub-module, a puncture deviation discrimination sub-module, and a correction prompt sub-module; the parameter extraction sub-module is connected to the puncture deviation evaluation sub-module, the puncture deviation evaluation sub-module is connected to the puncture deviation discrimination sub-module, and the puncture deviation discrimination sub-module is connected to the correction prompt sub-module.

[0028] As a further solution of the present invention, the relative weights ω a of the position deviation value of the needle puncture, the relative weight ω b of the angle deviation value of the needle puncture, and the relative weight ω c of the depth deviation value of the needle puncture in the puncture deviation evaluation model are obtained by using the weighted regression analysis method. The specific steps are as follows:

[0029] Step 31: Construct a linear regression model. Take the standardized position deviation value, angle deviation value, and depth deviation value of the needle puncture as independent variables, and the overall deviation value as the dependent variable. At this time, the formula of the regression model is:

[0030]

[0031] In the formula: c p is the overall deviation value, β0 is the constant term, β a is the regression coefficient of the x position deviation value, β b is the regression coefficient of the angle deviation value, β c is the regression coefficient of the depth deviation value, ∈ is the error term;

[0032] Step 32: Use the least squares method to fit the regression model to obtain the regression coefficient β a of the position deviation value, the regression coefficient β b of the angle deviation value, and the regression coefficient β c of the depth deviation value;

[0033] Step 33: Standardize the above regression coefficients into the relative weights ω a of the position deviation value of the needle puncture in the puncture deviation evaluation model, the relative weight ω b of the angle deviation value of the needle puncture, and the relative weight ω c of the depth deviation value of the needle puncture. First, take the absolute value of their respective corresponding regression coefficients, calculate the sum of the three as the denominator, and each relative weight is the ratio of its absolute coefficient to the total sum.

[0034] As a further solution of the present invention, the first puncture parameter of the needle describes the positions of the needle and the port by constructing a three-dimensional rectangular coordinate system. Select the lowest point on the bottom surface perpendicular to the center point of the port as the origin, and construct a three-dimensional rectangular coordinate system with the origin at the reference point O, the X-axis and the Y-axis in the port plane, and the Z-axis perpendicular to the port plane;

[0035] The position deviation value of the needle puncture is obtained by the spatial distance between the actual entry point of the needle and the center point of the port.

[0036] The angle deviation value of the needle puncture is obtained by the included angle between the actual direction of the needle and the ideal direction. The calculation formula for the angle deviation value of the needle puncture is:

[0037]

[0038] In the formula: θ tc is the angle deviation value of the needle puncture, arccos is the inverse cosine function, is the direction vector of the actual entry of the needle, is the direction vector of the ideal entry of the needle, is the modulus of the direction vector in which the needle actually enters. is the modulus of the ideal direction vector in which the needle enters.

[0039] The depth deviation value of the needle puncture is obtained by calculating the absolute value of the difference between the actual puncture depth and the expected puncture depth.

[0040] The technical effects and advantages of a port puncture simulation system for implanting an intravenous infusion port according to the present invention: By using the first puncture parameter and the second material parameter of the needle, a mechanical equilibrium model of the contact area is established to analyze the optimal puncture force, which helps to reduce puncture failures caused by improper force; Then, the PID control algorithm is used to control and adjust the position and puncture force of the needle, which can maintain the stability of the needle when the hand moves, ensuring the accuracy of the puncture position and force; Based on the first puncture parameter, a port puncture deviation evaluation model is constructed to evaluate the puncture deviation value and provide timely feedback on the puncture simulation exercise, which helps to improve the efficiency of puncture simulation teaching and enhance the operation efficiency and confidence of medical staff. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 is the real-time puncture deviation monitoring curve provided by the present invention;

[0042] Figure 2 is the circular infusion port body provided by the present invention;

[0043] Figure 3 is the triangular infusion port body provided by the present invention;

[0044] Figure 4 is the three-dimensional deviation radar chart of the needle puncture provided by the present invention;

[0045] Figure 5 is the structural schematic diagram of a port puncture simulation system for implanting an intravenous infusion port according to Embodiment 1 of the present invention. DETAILED DESCRIPTION

[0046] The technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Obviously, the described technical solutions are only a part of the present invention, rather than all of them. All other technical solutions obtained by those of ordinary skill in the art based on the technical solutions in the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] Figure 1 shows the structural schematic diagram of a port puncture simulation system for implanting an intravenous infusion port according to Embodiment 1 of the present invention. As Figure 1As shown in the figure, a port puncture simulation system for implanting an intravenous infusion port in this embodiment includes a processor, a puncture parameter monitoring module, a contact area mechanical analysis module, a port puncture control module, and a puncture deviation correction and evaluation module that are communicatively connected to the processor; the puncture parameter monitoring module is respectively connected to the contact area mechanical analysis module and the puncture deviation correction and evaluation module, and the contact area mechanical analysis module is connected to the port puncture control module;

[0048] The puncture parameter monitoring module is used to obtain the first puncture parameters of the needle and the second material parameters;

[0049] The contact area mechanical analysis module is used to establish a contact area mechanical equilibrium model to analyze the optimal puncture force;

[0050] The port puncture control module is used to control and adjust the position and puncture force of the needle through a PID control algorithm;

[0051] The puncture deviation correction and evaluation module is used to construct a port puncture deviation evaluation model to evaluate the puncture deviation value.

[0052] The puncture parameter monitoring module is used to obtain the first puncture parameters of the needle and the second material parameters;

[0053] The first puncture parameters of the needle include the position deviation value, angle deviation value, and depth deviation value of the needle puncture;

[0054] The second material parameters include the shear strength of the port material, the diameter of the needle, the cone angle of the needle tip, the friction coefficient of the port material, and the compression strength of the port material.

[0055] The first puncture parameters of the needle describe the positions of the needle and the port by constructing a three-dimensional rectangular coordinate system. The lowest point on the bottom surface perpendicular to the center point of the port is selected as the origin, and a three-dimensional rectangular coordinate system with the origin at the reference point O, the X-axis and Y-axis in the port plane, and the Z-axis perpendicular to the port plane is constructed;

[0056] The position deviation value of the needle puncture is obtained through the spatial distance between the actual entry point of the needle and the center point of the port.

[0057] The angle deviation value of the needle puncture is obtained through the angle between the actual direction of the needle and the ideal direction. The calculation formula for the angle deviation value of the needle puncture is:

[0058]

[0059] In the formula: θ tc is the angle deviation value of the needle puncture, arccos is the inverse cosine function, is the direction vector of the actual entry of the needle, is the direction vector of the ideal entry of the needle, is the modulus of the direction vector in which the needle actually enters. is the modulus of the direction vector in which the needle ideally enters.

[0060] The depth deviation value of the needle puncture is obtained by calculating the absolute value of the difference between the actual puncture depth and the expected puncture depth.

[0061] Figure 1 The real-time puncture deviation monitoring curve provided by the present invention shows the dynamic changes of three deviations (position deviation, angle deviation, depth deviation) during the puncture process of the needle into the implanted infusion port in the time period from 14:25 to 14:30; the horizontal axis (time): in minutes, marking the observation moments per minute during the puncture process; the vertical axis (deviation value): corresponding to the instantaneous magnitudes of the three deviations, with the units being millimeters (position, depth) and degrees (angle) respectively; the blue curve: position deviation, with a typical value of about 0.1 - 0.2 mm; the green curve: angle deviation, with a typical value of about 2.5 - 2.8°; the yellow curve: depth deviation, with a typical value of about 0.7 - 0.9 mm; the dashed line mark (14:27): the key reference moment, corresponding to the time point when the puncture control algorithm switches or the force feedback is updated.

[0062] Figure 4 The three-dimensional deviation radar chart of the needle puncture provided by the present invention; the three axes respectively correspond to: position deviation, angle deviation, and depth deviation, the center point represents "zero deviation", and the outward extension of each axis represents the gradual increase of the deviation; the gray grid can be regarded as the maximum tolerance value or reference range of each index; the blue broken line is the projection connection line of the actual deviation value measured this time in three dimensions, which can quickly compare the relative strengths of the three deviations and provide an intuitive basis for the subsequent optimization of puncture parameters and real-time correction.

[0063] The contact area mechanical analysis module is used to establish a mechanical equilibrium model of the contact area to analyze the optimal puncture force. The construction steps of the mechanical equilibrium model of the contact area are as follows:

[0064] Step 11: Determine the piercing resistance, frictional elastic force, and compressive force that need to be overcome when the needle pierces the port material respectively;

[0065] Step 12: Determine the needle puncture depth through the puncture duration and puncture speed. Among them, the needle puncture depth is the ratio of the puncture speed to the puncture duration;

[0066] Step 13: Establish a mechanical equilibrium model of the contact area to analyze the optimal puncture force. The formula of the mechanical equilibrium model of the contact area is:

[0067]

[0068] In the formula: F Bis the optimal puncture force, F1 is the penetration resistance that needs to be overcome when the needle penetrates the port material, F2 is the frictional elastic force that needs to be overcome when the needle penetrates the port material, F3 is the compression force that needs to be overcome when the needle penetrates the port material, τ is the shear strength of the port material, π is the pi, d is the diameter of the needle, α is the cone angle of the needle tip, μ is the friction coefficient of the port material, F N is the normal force on the contact surface between the needle and the port material, σ Y is the compressive strength of the port material, and z is the needle puncture depth.

[0069] The model can accurately calculate various resistances and forces that need to be overcome during the needle puncture process, thereby ensuring that the force during the puncture process is just right, reducing the risk of failure. By analyzing and adjusting the optimal puncture force, the puncture process can be optimized, enabling the needle to enter the target area more smoothly and reducing errors; an appropriate puncture force can reduce the damage of the needle to the surrounding tissues, lower the risks of bleeding, infection, etc., and ensure the safety of the surgery or operation. An excessive puncture force may cause the needle to break, and through model calculation, this situation can be avoided; an accurate puncture force can improve the one-time puncture success rate and reduce the number of repeated punctures.

[0070] The port puncture control module is used to control and adjust the position and puncture force of the needle through the PID control algorithm, based on the optimal puncture force F determined by the contact area mechanics analysis module B Construct a port puncture feedback control model. The specific steps for constructing the port puncture feedback control model are as follows:

[0071] Step 21: Extract the optimal puncture force F determined by the contact area mechanics analysis module B , and obtain the actual puncture force F S and the actual needle puncture depth;

[0072] Step 22: Based on the optimal puncture force F B and the actual puncture force F S obtain the puncture force error value:

[0073] e F = F B (z i ) - F S ;

[0074] In the formula: e F is the puncture force error value, F B (z) is the optimal puncture force required for the actual needle puncture depth, z i is the actual needle puncture depth, and F S is the actual puncture force;

[0075] Step 23: Preset the puncture force thresholds for different needle puncture depths, and adjust the optimal puncture speed and the optimal needle puncture depth according to the force feedback control model. The formula of the force feedback control model is:

[0076] v Δk =v ic ·[1+K f ·(F th (e i )-F S )];

[0077] In the formula: v Δk is the optimal puncture speed, v ic is the initial needle puncture speed, K f is the force feedback gain, F th (e i ) is the puncture force threshold corresponding to the needle puncture depth of e i , e i is the needle puncture depth, and F S is the actual puncture force;

[0078] Step 24: Real-time monitor the needle puncture force and the needle puncture depth, and obtain the puncture speed adjustment value based on the PID control algorithm:

[0079]

[0080] In the formula: v z is the puncture speed adjustment value, is the proportional gain of the needle puncture force control, is the integral gain of the needle puncture force control, is the derivative gain of the needle puncture force control, and e F is the puncture force error value.

[0081] The optimal puncture speed v Δk is the optimal puncture speed adjusted by the preset puncture force thresholds for different needle puncture depths. During the needle puncture process, since different tissues or materials may require different puncture forces, the optimal puncture speed v Δk dynamically adjusts the speed by combining force feedback to ensure the stability and accuracy of puncture under different depths and different force feedback conditions. The puncture speed adjustment value v z is the puncture speed calculated based on the real-time puncture force error value v z through the PID control algorithm. Its purpose is to continuously adjust the puncture speed of the needle in real time through proportional, integral, and derivative control, so as to minimize the puncture force error v z , and achieve precise control of the target puncture force. The optimal puncture speed v ΔkAn initial optimal puncture speed based on force feedback is provided, laying a reasonable basic speed for the entire puncture process. Then, the puncture speed adjustment value v z Based on this, fine adjustment is performed through the PID control algorithm to respond to the force error in the puncture process in real time.

[0082] The optimal puncture speed v Δk is set to adjust the initial puncture speed based on the preset force feedback to ensure the overall rationality and stability of the puncture process. The puncture speed adjustment value v z is then adjusted in real time through the PID control algorithm to precisely control the puncture force error and ensure the best puncture effect. When used in combination, it can achieve precise control and optimization of the needle puncture process.

[0083] The PID control algorithm can monitor and adjust the position and puncture force of the needle in real time, quickly correct according to the error feedback, and improve the puncture accuracy. Through the force feedback control model and error calculation, it can ensure that the deviation during the needle puncture process is minimized, achieving the expected optimal puncture force and depth; the model can detect and limit the actual puncture force to prevent risks caused by excessive puncture force, such as tissue damage or over-puncturing. The dynamic adjustment function of the PID control algorithm can continuously optimize the puncture parameters and reduce manual intervention during the puncture process, improving the operation efficiency.

[0084] The puncture deviation correction and evaluation module includes a parameter extraction sub-module, a puncture deviation evaluation sub-module, a puncture deviation discrimination sub-module, and a correction prompt sub-module; the parameter extraction sub-module is connected to the puncture deviation evaluation sub-module, the puncture deviation evaluation sub-module is connected to the puncture deviation discrimination sub-module, and the puncture deviation discrimination sub-module is connected to the correction prompt sub-module;

[0085] The parameter extraction sub-module is used to extract the position deviation value, angle deviation value, and depth deviation value of the needle puncture

[0086] The puncture deviation evaluation sub-module is used to import the position deviation value, angle deviation value, and depth deviation value of the needle puncture into the oral puncture deviation evaluation model for evaluating the puncture deviation value;

[0087] The puncture deviation discrimination sub-module is used to extract the puncture deviation value and determine whether the puncture deviation value is qualified;

[0088] The correction prompt sub-module is used to issue an alarm reminder when the puncture deviation value is unqualified.

[0089] The puncture deviation evaluation sub-module is used to import the position deviation value, angle deviation value, and depth deviation value of the needle puncture into the puncture deviation evaluation model to obtain the puncture deviation value. The puncture deviation value is obtained by weighting and summing the accuracy factors in the three dimensions of position, angle, and depth according to the preset relative weights. The formula of the puncture deviation evaluation model is:

[0090]

[0091] In the formula: c p is the puncture deviation value, ω a is the relative weight of the position deviation value of the needle puncture, Z tc is the position deviation value of the needle puncture, ω b is the relative weight of the angle deviation value of the needle puncture, θ tc is the angle deviation value of the needle puncture, ω c is the relative weight of the depth deviation value of the needle puncture, s tc is the depth deviation value of the needle puncture, is the maximum allowable deviation value of the needle puncture position, is the maximum allowable deviation value of the needle puncture angle, is the maximum allowable deviation value of the needle puncture depth.

[0092] The parameter extraction sub-module and the puncture deviation evaluation sub-module can comprehensively extract and evaluate the deviations of position, angle, and depth, ensuring high precision in the puncture process. Through the puncture deviation evaluation model, the deviations in the puncture process can be quantified; the puncture deviation evaluation and discrimination sub-module can monitor various deviations in the puncture process in real time, detect problems in a timely manner, prevent operation errors caused by deviations, and the correction prompt sub-module immediately issues an alarm when the deviation is unqualified, reminding the operator to adjust in a timely manner to avoid potential risks; the puncture deviation discrimination sub-module can automatically judge whether the deviation value is qualified, simplifying the operation process and improving efficiency.

[0093] The relative weight ω a of the position deviation value of the needle puncture, the relative weight ω b of the angle deviation value of the needle puncture, and the relative weight ω c of the depth deviation value of the needle puncture in the puncture deviation evaluation model are obtained by using the weighted regression analysis method. The specific steps are as follows:

[0094] Step 31: Construct a linear regression model, using the standardized position deviation value, angle deviation value, and depth deviation value of the needle puncture as independent variables, and the overall deviation value as the dependent variable. At this time, the formula of the regression model is:

[0095]

[0096] In the formula: cp is the overall deviation value, β0 is the constant term, β a is the regression coefficient of the position deviation value, β b is the regression coefficient of the angle deviation value, β c is the regression coefficient of the depth deviation value, ∈ is the error term;

[0097] Step 32: Use the least squares method to fit the regression model to obtain the regression coefficient β a of the position deviation value, the regression coefficient β b of the angle deviation value, and the regression coefficient β c of the depth deviation value;

[0098] Step 33: Standardize the above regression coefficients into the relative weights ω a of the position deviation value of the needle puncture in the puncture deviation evaluation model, the relative weight ω b of the angle deviation value of the needle puncture, and the relative weight ω c of the depth deviation value of the needle puncture. First, take the absolute value of their respective corresponding regression coefficients, calculate the sum of the three as the denominator, and each relative weight is the ratio of its absolute coefficient to the total sum.

[0099] Through the linear regression model and the least squares method fitting, it is possible to determine the weights of each deviation dimension based on the actual data, ensuring the scientificity and accuracy of the weight allocation. By standardizing the regression coefficients to calculate the relative weights, it guarantees the rationality of the comparison and comprehensive evaluation of the deviation values in different dimensions; using a data-driven method to determine the weights reduces the influence of human subjective factors on the weight setting, improves the objectivity and reliability of the model. The least squares method minimizes the error term during the fitting process, thereby improving the accuracy and prediction ability of the regression model; by considering the deviations in three aspects of position, angle, and depth, it comprehensively evaluates the overall deviation of the needle puncture, avoiding the limitations brought by the evaluation of a single dimension.

[0100] is the maximum allowable deviation value of the position of the needle puncture, obtained by the distance value between the coordinates of the point farthest from the center point of the port and the coordinates of the center point of the port;

[0101] is the maximum allowable deviation value of the angle of the needle puncture, and its calculation formula is:

[0102]

[0103] In the formula: is the maximum allowable deviation value of the angle of the needle puncture, arccos is the inverse cosine function, is the direction vector with the largest deviation from the ideal entry direction of the needle, is the direction vector of the ideal entry direction of the needle, is the modulus of the direction vector with the largest deviation from the ideal entry direction of the needle, is the modulus of the direction vector of the ideal entry direction of the needle;

[0104] is the maximum allowable deviation value of the needle puncture depth, which is obtained by the difference between the actual maximum puncture depth of the needle and the expected puncture depth of the needle.

[0105] The maximum allowable deviation value provides a clear standard for deviation evaluation, making the evaluation process more systematic and well-founded. Through the quantified maximum allowable deviation values of position, angle, and depth, the tolerance ranges of each parameter during the puncture process can be clarified, facilitating evaluation and adjustment; by setting the maximum allowable deviation value, it is possible to prevent excessive deviations in position, angle, or depth. When the puncture deviation approaches or exceeds the maximum allowable value, an alarm can be issued in a timely manner to remind the operator to make adjustments to ensure safety; the clear maximum allowable deviation value helps to precisely control the position, angle, and depth during the puncture process, improving the overall puncture accuracy. According to the maximum allowable deviation value, the puncture operation strategy can be optimized, reducing repeated adjustments and unnecessary operations.

[0106] In the embodiment of the present invention, by using the first puncture parameter and the second material parameter of the needle, a mechanical equilibrium model of the contact area is established to analyze the optimal puncture force, which helps to reduce puncture failures caused by improper force; then, the position and puncture force of the needle are controlled and adjusted through the PID control algorithm, which can maintain the stability of the needle when the hand moves, ensuring the accuracy of the puncture position and force; based on the first puncture parameter, a port puncture deviation evaluation model is constructed to evaluate the puncture deviation value, which helps to provide timely feedback on the puncture simulation practice, improve the efficiency of the puncture simulation teaching, and enhance the operation efficiency and confidence of medical personnel.

[0107] Embodiment 2

[0108] Five identical subcutaneous tissue models are used for experiments on the above system. The three-dimensional coordinates, direction vectors, and depths of each puncture are obtained through ultrasonic and optical sensors, and then the position deviation, angle deviation, and depth deviation are calculated according to the foregoing steps. Then, the comprehensive deviation value is calculated based on the maximum allowable deviation value and the pre-regressed weight.

[0109] The relevant data obtained from the five experiments are summarized as shown in Table 1:

[0110]

[0111] Table 1 Summary of relevant data from five experiments

[0112] The maximum allowable deviation value is:

[0113] The relative weight is: ωa = 0.40, ω b = 0.35, ω b = 0.25;

[0114] The calculated comprehensive deviation value is: c p = 0.75;

[0115] c p The closer it is to 1, the more consistent the puncture is with the ideal state. In this set of data, P5 is the best (0.92) and P4 is the worst (0.66). For P2 and P4 with c p < 0.75, the correction prompt sub-module can be triggered to prompt to optimize the puncture angle or depth.

[0116] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

[0117] Finally: The above is only the preferred solution of the present invention and is not used to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A port puncture simulation system for implanting an intravenous infusion port, comprising a processor and a puncture parameter monitoring module, a contact area mechanical analysis module, a port puncture control module, and a puncture deviation correction evaluation module that are communicatively connected to the processor; the puncture parameter monitoring module is respectively connected to the contact area mechanical analysis module and the puncture deviation correction evaluation module, and the contact area mechanical analysis module is connected to the port puncture control module, characterized in that, The puncture deviation correction and evaluation module is used to construct a port puncture deviation evaluation model for evaluating the puncture deviation value; the puncture deviation correction and evaluation module includes a puncture deviation evaluation sub-module; the puncture deviation evaluation sub-module is used to import the position deviation value, angle deviation value, and depth deviation value of the needle puncture into the port puncture deviation evaluation model to obtain the puncture deviation value, and the puncture deviation value is obtained by weighting and summing the accurate factors in the three dimensions of position, angle, and depth according to the preset relative weights.

2. The port puncture simulation system for implanting an intravenous infusion port according to claim 1, wherein The puncture parameter monitoring module is used to obtain the first puncture parameter of the needle and the second material parameter; the contact area mechanical analysis module is used to establish a contact area mechanical equilibrium model to analyze the optimal puncture force; the port puncture control module is used to control and adjust the position and puncture force of the needle through the PID control algorithm.

3. The port puncture simulation system for implanting an intravenous infusion port according to claim 2, characterized in that, The contact area mechanical analysis module is used to establish a contact area mechanical equilibrium model to analyze the optimal puncture force. The construction steps of the contact area mechanical equilibrium model are as follows: Step 11: Determine the penetration resistance, friction elastic force, and compression force that need to be overcome when the needle penetrates the port material respectively; Step 12: Determine the needle puncture depth through the puncture duration and puncture speed. Among them, the needle puncture depth is the ratio of the puncture speed to the puncture duration; Step 13: Establish a contact area mechanical equilibrium model to analyze the optimal puncture force. The optimal puncture force is the sum of the penetration resistance, friction elastic force, and compression force that need to be overcome when the needle penetrates the port material.

4. The port puncture simulation system for implanting a venous infusion port according to claim 2, characterized in that, The port puncture control module is used to control and adjust the position and puncture force of the needle through the PID control algorithm, and the optimal puncture force F determined by the contact area mechanical analysis module is used as the basis. B Construct a port puncture feedback control model. The specific steps for constructing the port puncture feedback control model are as follows: Step 21: Extract the optimal puncture force determined by the contact area mechanical analysis module, and obtain the actual puncture force and the actual needle puncture depth; Step 22: Obtain the puncture force error value based on the difference between the optimal puncture force and the actual puncture force; Step 23: Preset the puncture force thresholds for different needle puncture depths, and adjust the optimal puncture speed and the optimal needle puncture depth according to the force feedback control model; Step 24: Real-time monitor the needle puncture force and the needle puncture depth, and obtain the puncture speed adjustment value based on the PID control algorithm.

5. A port puncture simulation system for implanting an intravenous infusion port according to claim 1, characterized in that, The puncture deviation correction and evaluation module further includes a parameter extraction sub-module, a puncture deviation discrimination sub-module, and a correction prompt sub-module; the parameter extraction sub-module is connected to the puncture deviation evaluation sub-module, the puncture deviation evaluation sub-module is connected to the puncture deviation discrimination sub-module, and the puncture deviation discrimination sub-module is connected to the correction prompt sub-module.

6. The port puncture simulation system for implanting an intravenous infusion port according to claim 1, characterized in that, The relative weights of the position deviation value, angle deviation value, and depth deviation value of the needle puncture in the puncture deviation evaluation model are obtained by using the weighted regression analysis method. The specific steps are as follows: Step 31: Use the standardized position deviation value, angle deviation value, and depth deviation value of the needle puncture as independent variables, and the overall deviation value as the dependent variable to construct a linear regression model to obtain the overall deviation value; Step 32: Use the least squares method to fit the regression model to obtain the regression coefficient of the position deviation value, the regression coefficient of the angle deviation value, and the regression coefficient of the depth deviation value; Step 33: Standardize the above regression coefficients into the relative weights of the position deviation value of the needle puncture, the relative weight of the angle deviation value of the needle puncture, and the relative weight of the depth deviation value of the needle puncture in the needle puncture deviation evaluation model.

7. A port puncture simulation system for implanting an intravenous infusion port according to claim 1, characterized in that, The first puncture parameter of the needle describes the positions of the needle and the port by constructing a three-dimensional rectangular coordinate system. Select the lowest point on the bottom surface of the center point of the port as the origin, and construct a three-dimensional rectangular coordinate system with the origin at the reference point O, the X-axis and the Y-axis in the port plane, and the Z-axis perpendicular to the port plane.

8. A port puncture simulation system for implanting a venous infusion port according to claim 7, characterized in that, The position deviation value of the needle puncture is obtained by the spatial distance between the actual entry point of the needle and the center point of the port; the angle deviation value of the needle puncture is obtained by the included angle between the actual direction of the needle and the ideal direction; the depth deviation value of the needle puncture is calculated by the absolute value of the difference between the actual puncture depth and the expected puncture depth.

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