An intelligent virtual-real combined interactive teaching system and method for intravenous puncture

Abstract

The application discloses an intelligent virtual and real combined interactive teaching system and method for venipuncture, relates to the medical field, and solves the problem of poor teaching effect of the virtual and real combined interactive teaching system for venipuncture, and comprises a needle insertion data module, a plurality of puncture interactive experiments are set for target students, a first puncture teaching model is created to analyze a needle insertion angle of each puncture interactive experiment, and needle insertion angle deviation data is obtained, a puncture trajectory module, a second puncture teaching model is created to analyze a puncture trajectory of each puncture interactive experiment, and puncture trajectory deviation data is obtained, and an interactive evaluation module, puncture level evaluation is performed on the target students according to the needle insertion angle deviation data and the puncture trajectory deviation data, and the application can improve the authenticity and comprehensiveness of the evaluation result of the venipuncture capacity.

Description

TECHNICAL FIELD

[0001] The application belongs to the medical field and relates to intelligent venipuncture technology, in particular to an intelligent venipuncture virtual-real combined interactive teaching system and method. BACKGROUND

[0002] The existing venipuncture virtual-real combined interactive teaching system has the following defects when evaluating the puncture ability of students:

[0003] 1. The existing interactive teaching system cannot analyze the needle insertion angle for each puncture interaction experiment, cannot judge the deviation of the angle of the student's puncture operation, and is prone to lack of accuracy and objectivity in the needle insertion angle ability evaluation process.

[0004] 2. The existing interactive teaching system cannot create a second puncture teaching model to analyze the puncture trajectory of each puncture interaction experiment, cannot obtain the puncture trajectory abnormality degree corresponding to each puncture teaching experiment according to the analysis result, and thus leads to lack of authenticity and comprehensiveness of the puncture trajectory ability evaluation result.

[0005] Therefore, the present application provides an intelligent venipuncture virtual-real combined interactive teaching system and method. SUMMARY

[0006] In view of the deficiencies of the prior art, the present application aims to provide an intelligent venipuncture virtual-real combined interactive teaching system and method, which improves the comprehensiveness and accuracy of the venipuncture virtual-real combined interactive teaching system.

[0007] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution: an intelligent venipuncture virtual-real combined interactive teaching system, and the specific working process of each module is as follows:

[0008] Needle insertion data module: a plurality of puncture interaction experiments are set for a target student, a first puncture teaching model is created to analyze the needle insertion angle of each puncture interaction experiment, the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained according to the analysis result, and needle insertion angle deviation data is obtained.

[0009] Puncture trajectory module: a second puncture teaching model is created to analyze the puncture trajectory of each puncture interaction experiment, the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained according to the analysis result, and puncture trajectory deviation data is obtained.

[0010] Interactive evaluation module: the puncture level of the target student is evaluated according to the needle insertion angle deviation data and the puncture trajectory deviation data.

[0011] Further, the needle insertion angle deviation data is obtained, and the specific process is as follows:

[0012] In the current teaching cycle, a student receiving puncture teaching is acquired, and a target student is randomly selected from the acquired students;

[0013] A plurality of puncture teaching experiments are set for the target student, and the arm model corresponding to each puncture teaching experiment is in a different clinical simulation state, and a sample puncture teaching experiment is randomly selected from the plurality of set puncture teaching experiments;

[0014] A plurality of fat tissue feature points are selected in the subcutaneous fat tissue of the arm model, and a piezoresistive sensor is arranged at the skin position of each fat tissue feature point to obtain a first puncture teaching model;

[0015] The first puncture teaching model is used to analyze the needle insertion angle of the sample puncture teaching experiment, and the deviation degree of the needle insertion angle corresponding to the sample puncture teaching experiment is obtained according to the analysis result;

[0016] The process of obtaining the deviation degree of the needle insertion angle corresponding to the sample puncture teaching experiment is repeated, and the deviation degree of the needle insertion angle corresponding to each puncture teaching experiment is obtained to obtain needle insertion angle deviation data.

[0017] Further, the deviation degree of the needle insertion angle corresponding to the sample puncture teaching experiment is obtained, specifically as follows:

[0018] The first puncture teaching model is analyzed in space, and a needle insertion space rectangular coordinate system is created according to the analysis result;

[0019] In the needle insertion space coordinate system, the piezoresistive sensor is used to acquire a plurality of fat tissue feature points contacted by the puncture needle operated by the target student, and the plurality of needle head contact feature points are sequentially labeled as J1 contact feature point to Ja contact feature point according to the contact order;

[0020] In the needle insertion space rectangular coordinate system, J1 contact feature point and J2 contact feature point are connected to obtain J1 needle insertion angle line, J2 contact feature point and J3 contact feature point are connected to obtain J2 needle insertion angle line, and so on. J1-1 contact feature point and Ja contact feature point are connected to obtain J1-1 needle insertion angle line;

[0021] The angle between J1 needle insertion angle line and the first needle insertion plane is marked as J1 needle insertion angle value, the angle between J2 needle insertion angle line and the first needle insertion plane is marked as J2 needle insertion angle value, and so on. The angle between J1-1 needle insertion angle line and the first needle insertion plane is marked as J1-1 needle insertion angle value;

[0022] The deviation of J1 needle insertion angle line is analyzed to obtain J1 needle insertion angle deviation;

[0023] Repeating the acquisition process of the J1 needle insertion angle deviation, respectively acquiring the J2 needle insertion angle deviation to the Ja-1 needle insertion angle deviation;

[0024] Respectively acquiring the J1 needle insertion angle value to the Ja-1 needle insertion angle value and the deviation of the reference needle insertion angle interval, obtaining the J1 needle insertion angle deviation to the Ja-1 needle insertion angle deviation, and comparing the numerical values of the J1 needle insertion angle deviation to the Ja-1 needle insertion angle deviation, marking the needle insertion angle deviation with the largest value as the peak needle insertion angle deviation;

[0025] Acquiring the interval median corresponding to the reference needle insertion angle interval, calculating the ratio of the peak needle insertion angle deviation, and obtaining the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment.

[0026] Further, the needle insertion space rectangular coordinate system is created, specifically as follows:

[0027] Acquiring the puncture needle insertion point of the target student in the first puncture teaching model, marking a puncture skin area as a geometric center point with the puncture needle insertion point, and marking the space area occupied by the fat tissue feature point corresponding to the skin puncture area as a puncture needle insertion space area;

[0028] In the puncture needle insertion space area, mark the puncture needle insertion point as the coordinate origin, mark the horizontal plane where the coordinate origin is located as the first needle insertion plane, in the first needle insertion plane, draw a straight line through the coordinate origin to obtain the first needle insertion straight line, draw a straight line through the coordinate origin perpendicular to the first needle insertion straight line to obtain the second needle insertion straight line, draw a straight line through the coordinate origin perpendicular to the first needle insertion plane to obtain the third needle insertion straight line, mark the first needle insertion straight line as the coordinate x-axis, mark the second needle insertion straight line as the coordinate y-axis, and mark the third needle insertion straight line as the coordinate z-axis to obtain the needle insertion space rectangular coordinate system.

[0029] Further, the J1 needle insertion angle deviation is acquired, specifically as follows:

[0030] Acquiring the upper limit of the reference needle insertion angle interval and the lower limit of the reference needle insertion angle interval,

[0031] If the J1 needle insertion angle value Jdz1 is greater than the upper limit of the reference needle insertion angle interval Jqs, the J1 needle insertion angle deviation Pj j1 can be calculated;

[0032] If the J1 needle insertion angle value Jdz1 is less than the lower limit of the reference needle insertion angle interval Jqx, the J1 needle insertion angle deviation Pj j1 can be calculated;

[0033] If the J1 needle insertion angle value is equal to the upper limit of the reference needle insertion angle interval or the lower limit of the reference needle insertion angle interval, the J1 needle insertion angle deviation is 0.

[0034] Further, the puncture trajectory deviation data is acquired, specifically as follows:

[0035] The arm model corresponding to the sample puncture teaching experiment is acquired, and the internal space of the arm model is modeled to obtain a second puncture teaching model;

[0036] The geometric center point of the second puncture teaching model is acquired and marked as a trajectory feature point. The horizontal plane where the trajectory feature point is located is marked as a first trajectory plane. In the first trajectory plane, a straight line is drawn through the trajectory feature point to obtain a first trajectory straight line. A straight line is drawn through the trajectory feature point perpendicular to the first trajectory straight line to obtain a second trajectory straight line. A straight line is drawn through the coordinate origin perpendicular to the first trajectory plane to obtain a third trajectory straight line. The trajectory feature point is marked as the coordinate origin. The first trajectory straight line is marked as the coordinate x-axis. The second trajectory straight line is marked as the coordinate y-axis. The third trajectory straight line is marked as the coordinate z-axis to obtain a trajectory space orthogonal coordinate system;

[0037] The second puncture teaching model is used to analyze the puncture trajectory of the sample puncture teaching experiment, and the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is acquired according to the analysis result;

[0038] The acquisition process of the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is repeated, and the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is acquired to obtain the puncture trajectory deviation data.

[0039] Further, the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is acquired, specifically as follows:

[0040] In the second puncture teaching model, the needle puncture trajectory line of the sample puncture teaching experiment operated by the target student is acquired, and the needle puncture trajectory line is decomposed into a plurality of trajectory coordinate points, and the plurality of acquired trajectory coordinate points are marked as G1 trajectory coordinate point to Gb trajectory coordinate point;

[0041] In the second puncture teaching model, the puncture blood vessel corresponding to the sample puncture teaching experiment is marked to obtain a target puncture region;

[0042] The G1 edge distance value to Gb edge distance value of the G1 trajectory coordinate point to Gb trajectory coordinate point and the edge distance value of the target puncture region is acquired;

[0043] If the G1 trajectory coordinate point is not located inside the target puncture region, the G1 trajectory coordinate point is marked as an abnormal trajectory point;

[0044] If the G1 trajectory coordinate is inside the target puncture region, the edge distance reference interval is obtained, if the G1 edge distance value is in the edge distance reference interval, the G1 trajectory coordinate point is marked as a normal trajectory point, if the G1 edge distance value is not in the edge distance reference interval, the G1 trajectory coordinate point is marked as an abnormal trajectory point;

[0045] The number of abnormal trajectory points in the G1 trajectory coordinate point to the G1 trajectory coordinate point is obtained, and the abnormal trajectory point number value is obtained, and the ratio of the abnormal trajectory point number value to b is calculated, and the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is obtained.

[0046] Further, the G1 edge distance value is obtained, specifically as follows:

[0047] In the second puncture teaching model, a vertical section of the target puncture region is made through the G1 trajectory coordinate point, and a G1 blood vessel vertical section is obtained, and the blood vessel edge in the G1 blood vessel vertical section is filled with pixel points, and a plurality of blood vessel edge pixel points are obtained, and a sample blood vessel edge pixel point is selected from the filled blood vessel edge pixel points;

[0048] The coordinates of the G1 trajectory coordinate point in the trajectory space rectangular coordinate system are obtained, and the G1 trajectory coordinate (x1, y1, z1) is obtained, and the coordinates of the sample blood vessel edge pixel point in the trajectory space rectangular coordinate system are obtained, and the sample pixel point coordinate (x2, y2, z2) is obtained;

[0049] The coordinate distance value Yzj between the G1 trajectory coordinate (x1, y1, z1) and the sample pixel point coordinate (x2, y2, z2) is calculated.

[0050] The coordinate distance value between the G1 trajectory coordinate point and each blood vessel edge pixel point is obtained respectively, and the obtained plurality of coordinate distance values are compared in value, and the coordinate distance value with the smallest value is marked as the G1 edge distance value.

[0051] Further, the target student is punctured horizontally evaluated, specifically as follows:

[0052] The needle insertion angle deviation data is obtained, and the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained according to the needle insertion angle deviation data, and the obtained plurality of needle insertion angle deviation degrees are calculated to obtain the average deviation degree of the needle insertion angle;

[0053] The puncture trajectory deviation data is obtained, and the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained according to the puncture trajectory deviation data;

[0054] The average deviation degree of the needle insertion angle reference interval and the puncture trajectory abnormality reference interval are obtained respectively;

[0055] If the average deviation degree of the needle insertion angle is in the average deviation degree of the needle insertion angle reference interval, and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as qualified;

[0056] If the average deviation degree of the needle insertion angle is in the average deviation degree of the needle insertion angle reference interval, and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified;

[0057] If the average deviation degree of the needle insertion angle is not in the average deviation degree of the needle insertion angle reference interval, and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified;

[0058] If the average deviation degree of the needle insertion angle is not in the average deviation degree of the needle insertion angle reference interval, and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified.

[0059] An intelligent venipuncture virtual-real combined interactive teaching method, comprising the following specific steps:

[0060] Step S1: A plurality of puncture interaction experiments are set for a target student, a first puncture teaching model is created to analyze the needle insertion angle of each puncture interaction experiment, the average deviation degree of the needle insertion angle corresponding to each puncture teaching experiment is obtained according to the analysis result, and needle insertion angle deviation data is obtained;

[0061] Step S2: A second puncture teaching model is created to analyze the puncture trajectory of each puncture interaction experiment, the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained according to the analysis result, and puncture trajectory deviation data is obtained;

[0062] Step S3: The target student is evaluated for puncture level according to the needle insertion angle deviation data and the puncture trajectory deviation data.

[0063] As described above, due to the adoption of the above technical solutions, the present application has the following beneficial effects:

[0064] 1. The present application creates a first puncture teaching model for the target student to analyze the needle insertion angle of each puncture interaction experiment, which can judge the deviation of the student's puncture operation angle, thereby ensuring the accuracy and objectivity of the needle insertion angle ability evaluation process;

[0065] 2. The existing interactive teaching system analyzes the puncture trajectory of each puncture interaction experiment by creating a second puncture teaching model, and obtains the puncture trajectory abnormality degree corresponding to each puncture teaching experiment according to the analysis result, thereby ensuring the authenticity and comprehensiveness of the puncture trajectory ability evaluation result. BRIEF DESCRIPTION OF DRAWINGS

[0066] For the convenience of those skilled in the art to understand, the present application will be further described below in conjunction with the drawings.

[0067] Figure 1 is the overall system block diagram of the present application;

[0068] Figure 2 is the implementation step diagram of the present application. DETAILED DESCRIPTION

[0069] The technical solutions of the present application will be described below in conjunction with the embodiments, obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts belong to the scope of protection of the present application.

[0070] Embodiment one

[0071] Please refer to Figure 1 The present application provides a technical solution: an intelligent venipuncture virtual-real combined interactive teaching system, comprising a needle insertion data module, a puncture trajectory module, an interactive evaluation module and a server, the needle insertion data module, the puncture trajectory module and the interactive evaluation module are connected with the server respectively, and the server controls the needle insertion data module, the puncture trajectory module and the interactive evaluation module respectively;

[0072] The needle insertion data module sets a plurality of puncture interaction experiments for a target student, creates a first puncture teaching model to analyze the needle insertion angle of each puncture interaction experiment, obtains the needle insertion angle deviation degree corresponding to each puncture teaching experiment according to the analysis result, and obtains the needle insertion angle deviation data;

[0073] Specifically as follows:

[0074] In the current teaching period, the students receiving puncture teaching are obtained, and a target student is randomly selected from the obtained multiple students;

[0075] A plurality of puncture teaching experiments are set for the target student, and the arm model corresponding to each puncture teaching experiment is in different clinical simulation states, and a sample puncture teaching experiment is randomly selected from the set plurality of puncture teaching experiments;

[0076] It should be noted here that:

[0077] The arm model involved here can be diversified in clinical simulation according to the blood vessel characteristics and skin characteristics of different clinical patients;

[0078] For example, the blood vessel diameter of children is small, the blood vessel wall is thin, the skin of the elderly is loose, the blood vessel fragility increases, the blood vessel of the obese patient is usually covered by fat tissue and located deep, the blood vessel of the shock or hypotension patient is contracted, and the running of the blood vessel can be divided into straight type, curved type and branch type. The arm model can be used to simulate the diversified peripheral veins and skin states in the clinic.

[0079] A plurality of fat tissue feature points are selected in the subcutaneous fat tissue of the arm model, and a piezoresistive sensor is arranged at the skin position of each fat tissue feature point to obtain a first puncture teaching model;

[0080] It should be noted that:

[0081] The fat tissue feature points are arranged in three dimensions and occupy a space volume.

[0082] The needle insertion angle analysis of the sample puncture teaching experiment is performed using the first puncture teaching model, and the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment is obtained according to the analysis result.

[0083] Specifically as follows:

[0084] The puncture needle insertion point of the target student in the first puncture teaching model is acquired, the puncture needle insertion point is marked as a geometric center point, a puncture skin area is marked, and the space area occupied by the fat tissue feature points corresponding to the puncture skin area is marked as a puncture needle insertion space area.

[0085] In the puncture needle insertion space area, the puncture needle insertion point is marked as the coordinate origin, a horizontal plane where the coordinate origin is located is marked as the first needle insertion plane, a straight line passing through the coordinate origin is drawn in the first needle insertion plane to obtain a first needle insertion straight line, a straight line perpendicular to the first needle insertion straight line is drawn through the coordinate origin to obtain a second needle insertion straight line, a straight line perpendicular to the first needle insertion plane is drawn through the coordinate origin to obtain a third needle insertion straight line, the first needle insertion straight line is marked as the coordinate x-axis, the second needle insertion straight line is marked as the coordinate y-axis, and the third needle insertion straight line is marked as the coordinate z-axis to obtain a needle insertion space orthogonal coordinate system.

[0086] In the needle insertion space coordinate system, the plurality of fat tissue feature points contacted by the puncture needle operated by the target student are acquired through the piezoresistive sensor to obtain a plurality of needle head contact feature points, and the plurality of needle head contact feature points are sequentially marked as J1 contact feature point to Ja contact feature point according to the order of contact.

[0087] It should be noted that:

[0088] In the present application, the needle head contact feature points are acquired through the piezoresistive sensor corresponding to each needle head contact feature point.

[0089] In the present application, j refers to the marker corresponding to the needle contact feature point, and a refers to the number value corresponding to the needle contact feature point, and a is an integer greater than 0;

[0090] In the needle insertion space rectangular coordinate system, the J1 contact feature point and the J2 contact feature point are connected to obtain the J1 needle insertion angle line, the J2 contact feature point and the J3 contact feature point are connected to obtain the J2 needle insertion angle line, and so on. The Ja-1 contact feature point and the Ja contact feature point are connected to obtain the Ja-1 needle insertion angle line;

[0091] The angle between the J1 needle insertion angle line and the first needle insertion plane is marked as the J1 needle insertion angle value, the angle between the J2 needle insertion angle line and the first needle insertion plane is marked as the J2 needle insertion angle value, and so on. The angle between the Ja-1 needle insertion angle line and the first needle insertion plane is marked as the Ja-1 needle insertion angle value;

[0092] The upper limit of the reference needle insertion angle interval and the lower limit of the reference needle insertion angle interval are obtained,

[0093] If the J1 needle insertion angle value Jdz1 is greater than the upper limit of the reference needle insertion angle interval Jqs, the J1 needle insertion angle deviation Pjj1 can be calculated by the formula Pjj1 = Jdz1-Jqs;

[0094] If the J1 needle insertion angle value Jdz1 is less than the lower limit of the reference needle insertion angle interval Jqx, the J1 needle insertion angle deviation Pjj1 can be calculated by the formula Pjj1 = Jqx-Jdz1;

[0095] If the J1 needle insertion angle value is equal to the upper limit or the lower limit of the reference needle insertion angle interval, the J1 needle insertion angle deviation is 0;

[0096] The process of obtaining the J1 needle insertion angle deviation is repeated to obtain the J2 needle insertion angle deviation to the Ja-1 needle insertion angle deviation;

[0097] The deviations of the J1 needle insertion angle value to the Ja-1 needle insertion angle value from the reference needle insertion angle interval are obtained to obtain the J1 needle insertion angle deviation to the Ja-1 needle insertion angle deviation, and the J1 needle insertion angle deviation to the Ja-1 needle insertion angle deviation is compared in value. The largest needle insertion angle deviation is marked as the peak needle insertion angle deviation;

[0098] It should be noted that:

[0099] In the present application, the reference needle insertion angle interval is obtained;

[0100] Specifically as follows:

[0101] Select several groups of historical successful puncture cases with the same content as the sample puncture teaching experiment, obtain the needle insertion angle value corresponding to each historical engineering puncture case, calculate the average of the obtained multiple needle insertion angle values to obtain the average needle insertion angle, calculate the standard deviation of the obtained multiple needle insertion angle values to obtain the needle insertion angle standard deviation, calculate the sum of the average needle insertion angle and the needle insertion angle standard deviation to obtain the upper limit of the reference needle insertion angle interval, calculate the difference between the average needle insertion angle and the needle insertion angle standard deviation to obtain the lower limit of the reference needle insertion angle interval, and mark the value range between the upper limit of the reference needle insertion angle interval and the lower limit of the reference needle insertion angle interval as the reference needle insertion angle interval.

[0102] Obtain the median of the interval corresponding to the reference needle insertion angle interval, calculate the ratio of the peak needle insertion angle deviation, and obtain the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment.

[0103] It should be noted here that:

[0104] In this application, the interval median referred to here is specifically the average of the upper limit of the reference needle insertion angle interval and the lower limit of the reference needle insertion angle interval.

[0105] Repeat the process of obtaining the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment, and obtain the needle insertion angle deviation data corresponding to each puncture teaching experiment.

[0106] The needle insertion data module obtains the needle insertion angle deviation data and transmits it to the interactive evaluation module.

[0107] The puncture trajectory module creates a second puncture teaching model to analyze the puncture trajectory of each puncture interactive experiment, and obtains the puncture trajectory abnormality degree corresponding to each puncture teaching experiment according to the analysis result, and obtains the puncture trajectory deviation data.

[0108] Specifically as follows:

[0109] Obtain the arm model corresponding to the sample puncture teaching experiment, and model the internal space of the arm model to obtain the second puncture teaching model.

[0110] The geometric center point of the second puncture teaching model is acquired and marked as a trajectory feature point, a horizontal plane where the trajectory feature point is located is marked as a first trajectory plane, a straight line passing through the trajectory feature point is made in the first trajectory plane to obtain a first trajectory straight line, a straight line perpendicular to the first trajectory straight line is made through the trajectory feature point to obtain a second trajectory straight line, a straight line perpendicular to the first trajectory plane is made through the coordinate origin to obtain a third trajectory straight line, the trajectory feature point is marked as the coordinate origin, the first trajectory straight line is marked as the coordinate x-axis, the second trajectory straight line is marked as the coordinate y-axis, and the third trajectory straight line is marked as the coordinate z-axis to obtain a trajectory space orthogonal coordinate system;

[0111] The puncture trajectory analysis is performed on the sample puncture teaching experiment using the second puncture teaching model, and the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is acquired according to the analysis result;

[0112] Specifically as follows:

[0113] In the second puncture teaching model, the needle puncture trajectory line of the sample puncture teaching experiment operated by the target student is acquired, and the needle puncture trajectory line is decomposed into a plurality of trajectory coordinate points, and the plurality of acquired trajectory coordinate points are marked as G1 trajectory coordinate point to Gb trajectory coordinate point respectively.

[0114] It should be noted here that:

[0115] In this application, G referred to here is a symbol corresponding to the trajectory coordinate point, and b referred to here is a quantity value corresponding to the trajectory coordinate point, and b is an integer greater than 0.

[0116] In the second puncture teaching model, the puncture blood vessel corresponding to the sample puncture teaching experiment is marked to obtain a target puncture region.

[0117] The edge distance values of the G1 trajectory coordinate point to the Gb trajectory coordinate point and the target puncture region are acquired to obtain G1 edge distance value to Gb edge distance value.

[0118] Specifically as follows:

[0119] In the second puncture teaching model, a vertical section of the target puncture region is made through the G1 trajectory coordinate point to obtain a G1 blood vessel vertical section, and the blood vessel edge in the G1 blood vessel vertical section is pixel point filled to obtain a plurality of blood vessel edge pixel points, and a sample blood vessel edge pixel point is selected from the filled plurality of blood vessel edge pixel points.

[0120] The coordinates of the G1 trajectory coordinate point in the trajectory space orthogonal coordinate system are acquired to obtain G1 trajectory coordinate (x1, y1, z1), and the coordinates of the sample blood vessel edge pixel point in the trajectory space orthogonal coordinate system are acquired to obtain sample pixel point coordinate (x2, y2, z2).

[0121] The coordinate distance value Yzj between the G1 trajectory coordinate point and the sample blood vessel edge pixel point is calculated by the G1 trajectory coordinate (x1, y1, z1) and the sample pixel point coordinate (x2, y2, z2);

[0122] The specific formula is as follows:

[0123]

[0124] The coordinate distance value between the G1 trajectory coordinate point and each blood vessel edge pixel point is obtained respectively, and the multiple coordinate distance values obtained are compared in value, and the coordinate distance value with the smallest value is marked as the G1 edge distance value;

[0125] The process of obtaining the G1 edge distance value is repeated to obtain the G2 edge distance value to the Gb edge distance value;

[0126] If the G1 trajectory coordinate is not inside the target puncture region, the G1 trajectory coordinate point is marked as an abnormal trajectory point;

[0127] If the G1 trajectory coordinate is inside the target puncture region, the edge distance reference interval is obtained, if the G1 edge distance value is in the edge distance reference interval, the G1 trajectory coordinate point is marked as a normal trajectory point, if the G1 edge distance value is not in the edge distance reference interval, the G1 trajectory coordinate point is marked as an abnormal trajectory point;

[0128] It should be noted here that:

[0129] In this application, the normal trajectory point referred to here includes the abnormal trajectory point target puncture region boundary and the edge distance reference interval boundary;

[0130] The edge distance reference interval referred to here needs to be specifically set according to the internal diameter of the target puncture region, the lower limit of the edge distance reference interval is 0, that is, the puncture needle head directly contacts the inner wall of the blood vessel, and the specific edge distance reference interval is 10% of the internal diameter of the target puncture region. If the internal diameter of the target puncture region is 4mm, the edge distance reference interval is [0mm, 0.4mm].

[0131] The number of abnormal trajectory points in the G1 trajectory coordinate point to the Gb trajectory coordinate point is obtained to obtain an abnormal trajectory point number value, and the ratio of the abnormal trajectory point number value to b is calculated to obtain the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment;

[0132] The process of obtaining the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is repeated to obtain the puncture trajectory abnormality degree corresponding to each puncture teaching experiment to obtain the puncture trajectory deviation data;

[0133] The interaction evaluation module evaluates the puncture level of the target student according to the needle insertion angle deviation data and the puncture trajectory deviation data;

[0134] Specifically as follows:

[0135] The needle insertion angle deviation data is obtained, the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained according to the needle insertion angle deviation data, and the obtained multiple needle insertion angle deviation degrees are calculated to obtain the average needle insertion angle deviation degree;

[0136] The puncture trajectory deviation data is obtained, and the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained according to the puncture trajectory deviation data;

[0137] The average needle insertion angle deviation degree reference interval and the puncture trajectory abnormality degree reference interval are obtained respectively;

[0138] It should be noted here that:

[0139] The average needle insertion angle deviation degree reference interval is obtained, and specifically as follows:

[0140] The lower limit of the average needle insertion angle deviation degree reference interval is 0, that is, there is no needle insertion angle deviation,

[0141] A plurality of puncture level qualified sample students are selected, the average needle insertion angle deviation degree corresponding to each qualified sample student is obtained, the average of the obtained multiple average needle insertion angle deviation degrees is calculated to obtain the upper limit of the average needle insertion angle deviation degree reference interval, and the numerical range between the lower limit of the average needle insertion angle deviation degree reference interval and the upper limit of the average needle insertion angle deviation degree reference interval is marked as the average needle insertion angle deviation degree reference interval;

[0142] The puncture trajectory abnormality degree reference interval is obtained, and specifically as follows:

[0143] The lower limit of the puncture trajectory abnormality degree reference interval is 0, that is, there is no needle insertion angle deviation,

[0144] A plurality of puncture level qualified sample students are selected, the puncture trajectory abnormality degree corresponding to each qualified sample student is obtained, the average of the obtained multiple puncture trajectory abnormality degrees is calculated to obtain the upper limit of the puncture trajectory abnormality degree reference interval, and the numerical range between the lower limit of the puncture trajectory abnormality degree reference interval and the upper limit of the puncture trajectory abnormality degree reference interval is marked as the puncture trajectory abnormality degree reference interval;

[0145] If the average needle insertion angle deviation degree is in the average needle insertion angle deviation degree reference interval, and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the puncture level of the target student is evaluated as qualified;

[0146] If the average deviation degree of needle insertion angle is in the average deviation degree of needle insertion angle reference interval, and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified;

[0147] If the average deviation degree of needle insertion angle is not in the average deviation degree of needle insertion angle reference interval, and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified;

[0148] If the average deviation degree of needle insertion angle is not in the average deviation degree of needle insertion angle reference interval, and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified;

[0149] It should be noted here that:

[0150] The target student's puncture level qualified includes the average deviation degree of needle insertion angle reference interval boundary and the puncture trajectory abnormality degree reference interval boundary.

[0151] In the present application, if the corresponding calculation formula appears, the above calculation formula is a dimensionless value calculation, and the weight coefficient, proportion coefficient and other coefficients existing in the formula are set to a size in order to quantify the parameters to obtain a result value. The size of the weight coefficient and the proportion coefficient can only affect the proportional relationship between the parameters and the result value.

[0152] Embodiment two

[0153] Please refer to Figure 2 Based on the same invention, another concept is proposed, that is, an intelligent virtual and real combined interactive teaching method for intravenous puncture, which comprises the following steps:

[0154] Step S1: A plurality of puncture interaction experiments are set for a target student, a first puncture teaching model is created to analyze the needle insertion angle of each puncture interaction experiment, and the deviation degree of the needle insertion angle corresponding to each puncture teaching experiment is obtained according to the analysis result to obtain the needle insertion angle deviation data;

[0155] The step S1 further comprises the following steps:

[0156] In the current teaching period, the students receiving puncture teaching are obtained, and a target student is randomly selected from the obtained students;

[0157] A plurality of puncture teaching experiments are set for the target student, and the arm model corresponding to each puncture teaching experiment is in a different clinical simulation state, and a sample puncture teaching experiment is randomly selected from the plurality of puncture teaching experiments;

[0158] A plurality of adipose tissue feature points are selected in the subcutaneous adipose tissue of the arm model, and a piezoresistive sensor is arranged at the position of the skin where each adipose tissue feature point is located to obtain a first puncture teaching model;

[0159] The first puncture teaching model is used to analyze the needle insertion angle of the sample puncture teaching experiment, and the deviation degree of the needle insertion angle corresponding to the sample puncture teaching experiment is obtained according to the analysis result;

[0160] Specifically as follows:

[0161] The first puncture teaching model is subjected to spatial analysis, and a needle insertion spatial rectangular coordinate system is created according to the analysis result;

[0162] Specifically as follows:

[0163] The puncture needle insertion point of the target student in the first puncture teaching model is obtained, the puncture needle insertion point is marked as a geometric center point, a puncture skin region is marked, and the space region occupied by the adipose tissue feature point corresponding to the skin puncture region is marked as a puncture needle insertion space region;

[0164] In the puncture needle insertion space region, the puncture needle insertion point is marked as a coordinate origin, a horizontal plane where the coordinate origin is located is marked as a first needle insertion plane, a straight line passing through the coordinate origin is drawn in the first needle insertion plane to obtain a first needle insertion straight line, a straight line perpendicular to the first needle insertion straight line is drawn through the coordinate origin to obtain a second needle insertion straight line, a straight line perpendicular to the first needle insertion plane is drawn through the coordinate origin to obtain a third needle insertion straight line, the first needle insertion straight line is marked as a coordinate x-axis, the second needle insertion straight line is marked as a coordinate y-axis, and the third needle insertion straight line is marked as a coordinate z-axis to obtain a needle insertion spatial rectangular coordinate system;

[0165] In the needle insertion spatial rectangular coordinate system, a plurality of needle head contact feature points are obtained by the piezoresistive sensor on the plurality of adipose tissue feature points contacted by the puncture needle head operated by the target student, and the plurality of needle head contact feature points are sequentially marked as J1 contact feature point to Ja contact feature point according to the order of contact;

[0166] In the needle insertion spatial rectangular coordinate system, the J1 contact feature point and the J2 contact feature point are connected to obtain a J1 needle insertion angle line, the J2 contact feature point and the J3 contact feature point are connected to obtain a J2 needle insertion angle line, and the like, and the Ja-1 contact feature point and the Ja contact feature point are connected to obtain a Ja-1 needle insertion angle line;

[0167] The angle between the J1 needle insertion angle line and the first needle insertion plane is marked as a J1 needle insertion angle value, the angle between the J2 needle insertion angle line and the first needle insertion plane is marked as a J2 needle insertion angle value, and the like, and the angle between the Ja-1 needle insertion angle line and the first needle insertion plane is marked as a Ja-1 needle insertion angle value.

[0168] The J1 needle insertion angle deviation is analyzed to obtain the J1 needle insertion angle deviation;

[0169] Specifically as follows:

[0170] The reference needle insertion angle upper limit and the reference needle insertion angle lower limit are obtained,

[0171] If the J1 needle insertion angle value Jdz1 is greater than the reference needle insertion angle upper limit Jqs, the J1 needle insertion angle deviation Pjj1 can be calculated by the formula Pjj1 = Jdz1-Jqs;

[0172] If the J1 needle insertion angle value Jdz1 is less than the reference needle insertion angle lower limit Jqx, the J1 needle insertion angle deviation Pjj1 can be calculated by the formula Pjj1 = Jqx-Jdz1;

[0173] If the J1 needle insertion angle value is equal to the reference needle insertion angle upper limit or the reference needle insertion angle lower limit, the J1 needle insertion angle deviation is 0;

[0174] The J1 needle insertion angle deviation is obtained repeatedly, and the J2 needle insertion angle deviation to the Ja-1 needle insertion angle deviation is obtained;

[0175] The J1 needle insertion angle value to the Ja-1 needle insertion angle value is obtained, and the J1 needle insertion angle deviation to the Ja-1 needle insertion angle deviation is obtained, and the J1 needle insertion angle deviation to the Ja-1 needle insertion angle deviation is compared in value, and the needle insertion angle deviation with the largest value is marked as the peak needle insertion angle deviation;

[0176] The median of the interval corresponding to the reference needle insertion angle interval is obtained, the ratio of the peak needle insertion angle deviation is calculated, and the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment is obtained;

[0177] The needle insertion angle deviation degree corresponding to the sample puncture teaching experiment is obtained repeatedly, and the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained, and the needle insertion angle deviation data is obtained;

[0178] Step S2: creating a second puncture teaching model, analyzing the puncture trajectory of each puncture interaction experiment, and obtaining the puncture trajectory abnormality degree corresponding to each puncture teaching experiment according to the analysis result, and obtaining the puncture trajectory deviation data;

[0179] The step S2 further includes the following steps:

[0180] The arm model corresponding to the sample puncture teaching experiment is acquired, and the internal space of the arm model is modeled to obtain a second puncture teaching model;

[0181] The geometric center point of the second puncture teaching model is acquired and marked as a trajectory feature point. A horizontal plane where the trajectory feature point is located is marked as a first trajectory plane. In the first trajectory plane, a straight line passing through the trajectory feature point is drawn to obtain a first trajectory straight line. A straight line perpendicular to the first trajectory straight line is drawn through the trajectory feature point to obtain a second trajectory straight line. A straight line perpendicular to the first trajectory plane is drawn through the coordinate origin to obtain a third trajectory straight line. The trajectory feature point is marked as the coordinate origin. The first trajectory straight line is marked as the coordinate x-axis. The second trajectory straight line is marked as the coordinate y-axis. The third trajectory straight line is marked as the coordinate z-axis to obtain a trajectory space orthogonal coordinate system.

[0182] The sample puncture teaching experiment is analyzed using the second puncture teaching model, and the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is acquired according to the analysis result.

[0183] Specifically as follows:

[0184] In the second puncture teaching model, the needle puncture trajectory line of the sample puncture teaching experiment operated by the target student is acquired, and the needle puncture trajectory line is decomposed into a plurality of trajectory coordinate points, and the plurality of acquired trajectory coordinate points are marked as G1 trajectory coordinate point to Gb trajectory coordinate point.

[0185] In the second puncture teaching model, the puncture blood vessel corresponding to the sample puncture teaching experiment is marked to obtain a target puncture region.

[0186] The edge distance values of the G1 trajectory coordinate point to the Gb trajectory coordinate point and the target puncture region are acquired to obtain G1 edge distance value to Gb edge distance value.

[0187] Specifically as follows:

[0188] In the second puncture teaching model, a vertical section of the target puncture region is made through the G1 trajectory coordinate point to obtain a G1 blood vessel vertical section, and the blood vessel edge in the G1 blood vessel vertical section is filled with pixel points to obtain a plurality of blood vessel edge pixel points, and a sample blood vessel edge pixel point is selected from the plurality of filled blood vessel edge pixel points.

[0189] The coordinates of the G1 trajectory coordinate point in the trajectory space orthogonal coordinate system are acquired to obtain G1 trajectory coordinate (x1, y1, z1), and the coordinates of the sample blood vessel edge pixel point in the trajectory space orthogonal coordinate system are acquired to obtain sample pixel point coordinate (x2, y2, z2).

[0190] A coordinate distance value Yzj between the G1 trajectory coordinate point and the sample blood vessel edge pixel point is calculated through the G1 trajectory coordinate (x1, y1, z1) and the sample pixel point coordinate (x2, y2, z2);

[0191] The specific formula is as follows:

[0192]

[0193] The coordinate distance value between the G1 trajectory coordinate point and each blood vessel edge pixel point is obtained respectively, and the multiple coordinate distance values obtained are compared in value size, and the coordinate distance value with the smallest value is marked as the G1 edge distance value;

[0194] The G2 edge distance value to the Gb edge distance value is obtained by repeating the process of obtaining the G1 edge distance value;

[0195] If the G1 trajectory coordinate is not inside the target puncture region, the G1 trajectory coordinate point is marked as an abnormal trajectory point;

[0196] If the G1 trajectory coordinate is inside the target puncture region, an edge distance reference interval is obtained, if the G1 edge distance value is in the edge distance reference interval, the G1 trajectory coordinate point is marked as a normal trajectory point, if the G1 edge distance value is not in the edge distance reference interval, the G1 trajectory coordinate point is marked as an abnormal trajectory point;

[0197] The number of abnormal trajectory points in the G1 trajectory coordinate point to the Gb trajectory coordinate point is obtained, and the abnormal trajectory point number value is obtained, the ratio of the abnormal trajectory point number value to b is calculated, and the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is obtained;

[0198] The process of obtaining the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is repeated, and the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained, and the puncture trajectory deviation data is obtained;

[0199] Step S3: According to the needle insertion angle deviation data and the puncture trajectory deviation data, the target student is punctured for horizontal evaluation;

[0200] In the step S3, the following steps are further included:

[0201] The needle insertion angle deviation data is obtained, and the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained according to the needle insertion angle deviation data, and the multiple needle insertion angle deviation degrees obtained are calculated to obtain the average needle insertion angle deviation degree;

[0202] The puncture trajectory deviation data is obtained, and the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained according to the puncture trajectory deviation data;

[0203] respectively, a needle insertion angle average deviation degree reference interval and a puncture trajectory abnormality degree reference interval are obtained;

[0204] If the needle insertion angle average deviation degree is in the needle insertion angle average deviation degree reference interval and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as qualified;

[0205] If the needle insertion angle average deviation degree is in the needle insertion angle average deviation degree reference interval and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified;

[0206] If the needle insertion angle average deviation degree is not in the needle insertion angle average deviation degree reference interval and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified;

[0207] If the needle insertion angle average deviation degree is not in the needle insertion angle average deviation degree reference interval and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the target student's puncture level is evaluated as unqualified.

[0208] The preferred embodiments of the application disclosed above are only used to help explain the application. The preferred embodiments do not describe all the details, nor limit the application to the specific embodiments. Obviously, many modifications and variations can be made according to the content of the specification. The specification selects and describes these embodiments in order to better explain the principles and practical applications of the application, so that those skilled in the art can well understand and utilize the application. The application is limited only by the claims and their full scope and equivalents.

Claims

1. An intelligent virtual and real combined interactive teaching system for venipuncture, comprising: a needle insertion data module: a plurality of puncture interaction experiments are set for a target student, a first puncture teaching model is created to analyze the needle insertion angle of each puncture interaction experiment, the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained according to the analysis result, and needle insertion angle deviation data is obtained; a puncture trajectory module: a second puncture teaching model is created to analyze the puncture trajectory of each puncture interaction experiment, the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained according to the analysis result, and puncture trajectory deviation data is obtained; an interactive evaluation module: the puncture level of the target student is evaluated according to the needle insertion angle deviation data and the puncture trajectory deviation data; the needle insertion angle deviation data is obtained, specifically as follows: select a target student, set a plurality of puncture teaching experiments for the target student, and select a sample puncture teaching experiment from the set plurality of puncture teaching experiments; select a plurality of adipose tissue feature points in the subcutaneous adipose tissue of the arm model to obtain a first puncture teaching model; the first puncture teaching model is used to analyze the needle insertion angle of the sample puncture teaching experiment, and the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment is obtained according to the analysis result; the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained to obtain the needle insertion angle deviation data; the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment is obtained, specifically as follows: perform spatial analysis on the first puncture teaching model, and create a needle insertion space rectangular coordinate system according to the analysis result; in the needle insertion space rectangular coordinate system, a plurality of adipose tissue feature points contacted by a puncture needle operated by the target student are obtained to obtain a plurality of needle contact feature points, and the plurality of needle contact feature points are sequentially labeled as J1 contact feature point to Ja contact feature point according to the order of contact; in the needle insertion space rectangular coordinate system, J1 contact feature point and J2 contact feature point are connected to obtain J1 needle insertion angle line, and similarly, Ja-1 contact feature point and Ja contact feature point are connected to obtain Ja-1 needle insertion angle line; the angle between J1 needle insertion angle line and the first needle insertion plane is marked as J1 needle insertion angle value, and similarly, the angle between Ja-1 needle insertion angle line and the first needle insertion plane is marked as Ja-1 needle insertion angle value; deviation analysis is performed on J1 needle insertion angle line to Ja-1 needle insertion angle line to obtain J1 needle insertion angle deviation to Ja-1 needle insertion angle deviation, and the values of J1 needle insertion angle deviation to Ja-1 needle insertion angle deviation are compared, and the needle insertion angle deviation with the largest value is marked as peak needle insertion angle deviation; the median of the interval corresponding to the reference needle insertion angle interval is obtained, the ratio of the peak needle insertion angle deviation is calculated, and the needle insertion angle deviation degree corresponding to the sample puncture teaching experiment is obtained; the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is obtained, specifically as follows: In the second puncture teaching model, the needle puncture trajectory line of the sample puncture teaching experiment operated by the target student is acquired, and the needle puncture trajectory line is decomposed into G1 trajectory coordinate points to Gb trajectory coordinate points; In the second puncture teaching model, the puncture blood vessel corresponding to the sample puncture teaching experiment is marked to obtain a target puncture region; The edge distance values of G1 trajectory coordinate points to Gb trajectory coordinate points and the target puncture region are acquired to obtain G1 edge distance values to Gb edge distance values; If the G1 trajectory coordinate is not inside the target puncture region, the G1 trajectory coordinate point is marked as an abnormal trajectory point; If the G1 trajectory coordinate is inside the target puncture region, the edge distance reference interval is acquired, if the G1 edge distance value is in the edge distance reference interval, the G1 trajectory coordinate point is marked as a normal trajectory point, if the G1 edge distance value is not in the edge distance reference interval, the G1 trajectory coordinate point is marked as an abnormal trajectory point; The number of abnormal trajectory points in the G1 trajectory coordinate points to the Gb trajectory coordinate points is acquired to obtain an abnormal trajectory point number value, and the ratio of the abnormal trajectory point number value to b is calculated to obtain the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment.

2. The intelligent interactive teaching system of virtual and real combination for venipuncture according to claim 1, characterized in that, The needle insertion space rectangular coordinate system is created as follows: The puncture needle insertion point of the target student in the first puncture teaching model is acquired, the puncture needle insertion point is marked as a geometric center point to mark a puncture skin region, and the space region occupied by the fat tissue feature point corresponding to the skin puncture region is marked as a puncture needle insertion space region; In the puncture needle insertion space region, the puncture needle insertion point is marked as the coordinate origin, the horizontal plane where the coordinate origin is located is marked as the first needle insertion plane, a straight line is drawn through the coordinate origin in the first needle insertion plane to obtain the first needle insertion straight line, a straight line is drawn through the coordinate origin perpendicular to the first needle insertion straight line to obtain the second needle insertion straight line, and a straight line is drawn through the coordinate origin perpendicular to the first needle insertion plane to obtain the third needle insertion straight line, the first needle insertion straight line is marked as the coordinate x-axis, the second needle insertion straight line is marked as the coordinate y-axis, and the third needle insertion straight line is marked as the coordinate z-axis to obtain the needle insertion space rectangular coordinate system. 3.The intelligent interactive teaching system of virtual and real combination for venipuncture according to claim 1, wherein, The puncture trajectory deviation data is acquired as follows: The arm model corresponding to the sample puncture teaching experiment is acquired, and the internal space of the arm model is modeled to obtain the second puncture teaching model; The geometric center point of the second puncture teaching model is acquired and marked as a trajectory feature point, and the horizontal plane where the trajectory feature point is located is marked as the first trajectory plane, a straight line is drawn through the trajectory feature point in the first trajectory plane to obtain the first trajectory straight line, a straight line is drawn through the trajectory feature point perpendicular to the first trajectory straight line to obtain the second trajectory straight line, and a straight line is drawn through the coordinate origin perpendicular to the first trajectory plane to obtain the third trajectory straight line, the trajectory feature point is marked as the coordinate origin, the first trajectory straight line is marked as the coordinate x-axis, the second trajectory straight line is marked as the coordinate y-axis, and the third trajectory straight line is marked as the coordinate z-axis to obtain the trajectory space rectangular coordinate system; The puncture trajectory of the sample puncture teaching experiment is analyzed using the second puncture teaching model, and the puncture trajectory abnormality degree corresponding to the sample puncture teaching experiment is obtained according to the analysis result; The puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained respectively, and the puncture trajectory deviation data is obtained.

4. The intelligent interactive teaching system of virtual and real combination for venipuncture according to claim 1, characterized in that, The G1 edge distance value is obtained, specifically as follows: In the second puncture teaching model, a vertical section of the target puncture region is obtained by passing through the G1 trajectory coordinate point, and the blood vessel edge in the G1 blood vessel vertical section is filled with pixel points, and a sample blood vessel edge pixel point is selected from the filled blood vessel edge pixel points; The coordinates of the G1 trajectory coordinate point in the trajectory space rectangular coordinate system are obtained, and the G1 trajectory coordinates (x1, y1, z1) are obtained, and the coordinates of the sample blood vessel edge pixel point in the trajectory space rectangular coordinate system are obtained, and the sample pixel point coordinates (x2, y2, z2) are obtained; The coordinate distance value Yzj between the G1 trajectory coordinate point and the sample blood vessel edge pixel point is calculated through the G1 trajectory coordinates (x1, y1, z1) and the sample pixel point coordinates (x2, y2, z2); The coordinate distance value between the G1 trajectory coordinate point and each blood vessel edge pixel point is obtained, and the minimum coordinate distance value is marked as the G1 edge distance value.

5. The intelligent interactive teaching system of claim 1, wherein, The puncture level of the target student is evaluated, specifically as follows: The needle insertion angle deviation data is obtained, the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained according to the needle insertion angle deviation data, and the obtained multiple needle insertion angle deviation degrees are calculated to obtain the average needle insertion angle deviation degree; The puncture trajectory deviation data is obtained, and the puncture trajectory abnormality degree corresponding to each puncture teaching experiment is obtained according to the puncture trajectory deviation data; The average needle insertion angle deviation degree reference interval and the puncture trajectory abnormality degree reference interval are obtained; If the average needle insertion angle deviation degree is in the average needle insertion angle deviation degree reference interval, and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the puncture level of the target student is evaluated as qualified; If the average needle insertion angle deviation degree is in the average needle insertion angle deviation degree reference interval, and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the puncture level of the target student is evaluated as unqualified; If the average needle insertion angle deviation degree is not in the average needle insertion angle deviation degree reference interval, and the puncture trajectory abnormality degree is in the puncture trajectory abnormality degree reference interval, the puncture level of the target student is evaluated as unqualified; If the average needle insertion angle deviation degree is not in the average needle insertion angle deviation degree reference interval, and the puncture trajectory abnormality degree is not in the puncture trajectory abnormality degree reference interval, the puncture level of the target student is evaluated as unqualified.

6. An intelligent virtual and real combined interactive teaching method for venipuncture, applicable to the intelligent virtual and real combined interactive teaching system for venipuncture according to any one of claims 1-5, characterized in that, The interactive teaching method includes the following steps: Step S1: A plurality of puncture interactive experiments are set for a target student, a first puncture teaching model is created to analyze the needle insertion angle of each puncture interactive experiment, and the needle insertion angle deviation degree corresponding to each puncture teaching experiment is obtained according to the analysis result, and the needle insertion angle deviation data is obtained. Step S2: creating a second puncture teaching model analyzes the puncture trajectory of each puncture interaction experiment, obtains the puncture trajectory abnormality corresponding to each puncture teaching experiment according to the analysis result, and obtains the puncture trajectory deviation data; Step S3: evaluating the puncture level of the target student according to the needle insertion angle deviation data and the puncture trajectory deviation data.

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