Urethral catheterization complication simulation and emergency treatment training robot

Abstract

The invention relates to the technical field of scientific demonstration teaching aids, in particular to a urethral catheterization complication simulation and emergency treatment training robot which comprises a dummy body and further comprises an elastic body and a water tank, the elastic body is arranged on one side of the interior of the dummy body, and a through hole is formed in the side wall of the dummy body and the face, attached to the elastic body, of the dummy body in a penetrating mode; the water tank is arranged on one side in the dummy body and is distributed front and back with the elastic body; a plurality of telescopic cavities are formed in the elastic body, the telescopic cavities are expanded by injecting water into the telescopic cavities so as to extrude the simulation prosthesis and the urethra, the diseases of urethra lumen distortion and walking deviation caused by bladder pressure increase can be simulated, and therefore the emergency treatment capacity of an operator for coping with the conditions can be trained.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of scientific demonstration teaching aids, in particular to a catheterization complication simulation and emergency treatment training robot. BACKGROUND

[0002] Catheterization is a common invasive operation in clinical practice, which is widely used in scenarios such as urinary retention and perioperative nursing. The standardization of its operation directly affects patient safety and treatment outcomes. Currently, the catheterization simulation training device used in clinical teaching and skill training is generally composed of two parts: a simulation prosthesis and a simulation bladder. The simulation prosthesis has a simulated urethra inside, which is similar to the physiological structure of the human body. The urethra is connected to the simulation bladder through a pipeline, which can simulate the process of urine storage and discharge.

[0003] The above-mentioned simulation training device is mainly used to train the operator to master the insertion angle, depth control and insertion and removal skills of the catheter, so as to improve the proficiency of basic operation and reduce the risk of mechanical damage to the patient caused by the initial operator in clinical practice. However, in clinical practice, catheterization-related complications often cause abnormal changes in the urethral anatomy of the patient. For example, the sudden rise in intravesical pressure caused by difficult catheterization may squeeze the surrounding tissues of the urinary system, causing the urethral lumen to twist and shift; for example, urethritis caused by repeated catheterization or infection may cause the urethral mucosa to swell and congest, making the lumen diameter narrow or even irregularly narrow; in addition, long-term indwelling of the catheter may cause urethral scar hyperplasia and form organic obstruction. The urethral structure of the existing simulation device is fixed and cannot reproduce the morphological changes of the urethra under the above pathological conditions, which leads to a lack of targeted emergency treatment training for the operator when facing patients with complications, and may cause adverse events such as difficulty in placing the catheter and secondary damage to the urethra, affecting the prognosis of the patient and the quality of medical care. In view of this, we propose a catheterization complication simulation and emergency treatment training robot to solve the above-mentioned drawbacks. SUMMARY

[0004] The purpose of the present application is to provide a catheterization complication simulation and emergency treatment training robot to solve the problems raised in the background.

[0005] The present application is realized by the following technical scheme: a catheterization complication simulation and emergency treatment training robot, comprising a dummy body, further comprising: an elastic body, the elastic body being arranged on one side of the inside of the dummy body, and a side wall of the dummy body and the elastic body being throughly provided with a through hole; a water tank, the water tank being arranged on one side of the inside of the dummy body and being distributed in front of and behind the elastic body; The simulation prosthesis is a columnar structure of elastic material, one end of the simulation prosthesis penetrates through a through hole on the side wall of the dummy body and is embedded in the elastic body, the other end of the simulation prosthesis extends out of the outside of the dummy body, and the two ends of the simulation prosthesis are provided with a simulation urethra penetrating through the front and back, the inner end of the simulation prosthesis is provided with a guide pipe, one end of the guide pipe is communicated with the simulation urethra, and the other end of the guide pipe is communicated with a water tank; Wherein, the inside of the elastic body and around the outside of the simulation prosthesis are distributed with several expansion cavities, the inside of the water tank is provided with a micro water pump, and the water outlet end of the micro water pump is connected with the several expansion cavities through a pipeline system.

[0006] Optionally, the end of the guide pipe extending into the inside of the water tank is provided with a sealing body, a water outlet channel communicated with the guide pipe is provided through the sealing body, and two symmetrical closed petals are provided in the water outlet channel; in a natural state, the two closed petals abut against each other to prevent the water in the water tank from overflowing.

[0007] Optionally, the pipeline system comprises a first water outlet pipe and a second water outlet pipe, one end of the first water outlet pipe is connected with the micro water pump, the other end of the first water outlet pipe extends out of the outside of the water tank, the second water outlet pipe is connected with the first water outlet pipe, the surface of the second water outlet pipe is provided with a plurality of third water outlet pipes, the third water outlet pipes correspond to the expansion cavities one by one, and the ends of the plurality of third water outlet pipes extend into the corresponding expansion cavities.

[0008] Optionally, the simulation prosthesis comprises a silica gel body, an inner lining body, a flexible body and a leather sheath layer which are sequentially wrapped from inside to outside, the simulation urethra is located in the inside of the silica gel body, the silica gel body and the flexible body are both made of silica gel material, and the hardness of the inner lining body is higher than that of the silica gel body.

[0009] Optionally, a plurality of first cavities are provided on the silica gel body and spaced apart around the simulation urethra, the first cavities are distributed along the length direction of the simulation urethra, and the first cavities are connected with the water outlet end of the micro water pump through the pipeline system; when the first cavities are expanded by water injection, the cross section of the simulation urethra is deformed.

[0010] Optionally, a hidden groove is further provided on the inner surface of the simulation urethra along the length direction of the simulation urethra, and the hidden groove is between the two adjacent first cavities; when the first cavities are expanded by water injection, the recessed degree of the hidden groove is deepened.

[0011] Optionally, a second cavity is provided on the silica gel body and around the hidden groove, the second cavity is distributed along the length direction of the simulation urethra, and the second cavity is connected with the water outlet end of the micro water pump through the pipeline system; when the second cavity is expanded by water injection, the inner wall of the hidden groove protrudes towards the side of the simulation urethra.

[0012] Optionally, the inner surface of the hidden groove is provided with a plurality of inclined slots, and the part of the silica gel body outside the inclined slots forms a raised portion; when the second cavity is not filled with water, the inclined slots are in a closed state; when the second cavity is filled with water and expands, the opening angle of the inclined slots increases, and the raised portion is in an outwardly expanded state.

[0013] Optionally, a first water receiving ring and a second water receiving ring are sleeved on the outside of the simulation prosthesis and close to the inner end thereof, the first water receiving ring is communicated with the plurality of first cavities, the second water receiving ring is communicated with the plurality of second cavities, the first water receiving ring and the second water receiving ring are connected with the first water outlet pipe through a hose, and an electromagnetic valve is arranged on the hose.

[0014] Optionally, a anti-falling ring is further sleeved on the outside of the simulation prosthesis, the anti-falling ring is adhesively fixed between the simulation prosthesis and the anti-falling ring is embedded in the through hole on the side wall of the dummy body.

[0015] Compared with the prior art, the present application provides a catheterization complication simulation and emergency treatment training robot, which has the following beneficial effects: 1. The present application is provided with a plurality of expansion cavities in the elastic body, and the expansion cavities are expanded by being filled with water to press the simulation prosthesis and the urethra, so as to simulate the urethral lumen distortion and running deviation caused by the increase of bladder pressure, thereby training the emergency handling ability of the operator in response to such conditions; 2. The present application is provided with a plurality of first cavities in the inside of the simulation prosthesis and around the simulation urethra, and when the plurality of first cavities are filled with water and expand, the simulation urethra can be pressed to shrink and change in diameter, thereby simulating the urethral contraction symptoms caused by various inflammations, so as to train the emergency handling ability of the operator in response to such conditions; 3. The present application is provided with a second cavity between the adjacent two first cavities in the inside of the simulation prosthesis, and a hidden groove is provided on the inner surface of the simulation urethra, and an inclined slot is provided on the inner surface of the hidden groove, when the second cavity is filled with water and expands, the hidden groove can be inwardly protruded, and the inclined slot on the surface thereof is slightly opened, for increasing the urethral damping, so as to simulate the urethral wall organic obstruction condition, thereby training the emergency handling ability of the operator in response to such conditions. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a structural schematic view of the present application; Figure 2 is a structural sectional view of the present application; Figure 3 is another state sectional view of the present application; Figure 4 is Figure 2 is an enlarged view corresponding to A in FIG. 6; Figure 5The schematic diagram of the cross section of the simulation prosthesis at the first water receiving ring of the present application; Figure 6 The schematic diagram of the cross section of the simulation prosthesis at the second water receiving ring of the present application; Figure 7 The schematic diagram of the cross section of the simulation prosthesis when the second cavity is expanded of the present application; Figure 8 The axial sectional view of the simulation prosthesis of the present application; Figure 9 The Figure 7 The enlarged view at B.

[0017] In the figure: 100, dummy body; 200, elastic body; 201, telescopic cavity; 300, water tank; 301, micro water pump; 400, simulation prosthesis; 401, simulated urethra; 402, guide tube; 403, anti-disengagement ring; 404, sealing body; 405, closing flap; 406, silica gel body; 407, inner lining body; 408, flexible body; 409, leather sheath layer; 410, first cavity; 411, hidden groove; 412, second cavity; 413, inclined slot; 414, raised portion; 415, first water receiving ring; 416, second water receiving ring; 500, pipeline system; 501, first water outlet pipe; 502, second water outlet pipe; 503, third water outlet pipe; 504, hose; 600, controller. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0019] Embodiment one: please refer to Figure 1 - Figure 4 A catheterization complication simulation and emergency treatment training robot, comprising a dummy body 100, the dummy body 100 is a cuboid cavity structure, the whole is in the shape of a human torso, the outside is made of rubber material, the inside is hollow, the present embodiment further comprises an elastic body 200, a water tank 300 and a simulation prosthesis 400, wherein the elastic body 200 is arranged on one side of the inside of the dummy body 100, a through hole is formed in the side wall of the dummy body 100 and the side wall is in close contact with the elastic body 200; the water tank 300 is arranged on one side of the inside of the dummy body 100 and is distributed in front of and behind the elastic body 200; and the elastic body 200 is made of nitrile rubber material, has good wear resistance and elasticity, and the water outlet end of the water tank 300 penetrates the upper surface of the dummy body 100, so as to facilitate the operator to add water.

[0020] In addition, the simulation prosthesis 400 is a columnar structure made of elastic material, one end of the simulation prosthesis 400 penetrates through the through hole on the side wall of the dummy body 100 and is embedded in the inside of the elastic body 200, the other end of the simulation prosthesis 400 extends outside the dummy body 100, and the two ends of the simulation prosthesis 400 are provided with a simulation urethra 401 penetrating through the front and back, the inner end of the simulation prosthesis 400 is provided with a guide pipe 402, one end of the guide pipe 402 communicates with the simulation urethra 401, the other end of the guide pipe 402 communicates with the water tank 300; and the simulation prosthesis 400 is further sleeved with an anti-disengagement ring 403, the anti-disengagement ring 403 is glued and fixed between the simulation prosthesis 400, and the anti-disengagement ring 403 is embedded in the through hole on the side wall of the dummy body 100. Therefore, the operator can insert the urinary catheter from the simulation urethra 401 at the outer end of the simulation prosthesis 400, and then insert it into the water tank 300 through the guide pipe 402.

[0021] It should be noted that in the present embodiment, the water tank 300 is used to simulate the human bladder, and the elastic body 200 is used to simulate the surrounding tissue of the human urinary system.

[0022] Further, in order to avoid water leakage of the water tank 300 in the non-operation state, in the present embodiment, the end of the guide pipe 402 extending into the inside of the water tank 300 is provided with a sealing body 404, as shown in Figure 4 The sealing body 404 is fixedly connected to the inner wall of the water tank 300, and the sealing body 404 and the closing flap 405 are a one-molded rubber material structure, which can prevent water in the water tank 300 from overflowing in the natural state; when the urinary catheter is inserted into the water outlet channel, the closing flap 405 can be easily pushed open.

[0023] In addition, the guide pipe 402 is made of flexible silica gel material, and the inner diameter of the guide pipe 402 in the natural state is slightly smaller than the diameter of the urinary catheter, so that when the urinary catheter penetrates through the guide pipe 402, the two can be closely fitted to prevent water from overflowing from the outside of the urinary catheter.

[0024] In order to simulate the scene of bladder pressure surge extruding the surrounding muscle tissue, a plurality of stretchable cavities 201 are distributed inside the elastic body 200 and around the outside of the simulation prosthesis 400, a micro water pump 301 is arranged inside the water tank 300, and the water outlet end of the micro water pump 301 is connected with the plurality of stretchable cavities 201 through a pipeline system 500. Specifically, the pipeline system 500 includes a first water outlet pipe 501 and a second water outlet pipe 502, one end of the first water outlet pipe 501 is connected with the micro water pump 301, and the other end of the first water outlet pipe 501 extends outside the water tank 300, the second water outlet pipe 502 is connected with the first water outlet pipe 501, a plurality of third water outlet pipes 503 are arranged on the surface of the second water outlet pipe 502, the third water outlet pipes 503 correspond to the stretchable cavities 201 one by one, and the ends of the plurality of third water outlet pipes 503 respectively extend into the corresponding stretchable cavities 201. Therefore, when the micro water pump 301 is started, the water in the water tank 300 can be introduced into the stretchable cavities 201, so that the stretchable cavities 201 are inflated, and the simulation prosthesis 400 is extruded.

[0025] The top surface of the dummy body 100 is provided with a controller 600 (model Arduino Nano), an electromagnetic valve is arranged on the second water outlet pipe 502, and the controller 600 is electrically connected with the micro water pump 301 and the electromagnetic valve, for controlling the opening and closing of the micro water pump 301 and the electromagnetic valve; in addition, a pressure sensor (not shown in the figure, model FSR402) is also embedded in the inside of the elastic body 200, the pressure sensor can be arranged near the stretchable cavities 201, for detecting the pressure signal and transmitting the signal to the controller 600, so that the operator can conveniently adjust the inflation range of the stretchable cavities 201.

[0026] It should be noted that the plurality of stretchable cavities 201 are located inside the elastic body 200, and the plurality of stretchable cavities 201 are all connected to the top surface of the elastic body 200 through a channel, the channel is used for embedding the third water outlet pipes 503, and the third water outlet pipes 503 and the inner surface of the channel are sealed to prevent water from overflowing.

[0027] In summary, in the actual application process of the embodiment, the tester can perform tests through the simulation prosthesis 400 and the simulation urethra 401, to exercise the insertion angle, depth control and insertion and extraction skills of the urinary catheter; for the real patient, the urinary catheter may not be smoothly inserted due to turbidity or blood clots in the bladder, at this time, the bladder will be inflated and extrude the surrounding tissue of the urinary system; for this, the embodiment can increase the extrusion force of the elastic body 200 on the simulation prosthesis 400 by introducing appropriate amount of water into the stretchable cavities 201, so as to simulate the disease, to exercise the operation of the operator in this case how to perform the operation of pulling out the catheter and reinserting the catheter, so as to simulate the effect of emergency drill.

[0028] It is worth mentioning that when the electromagnetic valve is opened and the micro water pump 301 is powered off, the water in the telescopic cavity 201 can be squeezed back into the water tank 300 due to the elasticity of the elastic body 200 itself.

[0029] Embodiment two: please refer to Figure 1 Figure 6 The embodiment also provides a urinary catheterization complication simulation and emergency treatment training robot. The difference between the embodiment and the embodiment one is that in the embodiment, the simulation prosthesis 400 comprises a silica gel body 406, an inner lining body 407, a flexible body 408 and a leather sheath layer 409 which are sequentially wrapped from inside to outside, wherein the simulation urethra 401 is located inside the silica gel body 406, the silica gel body 406 and the flexible body 408 are both silica gel materials, and the hardness of the inner lining body 407 is higher than that of the silica gel body 406. Specifically, the inner lining body 407 is made of natural rubber material, and the leather sheath layer 409 is made of leather material and is easy to clean. In addition, the hardness of the inner lining body 407 is between 30 and 40 degrees of Shore A; and the hardness of the silica gel body 406 and the flexible body 408 is between 10 and 20 degrees of Shore A.

[0030] In order to simulate more kinds of complications of urinary catheterization, a plurality of first cavities 410 are arranged on the silica gel body 406 and spaced apart from the periphery of the simulation urethra 401, the first cavities 410 are distributed along the length direction of the simulation urethra 401, and the first cavities 410 are connected with the water outlet end of the micro water pump 301 through the pipeline system 500; when the first cavities 410 are inflated by water injection, the cross section of the simulation urethra 401 is compressed and deformed. Specifically, there are four first cavities 410 in the embodiment, and the cross section of the first cavity 410 is arc-shaped; when the first cavities 410 are inflated by water injection, the first cavities 410 mainly expand inwards due to the greater hardness of the outer lining body 407, thereby compressing and deforming the simulation urethra 401.

[0031] It is worth mentioning that for patients who have undergone urinary catheterization, there may be various reasons for the compression and deformation of the urethra, for example, urethral inflammation stimulates the urethral mucosa to hyperemia and edema, and stimulates the local nerve endings, resulting in persistent spasm of the urethral smooth muscle, which is manifested as urethral lumen stenosis; for example, improper urinary catheterization (such as violent insertion, too large catheter size) may cause urethral mucosa abrasion and tearing, local bleeding and inflammatory reaction after injury, and if scar tissue is formed during the healing process, the contraction characteristics of the scar will cause permanent stenosis and deformation of the urethral lumen; in addition, due to perirectal abscess, pelvic inflammation, etc., the urethra can be compressed or local adhesion can be induced, resulting in deformation of the urethra, which can also be accompanied by abnormal contraction of the smooth muscle, and can also cause urethral compression and deformation. Therefore, by injecting water into the first cavities 410, the urethral deformation caused by various reasons can be simulated.

[0032] ​Embodiment three: please refer to Figure 1 Figure 9 The embodiment further provides a urinary catheterization complication simulation and emergency treatment training robot. The difference between the embodiment and the embodiment two is that the inner surface of the simulated urethra 401 is further provided with a hidden groove 411 along the length direction of the simulated urethra 401, the hidden groove 411 is between two adjacent first cavities 410, and the recess degree of the hidden groove 411 is deepened when the first cavity 410 is inflated by water. In the embodiment, there are two hidden grooves 411, and the two hidden grooves 411 are symmetrically distributed. In the natural state, the hidden groove 411 is concave, when the first cavity 410 is inflated by water, the corresponding position of the silica gel body 406 is pressed to shrink inward, so that the hidden groove 411 can be deformed, that is, the recess degree is further increased.

[0033] In addition, the second cavity 412 is provided on the silica gel body 406 and located at the periphery of the hidden groove 411, the second cavity 412 is distributed along the length direction of the simulated urethra 401, and the second cavity 412 is connected with the water outlet end of the micro water pump 301 through the pipeline system 500; when the second cavity 412 is inflated by water, the inner wall of the hidden groove 411 protrudes towards the side of the simulated urethra 401. The inner surface of the hidden groove 411 is provided with a plurality of inclined grooves 413, and the part of the silica gel body 406 located outside the inclined grooves 413 constitutes a raised portion 414. When the second cavity 412 is not inflated by water, the inclined grooves 413 are in a closed state; when the second cavity 412 is inflated by water, the opening angle of the inclined grooves 413 is increased, and the raised portion 414 is in an outwardly expanded state. Obviously, when the second cavity 412 is inflated by water, the hidden groove 411 will protrude towards the side of the simulated urethra 401 due to the extrusion force, and the inclined grooves 413 will be slightly opened due to the influence of material extrusion deformation, so as to increase the insertion resistance of the simulated urethra 401.

[0034] It should be noted that for the patient of urinary catheterization, the urethral insertion resistance may be increased in some cases, for example, the urethral lumen is blocked by urethral stones, blood clots, foreign matters, etc., and the front end of the urinary catheter encounters an obstruction, which will cause obvious resistance; for example, for a patient with long-term indwelling catheter, the catheter and the urethral mucosa are adhered or local calcium salt is deposited, which may also cause increased insertion resistance of the urinary catheter. Therefore, the embodiment can simulate the disease of increased urethral resistance caused by various reasons through the raised portion 414.

[0035] ​Meanwhile, a first water receiving ring 415 and a second water receiving ring 416 are sleeved outside the simulation prosthesis 400 and close to the inner end thereof, the first water receiving ring 415 and the second water receiving ring 416 are both annular structures with an inner hollow, the first water receiving ring 415 communicates with the first cavities 410, the second water receiving ring 416 communicates with the second cavities 412, and the first water receiving ring 415 and the second water receiving ring 416 are both connected with the first water outlet pipe 501 through a hose 504, and an electromagnetic valve is arranged on the hose 504. In the embodiment, a plurality of communication holes are radially arranged on the outer surface of the simulation prosthesis 400, the communication holes respectively communicate with the first cavities 410 and the second cavities 412, and the corresponding water receiving rings are arranged outside the corresponding communication holes, that is, the communication holes are used to make the cavities communicate with the corresponding water receiving rings.

[0036] It should be noted that the electromagnetic valve on the hose 504 is also connected with the controller 600, and the controller can control the contraction and expansion of the first cavities 410 and the second cavities 412 by controlling the opening and closing of the micro water pump 301 and the opening and closing of the electromagnetic valve.

[0037] It should be noted that in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or equipment including the element.

[0038] Although the embodiments of the present application have been shown and described, it is understood that various changes, modifications, substitutions and variations 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 training robot for simulating and handling complications of urinary catheterization, comprising a dummy body (100), characterized in that, Also includes: An elastomer (200) is disposed on one side inside the dummy body (100), and a through hole is provided on the side wall of the dummy body (100) that is in contact with the elastomer (200). A water tank (300) is disposed on one side inside the dummy body (100) and is distributed in a front-to-back manner with the elastic body (200); The simulated prosthesis (400) is a columnar structure made of elastic material. One end of the simulated prosthesis (400) passes through a through hole on the side wall of the dummy body (100) and is embedded in the interior of the elastic body (200). The other end extends out of the outside of the dummy body (100). Simulated urethras (401) are provided at both ends of the simulated prosthesis (400). A guide tube (402) is provided at the inner end of the simulated prosthesis (400). One end of the guide tube (402) is connected to the simulated urethra (401), and the other end of the guide tube (402) is connected to the water tank (300). The elastic body (200) has several telescopic cavities (201) distributed inside and around the outside of the simulated prosthesis (400). The water tank (300) is equipped with a micro water pump (301). The outlet of the micro water pump (301) is connected to the several telescopic cavities (201) through a pipeline system (500).

2. The training robot for simulating and handling complications of urinary catheterization according to claim 1, characterized in that: The end of the guide pipe (402) that extends into the water tank (300) is provided with a sealing body (404). A water outlet channel communicating with the guide pipe (402) is provided through the sealing body (404). Two closing flaps (405) are symmetrically arranged in the water outlet channel. In the natural state, the two closing flaps (405) abut against each other to prevent the water in the water tank (300) from overflowing.

3. A training robot for simulating and handling urinary catheterization complications according to claim 1 or 2, characterized in that: The pipeline system (500) includes a first outlet pipe (501) and a second outlet pipe (502). One end of the first outlet pipe (501) is connected to a micro water pump (301), and the other end extends out of the outside of the water tank (300). The second outlet pipe (502) is connected to the first outlet pipe (501). The surface of the second outlet pipe (502) is provided with multiple third outlet pipes (503). Each third outlet pipe (503) corresponds to a telescopic cavity (201), and the ends of several third outlet pipes (503) extend into the corresponding telescopic cavity (201).

4. The training robot for simulating and handling complications of urinary catheterization according to claim 3, characterized in that: The simulated prosthesis (400) includes a silicone body (406), an inner liner (407), a flexible body (408), and a sheath layer (409) wrapped from the inside out. The simulated urethra (401) is located inside the silicone body (406). Both the silicone body (406) and the flexible body (408) are made of silicone. The hardness of the inner liner (407) is higher than that of the silicone body (406).

5. The training robot for simulating and handling complications of urinary catheterization according to claim 4, characterized in that: The silicone body (406) is provided with a plurality of first cavities (410) spaced apart on the periphery of the simulated urethra (401). The first cavities (410) are distributed along the length of the simulated urethra (401), and the first cavities (410) are connected to the outlet of the micro water pump (301) through a pipeline system (500). When water is injected into the first cavity (410) and expands, the cross-section of the simulated urethra (401) shrinks and deforms.

6. The training robot for simulating and handling urinary catheterization complications according to claim 5, characterized in that: The inner surface of the simulated urethra (401) is provided with a hidden groove (411) along its own length direction. The hidden groove (411) is located between two adjacent first cavities (410). When water is injected into the first cavity (410) and it expands, the depression of the hidden groove (411) becomes deeper.

7. The training robot for simulating and handling complications of urinary catheterization according to claim 6, characterized in that: A second cavity (412) is provided on the silicone body (406) and located on the periphery of the hidden groove (411). The second cavity (412) is distributed along the length of the simulated urethra (401) and is connected to the outlet of the micro water pump (301) through the pipeline system (500). When water is injected into the second cavity (412) and it expands, the inner wall of the hidden groove (411) protrudes towards the simulated urethra (401).

8. The training robot for simulating and handling complications of urinary catheterization according to claim 7, characterized in that: The inner surface of the hidden groove (411) is provided with a plurality of inclined slots (413). The portion of the silicone body (406) located outside the inclined slots (413) forms a raised portion (414). When no water is injected into the second cavity (412), the inclined slots (413) are closed. When water is injected into the second cavity (412) and it expands, the opening angle of the inclined slots (413) increases, and the raised portion (414) expands outward.

9. The training robot for simulating and handling urinary catheterization complications according to claim 7, characterized in that: The simulated prosthesis (400) is fitted with a first water-receiving ring (415) and a second water-receiving ring (416) on its exterior and near its inner end. The first water-receiving ring (415) is connected to a plurality of first cavities (410), and the second water-receiving ring (416) is connected to a plurality of second cavities (412). Both the first water-receiving ring (415) and the second water-receiving ring (416) are connected to the first water outlet pipe (501) through a hose (504), and the hose (504) is equipped with a solenoid valve.

10. The training robot for simulating and handling complications of urinary catheterization according to claim 1, characterized in that: The simulated prosthesis (400) is also fitted with an anti-detachment ring (403), which is glued to the simulated prosthesis (400) and embedded in a through hole on the side wall of the dummy body (100).

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