A bronchoscope robot training ex vivo pig lung training device

Abstract

This invention discloses an isolated porcine lung training device for bronchoscopy robot training, belonging to the field of medical teaching model technology. It includes: a chamber with a connecting tube communicating with the inside and outside; a simulated thoracic cavity assembly installed within the chamber, including a tiltable platform and a simulated thoracic cavity mounted on the platform; and an isolated lung adapter, including a shell installed within the simulated thoracic cavity, a flexible inner membrane sealing and covering the inner wall of the shell to form a sandwiched air cavity, and a constant-pressure airbag assembly communicating with the sandwiched air cavity. The isolated lung adapter with a flexible inner membrane is used to fix the isolated lung tissue. By adjusting the gas within the sandwiched air cavity, it achieves the fitting and fixation of isolated lung tissues of different sizes. Furthermore, the constant-pressure airbag assembly maintains a constant pressure within the sandwiched air cavity, ensuring consistent fitting and suspension of the isolated lung tissue. This more closely resembles the real lung fixation environment, facilitating trainees to master more realistic bronchoscopy operation skills.

Description

Technical Field

[0001] This invention relates to an isolated pig lung training device for bronchoscopy robot training, belonging to the field of medical teaching model technology. Background Technology

[0002] A bronchoscope is a medical device used in clinical medicine for the diagnosis and treatment of airway and lung diseases. Through a relatively fine bronchoscope, it penetrates deep into the bronchial tree through the body's natural cavities to observe airway mucosal lesions, perform tissue biopsies, and remove foreign bodies. Bronchoscopy requires a high degree of specialization, thus operators need extensive training before practical application. This is because the bronchial tree has intricate branches and winding paths, requiring precise control of the bronchoscope tip to reach even the finest levels of the bronchi, placing stringent demands on the operator's skill and precision.

[0003] Currently, bronchoscopy training primarily employs three methods: model training, AR training, and ex vivo lung tissue training. Model training, however, suffers from limitations. The simulated models used cannot accurately replicate the anatomical details and tissue elasticity of the human bronchus, resulting in significant discrepancies between the training scenario and clinical practice, thus limiting its effectiveness. AR training excels at simulating the procedure but lacks the tactile feedback required for examining real tissue, hindering the operator's mastery of crucial force control and body positioning techniques in clinical practice. In the later stages of training, ex vivo lung tissue training offers a more realistic approach. Real animal ex vivo lung tissue closely resembles clinical reality in its bronchial anatomy and tissue elasticity, providing the operator with authentic tactile feedback. To further mimic real breathing, a simulated breathing device is used to inflate and deflate the ex vivo lung tissue, allowing it to exhibit expansion and contraction effects similar to actual respiration.

[0004] However, the use of ex vivo lung tissue still has the following shortcomings: In clinical examinations, the bronchial lumen is often narrowed or blocked due to compression of the patient's lung lobes. At this time, the operator needs to accurately adjust the patient's position (especially the left and right tilt angle) to release the compressed bronchus and ensure that the examination can proceed smoothly. This operation depends on the operator's adjustment of the patient's position. However, at present, ex vivo lung tissue is simply placed in a simulation operation box or fixed by clamping. If a tight clamping method is used, it will not only hinder the normal flow of the internal bronchi but also restrict the expansion and contraction of the isolated lung tissue, making it impossible to realistically simulate respiratory movements. While a looser fixation method can meet the needs of respiratory simulation, the isolated lung tissue is prone to shaking and displacement within the control box when adjusting the left and right tilt angles during training to simulate clinical positioning (in a real human body, the lung is suspended by the lung root, fixed below the pulmonary ligaments, and absorbed by the negative pressure of the pleural cavity, and is contained and limited by the thoracic cage and mediastinum, thus stabilizing it within the pleural cavity). This makes it difficult for the operator to accurately practice positioning techniques, and the current training model struggles to simulate the effect of stable lung fixation, thus failing to meet the requirements of high-precision training. Furthermore, due to significant individual differences in size and shape among isolated lung tissues from different sources, a single-form fixation structure cannot adapt to isolated lung tissues of different sizes.

[0005] Therefore, an isolated pig lung training device for bronchoscopy robot training was designed. The isolated lung tissue is fixed in the chamber by a universal suspension fixation method, which improves the adaptability of the trainer to isolated lung tissue of different shapes and is closer to the real breathing state of living lung tissue. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide an isolated pig lung training device for bronchoscopy robot training, which solves the problem that existing simulation training devices are difficult to achieve universal fixation according to different sizes of isolated lung tissue and cannot provide a more realistic breathing simulation effect.

[0007] The technical problem to be solved by this invention is achieved by the following technical solution:

[0008] An isolated porcine lung training device for bronchoscopy robot training includes:

[0009] The silo body has connecting pipes that connect the inside and outside;

[0010] A simulated thoracic cavity assembly, installed within the chamber, includes a tiltable platform and a simulated thoracic cavity mounted on the platform;

[0011] An ex vivo lung adapter includes a housing installed within the simulated thoracic cavity, a flexible inner membrane that seals and covers the inner wall of the housing to form a sandwiched air cavity, and a constant pressure airbag assembly communicating with the sandwiched air cavity.

[0012] As a preferred embodiment, the outer end of the connecting pipe has a check valve, and the side of the connecting pipe is provided with an air inlet pipe connected to the air pressure pump and an exhaust pipe connected to the exhaust damper. The inner end of the connecting pipe is sealed to the trachea of ​​the ex vivo lung tissue placed in the ex vivo lung adapter.

[0013] As a preferred example, the simulated thoracic cavity is provided with multiple magnetic slots, and the ex vivo lung adapter is made of a rigid shell with magnetic protrusions that cooperate with the magnetic slots.

[0014] As a preferred example, the inner wall of the shell is distributed with multiple independent and sealed flexible inner membranes, forming independent and sealed interlayer air cavities.

[0015] As a preferred example, the bottom of the housing is fixed with an end cap, and the inner side of the end cap has a T-shaped air membrane inserted between the left and right lungs, and the T-shaped air membrane has a T-shaped air cavity.

[0016] As a preferred example, the flexible inner membrane surface has an adsorption component that adsorbs onto the surface of the isolated lung tissue.

[0017] As a preferred example, the adsorption assembly includes a plurality of suction cups embedded and fixed on the surface of the flexible inner membrane, and a suction tube connecting each of the suction cups to an external negative pressure device.

[0018] As a preferred example, the constant pressure airbag assembly includes a cylindrical base, a cylindrical airbag covering the cylindrical base, a positioning cylinder fixed in the cylindrical base, a positioning rod fixed in the cylindrical airbag and cooperating with the positioning cylinder, and a counterweight fixed to the top of the cylindrical airbag. The cylindrical base is sealed and connected to the interlayer air chamber and the T-shaped air chamber through an air valve.

[0019] As a preferred example, a distance sensor is installed at the bottom of the positioning rod.

[0020] As a preferred embodiment, the top of the cylindrical airbag is provided with a cover plate, the bottom of the cover plate is fixed vertically to the positioning rod, the upper part of the cover plate is provided with a threaded rod, and the counterweight is sleeved on the threaded rod and fixed by a lock nut.

[0021] The beneficial effects of this invention are:

[0022] 1. An ex vivo lung adapter with a flexible inner membrane is used to fix the ex vivo lung tissue. By adjusting the gas in the interlayer air cavity, it is possible to fit and fix the ex vivo lung tissue of different sizes. In addition, the constant pressure air bladder component maintains constant pressure in the interlayer air cavity, which can always fit and suspend the ex vivo lung tissue, making it more in line with the real lung fixation environment. This is conducive to trainees mastering bronchoscopy operation skills that are more in line with actual conditions.

[0023] 2. A negative pressure adsorption component is set on the inner wall of the flexible inner membrane to always keep the isolated lung tissue supported by the isolated lung adapter, and to prevent the isolated lung tissue from sliding or shaking in the operating box, which is not in line with practical operation.

[0024] 3. In addition, even after exhaling, the bronchi and alveoli of a normal living lung will not collapse and will always maintain a certain pressure and open state. Therefore, the distance sensor in the constant pressure airbag assembly can be used to link the air pressure pump to stop the exhaust, so that the bronchi and alveoli are always in a slightly open state and will not completely collapse, simulating a breathing state that is more in line with actual operation. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the internal structure of this trainer;

[0026] Figure 2 This is a schematic diagram of the installation structure of this trainer;

[0027] Figure 3 This is a schematic diagram of the structure of the trainer in use;

[0028] Figure 4 A schematic diagram of a worm gear drive structure for a tiltable platform;

[0029] Figure 5 A schematic diagram of a partial structure of an ex vivo lung adapter;

[0030] Figure 6 This is a schematic diagram of the air passage connection structure for the connecting pipe;

[0031] Figure 7 A schematic diagram of the structure after installing a T-shaped air chamber in an ex vivo lung adapter;

[0032] Figure 8 This is a schematic diagram of the gas path connection structure of the present invention;

[0033] Figure 9 This is a schematic diagram of the constant pressure airbag assembly;

[0034] Figure 10 This is a schematic diagram of the internal structure of the constant pressure airbag assembly.

[0035] In the picture:

[0036] 1. Silo body; 101. Silo cover; 102. Connecting pipe; 103. Slide rail; 104. Check valve; 105. Air pump; 106. Inlet pipe; 107. Exhaust damper; 108. Exhaust pipe;

[0037] 2. Simulated thoracic cavity assembly; 201. Stage; 202. Simulated thoracic cavity; 203. Rotating rod; 204. Worm gear motor; 205. Magnetic suction groove;

[0038] 3. Ex vivo lung adapter; 301. Shell; 302. Laminated air chamber; 303. Flexible inner membrane; 304. Adsorption assembly; 305. Suction tube; 306. Negative pressure device; 307. End cap; 308. T-shaped air membrane; 309. T-shaped air chamber; 310. Tubing;

[0039] 4. Isolated lung tissue; 401. Trachea;

[0040] 5. Constant pressure airbag assembly; 501. Cylindrical base; 502. Cylindrical airbag; 503. Positioning cylinder; 504. Positioning rod; 505. Counterweight; 506. Distance sensor; 507. Valve; 508. Slide groove; 509. Limiting block; 510. Threaded rod; 511. Locking nut; 512. Cover plate;

[0041] 6. Bronchoscopy. Detailed Implementation

[0042] To facilitate a clear understanding of the technical means, creative features, objectives, and effects of this invention, the invention will be further described below in conjunction with specific illustrations.

[0043] like Figure 1 As shown, the bronchoscopic robot training device for isolated pig lungs includes a chamber 1, a simulated thoracic cavity assembly 2, and an isolated lung adapter 3. The chamber 1 has an openable cover 101, and a connecting pipe 102 connecting the inside and outside of the chamber 1. A pair of slides 103 are provided on both sides of the chamber 1, and the inner side of the cover 101 is slidably fixed to the chamber 1 by a rib that cooperates with the slides 103, forming an inner cavity to accommodate the isolated lung tissue 4.

[0044] like Figure 2 , Figure 3 As shown, in some embodiments, the inner cavity formed by the chamber body 1 and the chamber cover 101 has a thermal insulation layer, and the inner cavity of the chamber body 1 is connected to a constant temperature system, so that the isolated lung tissue 4 is in a constant temperature environment close to the real state. The simulated thoracic cavity assembly 2 is installed in the chamber body 1. The simulated thoracic cavity assembly 2 includes a tiltable platform 201 and a simulated thoracic cavity 202 installed on the platform 201. The simulated thoracic cavity 202 is fixed to the platform 201 by screw connection.

[0045] like Figure 4As shown, the platform 201 is movably mounted inside the chamber 1 via a rotating rod 203. The rotating rod 203 is driven by a worm gear motor 204, enabling the platform 201 to swing left and right (simulating the adjustment of the patient's supine and lateral positions). The swing angle range is ±90°. Within this range, the simulated thoracic cavity component 2 does not interfere with the chamber 1 and the chamber cover 101. Due to the large reduction ratio of the worm gear motor 204, a smaller power motor can precisely drive the entire platform 201. Furthermore, relying on the self-locking characteristic of the worm gear motor 204, the platform 201 can be maintained at any simulated lateral position angle, better simulating the scenario of adjusting the patient's position during surgery.

[0046] like Figure 5 As shown, the ex vivo lung adapter 3 includes a housing 301 installed within a simulated thoracic cavity 202, a flexible inner membrane 303 sealingly covering the inner wall of the housing 301 and forming a sandwiched air cavity 302, and a constant pressure airbag assembly 5 connected to the sandwiched air cavity 302 via a tubing 310. The simulated thoracic cavity 202 has multiple magnetic slots 205, mainly located at the bottom of the simulated thoracic cavity 202. The ex vivo lung adapter 3 uses a rigid housing 301, which has magnetic protrusions (obscured in the figure) that cooperate with the magnetic slots 205. It is fixed magnetically, facilitating quick removal and insertion of the ex vivo lung tissue 4, and also facilitating connection of the tubing 102. The sandwiched air cavity 302 is sealed and connected to the constant pressure airbag assembly 5 via the tubing 310.

[0047] In the suspension fixation method, the constant pressure airbag assembly 5 continuously compresses and adheres the isolated lung tissue 4 placed in the flexible inner membrane 303. By adjusting the compression force through the constant pressure airbag assembly 5, isolated lung tissue 4 of different sizes can be suspended and fixed in the isolated lung adapter 3 according to the preset compression force, and is not easily affected by breathing movements or body position adjustment movements, so as not to cause shaking or slippage.

[0048] In some embodiments, to minimize slippage of the isolated lung tissue 4, an adsorption assembly 304 is provided on the surface of the flexible inner membrane 303 to adhere to the surface of the isolated lung tissue 4. Multiple independently sealed flexible inner membranes 303 are distributed on the inner wall of the housing 301, forming independently sealed interlayer air chambers 302, both inner and outer sides of which are subjected to compressive force, forming a suspension support. The adsorption assembly 304 includes multiple suction cups embedded and fixed on the surface of the flexible inner membrane 303, and a suction tube 305 connecting each suction cup to an external negative pressure device 306. The negative pressure device 306 employs a negative pressure pump with adjustable negative pressure. When the flexible inner membrane 303 is tightly adhered to the surface of the isolated lung tissue 4 by the constant pressure airbag assembly 5, the negative pressure pump is activated, and the appropriate adsorption pressure is adjusted so that the surface of the isolated lung tissue 4 is always adhered and fixed to the flexible inner membrane 303. This fixation method does not require puncture of the isolated lung tissue 4, does not damage the tissue structure, and does not affect the original morphology of the bronchi and alveoli, which is beneficial for maintaining the practical effect of the isolated lung tissue 4.

[0049] like Figure 6 As shown, in some embodiments, since the isolated lung tissue 4 no longer has respiratory function after being removed from the living environment, it is necessary to inflate and deflate the isolated lung tissue 4 to simulate the respiratory effect of the isolated lung tissue 4. Therefore, a connecting tube 102 is used to seal the trachea 401 of the isolated lung tissue 4. A plastic tube can be inserted into the trachea 401, and the trachea 401 and the inner section of the connecting tube 102 are sealed by binding. The outer end of the connecting tube 102 has a check valve 104. The bronchoscope 6 is inserted into the connecting tube 102 through the check valve 104, thereby entering the isolated lung tissue 4. The check valve 104 is made of an inwardly narrowing rubber diaphragm. The central hole of the rubber diaphragm is smaller than the outer diameter of the bronchoscope 6. Under the action of elasticity, the rubber diaphragm is always tightly attached to the outer wall of the bronchoscope 6, making it difficult to depressurize. The connecting pipe 102 has an inlet pipe 106 connected to the air pump 105 and an exhaust pipe 108 connected to the exhaust damper 107 on its side. The inner end of the connecting pipe 102 is sealed to the trachea 401 of the ex vivo lung tissue 4 placed in the ex vivo lung adapter 3. The start and stop of the air pump 105 and the inflation pressure are controlled by the PLC. After the air pump 105 is started, the internal pressure is regulated by adjusting the size of the exhaust port of the exhaust damper 107.

[0050] like Figure 7 As shown, in some embodiments, an end cap 307 is fixed to the bottom of the housing 301. The inner side of the end cap 307 has a T-shaped air membrane 308 inserted between the left and right lungs. The T-shaped air membrane 308 has a T-shaped air cavity 309, which is connected to the constant pressure airbag assembly 5 via a pipe 310. The added T-shaped air membrane 308, in conjunction with the flexible inner membrane 303, can completely wrap the septa and bottom of the isolated lung tissue 4, achieving a better air expulsion and compression effect, and more closely resembling the actual lung expulsion action.

[0051] In addition, even after exhaling, the bronchi and alveoli of a normal living lung do not collapse and always maintain a certain pressure and open state. Therefore, it is also necessary to keep the bronchi and alveoli slightly open at the end of exhalation and not completely collapse to simulate a breathing state that is more in line with actual operation.

[0052] like Figure 8 As shown, the steps for simulating the respiratory state are as follows:

[0053] 1. Suspension Support. The isolated lung tissue 4 is laid flat in the flexible inner membrane 303 of the shell 301, and the T-shaped air membrane 308 is fixed in place. At this time, according to the set pressure value, the constant pressure airbag assembly 5 pressurizes gas into the flexible inner membrane 303 and the T-shaped air membrane 308, automatically adapting according to the size of the isolated lung tissue 4 to form a constant pressure suspension support.

[0054] 2. Adsorption and Fixation. Activate the negative pressure pump to firmly adhere the surface of the isolated lung tissue 4 to the suction cups of the flexible inner membrane 303 according to the set negative pressure. The suction cups are positioned at the center of the flexible inner membrane 303 so that isolated lung tissue 4 of various sizes can fully cover the suction cups. If the suction cups are not fully covered, repeat the previous step to adjust the position.

[0055] 3. Inhalation Simulation. Start the air pump 105 and adjust the inflation pressure as needed. The primary adjustment method is through the PLC controller, which adjusts the pumping pressure of the air pump 105 according to different power levels. Secondary adjustment is achieved by changing the size of the air vents in the exhaust damper 107 of the exhaust pipe 108 to regulate the internal air pressure. The air pump 105 inflates the bronchi and alveoli inside the isolated lung tissue 4 through the connecting pipe 102. The expansion pressure from the inside out formed by the gas pumped by the air pump 105 must be greater than the compressive force applied by the constant pressure airbag assembly 5. The pressure difference can be finely adjusted through the exhaust damper 107 to ensure that even when the air pump 105 continues to inflate, maintaining a constant internal and external balance within the isolated lung tissue 4, normal lung function will not be impaired. At this point, the isolated lung tissue 4 begins to expand against the compressive force until it reaches internal and external pressure equilibrium due to its own structural constraints (the time to first reach equilibrium can be timed to form a time interval ttotal inhalation, and then each inhalation time interval is set to be greater than ttotal inhalation), thus completing the inhalation simulation. During inhalation, the bronchi and alveoli fully expand, which facilitates the entry of the bronchoscope 6.

[0056] 4. Exhalation Simulation. Stop the air pressure pump 105 or reduce its power so that the internal pressure of the isolated lung tissue 4 is less than the squeezing force applied by the constant pressure airbag assembly 5. At this time, the isolated lung tissue 4 begins to expel gas through the exhaust damper 107 (the time from the start of exhaust to complete exhaust by the first exhaust damper 107 can be timed to form the time interval t_total_exhaustion). The exhaust process needs to maintain a certain internal pressure inside the isolated lung tissue 4. At this time, the bronchi and alveoli will not completely collapse (even after the real lung tissue has completely exhaled, there is still about 20% gas inside the lung tissue, maintaining internal pressure and preventing complete collapse). Therefore, assuming the exhaust speed is uniform, based on the first exhaust time, after 0.8 * t_total_exhaustion time (approximately 20% of the gas in the isolated lung tissue 4 has not been expelled), restart the air pressure pump 105 and run it at the set inspiratory power value to perform inspiratory simulation. Repeat steps 3 and 4 to form a breathing simulation of the isolated lung tissue 4.

[0057] In the above steps, an ex vivo lung adapter 3 with a flexible inner membrane 303 is used to fix the ex vivo lung tissue 4. By adjusting the gas in the interlayer air cavity 302, the ex vivo lung tissue 4 of different sizes can be attached and fixed. Moreover, the interlayer air cavity 302 is kept at a constant pressure by the constant pressure air bag assembly 5. When the ex vivo lung tissue 4 is inflated to simulate the inhalation state, the interlayer air cavity 302 can always attach to and suspend the ex vivo lung tissue 4 by deflating, and will not have the problem of large shaking or displacement due to tilting adjustment (simulating body position adjustment). It is more in line with the real lung fixation environment, which is conducive to the trainees mastering the bronchoscopy 6 operation skills that are more in line with the actual situation. To prevent relative slippage between the isolated lung tissue 4 and the flexible inner membrane 303, a negative pressure adsorption component 304 is installed on the inner wall of the flexible inner membrane 303. Whether breathing or adjusting body position, the isolated lung tissue 4 is always supported by the isolated lung adapter 3, which can provide tight support for the isolated lung tissue 4 in the expanding and contracting breathing state. When simulating adjusting body position, it prevents the isolated lung tissue 4 from sliding or shaking in the operating box, which is not in line with actual operation.

[0058] like Figure 9 , Figure 10 As shown, in some embodiments, the constant pressure airbag assembly 5 includes a cylindrical base 501, a cylindrical airbag 502 covering the cylindrical base 501, a positioning cylinder 503 fixed inside the cylindrical base 501, a positioning rod 504 fixed inside the cylindrical airbag 502 and cooperating with the positioning cylinder 503, and a counterweight block 505 fixed to the top of the cylindrical airbag 502. The cylindrical base 501 is sealed and connected to the interlayer air chamber 302 and the T-shaped air chamber 309 through an air valve 507. A sliding groove 508 for air pressure balance and limiting is provided on the side of the positioning cylinder 503, and a limiting block 509 that slides in cooperation with the sliding groove 508 is provided on the side of the positioning rod 504. During inflation and deflation, the cylindrical airbag 502 maintains a near-proportional relationship between height and volume changes. Therefore, a distance sensor 506 can be installed at the bottom of the positioning rod 504 to indirectly measure vital capacity using the height change of the cylindrical airbag 502. This allows for more accurate measurement of approximately 20% gas residue in the ex vivo lung tissue 4, preventing complete collapse of the bronchi and alveoli and more closely mimicking the state of a living lung. To more accurately obtain the correspondence between the volume change of the cylindrical airbag 502 and the height of the distance sensor 506, the mapping relationship can be calibrated before formal use by inflating a standard volume of gas. Initially, the cylindrical airbag 502 contains a small amount of gas, causing the bottom of the positioning rod 504 to suspend above the bottom of the positioning cylinder 503. The total range of the cylindrical airbag 502 must completely cover the total air intake and exhaust volume of the ex vivo lung tissue of the used size.

[0059] In this scheme, it is no longer necessary to manually measure the time interval between the first complete inhalation and exhalation. Instead, the maximum air intake is measured by automatically measuring the maximum and minimum heights through the distance sensor 506. Thus, when about 20% of the gas remains in the isolated lung tissue 4, the distance sensor 506 transmits the height data to the PLC controller. The PLC controller controls the air pump 105 to re-inhale, so as to ensure that the isolated lung tissue 4 has a similar amount of residual gas as real living lung tissue.

[0060] Specifically, the automatic measurement steps are as follows:

[0061] 1. After step 2 of the breathing state simulation steps, the air pressure pump 105 is started. The expansion pressure generated by the air pressure pump 105 from the inside out is greater than the squeezing force applied by the constant pressure airbag assembly 5. The isolated lung tissue 4 begins to expand until the isolated lung tissue 4 reaches equilibrium due to its own structural limitations. At this time, the height of the cylindrical airbag 502 no longer changes. The volume of the cylindrical airbag 502 corresponding to the height measured by the distance sensor 506 at this time is used as the upper limit volume.

[0062] 2. Then stop the operation of the air pressure pump 105. The squeezing force applied by the constant pressure airbag assembly 5 will compress the bronchi and alveoli in the isolated lung tissue 4 until they completely collapse. At this time, the height of the cylindrical airbag 502 will no longer change. The volume of the cylindrical airbag 502 corresponding to the height measured by the distance sensor 506 at this time is used as the lower limit volume.

[0063] 3. Subtracting the lower limit volume from the upper limit volume equals the full inflation volume of the isolated lung tissue 4. Subtracting 20% ​​from the full inflation volume leaves 20% gas in the isolated lung tissue 4, maintaining a state similar to the incomplete collapse of bronchi and alveoli in living lung tissue. Therefore, in the exhalation simulation step, when the height measured by the distance sensor 506 corresponds to 80% of the full inflation volume, inhalation can be initiated. After reaching the highest point of inhalation, exhalation is then initiated, and the breathing cycle repeats.

[0064] If it is necessary to simulate incomplete inhalation and exhalation (e.g., the breathing state of a weak patient, with small single inhalation volume and slow breathing), the breathing switching node can be controlled by the ranging sensor 506: during inhalation simulation, exhalation switching occurs when the inhaled gas does not need to reach 100% of the full inflation volume of the isolated lung tissue (e.g., reaching 70%); during exhalation simulation, inhalation switching occurs when the exhaled gas does not need to reach 80% of the full inflation volume of the isolated lung tissue (e.g., reaching 70%). By measuring the inhalation and exhalation volume using the ranging sensor 506, the size of each inhalation of the isolated lung tissue 4 can be simulated; furthermore, in conjunction with the valve 507, the breathing rate can be adjusted by changing the opening size of the valve 507, further improving the realism of breathing in this training device.

[0065] In some embodiments, in order to adjust the constant pressure value of the cylindrical airbag 502, a cover plate 512 is provided on the top of the cylindrical airbag 502. The bottom of the cover plate 512 is fixed vertically to the positioning rod 504, and a threaded rod 510 is provided vertically on the upper part of the cover plate 512. A counterweight 505 is sleeved on the threaded rod 510 and fixed by a locking nut 511. By setting counterweights 505 of different weights, the constant pressure airbag assembly 5 can form constant pressure values ​​of different magnitudes.

[0066] The above description outlines the main technical features, basic principles, and beneficial effects of this invention. The scope of protection claimed by this invention is defined by the appended claims and their equivalents. Those skilled in the art should understand that this invention is not limited to the above embodiments, and various equivalent changes can be made without departing from the spirit and description of this invention; these equivalent changes will also fall within the scope of protection of this invention.

Claims

1. A training device for isolated pig lungs used in bronchoscopy robot training, characterized in that, include: The silo body (1) has a connecting pipe (102) that connects the inside and outside; The simulated thoracic cavity assembly (2) is installed inside the chamber (1) and includes a tiltable platform (201) and a simulated thoracic cavity (202) installed on the platform (201); The ex vivo lung adapter (3) includes a housing (301) installed in the simulated thoracic cavity (202), a flexible inner membrane (303) that seals and covers the inner wall of the housing (301) and forms a sandwich air cavity (302), and a constant pressure airbag assembly (5) communicating with the sandwich air cavity (302).

2. The isolated pig lung training device for bronchoscopy robot training according to claim 1, characterized in that, The outer end of the connecting pipe (102) has a check valve (104), and the side of the connecting pipe (102) is provided with an air inlet pipe (106) connected to the air pressure pump (105) and an exhaust pipe (108) connected to the exhaust damper (107). The inner end of the connecting pipe (102) is sealed to the trachea (401) of the isolated lung tissue (4) placed in the isolated lung adapter (3).

3. The isolated pig lung training device for bronchoscopy robot training according to claim 1, characterized in that, The simulated thoracic cage (202) is provided with magnetic grooves (205) at multiple points. The ex vivo lung adapter (3) adopts a rigid shell (301). The shell (301) is provided with magnetic protrusions that cooperate with the magnetic grooves (205).

4. The isolated pig lung training device for bronchoscopy robot training according to claim 1, characterized in that, The inner wall of the shell (301) is distributed with multiple independent and sealed flexible inner membranes (303), forming independent and sealed interlayer air cavities (302).

5. The isolated pig lung training device for bronchoscopy robot training according to claim 4, characterized in that, The bottom of the housing (301) is fixed with an end cap (307), and the inner side of the end cap (307) has a T-shaped air membrane (308) inserted between the left and right lungs, and the T-shaped air membrane (308) has a T-shaped air cavity (309).

6. The isolated pig lung training device for bronchoscopy robot training according to claim 1, characterized in that, The flexible inner membrane (303) has an adsorption component (304) adsorbed on the surface of the isolated lung tissue (4).

7. The isolated porcine lung training device for bronchoscopy robot training according to claim 6, characterized in that, The adsorption assembly (304) includes a plurality of suction cups embedded and fixed on the surface of the flexible inner membrane (303), and a suction tube (305) connecting each of the suction cups to an external negative pressure device (306).

8. The isolated pig lung training device for bronchoscopy robot training according to claim 1, characterized in that, The constant pressure airbag assembly (5) includes a cylindrical base (501), a cylindrical airbag (502) covering the cylindrical base (501), a positioning cylinder (503) fixed in the cylindrical base (501), a positioning rod (504) fixed in the cylindrical airbag (502) and cooperating with the positioning cylinder (503), and a counterweight (505) fixed on the top of the cylindrical airbag (502). The cylindrical base (501) is sealed and connected to the interlayer air chamber (302) and the T-shaped air chamber (309) through an air valve (507).

9. The isolated pig lung training device for bronchoscopy robot training according to claim 8, characterized in that, A distance sensor (506) is installed at the bottom of the positioning rod (504).

10. The isolated porcine lung training device for bronchoscopy robot training according to claim 8, characterized in that, The top of the cylindrical airbag (502) is provided with a cover plate (512), the bottom of the cover plate (512) is fixed vertically to the positioning rod (504), the upper part of the cover plate (512) is provided with a threaded rod (510), and the counterweight (505) is sleeved on the threaded rod (510) and fixed by a locking nut (511).

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