Urinary endoscope training model with kidney capable of floating with multiple degrees of freedom
By designing a urological endoscopy training model with a kidney that can float with multiple degrees of freedom, and by utilizing the synergistic cooperation of a breathing simulation component and an elastic plate unit, the physiological movement of the human kidney is accurately reproduced. This solves the problem that existing simulation devices cannot simulate the dynamic characteristics of the kidney, improves the authenticity and adaptability of training, and shortens the transition period to clinical practice.
Patent Information
- Application Number
- CN202511853083.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-10
- Publication Date
- 2026-01-30
AI Technical Summary
Existing fixed kidney simulators cannot effectively simulate the physiological movements of the human kidney during the respiratory cycle, making it difficult for beginners to adapt to the operating rhythm and positioning requirements in real-world scenarios during training, thus affecting training effectiveness and transition to clinical practice.
A urological endoscopy training model with a kidney that can float with multiple degrees of freedom was designed. Through the coordinated operation of the breathing simulation component and the elastic plate unit, the up-and-down periodic movement of the kidney during the human respiratory cycle is accurately reproduced. With the help of elastic deformation and gap compensation between the guide plate and the moving groove, the organ simulation component can float with multiple degrees of freedom, simulating the real movement state of the kidney in the body.
It significantly improves the relevance and effectiveness of training, helps beginners adapt to the operational rhythm and positioning requirements under the dynamic changes of the kidneys in advance, shortens the adaptation period from training to clinical practice, and has good structural flexibility and practicality to adapt to the training needs of different disease scenarios.
Smart Images
Figure CN121438677A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of medical devices, specifically to a urinary endoscope training model with a kidney that can float with multiple degrees of freedom. Background Technology
[0002] The kidneys, vital solid excretory organs, are located on either side of the spine in the retroperitoneum. They are primarily responsible for filtering metabolic waste from the blood, regulating water and electrolyte balance, and maintaining homeostasis. The integrity of their structure and function directly impacts human health. Clinically, kidney-related conditions are diverse, commonly including kidney stones and other kidney diseases. The appropriate treatment depends precisely on the severity of the condition: early-stage, mild cases often require conservative drug treatment or minimally invasive procedures such as extracorporeal shock wave lithotripsy.
[0003] For kidney stones, ureteroscopic examination and laser lithotripsy are commonly performed. These kidney-related procedures fall under the category of minimally invasive diagnostic and treatment techniques. The procedure involves traversing the urethra, bladder, and ureter to reach the kidney. This is not only limited by the narrow space of the ureteral lumen, but also by the complex and varied anatomical structures of the renal pelvis and calyces. Instrument manipulation must precisely avoid surrounding tissues within a confined space to prevent damage. Therefore, it demands extremely high precision and skill from the operator, directly impacting treatment outcomes and postoperative recovery. Consequently, beginners typically rely on standardized training using kidney simulators in the initial stages of mastering kidney-related procedures.
[0004] Most kidney simulators currently on the market employ a fixed design. While this helps beginners with training, it also presents several challenges. In real surgery or treatment, even under anesthesia, spontaneous breathing continues. During the respiratory cycle, the diaphragm contracts and expands rhythmically, causing the kidneys within the abdominal cavity to move periodically up and down (typically with an amplitude of 2-5 cm). This physiological movement is a crucial factor to consider in clinical practice, but existing fixed simulators struggle to replicate this dynamic characteristic. This makes it difficult for beginners to adapt to the operational rhythm and positioning requirements of real-world scenarios during training, limiting training effectiveness and requiring additional challenges in scenario adaptation when transitioning to clinical practice. Therefore, this invention provides a urological endoscopy training model with a kidney that can float with multiple degrees of freedom to address these issues. Summary of the Invention
[0005] To address the aforementioned issues, this invention provides a urological endoscopy training model with a kidney that can float with multiple degrees of freedom. This model simulates the physiological multi-degree-of-freedom floating of the kidney during the human respiratory cycle, enhancing the realism and adaptability of urological endoscopy training, helping beginners master the rhythm and positioning skills of clinical operations, and shortening the transition period to clinical practice.
[0006] To achieve the above objectives, the technical solution of the present invention is as follows: A urological endoscopy training model with a kidney capable of floating with multiple degrees of freedom includes a base and a controller. A lifting plate is hinged to the top of the base. A lifting assembly for rotating the lifting plate around the hinge point is provided inside the base. Two placement slots are symmetrically opened at the top of the lifting plate. Each placement slot has a moving slot on its inner wall. A guide plate is fixedly connected to the inner wall of each moving slot. The other end of each guide plate has a dome structure and there is a gap between each guide plate and the side wall of the moving slot. The guide plate divides the moving slot into a first telescopic cavity and a second telescopic cavity from top to bottom. Each first telescopic cavity is provided with an elastic sheet unit, which completely covers the placement slot. One end of each elastic sheet unit is fixedly connected to the side wall of the first telescopic cavity, and the other end of each elastic sheet unit bypasses the dome of the guide plate and extends into the second telescopic cavity. The end of each elastic sheet unit located in the second telescopic cavity is fixedly connected to a breathing simulation assembly for periodically pulling the elastic sheet unit. The model also includes an organ simulation assembly for simulating urinary tissues and organs. The organ simulation assembly is detachably connected to the surface of the elastic sheet unit. The breathing simulation assembly is electrically connected to the controller.
[0007] The technical principle of the above solution is as follows: Under the control of the controller, the respiratory simulation component periodically expands and contracts according to the frequency of the human respiratory cycle. By pulling the elastic plate unit located at one end of the second expansion chamber, it drives the elastic plate unit in the first expansion chamber to produce up-and-down reciprocating motion. The amplitude of this motion precisely matches the physiological movement range of the kidney (2-5 cm) during human respiration. Simultaneously, during the pulling and rebounding process, the elastic plate unit, through its own elastic deformation and the gap compensation between the guide plate and the moving groove, will produce slight left-right and forward-backward offsets, thereby realizing the multi-degree-of-freedom floating of the organ simulation component and restoring the real movement state of the kidney in the body. The organ simulation component is fixed to the surface of the elastic plate unit through a detachable connection and dynamically floats synchronously with the elastic plate unit, accurately simulating the spatial position changes of urinary organs. The controller ensures the accuracy and stability of the dynamic simulation by uniformly controlling the rotation angle of the lifting component and the pulling frequency and amplitude of the respiratory simulation component. This allows the operator to obtain operational feedback consistent with the real clinical scenario during training, thereby improving operational proficiency and positioning accuracy.
[0008] The above approach has the following beneficial effects: 1. This solution, through the synergistic cooperation of the respiratory simulation component and the elastic plate unit, accurately reproduces the 2-5cm vertical cyclic movement of the kidney during the human respiratory cycle. Furthermore, by utilizing the elastic deformation of the elastic plate unit itself and the gap compensation between the guide plate and the movement groove, the organ simulation component achieves multi-degree-of-freedom floating, effectively solving the core problem that existing fixed training models cannot simulate the physiological dynamic characteristics of the kidney. Simultaneously, the dome structure of the guide plate effectively reduces the friction of the elastic plate unit, ensuring smooth and stable dynamic transmission. This allows the training scenario to highly match the real clinical operating environment, helping beginners adapt to the operating rhythm and positioning requirements under the dynamic changes of the kidney in advance, significantly improving the relevance and effectiveness of skills training, and shortening the adaptation period from training to clinical practice. 2. This solution boasts excellent structural flexibility and practicality. The lifting plate's tilt angle is adjustable via a lifting assembly to accommodate the simulation needs of different clinical operation positions. The organ simulation components feature a detachable connection design, facilitating subsequent replacement and maintenance or adaptation to training needs across various disease scenarios, thus reducing long-term operating costs. Simultaneously, the controller can uniformly regulate the pulling frequency and amplitude of the respiratory simulation component and the rotation angle of the lifting assembly, offering convenient and precise operation. It meets the basic skills training needs of beginners while also accommodating complex operations practice at the advanced stage, providing flexible and efficient support for standardized training in urological endoscopy-related procedures, and enhancing the versatility and operability of training programs.
[0009] Furthermore, the lifting assembly includes a lifting motor disposed inside the base. The output shaft of the lifting motor is coaxially fixedly connected to a first gear, the first gear meshes with a second gear, and the second gear is coaxially fixedly connected to a hinge rod that rotates with the base. The hinge rod is fixedly connected to one side of the lifting plate along its length. The lifting motor is electrically connected to the controller.
[0010] Beneficial effects: This solution achieves digital and automated control through the electrical connection between the lifting motor and the controller. It is convenient to operate and has precise angle locking, which can quickly adapt to different clinical operation position requirements. In conjunction with the respiratory simulation component, it further enhances the realism and adaptability of the training scenario, reduces the difficulty of control, and enhances the practical value of the model.
[0011] Furthermore, the organ simulation component includes a bladder unit and two kidney units. The kidney units are connected to the renal pelvis and ureter on the side closest to each other. The ureter is connected to the bladder unit. The side of the bladder unit away from the ureter is connected to the urethra. The two kidney units correspond one-to-one with the two placement slots, and the kidney units are detachably connected to the surface of the elastic sheet unit.
[0012] Beneficial effects: The organ simulation component recreates the complete anatomical structure of human urinary tissue. The kidney unit is sequentially connected to the renal pelvis, ureter, bladder unit, and urethra, constructing a clinically relevant urinary pathway scenario, helping operators become familiar with the spatial relationships of organs and the operational path. Simultaneously, the kidney unit corresponds one-to-one with its placement slot and is detachably connected, ensuring it can float with multiple degrees of freedom synchronously with the elastic plate unit, accurately simulating kidney dynamics, while also facilitating individual replacement and maintenance or adaptation to the training needs of different disease types, improving the model's practicality and training comprehensiveness.
[0013] Furthermore, each breathing simulation component includes a breathing chamber communicating with the second telescopic chamber. Two rotary motors are installed inside the lifting plate, with their output shafts extending into the corresponding breathing chambers and coaxially fixedly connected to cams. Slider blocks are slidably fitted within each of the second telescopic chambers, and each slider is fixedly connected to one end of an elastic plate unit. Two return springs are symmetrically arranged vertically within each of the second telescopic chambers, with one end of each return spring fixedly connected to the slider and the other end fixedly connected to the inner wall of the second telescopic chamber. The rotary motors are electrically connected to the controller. The cams are always in contact with the sliders.
[0014] Beneficial effects: The rotating motor drives the cam to rotate, and the periodic changes in the cam profile drive the slider to slide back and forth. At the same time, the return spring provides an instantaneous return force to ensure that the slider moves smoothly without jamming. This, in turn, drives the elastic plate unit to achieve regular expansion and contraction movements, accurately reproducing the periodic movement of the kidneys in the human respiratory cycle, stably matching the physiological movement range of 2-5cm, significantly improving the realism and controllability of the dynamic simulation of the kidneys, and enhancing the training effect.
[0015] Furthermore, the width of the rounded top end of the guide plate is greater than the width of the other end of the guide plate.
[0016] Beneficial effects: The design of the guide plate having a wider top end than the other end further expands the contact and adaptation space between the elastic plate unit and the guide plate. At the same time, the gap between the guide plate and the side wall of the moving groove provides sufficient room for the multi-degree-of-freedom movement of the elastic plate unit, providing reliable space for the multi-degree-of-freedom floating of the kidney unit, thereby improving the naturalness and realism of the dynamic simulation of the kidney.
[0017] Furthermore, the inner walls of the placement slots are equipped with adjustment components to limit the downward movement of the kidney units.
[0018] Beneficial effects: This adjustment component can precisely simulate the differences in the internal physiological environment of patients with different body types by flexibly adjusting the downward movement limit of the renal unit. For obese patients, whose thicker fat layer results in greater resistance to renal movement and a relatively limited range of displacement, the allowable downward movement can be reduced; for thinner patients, the restriction can be appropriately relaxed, making the dynamic movement of the renal unit more closely match the physiological characteristics of different individuals.
[0019] Furthermore, each adjustment component includes two pump assemblies disposed within the lifting plate. Each placement slot has an airbag strip fixedly connected to its inner wall. The airbag strips are respectively connected to the pump assemblies. The airbag strips are distributed along the curved shape of the top of the placement slot and are located at the end of the placement slot near the ureter. The airbag strips are located above the elastic sheet unit. Each pump assembly is electrically connected to the controller. Each pump assembly includes an air pump installed inside the lifting plate. Each air pump is connected to the airbag strip and electrically connected to the controller. Several pressure sensors electrically connected to the controller are installed on the side of the airbag strip near the kidney unit.
[0020] Beneficial Effects: The adjustment component, through the cooperation of the pump assembly and the airbag strip, uses a controller to precisely control the inflation volume of the airbag strip to change its thickness, thereby flexibly limiting the downward movement distance of the kidney unit. The airbag strip is distributed along the curve at the top of the placement slot and is located above the elastic sheet unit, conforming to the physiological structure and realistically simulating the differences in kidney movement resistance in patients of different body types. It is easy to operate and precisely controlled, effectively improving the relevance and clinical suitability of the training scenario. The pump assembly, through the electrical connection between the air pump and the controller, can precisely control the inflation volume of the airbag strip, flexibly simulating the kidney movement resistance in patients of different body types. Simultaneously, the inflation / deflation volume of the pump assembly can be periodically adjusted to allow the kidney unit to perform corresponding translational movements, further conforming to actual movement conditions.
[0021] Furthermore, it also includes an angle adjustment assembly for adjusting the angle between the renal unit and the ureter. The angle adjustment assembly includes two fixed supports, each consisting of a base plate and a support rod. The support rod is integrally formed on the top of the base plate, and an adjustment cap is integrally formed on the fixed end of each support rod. An elastic layer is provided between the adjustment rod and the base plate, forming a ring around the support rod. The upper and lower ends of the elastic layer are respectively bonded to the bottom end of the adjustment cap and the top end of the base plate. The cavity formed by the elastic layer, the base plate, and the adjustment cap is a strain chamber. Each adjustment cap has an adjustment cavity communicating with the strain chamber. A compression plate is slidably fitted within each adjustment cavity, and an adjustment knob is bonded to the top of each compression plate. The adjustment knob extends outside the adjustment cavity and is threadedly connected to the adjustment cap. The base plate is screwed to the surface of the lifting plate, and the connection between the renal pelvis and the ureter bypasses the ring-shaped elastic layer and remains in contact with it at all times.
[0022] Beneficial Effects: This design, through the synergistic design of threaded transmission and elastic deformation, achieves precise and controllable adjustment of the angle between the kidney unit and the ureter. Utilizing the threaded engagement of the adjustment knob and the adjustment cover, rotational motion is smoothly converted into axial movement of the compression plate. By compressing or releasing the strain chamber, the annular elastic layer expands or contracts, thereby pushing or releasing the junction of the renal pelvis and ureter, achieving fine-tuning of the angle within the 15-25° range. This precisely adapts to the differences in the renal pelvis-ureter angle caused by variations in anatomical structure and body shape among different patients. The annular structure and flexible material of the elastic layer ensure both a flexible force on the urinary tract, reducing damage to the simulated organ, and provide stable support and deformation feedback. Combined with the stable installation of the fixed support, this ensures reliable positioning and no displacement after angle adjustment.
[0023] Furthermore, all elastic sheet units are strip-shaped structures.
[0024] Beneficial effects: The elastic sheet unit adopts a strip structure, which is highly flexible and adaptable to various deformations, better meeting the needs of multi-directional displacement and ensuring smoother multi-degree-of-freedom floating of the kidney unit. Its shape is highly adaptable to the placement groove, and the contact force is uniform, ensuring load-bearing stability while reducing motion friction and interference, providing reliable support for dynamic kidney simulation and enhancing the naturalness of the simulation.
[0025] Furthermore, all elastic sheet units are mesh structures.
[0026] Beneficial effects: The elastic sheet unit adopts a mesh structure, which has more outstanding advantages in deformation flexibility and adaptability compared to the strip structure. Its mesh-like pore design breaks through the limitation of the relatively concentrated deformation direction of the strip structure. Each mesh unit can independently achieve multi-directional displacement, making the vertical expansion and contraction, and the left and right forward and backward displacement of the kidney unit more in line with the complexity of human kidney movement, reducing the problem of local deformation restriction or jamming that is prone to occur in the strip structure.
[0027] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description
[0028] Figure 1 This is an overall isometric view of an embodiment of the urinary endoscope training model for a kidney with multiple degrees of freedom of movement according to the present invention; Figure 2 This is an isometric view of the organ simulation component of the urinary endoscopy training model for a kidney with multi-degree-of-freedom floating capability according to an embodiment of the present invention. Figure 3 A schematic diagram of the mesh elastic sheet unit of the urinary endoscope training model for the kidney with multi-degree-of-freedom floating according to the present invention; Figure 4 This is an isometric view of the lifting plate of the urinary endoscope training model for multi-degree-of-freedom floating kidney of the present invention. Figure 5 This is a cross-sectional view of the lifting component of an embodiment of the urinary endoscope training model with multi-degree-of-freedom floating kidney of the present invention; Figure 6 This is a cross-sectional view of the respiratory simulation component of an embodiment of the urinary endoscopy training model with multi-degree-of-freedom floating kidney of the present invention; Figure 7 This is a schematic diagram of the strip elastic sheet unit in an embodiment of the urinary endoscope training model for a kidney with multi-degree-of-freedom floating capability of the present invention. Figure 8 This is a cross-sectional view of the angle components of an embodiment of the urinary endoscope training model for multi-degree-of-freedom floating kidney of the present invention.
[0029] The reference numerals in the accompanying drawings include: 1. Base; 101. Lifting motor; 102. First gear; 103. Second gear; 2. Lifting plate; 3. Kidney unit; 301. Renal pelvis; 302. Ureter; 4. Balloon strip; 5. Bladder unit; 501. Urethra; 6. Placement slot; 601. Elastic sheet unit; 602. Moving slot; 603. Guide plate; 604. Return spring; 605. Slider; 606. Cam; 7. Fixed support; 701. Elastic layer; 702. Adjustment cover; 703. Squeezing plate; 704. Adjustment knob. Detailed Implementation
[0030] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0031] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0032] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0033] The following detailed description illustrates the specific implementation method: Example
[0034] like Figure 1 and Figure 5 As shown, a urological endoscopy training model with multi-degree-of-freedom floating kidney includes a base 1, a controller, and a lifting plate 2. A lifting motor 101 is installed inside the base. The output shaft of the lifting motor 101 is coaxially screwed to a first gear 102, which meshes with a second gear 103. A hinge rod is integrally formed on one side of the lifting plate 2, with both ends of the hinge rod rotatably engaged with the base 1. One end of the hinge rod is coaxially screwed to the second gear 103 located inside the base 1. The lifting motor is bolted inside the base 1 and electrically connected to the controller. Notably, the controller is not directly mounted on the base 1 or the lifting plate 2, reducing the possibility of accidental activation during practice.
[0035] Secondly, it also includes an organ simulation component installed on the lifting plate 2, used to simulate the major organs of the human urinary system, specifically, combined with Figure 2 As shown, the organ simulation component includes a bladder unit 5 and two kidney units 3. Each kidney unit 3 has a renal pelvis 301 and a ureter 302 connected sequentially on one side of each other. The ureters 302 are connected to the bladder unit 5, and the side of the bladder unit 5 furthest from the ureters 302 is connected to the urethra 501. Simultaneously, two symmetrical placement slots 6, corresponding one-to-one with the kidney units 3, are opened at the top of the lifting plate 2. The bladder unit 5 is snapped onto the lifting plate 2 (for easy disassembly and installation). The kidney units 3 are all close to the hinge rod, allowing the bladder unit 5 to be slightly higher than the kidney units 3 during angle adjustment, further conforming to the patient's position (head down, feet up) during actual surgery. The kidney unit 3 is made entirely of transparent material, facilitating observation of its internal structure and the dynamic process of foreign objects (e.g., simulating the movement of kidney stones). Furthermore, during production, this unit must highly simulate the internal anatomy of a real kidney, dividing the interior into upper, middle, and lower calyces, to accommodate not only simulated stones but also fillers such as sponges. Meanwhile, kidney unit 3 is a sealed design, allowing water to be injected to simulate an underwater operating environment, thereby further enhancing the realism of the simulation training and the teaching effect. The preferred length of ureter 302 is 25-30 cm.
[0036] Addressing the issue that conventional kidney simulators struggle to induce corresponding physiological displacement of the kidneys in sync with human respiration, this solution is unique in that it combines... Figure 4 and Figure 6 The inner wall of the placement groove 6 is provided with a movable groove 602, and a guide plate 603 is screwed to the left side wall of each movable groove 602. The guide plate 603 divides the movable groove 602 from top to bottom into a first telescopic cavity and a second telescopic cavity (e.g., Figure 6 As shown), the left side wall of the first telescopic cavity is screwed with elastic sheet units 601, and the elastic sheet units 601 are all strip-shaped structures (such as...). Figure 7 As shown), the other end of the guide plate 603 is a dome structure and there is a gap between it and the right side wall of the moving groove 602, which effectively reduces the friction of the elastic sheet unit 601 and provides sufficient space for the deformation of the elastic sheet unit 601. The other end of the elastic sheet unit 601 bypasses the dome of the guide plate 603 and extends into the second telescopic cavity. Secondly, when the kidney unit 3 is placed in the placement groove 6, the kidney unit 3 is bonded to the elastic sheet unit 601 (e.g., Velcro structure), and the elastic sheet unit 601 completely covers the placement groove 6. Meanwhile, each of the second telescopic chambers is connected to a breathing chamber on its left side. Each breathing chamber is equipped with a cam 606 (based on the smooth curve design of the cam 606, the stretching and resetting process of the elastic plate unit 601 is gradual, perfectly matching the gentle rhythm of natural human breathing, without abrupt stops). Each cam 606 is coaxially screwed to a rotating motor located inside the lifting plate 2, and the rotating motor is electrically connected to the controller. Each elastic plate unit 601 located at one end of the second telescopic chamber is threadedly connected to a slider 605. The slider 605 always slides against the inner wall of the second telescopic chamber. Each slider 605 has several return springs 604 symmetrically arranged on its right end. One end of each return spring 604 is glued to the right end of the slider 605, and the other end of each return spring 604 is welded to the inner wall (top and bottom wall) of the second telescopic chamber. The slider 605 is always located within the movement trajectory of the cam 606.
[0037] In addition, such as Figure 6 As shown, the right side of the guide plate 603 is wider than the left side, further widening the contact and adaptation space with the elastic plate unit 601. Simultaneously, the pre-set gap between the guide plate 603 and the side wall of the moving groove 602 provides ample room for slight forward and backward displacement of the kidney unit 3. Furthermore, the wide, rounded top structure of the guide plate 603 reduces motion interference between the elastic plate unit 601 and the guide plate 603 during forward and backward deformation. It also guides the elastic plate unit 601 to deform naturally through flexible contact, allowing the kidney unit 3 to smoothly complete slight forward and backward displacement while moving up and down with the elastic plate unit 601. This perfectly matches the physiological reality that the kidney does not simply move up and down during respiration, but rather experiences slight forward and backward swaying, making the dynamic simulation closer to the actual organ movement in clinical practice.
[0038] The specific implementation process is as follows: Before training, the two kidney units 3 are placed in the corresponding slots 6 of the lifting plate 2, making them detachably connected to the surface of the elastic sheet unit 601. The bladder unit 5, renal pelvis 301, and ureter 302 are fixed to the lifting plate 2 by snap-fit, completing the simulation construction of the anatomical structure of the urinary system. Assembly is convenient and subsequent replacement and maintenance are easy. According to the training requirements, the controller sends a command to the lifting motor. The lifting motor drives the first gear to rotate, and through gear meshing, drives the second gear and the coaxial hinge rod to rotate, so that the lifting plate 2 rotates around the hinge point to the target tilt angle, simulating different body positions such as the patient's prone position in clinical operation, providing a body position basis that fits the real scenario for training.
[0039] The controller regulates the operation of the rotating motor, whose preset speed strictly matches the human breathing frequency, driving the cam 606 in the breathing chamber to rotate smoothly. When the cam 606 rotates to the compression end, it pushes the slider 605 to slide to the right along the inner wall of the second telescopic chamber. At this time, the return spring 604 is compressed, and the stretched state of the elastic plate unit 601 is gradually reset. The kidney unit 3, which is attached to the surface of the elastic plate unit 601, moves upward synchronously, accurately simulating the reset displacement of the kidney during human exhalation. When the cam 606 rotates to the non-compression end, the return spring 604 releases its elastic potential energy, pushing the slider 605 to the left to reset. The slider 605 pulls the end of the elastic plate unit 601 in the second telescopic chamber to move to the left synchronously, so that the elastic plate unit 601 in the first telescopic chamber is gradually stretched. The kidney unit 3 moves downward accordingly, and the movement amplitude precisely matches the physiological range of 2-5cm of the kidney during human breathing, corresponding to the simulated kidney displacement during inhalation.
[0040] Example 2: The difference from Embodiment 1 is that this solution also proposes an elastic sheet unit 601 structure, specifically, as follows: Figure 3 As shown, the elastic sheet units 601 are all mesh structures, and the rest of the structure is the same as in Example 1. The mesh structure is formed by the interweaving of several independent mesh units. Compared with the strip structure, the mesh structure has significantly improved deformation flexibility and multi-directional adaptability: On the one hand, it solves the defect of the strip structure in terms of limited lateral movement (the strip structure is distributed in a continuous planar shape, and the degree of freedom of deformation in the lateral (left and right) direction is limited, which easily leads to local tension and stiffness, making it difficult to accurately reproduce the small lateral swaying of the kidneys during human respiration, and the comprehensiveness of dynamic simulation is insufficient). The mesh units can independently undergo multi-directional displacement, which drives the kidney unit 3 to smoothly complete the small lateral displacement on the basis of up and down and back and forth movement, perfectly matching the complex movement trajectory of the human kidney during respiration; on the other hand, the pore design of the mesh structure can evenly distribute stress, reduce the problem of local deformation jamming that is prone to occur in the strip structure, and make the movement more stable and natural. At the same time, with the space reserved at the wide rounded top of the guide plate 603, the multi-degree-of-freedom floating of the kidney unit 3 is closer to the actual organ movement state in clinical practice.
[0041] Example 3: like Figure 1 and Figure 3 As shown, the difference from Embodiment 2 is that the inner wall of the placement slot 6 is provided with an adjustment component for limiting the downward movement of the kidney unit 3. Specifically, the adjustment component includes two pump assemblies disposed within the lifting plate 2. Airbag strips 4 are adhered to the inner wall of the placement slot 6, and each airbag strip 4 is connected to one of the pump assemblies. The airbag strips 4 are distributed along the curved shape of the top of the placement slot 6 and are located at the end of the placement slot 6 near the ureter 302; and the airbag strips 4 are located above the elastic sheet unit 601. The pump assemblies are electrically connected to the controller. Each pump assembly includes an air pump disposed within the lifting plate 2, and the air pump is connected to the airbag strip 4 and electrically connected to the controller. Several pressure sensors electrically connected to the controller are disposed on the side of the airbag strip 4 near the kidney unit 3.
[0042] The specific implementation process is as follows: Based on the training objective (such as simulating patients with different body types, such as obese or underweight), the controller presets the resistance parameters for the downward movement of the kidney unit 3. The controller sends a command to the air pump, which inflates the airbag strip 4 in the corresponding placement slot 6. The airbag strip 4 expands along the curved shape at the top of the placement slot 6, and the thickness of the airbag strip 4 is gradually adjusted with the inflation volume. When simulating obese patients, the inflation volume increases, making the airbag strip 4 thicker and reducing the effective space for the downward movement of the kidney unit 3; when simulating underweight patients, the inflation volume decreases, making the airbag strip 4 thinner and relaxing the downward movement restriction. During this process, the pressure sensor on the airbag strip 4 monitors the initial contact pressure between itself and the kidney unit 3 in real time, and feeds the data back to the controller to form a closed-loop control, ensuring that the thickness of the airbag strip 4 accurately matches the preset body type simulation requirements and reducing simulation deviations caused by over-inflation or under-inflation. Secondly, the airbag strip 4 can be attached to the kidney unit 3. The airbag strip 4 can be expanded and contracted by the pump assembly in a regular manner, thereby enabling the kidney unit 3 to move along the plane of the bladder unit 5. Combined with the above-mentioned simulated direction of the kidney unit 3, the multi-degree-of-freedom movement of the kidney unit 3 can be further simulated, and the real environment (the surgical scene when a person breathes) can be better simulated.
[0043] During training, as kidney unit 3 moves downwards, it comes into contact with and is compressed by the corresponding air bladder strip 4. Pressure sensors capture changes in contact pressure in real time and transmit this information synchronously to the controller. If the pressure exceeds the preset range (e.g., the kidney moves too far downwards), the controller immediately instructs the air pump to inflate the air bladder strip 4, further thickening it to increase resistance. If the pressure is insufficient, the controller controls the air pump to deflate and fine-tune the movement, ensuring that the downward movement of kidney unit 3 always conforms to the physiological characteristics of the patient's body type. Simultaneously, the flexible material and curved distribution design of the air bladder strip 4 do not interfere with the multi-degree-of-freedom floating of kidney unit 3 (up / down, forward / backward, left / right) while continuously optimizing the resistance simulation effect through dynamic pressure feedback.
[0044] Example 4: The difference from the above embodiments is that, as Figure 1 and Figure 3 As shown, this solution also provides an angle adjustment component, which can adjust the angle between the kidney unit 3 and the ureter 302 (angle range of 15-25°) according to the condition of different patients.
[0045] Specifically, in combination Figure 8 As shown, the angle adjustment assembly includes two fixed supports 7, each consisting of a base plate and a support rod. The support rod is integrally formed on the top of the base plate, and an adjustment cover 702 is integrally formed on the top of each support rod. An elastic layer 701 is provided between the adjustment rod and the base plate, forming a ring around the support rod. The upper and lower ends of the elastic layer 701 are respectively bonded to the bottom of the adjustment cover 702 and the top of the base plate. The cavity formed by the elastic layer 701, the base plate, and the adjustment cover 702 is a strain chamber. An adjustment cavity communicating with the strain chamber is opened inside each adjustment cover 702. A compression plate 703 is slidably fitted inside each adjustment cavity. An adjustment knob 704 is bonded to the top of each compression plate 703, extending outside the adjustment cavity and threadedly connected to the adjustment cover 702. The base plate is screwed to the surface of the lifting plate 2. The connection between the renal pelvis 301 and the ureter 302 bypasses the ring-shaped elastic layer 701 and remains in contact with it at all times. Secondly, the adjustment cover 702 is preferably made of transparent material and has angle lines engraved on its outer surface, which makes it easy for the operator to observe and quickly position the appropriate angle.
[0046] Specifically, the angle adjustment process is achieved through the linkage of the adjustment knob 704, the compression plate 703, and the elastic layer 701: when it is necessary to adjust the angle between the kidney unit 3 and the ureter 302, rotating the adjustment knob 704 will, since the adjustment knob 704 is threadedly connected to the adjustment cover 702, convert the rotation action into the axial movement (downward or upward) of the compression plate 703 along the adjustment cavity. Taking clockwise rotation of the adjustment knob 704 as an example of increasing the angle, the specific details are as follows: When the adjustment knob 704 is rotated clockwise, the compression plate 703 moves downward and compresses the strain chamber below the adjustment cavity, increasing the pressure inside the strain chamber. Because the elastic layer 701 is fixed at its upper and lower ends to the adjustment cover 702 and the base plate respectively, it expands outward under pressure, pushing against the connection between the renal pelvis 301 and the ureter 302 that bypasses the elastic layer 701. This forces the connection to shift outward, increasing the angle between the kidney unit 3 and the ureter 302. When the adjustment knob 704 is rotated counterclockwise, the compression plate 703 moves upward, reducing the pressure inside the strain chamber. The elastic layer 701 contracts and resets under its own elastic restoring force, weakening the pushing force on the connection between the renal pelvis 301 and the ureter 302. The connecting part resets inward under its own flexibility (e.g., by using flexible materials like silicone), reducing the angle, which can be adjusted to a minimum of 15°. Furthermore, the reset of the connecting part can be further optimized by using a Velcro connection between the connecting part and the surface of the elastic layer 701.
[0047] By controlling the rotation range of the adjustment knob 704, the included angle can be locked within the range of 15-25°, simulating the difference in the included angle between the renal pelvis 301 and the ureter 302 caused by differences in anatomical structure (such as body size, development, etc.) among different patients, further improving the adaptability of the training model to the diversity of clinical anatomy, and allowing operators to adapt to the differences in endoscopic operation paths under different anatomical structures during training.
[0048] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.
Claims
1. A urinary endoscope training model with multi-degree of freedom floating kidney, comprising a base (1) and a controller, characterized in that, The base (1) is hinged with the lifting plate (2) on the top, the inside of the base (1) is provided with the lifting assembly for rotating the lifting plate (2) around the hinge point, the lifting plate (2) is symmetrically provided with two placing grooves (6) on the top end, the inner wall of the placing groove (6) is provided with the moving groove (602), the inner wall of the moving groove (602) is fixedly connected with the guide plate (603), the other end of the guide plate (603) is the dome structure and there is a gap between the guide plate (603) and the side wall of the moving groove (602); the guide plate (603) divides the moving groove (602) into the first expansion cavity and the second expansion cavity from top to bottom; the first expansion cavity is provided with the elastic sheet unit (601), the elastic sheet unit (601) covers the placing groove (6), one end of the elastic sheet unit (601) is fixedly connected with the side wall of the first expansion cavity, the other end of the elastic sheet unit (601) passes through the dome end of the guide plate (603) and extends into the second expansion cavity, one end of the elastic sheet unit (601) in the second expansion cavity is fixedly connected with the breathing simulation assembly for periodically pulling the elastic sheet unit (601); the breathing simulation assembly is electrically connected with the controller. It also comprises the organ simulation assembly for simulating the urinary tissue organ, the organ simulation assembly is detachably connected with the surface of the elastic sheet unit (601).
2. The multi-degree of freedom floating kidney ureteral endoscopy training phantom of claim 1, wherein, The lifting assembly comprises the lifting motor (101) arranged in the inside of the base (1), the output shaft of the lifting motor (101) is coaxially fixedly connected with the first gear (102), the first gear (102) is engaged with the second gear (103), the second gear (103) is coaxially fixedly connected with the hinge rod rotationally matched with the base (1), the hinge rod is fixedly connected with one side of the length direction of the lifting plate (2); the lifting motor (101) is electrically connected with the controller.
3. The multi-degree of freedom floatable kidney ureteral endoscopy training model of claim 2, wherein, The organ simulation assembly comprises the bladder unit (5) and the two kidney units (3), the kidney unit (3) is sequentially communicated with the renal pelvis (301) and the ureter (302) on the side close to each other, the ureter (302) is communicated with the bladder unit (5), the bladder unit (5) is communicated with the urethra (501) on the side away from the ureter (302); The two kidney units (3) correspond to the two placing grooves (6), the kidney unit (3) is detachably connected with the surface of the elastic sheet unit (601).
4. The multi-degree of freedom floatable kidney ureteroscope training phantom of claim 3, wherein, The breathing simulation assembly comprises the breathing cavity communicated with the second expansion cavity, the lifting plate (2) is provided with the two rotation motors, the output shafts of the two rotation motors extend into the corresponding breathing cavities and are coaxially fixedly connected with the cam (606), the second expansion cavity is slidably matched with the sliding block (605), one end of the sliding block (605) is fixedly connected with the elastic sheet unit (601); the second expansion cavity is symmetrically provided with the two return springs (604) on the top and the bottom, one end of the return spring (604) is fixedly connected with the sliding block (605), the other end of the return spring (604) is fixedly connected with the inner wall of the second expansion cavity; the rotation motor is electrically connected with the controller; the cam (606) is always in contact with the sliding block (605).
5. The multi-degree of freedom floatable kidney ureteral endoscopy training model of claim 4, wherein, The width of the dome end of the guide plate (603) is greater than the width of the other end of the guide plate (603).
6. The multi-degree of freedom floatable kidney ureteral endoscopy training model of claim 5, wherein, The inner wall of the placing groove (6) is provided with an adjusting assembly for limiting the downward movement distance of the kidney unit (3).
7. The multi-degree of freedom floatable kidney ureteral endoscopy training model of claim 6, wherein, The adjusting assembly comprises two pump assemblies arranged in the lifting plate (2), the inner wall of the placing groove (6) is fixedly connected with an air bag strip (4), the air bag strip (4) is communicated with the pump assemblies, the air bag strip (4) is distributed along the curved shape of the top of the placing groove (6) and is located at one end of the placing groove (6) close to the ureter (302), and the air bag strip (4) is located above the elastic sheet unit (601); and the pump assemblies are electrically connected with the controller. The pump assembly comprises an air pump arranged in the lifting plate (2), the air pump is communicated with the air bag strip (4), and the air pump is electrically connected with the controller; the side of the air bag strip (4) close to the kidney unit (3) is provided with a plurality of pressure sensors electrically connected with the controller.
8. The multi-degree of freedom floatable kidney ureteral endoscopy training model of claim 7, wherein, The angle adjusting assembly comprises two fixed supports (7), the fixed support (7) is composed of a bottom plate and a support rod, the support rod is integrally formed at the top end of the bottom plate, the fixed end of the support rod is integrally formed with an adjusting cover (702), an elastic layer (701) is arranged between the adjusting cover (702) and the bottom plate, the elastic layer (701) is annular around the support rod, and the upper and lower ends of the elastic layer (701) are respectively bonded to the bottom end of the adjusting cover (702) and the top end of the bottom plate, the cavity surrounded by the elastic layer (701), the bottom plate and the adjusting cover (702) is a strain cavity; the adjusting cover (702) is provided with an adjusting cavity communicated with the strain cavity, the adjusting cavity is slidably connected with a pressing plate (703), the top end of the pressing plate (703) is bonded with an adjusting knob (704), the adjusting knob (704) extends out of the adjusting cavity and is threadedly connected with the adjusting cover (702). The bottom plate is screw-connected to the surface of the lifting plate (2), the communication part of the renal pelvis (301) and the ureter (302) passes through the annular elastic layer (701) and is always in contact with the elastic layer (701).
9. The multi-degree of freedom floating kidney ureteroscopy training phantom of any of claims 1-8, wherein, The elastic sheet unit (601) is a strip-shaped structure.
10. The multi-degree of freedom floating kidney ureteroscopy training phantom of any of claims 1-8, wherein, The elastic sheet unit (601) is a mesh structure.