Real-time feedback type thyroid nodule puncture training device under ultrasonic guidance

Abstract

The invention relates to the technical field of thyroid nodule puncture training, and discloses a real-time feedback type ultrasonic-guided thyroid nodule puncture training device which comprises a training model, the training model comprises a base, a support is clamped in the base, a sleeve is fixedly connected to the inner wall of the support, and a simulation trachea is inserted into the outer surface of the sleeve; a simulated laryngeal joint bone is inserted into one end of the simulated trachea, a thyroid simulation body is clamped on the outer surface of the simulated laryngeal joint bone, a plurality of simulated nodules are fixedly connected on the outer surface of the thyroid simulation body, and the outer surface of the stent is coated with simulated skin. The system has the functions of real-time feedback and data calibration, a microcontroller of the sampling assembly receives puncture force data collected by a micro pressure sensor and puncture motion parameters collected by an acceleration sensor in real time and compares the puncture force data and the puncture motion parameters with preset threshold values, and if the puncture force is too large or the speed is too high, operation errors are judged, and an operator is reminded through an alarm.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of thyroid nodule puncture training, in particular to a real-time feedback type thyroid nodule puncture training device under ultrasonic guidance. BACKGROUND

[0002] In the diagnosis and treatment of thyroid diseases, thyroid nodule puncture biopsy is a key and commonly used diagnostic technique. It can accurately determine the benign and malignant of the nodule, and provide an important basis for the development of subsequent treatment plans. However, this technique has high skill requirements for the operator, and requires precise puncture positioning ability and rich practical experience. Therefore, inexperienced personnel need to repeatedly train the operation through the thyroid nodule puncture training model to better master the puncture skills, improve the operation proficiency and accuracy, so as to reduce the misjudgment and complications in actual clinical operation.

[0003] According to the search, the Chinese patent literature with publication number CN222167800U discloses a real-time feedback type thyroid nodule puncture training device under ultrasonic guidance. By setting the model to be transparent, the relative spatial position relationship between the puncture needle and the probe section can be provided when the ultrasonic doctor cannot accurately cut the ultrasonic section and is confused, and can be matched with the two-dimensional ultrasonic image. The model material can better simulate the hand feeling of puncture in reality, simulate that the nodule can be punctured out of the powder-like content, and can feedback the amount of tissue taken out by puncture and the effectiveness of the result.

[0004] However, the above-mentioned puncture training device and most puncture training devices on the market still have an important defect: they do not have the function of real-time feedback of puncture force and speed. If the puncture force is too large during the puncture training process, the nodule may be penetrated, the accurate sampling position may be missed, and the normal thyroid part may be damaged. If the puncture speed is too fast, the puncture needle may deviate from the target position, which is not conducive to improving the accuracy of sampling. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a real-time feedback type thyroid nodule puncture training device under ultrasonic guidance, which can real-time feedback the force and speed during the puncture training process, facilitate accurate finding of the nodule, improve the accuracy of puncture sampling, and solve the above technical problems.

[0006] In order to achieve the above object, the present application provides the following technical scheme: a real-time feedback type thyroid nodule puncture training device under ultrasonic guidance, comprising a training model, which comprises a base, a support is clamped in the base, a sleeve is fixedly connected to the inner wall of the support, a simulated trachea is inserted into the outer surface of the sleeve, a simulated laryngeal node is inserted into one end of the simulated trachea, a thyroid simulation body is clamped to the outer surface of the simulated laryngeal node, a plurality of simulated nodules are fixedly connected to the outer surface of the thyroid simulation body, a simulated skin is wrapped on the outer surface of the support, and a knob is threadedly connected to one end of the support;

[0007] The sampling assembly comprises a handle, an acceleration sensor is embedded on the outer surface of the handle, a tube head is fixedly connected to one end of the handle, a micro pressure sensor is embedded in the inside of the tube head, a needle cap is threadedly connected to the outer surface of the tube head, a top rod is slidingly connected in the inside of the needle cap, a puncture needle is threadedly connected to the bottom end of the top rod, an air cylinder is fixedly connected to the outer circumferential surface of the handle, a plunger is tightly attached to the inner wall of the air cylinder, a push-pull rod is clamped in the inside of the plunger, a communication pipe is inserted into the bottom end of the air cylinder, an inclined pipe is inserted into a section of the communication pipe, a cable is fixedly connected to the other end of the handle, a microcontroller is installed in the handle, and a data acquisition module is integrated on the outer surface of the microcontroller;

[0008] The ultrasonic guidance assembly comprises a host computer, a flip cover is hingedly connected to the side of the host computer, a display is embedded and installed in the inside of the flip cover, an ultrasonic cable is inserted into the side of the host computer, an ultrasonic probe is fixedly connected to one end of the ultrasonic cable, and an alarm is installed on the top surface of the ultrasonic host computer.

[0009] Preferably, four positioning corner blocks are fixedly connected to the top surface of the host computer, the base is clamped and fixed between the four positioning corner blocks, a hand hold position is formed in the side of the base, an embedding groove is formed through the lower surface of the base, the simulated skin is embedded in the embedding groove, and the simulated skin wraps the simulated laryngeal node, the thyroid simulation body and the simulated nodules.

[0010] Preferably, magic tapes are attached to the two ends of the simulated skin, the knob is threadedly connected to the top end of the simulated laryngeal node, two insertion rods are fixedly connected to the outer surface of the simulated laryngeal node, two insertion holes are formed in the inner surface of the thyroid simulation body, and the insertion holes are clearance-fitted with the insertion rods.

[0011] Preferably, the two ends of the simulated trachea are closed, the simulated trachea is made of flexible rubber material, and the inside of the simulated trachea is filled with dyed powder.

[0012] Preferably, the simulated nodules are internally provided with a layered biomimetic structure, which comprises an outer layer of elastic silica gel simulating capsule wall, a middle layer of variable density gel layer and an inner layer of breakable storage cavity; the breakable storage cavity is filled with simulated cell powder.

[0013] Preferably, the artificial skin is composed of multiple layers of biomimetic material, including an outer layer of silicone skin, a middle layer of high-density elastic foam and a bottom layer of adhesive gel; the surface of the silicone skin layer is provided with simulated pores and texture structures.

[0014] Preferably, two special-shaped grooves are opened on the top of the main machine, the special-shaped grooves are used for accommodating the ultrasonic probe and the sampling assembly, the outer peripheral surface of the puncture needle is fixedly connected with an inclined pipe, and the puncture needle comprises a microsphere arranged on the outer surface, and the outer surface of the handle is fixedly connected with two finger hoops.

[0015] Preferably, the upper surface of the main machine is provided with operation buttons and a power switch, the main machine is unidirectionally connected with the ultrasonic probe through an ultrasonic cable for receiving position signals collected by the ultrasonic probe; the main machine is integrated with an image fusion module, and the main machine is connected with the display through a flexible circuit flat cable, and the flexible circuit flat cable is embedded in the hinge structure of the flip cover.

[0016] Preferably, the microcontroller is electrically connected with the data acquisition module, is used for receiving puncture strength data collected by the micro pressure sensor and puncture motion parameters collected by the acceleration sensor in real time; the microcontroller is pre-set with a strength threshold value and a speed threshold value, and the data acquisition module is integrated with a dynamic calibration unit, and is used for synchronously calibrating force feedback signals of the micro pressure sensor and motion track data of the acceleration sensor.

[0017] Preferably, the main machine is internally integrated with a storage battery, and one side of the main machine is provided with a port, the port is connected with a cable, the alarm is connected with the cable through a signal line, and the storage battery is connected with the cable through a wire.

[0018] Compared with the prior art, the real-time feedback type thyroid nodule puncture training device under ultrasonic guidance has the following beneficial effects:

[0019] 1、The present application can provide a realistic puncture training experience, in the training model, the artificial skin is composed of multiple layers of biomimetic material, the outer layer of silicone skin has simulated pores and texture, the middle layer of high-density elastic foam has elasticity and buffering property, and the bottom layer of adhesive gel layer can closely adhere to the components, thereby highly simulating the real skin in appearance and touch; the simulation nodule is provided with a layered biomimetic structure, the outer layer of elastic silicone simulates the capsule wall to simulate the real nodule capsule wall touch and elasticity, the middle layer of variable density gel layer simulates different density nodule tissues, and the inner layer of breakable storage cavity is filled with simulated cell powder to simulate the process of obtaining cell samples; the simulation trachea is made of flexible rubber material and internally filled with dyed powder, and can prompt puncture mistakes, so that these components can enable the trainee to obtain a more realistic operation experience and enhance the sense of identification.

[0020] 2、The present application has real-time feedback and data calibration function, the microcontroller of sampling assembly receives the puncture force data collected by the miniature pressure sensor and the puncture motion parameters collected by the acceleration sensor in real time, and compares with the preset threshold value, if the puncture force is too large or the speed is too fast, it is judged that the operation is wrong and the operator is reminded by the alarm; at the same time, the data acquisition module integrates dynamic calibration unit, the force feedback signal of the miniature pressure sensor and the motion trajectory data of the acceleration sensor are calibrated synchronously, ensure that the data is accurate and reliable, can help the operator to adjust the method in time, improve the puncture sampling accuracy, effectively avoid the puncture failure, better master the puncture skill. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a perspective view of the present application;

[0022] Figure 2 It is a top view of the present application;

[0023] Figure 3 It is an explosion decomposition schematic view of the training model in the present application;

[0024] Figure 4 It is a local exploded view of the training model in the present application;

[0025] Figure 5 It is a perspective view of the sampling assembly in the present application;

[0026] Figure 6 It is a sectional view of the sampling assembly in the present application;

[0027] Figure 7 It is a local enlarged view of A in the present application Figure 6

[0028] Wherein: 1, training model;11, base;12, support;13, sleeve;14, simulated trachea;15, simulated laryngeal nodule;16, simulated thyroid;17, simulated nodule;18, simulated skin;19, knob;110, hand holding position;111, insertion rod;2, sampling assembly;21, handle;22, acceleration sensor;23, pipe head;24, miniature pressure sensor;25, puncture needle;251, microsphere;26, air cylinder;27, plunger;28, push-pull rod;29, communication pipe;210, inclined pipe;211, cable;212, microcontroller;213, data acquisition module;214, needle cap;215, top rod;216, finger hoop;3, ultrasonic guiding assembly;31, main machine;32, flip cover;33, display;34, ultrasonic cable;35, ultrasonic probe;36, alarm;4, operation button;5, power switch. DETAILED DESCRIPTION

[0029] ​With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of the present application.

[0030] Please refer to Figure 1 , Figures 3-4 A real-time feedback type thyroid nodule puncture training device under ultrasonic guidance comprises a training model 1, which comprises a base 11, the inside of the base 11 is clamped with a support 12, the inner wall of the support 12 is fixedly connected with a sleeve 13, the outer surface of the sleeve 13 is inserted with a simulated trachea 14, one end of the simulated trachea 14 is inserted with a simulated Adam's apple bone 15, the outer surface of the simulated Adam's apple bone 15 is clamped with a thyroid simulation body 16, the outer surface of the thyroid simulation body 16 is fixedly connected with a plurality of simulated nodules 17, the outer surface of the support 12 is covered with a simulated skin 18, and one end of the support 12 is threadedly connected with a knob 19.

[0031] For the specific structure of the sampling assembly 2, please refer to Figures 5-7 , which comprises a handle 21, the outer surface of the handle 21 is embedded with an acceleration sensor 22, one end of the handle 21 is fixedly connected with a pipe head 23, the inside of the pipe head 23 is embedded with a micro pressure sensor 24, the outer surface of the pipe head 23 is threadedly connected with a needle cap 214, the inside of the needle cap 214 is slidingly connected with a top rod 215, the bottom end of the top rod 215 is threadedly connected with a puncture needle 25, the outer circumferential surface of the handle 21 is fixedly connected with an air cylinder 26, the inner wall of the air cylinder 26 is tightly attached with a plunger 27, the inside of the plunger 27 is clamped with a push-pull rod 28, the bottom end of the air cylinder 26 is inserted with a communication pipe 29, one section of the communication pipe 29 is inserted with an inclined pipe 210, the other end of the handle 21 is fixedly connected with a cable 211, and a microcontroller 212 is installed in the handle 21, the outer surface of the microcontroller 212 is integrated with a data acquisition module 213.

[0032] For the specific structure of the ultrasonic guidance assembly 3, please refer to Figures 1-2 , which comprises a host computer 31, the side of the host computer 31 is hingedly connected with a flip cover 32, the inside of the flip cover 32 is embeddedly installed with a display 33, and the side of the host computer 31 is inserted with an ultrasonic cable 34, one end of the ultrasonic cable 34 is fixedly connected with an ultrasonic probe 35, and the top surface of the host computer 31 is installed with an alarm 36.

[0033] Further, the top surface of the host 31 is fixedly connected with four positioning corner blocks, the four positioning corner blocks clampingly fix the base 11, the side surface of the base 11 is provided with a hand buckle position 110, and the lower surface of the base 11 is provided with an embedded groove, the embedded groove is embedded with the simulated skin 18, and the simulated skin 18 wraps the simulated Adam's apple bone 15, the thyroid gland simulation body 16 and the simulated nodule 17.

[0034] Further, the two ends of the simulated skin 18 are attached with magic tapes, the top end of the simulated Adam's apple bone 15 is threadedly connected with the knob 19, the outer surface of the simulated Adam's apple bone 15 is fixedly connected with two insertion rods 111, and the inner surface of the thyroid gland simulation body 16 is provided with two insertion holes, which are in clearance fit with the insertion rods 111.

[0035] The main role of the four positioning corner blocks is to accurately position and stably clamp the base 11 of the training model 1, so as to ensure that the training model 1 does not shake or displace randomly in the puncture training process, and provide a stable operation basis for the operator, thereby ensuring the accuracy and reliability of the puncture training; the hand buckle position 110 is used to facilitate the operator to buckle the training model 1 out of the four positioning corner blocks, and the lower surface of the base 11 is provided with an embedded groove, which is used to clamp the simulated skin 18, and the simulated skin 18 can be separated from the embedded groove by pressing it from top to bottom, so that the simulated Adam's apple bone 15, the thyroid gland simulation body 16 and the simulated nodule 17 are also separated from the embedded groove. After the simulated skin 18 wraps the simulated Adam's apple bone 15, the thyroid gland simulation body 16, the simulated nodule 17 and the support 12, the magic tapes at the two ends thereof can be adhered, so that the simulated skin 18 can be tightly attached to the outer surfaces of the simulated Adam's apple bone 15, the thyroid gland simulation body 16 and the simulated nodule 17. The simulated skin 18, the thyroid gland simulation body 16 and the simulated nodule 17 are consumables in the puncture training process, and once the number of puncture holes is too large, they will lose their value. Therefore, by disassembling the simulated skin 18 to separate the magic tapes at the two ends thereof, new simulated skin 18 and other components can be replaced.

[0036] Further, the two ends of the simulated trachea 14 are closed, and the simulated trachea 14 is made of flexible rubber material and filled with dyed powder inside.

[0037] In the puncture training process, the puncture needle 25 first penetrates the simulated skin 18 and then contacts the simulated nodule 17. At the same time, the novice may insert the puncture needle 25 into the simulated trachea 14 during the training process, at which time the puncture needle 25 will contact the dyed powder inside the simulated trachea 14. After the puncture needle 25 is pulled out, if dyed powder is found on the needle head of the puncture needle 25, it indicates that the simulated trachea 14 has been punctured, which is considered as a serious mistake and needs to be corrected in the subsequent training process. The dyed powder inside the simulated trachea 14 can be red flour material, which is clear in color and harmless.

[0038] Further, the simulation nodule 17 is internally provided with a layered bionic structure, including an outer layer of elastic silicone simulation capsule wall, a middle layer of variable density gel layer and an inner layer of breakable storage cavity; the breakable storage cavity is filled with simulation cell powder.

[0039] The outer layer of the simulation nodule 17 is the elastic silicone simulation capsule wall, which can simulate the touch and elasticity of the capsule wall of the real nodule, so that the trainer can feel the real puncture resistance when puncturing; the middle layer of the variable density gel layer can simulate nodule tissues of different densities, increasing the diversity of training; the inner layer of the breakable storage cavity and the filled simulation cell powder are used to simulate the process of obtaining cell samples during real puncture sampling; once the puncture needle 25 successfully penetrates, the simulation cell powder flows out, which can intuitively feedback whether the puncture is successful and the sampling effect; the material of the simulation cell powder is made of natural high molecular materials such as starch and cellulose, which has a certain granularity and dispersity, and can uniformly enter the needle hole when the puncture needle 25 enters.

[0040] Further, the simulation skin 18 is composed of multiple layers of bionic materials, including an outer layer of silicone skin layer, a middle layer of high-density elastic foam layer and a bottom layer of adhesive gel layer; the surface of the silicone skin layer is provided with simulated pores and texture structure.

[0041] The outer layer of the simulation skin 18 is the silicone skin layer, and the surface thereof is provided with simulated pores and texture structure, which highly simulates the real skin in appearance and touch, so that the trainer can obtain a more realistic experience during puncture operation and enhance the sense of substitution; the middle layer of high-density elastic foam layer provides certain elasticity and buffering performance, simulating the elasticity of the real skin, so that the hand feeling during puncture is more realistic, and the trainer can feel similar resistance changes to actual puncture; the bottom layer of adhesive gel layer can make the simulation skin 18 better adhere to the components such as the support 12 and the thyroid simulation body 16.

[0042] Further, the top of the host 31 is provided with two special-shaped grooves, the special-shaped grooves are used to accommodate the ultrasonic probe 35 and the sampling assembly 2, the outer peripheral surface of the puncture needle 25 is fixedly connected with the inclined pipe 210, and the puncture needle 25 comprises a microsphere 251 arranged on the outer surface; the outer surface of the handle 21 is fixedly connected with two finger hoops 216.

[0043] The top of the host 31 is provided with two special-shaped grooves, which can accommodate the ultrasonic probe 35 and the sampling assembly 2 respectively, so that the ultrasonic probe 35 and the sampling assembly 2 are conveniently stored. The handle 21 is provided with two finger hoops 216, so that the operator can insert fingers into the finger hoops 216, thereby facilitating the holding of the handle 21. Once the puncture needle 25 is inserted into the inner layer of the simulated nodule 17, the push-pull rod 28 is pulled to drive the plunger 27 to move upward, so that the plunger 27 generates negative pressure in the air cylinder 26. The negative pressure in the puncture needle 25 is generated through the conduction of the communication pipe 29 and the inclined pipe 210, so that the simulated cell powder in the inner layer of the simulated nodule 17 is sucked into the needle hole. In this way, sampling is completed. After the puncture needle 25 is pulled out, the push-pull rod 28 is pressed to drive the plunger 27 to move downward. In this way, the simulated cell powder in the needle hole of the puncture needle 25 is discharged through the conduction of the communication pipe 29 and the inclined pipe 210. In this way, it is convenient to check whether the sampling after puncture is correct and the sampling amount.

[0044] Further, the upper surface of the host 31 is provided with an operation button 4 and a power switch 5. The host 31 is connected with the ultrasonic probe 35 in one-way communication through an ultrasonic cable 34, for receiving the position signal collected by the ultrasonic probe 35. The host 31 is integrated with an image fusion module. The host 31 is connected with the display 33 through a flexible circuit flat cable, which is embedded in the hinge structure of the flip cover 32.

[0045] The operation button 4 is convenient for the trainer to adjust the parameters of ultrasonic imaging. The power switch 5 controls the start and stop of the host 31. The ultrasonic cable 34 realizes one-way communication between the host 31 and the ultrasonic probe 35, so that the host 31 can receive the position signal collected by the ultrasonic probe 35 in real time. The image fusion module integrated in the host 31 can process and fuse the image information collected by the ultrasonic probe 35 to generate clearer and more accurate images. The host 31 is connected with the display 33 through the flexible circuit flat cable, which ensures stable data transmission between the host 31 and the display 33, and is convenient for the trainer to check the ultrasonic image on the display 33 at any time, thereby providing intuitive visual guidance for puncture operation and improving training effect.

[0046] Further, the microcontroller 212 is electrically connected with a data acquisition module 213, for receiving the puncture force data collected by the micro pressure sensor 24 and the puncture motion parameters collected by the acceleration sensor 22 in real time. The microcontroller 212 is pre-set with a force threshold and a speed threshold. The data acquisition module 213 is integrated with a dynamic calibration unit, for synchronously calibrating the force feedback signal of the micro pressure sensor 24 and the motion trajectory data of the acceleration sensor 22.

[0047] Further, the host 31 is internally integrated with a battery, and one side of the host 31 is provided with a port connected with the cable 211, the alarm 36 is connected with the cable 211 through a signal line, and the battery is connected with the cable 211 through a wire.

[0048] When the operator performs the puncture training, the puncture needle 25 is inserted into the simulation skin 18, the pressure of the puncture needle 25 is transmitted to the micro pressure sensor 24 through the top rod 215, and the handle 21 moves to drive the acceleration sensor 22 to move, the micro pressure sensor 24 collects the puncture force data, the acceleration sensor 22 collects the puncture motion parameters, and the data acquisition module 213 transmits the data to the microcontroller 212 in real time; the microcontroller 212 is internally preset with a force threshold and a speed threshold, compares the collected data with the preset threshold, and if the puncture force is too large or the speed is too fast, it can be judged that the operation may be wrong, at this time, the microcontroller 212 sends a signal to the alarm 36 through the cable 211, at this time, the alarm 36 alarms to remind the operator, and the dynamic calibration unit integrated in the data acquisition module 213 can synchronize the calibration of the force feedback signal of the micro pressure sensor 24 and the motion trajectory data of the acceleration sensor 22, to ensure the accuracy and reliability of the data; in this way, the force and speed in the puncture process can be fed back in real time, the operator can adjust the operation method in time, the accuracy of the puncture sampling is improved, the puncture failure caused by improper force and speed is avoided, and the puncture skill is better mastered.

[0049] In use, the base 11 of the training model 1 is placed between the four positioning corner blocks on the top surface of the host 31, and the base 11 is accurately positioned and firmly clamped by the positioning corner blocks to ensure the stability of the training model 1; the operator holds the sampling assembly 2 with his fingers inserted into the two finger hoops 216 on the handle 21 for easy holding; the power switch 5 of the host 31 is turned on, the ultrasonic imaging parameters are adjusted by operating the key 4, the ultrasonic probe 35 is attached to the outer surface of the simulation skin 18 to collect the position signal, which is transmitted to the host 31 through the ultrasonic cable 34, the image fusion module in the host 31 processes the fused image, and the display 33 displays the image to provide visual guidance for the puncture operation; the puncture needle 25 first penetrates the simulation skin 18, and in this process, the pressure received by the puncture needle 25 is transmitted to the micro pressure sensor 24 through the top rod 215, the handle 21 moves to drive the acceleration sensor 22 to move, the micro pressure sensor 24 collects the puncture force data, and the acceleration sensor 22 collects the puncture motion parameters, which are transmitted to the microcontroller 212 in real time by the data acquisition module 213. The microcontroller 212 compares the collected data with the preset force threshold and speed threshold, and if the operation is incorrect, sends a signal to the alarm 36 through the cable 211 to alarm and remind; the puncture needle 25 continues to puncture, and if it contacts the simulation trachea 14, the puncture needle 25 will bring out the internal dyed powder, and the operator can judge the puncture failure accordingly and correct the subsequent training; if the simulation nodule 17 is punctured, when the puncture needle 25 penetrates into the inner layer of the simulation nodule 17, the plunger 27 generates negative pressure in the air cylinder 26 by pulling the push-pull rod 28, which is conducted through the communication pipe 29 and the inclined pipe 210 to generate negative pressure in the puncture needle 25 to extract the simulated cell powder into the needle hole to complete the sampling, and after the puncture needle 25 is pulled out, the simulated cell powder is discharged by pressing the push-pull rod 28 to check whether the sampling is correct and the amount.

[0050] Although embodiments of the present application have been shown and described, it is to be understood that various modifications, substitutions, replacements and changes can be made to these embodiments without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A real-time feedback ultrasound-guided thyroid nodule puncture training device, characterized by: include, A training model (1) comprises a base (11), a bracket (12) is clamped inside the base (11), a sleeve (13) is fixedly connected to the inner wall of the bracket (12), a simulated trachea (14) is inserted into the outer surface of the sleeve (13), a simulated Adam's apple (15) is inserted into one end of the simulated trachea (14), a thyroid simulation body (16) is clamped on the outer surface of the simulated Adam's apple (15), a plurality of simulated nodules (17) are fixedly connected to the outer surface of the thyroid simulation body (16), an outer surface of the bracket (12) is covered with simulated skin (18), and a knob (19) is threadedly connected to one end of the bracket (12); The sampling assembly (2) comprises a handle (21), an acceleration sensor (22) is embedded in the outer surface of the handle (21), and one end of the handle (21) is fixedly connected to a tube head (23), a micro pressure sensor (24) is embedded in the interior of the tube head (23), and the outer surface of the tube head (23) is threadedly connected to a needle cap (214), the interior of the needle cap (214) is slidably connected to a push rod (215), the bottom end of the push rod (215) is threadedly connected to a puncture needle (25), and the outer periphery of the handle (21) is fixedly connected to a tube head (23), and a micro pressure sensor (24) is embedded in the interior of the tube head (23). A gas cylinder (26) is fixedly connected to the surface, a plunger (27) is tightly attached to the inner wall of the gas cylinder (26), a push-pull rod (28) is clamped inside the plunger (27), a connecting pipe (29) is plugged into the bottom end of the gas cylinder (26), an inclined pipe (210) is plugged into a section of the connecting pipe (29), the other end of the handle (21) is fixedly connected to a cable (211), and a microcontroller (212) is installed in the handle (21), and a data acquisition module (213) is integrated on the outer surface of the microcontroller (212); An ultrasound guide assembly (3) includes a main unit (31), a flip cover (32) hingedly connected to the side of the main unit (31), a display (33) embedded in the interior of the flip cover (32), an ultrasound cable (34) plugged into the side of the main unit (31), an ultrasound probe (35) fixedly connected to one end of the ultrasound cable (34), and an alarm (36) installed on the top surface of the ultrasound main unit (31).

2. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: The top surface of the host (31) is fixedly connected with four positioning corner blocks, and a fixed base (11) is clamped between the four positioning corner blocks. A hand-grip position (110) is provided on the side of the base (11), and a groove is provided through the lower surface of the base (11). The simulated skin (18) is embedded in the groove, and the simulated skin (18) wraps the simulated Adam's apple (15), the simulated thyroid body (16) and the simulated nodule (17).

3. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: Velcro is adhered to both ends of the simulated skin (18), the top of the simulated Adam's apple (15) is threadedly connected to a knob (19), the outer surface of the simulated Adam's apple (15) is fixedly connected to two insertion rods (111), and the inner surface of the simulated thyroid body (16) is provided with two insertion holes, and the insertion holes are clearance-matched with the insertion rods (111).

4. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: Both ends of the simulated trachea (14) are closed, and the simulated trachea (14) is made of a flexible rubber material and is filled with dye powder.

5. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: The simulated nodule (17) is provided with a layered bionic structure inside, including an outer elastic silicone simulated capsule wall, a middle variable density gel layer and an inner rupturable storage cavity; the rupturable storage cavity is filled with simulated cell powder.

6. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: The simulated skin (18) is composed of multiple layers of biomimetic materials, including an outer silicone epidermis layer, a middle high-density elastic foam layer, and a bottom viscous gel layer; the surface of the silicone epidermis layer is provided with simulated pores and texture structures.

7. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: The top of the main unit (31) is provided with two special-shaped grooves for accommodating an ultrasonic probe (35) and a sampling assembly (2). The outer peripheral surface of the puncture needle (25) is fixedly connected to the oblique tube (210), and the puncture needle (25) includes a micro sphere (251) arranged on the outer surface. The outer surface of the handle (21) is fixedly connected to two finger clamps (216).

8. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: An operating button (4) and a power switch (5) are provided on the upper surface of the host (31). The host (31) is connected to the ultrasonic probe (35) in a one-way communication manner via an ultrasonic cable (34) for receiving a position signal collected by the ultrasonic probe (35). An image fusion module is integrated in the host (31). The host (31) is connected to the display (33) via a flexible circuit cable, and the flexible circuit cable is embedded in the hinge structure of the flip cover (32).

9. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: The microcontroller (212) is electrically connected to the data acquisition module (213) and is used to receive in real time the puncture force data collected by the micro pressure sensor (24) and the puncture motion parameters collected by the acceleration sensor (22); a force threshold and a speed threshold are preset in the microcontroller (212), and the data acquisition module (213) is integrated with a dynamic calibration unit for synchronously calibrating the force feedback signal of the micro pressure sensor (24) and the motion trajectory data of the acceleration sensor (22).

10. The real-time feedback ultrasound-guided thyroid nodule puncture training device according to claim 1, characterized in that: A storage battery is integrated inside the host (31), and a port is provided on one side of the host (31), the port is connected to the cable (211), the alarm (36) is connected to the cable (211) via a signal line, and the storage battery is connected to the cable (211) via a wire.

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