Echo-guided puncture training system.

Abstract

To provide a puncture training system that simulates shunt echo for students and beginners. [Solution] The device comprises an operating means (110), a spatial information acquisition means (130) that acquires the position and posture of a puncture device dummy (120), a coordinate calculation means (140) that calculates coordinates relating to the position and posture of the operating means (110) and the puncture device dummy (120) based on the spatial information acquired by the spatial information acquisition means (130), a recording means (160) that records echo cross-sectional image data (161) of the body of the person to be punctured, a control processing means (150) that includes an AR image generation unit (151) that writes the spatial coordinates calculated by the coordinate calculation means (140) and virtual coordinates outside the body on the same coordinate axis, selects the echo cross-sectional image data (161) that corresponds to the spatial coordinates of the operating means (110), and superimposes an image of a virtual puncture needle on the echo cross-sectional image data (161), and a monitor (170) that displays an image of the echo cross-sectional image data (161) and an image of the virtual puncture needle.

Description

[Technical Field]

[0001] The present invention relates to an ultrasound-guided puncture training system. [Background technology]

[0002] Needlework is an invasive medical procedure, and medical professionals performing the procedure must perform it appropriately, painlessly, and quickly. Improving needlework techniques is an important issue, especially in dialysis treatment, which requires continuous needlework. Therefore, needlework training is necessary to gain sufficient skills before actually performing needlework. Needlework involves inserting a needle into the body, while injection involves injecting medication into the body.

[0003] In dialysis treatment, blood is removed from the blood vessels (bleeding) and purified blood is returned to the blood vessels (return). To do this, the tips of the needles for blood removal and blood return must be placed inside the blood vessels. If the tip of the needle for blood removal does not reach the inside of the blood vessels, blood cannot be removed from the body. Furthermore, if the tip of the needle for blood return does not reach the inside of the blood vessels, blood will be sent outside the blood vessels. As a result, not only will dialysis treatment not be able to continue, but blood will accumulate outside the blood vessels, causing swelling in the affected area and causing pain to the patient.

[0004] Conventionally, whether the tip of the needle has reached the lumen of the blood vessel has been estimated by relying on the sensation transmitted to the puncture operator's hand. When puncturing a blood vessel near the surface of the body, it is relatively easy for the puncture operator to estimate whether the tip of the needle has reached the lumen of the blood vessel because it is easy for the puncture operator to predict the location and size of the blood vessel. On the other hand, when puncturing a blood vessel located deep within the body, it is difficult for the puncture operator to predict the size of the blood vessel or its depth from the surface of the body, making it difficult to estimate whether the tip of the needle has reached the lumen of the blood vessel.

[0005] Hemodialysis requires patients to visit a facility a set number of times per week for treatment, and involves inserting needles into a shunt, a large vein that connects a vein and an artery through surgery, for draining and returning blood. Appropriate procedures and techniques are required to minimize stress on the shunt and ensure minimal pain for the patient.

[0006] Therefore, ultrasound-guided puncture is sometimes used to puncture shunts in dialysis treatment. Echo-guided puncture is a method of puncturing while visually observing the blood vessel using an ultrasound (ultrasound diagnostic device). The advantage of ultrasound-guided puncture is that the blood vessel and the puncture needle can be visually observed using an ultrasound image. The puncturist can visually confirm on the ultrasound image whether the tip of the puncture needle has reached the blood vessel (Patent Document 1).

[0007] However, because the cross-sectional image displayed by an ultrasound diagnostic device is only one cross-section of the inside of a living body, even a slight deviation in the position or angle of the probe may prevent blood vessels from being displayed. Therefore, in order to advance the puncture needle while displaying blood vessels in the echo image, it is necessary to control the position and angle of the probe within a narrow range.

[0008] The puncturist must operate the probe with one hand and insert the needle with the other. It is not easy to perform separate actions with each hand while paying attention to both the probe and the needle, so it is recommended that beginners practice ultrasound-guided puncture to improve their skills before puncturing a patient.

[0009] As described above, ultrasound-guided puncture requires solid technique and experience because the puncture is performed simultaneously with the use of ultrasound, and therefore a training method using a phantom has been developed (Non-Patent Document 1).

[0010] For inexperienced medical professionals, suddenly performing a puncture on a human body for training purposes places a physical and mental burden on the person being punctured and is a dangerous act, so puncture training is generally performed using a phantom that mimics the human body.Recently, puncture training tools that utilize advanced virtual reality (VR) and augmented reality (AR) have also been developed (Non-Patent Document 2). [Prior art documents] [Patent documents]

[0011] [Patent Document 1] Patent Publication No. 2020-166187 [Non-patent literature]

[0012] [Non-Patent Document 1] Shinshinkai Medical Corporation Ikeda Vascular Access, Dialysis, Internal Medicine Homepage November 3, 2019 Blood Purification VA Echo Seminar (Fukuoka Prefecture Clinical Engineers Association) Conference Report (2019) "Let's try it! Echo-guided puncture" https: / / www.fukuoka-vaccess.jp / wp-content / uploads / 2019 / 01 / gakkai_191103_kawaharada.pdf [Non-patent document 2] The University of Tokyo Hospital Clinical Simulation Center website: https: / / www.hu-tokyo.ac.jp / soken / simulator / training / astep.html Summary of the Invention [Problem to be solved by the invention]

[0013] The technology disclosed in Non-Patent Document 2 is suitable for training in general puncture (injection) procedures, but is insufficient for training in echo-guided puncture because it differs from the configuration of echo-guided puncture, in which puncture is performed by operating an echo probe and viewing an echo (ultrasound diagnostic device) image.

[0014] The technology disclosed in Patent Document 1 and the guidance disclosed in Non-Patent Document 1 are intended for medical professionals who already have a certain level of skill and experience, and require expensive medical equipment, making them unsuitable for use as training, especially for beginners.

[0015] The present invention has been made in view of the above-mentioned circumstances, and has an object to provide a puncture training system that simulates shunt echo for students and beginners. [Means for solving the problem]

[0016] The present invention is an ultrasound-guided puncture training system. an operating means for pointing within the target area; a puncture device dummy that mimics the external shape of a puncture device; a spatial information acquiring means for acquiring the positions and orientations of the operation means and the puncture device dummy; a coordinate calculation means for calculating coordinates relating to the position and orientation of the operation means and the lancing device dummy based on the spatial information acquired by the spatial information acquisition means; a recording means in which body data in which the body of the person to be punctured is displayed in three dimensions using virtual coordinates and an echo image of the inside of the body corresponding to the virtual coordinates are recorded in advance; a control processing means including an AR image generating unit that plots the spatial coordinates of the position and posture of the operation means and the puncture device dummy calculated by the coordinate calculation means and the virtual coordinates inside and outside the body on the same coordinate axis, selects the echo image corresponding to the spatial coordinates of the operation means, and superimposes an image of a virtual puncture needle on the echo image based on the spatial coordinates of the puncture device dummy; a monitor that displays the echo screen and an image of the virtual puncture needle; It is something that is equipped with.

[0017] The above configuration acquires image information of blood vessels, muscles, organs, etc. inside the body in advance, records and stores this as image data linked to coordinates in recording means, and then acquires an operating means for pointing within the target area, as well as spatial position information and posture information of the puncture dummy. Based on this position information and posture information, the control processing means references the image data stored in the recording means, generates an echo image (AR image), and displays it on a monitor. In this way, an echo image is selected based on the position and posture of the operating means, and the puncture state is superimposed on this echo image based on the position and posture of the puncture dummy, allowing training to be performed in an environment similar to that described in Non-Patent Document 2. The operating means can be, for example, a probe dummy that mimics the external shape of an ultrasound probe for echo-guided puncture, and can be configured to acquire position information and posture information by using the position of the ultrasound probe as a pointing device.

[0018] This configuration allows training to be performed with a configuration almost identical to that of actual ultrasound-guided puncture. This configuration is composed of general-purpose electronic devices and does not require expensive equipment. The recording means of this configuration stores a large amount of image data in different states, allowing experiential training to be performed in a variety of situations. As described above, since general-purpose electronic devices can be used, only a small number of components are required, except for the operating means (probe dummy) and puncture device dummy, and portability is also facilitated. Unlike actual probes and puncture devices, the operating means and puncture device dummy are not precision instruments that require careful consideration, and the possibility of equipment failure or damage due to carelessness is reduced compared to conventional training.

[0019] In the above configuration, the echo image of the body of the person being punctured corresponding to the virtual coordinates can represent a shunt, which is a blood vessel formed by connecting an artery and a vein. That is, image data of the shunt is stored in a recording means, and the control processing means refers to this data, thereby forming a training system for ultrasound-guided puncture of a shunt. With this configuration, hemodialysis, in which patients visit a facility a set number of times a week to receive treatment in which needles for blood removal and blood return are inserted into the shunt, requires continuous puncture at the same puncture site. Therefore, referring to the shunt image data can further enhance the level of training.

[0020] In the above configuration, the control processing means includes a judgment evaluation unit that judges whether the spatial coordinates of the puncture device dummy superimposed on the echo image are inside or outside a predetermined coordinate range. The configuration may further include a notification means for displaying on the monitor and / or emitting a warning sound when the spatial coordinates of the lancing device dummy are not within a predetermined coordinate range.

[0021] The above configuration allows quantitative evaluation of the puncture technique by setting a spatial position region. Furthermore, by providing a notification means for notifying the quantitative evaluation, the evaluation content can be confirmed during training. According to the above configuration, the learning effect of the puncture training can be improved by actively restricting the puncture movement.

[0022] In the above configuration, the spatial information acquisition means may be a camera that acquires image data. For example, a general-purpose AR view camera can be used to acquire three-dimensional coordinates. Furthermore, a smartphone can be used as the view camera. According to the above configuration, general-purpose equipment can be applied, the setup is easy, and it can be realized at low cost.

[0023] In the above configuration, the spatial information acquisition means may be a sensor for measuring three-dimensional acceleration and tilt, and one or more of the sensors may be attached to the operation means and the lancing device dummy.

[0024] The above configuration is achieved by attaching one or more 3D gyro (acceleration) and tilt sensor modules, which are generally available commercially or installed in smartphones, to the operation means and the puncture dummy. Once the start position (initial value) of the operation is known, the subsequent movement (speed, acceleration, etc.) and position can be obtained. Additionally, the force and position of gripping the operation means and the puncture device dummy can also be detected. According to the above configuration, various information can be obtained along with the location information, which can also serve as a reference for evaluating the learning effect.

[0025] In the above configuration, The puncture device dummy includes: A puncture needle, a resistance load device that variably biases the puncture needle in a puncture direction; a dummy body that houses the puncture needle and the resistance load device; a resistance change control unit that commands a resistance to be added to the resistance load device; the recording means stores resistance data generated when the puncture needle punctures the inside of the body; The control processing means can be configured to refer to the resistance data of the puncture needle from the recording means based on the spatial coordinates of the puncture device dummy superimposed on the echo image, and to issue commands to the resistance change control unit.

[0026] The above-described configuration allows the user to experience the repulsive force of the puncture needle and its position within the body using a resistance load device. Furthermore, by using a vibrator as the resistance load device, the vibrator can be vibrated to transmit vibrations to the hand holding the puncture device dummy, thereby indicating the correct direction, thereby achieving so-called sensory guidance. With this configuration, even without a phantom, which is essential in conventional training devices, training equivalent to conventional training can be achieved through the AR effect. Furthermore, the ultrasound-guided puncture training system can be made more compact than conventional systems.

[0027] The above configuration may further include a puncture phantom. This configuration may be similar to a conventional ultrasound-guided puncture training system. With this configuration, gaining experience with this training system makes it easier to transition to training using an actual echo probe (ultrasound diagnostic device), and it also prevents beginners from improperly handling expensive equipment and causing damage to it. [Effects of the Invention]

[0028] The present invention can provide a puncture training system that simulates shunt echo for students and beginners. [Brief explanation of the drawings]

[0029] [Figure 1] 1 is an overall configuration diagram of a puncture training system according to a first embodiment of the present invention. [Figure 2] 3 shows an example of an operating means and a lancing device dummy according to the first embodiment of the present invention. [Figure 3] 3 is a diagram showing an example of the configuration of a control processing means according to the first embodiment of the present invention. [Figure 4] 1 is an example of image data of a recording unit according to the first embodiment of the present invention. [Figure 5] 10 is an example of image data relating to shunts of a recording unit according to the first embodiment of the present invention. [Figure 6] 10 is a diagram showing an example of a lancing device dummy according to a second embodiment of the present invention. [Figure 7] FIG. 10 is an overall configuration diagram of a puncture training system according to a third embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0030] A preferred embodiment of the puncture training system according to the first embodiment of the present invention will be described below with reference to the drawings. In the following description, components with the same reference numerals in different drawings are considered to be similar, and their description may be omitted.

[0031] One embodiment of the present invention is an ultrasound-guided puncture training system, an operating means for pointing within the target area; a puncture device dummy that mimics the external shape of a puncture device; a spatial information acquiring means for acquiring the positions and orientations of the operation means and the puncture device dummy; a coordinate calculation means for calculating coordinates relating to the position and orientation of the operation means and the lancing device dummy based on the spatial information acquired by the spatial information acquisition means; a recording means in which body data in which the body of the person to be punctured is displayed in three dimensions using virtual coordinates and an echo image of the inside of the body corresponding to the virtual coordinates are recorded in advance; a control processing means including an AR image generating unit that plots the spatial coordinates of the position and posture of the operation means and the puncture device dummy calculated by the coordinate calculation means and the virtual coordinates inside and outside the body on the same coordinate axis, selects the echo image corresponding to the spatial coordinates of the operation means, and superimposes an image of a virtual puncture needle on the echo image based on the spatial coordinates of the puncture device dummy; a monitor that displays the echo screen and an image of the virtual puncture needle; As long as the configuration includes the above, the specific form may be any.

[0032] (Description of the First Embodiment) First, the overall configuration of the puncture training system according to the first embodiment of the present invention will be described based on the overall configuration diagram of FIG. 1. Then, optional configurations of the first embodiment will be described with reference to FIGS. 2 to 5. FIG. 1 is an overall configuration diagram of the puncture training system according to the first embodiment of the present invention. FIG. 2 shows an example of an operation means and a puncture device dummy according to the first embodiment of the present invention. FIG. 3 shows an example of the configuration of the control processing means according to the first embodiment of the present invention. FIG. 4 shows an example of image data of the recording means according to the first embodiment of the present invention. FIG. 5 shows an example of image data relating to a shunt of the recording means according to the first embodiment of the present invention.

[0033] As mentioned above, the shunt is inserted using ultrasound-guided insertion, which involves using an ultrasound (ultrasound diagnostic device) to find the optimal blood vessel for catheter insertion and then securely inserting the catheter into a peripheral vein and placing it there.

[0034] Echo-guided puncture has been used, for example, in the following ways: (1) When medical professionals are concerned about physical findings (sight, hearing, touch) such as depth, narrowness, presence of stenosis, difficulty in understanding the course of blood vessels, or proximity to arteries, it is used to confirm before puncture, as a guide during puncture, and for confirmation after puncture. (2) It is also used to investigate the cause of problems that may occur during puncture, such as increased venous pressure, poor blood removal, swelling, or recirculation, and to make corrections during puncture and to check and correct the problem after dialysis has started. (3) Furthermore, it is used to select a new puncture site, for example, when repuncturing, hematoma formation, or deterioration of the puncture site, to evaluate the morphology and confirm the course of blood vessels.

[0035] As such, ultrasound-guided puncture is a widely performed and extremely important medical procedure, and medical professionals need to receive sufficient training so that they can handle the various situations mentioned above. Furthermore, even though beginners need to learn and gain experience in a great deal of detail, in the past, there were not many opportunities for training because the procedure required an ultrasound diagnostic device, which is an expensive and delicate precision instrument.

[0036] What is particularly important in ultrasound-guided puncture is to understand that the puncture should be performed based on the echo image acquired by the ultrasound probe held in one hand and displayed on the monitor, and the image superimposed on this echo image by the puncture device held in the other hand.

[0037] Referring to FIG. 1, puncture training system 100 according to this embodiment comprises operation means 110 that mimics the external shape of an ultrasound probe for echo-guided puncture, puncture device dummy 120 that mimics the external shape of a puncture device, spatial information acquisition means 130 that acquires the positions and orientations of operation means 110 and puncture device dummy 120, coordinate calculation means 140 that calculates coordinates relating to the positions and orientations of operation means 110 and puncture device dummy 120 based on the spatial information acquired by spatial information acquisition means 130, echo cross-sectional image data 161 of the body of a person to be punctured that is displayed in three-dimensional virtual coordinates, and echo cross-sectional image data 161 of the body corresponding to the virtual coordinates. the spatial coordinates relating to the position and posture of the operation means 110 and the puncture device dummy 120 calculated by the coordinate calculation means 140 and the virtual coordinates inside and outside the body are written on the same coordinate axis, and the control processing means 150 is provided with an AR image generation unit 151 which selects echo cross-sectional image data 161 corresponding to the spatial coordinates of the operation means 110 and superimposes an image of the virtual puncture needle of the puncture device dummy 120 on the echo cross-sectional image data 161 based on the spatial coordinates of the puncture device dummy 120; and a monitor 170 which displays an image of the echo cross-sectional image data 161 and an image of the virtual puncture needle.

[0038] The operating means 110 may be any type as long as it has the same outer shape and size as an ultrasonic probe used in general echo-guided puncture, and its outer casing is made of the same material and has the same weight.

[0039] The puncture device dummy 120 may be of any type as long as it has the same outer shape and size as a puncture device used in general ultrasound-guided puncture, and its outer shell is made of the same material and has the same weight.

[0040] The spatial information acquisition means 130 may be a means for optically and non-contactly measuring the spatial position information of the operating means 110 and the puncture device dummy 120, or may be a means for attaching sensors to the operating means 110 and the puncture device dummy 120 to measure physical quantities, as described below, and obtaining spatial position information from these physical quantities.

[0041] Optical positioning is performed by, for example, using camera 131 to capture images of operation means 110 and puncture device dummy 120. Camera 131 may be a single camera equipped with two or more lenses that is capable of three-dimensional measurement, or multiple cameras 131 may be installed to measure the position. Alternatively, AR markers may be attached to operation means 110 and puncture device dummy 120, and spatial position information may be acquired by capturing images of these with an AR view camera.

[0042] Coordinate calculation means 140 converts the position and orientation of operation means 110 and puncture device dummy 120 into coordinate values ​​in a virtual coordinate system according to the positioning means (optical or physical quantity measurement, etc.) of the spatial position information described above. This conversion to the virtual coordinate system is performed to superimpose the data on echo cross-sectional image data 161 as augmented reality (AR).

[0043] The recording means 160 stores pre-acquired echo cross-sectional image data 161. The echo cross-sectional image data 161 is, for example, three-dimensional tomographic data of the arm of the person to be punctured, including the shunt.

[0044] Control processing means 150 refers to echo cross-sectional image data 161 in recording means 160 and selects corresponding echo cross-sectional image data 161 based on the coordinates relating to the positions and postures of operation means 110 and puncture device dummy 120 calculated by coordinate calculation means 140. Then, AR image generation unit 151 included in control processing means 150 calculates spatial coordinates relating to the respective positions and postures and superimposes the image data of both.

[0045] The control processing means 150 is configured as a microcomputer and has a processor CPU that performs calculations, a ROM that stores control programs and various data lists, tables, and maps, and a RAM that temporarily stores the results of calculations by the CPU. The control processing means 150 is equipped with nonvolatile memory, and necessary data and the like are saved in this nonvolatile memory. The nonvolatile memory can be configured as an EEPROM, which is a rewritable ROM, or a RAM with a backup function that supplies a holding current to retain memory even when the power is turned off.

[0046] The superimposed image data is displayed on the monitor 170. This image data is the same as that displayed on the monitor of an ultrasound diagnostic device in a typical echo-guided puncture, and the user 10 can perform training in an environment similar to that of an actual echo-guided puncture as augmented reality (AR).

[0047] In this way, the puncture training system 100 according to this embodiment can realize training that satisfies all of the purposes of ultrasound-guided puncture: (1) physical findings, (2) problems during puncture, and (3) selection of a new puncture site.

[0048] (Explanation of an example of the operating means 110 and the lancing device dummy 120) Next, an example of spatial information acquisition means 130 will be described with reference to Fig. 2. In this example, small sensor modules 132 and 134 that detect three-axis acceleration and tilt angle are attached to operation means 110 and lancing device dummy 120.

[0049] If the initial coordinates of sensor modules 132, 134 are extrapolated or measured, the subsequent positions and orientations of operating means 110 and lancing device dummy 120 can be calculated from the acquired three-axis acceleration data and tilt angle data.

[0050] The spatial position information calculated from the physical quantities acquired by the sensor modules 132 and 134 in this manner is sent to the coordinate calculation means 140. With this configuration, spatial position information can be acquired even when there is an optical blind spot and imaging is difficult.

[0051] (Example of additional notification methods) Next, referring to Fig. 3, the control processing means 150 is configured to further include a judgment evaluation unit 152. The judgment evaluation unit 152 judges, for example, whether the shunt 12 has been properly punctured by referring to echo cross-sectional image data 161 stored in the recording means 160 on which images of the position and orientation of the operation means 110 and the puncture device dummy 120 are superimposed, based on a judgment image 153. Looking at the judgment image 153, it can be seen that the puncture needle 121 is partially outside the shunt 12, which cannot be said to be proper puncture. On the other hand, the puncture needle 122 has been accurately inserted into the shunt.

[0052] The determination evaluation unit 152 is configured to issue a warning in the state of the puncture needle 121. Specifically, the determination evaluation unit 152 calculates the positional relationship between the shunt 12 and the puncture needles 121 and 122 in a virtual coordinate system and makes a predetermined conditional determination to make a judgment.

[0053] The determination result of the judgment evaluation unit 152 is sent to the notification means 180. If a warning light is required, the notification means 180 may display this on the monitor 170 or may be further equipped with a speaker to emit a warning sound. Furthermore, a vibrator may be additionally attached to the lancing device dummy 120 to transmit vibrations to the hand holding the needle to guide the senses so as to indicate the correct direction. Other examples that can be applied include the presentation of ungrounded translational and rotational forces by asymmetric vibration using a two-channel vibration speaker, stimulation of the perceptual characteristics of the traction force illusion corresponding to the frequency components of the asymmetric vibration, and two-dimensional presentation of the traction force illusion using asymmetric vibration, which have been developed for VR and AR.

[0054] (Example of echo cross-sectional image data stored in the recording means 160) 4 and 5, the recording means 160 can store echo cross-sectional image data 161, 162, and 164 acquired from an actual human body using an ultrasound diagnostic device. The echo cross-sectional image data 161 is three-dimensional tomographic data of the arm of the person to be punctured, including the shunt. The echo cross-sectional image data 162 is tomographic data from the skin to the subcutaneous tissue and blood vessels. The echo cross-sectional image data 164 is tomographic data showing the state in which the puncture needle has been inserted into the shunt. For example, if an image of the puncture device dummy 120 during training is superimposed on the echo cross-sectional image data 164, it can be used as training guidance for the user 10.

[0055] (Description of the second embodiment) A preferred embodiment of the puncture training system according to the second embodiment of the present invention will be described with reference to Fig. 6. Fig. 6 shows an example of a puncture device dummy according to the second embodiment of the present invention. The second embodiment differs from the first embodiment in the structure of the puncture device dummy, but other configurations are similar to those of the first embodiment, so description thereof may be omitted.

[0056] The puncture device dummy 220 according to the second embodiment is composed of a dummy body 223 which is the part that is held by the user 10, a resistance load device 222 disposed within the dummy body 223, and a puncture needle 221 attached to the resistance load device 222.

[0057] When user 10 is training with puncture training system 200, an image of puncture needle 221 is superimposed on echo cross-sectional image data 161, etc. The arm of a person to be punctured is made up of layers that, in order from the skin, are subcutaneous fat, muscle, and blood vessels, which have different resistances to puncture needle 221.

[0058] The resistance is converted into data and stored as resistance data 166 in the recording means 160. The resistance data 166 represents, for example, the change in stress relative to the coordinates as shown in the graph at the bottom right of Fig. 6, where the stress is high until it penetrates the skin, then the stress becomes low in the subcutaneous fat area, and high in the muscle area.

[0059] The flow according to the second embodiment will be briefly described below. (1) When AR image generating section 151 of control processing means 250 calculates spatial coordinates relating to the position and posture of puncture needle 221 of puncture device dummy 220 , this spatial coordinates is sent to resistance calculating section 252 . (2) The resistance calculation unit 252 refers to the resistance data 166 stored in the recording means 160 corresponding to the calculated coordinates, and sends it to the resistance change control unit 224 as a control signal. (3) The resistance change control unit 224 applies resistance to the puncture needle 221 in the direction opposite to the puncture direction X based on a signal related to the resistance data 166 to the resistance load device 222. Note that the puncture needle 221 may be movable in the puncture direction X only within a predetermined movable range W depending on the part of the person to be punctured. (4) The user 10 can experience the same resistance during puncture as in the human body or a phantom.

[0060] The resistance load device 222 may be a spring, a damper, a solenoid, a pneumatic actuator (artificial muscle), a vibrator (amplitude, frequency change), or the like.

[0061] This configuration allows for training equivalent to conventional training by utilizing the AR effect, even when a phantom, which is essential for conventional training devices, is not available. Furthermore, this system can be made more compact than conventional echo-guided puncture training systems.

[0062] (Description of the third embodiment) A preferred embodiment of a puncture training system according to the third embodiment of the present invention will be described with reference to Fig. 7. Fig. 7 is an overall configuration diagram of a puncture training system according to the third embodiment of the present invention. In the third embodiment, a virtual person to be punctured based on echo cross-sectional image data 161 in the first embodiment is replaced with puncture phantom 310 that has conventionally been used for training.

[0063] As described above, the puncture training system 300 uses the puncture phantom 310, and therefore it becomes necessary to actually puncture the puncture phantom 310. For this reason, the puncture device dummy 320 according to this embodiment is provided with a puncture needle 321 capable of puncturing, and is further equipped with a sensor module 134 because it becomes difficult to optically measure the puncture position when the puncture needle 321 is inserted into the puncture phantom 310. Note that the operation means 110 is similar to that in the first embodiment, as its spatial position and orientation can be optically measured.

[0064] This configuration can be made similar to a conventional ultrasound-guided puncture training system, and by gaining experience with this training system, it becomes easier to transition to training using an actual echo probe (ultrasound diagnostic device), and it also prevents beginners from improperly handling expensive equipment and damaging it.

[0065] As described above, the puncture training system according to the present invention can be applied to general-purpose electronic devices, and therefore requires fewer components than the operating means and dummy puncture device, making it easy to carry. Unlike actual probes and puncture devices, the operating means and dummy puncture device are not precision instruments that require careful consideration, and the possibility of equipment malfunction or damage due to carelessness is reduced compared to conventional training. It is possible to provide an ultrasound-guided puncture training system that simulates shunt echo for students and beginners. [Explanation of symbols]

[0066] 10...User 12. Shunt 100, 200, 300... Puncture Training System 110...Operation means 120, 220, 320...Lancing device dummy 121, 122, 221, 321...puncture needle 130...Spatial information acquisition means 131···Camera 132, 134...Sensor module 140...Coordinate calculation means 150, 250... Control processing means 151···AR image generation unit 152···Judgment and Evaluation Section 153···Judgment image 160 Recording means 161, 162, 164... Echo cross-sectional image data 166···Resistance Data 170···Monitor 180... Notification means 222 Resistive Load Device 223 Dummy body 224 Resistance change control section 310 Puncture Phantom

Claims

1. an operating means for pointing within the target area; a puncture device dummy that mimics the external shape of a puncture device; a spatial information acquiring means for acquiring the positions and orientations of the operation means and the puncture device dummy; a coordinate calculation means for calculating coordinates relating to the position and orientation of the operation means and the lancing device dummy based on the spatial information acquired by the spatial information acquisition means; a recording means in which virtual coordinates outside and inside the body of the person to be punctured and an echo image inside the body corresponding to the virtual coordinates are recorded in advance; a control processing means including an AR image generating unit that plots the spatial coordinates of the position and posture of the operation means and the puncture device dummy calculated by the coordinate calculation means and the virtual coordinates inside and outside the body on the same coordinate axis, selects the echo image corresponding to the spatial coordinates of the operation means, and superimposes an image of a virtual puncture needle on the echo image based on the spatial coordinates of the puncture device dummy; a monitor that displays the echo image and an image of the virtual puncture needle; An ultrasound-guided puncture training system.

2. 2. The ultrasound-guided puncture training system according to claim 1, wherein the virtual coordinates outside and inside the body of the person to be punctured and the echo images inside the body corresponding to the virtual coordinates are a shunt, which is a blood vessel formed by connecting an artery and a vein.

3. the control processing means includes a judgment evaluation unit that judges whether the spatial coordinates of the puncture device dummy superimposed on the echo image are inside or outside a predetermined coordinate range; 3. The ultrasound-guided puncture training system according to claim 1, further comprising: a notification means for displaying on the monitor and / or emitting an alarm sound when the spatial coordinates of the puncture device dummy are not within a predetermined coordinate range.

4. 3. The ultrasound-guided puncture training system according to claim 1, wherein the spatial information acquisition means is a camera that acquires imaging data.

5. 3. The ultrasound-guided puncture training system according to claim 1, wherein the spatial information acquisition means is a sensor for measuring three-dimensional acceleration and tilt, and one or more of the sensors are attached to the operation means and the puncture device dummy.

6. The puncture device dummy includes: A puncture needle, a resistance load device that variably biases the puncture needle in a puncture direction; a dummy body that houses the puncture needle and the resistance load device; a resistance change control unit that commands a resistance to be added to the resistance load device; the recording means stores resistance data generated when the puncture needle punctures the inside of the body; 3. The ultrasound-guided puncture training system according to claim 1, wherein the control processing means refers to the resistance data of the puncture needle from the recording means based on the spatial coordinates of the puncture device dummy superimposed on the echo image, and issues a command to the resistance change control unit.

7. The echo-guided puncture training system according to claim 1 or 2, further comprising a puncture phantom.

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