Medical simulation device and simulation training method based on medical simulation device

Abstract

This specification provides embodiments of a medical simulation device and a simulation training method based on the device. The simulation objects include a puncture needle, an elastic blood vessel, and a simulated face. The testing device includes a computing terminal and a transmission structure. The puncture needle is operably mounted on the elastic blood vessel, and a sensor is located at the tip of the needle, communicating with the computing terminal. The computing terminal is driven by the transmission structure, which is operably connected to the simulated face. When the puncture needle performs a puncture operation on the elastic blood vessel, the sensor collects orientation data and sends it to the computing terminal. The computing terminal determines a driving strategy based on the orientation data and drives the transmission structure to pull the simulated face according to the strategy, simulating facial movements associated with the puncture operation. This medical simulation device achieves realistic reproduction of the external jugular vein blood collection operation and dynamic feedback on the operation quality, effectively improving the clinical teaching efficiency of the training.

Description

Technical Field

[0001] The embodiments in this specification relate to the field of simulation training technology, and in particular to a medical simulation device. Background Technology

[0002] With the increasing demands for medical safety and the deepening of the patient-centered approach, clinical operation training is gradually shifting from traditional trial-and-error teaching to a low-risk simulation teaching model. At the same time, driven by the improvement of the residency training system, the popularization of nursing skills competitions, and the upgrading of intelligent medical education equipment, the construction of a jugular vein blood collection simulation device that can realistically reproduce anatomical structures, dynamically provide feedback on operational quality, and incorporate elements of humanistic care has become an important technical support for improving the puncture accuracy of medical staff, reducing clinical complications, and strengthening professional qualities.

[0003] Currently, the teaching and training of external jugular vein blood collection mainly adopts a model combining simulation demonstrations and model practice. In the initial stage of teaching, students learn the anatomical location of the external jugular vein, key points of puncture, and aseptic operation standards by watching multimedia teaching videos or listening to teacher explanations; subsequently, they observe and practice the operation on a comprehensive mannequin or a basic venous puncture model.

[0004] However, existing training equipment is generally only equipped with simple blood simulation devices. These devices cannot simulate the elasticity, pulsation, filling state, and hemodynamic characteristics of real blood vessels, nor can they monitor or provide feedback. On the one hand, they cannot realistically reproduce the layering sensation, resistance changes, and physiological dynamic characteristics of the soft tissues in the human neck, making it difficult for trainees to develop accurate tactile perception and operational feel. On the other hand, the equipment cannot provide quantitative assessment and real-time feedback on the needle insertion process, making operational standardization dependent on subjective experience judgment, resulting in low training efficiency and delayed error correction. Summary of the Invention

[0005] In view of this, embodiments of this specification provide a medical simulation device. One or more embodiments of this specification also relate to a simulation training method based on a medical simulation device, to address the technical deficiencies existing in the prior art.

[0006] According to a first aspect of the embodiments of this specification, a medical simulation device is provided, comprising: The simulated object includes a puncture needle, an elastic blood vessel, and a simulated face; the testing device includes a computing terminal and a transmission structure. The puncture needle is operably disposed on the elastic blood vessel, and a sensor is provided at the tip of the puncture needle, which is communicatively connected to the computing terminal. The computing terminal is driven to connect to the transmission structure, and the transmission structure is operably connected to the simulated face. When the puncture needle performs a puncture operation on the elastic blood vessel, the sensor is used to collect orientation data and send the orientation data to the computing terminal; the computing terminal is used to determine a driving strategy based on the orientation data, and drive the transmission structure to pull the simulated face according to the driving strategy to simulate facial movements associated with the puncture operation.

[0007] According to a second aspect of the embodiments of this specification, a simulation training method based on a medical simulation device is provided, comprising: When the puncture needle performs a puncture operation on the elastic blood vessel, the sensor collects the orientation data of the puncture needle and sends it to the computing terminal. The computing terminal determines a driving strategy based on the orientation data, and drives the transmission structure to pull the simulated face according to the driving strategy to simulate facial movements associated with the puncture operation.

[0008] This specification provides one or more embodiments of a medical simulation device, which includes a simulation object and a testing device. The simulation object includes a puncture needle, an elastic blood vessel, and a simulated face. The testing device includes a computing terminal and a transmission structure. The puncture needle is operably mounted on the elastic blood vessel, and a sensor is provided at the tip of the puncture needle. The sensor is communicatively connected to the computing terminal. The computing terminal is driven and connected to the transmission structure, which is operably connected to the simulated face. When the puncture needle performs a puncture operation on the elastic blood vessel, the sensor is used to collect orientation data and send the orientation data to the computing terminal. The computing terminal is used to determine a driving strategy based on the orientation data and drive the transmission structure to pull the simulated face according to the driving strategy to simulate facial movements associated with the puncture operation.

[0009] Because the simulated objects include elastic blood vessels and a simulated face, replacing the rigid or static blood vessel models in existing training equipment, it can more realistically reproduce the elasticity of blood vessels in the human neck and the tactile feel of the tissue. A sensor at the tip of the puncture needle can collect positional data in real time during the puncture process and send this data to the computing terminal. The computing terminal determines the driving strategy based on this positional data and drives the transmission structure to pull the simulated face, causing the simulated face to produce facial movements associated with the puncture operation. Thus, on the one hand, the elastic blood vessels enhance the realism of the operation feel, helping trainees establish accurate puncture perception; on the other hand, the sensors quantitatively monitor the needle insertion process, and combined with the computing terminal and transmission structure, provide dynamic feedback on facial movements, overcoming the shortcomings of existing equipment that rely on subjective judgment and lack real-time operational feedback. Simultaneously, the movement of the simulated face under the pull of the transmission structure can simulate changes in the patient's facial expressions caused by improper puncture, concretely demonstrating the impact of the operation on the "patient" and compensating for the shortcomings of traditional audio-visual cues in terms of emotional feedback. In summary, this medical simulation equipment achieves a realistic reproduction of the anatomical structure during external jugular vein blood collection, dynamic feedback on operational quality, and the integration of humanistic care elements, effectively improving the clinical relevance and teaching effectiveness of the training. Attached Figure Description

[0010] Figure 1 This specification provides a schematic diagram of the structure of a medical simulation device according to one embodiment. Figure 2 A flowchart illustrating the processing procedure of a simulation training method based on a medical simulation device, provided as an embodiment of this specification; Figure 3 This is a schematic diagram of a medical simulation display interface provided as an embodiment of this specification. Detailed Implementation

[0011] Many specific details are set forth in the following description to provide a full understanding of this specification. However, this specification can be implemented in many other ways than those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this specification. Therefore, this specification is not limited to the specific implementations disclosed below.

[0012] The terminology used in one or more embodiments of this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the one or more embodiments of this specification. The singular forms “a,” “described,” and “the” used in one or more embodiments of this specification and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used in one or more embodiments of this specification refers to and includes any or all possible combinations of one or more associated listed items. The term “at least one” in one or more embodiments of this application means “one or more,” and “a plurality of” means “two or more.” The term “comprising” is an open-ended description and should be understood as “including but not limiting,” and may include other content in addition to what has been described.

[0013] It should be understood that although the terms first, second, etc., may be used to describe various information in one or more embodiments of this specification, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this specification, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0014] Furthermore, it should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in one or more embodiments of this specification are all information and data authorized by the user or fully authorized by all parties. Moreover, the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0015] First, the terms and concepts used in one or more embodiments of this specification will be explained.

[0016] With the deepening of medical education reform, practical teaching has become increasingly prominent in the training of medical personnel. In traditional teaching, students often need to practice on real patients, but due to ethical constraints, patient cooperation, and medical safety, opportunities for actual practice are very limited, making it difficult to meet the demand for proficient clinical skills. Against this backdrop, medical teaching simulation equipment has emerged and gradually become an important supporting tool for medical education. Its development has evolved from static anatomical models to intelligent training systems: early models were only used to display structures and could not support dynamic operations; today, with the help of electronic, sensor, and computer technologies, simulation equipment can reproduce various clinical scenarios such as intravenous puncture and endotracheal intubation.

[0017] However, current jugular vein blood collection simulation devices on the market still have significant shortcomings. First, their neck models are mostly made of ordinary plastic or rubber materials, which cannot realistically reproduce the layering, elasticity, and resistance of the soft tissues of the human neck; the blood vessels are usually just simple rubber tubes, lacking physiological characteristics such as blood flow, vascular pulsation, filling, and retraction, making it difficult for students to develop accurate tactile feedback and operational feel during training, affecting the success rate of clinical punctures, and even increasing the risk of vascular injury.

[0018] Secondly, external jugular vein blood collection has extremely high requirements for parameters such as needle insertion angle, depth, and blood flow status, but existing equipment generally lacks the ability to monitor and provide feedback on these critical parameters in real time. Students cannot know whether their operation is standardized and can only rely on the teacher's visual observation and experience for guidance. This model is not only inefficient but also highly subjective, making it difficult to accurately locate problems, resulting in delayed error correction and hindering skill improvement.

[0019] Furthermore, the feedback methods for operational results of existing equipment are too simplistic, typically distinguishing success from failure solely through indicator lights or beeping sounds. This mechanical feedback fails to reflect the potential pain or adverse reactions that operational errors may cause to patients, making it difficult to evoke empathy in students. In real clinical settings, medical staff not only need to adhere to technical standards but also pay attention to patients' feelings to avoid causing unnecessary harm. Therefore, the lack of an empathetic and humanistic feedback mechanism is detrimental to cultivating students' humanistic care and professional responsibility.

[0020] Therefore, this application provides a medical simulation device, which includes a simulation object and a testing device. The simulation object includes a puncture needle, an elastic blood vessel, and a simulated face. The testing device includes a computing terminal and a transmission structure. The puncture needle is operably disposed on the elastic blood vessel, and a sensor is disposed at the tip of the puncture needle. The sensor is communicatively connected to the computing terminal. The computing terminal is drivenly connected to the transmission structure, and the transmission structure is operably connected to the simulated face. When the puncture needle performs a puncture operation on the elastic blood vessel, the sensor is used to collect orientation data and send the orientation data to the computing terminal. The computing terminal is used to determine a driving strategy based on the orientation data and drive the transmission structure to pull the simulated face according to the driving strategy to simulate facial movements associated with the puncture operation.

[0021] See Figure 1 , Figure 1 This is a schematic diagram of a medical simulation device provided in one embodiment of this specification. The simulation object 102 includes a puncture needle 104, an elastic blood vessel 106, and a simulated face 108; the testing device 110 includes a transmission structure 112 and a computing terminal 114. The puncture needle 104 is operably disposed on the elastic blood vessel 106, and a sensor 114 is provided at the top of the puncture needle 104. The sensor 114 is communicatively connected to the computing terminal 114. The computing terminal 114 is driven to connect to the transmission structure 112, which is operably connected to the simulated face 108. When the puncture needle 104 performs a puncture operation on the elastic blood vessel 106, the sensor 114 is used to collect orientation data and send the orientation data to the computing terminal 114; the computing terminal 114 is used to determine the driving strategy based on the orientation data, and drive the transmission structure 112 to pull the simulated face 108 according to the driving strategy to simulate facial movements associated with the puncture operation.

[0022] The simulation object 102 in this medical simulation device is used to comprehensively simulate the local anatomical structures and physiological responses of the human body involved in the external jugular vein puncture operation. Its function is to provide trainees with a safe, repeatable, and highly realistic operating object, allowing them to realistically experience skin touch, vascular puncture resistance, operational feedback, and patient emotional responses during training, thereby improving puncture skills and clinical humanistic awareness. Specifically, the simulation object 102 can be an integrated assembly including the following components: a puncture needle 104 with a sensor 114 integrated at its tip; an elastic blood vessel 106, a tubular structure made of flexible material, simulating the position, elasticity, and puncture feel of the external jugular vein; a simulated face 108, a facial model composed of multiple layers of elastic material, with traction points on the inner side, which can be pulled by a transmission structure to produce facial expressions; in some embodiments, a tear simulation subsystem and / or a blood simulation subsystem may also be integrated to enhance the realism of physiological feedback. In terms of installation, the simulation object 102 is typically deployed in an integrated modular form. The simulated face 108 forms the outer surface of the model, the elastic blood vessels 106 are embedded in the subcutaneous tissue layer according to the actual anatomical path, and the puncture needle 104 is used by the user as an independent operating tool. Each subsystem, such as blood vessels, tear nozzles, and traction points, is connected to the testing device 110 through internal preset channels, such as the transmission structure 112, without any obvious external interfaces or exposed machinery, maintaining a realistic appearance. It can also be designed as a replaceable consumable module, for example, the puncture area insert containing elastic blood vessels and local skin can be made into a quick-release type, which is convenient for maintenance and replacement after repeated punctures. This embodiment does not make any limitations here.

[0023] The simulation object 102 can achieve the organic integration of structural simulation, functional interaction and emotional feedback, and become a key carrier to support intelligent and immersive puncture training.

[0024] The puncture needle 104 can be a metal medical needle or a simulated needle made of medical-grade rigid plastic, such as ABS, PC, or POM, with a similar shape and feel to a real puncture needle to ensure operational safety. A sensor 114 is integrated at the tip of the puncture needle 104, which can collect positional data in real time during needle insertion and transmit it to the computing terminal 114, thereby supporting the system to dynamically evaluate and provide feedback on operational compliance. In practice, in the default state where the puncture needle 104 is not inserted into the elastic blood vessel 106, it is usually held by the user and suspended above the model, or placed on the support provided with the device.

[0025] When the puncture needle 104 performs a puncture operation on the elastic blood vessel 106, the sensor 114 senses the orientation data of the puncture needle 104 in real time, such as spatial posture or displacement changes, thereby collecting orientation data closely related to the puncture operation and sending it to the computing terminal.

[0026] The elastic vessel 106 is used to simulate the anatomical location, tactile characteristics, and puncture response of the human external jugular vein. Its functions include: providing a puncture target with realistic tissue elasticity and resistance, allowing trainees to feel a sense of layering similar to skin penetration and vessel wall breakthrough when inserting the needle; cooperating with the blood simulation subsystem to achieve the blood return effect after successful puncture; and serving as a spatial reference benchmark for determining whether a blood vessel has been entered, such as the location of the blood vessel corresponding to a preset depth range.

[0027] Specifically, the elastic blood vessel 106 can be realized by the following materials or structural forms: multilayer silicone tube, with a soft inner layer to simulate the lumen of a blood vessel and an outer layer wrapped with a slightly harder elastomer to simulate the blood vessel wall and surrounding tissue, possessing good resilience and resistance to repeated punctures; or a biomimetic blood vessel model made of thermoplastic polyurethane (TPU) or thermoplastic elastomer (TPE), which closely resembles the flexibility of real veins.

[0028] The elastic blood vessel 106 can incorporate a composite tubing with a supporting framework, such as embedded spiral metal wires or fiber mesh, to prevent collapse after puncture and maintain lumen patency to support repeated training. If integrated with a blood simulation subsystem, its tube wall can also have micropores or one-way valve interfaces for connecting to circulatory tubing, enabling perfusion and return of simulated blood fluid. The diameter of the elastic blood vessel 106 can be controlled to approximately 5-8 mm to simulate the state of a real blood vessel.

[0029] In the installation state, the elastic blood vessel 106 is usually arranged in the following way: it is embedded inside the neck of the simulated object and fixed in the elastic filling material or imitation muscle layer along the anatomical path of the external jugular vein to ensure that its position and direction are consistent with the real human body; both ends are connected to the circulation pipeline of the blood simulation subsystem through quick connectors or sealed interfaces.

[0030] Elastic vessel 106 not only enhances the realism of the puncture feel, but also provides a reliable physical interaction basis for the system, realistically restoring the layering, elasticity and resistance of the soft tissue in the human neck.

[0031] Sensor 114 can be connected to computing terminal 114 via wired or wireless connection. In wired connection, sensor 114 is led out through the needle handle via a thin-diameter wire or flexible circuit embedded inside the puncture needle, and connected to the microcontroller or directly to the computing terminal via a communication interface. In wireless connection, sensor data is transmitted to computing terminal 114 via a miniature wireless module integrated into the needle or needle handle, such as Bluetooth or Wi-Fi. This embodiment does not impose any limitations on this method.

[0032] In this medical simulation device, the computing terminal 114 is responsible for data reception, analysis, processing, and control command generation. Specifically, it receives positional data collected by the sensor 114, such as needle insertion angle and depth, compares it with preset thresholds to determine whether the operation is standardized, and generates corresponding driving strategies accordingly. These strategies then control the transmission structure 112, the tear simulation subsystem, or the blood simulation subsystem to execute corresponding feedback actions. Specifically, the computing terminal 114 can be one or more of the following hardware forms: an embedded computer; a host computer; a general-purpose computer, such as a desktop or laptop computer; or a dedicated control module integrating a microprocessor, such as an intelligent controller equipped with STM32, ESP32, or other main control chips. Especially when the system includes a microcontroller, the computing terminal 114 can work collaboratively with it, respectively handling high-level logic decision-making and low-level signal driving.

[0033] In terms of installation, the computing terminal 114 can be deployed in the following ways: externally placed near the operating table, connected to the sensor 114 and the transmission structure 112 via cable or wireless means; or further integrated with a display interface, such as a touch screen or teaching terminal, to present operating parameters, scoring results, or guidance prompts in real time, thereby enhancing teaching interactivity. Alternatively, it can be built into the simulation model base or bracket to achieve an integrated device design. Regardless of the form or installation method, the computing terminal 114 serves as the intelligent hub of the system, ensuring that the perception, judgment, and feedback of the puncture operation form a closed loop.

[0034] In actual operation, the computing terminal 114 can send the corresponding drive command or control signal to the transmission structure 112 through wired signal transmission or wireless communication under different puncture operation states, so that the transmission structure 112 can perform the corresponding mechanical action, thereby pulling the simulated face to simulate the physiological or emotional response of a real patient.

[0035] The transmission structure 112 receives drive commands from the computing terminal 114 and converts electrical signals into mechanical motion, thereby pulling the simulated face 108 to simulate facial expressions or physiological reactions associated with the puncture operation. The function of the transmission structure 112 is to achieve a closed-loop operation from operation to feedback, making abstract operational errors concrete into observable dynamic changes in the face. Specifically, the transmission structure 112 may include a combination of one or more of the following mechanical and drive components: a servo motor / servo motor, serving as the main power source, precisely controlling the rotation angle according to the PWM signal sent by the computing terminal; a linkage mechanism, one end connected to the servo motor output shaft and the other end connected to the traction point inside the simulated face, converting the servo motor's rotational motion into a linear or arc-shaped pulling action; or, a traction line or flexible cable: replacing a rigid linkage when space is limited, enabling multi-point remote control; a fixed bracket, used to securely mount the servo motor and provide guidance and support for the linkage or cable, ensuring accurate and reliable motion trajectory. This embodiment does not impose any limitations on these components.

[0036] In its installation state, the transmission structure 112 can be integrated into the device in the following ways: embedded installation, entirely hidden inside the simulated head model or neck base, with the connecting rod end connected to the traction point on the inside of the face via a preset channel; no external mechanical parts are exposed, maintaining the model's realism; modular quick-release design, with servos and brackets fixed to the model skeleton in a pluggable manner; multi-point distributed layout, with multiple independent servo and connecting rod sub-units set for different facial areas, such as the lower eyelids, corners of the mouth, and cheeks, controlled separately by the computing terminal to achieve composite expression simulation. The transmission structure 112 can transform the logical judgment of the computing terminal into dynamic feedback of the simulated human face, effectively improving the realism of training and teaching effectiveness.

[0037] Specifically, the computing terminal 114 can be used to determine the driving strategy based on the comparison results between the orientation data and preset thresholds. As the logic processing unit of the simulation system, the computing terminal 114 can dynamically analyze the orientation data of the puncture needle collected in real time by the sensor, and compare and logically judge it item by item with the multi-level preset thresholds corresponding to the clinical operation specifications stored in the local or remote memory. On this basis, the computing terminal 114 matches and generates the corresponding driving strategy from the predefined feedback strategy library according to the comparison results. This strategy may contain coordinated control instructions for one or more execution subsystems.

[0038] Sensor 114 may include an angle sensor and a depth sensor. For the angle sensor, the orientation data is the needle insertion angle data; preset thresholds include a correct angle threshold, an incorrect angle threshold, and a critically incorrect angle threshold; the driving strategy includes an indication strategy corresponding to each threshold. Specifically, the computing terminal is used to determine the correct angle indication strategy when the needle insertion angle data is within the correct angle threshold; to determine the angle error indication strategy when the needle insertion angle data exceeds the incorrect angle threshold; and to determine the serious angle error indication strategy when the needle insertion angle data exceeds the serious error angle threshold.

[0039] Angle sensors are used to detect the spatial attitude of the puncture needle during the insertion process in real time, especially the insertion angle relative to the simulated face or a preset reference plane, providing crucial data support for the computing terminal to determine whether the operation conforms to clinical standards. Specifically, the angle sensor can be one or more of the following types: MEMS three-axis gyroscope / accelerometer fusion modules, such as MPU6050 and BMI160, which calculate the pitch and yaw angles of the needle body through an inertial measurement unit, suitable for attitude tracking during dynamic needle insertion; tilt sensors, such as SCA100T and ADXL345, which directly output the tilt angle relative to the direction of gravity; or magnetic encoders or optical angle encoders, which can accurately measure the relative rotation angle if the puncture needle and the fixed support form a rotating pair. This embodiment does not impose any limitations on this.

[0040] In terms of installation, angle sensors are typically integrated into the puncture needle in the following ways: either embedded inside the needle handle, with the sensor module encapsulated within the needle handle cavity near the needle root to accurately reflect the overall needle insertion direction while avoiding exposure that could affect the operator's feel; or rigidly fixed to the needle body to ensure that the sensor coordinate system is aligned with the needle axis, allowing the collected angle data to accurately reflect the clinical needle insertion angle. In some detachable designs, the sensor module can be made with a quick-connect interface, facilitating the replacement of different sizes of analog needles without losing sensing functionality.

[0041] Sensors typically transmit signal lines through flexible circuits or microwires, or integrate Bluetooth / Wi-Fi modules to achieve wireless transmission, sending angle data to a computing terminal in real time.

[0042] One possible example is that when the needle insertion angle data is within the correct angle threshold (30°–45°), a correct angle indication strategy is determined, driving the transmission structure to make the simulated face present a state of naturally closed eyes or slightly bent downwards, simulating the normal physiological reaction of the patient due to mild stimulation, indicating that the operation is comfortable and without obvious pain; when the needle insertion angle data exceeds the incorrect angle threshold (>45° or <30°), an angle error indication strategy is determined, driving the transmission structure to pull the traction point in the eyebrow area, making the simulated face present a frowning expression, simulating the patient's instinctive reaction due to discomfort or stinging; when the needle insertion angle data exceeds the serious error angle threshold (>60°), a serious angle error indication strategy is determined, driving multiple sets of linkages to move synchronously, making the simulated face present a complex expression such as a wide-open mouth and tightly closed eyelids, simulating the strong stress response of the patient due to severe pain or fright.

[0043] In one possible scenario, the sensor can be a depth sensor, and the orientation data is needle insertion depth data; the preset thresholds include a correct depth threshold and an incorrect depth threshold; the driving strategy includes an indication strategy corresponding to each threshold; wherein, the computing terminal is specifically used to: determine the correct depth indication strategy when the needle insertion depth data is within the correct depth threshold; and determine the incorrect depth indication strategy when the needle insertion depth data exceeds the incorrect depth threshold.

[0044] Depth sensors are used to detect the puncture depth of the needle relative to the simulated facial surface in real time during needle insertion. This provides crucial data for the computing terminal to determine whether the operation is too shallow, appropriate, or too deep, supporting dynamic assessment and feedback of puncture safety. Specifically, depth sensors can be one or more of the following types: Hall effect displacement sensors, which integrate magnets on the needle tip or needle hub, working in conjunction with Hall elements fixed inside the model to infer the needle tip displacement depth through changes in magnetic field strength; ultrasonic ranging modules, mounted on the needle handle or support, which emit ultrasonic waves to the simulated tissue surface and receive the echoes, calculating the distance between the needle tip and the reference surface through time-of-flight; optical encoders or linear potentiometers, which, if the needle tip slides along the guide rail or sleeve, can convert linear displacement into an electrical signal through a mechanical linkage structure to achieve high-precision depth measurement; and inertial measurement units (IMUs), which combine initial position integration with second-order time integration of accelerometer data to estimate displacement (suitable for short-range punctures, but require filtering algorithms to reduce drift).

[0045] In terms of installation, depth sensors are typically integrated in the following ways: embedded inside the needle handle or needle hub, with the sensor element encapsulated in the needle handle near the base of the needle body to ensure synchronization with the movement of the needle tip; or fixed to a reference bracket inside the simulation model: for example, a reference plane is set on the neck base, with the sensor facing the puncture area, to non-contactly measure the distance the needle body moves downward. Signal output can be led out via flexible cabling or integrated with a low-power wireless module and transmitted to the computing terminal, balancing accuracy and operational freedom. The depth sensor can reliably capture needle insertion depth information without interfering with normal puncture feel, providing a precise sensing foundation for the system to achieve graded feedback.

[0046] In one possible scenario, when the needle insertion depth data is within the correct depth threshold (5 mm–8 mm), it is determined to be a standard puncture operation. The terminal drive transmission structure is calculated to slightly pull the corner of the mouth area, so that the simulated face presents a natural upward or relaxed slightly raised expression of the corner of the mouth, simulating the patient's comfortable or cooperative state due to the gentle and painless operation. When the needle insertion depth data exceeds the error depth threshold (>8 mm) but does not exceed 10 mm, it is judged as an operation error. The computing terminal generates a corresponding instruction to drive the linkage to pull the corner of the mouth area, so that the simulated face presents a pursed mouth or tightly closed lips expression, reflecting the tension reaction of the patient due to discomfort or slight pain. When the needle insertion depth data exceeds the serious error depth threshold (>10 mm), it is judged as a high-risk serious error. The computing terminal not only drives the transmission structure to forcefully pull the facial muscles to enhance the painful expression, but also simultaneously sends a drive signal to the spray pump of the tear simulation subsystem to trigger the simulated tears to spray out from the lower eyelid area. Combined with facial movements, it simulates the real clinical scenario of a patient crying due to severe pain or tissue damage.

[0047] The simulation objects also include a tear simulation subsystem; the tear simulation subsystem includes a tear storage device, a simulated tear fluid, a tear conduit, a spray pump, and a tear nozzle; The spray pump is located inside the tear storage device and is connected to the inlet end of the tear conduit; The outlet end of the tear duct extends to the lower eyelid area of ​​the simulated face and connects to the tear nozzle; The computing terminal is connected to the spray pump drive; The computing terminal is also used to output a spray drive signal to the spray pump when the needle depth data exceeds the critical error depth threshold; the spray pump is used to pump the simulated tear fluid to the tear nozzle and spray it out in response to the spray drive signal.

[0048] The tear simulation subsystem is used to simulate the tearing response of a patient due to a serious error in the puncture procedure. By visualizing the tearing phenomenon, it enhances the trainee's perception of operational risks and strengthens their safety awareness and humanistic qualities. Specifically, the tear simulation subsystem may include the following components: a tear storage device, a simulated tear fluid, a spray pump, a tear catheter, and a tear nozzle.

[0049] In terms of installation, the tear simulation subsystem is typically integrated in the following way: the tear storage device and spray pump are built into the interior of the simulated head model, saving space and facilitating maintenance; the tear conduit runs along a pre-set channel inside the model, extending from the base to the lower eyelid area of ​​the face, avoiding exposure that could affect the realism of the appearance; the tear nozzle is firmly embedded in the silicone layer of the simulated face, and can be flush with or slightly concave with the skin surface to ensure that it forms a natural tear droplet rather than a splash when sprayed; each interface uses a quick-connect sealing connector, which facilitates disassembly, cleaning, or replacement of the simulated tear fluid, and prevents the pipeline from becoming blocked or growing bacteria.

[0050] Through the aforementioned structure and installation method, the tear simulation subsystem can controllably trigger tear feedback under the command of the computing terminal, and work in conjunction with facial expressions driven by the transmission structure to construct a highly immersive clinical error scenario, significantly improving the teaching depth and emotional resonance of simulation training.

[0051] The tear fluid storage device is used to safely and stably contain simulated tear fluid and provide a continuous and reliable liquid supply source for the pumping unit of the tear simulation subsystem, enabling realistic simulation of physiological responses. Specifically, the tear fluid storage device can be one or more of the following forms: a sealed miniature reservoir made of transparent or translucent medical-grade plastic; or a removable liquid cartridge with a cartridge-like structure that allows for quick replacement; or a built-in water tank integrated into the base, integrally molded with the simulation model base; or a flexible storage bag, etc., without any limitation in this embodiment.

[0052] The simulated tear fluid can be one or more of the following safe, non-toxic, and transparent liquids: physiological saline, i.e., 0.9% sodium chloride solution; a glycerol-water mixture with a certain viscosity to simulate the flow and adhesion of real tears, preventing excessive evaporation or dripping; food-grade transparent water-soluble lubricant; or a tracer solution with trace amounts of food coloring or fluorescent agents for teaching observation or equipment self-testing, but usually colorless to ensure clinical realism. This embodiment does not impose any limitations. The simulated tear fluid can be pre-filled and stored in a tear storage device.

[0053] Tear catheters can be medical-grade transparent silicone microtubules, polyurethane, composite microtubules with braided reinforcement layers, disposable sterile PVC microtubules, etc. In terms of installation, the tear catheter can be: completely embedded inside the simulated face and neck model, extending upwards along a pre-set channel from the tear storage device in the base, passing through the simulated muscle layer or supporting skeleton, and finally connecting to the tear nozzle in the lower eyelid area, with no visible tubing externally; or, fixed to the inner wall of the model via micro-slots or adhesive points.

[0054] The spray pump can be a miniature diaphragm pump, a piezoelectric micro-spray pump, a miniature peristaltic pump, an electromagnetically driven miniature plunger pump, etc. It can be directly built into and fixed inside or at the bottom of the tear fluid storage device to form an integrated liquid supply module, reducing external pipeline connections, improving sealing and integration. The inlet is connected to the tear fluid storage device through a short connecting pipe, and the outlet is connected to the tear fluid conduit through a quick-connect connector, which facilitates disassembly, cleaning, or replacement of the pump body. The power cord and control signal line are led out through the internal cable tray and connected to a microcontroller or computing terminal, supporting PWM speed regulation or on / off control to achieve on-demand start and stop.

[0055] Tear nozzles can be miniature straight-through nozzles, allowing liquid to overflow naturally to form tear droplets rather than spraying; they can also be porous diffusion nozzles, with 2-3 micropores on the nozzle tip, allowing simulated tears to slowly seep out and flow along the surface of the lower eyelid skin, more closely resembling the distribution of real tears; or, silicone-encased integrated nozzles: a rigid liquid outlet core is embedded in a soft silicone base, seamlessly integrated with the simulated facial material, avoiding exposed hard objects that could affect the feel or cause damage. The tear nozzle can be embedded on the inner side of the lower eyelid of the simulated face or near the lacrimal punctum, with the outlet end flush with or slightly concave with the silicone skin surface, ensuring that tears flow out naturally without accumulating or dripping too quickly.

[0056] Optionally, when the needle depth reverts from exceeding the critical error depth threshold and re-enters the correct depth range, the computing terminal will immediately send a stop command to the spray pump. Upon receiving the command, the spray pump will immediately stop working, terminating the spraying of the simulated tear fluid, thus ending the tear feedback in a timely manner. This accurately reflects that the operation has returned to normal, prompting the trainee to restart the operation.

[0057] In other words, when the system continuously monitors the needle insertion depth data and finds it has exceeded the critical error depth threshold (e.g., >10 mm), and then steadily and continuously reverts to the preset correct depth threshold range (e.g., 5–8 mm), the computing terminal determines that the clinical risk has been eliminated and the patient's discomfort has been significantly relieved, indicating a physiological shift. Based on this judgment, the computing terminal can generate a stop command to the spray pump control interface of the tear simulation subsystem. Upon receiving this command, the spray pump cuts off the drive power or closes the fluid pathway, immediately terminating the output of the simulated tear fluid and stopping the tearing phenomenon in the lower eyelid area. Timely cessation of negative feedback sends a clear signal to the trainee that the current operation has returned to a safe range, avoiding misjudgment due to continuous tearing and positively reinforcing corrective behavior. This encourages the trainee to retry the standardized puncture under safe conditions, forming a complete skill loop of error, perception, correction, and confirmation.

[0058] In one possible scenario, the transmission structure includes a servo motor and at least one linkage; the servo motor is connected to a computing terminal; one end of the linkage is connected to the output shaft of the servo motor, and the other end is connected to the simulated face; wherein, the drive command generated by the computing terminal is sent to the servo motor; the servo motor is used to output rotational motion in response to the drive command, and drives the simulated face to deform through the linkage.

[0059] The servo motor receives drive commands from the computing terminal, converts them into precise rotational motion, and drives a linkage via an output shaft to produce preset deformations or facial expressions on the simulated face, providing emotional feedback on the puncture operation results. The servo motor can be a standard digital servo motor, such as the SG90, MG90S, or DS3218, which features high response speed and angle control accuracy and supports PWM signal control; it can also be a metal gear servo motor or a micro servo motor module, which is not limited in this embodiment.

[0060] The servo motor can be fixed to a rigid bracket or base inside the simulation head model and securely installed with screws or clips to prevent shaking during operation from affecting the transmission accuracy.

[0061] The linkage is used to convert the rotational motion of the servo motor output shaft into a linear or arc-shaped traction force on a specific location on the simulated face, thereby causing local deformation of the facial material to simulate expressions such as frowning, pursing lips, and eyelid twitching accompanied by tearing. It can be a rigid miniature linkage, a flexible traction line / cable, a linkage with a hook or ball end, etc. One end of the linkage is connected to a rocker arm on the servo motor output shaft via screws or clips, and the other end is fixed to a preset traction point on the inside of the simulated face. It is laid out along a preset channel inside the simulated face to avoid interference with other components such as tear ducts and blood vessel models. The linkage can be designed with an adjustable length structure to facilitate calibration of the initial position and range of motion of different facial models.

[0062] In one possible scenario, the transmission structure may also include a fixed bracket; the fixed bracket is provided with a mounting part for mounting a fixed servo motor, and a connecting part for the connecting rod to pass through or connect.

[0063] The mounting bracket serves as the supporting foundation for the transmission structure, used to stably mount the servo and guide or connect the linkage, ensuring precise, reliable, and repeatable face-pulling actions. The mounting bracket can be made of engineering plastics, aluminum alloy, etc. The mounting part can be a snap-fit ​​groove, that is, a rectangular groove on the mounting bracket that matches the shape of the servo, slightly smaller than the servo housing; or, a through hole or threaded hole, directly connected to the servo via miniature screws.

[0064] The connecting part can be a through hole / guide hole, allowing the connecting rod to slide freely without wobble; a U-shaped groove or open slot facilitates the side insertion of the ball head or hook at the end of the connecting rod, supporting quick assembly.

[0065] In one possible scenario, the simulated face is made of elastic material with multiple traction points on its inner side; the end of the linkage furthest from the servo motor is connected to these traction points. As a direct representation of human-computer interaction, the simulated face realistically replicates the appearance, feel, and expressive capabilities of a human face. During external jugular vein puncture training, it undergoes dynamic deformation related to the quality of the procedure through the traction of the transmission structure, thereby simulating the physiological and emotional responses of patients due to correct or incorrect procedures, thus reinforcing the trainee's awareness of technical standards and their humanistic care.

[0066] The simulated face can be a multi-layered silicone facial model. An inner, slightly stiffer support layer is embedded to prevent excessive collapse and provide a foundation for traction and attachment. Materials of different hardness or thickness can be used for key expression areas such as the lower eyelids, corners of the mouth, and brow ridges to achieve differentiated deformation effects. In the installation state, the simulated face can completely cover and fix itself to the front skeleton of the simulated head model. The edges are sealed to the base via clips, magnets, or screws, maintaining a seamless appearance. The inner side faces inwards, with multiple traction points connected to the ends of corresponding servo motors. The position of each traction point is precisely arranged according to anatomy and the direction of facial muscles; for example, the inner side of the lower eyelid corresponds to tearing feedback, and the corners of the mouth correspond to pursing or raising the lips.

[0067] The simulated face can be integrated with components such as elastic blood vessels and tear nozzles. The tear nozzle outlet is embedded in the skin layer of the lower eyelid, and the blood vessels are buried under the skin of the neck. The face itself does not interfere with the puncture path and only serves as a feedback execution interface. When the device is started, the computing terminal can drive the servo motor back to the zero position, so that all linkages are in a preset relaxed state, ensuring that the initial expression of the simulated face is natural and relaxed.

[0068] In one possible scenario, the blood simulation subsystem includes a blood storage device, a simulated blood fluid, a liquid delivery pump, and a circulation pipeline; the elastic vessel has an inlet and an outlet; the liquid delivery pump is located within the blood storage device, and its outlet is connected to the inlet of the elastic vessel via the circulation pipeline; the outlet of the elastic vessel is connected to the blood storage device via the circulation pipeline; wherein, the liquid delivery pump is used to pump the simulated blood fluid into the elastic vessel, and the simulated blood fluid flowing through the elastic vessel returns to the blood storage device.

[0069] The blood storage device contains simulated blood fluid, providing a stable supply to the liquid delivery pump and simultaneously receiving return fluid from elastic blood vessels, forming a closed loop. The blood storage device can be a sealed, transparent reservoir made of medical-grade PC or PP material. It can be embedded within the base cavity of a simulated head and neck model, secured by clips or threads, or placed separately outside the simulation model and connected via elastic blood vessels. The simulated blood fluid serves as a visual medium simulating the effect of venous puncture return; upon successful puncture, it flows back from the elastic blood vessel through the needle, displaying realistic blood color and flow, enhancing the realism of the operative feedback. Pre-filled and sealed within the blood storage device, it remains in a static standby state. During system operation, it is pumped into the elastic blood vessel, and after successful puncture, it flows back to the outside through the puncture needle. After training, it can be emptied or reused long-term.

[0070] A liquid delivery pump, under the command of a computing terminal, pumps simulated blood fluid from a blood storage device and injects it into elastic blood vessels through a circulation pipeline to maintain vascular occlusion, supporting repeated puncture training and achieving a "blood return" effect. It can be a miniature diaphragm pump, peristaltic pump, electromagnetically driven plunger pump, etc. The liquid delivery pump can be submerged inside the blood storage device, with the inlet open in the liquid and the outlet connected to or integrated with the circulation pipeline. Power and control lines are led out through internal wiring channels and connected to a computing terminal or microcontroller to achieve on-demand start / stop or flow rate adjustment.

[0071] The circulation tubing forms a closed-loop delivery channel mimicking blood flow, connecting the blood storage device, the fluid delivery pump, and the inlet / outlet of the elastic blood vessel. This ensures stable fluid circulation and maintains consistency between vascular filling and puncture feedback. It can be made of medical-grade transparent silicone tubing, polyurethane, or a composite tube with a braided layer, etc. It can be completely embedded within the simulation model, extending from the base along a pre-designed channel in the neck to the location where the elastic blood vessel is implanted. The inlet connects to the outlet of the fluid delivery pump, the outlet connects to one end of the elastic blood vessel, and the other end returns to the blood storage device, forming a closed loop.

[0072] The flow meter and flow control valve are located on the circulation pipeline and are respectively connected to the computing terminal for communication. The flow meter is used to detect the flow rate of the simulated blood fluid. The computing terminal is used to control the opening of the flow control valve according to the flow rate to adjust the flow rate.

[0073] Flow meters are used to detect the instantaneous velocity or cumulative flow of blood-like fluid in circulating pipelines in real time, and send this data to a computing terminal to provide the system with quantitative data on the dynamic state of blood flow within the blood vessels. Flow meters can be miniature turbine flow meters, photoelectric droplet counters, etc., and are integrated in series in the circulating pipeline. They are usually located after the outlet of the liquid delivery pump and before the inlet of the elastic blood vessel to ensure that the measured flow velocity reflects the actual flow rate entering the blood vessel. They are fixed to the pipeline with quick-connect couplings or clamps for easy disassembly, maintenance, or replacement.

[0074] Flow control valves are used to dynamically adjust the flow cross-sectional area or opening of blood-like fluid in a circulating pipeline under the command of a computing terminal. This allows for precise control of the flow rate and volume entering elastic blood vessels, simulating different physiological states such as normal blood flow, vasoconstriction, and puncture return. They work in conjunction with flow meters to achieve closed-loop flow regulation. Flow control valves can be miniature proportional solenoid valves, such as normally closed direct-acting solenoid valves, which adjust the duty cycle via PWM signals to achieve continuously adjustable opening control; or miniature electric regulating valves, with the valve core driven by a miniature motor, allowing for precise opening positioning and supporting high-precision closed-loop flow control; or piezoelectric microfluidic valves, etc. Flow control valves can be installed in series in the circulating pipeline, typically downstream of the flow meter and upstream of the elastic blood vessel inlet, ensuring that the adjustment directly affects the target flow rate.

[0075] The blood simulation subsystem also includes a one-way valve; the one-way valve is located on the circulation line and is used to restrict the one-way flow of the simulated blood fluid.

[0076] A one-way valve ensures that the simulated blood fluid flows only in a predetermined direction within the circulation tubing, from the fluid delivery pump to the elastic vessel and back to the blood storage device. This prevents backflow, aspiration, or air bubble backflow caused by pump stoppage, pressure fluctuations, or puncture procedures, thereby maintaining stable vascular filling. The one-way valve can be a diaphragm-type check valve or a spring-loaded check valve, and can be installed in series at key points in the circulation tubing, such as after the fluid delivery pump outlet and before the elastic vessel outlet, to prevent fluid from flowing back into the pump chamber when the pump stops.

[0077] The test device 110 also includes a microcontroller; the microcontroller is connected between the computing terminal and the transmission structure and is used for converting communication protocols or drive signals. The microcontroller can serve as a processing unit in the blood simulation subsystem or the overall control architecture, receiving sensor data, receiving data from the computing terminal, performing logic conversion or signal conversion on the data, and driving actuators such as liquid transfer pumps, flow control valves, servo motors, and spray pumps to achieve real-time, low-latency response to simulation feedback. The microcontroller can be an STM32 series, ESP32, Arduino-compatible chip, etc.

[0078] A self-resetting fuse is connected in series in the power supply circuit of the computing terminal and / or execution components to cut off power supply in case of overcurrent and restore power supply after the fault is cleared. When a self-resetting fuse is connected in series in the power supply circuit of the computing terminal and / or execution components, such as servos, pumps, and solenoid valves, it automatically cuts off the circuit in case of overcurrent or short-circuit faults to prevent equipment damage or safety accidents. Once the fault is cleared and the current returns to normal, its resistance automatically drops back to a low resistance state, restoring power supply without manual intervention and ensuring the continuity and safety of system operation.

[0079] In one possible scenario, the testing device 110 also includes a display device connected to the testing device 110. This display device is used to present the operator or instructor with real-time assessment results, system status, operational instructions, or feedback information regarding the puncture procedure. This includes, but is not limited to, needle insertion angle / depth values, operation level (correct / incorrect / serious error), facial feedback status, and the operational status of the blood / tear subsystem. This provides intuitive visual assistance, enhancing the interactivity and teaching effectiveness of the training. The display device could be a touchscreen monitor, an LCD screen, or similar device.

[0080] The following is in conjunction with the appendix Figure 2 This describes the simulation training method based on medical simulation equipment provided in this manual. Among other things, Figure 2 A flowchart illustrating the processing steps of a simulation training method based on a medical simulation device, provided as an embodiment of this specification, specifically includes the following steps: Step 202: When the puncture needle is used to puncture the elastic blood vessel, the sensor collects the orientation data of the puncture needle and sends it to the computing terminal.

[0081] When the puncture needle is used to puncture the elastic blood vessel, the sensor collects positional data and sends it to the computing terminal. This step is the foundation of the entire simulation system's data perception; the sensor array continuously monitors the spatial position of the needle during the puncture process.

[0082] The acquisition of azimuth data covers three dimensions: the needle insertion angle reflects the change in the angle between the needle tip and the skin surface, ranging from 0 to 90 degrees; the needle insertion depth reflects the vertical distance the needle tip penetrates the skin and subcutaneous tissue, ranging from 0 to 15 millimeters; and the blood flow status reflects the simulated blood flow velocity in elastic blood vessels, with a normal range of 20 to 30 milliliters per minute.

[0083] The raw analog signals acquired by the sensors are amplified, filtered, and converted from analog to digital by signal conditioning circuitry, transforming them into a standard digital signal format. The microcontroller preprocesses the digital signals, including data verification, format conversion, and preliminary calculations, and then uploads the processed azimuth data to the computing terminal via a communication module. Data transmission adopts a real-time streaming mode.

[0084] Step 204: The computing terminal determines the driving strategy based on the orientation data, and drives the transmission structure to pull the simulated face according to the driving strategy to simulate facial movements associated with the puncture operation.

[0085] After the orientation data is uploaded to the computing terminal, the system enters the data processing and strategy determination stage. The computing terminal receives the orientation data from the sensor and first performs data validity verification, including format checking, range verification, and outlier removal. Valid data enters the strategy determination algorithm module, where it is compared and analyzed against preset thresholds. Simultaneously, the data and comparison results are displayed on a display device connected to the computing terminal.

[0086] The computing terminal determines the driving strategy based on the comparison between the orientation data and preset thresholds. When the needle insertion angle data is within the correct angle threshold, such as 30 to 45 degrees, the system determines that the angle is correct; when the needle insertion angle data exceeds the incorrect angle threshold, such as greater than 45 degrees or less than 30 degrees, the system determines that the angle is incorrect; when the needle insertion angle data exceeds the serious incorrect angle threshold, such as greater than 60 degrees, the system determines that the angle is seriously incorrect.

[0087] The depth parameter determination logic is similar: when the needle insertion depth data is within the correct depth threshold, such as 3 to 8 mm, the system determines that the depth is correct; when the needle insertion depth data exceeds the incorrect depth threshold, such as greater than 8 mm, the system determines that the blood vessel penetration is incorrect; when the needle insertion depth data exceeds the serious incorrect depth threshold, such as greater than 10 mm, the system determines that the error is serious and may trigger tearing feedback.

[0088] For expression-driven operation, the microcontroller generates a PWM signal with a specific duty cycle to drive the SG90 servo motor to rotate. The servo motor's output shaft is connected to the traction point of the simulated face via a linkage mechanism. The pulling force generated by the servo motor's rotation is transmitted to the traction point through the linkage, pulling the muscles of the simulated face, such as the corners of the mouth or eyebrows, to produce corresponding facial expressions. For example, when the operation is determined to be correct, the corner of the mouth servo motor rotates to a 90-degree position, pulling the corners of the mouth upwards through the linkage to form a smiling expression; when the operation is determined to be incorrect, the corner of the mouth servo motor rotates to a 0-degree position, and the eyebrow servo motor rotates to a 180-degree position to form a painful expression.

[0089] For the tear-inducing mechanism, when the depth exceeds the critical error threshold of 10 mm, the microcontroller outputs a high-level signal via a GPIO pin, driving the NPN transistor to conduct and powering the spray pump. The spray pump pressurizes the liquid in the simulated tear reservoir and delivers it through a silicone tube to the atomizing nozzle, spraying a mist of liquid below the simulated human eye to mimic the tearing effect.

[0090] The entire process from data acquisition to feedback execution has a latency of less than 50 milliseconds, ensuring that the operator can instantly feel the patient's facial reaction corresponding to the puncture operation, thus achieving an immersive medical simulation training experience.

[0091] For example, in step 1: the PC software determines that the operation is correct and generates a "smile control command" (command code: 0x01). Step 2: The instruction is sent to the microcontroller via the data transmission module; Step 3: The microcontroller parses the instruction and sends a PWM signal (corresponding to a servo angle of 90°) to the SG90 servo controlling the corner of the mouth; Step 4: The servo rotates 90°, pulling the corner of the simulated human's mouth upwards (by 5mm) via the linkage mechanism; Step 5: Simultaneously, a PWM signal (corresponding to a servo angle of 0°) is sent to the servo controlling the eyebrows, keeping the eyebrows flat and completing the smiling expression; Step 6: If the operation continues correctly, this state is maintained; When the operation becomes an error, the PC sends a "painful expression command" (code 0x02), and the servo rotates to the corresponding angle (0° for the corner of the mouth servo, 90° for the eyebrow servo), switching to a painful expression; Step 7: The PC determines a serious operational error (e.g., depth > 10mm) and generates a "tear control command" (code 0x03); Step 8: The command is sent to the microcontroller, which controls the micro spray pump to power on (driven by an NPN transistor S8050, with the transistor's base connected to the microcontroller's PB1 pin, its collector connected to the spray pump's negative terminal, its emitter grounded, and the spray pump's positive terminal connected to a 5V power supply); Step 9: The spray pump pressurizes the liquid (distilled water + a small amount of glycerin, ratio 9:1) in the simulated tear storage box and delivers it to the atomizing nozzle through a silicone tube; Step 10: The nozzle sprays a mist of liquid below the simulated human eye (1mm from the skin) to simulate the tearing effect (flow rate: 0.5mL / min); Step 11: After the operation returns to normal, the PC sends a "stop tearing command" (code 0x04), and the microcontroller cuts off the power to the spray pump, stopping the tearing.

[0092] This invention provides a highly integrated intelligent medical simulation training system. By acquiring multi-dimensional positional data of the puncture needle in real time during the puncture procedure—including the needle insertion angle (0°–90°), needle insertion depth (0–15 mm), and simulated blood flow velocity within the elastic vessel (20–30 mL / min)—it constructs a comprehensive perception capability of the operation quality. The sensor uploads the raw signal to a computing terminal after conditioning, analog-to-digital conversion, and preprocessing. The terminal performs logical judgments based on multi-level thresholds set by clinical guidelines (e.g., correct angle 30°–45°, incorrect angle >45°, serious error angle >60°; correct depth 5–8 mm, penetration error >8 mm, serious error >10 mm), and generates a refined driving strategy accordingly. This strategy can simultaneously control multiple execution units: on the one hand, a microcontroller sends a PWM signal with a specific duty cycle to the SG90 servo motor, driving the linkage to pull the traction point on the simulated inner side of the face, achieving multi-level facial expression feedback such as "upturned corners of the mouth" indicating comfort, "frowning and pursing lips" indicating mild discomfort, and "open mouth" indicating severe pain; on the other hand, when high-risk behaviors such as a depth exceeding 10 mm are detected, the system automatically activates the tear simulation subsystem, starting a micro-spray pump to deliver simulated tears through a silicone tube to the lower eyelid nozzle, realistically simulating the physiological reaction of a patient tearing due to severe pain with a mist-like liquid, and immediately stopping tearing after the operation returns to a safe depth range, dynamically recreating the complete clinical scenario of "stimulus-response-relief". Simultaneously, all parameters, status judgment results, and historical trends are presented in real time on the display interface, supporting teaching assessment and operation review. This system not only breaks through the limitations of traditional puncture models that lack feedback and cannot reflect the patient's feelings, but also deeply integrates technical precision with emotional empathy. Through repeated training, trainees not only master standardized operating skills, but also gain a deeper understanding of the actual impact of the operation on the patient, thereby comprehensively improving their clinical safety awareness, operational decision-making ability, and humanistic care qualities.

[0093] The display interface can be found here. Figure 3 , Figure 3 This is a schematic diagram of a medical simulation display interface provided in one embodiment of this specification. The medical simulation display interface includes: a real-time parameter display area (angle, depth, flow rate), an operation status prompt area (correct / incorrect), a historical data curve area (parameter changes in the last 10 minutes), and a control command sending area.

[0094] Interface layout: Top title bar: Displays "External jugular vein blood collection simulation monitoring system V1.0"; The real-time parameter area on the left (occupying 30% of the interface width) is displayed in three lines, each line containing "parameter name + value + unit", such as "needle insertion angle: 25°", "needle insertion depth: 6mm", "blood flow velocity: 25mL / min". The font color of the values ​​changes with the status (green = normal, red = abnormal). Intermediate state and curve area (occupying 50% of the width): The upper part is a status prompt box (displaying "Operation correct" or "Operation error (too deep)"), and the lower part is a curve graph (the three curves correspond to the angle, depth, and flow rate, respectively, and the curve colors are blue, orange, and green. Each grid on the X-axis represents 10 seconds, and the Y-axis indicates the range: angle 0-90°, depth 0-15mm, flow rate 0-50mL / min). Right-side control area (occupying 20% ​​of the width): includes "Manual Control" buttons (smile, pain, tears, stop) and "Parameter Setting" buttons (allows modification of preset specifications, such as angle 15-30°, depth 3-8mm); Bottom status bar: Displays data reception status ("connected" or "disconnected"), current time, and system version.

[0095] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0096] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments in this specification are not limited to the described order of actions, because according to the embodiments in this specification, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the embodiments in this specification.

[0097] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0098] The preferred embodiments disclosed above are merely illustrative of this specification. Optional embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the embodiments described herein. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the embodiments, thereby enabling those skilled in the art to better understand and utilize this specification. This specification is limited only by the claims and their full scope and equivalents.

Claims

1. A medical simulation device, characterized in that, Includes simulation objects and testing devices; The simulated object includes a puncture needle, an elastic blood vessel, and a simulated face; the testing device includes a computing terminal and a transmission structure. The puncture needle is operably disposed on the elastic blood vessel, and a sensor is provided at the tip of the puncture needle, which is communicatively connected to the computing terminal. The computing terminal is driven to connect to the transmission structure, and the transmission structure is operably connected to the simulated face. When the puncture needle performs a puncture operation on the elastic blood vessel, the sensor is used to collect orientation data and send the orientation data to the computing terminal; the computing terminal is used to determine a driving strategy based on the orientation data, and drive the transmission structure to pull the simulated face according to the driving strategy to simulate facial movements associated with the puncture operation.

2. The medical simulation device according to claim 1, characterized in that, in, The computing terminal is specifically used to determine the driving strategy based on the comparison result between the orientation data and the preset threshold.

3. The medical simulation device according to claim 2, characterized in that, The sensor is an angle sensor, and the orientation data is the needle insertion angle data; the preset thresholds include a correct angle threshold, an incorrect angle threshold, and a critically incorrect angle threshold; the driving strategy includes an indication strategy corresponding to each threshold. Specifically, the computing terminal is used to: determine a correct angle indication strategy when the needle insertion angle data is within the correct angle threshold; determine an angle error indication strategy when the needle insertion angle data exceeds the incorrect angle threshold; and determine a serious angle error indication strategy when the needle insertion angle data exceeds the serious error angle threshold.

4. The medical simulation device according to claim 2, characterized in that, The sensor is a depth sensor, and the orientation data is needle insertion depth data; the preset thresholds include a correct depth threshold and an incorrect depth threshold; the driving strategy includes an indication strategy corresponding to each threshold. Specifically, the computing terminal is used to: determine a correct depth indication strategy when the needle insertion depth data is within the correct depth threshold; and determine a depth error indication strategy when the needle insertion depth data exceeds the incorrect depth threshold.

5. The medical simulation device according to claim 4, characterized in that, The preset threshold also includes a severe error depth threshold; the simulation object also includes a tear simulation subsystem; the tear simulation subsystem includes a tear storage device, a simulated tear fluid, a tear conduit, a spray pump, and a tear nozzle; The spray pump is located inside the tear storage device and is connected to the inlet end of the tear conduit; The outlet end of the tear duct extends to the lower eyelid area of ​​the simulated face and is connected to the tear nozzle; The computing terminal is connected to the spray pump drive; The computing terminal is further configured to output a spray drive signal to the spray pump when the needle insertion depth data exceeds the severe error depth threshold; the spray pump is configured to pump the simulated tear fluid to the tear nozzle and spray it out in response to the spray drive signal.

6. The medical simulation device according to claim 5, characterized in that, in, The computing terminal is further configured to output a stop command to the spray pump when the needle insertion depth data recovers from exceeding the critical error depth threshold to within the correct depth threshold; the spray pump is configured to stop operating in response to the stop command.

7. The medical simulation device according to claim 1, characterized in that, The transmission structure includes a servo motor and at least one linkage; The servo motor is connected to the computing terminal; One end of the connecting rod is connected to the output shaft of the servo motor, and the other end is connected to the simulated face. The driving command generated by the computing terminal is sent to the servo motor; the servo motor is used to respond to the driving command and output rotational motion, and drives the simulated face to deform through the linkage.

8. The medical simulation device according to claim 7, characterized in that, The simulated face is made of elastic material and has multiple traction points on its inner side; the end of the connecting rod away from the servo motor is connected to the traction points.

9. The medical simulation device according to claim 7, characterized in that, The transmission structure also includes a fixed bracket; The fixed bracket is provided with a mounting part for mounting and fixing the servo motor, and a connecting part for the connecting rod to pass through or connect.

10. The medical simulation device according to claim 1, characterized in that, The simulation object also includes a blood simulation subsystem; the blood simulation subsystem includes a blood storage device, a simulated blood fluid, a liquid delivery pump, and circulation pipelines; The elastic blood vessel has an inlet end and an outlet end; The liquid delivery pump is located inside the blood storage device, and the outlet of the liquid delivery pump is connected to the inlet of the elastic blood vessel through the circulation pipeline. The outlet end of the elastic blood vessel is connected to the blood storage device through the circulation pipeline; The liquid delivery pump is used to pump the simulated blood fluid into the elastic blood vessel, and the simulated blood fluid flowing through the elastic blood vessel flows back to the blood storage device.

11. The medical simulation device according to claim 10, characterized in that, The blood simulation subsystem also includes a flow meter and a flow control valve; The flow meter and the flow control valve are located on the circulation pipeline and are respectively connected to the computing terminal in communication. The flow meter is used to detect the flow rate of the simulated blood fluid; the computing terminal is used to control the opening of the flow control valve according to the flow rate to adjust the flow rate.

12. The medical simulation device according to claim 10, characterized in that, The blood simulation subsystem also includes a one-way valve; The one-way valve is located on the circulation pipeline and is used to restrict the one-way flow of the simulated blood fluid.

13. The medical simulation device according to claim 1, characterized in that, The testing apparatus also includes a microcontroller; The microcontroller is connected between the computing terminal and the transmission structure and is used to convert communication protocols or drive signals.

14. The medical simulation device according to claim 1, characterized in that, The testing equipment also includes a resettable fuse; The self-resetting fuse is connected in series in the power supply circuit of the computing terminal and / or execution component, and is used to cut off the power supply in case of overcurrent and restore the power supply after the fault is cleared.

15. A simulation training method based on medical simulation equipment, characterized in that, The method is performed jointly by the simulation object and the testing device as described in any one of claims 1-14; When the puncture needle is used to puncture the elastic blood vessel, the sensor collects the orientation data of the puncture needle and sends it to the computing terminal. The computing terminal determines a driving strategy based on the orientation data, and drives the transmission structure to pull the simulated face according to the driving strategy to simulate facial movements associated with the puncture operation.

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