Medical simulation training device

Abstract

The utility model discloses a medical simulation training device which comprises an organ model used for simulating human body organ configuration; the movement device is assembled with the visceral organ model and is arranged to be capable of driving the visceral organ model to move so as to simulate the movement of the visceral organs in the human body, and the movement of the movement device at least comprises at least one of lifting movement and translation movement; the lifting motion is set to simulate visceral organ motion brought by human body position change, and the translation motion is set to simulate visceral organ motion brought by diaphragm motion traction when a human body breathes.

Description

Technical Field

[0001] The utility model relates to medical simulation training, and more particularly to a medical simulation training device. Background Art

[0002] With the rapid development of medical education, medical education is facing a transformation. As an innovative technology, human body simulation is changing our anatomy and clinical skills training.

[0003] For example, urinary stones are one of the most common urological conditions. Recent epidemiological surveys show that the prevalence of urinary stones in Chinese adults is as high as 6.5%. Percutaneous nephrolithotomy is the preferred minimally invasive procedure for kidney stones larger than 2 cm. This procedure involves creating a tunnel through the skin on the back to the kidney. The surgeon uses specialized instruments through this tunnel to locate and remove the kidney stone.

[0004] Currently, the average duration of such surgeries in China is 3-4 hours. The puncture process is the most significant factor influencing this time. Currently, punctures are performed by doctors based on preoperative CT scans and intraoperative ultrasound images, adjusting the plan as they progress. Therefore, learning punctures is a tedious task for novice surgeons, often requiring the use of simulation training devices. Furthermore, current research on surgical robots also requires a verification platform to test puncture performance.

[0005] For example, Chinese patent CN116071983A discloses a renal puncture simulation training device with a directional adjustment mechanism that allows personalized adjustment and training based on the patient's kidney position, increasing the diversity of training situations. However, it does not take into account intraoperative renal movement, as intraoperative renal deformation and displacement are key factors affecting the success or failure of the operation. Utility Model Content

[0006] The embodiment of the present utility model provides a medical simulation training device that can dynamically simulate organ movement to meet the training tasks of doctors or experimental verification of surgical robots.

[0007] The present invention provides a medical simulation training device, comprising:

[0008] Organ models, used to simulate human organs;

[0009] a motion device, mounted on the organ model and configured to drive the organ model to move so as to simulate the movement of human organs in the human body;

[0010] The movement of the movement device includes at least one of lifting movement and translational movement; the lifting movement is configured to simulate the movement of organs caused by changes in human body position, and the translational movement is configured to simulate the movement of organs caused by the traction of the diaphragm during human breathing.

[0011] In an exemplary embodiment, the motion device includes a lifting mechanism and a translation mechanism, and the translation mechanism includes at least one transverse motion mechanism and at least one longitudinal motion mechanism;

[0012] The lifting mechanism is configured to drive the organ model to move up and down to simulate the movement of the organ caused by changes in human body position;

[0013] The transverse motion mechanism and the longitudinal motion mechanism are respectively configured to drive the organ model to move transversely and longitudinally to simulate the organ movement caused by the traction of the diaphragm during human breathing.

[0014] In an exemplary embodiment, the lifting range of the organ model is 0-40 mm; the lateral translation range of the organ model in the horizontal plane is 0-8 mm, and the longitudinal translation range is 0-16 mm.

[0015] In an exemplary embodiment, the lifting mechanism includes a first base, a first screw rod installed on the first base, a first slider equipped with the first screw rod and capable of sliding horizontally on the base driven by the first screw rod, a push rod assembly connected to the first slider and capable of lifting and lowering movement driven by the first slider, and a first driving device that drives the first screw rod to rotate.

[0016] In an exemplary embodiment, the lateral motion mechanism includes a second base, a second screw rod mounted on the second base, a second slider equipped with the second screw rod and capable of sliding horizontally in the lateral direction under the drive of the second screw rod, and a second driving device that drives the second screw rod to rotate;

[0017] The longitudinal motion mechanism includes a third base, a third screw rod installed on the third base, a third slider equipped with the third screw rod and capable of sliding horizontally in the longitudinal direction under the drive of the third screw rod, and a third driving device for driving the third screw rod to rotate.

[0018] In an exemplary embodiment, the lifting mechanism, the lateral movement mechanism, and the longitudinal movement mechanism are arranged in a height direction;

[0019] The transverse motion mechanism is supported at the top of the push rod assembly, the longitudinal motion mechanism is supported at the top of the transverse motion mechanism and connected to the second slider, and the organ model is supported at the top of the longitudinal motion mechanism and connected to the third slider.

[0020] In an exemplary embodiment, the medical simulation training device further comprises a box having a receiving cavity for accommodating the organ model;

[0021] The box body is provided with a port communicating with the receiving cavity, and the medical simulation training device further comprises an artificial skin layer covering the port, wherein the artificial skin layer is configured to allow an operator to operate a puncture needle to pass through and enter the organ model;

[0022] The imitation skin layer is made of soft material.

[0023] In an exemplary embodiment, the medical simulation training device further comprises an extrusion layer disposed in the receiving cavity and supporting the artificial skin layer, wherein the extrusion layer is made of a compressible and resilient material.

[0024] In an exemplary embodiment, there is a space filled with ultrasonic coupling agent between the simulated skin layer, the organ model and the extruded layer.

[0025] In an exemplary embodiment, the receiving chamber includes a bottom plate that limits the lowering range of the organ model, and a partition that supports the extrusion layer;

[0026] The height of the partition is higher than that of the bottom plate. The bottom plate is provided with a first opening for the movement mechanism to pass through, and the partition is provided with a second opening for the organ model to pass through.

[0027] In an exemplary embodiment, the medical simulation training device further comprises a box having a receiving cavity for accommodating the organ model;

[0028] The medical simulation training device further comprises a spinal column model provided in the box, the spinal column model being used to simulate a human spine and being configured to perform image positioning when the medical simulation training device is scanning;

[0029] The spinal column model includes a spinal column support and a spinal column module fixed to the spinal column support. The spinal column support is fixed to the box. The spinal column module is provided with a marker for image positioning.

[0030] In an exemplary embodiment, the organ model includes a body module, an organ module disposed on the body module, and a simulated ureter connected to the organ module and passing through the body module. The simulated ureter is configured to be able to inject liquid to simulate the injection operation of surgery.

[0031] In an exemplary embodiment, the medical simulation training device further comprises a box, wherein the box is provided with a receiving cavity for accommodating the organ model and an installation cavity for installing the motion device, and the receiving cavity is communicated with the installation cavity.

[0032] The medical simulation training device provided in the embodiment of the present invention can dynamically simulate organ movement by setting a motion device, and highly realistically simulate a surgical environment to meet the doctor's surgical training tasks or provide a surgical robot for experimental verification.

[0033] Other features and advantages of the present invention will be described in the following description, and in part will become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be achieved and obtained through the structures particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings are used to provide a further understanding of the technical solution of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the technical solution of the present invention and do not constitute a limitation on the technical solution of the present invention.

[0035] Figure 1 This is a three-dimensional view of the medical simulation training device according to an embodiment of the present invention without the front panel;

[0036] Figure 2 This is a three-dimensional view of the motion device of the medical simulation training device according to an embodiment of the present utility model;

[0037] Figure 3 This is a three-dimensional view of the lifting mechanism of the medical simulation training device according to an embodiment of the present utility model;

[0038] Figure 4 This is a three-dimensional view of the medical simulation training device according to an embodiment of the utility model without the front panel and the side panels;

[0039] Figure 5 This is a three-dimensional cross-sectional view of the medical simulation training device according to an embodiment of the present utility model;

[0040] Figure 6 This is a cross-sectional view of an organ model of the medical simulation training device according to an embodiment of the present invention;

[0041] Figure 7 This is a three-dimensional view of the box of the medical simulation training device according to an embodiment of the present utility model;

[0042] Figure 8 This is a three-dimensional view of the rear side of the medical simulation training device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention more clear, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other in any way.

[0044] like Figures 1-8 As shown, an embodiment of the present invention provides a medical simulation training device 100, comprising: an organ model 2 and a motion device 3. The organ model 2 is used to simulate human organs; the motion device 3 is equipped with the organ model 2 and is configured to drive the organ model 2 to move so as to simulate the movement of human organs in the human body. The movement of the motion device 3 includes at least one of lifting and lowering movement and translational movement. The lifting and lowering movement is configured to simulate the movement of organs caused by changes in human body position; and the translational movement is configured to simulate the movement of organs caused by the traction of the diaphragm during human breathing. Of course, the movement of the organ model 2 may also include other movements such as rotation, wherein the rotation is caused by the squeezing of the kidney by the tissues surrounding the kidney due to breathing, and the kidney rotates under the squeezing.

[0045] The medical simulation training device 100 provided in the embodiment of the present invention can dynamically simulate the movement of percutaneous organs by providing the motion device 3 , and simulate a highly realistic surgical environment, thereby meeting the doctor's surgical training tasks or providing a surgical robot for experimental verification.

[0046] The medical simulation training device 100 provided in this embodiment of the utility model can enhance a physician's surgical skills and improve their ability to control dynamic targets during surgery, thereby significantly improving surgical success rates and safety. The organs used may include the kidney, spleen, heart, and so on. This article uses the kidney as an example, and simulates a kidney puncture procedure as an example for detailed description.

[0047] like Figure 2 As shown, the motion device 3 includes a lifting mechanism 3a and a translation mechanism 3b. The lifting mechanism 3a is configured to drive the organ model 2 in vertical motion to simulate organ movement caused by changes in human body position. The translation mechanism 3b is configured to drive the organ model 2 in horizontal motion to simulate positional changes caused by organ movement pulled by the diaphragm during human breathing.

[0048] Because human body position changes (such as lying supine) are generally significant, the lifting mechanism 3a provides a wide range of vertical movement for the organ model 2, typically 0-40 mm. Because the positional changes caused by organ movement due to diaphragmatic movement during respiration are relatively small, the translation mechanism 3b provides minute, precise horizontal movement for the organ model 2, typically 0-8 mm in the horizontal plane and 0-16 mm in the vertical plane.

[0049] like Figure 2 、 Figure 3 As shown, the lifting mechanism 3a includes a first base 311, a first screw rod 312 installed on the first base 311, a first slider 313 equipped with the first screw rod 312 and capable of horizontally sliding on the first base 311 driven by the first screw rod 312, a push rod assembly 314 connected to the first slider 313 and capable of lifting and lowering movement driven by the first slider 313, and a first driving device 315 for driving the first screw rod 314 to rotate.

[0050] like Figure 3 As shown, the push rod assembly 314 includes a fixed end 3141 and a free end 3142 installed on the first base 311, a push rod 3143 connecting the fixed end 3141 and the free end 3142, and a horizontal axis 3144 connecting the two sides of the fixed end 3141 and the first slider 313. Slide grooves H are respectively provided on both sides of the fixed end 3141 and the free end 3142, and the horizontal axis 3144 is slidably connected to the corresponding slide grooves H.

[0051] During operation, the first driving device 315 drives the first screw rod 312 to rotate, and the first slider 313 slides on the first base 311 driven by the first screw rod 31, thereby driving the horizontal axis 3144 to move in the slide groove H, pushing the push rod 3143 to move; the push rod 3143 drives the free end 3142 to move up and down, realizing the overall lifting and lowering movement of the push rod assembly 314.

[0052] like Figure 2 As shown, the translation mechanism 3b includes at least one transverse motion mechanism 32 and at least one longitudinal motion mechanism 33. The transverse motion mechanism 32 includes a second base 321, a second screw rod 322 mounted on the second base 321, a second slider 323 coupled to the second screw rod 322 and capable of sliding horizontally in the transverse direction driven by the second screw rod 323, and a second driving device 324 for rotating the second screw rod 323. The longitudinal motion mechanism 33 includes a third base 331, a third screw rod 332 mounted on the third base 331, a third slider 333 coupled to the third screw rod 332 and capable of sliding horizontally in the longitudinal direction driven by the third screw rod 332, and a third driving device 334 for rotating the third screw rod 332.

[0053] In this embodiment, the transverse motion mechanism 32 and the longitudinal motion mechanism 33 each include two symmetrically arranged ones, thereby improving the stability of the translational movement of the organ module 2 .

[0054] like Figure 3 、 Figure 5As shown, the lifting mechanism 31, the lateral motion mechanism 32, and the longitudinal motion mechanism 33 are arranged in the height direction. The lateral motion mechanism 32 is supported on the top of the push rod assembly 314, and the top of the push rod assembly 314 is provided with a first platform P1 that supports the lateral motion mechanism 32. The longitudinal motion mechanism 33 is supported on the top of the lateral motion mechanism 32 and connected to the second slider 323. The organ model 2 is supported on the top of the longitudinal motion mechanism 33 and connected to the third slider 333. The third slider 333 is provided with a second platform P2 that supports the organ model 2 (see FIG. Figure 5 ).

[0055] During operation, the lifting mechanism 3a drives the translation mechanism 3b to move upward and downward as a whole, which in turn drives the supported organ model 2 to move horizontally. When the transverse motion mechanism 32 is in operation, the second drive device 324 rotates the second screw rod 322, which in turn drives the second slider 323 to slide horizontally, which in turn drives the longitudinal motion mechanism 33 and the supported organ model 2 to move horizontally as a whole. When the longitudinal motion mechanism 33 is in operation, the third drive device 334 rotates the third screw rod 332, which in turn drives the third slider 333 to slide horizontally, which in turn drives the supported organ model 2 to move horizontally.

[0056] Of course, the lifting mechanism 31 , the lateral movement mechanism 32 and the longitudinal movement mechanism 33 are also independently provided, which is not limited here.

[0057] In this embodiment, the first drive device 315, the second drive device 324 and the third drive device 334 are all stepper motors. The first screw rod 312, the second screw rod 322 and the third screw rod 332 are respectively connected to the corresponding base through bearings.

[0058] The translation mechanism 3 b of the embodiment of the present invention can realize horizontal movement of the organ model 2 in two degrees of freedom, namely, the lateral and longitudinal directions. Of course, horizontal movement with multiple degrees of freedom can also be realized through a universal mechanism, which is not limited here.

[0059] like Figure 1 、 Figure 7 As shown, the medical simulation training device 100 of the present invention further comprises a housing 1, which is enclosed by a front panel, a rear panel, a right panel, a left panel, and a bottom panel. To achieve better heat dissipation, heat dissipation holes K are provided on the front, rear, left, and right panels of the housing 1.

[0060] like Figure 4As shown, the housing 1 is provided with a receiving cavity 10 for accommodating the organ model 2 and an installation cavity 11 for installing the motion device 3, and the receiving cavity 10 is connected to the installation cavity 11. The housing 1 is provided with a port connected to the receiving cavity 10, and the medical simulation training device 100 also includes an artificial skin layer 4 that shields the port (the port is covered by the artificial skin layer 4 and cannot be shown). The artificial skin layer 4 is provided for the operator to operate the puncture needle to pass through and enter the organ model 1. The artificial skin layer 4 is made of a soft material, such as silicone or gelatin. In this embodiment, the port 101 is provided at the top of the housing 1 and is used by the operator for the puncture operation.

[0061] like Figure 1 、 Figure 4 、 Figure 5 As shown, the medical simulation training device 100 further includes an extrusion layer 5 disposed within the receiving cavity 10 and supporting the artificial skin layer 4. The extrusion layer 5 is made of a compressible and resilient material, such as silicone or sponge. The extrusion layer 5 has a certain degree of compressibility and resilience, providing space for the organ model 2 to move. A space filled with ultrasonic coupling agent is provided between the artificial skin layer 4, the extrusion layer 5, and the organ model 2 to enable visualization of the organ model 2 under ultrasound.

[0062] like Figure 4 As shown, the receiving chamber 10 includes a base plate 101 that limits the lowering range of the organ model 2, and a partition 102 that supports the extrusion layer 5. The base plate 10 has a first opening (not visible due to the projection angle) for the movement device 3 to pass through, and the partition 102 has a second opening (not visible due to the projection angle) for the simulated organ model 3 to pass through. Due to the soft nature of the extrusion layer 5, it is prone to collapse due to gravity if it is too high. Therefore, the partition 102 is used for support and is placed higher than the base plate 101 to prevent collapse and image distortion.

[0063] In the embodiment of the present invention, the bottom plate 101 is provided to limit the lowering range of the organ model 2 , so as to ensure the accuracy of the lifting movement of the organ model 2 .

[0064] like Figure 4 As shown, the medical simulation training device 100 also includes a spinal column model 6 provided in the housing 1. The spinal column model 6 is connected to the rear plate by screw threads and is located behind the housing 1 together with the rear plate. The spinal column model 6 is configured to perform image positioning during scanning, generally using CT scanning. As shown in Figure 8, the spinal column model 6 includes a spinal column support 60 and a spinal column module 61 fixed to the spinal column support 60. The spinal column support 60 is fixed to the housing 1, and the spinal column module 61 is provided with a marker 610 for image positioning. The marker 610 in this embodiment is a plurality of steel balls, which are embedded in the vertebral apex of the spinal column module 6, and this position is used as a marking point on the CT scan.

[0065] like Figure 6As shown, the organ model 2 includes a torso module 20, an organ module 21 located within the torso module 20, and a simulated ureter 22 connected to the organ module 21 and extending through the torso module 20. The simulated ureter 22 is configured to allow for injection of fluid to simulate surgical fluid injection. The organ module 21 can be made of silicone or an animal organ, such as a pig kidney. Both the torso module 20 and the simulated ureter 22 are made of silicone.

[0066] When the medical simulation training device 100 of the embodiment of the present invention is working, when the lifting mechanism 3a descends to the position where the organ module 2 contacts the base plate 101, the base plate 101 limits its starting position. At this time, the position of the organ model 2 simulates the human body in a supine position, and CT is taken in this state as a preoperative CT image. Then, the motion device 3 moves so that the lifting mechanism 3a rises to a position where the bottom of the organ model 2 is higher than the base plate 101. Then, the translation mechanism 3b moves to achieve horizontal movement in the horizontal front-back and left-right directions to simulate the impact of human respiratory movement. At the same time, the intraoperative water injection operation can be simulated by the simulated ureter 22 connected to the organ module 2.

[0067] In an exemplary embodiment, a doctor may plan a puncture based on a simulated preoperative CT scan and perform a puncture operation through the simulated skin layer 4 while simultaneously using ultrasound to scan the moving organ model 2 to achieve puncture training.

[0068] In another exemplary embodiment, the surgical robot can dynamically align the moving organ model 2 with the preoperative CT model through ultrasound equipment to achieve real-time planning of puncture operation experiments during surgery.

[0069] In the description of the present invention, it should be noted that the terms "upper", "lower", "one side", "the other side", "one end", "the other end", "side", "relative", "four corners", "periphery", "'mouth'-shaped structure", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing "this" utility model and simplifying the description, and do not indicate or imply that the structure referred to has a specific orientation, is constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0070] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "connection," "direct connection," "indirect connection," "fixed connection," "installation," and "assembly" should be understood in a broad sense. For example, they may refer to a fixed connection, a detachable connection, or an integral connection. The terms "installation," "connection," and "fixed connection" may refer to a direct connection, an indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0071] Although the embodiments disclosed in the present invention are as described above, the contents described are merely embodiments adopted to facilitate understanding of the present invention and are not intended to limit the present invention. Any person skilled in the art to which the present invention belongs may make any modifications and changes in the form and details of the implementation without departing from the spirit and scope disclosed in the present invention. However, the scope of patent protection of the present invention shall still be defined by the attached claims.

Claims

1. A medical simulation training device, characterized in that: include: Organ models, used to simulate human organs; a motion device, mounted on the organ model and configured to drive the organ model to move so as to simulate the movement of human organs in the human body; The movement of the movement device includes at least one of lifting movement and translational movement; the lifting movement is configured to simulate the movement of organs caused by changes in human body position, and the translational movement is configured to simulate the movement of organs caused by the traction of the diaphragm during human breathing.

2. The medical simulation training device according to claim 1, characterized in that: The motion device includes a lifting mechanism and a translation mechanism, and the translation mechanism includes at least one transverse motion mechanism and at least one longitudinal motion mechanism; The lifting mechanism is configured to drive the organ model to move up and down to simulate the movement of the organ caused by changes in human body position; The lateral motion mechanism and the longitudinal motion mechanism are respectively configured to drive the organ model to move horizontally and longitudinally to simulate the organ movement caused by the traction of the diaphragm during human breathing. The lifting range of the organ model is 0-40mm; the lateral translation range of the organ model in the horizontal plane is 0-8mm, and the longitudinal translation range is 0-16mm.

3. The medical simulation training device according to claim 2, characterized in that: The lifting mechanism includes a first base, a first screw rod installed on the first base, a first slider equipped with the first screw rod and capable of sliding horizontally on the base driven by the first screw rod, a push rod assembly connected to the first slider and capable of lifting and lowering movement driven by the first slider, and a first driving device that drives the first screw rod to rotate.

4. The medical simulation training device according to claim 3, characterized in that: The lateral motion mechanism includes a second base, a second screw rod mounted on the second base, a second slider equipped with the second screw rod and capable of sliding horizontally in the lateral direction under the drive of the second screw rod, and a second driving device for driving the second screw rod to rotate; The longitudinal motion mechanism includes a third base, a third screw rod installed on the third base, a third slider equipped with the third screw rod and capable of sliding horizontally in the longitudinal direction under the drive of the third screw rod, and a third driving device for driving the third screw rod to rotate.

5. The medical simulation training device according to claim 4, characterized in that: The lifting mechanism, the lateral movement mechanism and the longitudinal movement mechanism are arranged in the height direction; The transverse motion mechanism is supported at the top of the push rod assembly, the longitudinal motion mechanism is supported at the top of the transverse motion mechanism and connected to the second slider, and the organ model is supported at the top of the longitudinal motion mechanism and connected to the third slider.

6. The medical simulation training device according to claim 5, characterized in that: It also includes a box body, wherein the box body is provided with a receiving cavity for accommodating the organ model; The box body is provided with a port communicating with the receiving cavity, and the medical simulation training device further comprises an artificial skin layer covering the port, wherein the artificial skin layer is configured to allow an operator to operate a puncture needle to pass through and enter the organ model; The imitation skin layer is made of soft material.

7. The medical simulation training device according to claim 6, characterized in that: It also includes an extrusion layer arranged in the receiving cavity and supporting the artificial skin layer, and the extrusion layer is made of a compressible and resilient material; there is a space filled with ultrasonic coupling agent between the artificial skin layer, the organ model and the extrusion layer.

8. The medical simulation training device according to claim 7, characterized in that: The receiving chamber includes a bottom plate for limiting the lowering range of the organ model and a partition plate for supporting the extrusion layer; The height of the partition is higher than that of the bottom plate. The bottom plate is provided with a first opening for the movement mechanism to pass through, and the partition is provided with a second opening for the organ model to pass through.

9. The medical simulation training device according to any one of claims 1 to 5, characterized in that: The invention also includes a box body, wherein the box body is provided with a receiving cavity for accommodating the organ model and an installation cavity for installing the motion device, and the receiving cavity is communicated with the installation cavity; The medical simulation training device further comprises a spinal column model provided in the box, the spinal column model being used to simulate a human spine and being configured to perform image positioning when the medical simulation training device is scanning; The spinal column model includes a spinal column support and a spinal column module fixed to the spinal column support. The spinal column support is fixed to the box. The spinal column module is provided with a marker for image positioning.

10. The medical simulation training device according to any one of claims 1 to 5, characterized in that: The organ model includes a body module, an organ module arranged on the body module, and a simulated ureter connected to the organ module and passing through the body module. The simulated ureter is configured to be able to inject liquid to simulate the injection operation of surgery.

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