Portable multifunctional simulation pregnant woman teaching model based on sensor fusion

Abstract

The invention relates to the technical field of simulated pregnant woman teaching, and discloses a portable multifunctional simulated pregnant woman teaching model based on sensor fusion, the model comprises five core modules, a pressure trigger module collects pressing signals in real time through pressure sensors on the outer sides of the middle sections of arms and thighs; the fetal heart simulation module collects fetal heart signals through a sensor which is wrapped by soft sponge and exposed out of a pickup surface, and fetal heart sound switching is controlled to be linked with a fetal heart-free prompting lamp. The control module is electrically connected with the two, burns and runs corresponding programs, and fuses the signals through a built-in algorithm to generate a cooperative instruction; the action driving module drives limbs to move through micro steering engines in joint grooves; the power module is fixed to the bottom of the trunk and stably supplies power to all the modules. By means of the sensor fusion technology, pressure triggering of limb movement and fetal heart sound playing are achieved, fetal heart-free states are accurately switched, installation is convenient, signals are stable, and the false alarm rate is low.

Description

Technical Field

[0001] This invention relates to the field of simulated pregnancy teaching technology, and more specifically, to a convenient, multifunctional simulated pregnancy teaching model based on sensor fusion. Background Technology

[0002] Simulated pregnant woman teaching models are core equipment in medical teaching scenarios such as prenatal care training and fetal heart rate monitoring. They provide medical staff with a safe and repeatable simulated training environment, effectively avoiding the risks in real clinical teaching, and play an irreplaceable role in the field of medical education. These models must combine the flexibility of motion simulation with the accuracy of physiological signal simulation to meet diverse teaching needs such as fetal heart rate detection and limb care.

[0003] However, traditional simulated pregnant women teaching models have many technical shortcomings, making them difficult to adapt to the needs of high-quality teaching. First, the accuracy of fetal heart rate simulation is insufficient; unreasonable sensor installation positions can easily lead to missed signal detection, and the lack of effective noise reduction and protection design means that external environmental noise or friction noise from equipment operation can easily cause false alarms due to the absence of a fetal heart rate. Second, the limb movement drive design is imperfect; the servo motor installation position is off-center from key joint areas, resulting in indirect power transmission, and the components are not securely fixed, making it easy for movements to jam or deviate. Third, the component layout and wiring are chaotic; core components such as controllers and batteries lack concealed and stable installation locations, and wires are easily entangled in limb joints or the fetal model, affecting not only the model's appearance but also easily leading to wire breakage. Fourth, there is a lack of sensor fusion and coordination mechanisms; pressure-triggered limb movements and fetal heart rate signal monitoring are independent of each other, lacking coordinated control logic and failing to simulate the multi-signal linkage training scenarios in clinical settings. Fifth, there is a lack of effective fault feedback and adjustment mechanisms; for common problems such as signal interference and component misalignment, it is difficult to quickly locate and resolve the causes, affecting the continuity of teaching and training.

[0004] Therefore, it is necessary to design a convenient and multifunctional simulated pregnant woman teaching model based on sensor fusion to solve the problems of low accuracy of fetal heart simulation, inefficient limb movement driving, chaotic component layout, lack of collaborative control, and difficulty in troubleshooting in traditional simulated pregnant woman teaching models. Summary of the Invention

[0005] In view of this, the present invention proposes a convenient and multifunctional simulated pregnant woman teaching model based on sensor fusion, which aims to solve the problems of low accuracy of fetal heart simulation, inefficient limb movement driving, chaotic component layout, lack of collaborative control and difficulty in troubleshooting in traditional simulated pregnant woman teaching models.

[0006] In one aspect, this invention proposes a convenient, multifunctional simulated pregnant woman teaching model based on sensor fusion, comprising: The pressure triggering module is configured to acquire pressure signals generated by pressing the model arm in real time via a pressure sensor, which is located on the outer side of the middle section of the model arm. The fetal heart simulation module is configured to simulate the real fetal heart state, control the switching between fetal heart sound playback and no fetal heart state, and has a no fetal heart indicator light to display the status. The fetal heart simulation module is equipped with a fetal heart sound sensor, which is configured to collect fetal heart signals in real time. The fetal heart sound sensor is fixed to the outside of the fetal model's chest cavity by being wrapped in soft sponge, with the sensor's sound pickup surface exposed. The simulated organ module is configured to simulate the human vagina, rectum, anus, and genitourinary structure. The simulated organ module includes a vaginal simulation submodule and a rectum-anus simulation submodule. The vaginal simulation submodule has a pre-set cervical dilation simulation structure, anterior amniotic sac simulation structure, and fetal presentation contact sensing structure. The rectum-anus simulation submodule is arranged adjacent to the vaginal simulation module and does not interfere with each other. When touched through the vaginal opening or rectum-anus, the degree of cervical dilation, the position of the ischial spines, and the descent of the fetal presentation can be sensed. The presence of the anterior amniotic sac simulation structure is judged by tactile feedback. The morphological differences of the fetal presentation contact sensing structure can be used to distinguish the fetal position type of cephalic presentation and breech presentation. The control module is electrically connected to the pressure triggering module, the fetal heart rate simulation module, and the simulated organ module. The control module is configured to program and run pressure triggering action programs, fetal heart rate sound playback and stop programs, and simulated organ tactile feedback programs. The control module has a built-in sensor fusion algorithm unit configured to fuse and process pressure signals, fetal heart rate signals, and simulated organ touch-sensing signals to generate coordinated control commands. The control module is also configured to process the collected signals and output action commands, fetal heart rate status control commands, and simulated organ tactile feedback calibration commands. The motion drive module is connected to the pressure trigger module and the control module respectively. The motion drive module is configured to receive instructions from the control module and provide power through miniature servos embedded in the grooves of the shoulder joint, elbow joint and knee joint of the model to drive the model's arm to lift, forearm to rotate and limb joint to move. The servos are fixedly connected to the limb skeleton. The power module is configured to provide stable power to the pressure trigger module, fetal heart simulation module, control module, motion drive module and simulated organ module, and the power module is fixed to the bottom of the model torso.

[0007] Furthermore, the fetal heart simulation module includes a fetal heart sound playback unit, which is configured to be paired with a small patch speaker. The speaker is fixed inside the model torso, close to the fetal model and away from the servo motor, and the playback and stop of the fetal heart sound are controlled by the control module. The status indication unit is configured to have a no-fetal-heart indicator light. When there is no fetal heartbeat, the control module drives the indicator light to light up, and when there is a fetal heartbeat, the indicator light turns off.

[0008] Furthermore, the control module includes: a program storage and execution unit, configured to burn and run pressure-triggered action program, fetal heart sound playback and stop program, and simulated organ tactile feedback program, with built-in audio playback library and SD card driver library, supporting reading fetal heart sound files and simulated organ tactile calibration parameter files in the SD card; The signal processing unit is configured to receive pressure signals from the pressure trigger module, fetal heart signals from the fetal heart simulation module, and touch sensing signals from the simulated organ module in real time. It judges the signal status through preset thresholds and outputs corresponding control commands for arm movement, fetal heart sound start / stop, indicator light switch, and simulated organ touch feedback calibration. The serial port debugging unit is configured to support serial communication, allowing users to view real-time values ​​of various sensors, simulated organ touch sensing data, and device operating status via a serial port monitor. The tactile calibration unit is configured with preset standard tactile parameters corresponding to different degrees of cervical dilation and different descent positions of fetal presentation. It receives tactile feedback signals from the simulated organ module and compares them with the standard parameters. When the deviation exceeds the preset range, it automatically outputs a calibration command.

[0009] Furthermore, when the pressure triggering module acquires a pressure signal through a pressure sensor and links with the action drive module, it includes: The pressure triggering module presets a pressure triggering threshold, and the threshold range is set according to the analog signal value of the pressure sensor. The pressure triggering module collects pressure signals in real time and converts them into digital signals. The digital signals are then transmitted to the control module for signal verification, eliminating instantaneous fluctuation signals caused by pressing and shaking. When the verified pressure signal value is greater than the preset trigger threshold, the pressure trigger module sends an action start request signal to the control module. When the pressure signal value is less than or equal to the preset threshold and the duration exceeds the preset time, an action reset request signal is sent. The pressure triggering module is also configured to synchronously record the timestamp and signal peak value of each pressure trigger and store them in the cache unit of the control module for subsequent action execution effect tracking and threshold optimization.

[0010] Furthermore, when the motion drive module drives the limb joints to move via a micro servo motor, it includes: The micro servos of the motion drive module have preset initial angles and motion angles. The initial angle of the elbow servo is set to 0 degrees and the motion angle is set to 90 degrees. The servo angle at the joint is adjusted as needed by the program. After receiving the action command from the control module, the motion drive module transmits torque through the fixed connection structure between the shaft and the limb skeleton, driving the model arm to perform corresponding actions, and maintaining a constant speed rotation during the action execution. The motion drive module is also configured to provide real-time feedback of the actual rotation angle signal of the servo motor to the control module. When the deviation between the actual angle and the commanded angle is greater than 5 degrees, angle correction is automatically initiated. The miniature servo motor is embedded in the preset grooves of the elbow and knee joints of the model, and the grooves are provided with a buffer pad layer.

[0011] Furthermore, when the fetal heart rate simulation module's fetal heart rate sound sensor collects signals and switches fetal heart rate states, it includes: The fetal heart sound sensor has a preset signal recognition threshold. When the collected signal value is greater than the signal recognition threshold, it is determined that there is a fetal heartbeat, and the control module instructs the fetal heart sound playback unit to start. When the signal value is less than or equal to the signal recognition threshold, it is determined that there is no fetal heartbeat, and the fetal heartbeat playback is stopped immediately. The fetal heart rate simulation module is also configured to avoid false alarms caused by signal interference. The fetal heart rate simulation module is wrapped in soft sponge and grounded. When there is no fetal heartbeat, the indicator light on the status indicator unit remains constantly lit. At the same time, the control module records the start time and duration of the no-fetal-heartbeat state until the fetal heartbeat signal returns to normal, at which point the indicator light goes out and the timer is reset.

[0012] Furthermore, when the simulated organ module realizes touch sensing and status feedback, it includes: the cervical simulation structure has an adjustable elastic component built in, with preset morphological parameters of different opening degrees such as 3cm, 5cm, 7cm, and 10cm. The tension of the elastic component is adjusted by the calibration command of the control module to ensure that the resistance feedback during touch is consistent with the real clinical state. The tire presentation contact sensing structure adopts a differentiated shape design. The head presentation simulation end is set as a smooth circular protrusion structure, and the breech presentation simulation end is set as an irregular arc protrusion structure. The tire position can be distinguished through the difference in touch. The ischial spine simulation structure is made of rigid silicone material and fixed to a preset position on the inner wall of the vaginal simulation submodule. Its height and spacing parameters are set with reference to human anatomical standards to ensure the accuracy of touch positioning. The pre-amniotic sac simulation structure has a built-in flexible inflatable chamber. The inflation pressure is linked to the fetal heart rate through a control module. When there is a fetal heart rate, the preset pressure is maintained to simulate the inflated state, and when there is no fetal heart rate, the pressure is automatically released to simulate the rupture state. The simulated organ module also has a built-in touch sensing feedback unit, which collects the position and force signals of touch operations in real time and transmits them to the control module. When the touch force exceeds the safety threshold, the control module sends a warning signal through the serial port debugging unit to prevent the module from being damaged.

[0013] Furthermore, when the power module provides stable power to each functional module and performs voltage regulation, it includes: The power module presets the standard power supply voltage for each functional module, wherein the standard power supply voltage of the simulated organ module is consistent with that of the control module. The power module has a built-in voltage detection unit that collects the current operating voltage of each module in real time and calculates the voltage difference between the current voltage and the standard voltage. The voltage difference is equal to the absolute value of the current operating voltage minus the standard voltage. A first voltage difference range and a second voltage difference range are preset, wherein all values ​​in the second voltage difference range are greater than those in the first voltage difference range; When the voltage difference is equal to 0, the power supply is determined to be stable, and the power module maintains the current power supply state; When the voltage difference is greater than 0: If the voltage difference falls within the first voltage difference range, the power module activates the fine-tuning mode and adjusts the output voltage to the first adjusted output voltage. If the voltage difference falls within the second voltage difference range, the power module activates the enhancement mode and adjusts the output voltage to the second adjusted output voltage. The first adjusted output voltage is less than the second adjusted output voltage, and the power supply voltage of each module must be maintained within the preset safe range after adjustment.

[0014] Furthermore, after the power module completes voltage regulation, it also includes: The serial port debugging unit of the control module synchronously collects the operating current data and signal transmission stability data of each functional module, and presets the standard operating current threshold and standard signal stability threshold. The control module compares the operating current data with the standard operating current threshold and the signal transmission stability data with the standard signal stability threshold to determine whether the power supply adjustment has achieved the expected effect. When both conditions are met simultaneously—the operating current data being less than or equal to the standard operating current threshold and the signal transmission stability data being greater than or equal to the standard signal stability threshold—it is determined that the power supply regulation has achieved the expected effect, and the control module sends a power supply maintenance command to the power supply module. When either the operating current data is greater than the standard operating current threshold or the signal transmission stability data is less than the standard signal stability threshold, the control module generates a power supply optimization command. The power supply module adjusts the power distribution according to the command, prioritizing the power supply stability of the control module, the simulated organ module, and the fetal heart simulation module.

[0015] Furthermore, when the limb component is fitted and installed with the micro servo motor of the motion drive module and the gap is adjusted, it includes: The head, torso, and limbs of the fetal model are made by 3D printing. The fetus is half-sided, with the elbow and knee joints printed separately. The grooves of the elbow and knee joints are pre-set with a standard installation gap. After the micro servo motor of the motion drive module is embedded in the groove, the actual installation gap between the servo motor shaft and the limb skeleton is measured, and the gap difference is calculated. The gap difference is equal to the absolute value of the actual installation gap minus the standard installation gap. A first gap difference range and a second gap difference range are preset, wherein all values ​​in the second gap difference range are greater than those in the first gap difference range; When the gap difference is equal to 0, the fit is considered good, and the current installation state is maintained. When the gap difference is greater than 0: If the gap difference falls within the first gap difference range, a thin buffer pad is added inside the groove to adjust the gap to the first buffer gap. If the gap difference falls within the second gap difference range, replace the buffer pad with one of appropriate thickness and adjust the gap to the second buffer gap. The first buffer gap is smaller than the second buffer gap, and the installation gap between the servo shaft and the limb frame after adjustment must be maintained within the preset safe gap range.

[0016] Furthermore, it also includes: the control module starts a full-process function self-test program to collect pressure trigger response time, fetal heart rate state switching response time, limb movement completion accuracy and simulated organ touch sensing accuracy respectively; Preset standard trigger response time, standard fetal heart rate switching time, standard motion accuracy, and standard touch sensing accuracy; Compare each test data point with the corresponding standard value to determine whether the overall function of the model meets the requirements for teaching use: When all four conditions are met simultaneously—pressure trigger response time less than or equal to standard trigger response time, fetal heart rate state switching response time less than or equal to standard fetal heart rate switching time, limb movement completion accuracy greater than or equal to standard movement accuracy, and simulated organ touch sensing accuracy greater than or equal to standard touch sensing accuracy—the overall function of the model is deemed to be up to standard, and the control module sends a system ready command. If any condition is not met, the control module sends a recalibration command to the corresponding functional modules to restart the entire debugging process of pressure trigger threshold calibration, fetal heart sensor threshold calibration, servo angle calibration and simulated organ touch parameter calibration.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The fetal heart rate sound sensor features a soft sponge-wrapped design, fixed to the outer side of the fetal model's chest cavity with an exposed pickup surface. This design accurately matches the real fetal heart rate detection area, preventing signal gaps from the outset, and effectively isolates environmental noise and operational friction noise interference, significantly reducing the risk of misjudgment when no fetal heart rate is detected. Combined with a no-heart-rate indicator light mechanism, the fetal heart rate status is clearly visible, completely resolving the pain points of disordered and ambiguous fetal heart rate signals in traditional models.

[0018] 2. The miniature servo motors are embedded in the grooves of the shoulder, elbow, and knee joints, directly and securely connected to the limb skeleton, ensuring lossless power transmission and completely avoiding the motion jamming and misalignment problems caused by the installation misalignment of traditional model servo motors. Meanwhile, pressure sensors are precisely positioned on the outer side of the middle section of the arm, capturing pressure signals in real time and responding quickly, ensuring the sensitivity and accuracy of limb movements, and meeting the needs of repeated hands-on practice in teaching scenarios.

[0019] 3. The power module is fixed at the bottom of the torso, and all core components are installed discreetly and neatly, effectively solving the problems of wire tangling, component swaying, and exposed components affecting the appearance, thus improving the model's stability and durability. The control module has a built-in sensor fusion algorithm unit to achieve coordinated processing of pressure signals and fetal heart signals, breaking the limitations of traditional models where each module works independently, accurately reproducing multi-sign linkage scenarios in clinical settings, and meeting diverse teaching and training needs. Attached Figure Description

[0020] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 The diagram shows the structure of a convenient, multifunctional simulated pregnant woman teaching model based on sensor fusion, as provided in an embodiment of the present invention. Detailed Implementation

[0021] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey its scope to those skilled in the art. It should be noted that, unless otherwise specified, embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Reference Figure 1In some embodiments of this application, a convenient multifunctional simulated pregnant woman teaching model based on sensor fusion includes: a pressure triggering module, a fetal heart simulation module, a simulated organ module, a control module, an action driving module, and a power supply module.

[0023] Specifically, the pressure triggering module is configured to collect pressure signals generated by pressing the model arm in real time through a pressure sensor, which is located on the outer side of the middle section of the model arm. The fetal heart simulation module is configured to simulate the real fetal heart state, control the switching between fetal heart sound playback and no fetal heart state, and has a no fetal heart indicator light linked to the status display. The fetal heart simulation module is equipped with a fetal heart sound sensor, which is configured to collect fetal heart signals in real time. The fetal heart sound sensor is fixed to the outside of the fetal model's chest cavity by being wrapped in soft sponge, with the sensor's sound pickup surface exposed. The simulated organ module is configured to simulate the human vagina, rectum, anus, and genitourinary structures. The simulated organ module includes a vaginal simulation submodule and a rectum-anus simulation submodule. The vaginal simulation submodule has a pre-set cervical dilation simulation structure, anterior amniotic sac simulation structure, and fetal presentation contact sensing structure. The rectum-anus simulation submodule is arranged adjacent to the vaginal simulation submodule and does not interfere with each other. When touched through the vaginal opening or rectum-anus, the degree of cervical dilation, the position of the ischial spines, and the descent of the fetal presentation can be sensed. The presence of the anterior amniotic sac simulation structure is judged by tactile feedback. The morphological differences of the fetal presentation contact sensing structure can be used to distinguish the fetal position type of cephalic presentation and breech presentation. The control module is electrically connected to the pressure triggering module, fetal heart simulation module, and simulated organ module. The control module is configured to program and run the pressure triggering action program, the fetal heart sound playback and stop program, and the simulated organ tactile feedback program. The control module has a built-in sensor fusion algorithm unit, which is configured to fuse and process the pressure signal, fetal heart signal, and simulated organ touch sensing signal and generate coordinated control commands. The control module is also configured to process the various signals collected and output action commands, fetal heart state control commands, and simulated organ tactile feedback calibration commands. The motion drive module is connected to the pressure trigger module and the control module respectively. The motion drive module is configured to receive instructions from the control module and provide power through miniature servos embedded in the grooves of the shoulder joint, elbow joint and knee joint of the model, so as to drive the model's arm to lift, forearm to rotate and limb joint to move. The servos are fixed to the limb skeleton. The power module is configured to provide stable power to the pressure trigger module, fetal heart simulation module, control module, motion drive module and simulated organ module. The power module is fixed to the bottom of the model's torso.

[0024] Specifically, the fetal heart simulation module includes: a fetal heart sound playback unit, which is configured to be equipped with a small patch speaker. The speaker is fixed inside the model's torso, close to the fetal model and away from the servo motor. The playback and stop of the fetal heart sound are controlled by the control module. The status indication unit is configured to have a no-fetal-heart indicator light. When there is no fetal heartbeat, the control module drives the indicator light to light up, and when there is a fetal heartbeat, the indicator light turns off.

[0025] Specifically, the control module includes: a program storage and execution unit, which is configured to burn and run pressure-triggered action program, fetal heart sound playback and stop program and simulated organ tactile feedback program, and has a built-in audio playback library and SD card driver library, which supports reading fetal heart sound files and simulated organ tactile calibration parameter files in the SD card; The signal processing unit is configured to receive pressure signals from the pressure trigger module, fetal heart signals from the fetal heart simulation module, and touch sensing signals from the simulated organ module in real time. It judges the signal status through preset thresholds and outputs corresponding control commands for arm movement, fetal heart sound start / stop, indicator light switch, and simulated organ touch feedback calibration. The serial port debugging unit is configured to support serial communication, allowing users to view real-time values ​​of various sensors, simulated organ touch sensing data, and device operating status via a serial port monitor. The tactile calibration unit is configured with preset standard tactile parameters corresponding to different degrees of cervical dilation and different descent positions of fetal presentation. It receives tactile feedback signals from the simulated organ module and compares them with the standard parameters. When the deviation exceeds the preset range, it automatically outputs a calibration command.

[0026] Specifically, the core component of the pressure triggering module is a pressure sensor, which is attached to the outer side of the forearm in the middle of the model arm, away from the joints. Its surface is exposed for pressing operations, and its bottom is connected to the controller via a wire. The module's wiring follows the principles of precise power supply and signal transmission. The pressure sensor's VCC pin is connected to the controller's 5V pin for power, its GND pin is connected to the controller's GND pin to form a loop to prevent short circuits, and its signal pin is connected to the controller's analog pin (e.g., A0) to transmit the pressure signal. The module presets a pressure trigger threshold. After conversion and verification, the collected pressure signal sends an action start or reset request signal to the control module, ensuring the accuracy of limb action triggering and preventing interference with the touch sensing signals of the simulated organ module during signal transmission.

[0027] Specifically, the fetal heart rate simulation module uses a fetal heart rate sound sensor as its core. The sensor is initially fixed inside the fetal abdomen, outside the fetal chest cavity, wrapped in soft sponge and secured with double-sided tape, leaving only the sound-collecting surface exposed. This avoids damaging the fetal model and reduces environmental noise interference. The module includes a fetal heart rate sound playback unit and a status indicator unit. The former, equipped with a small patch speaker fixed inside the torso near the fetus and away from the servo motor, plays a standardized converted fetal heart rate sound file. The latter's no-heart rate indicator light is linked to the sensor, illuminating when there is no heart rate and turning off when a heart rate is detected. The sensor wires are routed along the seams of the inner abdominal wall to the bottom of the torso to avoid tangling with the fetal model.

[0028] Specifically, the simulated organ module uses medical-grade flexible silicone as its core material, adapting to the anatomical position of the model's pelvic cavity. It is fixed to the inner side of the bottom of the torso with medical-grade adhesive, and installed separately from the power module to avoid compression. The cervical simulation structure of the vaginal simulation submodule has an adjustable elastic component built in, connected to the control module via a micro-adjustment knob, supporting manual preset and automatic calibration of different opening degrees such as 3cm, 5cm, 7cm, and 10cm. The anterior amniotic sac simulation structure uses a flexible inflatable chamber, connected to a micro-air pump inside the torso via a thin tube. The air pump is controlled by the control module's linkage commands, maintaining a preset pressure of 0.3MPa when there is a fetal heartbeat, and automatically depressurizing when there is no fetal heartbeat. The fetal presenting part contact sensing structure is integrated beneath the fetal model. The cephalic presenting part has a smooth, round protrusion (approximately 3cm in diameter), while the breech presenting part has an irregularly curved protrusion. Touch signals are fed back to the control module via embedded contact sensors. The rectal-anal simulation submodule and the vaginal simulation submodule are approximately 2cm apart, with their inner walls pre-installed with a rigid silicone ischial spine simulation structure. The spacing is set at 10cm, referencing human anatomical standards, to ensure accurate touch positioning. Module wires are routed along the pelvic wall creases to the bottom of the torso and are secured to other module wires using cable ties. The GND pin is separately connected to the controller's dedicated grounding pin to reduce signal interference.

[0029] Specifically, the control module is preferably an Arduino Nano, fixed inside the model's torso and chest cavity, secured with double-sided tape or cable ties to prevent movement, and kept away from the fetal model and simulated organ modules, with a distance of at least 5cm to avoid signal interference. The module has four main built-in units: program storage and execution, signal processing, serial port debugging, and tactile calibration. It also includes an SD card driver library, audio playback library, and tactile calibration algorithm library, allowing simultaneous programming of three types of programs: pressure-triggered actions, fetal heart rate playback / stop, and simulated organ tactile feedback, all running without conflict. Its built-in sensor fusion algorithm unit can collaboratively process pressure signals, fetal heart rate signals, and simulated organ touch sensing signals. The serial port debugging unit displays real-time sensor values, simulated organ touch position, and force data at a 9600 baud rate for easy troubleshooting. The tactile calibration unit presets 10 sets of standard tactile parameters corresponding to cervical dilation (0-10cm gradient) and 5 sets of fetal presentation descent positions, stored in the "calibration.txt" file on the SD card. It receives and compares the tactile feedback signals from the simulated organ modules in real time, automatically outputting calibration commands when the deviation exceeds ±10%.

[0030] Specifically, the audio file needs to be pre-processed into an 8-bit, 22050Hz, mono WAV format, named "fetal_heart.wav", and saved to the root directory of the SD card; the simulated organ touch calibration parameter file should be named "touch_calib.csv" in CSV format, stored in the format of "cervical dilation degree - standard tactile resistance - fetal presenting position - standard feedback signal" to ensure that the controller can read it correctly. Pin matching can be adjusted according to the actual wiring by adjusting the pin numbers after "#define" in the program, such as connecting the touch sensing signal pin of the simulated organ module to the controller's A1 pin and the air pump control pin to the D10 pin; threshold adjustment requires powering on and using a serial monitor to view the actual values ​​of the simulated organ module under different touch states, modifying the reference thresholds of "cervixTouchValue" and "fetalTouchValue" in the program to avoid misjudgment of the state.

[0031] Specifically, the motion drive module is powered by miniature servos, which are embedded in pre-drilled grooves in the shoulder, elbow, and knee joints of the model. The servo shafts are fixed to the limb skeleton with glue or cable ties. The shoulder servo drives the arm to rise and fall, while the elbow servo drives the forearm to rotate. The servo wiring and power supply are standardized: the VCC pin is connected to the controller's 5V pin, the GND pin is connected to the same GND pin on the controller to ensure signal stability, and the signal pin is connected to the controller's digital pin (e.g., D9) to receive motion commands. The module presets the initial and motion angles of the servos, maintaining uniform rotation during motion execution and providing real-time angle feedback. It automatically corrects for deviations exceeding 5 degrees. The signal transmission between the module and the simulated organ module does not interfere with each other during motion operation.

[0032] Specifically, the power module uses two compatible lithium batteries, fixed on both sides of the bottom of the model's torso near the edge, which does not occupy core space and facilitates future replacement and maintenance. This module provides stable power to five major modules: pressure triggering module, fetal heart simulation module, control module, motion drive module, and simulated organ module. All component wires are connected to the corresponding interface on the controller, strictly adhering to the unified grounding principle. The GND pins of the pressure sensor, servo motor, fetal heart sensor, and simulated organ module are connected to the same GND pin on the controller through wire branch terminals to avoid short circuits and signal interference. Excess wires are bundled with cable ties and stored in the gap at the bottom of the torso, not extending into the pelvic cavity to prevent contact with the inflation chamber of the simulated organ module and the sensors.

[0033] In the above embodiments, the fetal heart rate sound sensor adopts a soft sponge-wrapped design, fixed to the outer side of the fetal model's chest cavity with an exposed pickup surface. This accurately matches the real fetal heart rate detection area, avoiding signal gaps from the source, and effectively isolates environmental noise and operational friction noise interference, significantly reducing the risk of misjudgment when no fetal heart rate is detected. Combined with a no-heart-rate indicator light linkage mechanism, the fetal heart rate status is intuitively visible, completely solving the pain points of disordered and ambiguous fetal heart rate signals in traditional models. Miniature servos are embedded in the grooves of the shoulder, elbow, and knee joints, directly fixed to the limb skeleton, ensuring lossless power transmission and completely avoiding the motion jamming and offset problems caused by servo installation misalignment in traditional models. Simultaneously, a pressure sensor is precisely positioned on the outer side of the middle of the arm, capable of capturing and quickly responding to compression signals in real time, ensuring the sensitivity and execution accuracy of limb movements, and adapting to the needs of repeated hands-on practice in teaching scenarios. The power module is fixed to the bottom of the torso, with all core components installed discreetly and neatly, effectively solving the problems of tangled wires, component shaking, and exposed components affecting the appearance, improving the model's stability and durability. The control module has a built-in sensor fusion algorithm unit to achieve coordinated processing of pressure signals and fetal heart signals, breaking the limitations of independent operation of each module in traditional models, accurately reproducing the clinical multi-sign linkage scenario, and meeting diverse teaching and training needs.

[0034] In specific embodiments of this application, the above steps are implemented in the following ways: This model can be widely adapted to various scenarios such as prenatal nursing training classes in medical colleges, pre-job practical training for medical staff, and obstetric nursing skills assessment. In daily teaching scenarios, teachers can use this model to demonstrate standardized prenatal limb care movements, allowing students to press the pressure sensor on the outer side of the middle section of the model's arm, observe the uniform lifting motion of the forearm, and grasp the correspondence between pressure intensity and limb response. In fetal heart monitoring training, students can sense fetal heart sounds, manually move the fetal model to simulate abnormal situations, and observe the linkage effect of the cessation of fetal heart sounds and the illumination of the indicator light. In prenatal examination training, students can insert and touch the vaginal or rectal anus sub-module of the simulated organ module to sense the resistance differences at different dilation levels of the cervix (3cm, 5cm, etc.), distinguish the morphological differences between head-presenting and breech presentations through touch, locate the ischial spines to determine the descent state of the presenting part, and simulate the tactile differences between the filling and rupture of the amniotic sac. In skills assessment scenarios, examiners can view real-time sensor values, servo motor motion accuracy, and simulated organ touch sensing data through the serial port debugging unit, objectively evaluating the accuracy of the candidate's operation. The model's stable performance ensures the continuous conduct of the assessment process.

[0035] The complete deployment of this model requires following a standardized modular installation process: In the initial preparation phase, gather core components such as two sets of pressure sensors + controllers + servos, two compatible lithium batteries, one fetal heart rate sensor, and one simulated organ module. Use soft sponges, medical-grade adhesive, and cable ties as auxiliary materials. Mark the fetal model's location, the pressure sensor's pressing area, and the simulated organ module's operating entrance on the outside of the model. Next, secure the fetal model and fetal heart rate sensor. Wrap the fetal heart rate sensor in soft sponge and attach it to the outside of the fetal chest cavity, placing it inside the model's abdomen, ensuring the sound pickup surface is unobstructed. Then, install the simulated organ module, securing it to the pelvic cavity with medical-grade adhesive, connecting the air pump and tubing, and routing the wires to the bottom of the torso. During the pressure triggering device installation, attach the pressure sensor to the outside of the forearm, fix the controller to the side of the torso away from the fetus and simulated organ module, embed the servo in the elbow joint, and route the wires along the inner wall of the torso in sections. In the lithium battery and wire assembly stage, two lithium batteries are fixed to both sides of the bottom of the torso, and the wires of each module are connected one by one, strictly adhering to the unified grounding principle. Excess wires are bundled and stored at the bottom of the torso. Finally, functional tests are conducted: verifying the accuracy of the fetal heart rate sensor's state switching, the smoothness of the pressure triggering action, and the tactile feedback and calibration function of the simulated organ module. If signal interference occurs, a soft sponge shielding layer can be added around the simulated organ module, or the distance between the controller and the module can be adjusted to more than 5cm. It is only after all functions meet the standards that it can be put into teaching use.

[0036] The above scenarios are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

[0037] Specifically, when the pressure triggering module collects pressure signals through the pressure sensor and links with the action drive module, it includes: the pressure triggering module presets a pressure triggering threshold, and the threshold range is set according to the analog signal value of the pressure sensor; The pressure trigger module collects pressure signals in real time and converts them into digital signals. The digital signals are then transmitted to the control module for signal verification, eliminating instantaneous fluctuation signals caused by pressing and shaking. When the verified pressure signal value is greater than the preset trigger threshold, the pressure trigger module sends an action start request signal to the control module. When the pressure signal value is less than or equal to the preset threshold and the duration exceeds the preset time, an action reset request signal is sent. The pressure triggering module is also configured to synchronously record the timestamp and signal peak value of each pressure trigger and store them in the cache unit of the control module for subsequent action execution effect tracking and threshold optimization.

[0038] Specifically, the pressure trigger module presets a pressure trigger threshold. The threshold range is set based on the analog signal value of the pressure sensor. Referring to the sensor's analog signal output range of 0-1023, the trigger threshold is set to 350. The threshold can be finely adjusted within the range of 300-400 to adapt to different teaching needs in terms of pressing force. The pressure trigger module collects the pressure signal in real time and converts the 0-5V analog signal into a 0-1023 digital signal through the controller's built-in 10-bit analog-to-digital converter. The digital signal is then transmitted to the signal processing unit of the control module for verification. By setting a 50ms signal stability judgment time, instantaneous fluctuation signals with a duration of less than 50ms caused by pressing jitter are eliminated to ensure signal authenticity. When the verified pressure signal value is greater than the preset trigger threshold of 350, the pressure is triggered. The trigger module sends an action start request signal to the control module, which then instructs the micro servo motor of the action drive module to rotate from the initial 0° to 90°, driving the forearm to complete the lifting action. When the pressure signal value is less than or equal to the preset threshold of 350 and the duration exceeds 1000ms, an action reset request signal is sent, and the servo motor rotates back from 90° to 0°, restoring the forearm to its initial position. The pressure trigger module is also configured to synchronously record the timestamp and signal peak value of each pressure trigger. The timestamp is based on the controller's running time and is recorded precisely to the millisecond using the millis() function. The signal peak value is the maximum value of the digital signal collected during each trigger. All recorded data is stored in the control module's cache unit, which supports storing the most recent 100 complete trigger records for subsequent action execution effect tracking and threshold optimization.

[0039] The above embodiments significantly improve the accuracy of pressure signal acquisition by precisely setting the pressure trigger threshold for the sensor's analog signal, combining analog-to-digital signal conversion with signal verification to eliminate instantaneous fluctuations caused by pressure jitter. Simultaneously, by clearly defining the action initiation and reset request conditions (signal exceeding the threshold for initiation, and signal below or equal to the threshold for a preset time for reset), timely and stable limb movement responses are ensured, avoiding action lag or false triggering. Furthermore, the pressure trigger timestamp and signal peak value are simultaneously recorded and stored in the control module cache, providing reliable data support for subsequent tracking of action execution effects and targeted optimization of trigger thresholds. Overall, these embodiments meet the core requirements of prenatal teaching and training for the accuracy and optimizability of action simulation.

[0040] Specifically, when the motion drive module drives the limb joints to move via micro servos, it includes: the micro servos of the motion drive module preset initial angle and motion angle, wherein the initial angle of the elbow servo is set to 0 degrees and the motion angle is set to 90 degrees, and the servo angle at the joint is adjusted as needed by the program. After receiving the motion command from the control module, the motion drive module transmits torque through the fixed connection structure between the shaft and the limb skeleton, driving the model arm to perform corresponding movements, and maintaining a constant speed rotation during the motion execution process. The motion drive module is also configured to provide real-time feedback of the actual rotation angle signal of the servo motor to the control module. When the deviation between the actual angle and the commanded angle is greater than 5 degrees, angle correction is automatically initiated. The miniature servo motors are embedded in the pre-set grooves of the model's elbow and knee joints, and the grooves are equipped with cushioning pads.

[0041] Specifically, the motion drive module uses the SG90 micro servo as its power core. This model of servo has a torque of 1.8 kg·cm and a rotation speed of 0.12 seconds / 60 degrees, which is suitable for the driving needs of the model's limbs. The micro servo has preset initial angles and movement angles. Specifically, the elbow servo has an initial angle of 0 degrees and a movement angle of 90 degrees, the shoulder servo has an initial angle of 0 degrees and a movement angle of 60 degrees, and the knee joint has an initial angle of 180 degrees and a movement angle of 120 degrees. The servo angles at the joints can be finely adjusted within ±5 degrees as needed through the program to adapt to the motion demonstration needs of different teaching scenarios. After receiving the motion command from the control module, the motion drive module transmits torque through the fixed connection structure between the shaft and the limb skeleton. The rotation speed of the limb movement is set to 3 degrees / millisecond. For example, the elbow servo takes 300 milliseconds to rotate from 0 degrees to 90 degrees, driving the model's arm to perform the corresponding movement. The system maintains a constant rotation speed during operation to avoid sudden starts and stops. The motion drive module is also configured to provide real-time feedback of the servo's actual rotation angle signal to the control module at a frequency of 20 milliseconds per cycle. The control module's signal processing unit compares the actual angle with the commanded angle. When the deviation exceeds 5 degrees, angle correction is automatically initiated. During correction, the angle is adjusted at a rate of 2 degrees per millisecond, and a 10-millisecond pause is performed after correction to confirm the angle and ensure motion accuracy. The miniature servo is embedded in the preset grooves of the model's elbow and knee joints. The groove dimensions are designed according to the servo specifications (22mm×12mm×27mm), with the inner wall 0.5mm larger than the servo's outer shape. The grooves are equipped with a 2mm thick soft silicone cushioning layer, which fills the installation gap, reduces vibration and noise during servo operation, and prevents wear caused by hard contact between the servo and the groove.

[0042] The above embodiments, by clearly defining the initial and movement angles of core joints such as the elbow servo motor and supporting on-demand program adjustments, adapt to the needs of demonstrating different limb movements in prenatal teaching; the servo motor shaft is fixedly connected to the limb skeleton to transmit torque and maintain uniform rotation, ensuring smooth and stable limb movements such as arm movements, restoring the limb movement state in real nursing scenarios; by providing real-time feedback of servo motor angle signals and automatically correcting when the deviation exceeds 5 degrees, the accuracy of limb movement execution is greatly improved, avoiding the impact of angle deviation on teaching effectiveness; the miniature servo motor is embedded in a preset groove and has a buffer pad inside, which not only achieves stable installation of the servo motor, but also reduces vibration and noise during servo motor operation, while avoiding wear caused by hard contact of parts, extending the service life of the model, and fully adapting to the practical training needs of simulated pregnant women teaching models.

[0043] Specifically, when the fetal heart rate simulation module's fetal heart rate sound sensor collects signals and switches fetal heart rate states, it includes: The fetal heart sound sensor has a preset signal recognition threshold. When the collected signal value is greater than the signal recognition threshold, it is determined that there is a fetal heartbeat, and the control module instructs the fetal heart sound playback unit to start. When the signal value is less than or equal to the signal recognition threshold, it is determined that there is no fetal heartbeat, and the fetal heartbeat playback is stopped immediately. The fetal heart rate simulation module is also configured to avoid false alarms caused by signal interference. The fetal heart rate simulation module is wrapped in soft sponge and grounded. When there is no fetal heartbeat, the indicator light on the status indicator unit remains constantly lit. At the same time, the control module records the start time and duration of the no-fetal-heartbeat state until the fetal heartbeat signal returns to normal, at which point the indicator light goes out and the timer is reset.

[0044] Specifically, the fetal heart rate sound sensor has a preset signal recognition threshold. Referring to the sensor's analog signal output range of 0-1023, the threshold is set to 500. This threshold can be fine-tuned within the range of 450-550 according to the actual usage environment to adapt to signal recognition needs in different scenarios. The sensor collects signals in real time at a frequency of 50ms / time. When the collected signal value is greater than 500, it is determined that there is a fetal heartbeat. The control module immediately instructs the fetal heart rate sound playback unit to start, driving a small patch speaker to play standard fetal heart rate sounds at 120-160 times / minute. The speaker volume is fixed at level 5 (volume range 1-7) suitable for teaching scenarios. When the signal value is less than or equal to 500, it is determined that there is no fetal heartbeat. The control module triggers a fetal heart rate sound playback stop command within 100ms, cutting off the speaker power to avoid state switching delay. The fetal heart rate simulation module is also configured to avoid false alarms caused by signal interference. The fetal heart rate sound sensor is wrapped in a thin soft sponge with a thickness of 2-3mm. At the same time, the GND pin of the sensor, the GND pin of the pressure sensor and the servo motor are connected to the same GND pin of the controller to achieve unified grounding and reduce circuit signal disorder. When there is no fetal heart rate, the red no-fetal heart rate indicator light (operating voltage 3-5V) of the status indicator unit remains constantly lit. At the same time, the control module accurately records the start time (accurate to milliseconds) and duration of the no-fetal heart rate state through the built-in timing function. The relevant data is stored in the control module cache unit, which supports the retention of the most recent 50 complete records. The indicator light immediately turns off and the timing is reset after the fetal heart rate signal returns to normal (value greater than 500 and stable for 200ms), ensuring the integrity and accuracy of the status record.

[0045] Specifically, there are three main reasons why a fetal heart rate sensor might falsely report no fetal heartbeat, and the troubleshooting and solutions require precise matching: 1. If the signal is blocked or the pickup surface is misaligned, open the model's abdomen to check if the pickup surface is blocked by clothing, sponges, etc. Confirm that the sensor is not deviated from the outer side of the fetal chest cavity, remove any obstructions, and re-fix the sensor directly in front of the fetal chest cavity, leaving a 1-2mm gap in the pickup surface. 2. If the wires have poor contact or inconsistent grounding, check if the wires are tightly plugged in and if the connectors are oxidized. Wipe oxidized connectors with alcohol. Simultaneously, connect all the GND pins of all devices to the same GND pin on the controller. 3. When encountering environmental or equipment noise interference, turn off high-power electrical appliances nearby. You can wrap the sensor with thin aluminum foil as a shielding mesh, increase the distance between the controller and the sensor to more than 5cm, and fix the servo motor wires away from the sensor wires to reduce current noise.

[0046] The above embodiments accurately determine the presence or absence of fetal heartbeat by setting a preset signal recognition threshold and quickly switch between playing and stopping the fetal heartbeat sound. Combined with the soft sponge-wrapped sensor and unified grounding, environmental noise and circuit signal interference are effectively reduced, significantly lowering the false alarm rate of no fetal heartbeat. When there is no fetal heartbeat, the indicator light stays on and the control module records the start time and duration of the status. It automatically resets after the fetal heartbeat signal is restored. This makes the fetal heartbeat status intuitive and provides a reliable basis for status traceability in teaching and training, perfectly meeting the core requirements of accuracy and intuitiveness in prenatal fetal heartbeat monitoring teaching.

[0047] Specifically, when the simulated organ module realizes touch sensing and status feedback, it includes: the cervical simulation structure has an adjustable elastic component built in, with preset morphological parameters for different opening degrees such as 3cm, 5cm, 7cm, and 10cm. The tension of the elastic component is adjusted by the calibration command of the control module to ensure that the resistance feedback during touch is consistent with the real clinical state. The tire presentation contact sensing structure adopts a differentiated shape design. The head presentation simulation end is set as a smooth circular protrusion, while the breech presentation simulation end is set as an irregular arc protrusion. The tire position can be distinguished through the difference in touch. The ischial spine simulation structure is made of rigid silicone material and fixed to a preset position on the inner wall of the vaginal simulation sub-module. Its height and spacing parameters are set with reference to human anatomical standards to ensure the accuracy of touch positioning. The anterior amniotic sac simulation structure has a built-in flexible inflatable chamber. The inflation pressure is linked to the fetal heart rate through a control module. When there is a fetal heart rate, the preset pressure is maintained to simulate the inflated state, and when there is no fetal heart rate, the pressure is automatically released to simulate the rupture state. The simulated organ module also has a built-in touch sensing feedback unit, which collects the position and force signals of touch operations in real time and transmits them to the control module. When the touch force exceeds the safety threshold, the control module sends a warning signal through the serial port debugging unit to prevent the module from being damaged.

[0048] Specifically, when the simulated organ module implements touch sensing and status feedback, its cervical dilation simulation structure has an adjustable elastic component built in. Preset morphological parameters of 3cm, 5cm, 7cm, and 10cm are used to match different dilation levels in clinical labor. The tension of the elastic component is dynamically adjusted through the touch calibration command of the control module, ensuring that the resistance feedback during touch accurately matches the tactile differences of cervical dilation in real clinical settings. The fetal presentation contact sensing structure adopts a differentiated morphological design: the cephalic presentation simulation end is a smooth, round protrusion with a diameter of approximately 3cm, while the breech presentation simulation end is an irregularly curved protrusion. This clear distinction in tactile morphology helps users quickly determine the fetal position. The ischial spine simulation structure is made of hard silicone material with a Shore hardness of 70 and is fixed at preset positions on both sides of the inner wall of the vaginal simulation submodule, with a height of 3cm. The spacing is set at 10cm, referencing human anatomical standards, to ensure accurate positioning of the ischial spines during touch to determine the degree of fetal descent. The anterior amniotic sac simulation structure incorporates a flexible medical-grade rubber inflatable chamber. The inflation pressure is linked to the fetal heart rate via a control module. When a fetal heart rate is present, a preset pressure of 0.3MPa is maintained to simulate the elastic feel of a full-filled state. When no fetal heart rate is present, the pressure automatically deflates to below 0.05MPa within 100ms to simulate a rupture. The module also incorporates a high-precision touch sensing feedback unit, which collects the position coordinates and force signals of touch operations in real time at a frequency of 50ms / time and transmits them to the control module. The preset touch force safety threshold is 5N. When the detected force exceeds this threshold, the control module issues an overload warning signal in the form of a red warning character through the serial port debugging unit to prevent excessive pressing from damaging the module structure.

[0049] The above embodiments significantly enhance the realism and practicality of teaching and training by accurately replicating core clinical prenatal examination scenarios: the adjustable elastic components of the cervical dilation simulation structure can accurately simulate the dilation morphology and resistance feedback at different stages of labor, such as 3cm, 5cm, 7cm, and 10cm, helping learners intuitively grasp the key points of clinical judgment of cervical dilation; the differentiated morphological design of the fetal presentation contact sensing structure, through the tactile difference between smooth circular protrusions and irregular arc-shaped protrusions, enables rapid differentiation between cephalic and breech presentations, solving the pain point of vague fetal position simulation in traditional models; the ischial spine simulation structure strictly follows human anatomy. Standard height and spacing settings ensure accurate touch positioning, providing precise reference for judging the degree of fetal presentation descent. The simulated anterior amniotic sac structure is linked to fetal heart rate, dynamically simulating the tactile changes of filling and rupture, restoring the correlation between physiological and pathological states in clinical practice. The built-in touch-sensing feedback unit not only collects operation position and force data in real time, providing support for teaching assessment, but also prevents module damage through safety threshold warnings, extending the equipment's lifespan. Overall, it fills the gap in the accurate simulation of prenatal physical examinations using traditional models, allowing learners to accumulate clinical experience through safe and repeatable operations, significantly improving the training effect.

[0050] Specifically, when the power supply module provides stable power and performs voltage regulation for each functional module, it includes: the power supply module presets the standard power supply voltage corresponding to each functional module, wherein the standard power supply voltage of the simulated organ module is consistent with that of the control module; The power module has a built-in voltage detection unit that collects the current operating voltage of each module in real time and calculates the voltage difference between the current voltage and the standard voltage. The voltage difference is equal to the absolute value of the current operating voltage minus the standard voltage. A first voltage difference range and a second voltage difference range are preset, wherein all values ​​in the second voltage difference range are greater than those in the first voltage difference range; When the voltage difference is equal to 0, the power supply is determined to be stable, and the power module maintains the current power supply state; When the voltage difference is greater than 0: if the voltage difference is within the first voltage difference range, the power module starts the fine-tuning mode and adjusts the output voltage to the first adjusted output voltage; If the voltage difference falls within the second voltage difference range, the power module activates the enhancement mode and adjusts the output voltage to the second adjusted output voltage. The first adjusted output voltage is less than the second adjusted output voltage, and the power supply voltage of each module must be maintained within the preset safe range after adjustment.

[0051] Specifically, the power module presets the standard supply voltage for each functional module. The standard supply voltage for the simulated organ module is consistent with that of the control module. Specifically, the standard supply voltage for the pressure sensor, fetal heart sound sensor, micro servo motor, and control module (Arduino Nano) is set to 5V, as is the standard supply voltage for the small surface-mount speaker. The allowable error range for the supply voltage of each module is no more than ±0.1V. The power module has a built-in high-precision voltage detection unit that collects the current operating voltage of each module in real time at a frequency of 100ms / time. It calculates the voltage difference between the current voltage and the standard voltage using a built-in algorithm (the voltage difference equals the absolute value of the current operating voltage minus the standard voltage). The preset first voltage difference range is 0V < voltage difference ≤ 0.2V, and the second voltage difference range is 0.2V < voltage difference ≤ 0.5V. When all values ​​in the second voltage difference range are greater than those in the first voltage difference range, and the voltage difference exceeds 0.5V, a power module fault warning will be triggered. When the voltage difference is equal to 0, the power supply is considered stable, and the power module maintains its current power supply state without additional adjustment. When the voltage difference is greater than 0: if the voltage difference falls within the first voltage difference range, the power module activates fine-tuning mode, adjusting the output voltage to the first adjusted output voltage of 5.0V to maintain stable power supply through minor corrections. If the voltage difference falls within the second voltage difference range, the power module activates emphasis mode, adjusting the output voltage to the second adjusted output voltage of 5.1V. The first adjusted output voltage is less than the second adjusted output voltage, and after adjustment, the power supply voltage of each module remains within the preset safe range of 4.5V-5.5V to prevent damage to components due to excessively high voltage or malfunction of the module due to excessively low voltage. The above embodiments simulate the standard power supply voltage of the organ module and control module by pre-setting the standard power supply voltage corresponding to each functional module. The built-in voltage detection unit collects the voltage in real time and accurately calculates the voltage difference. The output voltage is adjusted according to the difference range by starting fine adjustment and emphasis mode respectively, and ensuring that the voltage is maintained within a safe range after adjustment. This not only avoids module damage or functional failure caused by abnormal voltage, but also provides a continuous and stable power supply for each module of the model, ensuring the reliability and continuity of the model in pre-production teaching and training.

[0052] Specifically, after the power module completes voltage regulation, it also includes: the serial port debugging unit of the control module synchronously collects the working current data and signal transmission stability data of each functional module, and presets the standard working current threshold and standard signal stability threshold. The control module compares the operating current data with the standard operating current threshold and the signal transmission stability data with the standard signal stability threshold to determine whether the power supply adjustment has achieved the expected effect. When both conditions are met simultaneously—the operating current data being less than or equal to the standard operating current threshold and the signal transmission stability data being greater than or equal to the standard signal stability threshold—it is determined that the power supply regulation has achieved the expected effect, and the control module sends a power supply maintenance command to the power supply module. When either the operating current data is greater than the standard operating current threshold or the signal transmission stability data is less than the standard signal stability threshold, the control module generates a power supply optimization command. The power supply module adjusts the power distribution according to the command, prioritizing the power supply stability of the control module, the simulated organ module, and the fetal heart simulation module.

[0053] Specifically, the serial port debugging unit of the control module synchronously collects the operating current data and signal transmission stability data of each functional module at a frequency of 100ms / time. The operating current data acquisition accuracy is accurate to 0.1mA, and the signal transmission stability is measured by the signal transmission success rate, with an acquisition accuracy of 0.1%. The preset standard operating current threshold is that the total operating current of all modules is ≤150mA, of which the standard operating current of the pressure sensor module is ≤10mA, the fetal heart sound sensor is ≤8mA, the micro servo motor is ≤80mA under working conditions, and the control module is ≤40mA. The preset standard signal stability threshold is that the signal transmission success rate is ≥99.0%. The control module compares the real-time collected operating current data with the standard operating current threshold and the signal transmission stability data with the standard signal stability threshold one by one. The system compares the power supply data to accurately determine whether the power supply adjustment has achieved the expected effect. When both conditions are met simultaneously, namely, the operating current data is less than or equal to the standard operating current threshold of 150mA and the signal transmission stability data is greater than or equal to the standard signal stability threshold of 99.0%, the power supply adjustment is determined to have achieved the expected effect, and the control module immediately sends a power supply maintenance command to the power supply module. When either condition is met, namely, the operating current data is greater than the standard operating current threshold of 150mA and the signal transmission stability data is less than the standard signal stability threshold of 99.0%, the control module generates a power supply optimization command. The power supply module adjusts the power supply distribution of each module by ±5% according to the command, prioritizing the power supply stability of the control module, the simulated organ module, and the fetal heart simulation module, and appropriately reducing the power supply ratio of the servo motor in the non-operating state.

[0054] The above embodiments, through the serial port debugging unit of the control module, synchronously collect the operating current and signal transmission stability data of each functional module, and make accurate comparisons with preset standard thresholds. This can maintain stable power supply when both conditions are met, and generate power supply optimization commands to adjust power allocation in a timely manner when either condition is not met. It can also prioritize the power supply of core modules, effectively avoid module failures caused by abnormal current and unstable signals, significantly improve the intelligence and reliability of the model power supply system, and provide a solid guarantee for the continuous and smooth development of pre-production teaching and training.

[0055] Specifically, when the limb parts are fitted and installed with the micro servo motors of the motion drive module and the gap is adjusted, the following steps are taken: the head, torso, and limbs of the fetal model are made by 3D printing, and the fetus is half-sided. The elbow and knee joints are printed separately. The grooves of the elbow and knee joints are preset with standard installation gaps. After the micro servo motors of the motion drive module are embedded in the grooves, the actual installation gap between the servo motor shaft and the limb skeleton is measured, and the gap difference is calculated. The gap difference is equal to the absolute value of the actual installation gap minus the standard installation gap. A first gap difference range and a second gap difference range are preset, wherein all values ​​in the second gap difference range are greater than those in the first gap difference range; When the gap difference is equal to 0, the fit is considered good, and the current installation state is maintained. When the gap difference is greater than 0: If the gap difference falls within the first gap difference range, a thin buffer pad is added inside the groove to adjust the gap to the first buffer gap. If the gap difference falls within the second gap difference range, replace the buffer pad with one of appropriate thickness and adjust the gap to the second buffer gap. The first buffer gap is smaller than the second buffer gap, and the installation gap between the servo shaft and the limb frame after adjustment must be maintained within the preset safe gap range.

[0056] Specifically, the fetal model's head, torso, and limbs are 3D printed using PLA material. The fetus is a half-sided body, with the elbow and knee joints printed separately to ensure flexibility. The compatible micro servo motors are SG90 models (22mm×12mm×27mm). The grooves for the elbow and knee joints have a pre-set standard installation clearance of 0.3mm, which is the optimal fit between the servo motor shaft and the limb skeleton, ensuring direct and smooth power transmission. After the micro servo motor of the motion drive module is embedded in the groove, the actual installation clearance between the servo motor shaft and the limb skeleton is measured using a digital caliper with an accuracy of 0.01mm. The clearance difference is calculated, and it equals the absolute value of the actual installation clearance minus the standard installation clearance. The first clearance difference range is preset to 0mm < clearance difference ≤ 0.2mm, and the second clearance difference range is preset to 0.2mm < clearance difference ≤ 0.5mm, where all values ​​in the second clearance difference range are greater than the first. If the gap difference exceeds 0.5mm, the groove needs to be re-grinded or the servo motor replaced. If the gap difference is 0, the fit is considered good, and the current installation state can be maintained without additional adjustment. If the gap difference is greater than 0: If the gap difference is within the first gap difference range, add a thin soft silicone buffer pad with a thickness of 0.1mm-0.2mm (Shore hardness 50) in the groove and adjust the gap to the first buffer gap of 0.2mm, which fills the gap without hindering the rotation of the servo motor. If the gap difference is within the second gap difference range, replace the soft silicone buffer pad with a thickness of 0.3mm-0.5mm and adjust the gap to the second buffer gap of 0.4mm. The first buffer gap is smaller than the second buffer gap, and the installation gap between the servo motor shaft and the limb frame after adjustment must be maintained within the preset safety gap range of 0.1mm-0.6mm to avoid the servo motor getting stuck due to too small a gap or the power transmission being delayed and the movement deviating due to too large a gap.

[0057] Specifically, the fetal model's head, torso, and limbs are 3D printed. The fetus adopts a semi-lateral body design, with the elbow and knee joints printed separately to ensure limb flexibility. Special grooves are pre-drilled at these joints for embedding and installing micro-servos, ensuring the servo shafts can be smoothly fixed to the limb skeleton and drive joint movement. Pressure sensors are attached to the non-moving area on the outer side of the forearm in the middle of the model's arm. The fetal heart rate sensor is wrapped in soft foam and fixed to the outer side of the fetal chest cavity. The controller is preferentially fixed inside the model's torso chest cavity. Lithium batteries are installed on both sides of the bottom of the torso. All wires are routed along the inner wall of the torso and the abdominal crevices, avoiding joints and the fetal model to prevent affecting component movement or causing wire tangling and breakage.

[0058] The above embodiments, by 3D printing fetal limb parts according to half of the body structure and separating the joints, and using preset standard installation gaps for servo motor grooves, combined with precise measurement and calculation of gap differences, and adding thin buffer pads or replacing them with pads of appropriate thickness according to the intervals, can maintain a good fit when the gap difference is 0, and can also precisely control the gap in the first and second buffer gaps through graded adjustments, and ensure that the final gap is within the preset safety range. This effectively avoids problems such as power transmission lag and movement deviation caused by excessive gaps between the servo motor and the limb skeleton, or rotation jamming and component wear caused by excessive gaps. At the same time, it improves the flexibility and stability of limb movements, extends the service life of model parts, and perfectly meets the requirements of prenatal teaching models for the accuracy of limb movement simulation.

[0059] Specifically, the control module initiates a full-process function self-test program, which collects the pressure trigger response time, fetal heart rate state switching response time, limb movement completion accuracy, and simulated organ touch sensing accuracy. Preset standard trigger response time, standard fetal heart rate switching time, standard motion accuracy, and standard touch sensing accuracy; Compare each test data point with the corresponding standard value to determine whether the overall function of the model meets the requirements for teaching use: When all four conditions are met simultaneously—pressure trigger response time less than or equal to standard trigger response time, fetal heart rate state switching response time less than or equal to standard fetal heart rate switching time, limb movement completion accuracy greater than or equal to standard movement accuracy, and simulated organ touch sensing accuracy greater than or equal to standard touch sensing accuracy—the overall function of the model is deemed to be up to standard, and the control module sends a system ready command. If any condition is not met, the control module sends a recalibration command to the corresponding functional modules to restart the entire debugging process of pressure trigger threshold calibration, fetal heart sensor threshold calibration, servo angle calibration and simulated organ touch parameter calibration.

[0060] Specifically, the control module initiates a full-process self-test program, continuously collecting five sets of data at a frequency of 1 time / second and averaging them. These data include pressure trigger response time, fetal heart rate state switching response time, limb movement completion accuracy, and simulated organ touch sensing accuracy. The acquisition accuracy for pressure trigger response time and fetal heart rate state switching response time is accurate to 1 millisecond. Limb movement completion accuracy is measured by the degree of matching between the actual angle and the commanded angle, with an acquisition accuracy of 0.1%. Simulated organ touch sensing accuracy is measured by the consistency between the touch judgment result and the preset state, with an acquisition accuracy of 0.1%. The preset standard trigger response time is ≤150 milliseconds, the standard fetal heart rate switching time is ≤200 milliseconds, the standard movement accuracy is ≥98.0%, and the standard touch sensing accuracy is ≥97.0%. The control module precisely compares each collected test data with its corresponding standard value to determine whether the overall model function meets the requirements for teaching use. When four conditions are met—pressure trigger response time less than or equal to 150 milliseconds, fetal heart rate switching response time less than or equal to 200 milliseconds, limb movement completion accuracy greater than or equal to 98.0%, and simulated organ touch sensing accuracy greater than or equal to 97.0%—the overall function of the model is deemed to meet the standards, and the control module sends a system-ready command, ready for teaching use. If any condition is not met, the control module sends a recalibration command to the corresponding functional modules, restarting the entire process of pressure trigger threshold calibration (calibration range 300-400), fetal heart rate sensor threshold calibration (calibration range 450-550), servo angle calibration (correction speed 2 degrees / millisecond, 10-millisecond pause after calibration for confirmation), and simulated organ touch parameter calibration (graded calibration according to cervical dilation and fetal presenting position, allowable calibration deviation range ±5%), until all four test data meet the standards.

[0061] The above embodiments, by accurately collecting four core indicators—pressure trigger response time, fetal heart rate state switching response time, limb movement completion accuracy, and simulated organ touch sensing accuracy—and strictly comparing them with preset standard values, can comprehensively determine whether the overall function of the model meets the requirements for teaching use. When the standard is met, a system ready command is sent to ensure the smooth conduct of teaching. If any indicator fails to meet the standard, a full-process calibration is immediately initiated. This not only accurately corrects the key parameters of traditional modules but also specifically optimizes the touch sensing parameters of simulated organs, avoiding the use of models with malfunctions in teaching. This improves the pertinence and efficiency of function debugging and ensures the stability and accuracy of model movement response, fetal heart rate simulation, and simulated organ touch sensing, providing a more comprehensive and reliable equipment guarantee for prenatal care training.

[0062] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program goods. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program goods embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0063] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program goods according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0064] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A convenient, multifunctional simulated pregnant woman teaching model based on sensor fusion, characterized in that, include: The pressure triggering module is configured to acquire pressure signals generated by pressing the model arm in real time via a pressure sensor, which is located on the outer side of the middle section of the model arm. The fetal heart simulation module is configured to simulate the real fetal heart state, control the switching between fetal heart sound playback and no fetal heart state, and has a no fetal heart indicator light to display the status. The fetal heart simulation module is equipped with a fetal heart sound sensor, which is configured to collect fetal heart signals in real time. The fetal heart sound sensor is fixed to the outside of the fetal model's chest cavity by being wrapped in soft sponge, with the sensor's sound pickup surface exposed. The simulated organ module is configured to simulate the human vagina, rectum, anus, and genitourinary structure. The simulated organ module includes a vaginal simulation submodule and a rectum-anus simulation submodule. The vaginal simulation submodule has a pre-set cervical dilation simulation structure, anterior amniotic sac simulation structure, and fetal presentation contact sensing structure. The rectum-anus simulation submodule is arranged adjacent to the vaginal simulation module and does not interfere with each other. When touched through the vaginal opening or rectum-anus, the degree of cervical dilation, the position of the ischial spines, and the descent of the fetal presentation can be sensed. The presence of the anterior amniotic sac simulation structure is judged by tactile feedback. The morphological differences of the fetal presentation contact sensing structure can be used to distinguish the fetal position type of cephalic presentation and breech presentation. The control module is electrically connected to the pressure triggering module, the fetal heart rate simulation module, and the simulated organ module. The control module is configured to program and run pressure triggering action programs, fetal heart rate sound playback and stop programs, and simulated organ tactile feedback programs. The control module has a built-in sensor fusion algorithm unit configured to fuse and process pressure signals, fetal heart rate signals, and simulated organ touch-sensing signals to generate coordinated control commands. The control module is also configured to process the collected signals and output action commands, fetal heart rate status control commands, and simulated organ tactile feedback calibration commands. The motion drive module is connected to the pressure trigger module and the control module respectively. The motion drive module is configured to receive instructions from the control module and provide power through miniature servos embedded in the grooves of the shoulder joint, elbow joint and knee joint of the model to drive the model's arm to lift, forearm to rotate and limb joint to move. The servos are fixedly connected to the limb skeleton. The power module is configured to provide stable power to the pressure trigger module, fetal heart simulation module, control module, motion drive module and simulated organ module, and the power module is fixed to the bottom of the model torso.

2. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, The fetal heart rate simulation module includes: The fetal heart sound playback unit is configured to be equipped with a small patch speaker, which is fixed inside the model torso, close to the fetal model and away from the servo motor. The playback and stop of the fetal heart sound are controlled by the control module. The status indication unit is configured to have a no-fetal-heart indicator light. When there is no fetal heartbeat, the control module drives the indicator light to light up, and when there is a fetal heartbeat, the indicator light turns off.

3. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, The control module includes: The program storage and execution unit is configured to burn and run pressure-triggered action programs, fetal heart sound playback and stop programs, and simulated organ tactile feedback programs. It has a built-in audio playback library and SD card driver library, and supports reading fetal heart sound files and simulated organ tactile calibration parameter files in the SD card. The signal processing unit is configured to receive pressure signals from the pressure trigger module, fetal heart signals from the fetal heart simulation module, and touch sensing signals from the simulated organ module in real time. It judges the signal status through preset thresholds and outputs corresponding control commands for arm movement, fetal heart sound start / stop, indicator light switch, and simulated organ touch feedback calibration. The serial port debugging unit is configured to support serial communication, allowing users to view real-time values ​​of various sensors, simulated organ touch sensing data, and device operating status via a serial port monitor. The tactile calibration unit is configured with preset standard tactile parameters corresponding to different degrees of cervical dilation and different descent positions of fetal presentation. It receives tactile feedback signals from the simulated organ module and compares them with the standard parameters. When the deviation exceeds the preset range, it automatically outputs a calibration command.

4. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, When the pressure triggering module acquires a pressure signal through a pressure sensor and links with the action drive module, it includes: The pressure triggering module presets a pressure triggering threshold, and the threshold range is set according to the analog signal value of the pressure sensor. The pressure triggering module collects pressure signals in real time and converts them into digital signals. The digital signals are then transmitted to the control module for signal verification, eliminating instantaneous fluctuation signals caused by pressing and shaking. When the verified pressure signal value is greater than the preset trigger threshold, the pressure trigger module sends an action start request signal to the control module. When the pressure signal value is less than or equal to the preset threshold and the duration exceeds the preset time, an action reset request signal is sent. The pressure triggering module is also configured to synchronously record the timestamp and signal peak value of each pressure trigger and store them in the cache unit of the control module for subsequent action execution effect tracking and threshold optimization.

5. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, When the motion drive module drives the limb joints to move via a micro servo motor, it includes: The micro servos of the motion drive module have preset initial angles and motion angles. The initial angle of the elbow servo is set to 0 degrees and the motion angle is set to 90 degrees. The servo angle at the joint is adjusted as needed by the program. After receiving the action command from the control module, the motion drive module transmits torque through the fixed connection structure between the shaft and the limb skeleton, driving the model arm to perform corresponding actions, and maintaining a constant speed rotation during the action execution. The motion drive module is also configured to provide real-time feedback of the actual rotation angle signal of the servo motor to the control module. When the deviation between the actual angle and the commanded angle is greater than 5 degrees, angle correction is automatically initiated. The miniature servo motor is embedded in the preset grooves of the elbow and knee joints of the model, and the grooves are provided with a buffer pad layer.

6. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, When the fetal heart rate simulation module's fetal heart rate sound sensor collects signals and switches fetal heart rate states, it includes: The fetal heart sound sensor has a preset signal recognition threshold. When the collected signal value is greater than the signal recognition threshold, it is determined that there is a fetal heartbeat, and the control module instructs the fetal heart sound playback unit to start. When the signal value is less than or equal to the signal recognition threshold, it is determined that there is no fetal heartbeat, and the fetal heartbeat playback is stopped immediately. The fetal heart rate simulation module is also configured to avoid false alarms caused by signal interference. The fetal heart rate simulation module is wrapped in soft sponge and grounded. When there is no fetal heartbeat, the indicator light on the status indicator unit remains constantly lit. At the same time, the control module records the start time and duration of the no-fetal-heartbeat state until the fetal heartbeat signal returns to normal, at which point the indicator light goes out and the timer is reset.

7. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, When the power module provides stable power to each functional module and performs voltage regulation, it includes: The power module presets the standard power supply voltage for each functional module, wherein the standard power supply voltage of the simulated organ module is consistent with that of the control module. The power module has a built-in voltage detection unit that collects the current operating voltage of each module in real time and calculates the voltage difference between the current voltage and the standard voltage. The voltage difference is equal to the absolute value of the current operating voltage minus the standard voltage. A first voltage difference range and a second voltage difference range are preset, wherein all values ​​in the second voltage difference range are greater than those in the first voltage difference range; When the voltage difference is equal to 0, the power supply is determined to be stable, and the power module maintains the current power supply state; When the voltage difference is greater than 0: If the voltage difference falls within the first voltage difference range, the power module activates the fine-tuning mode and adjusts the output voltage to the first adjusted output voltage. If the voltage difference falls within the second voltage difference range, the power module activates the enhancement mode and adjusts the output voltage to the second adjusted output voltage. The first adjusted output voltage is less than the second adjusted output voltage, and the power supply voltage of each module must be maintained within the preset safe range after adjustment.

8. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 7, characterized in that, After the power module completes voltage regulation, it also includes: The serial port debugging unit of the control module synchronously collects the operating current data and signal transmission stability data of each functional module, and presets the standard operating current threshold and standard signal stability threshold. The control module compares the operating current data with the standard operating current threshold and the signal transmission stability data with the standard signal stability threshold to determine whether the power supply adjustment has achieved the expected effect. When both conditions are met simultaneously—the operating current data being less than or equal to the standard operating current threshold and the signal transmission stability data being greater than or equal to the standard signal stability threshold—it is determined that the power supply regulation has achieved the expected effect, and the control module sends a power supply maintenance command to the power supply module. When either the operating current data is greater than the standard operating current threshold or the signal transmission stability data is less than the standard signal stability threshold, the control module generates a power supply optimization command, and the power supply module adjusts the power distribution according to the command.

9. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, When the limb component is fitted and installed with the micro servo motor of the motion drive module and the gap is adjusted, the following is included: The head, torso, and limbs of the fetal model are made by 3D printing. The fetus is half-sided, with the elbow and knee joints printed separately. The grooves of the elbow and knee joints are pre-set with a standard installation gap. After the micro servo motor of the motion drive module is embedded in the groove, the actual installation gap between the servo motor shaft and the limb skeleton is measured, and the gap difference is calculated. The gap difference is equal to the absolute value of the actual installation gap minus the standard installation gap. A first gap difference range and a second gap difference range are preset, wherein all values ​​in the second gap difference range are greater than those in the first gap difference range; When the gap difference is equal to 0, the fit is considered good, and the current installation state is maintained. When the gap difference is greater than 0: If the gap difference falls within the first gap difference range, a thin buffer pad is added inside the groove to adjust the gap to the first buffer gap. If the gap difference falls within the second gap difference range, replace the buffer pad with one of appropriate thickness and adjust the gap to the second buffer gap. The first buffer gap is smaller than the second buffer gap, and the installation gap between the servo shaft and the limb frame after adjustment must be maintained within the preset safe gap range.

10. The convenient multifunctional simulated pregnant woman teaching model based on sensor fusion according to claim 1, characterized in that, Also includes: The control module initiates a full-process function self-test program, which collects pressure trigger response time, fetal heart rate state switching response time, limb movement completion accuracy and simulated organ touch sensing accuracy respectively. Preset standard trigger response time, standard fetal heart rate switching time, standard motion accuracy, and standard touch sensing accuracy; Compare each test data point with the corresponding standard value to determine whether the overall function of the model meets the requirements for teaching use: When all four conditions are met simultaneously—pressure trigger response time less than or equal to standard trigger response time, fetal heart rate state switching response time less than or equal to standard fetal heart rate switching time, limb movement completion accuracy greater than or equal to standard movement accuracy, and simulated organ touch sensing accuracy greater than or equal to standard touch sensing accuracy—the overall function of the model is deemed to be up to standard, and the control module sends a system ready command. If any condition is not met, the control module sends a recalibration command to the corresponding functional modules to restart the entire debugging process of pressure trigger threshold calibration, fetal heart sensor threshold calibration, servo angle calibration and simulated organ touch parameter calibration.

Images