Vascular interventional surgery operation skill simulator and measuring method thereof

Abstract

The invention relates to a vascular interventional surgery operation skill simulator and a measuring method thereof. The vascular interventional surgery operation skill simulator mainly comprises a workbench 1, a guide tube 2 and a simulation instrument 3, a first gap and a second gap are arranged between the guide pipes 2, a first wheel shaft group 4 is arranged at the first gap, the axes of two pulleys of the first wheel shaft group 4 are perpendicular to the axis of the simulation instrument 3, and a wheel shaft of one pulley of the first wheel shaft group 4 is connected with a first encoder 5; a second wheel shaft group 6 is arranged at the second gap, the axes of two pulleys of the second wheel shaft group 6 are parallel to the axis of the simulation instrument 3, and a wheel shaft of one pulley of the second wheel shaft group 6 is connected with a second encoder 7. Compared with a mode of adopting a special guide wire catheter, the cost is greatly saved, and batch production and application are facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of vascular interventional surgery simulation operation, and in particular to a vascular interventional surgery operation skill simulator and a measurement method thereof. Background Art

[0002] There are two main types of existing vascular interventional surgery simulators: the first is a simulator made of physical models, and the second is a virtual simulator that combines a signal acquisition device with a training software system.

[0003] The advantages of the first type of physical simulator are: 1. It is made of silicone material that closely resembles the texture of human blood vessels, and the vascular geometry is designed and produced based on human CT (Computed Tomography) data. 2. A simulated pump provides blood flow, allowing blood to flow through the silicone vessels. 3. By operating the vascular model system with real instruments, it facilitates training in guidewire and catheter manipulation for vascular interventional procedures. However, it also has some disadvantages: 1. The model is cumbersome to assemble, and due to the numerous vascular channels, the joints are prone to leaks, and the preparation time is long, reducing its efficiency. 2. The model generally requires operation under real digital subtraction angiography (DSA) equipment or with the assistance of other simulated DSA devices, which is costly and increases the radiation risk to the trainees.

[0004] Based on the above-mentioned shortcomings of physical simulators, in most scenarios, people in this field still prefer to choose the second virtual simulator to simulate vascular interventional surgery operations.

[0005] The advantages of the second type of virtual simulator are: 1. It utilizes a hardware signal acquisition device and training software system, making it easy to install and operate, and highly efficient. 2. It offers a variety of virtual scenarios, providing a wider range of case studies than physical vascular model systems. However, the hardware signal acquisition devices used in existing virtual simulators typically use photoelectric sensors to acquire test data. For example, these sensors capture the forward and backward distance measurement signals of simulated instruments (such as guidewires and catheters), which are then collected and processed on a circuit board chip. Another example is the rotational signal of a simulated instrument (such as a guidewire or catheter). The photoelectric sensor captures subtle lateral rotational changes on the surface of the guidewire or catheter, and can determine whether the instrument is rotating left or right, as well as the speed and distance of the rotation. This information is then converted into the angle and speed of the left or right rotation through a program.

[0006] During the above-mentioned working process of the photoelectric sensor, the forward and backward data of the guidewire, as well as the rotational motion data, are determined by capturing the changes in the surface texture of the guidewire or catheter. Therefore, the guidewire or catheter needs to be customized, and the texture of the surface of the customized guidewire or catheter needs to be deepened so that the photoelectric sensor can more clearly identify the texture changes on the surface of the guidewire or catheter. However, most guidewires and catheters are normally smooth and do not have much texture changes, which is not conducive to photoelectric sensor recognition. Based on the above principle, it is necessary to use special guidewires and catheters and other simulation instruments for simulation. This will greatly increase the cost of using the guidewire or catheter, which is not conducive to mass production and application.

[0007] In view of this, how to overcome the defects of the existing technology and solve the problem of high cost of using special guidewire catheters in existing virtual simulation devices is a difficult problem to be solved in this technical field. Summary of the Invention

[0008] In response to the above-mentioned defects or improvement needs of the prior art, and in order to solve the problem of high costs caused by using special guidewire catheters in existing virtual simulation devices, the present application provides a vascular interventional surgery operation skill simulator and a measurement method thereof.

[0009] The embodiments of this application adopt the following technical solutions: In a first aspect, the present application provides a vascular interventional surgery skill simulator, comprising a workbench 1, a guide tube 2 disposed on the workbench 1, and a simulation instrument 3 disposed along the guide tube 2; a first gap and a second gap are provided between the guide tubes 2, wherein: A first axle group 4 is provided at the first gap, the simulation device 3 is located between two pulleys of the first axle group 4, and the axes of the two pulleys of the first axle group 4 are perpendicular to the axis of the simulation device 3. The axle of one of the pulleys of the first axle group 4 is connected to a first encoder 5; A second axle group 6 is provided at the second gap, the simulation device 3 is located between the two pulleys of the second axle group 6, and the axes of the two pulleys of the second axle group 6 are parallel to the axis of the simulation device 3. The axle of one of the pulleys of the second axle group 6 is connected to a second encoder 7.

[0010] By adopting the above technical solution, when the operator controls the simulation instrument 3 to move forward or backward along the guide tube 2, the pulley of the first axle group 4 can be driven to move, and then the movement information of the first axle group 4 can be obtained through the first encoder 5, thereby obtaining the forward and backward information of the simulation instrument 3. When the operator controls the simulation instrument 3 to rotate, the pulley of the second axle group 6 can be driven to move, and then the movement information of the second axle group 6 can be obtained through the second encoder 7, thereby obtaining the rotation information of the simulation instrument 3. Compared with the method of using photoelectric sensors to identify the forward and backward information and rotation information of the simulation instrument 3, the identification method using the axle group plus encoder does not require the use of a special simulation instrument 3. Only an ordinary guidewire catheter can be used as the simulation instrument 3. Even discarded guidewire catheters after use in the hospital can be used for secondary use. Compared with the method of using special guidewire catheters, it greatly saves costs and is conducive to mass production and application.

[0011] In some embodiments, the first wheel axle group 4 includes a first pulley 401 and a second pulley 402, the first pulley 401 and the second pulley 402 are spaced apart, the simulation device 3 is located between the gap between the first pulley 401 and the second pulley 402, and the simulation device 3 contacts the first pulley 401 and the second pulley 402 respectively.

[0012] By adopting the above technical solution, the simulation device 3 is located between the first pulley 401 and the second pulley 402, and the simulation device 3 contacts the two pulleys respectively. As mentioned above, the axes of the first pulley 401 and the second pulley 402 are perpendicular to the axis of the simulation device 3. In this way, when the simulation device 3 moves forward or backward, it can drive the first pulley 401 and the second pulley 402 to rotate, thereby obtaining the displacement data of the simulation device 3 moving forward or backward based on the rotation data of the pulleys.

[0013] In some embodiments, first axle brackets 8 are provided on both sides of the first axle group 4, a first axle 403 is provided at the center of the first pulley 401 and the first pulley 401 is fixed on the first axle 403, the first axle 403 is rotatably connected to the first axle bracket 8, and one end of the first axle 403 is connected to the first encoder 5.

[0014] By adopting the above technical solution, the first axle 403 and the first pulley 401 are fixedly connected. When the first pulley 401 rotates, the first axle 403 is driven to rotate together, so that the first encoder 5 connected to the first axle 403 obtains the rotation information of the first pulley 401, and then converts it into displacement information of the forward or backward movement of the simulation device 3.

[0015] In some embodiments, a groove 801 is provided on the first axle bracket 8, a second axle 404 is provided at the center of the second pulley 402, and the second pulley 402 is rotatably connected to the second axle 404, and first connecting blocks 405 are fixed at both ends of the second axle 404, at least a portion of the first connecting block 405 is provided in the groove 801, and the first connecting block 405 is connected to the inner wall of the groove 801 through a first spring 802.

[0016] By adopting the above technical solution, the second pulley 402 and the second axle 404 are rotatably connected. When the second pulley 402 rotates, the second axle 404 will not be driven to rotate together. The second axle 404 is connected to the first connecting blocks 405 at both ends, and the first connecting blocks 405 are connected to the inner wall of the groove 801 of the first axle bracket 8 through the first spring 802. In this way, the distance between the first pulley 401 and the second pulley 402 can be adjusted, which can adapt to more sizes of simulation equipment 3 for simulation exercises, making the application scenarios of simulation exercises more extensive.

[0017] In some embodiments, the second wheel axle group 6 includes a third pulley 601 and a fourth pulley 602, the third pulley 601 and the fourth pulley 602 are arranged at intervals, the simulation device 3 is located between the gap between the third pulley 601 and the fourth pulley 602, and the simulation device 3 is in contact with the third pulley 601 and the fourth pulley 602 respectively.

[0018] By adopting the above technical solution, the simulation device 3 is located between the third pulley 601 and the fourth pulley 602, and the simulation device 3 contacts the two pulleys respectively. As mentioned above, the axes of the third pulley 601 and the fourth pulley 602 are parallel to the axis of the simulation device 3. In this way, when the simulation device 3 rotates, the third pulley 601 and the fourth pulley 602 can be driven to rotate, so that the rotation angle data of the simulation device 3 can be obtained based on the rotation data of the pulleys.

[0019] In some embodiments, second axle brackets 9 are provided on both sides of the second axle group 6, a third axle 603 is provided at the center of the third pulley 601 and the third pulley 601 is fixed on the third axle 603, the third axle 603 is rotatably connected to the second axle bracket 9, and one end of the third axle 603 is connected to the second encoder 7.

[0020] By adopting the above technical solution, the third axle 603 and the third pulley 601 are fixedly connected. When the third pulley 601 rotates, the third axle 603 is driven to rotate together, so that the second encoder 7 connected to the third axle 603 obtains the rotation information of the third pulley 601, and then converts it into the rotation angle information of the simulation device 3.

[0021] In some embodiments, a through hole 901 is provided on the second axle bracket 9, a fourth axle 604 is provided at the center of the fourth pulley 602 and the fourth pulley 602 is rotatably connected to the fourth axle 604, and second connecting blocks 605 are fixed at both ends of the fourth pulley 602, at least a portion of the second connecting block 605 is provided in the through hole 901, and the second connecting block 605 is connected to the inner wall of the through hole 901 through a second spring 902.

[0022] By adopting the above technical solution, the fourth pulley 602 and the fourth axle 604 are rotatably connected. When the fourth pulley 602 rotates, the fourth axle 604 will not be driven to rotate together. The second connecting blocks 605 are connected to both ends of the fourth axle 604, and the second connecting blocks 605 are connected to the inner wall of the through hole 901 of the second axle bracket 9 through the second spring 902. In this way, the distance between the fourth pulley 602 and the third pulley 601 can be adjusted, which can adapt to simulation equipment 3 of more sizes for simulation exercises, making the application scenarios of simulation exercises more extensive.

[0023] In some embodiments, a third gap is provided between the guide tubes 2 , a laser caliper 10 is provided at the third gap, and a portion of the simulation instrument 3 is located within the measurement area of ​​the laser caliper 10 .

[0024] By adopting the above technical solution, the diameter of the simulated instrument 3 can be measured by the laser caliper 10, and then it can be determined whether the simulated instrument 3 selected by the operator is correct. This can help the operator simulate the actual clinical scene more realistically and cultivate the ability to identify the actual instrument and the feel.

[0025] In some embodiments, a stop assembly 11 is provided on the outside of the guide tube 2, and the stop assembly 11 includes a stop bracket 1101, a stop motor 1102 and a stop pressure plate 1103 connected to the output shaft of the stop motor 1102. One side of the guide tube 2 is connected to the stop pressure plate 1103 through a third spring 1104, and the other side of the guide tube 2 is connected to the stop bracket 1101 through a fourth spring 1105.

[0026] By adopting the above technical solution, the stop motor 1102 can drive the stop pressing piece 1103 to squeeze the guide tube 2, thereby pressing the simulation instrument 3 in the guide tube 2, so that the simulation instrument 3 stops moving.

[0027] In a second aspect, the present application provides a method for measuring a vascular interventional surgery skill simulator, which is applied to the vascular interventional surgery skill simulator described in the first aspect, comprising: The forward or backward movement of the simulation device 3 drives the first wheel axle group 4 to move, and the movement information of the first wheel axle group 4 is obtained through the first encoder 5, thereby obtaining the forward or backward displacement information of the simulation device 3; The second axle group 6 is driven to move by the rotation of the simulation device 3 , and the movement information of the second axle group 6 is obtained by the second encoder 7 , thereby obtaining the rotation angle information of the simulation device 3 .

[0028] By adopting the above technical solution, the forward and backward information and rotation information of the simulation instrument 3 can be obtained by cooperating with the encoder and the axle group. Compared with using photoelectric sensors to identify such information of the simulation instrument 3, the method of cooperating with the encoder and the axle group only requires the use of an ordinary guide wire catheter as the simulation instrument 3. Compared with the method of using a special guide wire catheter in the photoelectric sensor identification method, it greatly saves costs and is conducive to mass production and application.

[0029] Compared with the prior art, the beneficial effects of this application include but are not limited to the following: 1. When the operator controls the simulation instrument 3 to move forward or backward along the guide tube 2, the pulley of the first axle group 4 can be driven to move, and the movement information of the first axle group 4 can be obtained through the first encoder 5, thereby obtaining the forward and backward information of the simulation instrument 3. When the operator controls the simulation instrument 3 to rotate, the pulley of the second axle group 6 can be driven to move, and the movement information of the second axle group 6 can be obtained through the second encoder 7, thereby obtaining the rotation information of the simulation instrument 3. Compared with the method of using photoelectric sensors to identify the forward and backward information and rotation information of the simulation instrument 3, the identification method using the axle group plus encoder does not require the use of a special simulation instrument 3. Only an ordinary guidewire catheter can be used as the simulation instrument 3. Even discarded guidewire catheters after use in the hospital can be used for secondary use. Compared with the method of using special guidewire catheters, it greatly saves costs and is conducive to mass production and application.

[0030] 2. The distance between the first pulley 401 and the second pulley 402 is adjustable, and the distance between the fourth pulley 602 and the third pulley 601 is adjustable, so that simulation equipment 3 of more sizes can be adapted for simulation exercises, making the applicable scenarios of simulation exercises more extensive.

[0031] 3. The diameter of the simulated instrument 3 can be measured by the laser caliper 10 to determine whether the simulated instrument 3 selected by the operator is correct, which can help the operator simulate the actual clinical scene more realistically and cultivate the ability to identify the actual instrument and the feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments of the present application. Obviously, the drawings described below are only some embodiments of the present application, and those skilled in the art can derive other drawings based on these drawings without inventive effort.

[0033] Figure 1 A schematic diagram of the structure of a vascular interventional surgery skill simulator provided in an embodiment of the present application; Figure 2 A schematic structural diagram of the guide tube bracket provided in an embodiment of the present application; Figure 3 A schematic diagram of the structure of the first axle assembly provided in an embodiment of the present application being arranged on the first axle bracket; Figure 4 A schematic structural diagram of a first axle assembly provided in an embodiment of the present application; Figure 5 A schematic diagram of the structure of a second axle assembly provided in an embodiment of the present application disposed on a second axle bracket; Figure 6 A schematic structural diagram of a second axle assembly provided in an embodiment of the present application; Figure 7 A schematic diagram of the pulley surface friction strip provided in an embodiment of the present application; Figure 8 Schematic diagram of a laser diameter measuring instrument provided in an embodiment of the present application; Figure 9 A schematic diagram of the structure of the stop assembly provided in an embodiment of the present application; Figure 10 A schematic diagram of the stop assembly provided in an embodiment of the present application without the stop bracket; Figure 11 A flow chart of a measurement method for a vascular interventional surgery skill simulator provided in an embodiment of the present application. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0035] In addition, the technical features involved in the various embodiments of the present application described below can be combined with each other as long as they do not conflict with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0036] Example 1 like Figure 1As shown, the embodiment of the present application provides a vascular interventional surgery skill simulator, comprising a workbench 1, a guide tube 2 disposed on the workbench 1, and a simulation instrument 3 disposed along the guide tube 2. The simulation instrument 3 is an instrument such as a guidewire or a catheter. During simulation work, the operator controls the simulation instrument 3 to move along the guide tube 2 for simulation training.

[0037] In some embodiments, the guide tubes 2 are provided in plurality, that is, divided into sections, and are provided on the workbench 1 through a plurality of guide tube supports 12. Figure 2 As shown, the guide tube bracket 12 includes two fixing columns 1201 and a support column 1202 disposed between the two fixing columns 1201. The fixing columns 1201 are fixed to the workbench 1, and the guide tube 2 is mounted on the support columns 1202. Each section of the guide tube 2 can be supported by two or more guide tube brackets 12 to enhance stability. In addition, the contact points between the support columns 1202 and the guide tube 2 can be configured as grooves that match the curvature of the guide tube 2, allowing the guide tube 2 to fit into the grooves and be secured using an adhesive such as double-sided tape, further enhancing the stability of the guide tube 2 installation.

[0038] refer to Figure 1 As shown, in some embodiments, a first gap is provided between the plurality of guide tubes 2, and a first axle group 4 is provided in the first gap; the simulation device 3 is located between two pulleys of the first axle group 4, and the axes of the two pulleys of the first axle group 4 are perpendicular to the axis of the simulation device 3, and a first encoder 5 is connected to the axle of one of the pulleys of the first axle group 4. By adopting the above technical solution, when the operator controls the simulation device 3 to move forward or backward along the guide tube 2, the pulleys of the first axle group 4 can be driven to move, and the movement information of the first axle group 4 can be obtained through the first encoder 5, thereby obtaining the forward and backward information of the simulation device 3, so that the forward and backward displacement can be subsequently obtained based on the forward and backward information.

[0039] refer to Figure 3 and Figure 4As shown, in some embodiments, the first pulley assembly 4 includes a first pulley 401 and a second pulley 402, the first pulley 401 and the second pulley 402 being spaced apart, the simulation device 3 being located between the first pulley 401 and the second pulley 402, and the simulation device 3 being in contact with the first pulley 401 and the second pulley 402, respectively. It should be noted that the simulation device 3 is in contact with the wheel surfaces of the first pulley 401 and the second pulley 402. With the above technical solution, the simulation device 3 is located between the first pulley 401 and the second pulley 402, and the simulation device 3 is in contact with the wheel surfaces of the two pulleys, respectively. As previously described, when the axes of the first pulley 401 and the second pulley 402 are perpendicular to the axis of the simulation device 3, when the simulation device 3 moves forward or backward, the first pulley 401 and the second pulley 402 are driven to rotate, thereby obtaining displacement data of the simulation device 3 moving forward or backward based on the rotation data of the pulleys.

[0040] refer to Figure 3 and Figure 4 As shown, in some embodiments, first axle brackets 8 are provided on both sides of the first axle group 4, and the first axle brackets 8 are fixed to the workbench 1. A first axle 403 is provided at the center of the first pulley 401, and the first pulley 401 is fixed to the first axle 403. The first axle 403 is rotatably connected to the first axle bracket 8. The first axle bracket 8 can be provided with a slot matching the diameter of the first axle 403 and smoothed so that the first axle 403 can easily rotate within the slot of the first axle bracket 8; one end of the first axle 403 is connected to the first encoder 5, and the end of the first axle 403 connected to the first encoder 5 passes through the first axle bracket 8 and is connected to the shaft of the first encoder 5. Through the above technical solution, the first axle 403 and the first pulley 401 are fixedly connected, so that when the first pulley 401 rotates, the first axle 403 is driven to rotate together, so that the first encoder 5 connected to the first axle 403 obtains the rotation information of the first pulley 401, and then converts it into the displacement information of the forward or backward movement of the simulation device 3.

[0041] Optionally, the first axle 403 and the first encoder 5 may be connected via a plurality of gears, for example, by using a plurality of bevel gears as transmission parts, so that the position and orientation of the first encoder 5 can be changed to adapt to different spatial structures.

[0042] refer to Figure 3 and Figure 4As shown, in some embodiments, the first axle bracket 8 is provided with a groove 801, the second pulley 402 is centrally provided with a second axle 404 and the second pulley 402 is rotatably connected to the second axle 404, and first connecting blocks 405 are fixed at both ends of the second axle 404, at least a portion of the first connecting block 405 is disposed within the groove 801, and the first connecting block 405 is connected to the inner wall of the groove 801 via a first spring 802. Through the above technical solution, the second pulley 402 and the second axle 404 are rotatably connected, and when the second pulley 402 rotates, the second axle 404 is not driven to rotate together, and the first connecting blocks 405 are connected at both ends of the second axle 404, and the first connecting blocks 405 are connected to the inner wall of the groove 801 of the first axle bracket 8 via a first spring 802. In this way, the distance between the first pulley 401 and the second pulley 402 can be adjusted, so that simulation exercises can be performed on simulation devices 3 of various sizes, making the application scenarios of simulation exercises more extensive. For example, when replacing a simulation instrument 3 with a larger diameter, the simulation instrument 3 with a larger diameter will push the second pulley 402 upwards, and the spring will be compressed to adapt to the diameter of the simulation instrument 3; when replacing a simulation instrument 3 with a smaller diameter, the spring force will press the second pulley 402 downwards to adapt to the simulation instrument 3 with a smaller diameter; preferably, in the normal state of the spring, the distance between the two pulleys is smaller than the diameter of the smallest simulation instrument 3, so that after a simulation instrument 3 of any diameter is inserted between the two pulleys, the spring will have a downward rebound pressing force to strengthen the friction between the simulation instrument 3 and the pulley, and prevent the simulation instrument 3 and the pulley from loosening and sliding, causing inaccurate data.

[0043] In some embodiments, a first spring guide sleeve 803 is further provided on the outside of the first spring 802. The first spring guide sleeve 803 is fixed in the groove 801 of the first axle bracket 8 so that the first spring 802 can only move up and down to prevent it from tilting left and right.

[0044] refer to Figure 1As shown, in some embodiments, a second gap is provided between the plurality of guide tubes 2, and a second axle group 6 is provided at the second gap. The simulation instrument 3 is located between the two pulleys of the second axle group 6, and the axes of the two pulleys of the second axle group 6 are parallel to the axis of the simulation instrument 3. The axle of one of the pulleys of the second axle group 6 is connected to a second encoder 7. By adopting the above technical solution, when the operator controls the simulation instrument 3 to rotate, the pulley of the second axle group 6 can be driven to move, and then the movement information of the second axle group 6 can be obtained through the second encoder 7, thereby obtaining the rotation information of the simulation instrument 3. Compared with the method of using a photoelectric sensor to identify the forward and backward information and rotation information of the simulation instrument 3, the identification method using the axle group plus encoder does not require the use of a special simulation instrument 3. Only an ordinary guidewire catheter can be used as the simulation instrument 3. Even discarded guidewire catheters after use in the hospital can be reused. Compared with the method of using a special guidewire catheter, it greatly saves costs and is conducive to mass production and application.

[0045] refer to Figure 5 and Figure 6 As shown, in some embodiments, the second pulley assembly 6 includes a third pulley 601 and a fourth pulley 602, which are spaced apart. The simulation device 3 is located between the third pulley 601 and the fourth pulley 602, and the simulation device 3 contacts the third pulley 601 and the fourth pulley 602, respectively. It should be noted that the simulation device 3 contacts the wheel surfaces of the third pulley 601 and the fourth pulley 602. Through the above technical solution, the simulation device 3 is located between the third pulley 601 and the fourth pulley 602, and the simulation device 3 contacts the wheel surfaces of the two pulleys. As previously described, when the axes of the third pulley 601 and the fourth pulley 602 are parallel to the axis of the simulation device 3, when the simulation device 3 rotates, the third pulley 601 and the fourth pulley 602 are driven to rotate, thereby obtaining the rotation angle data of the simulation device 3 based on the rotation data of the pulleys.

[0046] refer to Figure 5 and Figure 6As shown, in some embodiments, second axle brackets 9 are provided on both sides of the second axle group 6. A third axle 603 is provided at the center of the third pulley 601 and the third pulley 601 is fixed to the third axle 603. The third axle 603 is rotatably connected to the second axle bracket 9. The second axle bracket 9 can be provided with a slot matching the diameter of the third axle 603 and smoothed so that the third axle 603 can rotate easily within the slot of the second axle bracket 9. One end of the third axle 603 is connected to the second encoder 7. The end of the third axle 603 connected to the second encoder 7 passes through the second axle bracket 9 and is connected to the shaft of the second encoder 7. Through the above technical solution, the third axle 603 and the third pulley 601 are fixedly connected. When the third pulley 601 rotates, the third axle 603 is driven to rotate together, so that the second encoder 7 connected to the third axle 603 obtains the rotation information of the third pulley 601, and then converts it into the rotation angle information of the simulation device 3.

[0047] Optionally, the third wheel shaft 603 and the second encoder 7 may also be connected via a plurality of gears, for example, by using a plurality of bevel gears as transmission parts, so that the position and orientation of the second encoder 7 can be changed to adapt to different spatial structures.

[0048] refer to Figure 5 and Figure 6As shown, in some embodiments, a through hole 901 is provided on the second axle bracket 9, a fourth axle 604 is provided at the center of the fourth pulley 602, and the fourth pulley 602 is rotatably connected to the fourth axle 604, and second connecting blocks 605 are fixed at both ends of the fourth pulley 602, at least a portion of the second connecting block 605 is provided in the through hole 901, and the second connecting block 605 is connected to the inner wall of the through hole 901 via a second spring 902. Through the above technical solution, the fourth pulley 602 and the fourth axle 604 are rotatably connected. When the fourth pulley 602 rotates, the fourth axle 604 will not be driven to rotate together. The second connecting blocks 605 are connected to both ends of the fourth axle 604, and the second connecting blocks 605 are connected to the inner wall of the through hole 901 of the second axle bracket 9 through the second spring 902. In this way, the distance between the fourth pulley 602 and the third pulley 601 can be adjusted, which can adapt to simulation equipment 3 of more sizes for simulation exercises, making the application scenarios of simulation exercises more extensive. For example, when replacing a simulation instrument 3 with a larger diameter, the simulation instrument 3 with a larger diameter will push the fourth pulley 602 upwards, and the spring will be compressed to adapt to the diameter of the simulation instrument 3; when replacing a simulation instrument 3 with a smaller diameter, the spring force will press the fourth pulley 602 downwards to adapt to the simulation instrument 3 with a smaller diameter; preferably, in the normal state of the spring, the distance between the two pulleys is smaller than the diameter of the smallest simulation instrument 3, so that after a simulation instrument 3 of any diameter is inserted between the two pulleys, the spring will have a downward rebound pressing force to strengthen the friction between the simulation instrument 3 and the pulley, and prevent the simulation instrument 3 and the pulley from loosening and sliding, causing inaccurate data.

[0049] In some embodiments, a second spring guide sleeve 903 is further provided on the outside of the second spring 902. The second spring guide sleeve 903 is fixed in the through hole 901 of the second axle bracket 9 so that the second spring 902 can only move up and down to prevent it from tilting left and right.

[0050] Preferably, reference Figure 7 As shown, the first pulley 401, the second pulley 402, the third pulley 601, and the fourth pulley 602 are all provided with friction strips 100. The friction strips 100 are evenly spaced on the surface of each pulley to enhance the friction between the pulley and the simulation device 3, further preventing the occurrence of sliding errors between the simulation device 3 and the pulley. In addition, current simulators all use photoelectric sensors to capture image changes on the surface of the device, which is a contactless measurement method. Therefore, no operational resistance is transmitted to the operator through instruments such as guidewires and catheters, and the entire operation process is relatively smooth. However, the solution of the present application uses a pulley design with friction strips 100, which naturally transmits friction to the operator, giving the operator a better experience.

[0051] refer to Figure 1 and Figure 8 As shown, in some embodiments, a third gap is provided between the guide tubes 2, and a laser caliper 10 is provided in the third gap, with a portion of the simulated instrument 3 located within the measurement area of ​​the laser caliper 10. Through the above technical solution, the diameter of the simulated instrument 3 can be measured by the laser caliper 10, thereby determining whether the simulated instrument 3 selected by the operator is correct, providing a method for evaluating the correctness of the instrument selection for guidewire catheter operation. It should be noted that current simulators on the market first select the instrument to be used from the guidewire catheter image and size parameter options displayed in the software. If the selection is incorrect, the software directly prompts you, without the need for actual operation to remind you. The problem with this is that the trainee does not select the instrument by looking at the actual instrument in a real training scenario, which is somewhat different from real clinical operation. Instead of selecting the instrument by looking at the actual instrument, the trainee selects the instrument based on the image and marked parameters. In clinical practice, the doctor is required to make an immediate selection based on the instrument prepared by the assistant, and sometimes the doctor needs to touch the guidewire catheter to identify the thickness of the instrument before selecting and operating the instrument. In this embodiment, guidewire catheters of various sizes are provided in advance, allowing trainees to directly select the appropriate instrument they deem appropriate and insert it into the simulator for use. The simulator automatically determines whether the selected instrument is suitable using a laser caliper 10. If not, a prompt will be displayed to terminate the next step of the operation. This helps trainees simulate actual clinical scenarios more realistically and cultivate their ability to identify instruments physically and by feel.

[0052] It should be noted that a laser diameter gauge uses a laser beam that passes through a polygonal scanning mirror and scanning optical system to form a continuous, high-speed scanning beam parallel to the optical axis. This beam scans a workpiece placed in the measurement area at high speed and is received by a photoelectric receiver located opposite the workpiece. The light projected onto the photoelectric receiver is interrupted as it scans the workpiece. Therefore, by analyzing the signal output by the photoelectric receiver, data related to the workpiece's diameter can be obtained. The specific operating principle of a laser diameter gauge is well-known in the art and will not be elaborated on here.

[0053] refer to Figure 1 、 Figure 9 and Figure 10As shown, in some embodiments, a stop assembly 11 is provided on the outside of the guide tube 2, and the stop assembly 11 includes a stop bracket 1101, a stop motor 1102 and a stop pressure plate 1103 connected to the output shaft of the stop motor 1102. The guide tube 2 passes through the stop bracket 1101, and the stop motor 1102 is fixed on the stop bracket 1101 or fixed on the workbench 1. The stop pressure plate 1103 is located above the guide tube 2, and one end of the stop pressure plate 1103 is connected to the output shaft of the stop motor 1102. When the stop motor 1102 is working, the stop pressure plate 1103 will rotate with the end connected to the output shaft of the stop motor 1102 as a fulcrum, thereby pressing toward the guide tube 2; the guide tube 2 corresponding to the stop pressure plate 1103 can be made of elastic materials such as silicone. By adopting the above technical solution, the stop motor 1102 can drive the stop pressure plate 1103 to squeeze the guide tube 2, thereby pressing the simulated instrument 3 inside the guide tube 2, causing the simulated instrument 3 to stop moving. It should be noted that during actual operation, because the guidewire catheter moves in the blood vessel, the doctor uses a DSA device (i.e., X-ray) to view the movement trajectory of the guidewire catheter in the human body. Only the outer contour of the guidewire catheter can be seen, and the contact relationship between the guidewire catheter and the blood vessel cannot be seen. Therefore, there is a possibility that the instrument may penetrate the blood vessel wall, causing the front end of the instrument to stop moving in the blood vessel. In this case, the operator may feel strong resistance and stop delivering the instrument, thereby preventing further damage to the blood vessel caused by continued delivery. Therefore, the purpose of providing the stop assembly 11 in this embodiment is to block the simulated instrument 3, giving the operator a strong feedback feeling, allowing the operator to adjust the operation method.

[0054] refer to Figure 1 As shown, a signal acquisition board 13 is also provided on the workbench 1, and the first encoder 5, the second encoder 7, and the laser diameter gauge 10 are all connected to the signal acquisition board 13 to obtain the information collected by the first encoder 5, the second encoder 7, and the laser diameter gauge 10 and transmit it to the back end.

[0055] Preferably, in some embodiments, the first axle group 4 and the second axle group 6 are manufactured by precision ceramic 3D printing technology to achieve integrated molding of high-precision axle structures, which can improve matching accuracy, reduce the possibility of slippage of guide wires and catheter instruments during measurement, and are not easy to wear, and can improve measurement accuracy.

[0056] To sum up, the embodiment of the present application adopts the identification method of the axle group plus the encoder. There is no need to use a special simulation instrument 3. Only an ordinary guidewire catheter needs to be used as the simulation instrument 3. Even the guidewire catheter discarded after use in the hospital can be used for secondary use. Compared with the use of special guidewire catheters, it greatly saves costs and is conducive to mass production and application.

[0057] Furthermore, the embodiment of the present application makes the distance between the first pulley 401 and the second pulley 402 adjustable, and makes the distance between the fourth pulley 602 and the third pulley 601 adjustable, which can adapt to simulation equipment 3 of more sizes for simulation exercises, making the application scenarios of simulation exercises more extensive.

[0058] Furthermore, the embodiment of the present application can measure the diameter of the simulated instrument 3 through a laser caliper 10, and then determine whether the simulated instrument 3 selected by the operator is correct, which can help the operator simulate actual clinical scenarios more realistically and cultivate the ability to identify the actual instrument and the feel.

[0059] Example 2 Based on the vascular interventional surgery operation skill simulator provided in Example 1, this embodiment of the application provides a measurement method for the vascular interventional surgery operation skill simulator, such as Figure 11 As shown, the method includes the following steps: Step 101: The diameter of the simulated device 3 is measured by the laser caliper 10 to determine whether the selected simulated device 3 is correct. If correct, a correct prompt is issued; otherwise, an error alarm is issued. The correct prompt can be a green light, and the error alarm can be a red light with a warning sound.

[0060] Step 102: The forward or backward movement of the simulated instrument 3 drives the first axle assembly 4 to move. The first encoder 5 acquires motion information of the first axle assembly 4, thereby obtaining forward or backward displacement information of the simulated instrument 3. This forward and backward information simulates how an operator controls the guidewire or catheter to enter the target vascular branch, or to actively withdraw the guidewire or catheter after the procedure is complete, completing the procedure. By acquiring this forward and backward information, the software displays the corresponding guidewire or catheter image on the monitor based on the signal.

[0061] Step 103: The rotation of the simulator 3 drives the second axle assembly 6 to move. The second encoder 7 acquires the motion information of the second axle assembly 6, thereby obtaining the rotation angle information of the simulator 3. The rotation signal also helps the software determine the operator's intention and displays the corresponding operation image on the computer monitor as feedback on the operator's operation.

[0062] By adopting the above technical solution, the diameter of the simulated instrument 3 can be measured by the laser caliper 10, and then it can be determined whether the simulated instrument 3 selected by the operator is correct. This can help the operator simulate actual clinical scenarios more realistically and cultivate the ability to distinguish the actual instrument and the feel. In addition, the forward and backward information and rotation information of the simulated instrument 3 can be obtained by cooperating with the encoder and the axle group. Compared with using a photoelectric sensor to identify this information of the simulated instrument 3, the method of cooperating with the encoder and the axle group only requires the use of an ordinary guidewire catheter as the simulated instrument 3. Compared with the method of using a special guidewire catheter in the photoelectric sensor identification method, it greatly saves costs and is conducive to mass production and application.

[0063] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A vascular interventional surgery skill simulator, characterized in that: The invention comprises a workbench (1), a guide tube (2) arranged on the workbench (1), and a simulation device (3) arranged along the guide tube (2); a first gap and a second gap are provided between the guide tubes (2), wherein: A first axle group (4) is provided at the first gap, the simulation device (3) is located between two pulleys of the first axle group (4), and the axes of the two pulleys of the first axle group (4) are perpendicular to the axis of the simulation device (3), and the axle of one of the pulleys of the first axle group (4) is connected to a first encoder (5); A second axle group (6) is provided at the second gap, the simulation device (3) is located between two pulleys of the second axle group (6), and the axes of the two pulleys of the second axle group (6) are parallel to the axis of the simulation device (3), and the axle of one of the pulleys of the second axle group (6) is connected to a second encoder (7).

2. The vascular interventional surgery skill simulator according to claim 1, characterized in that: The first wheel axle group (4) comprises a first pulley (401) and a second pulley (402), the first pulley (401) and the second pulley (402) are spaced apart, the simulation device (3) is located between the gap between the first pulley (401) and the second pulley (402), and the simulation device (3) is in contact with the first pulley (401) and the second pulley (402), respectively.

3. The vascular interventional surgery skill simulator according to claim 2, characterized in that: First axle brackets (8) are provided on both sides of the first axle group (4), a first axle (403) is provided at the center of the first pulley (401), and the first pulley (401) is fixed on the first axle (403), the first axle (403) is rotatably connected to the first axle bracket (8), and one end of the first axle (403) is connected to the first encoder (5).

4. The vascular interventional surgery skill simulator according to claim 3, characterized in that: A groove (801) is provided on the first axle bracket (8), a second axle (404) is provided at the center of the second pulley (402), and the second pulley (402) is rotatably connected to the second axle (404), first connecting blocks (405) are fixed at both ends of the second axle (404), at least a portion of the first connecting block (405) is provided in the groove (801), and the first connecting block (405) is connected to the inner wall of the groove (801) via a first spring (802).

5. The vascular interventional surgery skill simulator according to claim 1, characterized in that: The second wheel shaft group (6) comprises a third pulley (601) and a fourth pulley (602), wherein the third pulley (601) and the fourth pulley (602) are spaced apart, and the simulation device (3) is located between the gap between the third pulley (601) and the fourth pulley (602), and the simulation device (3) is in contact with the third pulley (601) and the fourth pulley (602), respectively.

6. The vascular interventional surgery skill simulator according to claim 5, characterized in that: Second axle brackets (9) are provided on both sides of the second axle group (6), a third axle (603) is provided at the center of the third pulley (601), and the third pulley (601) is fixed on the third axle (603), the third axle (603) is rotatably connected to the second axle bracket (9), and one end of the third axle (603) is connected to the second encoder (7).

7. The vascular interventional surgery skill simulator according to claim 6, characterized in that: A through hole (901) is provided on the second axle bracket (9), a fourth axle (604) is provided at the center of the fourth pulley (602), and the fourth pulley (602) is rotatably connected to the fourth axle (604), and second connecting blocks (605) are fixed at both ends of the fourth pulley (602), at least a portion of the second connecting block (605) is provided in the through hole (901), and the second connecting block (605) is connected to the inner wall of the through hole (901) via a second spring (902).

8. The vascular interventional surgery skill simulator according to any one of claims 1 to 7, characterized in that: A third gap is provided between the guide tubes (2), a laser caliper (10) is provided at the third gap, and a portion of the simulation instrument (3) is located within the measurement area of ​​the laser caliper (10).

9. The vascular interventional surgery skill simulator according to any one of claims 1 to 7, characterized in that: A stop assembly (11) is provided on the outside of the guide tube (2), and the stop assembly (111) includes a stop bracket (1101), a stop motor (1102), and a stop pressure plate (1103) connected to the output shaft of the stop motor (1102). One side of the guide tube (2) is connected to the stop pressure plate (1103) via a third spring (1104), and the other side of the guide tube (2) is connected to the stop bracket (1101) via a fourth spring (1105).

10. A method for measuring a vascular interventional surgery skill simulator, applied to the vascular interventional surgery skill simulator according to any one of claims 1 to 9, characterized in that: include: The forward or backward movement of the simulation device (3) drives the first wheel axle group (4) to move, and the movement information of the first wheel axle group (4) is obtained through the first encoder (5), thereby obtaining the forward or backward displacement information of the simulation device (3); The second wheel axle group (6) is driven to move by the rotation of the simulation device (3), and the movement information of the second wheel axle group (6) is obtained through the second encoder (7), thereby obtaining the rotation angle information of the simulation device (3).

Images