Ai practical training system

Abstract

An AI practical training system, comprising a trolley, a simulated head assembly, a medical instrument assembly, a control assembly and a display (12), wherein the simulated head assembly, the medical instrument assembly, the control assembly and the display (12) are all assembled on the trolley. An operator combines the medical instrument assembly with the simulated head assembly, so as to simulate a real medical operation scenario; and on the basis of real-time images or data on the display (12), feedback and guidance for an operation process are obtained, such that the operator can be familiar with a method of using medical instruments and learn correct operating techniques and steps. A safe, reliable and real environment can be provided for the operator to perform medical practices and gain practical operating experience.

Description

An AI training system Technical Field

[0001] The present invention relates to medical training equipment, and in particular to an AI training system. Background Art

[0002] The respiratory endoscopy training system medical trolley is a complete set of respiratory surgery training tools. The trolley provides a realistic simulation training environment, allowing doctors to quickly familiarize themselves with the surgical procedures and the use of instruments. They can also obtain a realistic visual of the surgical process, allowing doctors to learn better and faster. It can also be used for teaching demonstrations and guidance. The respiratory endoscopy training system medical trolley includes a human body model and a mathematical training module, equipped with multiple teaching devices such as endoscopes, biopsy forceps, and syringes. Currently, trolley head models are usually equipped with a trolley frame or base to stabilize the model and enable it to stand on its own. However, this type of head model is generally independent of the trolley itself, making it impossible to achieve integrated stable transportation of the trolley and model or to move them arbitrarily for teaching. In addition, the head model has a complex structure and is exposed to the outside together with the trolley frame or base, which is very prone to dust and other pollution, and has a short service life.

[0003] Some existing devices for simulating bronchoscopic procedures are designed for training. These typically utilize a physical bronchial model to provide real-world training. However, these devices have the following drawbacks: Due to the complexity of the bronchial system, the manufacturing cost of the physical model is high; and without replacing the physical model, they can only simulate procedures under a single airway configuration, failing to meet diverse clinical training needs.

[0004] Furthermore, during actual bronchoscopy, the tip of the endoscope may contact the bronchial wall due to factors such as excessive bending of the flexible portion at the front of the endoscope's insertion section, potentially causing injury to the patient. Therefore, identifying this situation is crucial, and without relying on a physical bronchial model, identifying this situation is a key challenge in simulated bronchoscopy training. Summary of the Invention

[0005] The present invention provides an AI training system, which includes:

[0006] Trolley;

[0007] A simulated head assembly, the simulated head assembly comprising a head model movably mounted on a trolley, the head model having an instrument insertion channel, the instrument insertion channel being provided with an instrument insertion port serving as the airway entrance, the endoscope tip being inserted through the instrument insertion port, and a length detection device being provided within the instrument insertion channel for detecting the insertion length of the endoscope tip lens;

[0008] A medical instrument assembly, the medical instrument assembly being arranged on a trolley and comprising at least a simulated endoscope, the simulated endoscope comprising a handheld portion, a bending portion, and an insertion portion, the handheld portion being provided with a rotation detection device for detecting a bending angle of the bending portion of the endoscope and a posture sensor for detecting a posture of the handheld portion of the endoscope;

[0009] A display, wherein the display is arranged on the trolley;

[0010] The control component includes a lower computer and a control host computer provided inside the trolley. The lower computer is connected to the control host computer by signal. The lower computer is connected to the length detection device, the rotation detection device and the posture sensor to obtain signals from these devices, perform signal processing, and compile them into a computer language that can be recognized by the computer host computer.

[0011] The input device is arranged on the trolley and is connected to the control host to input control information.

[0012] In some embodiments, the trolley includes a trolley shell, the trolley shell defines an accommodating cavity, a trolley frame is installed in the accommodating cavity, an arc-shaped transition surface is used between the top side and the front side of the trolley shell, the arc-shaped transition surface protrudes radially outward, the arc-shaped transition surface is provided with an embedding groove, the embedding groove is embedded with an embedding structure, the embedding structure is slidably connected to the trolley frame along the up and down directions, the embedding structure includes an embedding block and a head model, the head model is set in the embedding block in a backward posture, the chin of the head model extends in the vertical direction, the embedding block is nested in the embedding groove and can slide along the up and down directions along the embedding groove; the lifting drive device is installed in the accommodating cavity, and the lifting drive device is used to drive the embedding structure to move up and down.

[0013] In some embodiments, the trolley is provided with an arm structure, and the arm structure includes a rotating shaft A installed on the trolley and an arm rotatably connected to the rotating shaft A. The free end of the arm is provided with at least one hanger, and the hanger forms at least one U-shaped groove.

[0014] In some embodiments, the trolley shell has a storage chamber, and an opening for taking and placing items is set at the top side of the trolley shell corresponding to the position of the storage chamber. The opening is opened and closed by a cover, and the input device is installed on the cover.

[0015] In some embodiments, a maintenance bin is installed in the trolley shell, and the storage mechanism can be pulled out and installed in the maintenance bin. The maintenance bin is provided with at least one wire hole to facilitate the passage of the connecting wire harness. An opening is formed on one side of the maintenance bin, and the trolley shell is provided with an inspection port at a position corresponding to the opening of the maintenance bin. The door body can be opened and closed on the trolley shell to open or close the inspection port. The storage mechanism includes a support frame and a control host and a lower computer to be maintained arranged on the support frame.

[0016] In some embodiments, the embedding structure includes a connecting rod connected to the lower side of the embedding block, a slide rail is provided on the trolley frame, and the connecting rod is slidably connected to the slide rail through a sliding member; the lifting drive device includes a push rod connected to the connecting rod and a drive motor for driving the push rod to rise and fall; the embedding block has an outer wall that rubs against the inner wall of the embedding groove, and the top side of the embedding block forms an arc-shaped bevel extending toward the front side, and the head model is located on the upper side of the bevel; the head model is provided with a control button for controlling the lifting of the head model; preferably, the embedding groove has a rear wall, left and right side walls and a front wall, the embedding block has a circumferential outer wall that is tightly attached to the rear wall, left and right side walls and front wall, and the raised height of the embedding block is not higher than the height of the front wall of the embedding groove.

[0017] In some embodiments, the control host includes an airway model providing module, a path planning module, a lens attitude solving module, a collision detection module, a lens attitude solving module, and a real-time rendering module. The airway model providing module is used to provide a selected three-dimensional digital airway model and present the currently selected airway model on the display; The path planning module is used to generate a navigation path from the airway entrance to the target lesion in the currently selected airway model, and display the navigation path on the airway model currently presented on the display; the lens posture solving module is used to determine the current posture information of the lens in the three-dimensional space where the currently selected airway model is located based on the insertion length of the endoscope tip, the bending angle of the endoscope tip and the posture of the endoscope tip, and the posture information includes the position and orientation information in the three-dimensional space; the collision detection module is used to determine whether the endoscope tip collides with the airway wall based on the current posture information of the endoscope tip and the position information of the airway wall in the three-dimensional digital airway model; the lens posture solving module is used to determine the posture information of the endoscope tip after movement in combination with the detection results of the collision detection module; the real-time rendering module is used to determine the picture taken by the lens based on the current posture information of the endoscope tip lens and the posture information after movement, and present the picture in real time through the display.

[0018] In some embodiments, the support arm structure also includes a blocking structure, which is arranged on the trolley body. The blocking structure switches between a blocking state and an unlocking state. When in the blocking state, the blocking structure at least blocks the support arm from moving toward the trolley body, and when in the unlocking state, the blocking structure allows the support arm to move freely.

[0019] In some embodiments, the instrument insertion channel is set on a human head model, and the human head model has instrument insertion entrances corresponding to the mouth and nose respectively; a laser sensor is set at the instrument entrance, and the laser sensor is used to identify whether an instrument enters the instrument insertion channel and distinguish whether the current instrument enters from the mouth or nose.

[0020] In some embodiments, determining the position information of the lens after the endoscope moves in combination with the detection result of the collision detection module specifically includes:

[0021] The lens position and orientation are represented by a vector V in three-dimensional space. After a collision is detected, the triangular plane T where the collision point is located is known. The angle between V and T is the collision angle between the lens and the airway wall. After a collision, the lens vector V rotates toward a larger angle, and the resulting angle V1 is the lens's forward direction. Combined with the insertion length of the endoscope tip, the position and orientation of the lens after movement are calculated.

[0022] The determining whether the endoscope tip collides with the airway wall based on the posture information of the endoscope tip and the position information of the airway wall in the three-dimensional digital airway model specifically includes:

[0023] The three-dimensional digital airway model and the endoscope tip lens are both represented by 3D mesh models;

[0024] Calculate the orientation DV of the endoscope tip lens;

[0025] Scan the airway mesh vertices in the DV direction and construct the airway wall vertex matrix MA in the DV direction;

[0026] Calculate the Euclidean distance D between the endoscope tip vertex and MA;

[0027] When the distance is less than or equal to 0, it is determined that a collision has occurred.

[0028] The present invention provides a medical training trolley that integrates a simulation head assembly, a control assembly, a display, and an input device, thereby solving the technical problems of a complex trolley structure and a chaotic layout caused by components such as models, and ensuring a simple and beautiful appearance of the trolley.

[0029] The present invention integrates the head model and the trolley by directly embedding an insert block containing the head model into the trolley housing, thus resolving the inconvenience of movement and other issues associated with existing separate head model and trolley arrangements. The insert block's regular shape facilitates easy insertion into the housing, cleverly resolving technical issues such as assembly difficulties and inability to lift the head model directly into the housing. Furthermore, the present invention eliminates technical issues such as gaps and unstable lifting caused by the insert block's lifting by frictionally engaging the insert block with the insert slot, ensuring that the verticality of the head model's chin remains unchanged during the lifting process.

[0030] The present invention provides a three-dimensional numerical airway model for training, which does not rely on a physical airway model. It determines the insertion path of the simulation instrument based on various sensor signals, and fits it with the three-dimensional numerical airway model to realize the insertion training of the simulation instrument in the airway model. Due to the adoption of the above scheme, the present invention can simply and conveniently provide a variety of airway models of different forms for training. It also realizes the collision detection between the simulation instrument and the airway wall of the virtual airway model, and presents the picture taken by the front end lens of the endoscope in real time. On the one hand, it can make the training process more realistic. On the other hand, the collision detection does not rely on any external components and sensors. It is suitable for application scenarios of insertion training under various virtual airway models. In combination with collision detection, a variety of training scenarios can be provided, which is conducive to improving the training effect.

[0031] The hardware structures of the medical trolley provided by the present invention that need to be repaired are designed to be installed in the repair compartment, which is convenient for after-sales maintenance and repair; the control host and the lower computer provided by the present invention are the main components for repair, which are respectively installed on the support frame and can be disassembled separately during maintenance without interfering with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] FIG1 is a schematic structural diagram of the medical trolley of the present application;

[0033] Figure 2 is a schematic diagram of the structure of the instrument insertion channel and the sensor thereon;

[0034] 3 to 6 are schematic structural diagrams of the simulation head assembly provided by the present invention;

[0035] 7 to 12 are schematic structural diagrams of the support arm structure provided by the present invention;

[0036] 13 to 17 are schematic structural diagrams of the storage structure provided by the present invention;

[0037] 18-21 are schematic structural diagrams of the storage bin provided by the present invention. Implementation Method

[0038] The embodiments of the present invention are described in detail below.

[0039] Referring to Figures 1 and 2 , the present invention provides an AI training system, which includes a trolley and a simulation head assembly, a medical instrument assembly, a display, an input device, and a control assembly disposed on the trolley;

[0040] The trolley includes a trolley shell 100 and running wheels, etc. The trolley shell 100 defines a accommodating cavity, and a trolley frame 109 is installed in the accommodating cavity. The simulated head assembly includes a head model 202 arranged on the trolley, and the head model has an instrument insertion channel 1100. Medical simulation instruments such as an endoscope 30 are inserted into the instrument insertion channel 1100 to simulate operations in the airway model. In this embodiment, the instrument insertion channel 1100 is a solid model formed on the trolley, which has an opening for instrument insertion, and the opening is connected to the activity space. A length detection device for detecting the insertion length of the tip of the endoscope is provided in the instrument insertion channel 1100, and the insertion depth of the endoscope in the airway model is determined by the length detection device. In this embodiment, the length detection device is a rotary encoder 1300 arranged at the outlet of the instrument insertion channel. The rotary encoder 1300 is used to identify the length of the path the endoscope has entered. When the endoscope enters, it causes the rotary encoder 1300 to rotate, transmitting the number of revolutions to a processing device for conversion into length data. In this embodiment, the instrument insertion channel 11 is provided on the human head model 1, with instrument insertion ports corresponding to the mouth and nose, respectively, on the human head model 202. Laser sensors 1200 are provided at these portholes to identify whether an instrument has entered the instrument insertion channel and to distinguish whether the instrument is currently entering through the mouth or nose. When the endoscope is inserted, the laser is cut. Upon detecting the cut, the sensor transmits a signal to the processing device, thereby identifying whether another instrument is currently inserted. By identifying which laser sensor the currently received signal originates from, it is possible to distinguish whether the instrument is currently entering through the mouth or nose. As can be seen from the above, the operator can experience different insertion methods, improving the usability of the medical trolley.

[0041] The medical instrument assembly used with the medical trolley includes an endoscope 30. The endoscope 30 comprises a handheld portion for handheld operation, an insertion portion for insertion into the human body, and a bending portion for driving the endoscope's tip to bend. The endoscope's tip is the tip of the insertion portion, and in this context, the tip refers to the end that is first inserted into the human body. The bending portion can be a flexible structure such as a keel or soft material. Since the objective lens is located at the end of the endoscope, the bending portion can be configured to drive the endoscope's tip to rotate, thereby increasing the objective lens's imaging range. The bending portion is driven to bend by a linkage mechanism provided on the handheld portion. In one embodiment, the linkage portion includes a swing arm mechanism that controls the bending angle and direction of the bending portion. In other embodiments, the linkage portion may also include a lever that controls the bending angle and direction of the bending portion. The handheld portion is provided with a rotation detection device for detecting the bending angle of the endoscope's tip and a posture sensor for detecting the posture of the endoscope's operating end. The processing device determines the position of the endoscope's tip within the intestinal model based on detection signals from the length detection device, the rotation detection device, and the posture sensor, thereby determining the image and angle currently captured by the camera. The detection signal from the length detection device reflects the length of the endoscope's distal end inserted into the airway; the detection signal from the rotation detection device reflects the angle of rotation of the endoscope's tip driven by the curved portion; and the detection signal from the posture sensor reflects changes in the endoscope's tip's posture caused by changes in the handheld portion's own posture. Because all of the above information can cause changes in the endoscope's tip's position, combining this information can determine the insertion position of the endoscope within the intestinal model and changes in the image captured by the objective lens. Therefore, this embodiment can simulate the movement of the endoscope after insertion into the airway and the images captured by the endoscope based on the aforementioned multiple detection devices, without relying on a physical airway model. This means that there is no need to place a physical airway model within the active space connected to the instrument insertion opening to restrict the movement of the endoscope.

[0042] Preferably, in this embodiment, the endoscope is equipped with a biopsy channel 310, through which other simulated instruments, such as a syringe 33, a puncture needle 32, and biopsy forceps 31, can be inserted. A detection device for detecting the insertion length of the instrument is located at the entrance of the biopsy channel 310. In one embodiment, this detection device can be a resistance sensor. When an instrument enters the biopsy channel, the resistance value at the channel entrance changes. Different resistance values ​​correspond to the distance the instrument has entered, thereby determining its position in the airway. In other embodiments, this detection device can also be a rotary encoder, which determines the insertion length. Optionally, a laser sensor is provided at the entrance of the biopsy channel to detect whether an instrument has been inserted. The operating handles of the instruments are each equipped with a sliding potentiometer. When the resistance value of the sliding potentiometer changes, a signal is transmitted to the lower computer, which is used to detect the instrument's usage status, indicating that the instrument has been triggered to perform sampling or removal of the lesion. By providing a biopsy channel and supporting instruments, the medical trolley can be used to train the use of the supporting instruments, providing better training results.

[0043] The control component consists of a slave computer and a control host. The slave computer connects to ancillary instruments such as the detection device in the instrument storage channel, the endoscope, the detection device in the biopsy channel, and the biopsy forceps used in the biopsy channel. It acquires signals from these devices, processes them, and compiles them into a computer language recognizable by the host computer before sending them to the host computer. The host computer determines the meaning of each signal, compiles it into an image, and displays it on the monitor. Dividing the processing unit into two independent parts and separating the signal acquisition and processing processes can reduce the data processing pressure on the host computer.

[0044] The training trolley provided in this embodiment is equipped with a simulation head assembly, a display, a medical instrument group, a control host, and lower computer input devices such as an operating keyboard and a mouse. The multiple devices need to be convenient for doctors to use without causing problems such as scattered trolley parts. The present invention adopts the following embodiments:

[0045] The trolley housing provided in this embodiment has a top side 101 , a left side, a right side, a front side 103 and a rear side.

[0046] 1 , for ease of viewing and input operation, a connecting rod 1201 is mounted on the rear portion of the top side 101 of the trolley housing to mount two displays 12. An input device is mounted in the middle region of the top side of the trolley housing to facilitate input operation.

[0047] Referring to Figures 1 and 3-6 , to facilitate the installation of the head model and facilitate operator manipulation, a curved transition surface 102 is formed between the top side 101 and the front side 103 of the trolley housing. This curved transition surface 102 protrudes radially outward. The simulated head assembly provided in this embodiment employs the following structural form: The curved transition surface 102 defines an insertion groove 106, within which an insertion structure is slidably mounted. This insertion structure comprises an insertion block 201 and a head model 202. The insertion block 201 is nested within the insertion groove 106 and is capable of sliding up and down relative to the insertion groove 106. The head model 202 is positioned within the insertion block 201 in a reclined position, ensuring that the head model's chin extends vertically to simulate the head posture of a patient during actual clinical surgery. First, the radially outward protrusion of the curved transition surface shortens the distance between the operator and the head model, making it easier for the operator to manipulate and adjust the head model. Secondly, the nesting cooperation between the embedding block 201 and the embedding groove 106 provides guidance, preventing the head model from loosening during use, and ensuring that the angle of the head model 202 is stable during the lifting and moving process.

[0048] Please refer to Figure 1. The trolley shell has a roughly flat top side 101 on which an input device keyboard is installed, while the angle of the front side 103 is not suitable for installing a head model that needs to be in a reclining posture. Based on this, this embodiment sets a head model 202 on the curved transition surface 102 between the top side and the front side of the trolley shell. In this way, the head model 202 can be installed on the shell in an inclined manner, that is, in a reclining posture, without occupying the top side keyboard installation area. The present invention solves the problems of inconvenience in movement caused by the existing head model being set separately from the trolley. The regular shape of the embedding block facilitates its embedding into the trolley shell, cleverly solving technical problems such as assembly difficulty, inability to achieve lifting and lowering, and gaps in the trolley shell caused by directly embedding the head model into the shell.

[0049] The embedded structure 20 provided in this embodiment is slidably connected to the trolley frame 109 in the vertical direction. The lifting drive device is installed in the accommodating cavity and is used to drive the embedded structure in the vertical direction. First, the installation of the lifting drive device in this embodiment ensures a neat appearance of the overall trolley. The only exposed hardware is the part required by the operator, making the trolley easy to transport and move. In some embodiments, the embedded structure includes a connecting rod (connecting tube) 205 connected to the underside of the embedded block. The trolley frame 109 is provided with a slide rail 111 through a mounting plate 112. The connecting rod 205 is slidably connected to the slide rail 111 via a sliding member (sliding block) 113. This ensures that the embedded block moves in the predetermined vertical direction, reducing shaking and vibration, and ensuring smooth and reliable lifting of the head model. The lifting drive device includes but is not limited to an electric screw lift, a hydraulic lift, a pneumatic lift, a gear lift, etc., and any of them can achieve lifting of the embedded block by fixing it to the connecting tube 205 provided in this embodiment. In some specific embodiments of the present invention, the lifting drive device includes a push rod 502 connected to the connecting rod 205 and a drive motor 501 for driving the push rod to rise and fall. Specifically, the push rod 502 is fixedly connected to the connecting rod 205 by fixing the upper sheet metal 503, screws and nuts 504 and 505. Driven by the drive motor 501, the push rod 502 drives the embedded block to slide up and down in the embedded groove through the connecting tube 205, and the connecting rod 205 is slidably connected to the slide rail 111 through the sliding member 113, thereby realizing stable lifting of the head model, solving the problem that the existing head model 202 is prone to shaking during the lifting process.

[0050] In this embodiment, referring to Figures 3 and 4 , the insert slot 106 comprises a rear wall 1062, left and right side walls 1063, and a front wall 1061. The insert block 201 comprises a circumferential outer wall 2011 (i.e., also comprising the rear wall, left and right side walls, and front wall) that is in close contact with the rear wall, left and right side walls, and front wall. The height of the insert block 201 is not higher than the height of the front wall 1063 of the insert slot. Thus, the insert block 201 maintains a seamless fit with the insert slot 106 as it rises. The raising and lowering of the insert block 201 allows the height of the head model 202 to be adjusted without creating a gap between the insert block 201 and the trolley housing 100, thus maintaining the design advantage of the trolley housing 100 and the insert block being integrated. Alternatively, referring to Figure 5 , the insert block 201 comprises an outer wall 2011 that rubs against the inner wall of the insert slot. The top side of the insert block forms an arc-shaped chamfered surface 2016 extending forward, with the head model 202 positioned above this chamfered surface 2016. The chamfered surface 2016 is located within the curved transition surface 102, ensuring that the embedded structure appears virtually integral with the trolley housing, creating a seamless and coherent overall structure. Control buttons are mounted on the head model. When the head model 202 needs to be raised or lowered, the operator presses the lift control button 60 (see FIG6 ) located under the chin of the simulated head, sending an electrical signal to the control unit, which then transmits the signal to the electric push rod to raise or lower the head. In some embodiments, the left and right walls of the embedded slot are each provided with limit rollers 110 that frictionally engage the left and right sides of the embedded block. These limit rollers reduce friction between the embedded block and the embedded slot and correct any left or right deviation of the embedded structure.

[0051] Refer to Figures 7-12. To accommodate the medical instrument set, left and right arm structures 1 and 2 are mounted on the top and left sides of the trolley, namely, left arm structure 1 and right arm structure 2. Both arm structures are mounted on the trolley and comprise a pivot axis A 13 mounted on the trolley and an arm 11 rotatably connected to the pivot axis A 13. The free end of each arm 11 is equipped with a hanger 15. The hanger 15 on the left arm structure 1 forms a U-shaped groove for hanging a simulated endoscope; the hanger on the right arm structure forms three U-shaped grooves for hanging other simulated instruments, such as a syringe 33, a puncture needle 32, and a biopsy forceps 31. Thus, the two arm structures on the trolley are suitable for hanging medical instruments of various specifications, making it convenient for doctors to access the instruments. Furthermore, the user can fold the rotating arm together with the trolley to reduce the storage volume of the trolley. One end of the support arm 11 provided in this embodiment is rotatably connected to the rotating shaft A 13 of the trolley top shell through the shaft sleeve A 18 to realize the circumferential rotation of the support arm 11 with the rotating shaft A 13 as the axis. The other end of the support arm is provided with a rotating shaft B 16, and the said bracket is rotatably connected to the rotating shaft B 16 through the shaft sleeve B 17. In this way, the circumferential rotation of the bracket 15 itself is realized. This arrangement facilitates the operation, transportation and storage of the support arm and the bracket. The bottom of the said rotating shaft B 16 is connected to the bottom of the said rotating shaft 16. The bottom cover 161 is locked with the rotating shaft B by screws to fix the bracket. The connection between the rotating shaft B and the bottom cover is respectively provided with a groove and a protrusion 162 for positioning and matching. In this way, the bracket is prevented from driving the bottom cover to rotate during circumferential rotation, thereby causing relative displacement between the bottom cover and the rotating shaft B, affecting the loosening of the screws and preventing the bottom cover from loosening and falling off. During assembly, the bottom cover is fixed in position according to the groove and the rotating shaft B, which is more convenient.

[0052] Furthermore, the support arm structure provided in this embodiment includes a rotating shaft A13, a support arm 11, and a blocking structure 912. The rotating shaft A13 is mounted on the trolley 100; the support arm 11 is rotatably connected to the rotating shaft A13. The free end of the support arm 11 is provided with at least one hanger 15, on which medical devices, such as syringes, puncture needles, and retrieval forceps, are hung. The blocking structure 912 is provided on the trolley 100 and switches between a blocking state and an unlocked state. In the blocking state, the blocking structure 912 at least blocks the support arm 11 from free movement toward the trolley. In the unlocked state, the blocking structure 912 allows the support arm to move freely. Thus, during use of the medical trolley, when the blocking structure 912 is in the blocking state, the support arm can be locked away from the trolley, avoiding the risk of the support arm colliding with the trolley and preventing the medical devices on the hanger 15 from contaminating or damaging the trolley. The blocking portion also creates a safe distance between the medical devices and the trolley. Furthermore, when the arm is locked in a retracted position with the trolley, the arm's storage volume is reduced, making storage and transportation easier. Simultaneously, when the blocking structure is unlocked, the arm can freely rotate to achieve a desired position, facilitating storage. In some preferred embodiments, the blocking structure can prevent the arm from rotating toward the operating side, thereby creating a safe distance between the trolley and the arm. Alternatively, the blocking structure can prevent the arm from rotating away from the operating side once it reaches the operating side, thereby retracting the arm and trolley together to reduce the trolley's storage volume.

[0053] In some embodiments, the blocking structure includes a blocking portion 121 that is retractably disposed on the trolley, allowing the blocking portion 121 to extend or retract. Extending the blocking portion prevents the arm from freely rotating toward the trolley, while retracting the blocking portion allows the arm to freely rotate. The blocking portion here achieves its blocking function through telescopic movement. In some specific embodiments, the blocking structure also includes an elastic member 122 that constantly pushes the blocking portion 121 to maintain it in the blocking state. Thus, the provision of the elastic member 122 ensures that the blocking portion 121 is always in the extended position, thereby maintaining the hanger 15 in a secure position and preventing contamination or damage to the trolley from medical devices mounted on the hanger 15. Furthermore, when the arm is moved to the trolley, the blocking portion is released. At this time, the blocking portion is forced upward by the upward return force of the elastic member until it presses against the arm (either on the top or the side), thereby securing the arm relative to the trolley. This allows the arm to be stored during transport of the trolley, facilitating packaging and transportation. For ease of operation, a blocking portion 121 is provided in front of the rotation axis A to prevent the hanger 15 from moving toward the front of the trolley 100. This blocking structure conveniently prevents the hanger 15 from rotating about the rotation axis toward the front of the hanger 15. "Front side" herein refers to the side facing the user. Blocking the support arm from moving forward here means that the blocking portion prevents the support arm from rotating toward the operating side of the trolley. Optionally, the blocking structure includes a base 123 and a blocking portion 121, the base 123 is fixedly mounted on the inner side of the top shell 101, the blocking portion 121 is telescopically arranged to penetrate the top shell, and the blocking portion 121 and the base 123 slide together in the axial direction, and the spring member 122 is arranged between the blocking portion 121 and the base 123, so that when the blocking portion 121 moves downward, the spring member 122 is in a tense state, releasing the locking blocking state of the support arm 11 and allowing the support arm to swing freely; when the pressure on the blocking portion 121 is released, the spring member 122 provides a reset force to the blocking portion, automatically resetting to the extended position, i.e., the blocking state. In some embodiments of this embodiment, the blocking structure also includes a limit assembly for limiting the maximum travel of the blocking portion, so that when the blocking portion moves axially downward, the limit assembly can limit the downward travel of the blocking portion, and when the blocking portion resets axially upward, the limit assembly can limit the upward travel of the blocking portion to prevent it from falling off the trolley. For example, the blocking portion may form a limiting fit with the trolley, or may form a limiting fit with the base.In some examples, the blocking portion includes an upper cover 1211 and a sliding rod 1212, the upper cover 1211 is set through the top shell 101, the sliding rod 1212 is connected to the upper cover 1211, a circumferential limiting step 1213 is formed at the bottom of the upper cover 1211, and the top shell is provided with a stop wall that cooperates with the limiting step 1213 to prevent the upper cover 1211 from falling out; the base includes a seat body 1231 and a sleeve 1232, the sleeve 1232 is connected to the seat body 1231, the seat body 1231 has a stop bottom wall 1233 to limit the maximum downward movement stroke of the upper cover 1211, the sliding rod 1212 is slidably matched with the sleeve 1232, and the spring member 122 is sleeved on the outside of the sliding rod and the sleeve; one end of the spring is stopped on the upper cover and the other end is stopped on the seat body 1231.

[0054] In other embodiments of the present invention, as shown in Figures 13-18 , the trolley provided in this embodiment also provides a storage structure for accommodating an input device keyboard and medical equipment. Specifically, the trolley housing defines storage chambers 61 and 62 for storing endoscopes, biopsy forceps, syringes, and other items. The top side of the trolley housing defines an opening for convenient access to these items. A cover 612 is attached to the top side of the trolley housing to facilitate opening and closing the opening. The keyboard 3 is attached to the cover 612. When the cover 612 is in the box-shaped lid position, the storage chamber is hidden from view within the trolley housing, creating a neat appearance and resolving the technical issue of messy storage in existing trolleys. When items need to be accessed, the cover 612 can be opened and placed freely. This eliminates the need for an additional surface for the keyboard, reducing the trolley's storage volume. Furthermore, the keyboard remains captive to the cover 612 regardless of whether the cover 612 is open or closed, preventing the keyboard from easily falling. The present invention combines a cover 612 with a keyboard and a storage compartment, resulting in a neat and beautiful appearance and a significantly reduced overall volume compared to existing trolleys. The cover 612 and the storage compartment are located behind the simulation head assembly for simulated operation learning. The cover 612 is positioned at a height of 700-1000mm from the ground. This height setting makes it easy for the user to open and close the cover 612 and operate the keyboard while standing. An example of how the keyboard 3 is installed on the cover 612 is as follows: the cover 612 is provided with an upwardly open mounting slot, and the keyboard is embedded in the mounting slot and is limitedly engaged with the mounting slot. The cover body 6122 includes a bottom plate 22 and an upper shell 21. The bottom plate 22 is suitable for covering the opening, and the upper shell 21 is covered above the bottom plate 22. The upper shell 21 is provided with a window 210. The peripheral side of the window 210 forms a limiting portion 26. The keyboard 3 is installed above the bottom plate and the operation keys 300 of the keyboard are exposed from the window. The peripheral side of the keyboard has a limiting matching portion 311 that is limitedly matched with the limiting portion.

[0055] In this embodiment, the cover 612 is hinged to the trolley via two sets of left and right hinge assemblies. Since the structures of the two hinge assemblies are identical, only one of them will be described in detail. To maintain a neat and aesthetically pleasing appearance and prevent dust from falling into the housing, potentially contaminating it and damaging the hardware, the gap H between the cover 612 and the top shell should be as small as possible. To this end, the hinge assembly provided in this embodiment includes a hinge shaft 7 and a pivot seat 81. The hinge shaft 7 is disposed within the trolley housing and extends in a left-right direction, with its vertical projection falling on the top of the trolley. One end of the pivot seat 81 is disposed between the upper shell and the bottom plate, and the other end is rotatably connected to the hinge shaft. This positions the center of rotation below the top of the trolley, rather than on the cover 612. This maximizes the rotation angle of the cover 612 while preventing an excessive gap H between the cover 612 and the top shell. The hinge shaft 7 is hidden beneath the top shell, with the spacing D between the hinge shaft and the cover 612 being greater than the wall thickness of the top shell. The flip angle can be designed to be between 60-100 degrees to meet normal usage habits. In the closed state, the cover body 612 rotates around the rotation center of the hinge axis, fits the shape of the trolley top shell, has minimal side seams, and has a beautiful appearance; in the open state, the storage bin does not interfere with the cover body 612 when it is taken out vertically upward, and accessories can be taken out smoothly. The edge spacing between the cover body 612 and the rear area of ​​the top shell is H, the radius of the circle centered on the central axis of the hinge axis is D2, and the distance from the edge of the top shell to the center of the circle is D1. In order to minimize the width of the edge H while ensuring daily flip angle habits, the D2-D1 size range should be 0~1mm, H is greater than or equal to (D2-D1) / 2, and H is less than or equal to 1.0mm. In some specific embodiments of the present invention, the hinge assembly further includes a connecting seat 83 and a fixing seat 82. The trolley housing includes a connecting seat 83 extending toward the rear of the cover 612. The hinge shaft 7 is mounted on the connecting seat 83. At least one notch 23 is formed on the rear side of the upper housing. The fixing seat 82 is mounted within the space formed by the upper housing and the bottom plate. One end of the pivoting seat 81 is connected to the fixing seat 83, and the other end is rotatably connected to the hinge shaft 7. For example, the upper housing 21 is fixedly connected to the circumference of the bottom plate 22. The space between the upper and lower housings defines a mounting slot for mounting the keyboard 3. A window 210 is provided in the upper housing 21 to expose the operating keys of the keyboard 3. Furthermore, the upper housing is provided with a keyboard retaining step to retain the keyboard in place. The upper housing also includes a keyboard USB cable routing slot 29 to secure the keyboard's USB cable. The fixing seat 83 is screwed to the fixing seat mounting hole 28 of the upper housing. After the keyboard is positioned, the flip-cover lower housing and the bottom plate are secured with screws.In addition, the rear sides of the upper shell and the bottom plate form a gap for the pivot seat 81 to pass through, and the fixed seat 83 is pivotally connected to the hinge shaft 7 through the pivot seat 81. In this way, the connecting seat and the hinge shaft are hidden inside the trolley shell, and the fixed seat is hidden and installed between the upper shell and the bottom plate. One end of the pivot seat is connected to the fixed seat, that is, hidden between the upper shell and the bottom plate, and the other end extends to the hinge shaft 7 of the trolley. The hinge assembly has few exposed parts, and in the closed state, the cover body 612 rotates around the rotation center of the hinge shaft, fitting the outer shape of the trolley top shell. The side seam between the cover body 612 and the top shell is extremely small, and the appearance is beautiful; in the open state, there is no interference between the cover body 612 and the items in the storage chamber when taking them in and out, so that accessories can be taken out smoothly. In some embodiments, the storage chamber can be designed in various ways. It can be designed as a storage bin that matches a specific medical device. The storage bin is provided with protective cotton 63 to protect the medical device. For example, the protective cotton 63 is designed with structures such as an endoscope storage area 61 and a storage box placement area 62, which are convenient for storing accessories of the trolley, such as an endoscope, biopsy forceps, syringes, etc.

[0056] In addition, the storage chamber provided in this embodiment is further provided with a removable storage bin, and those skilled in the art can make various changes to the storage bin on this basis. The storage structure provided by the present invention is such that the storage chamber is hidden in the trolley shell and is not visible in the box cover state, and the appearance is neat, which solves the technical problem of the existing trolley storage being messy. The cover body 612 is used to open and close the storage chamber, which makes storage convenient. The present invention further sets the keyboard on the cover body 612, eliminating the need for an additional table for placing the keyboard, and reducing the volume of the trolley. In addition, regardless of whether the cover body 612 is opened or closed, the keyboard is limited on the cover body 612, avoiding the technical problem of the keyboard easily falling off. The present invention combines the cover body 612 with the storage chamber, which has a neat and beautiful appearance, and is convenient for storage compared to the overall volume of the existing trolley.

[0057] In a further embodiment of the present invention, please refer to Figures 18-21, the control host and the lower computer are installed inside the trolley to keep the whole machine neat and beautiful. At the same time, in order to facilitate the maintenance of the control host and the lower computer, the trolley frame 109 is fixed in the accommodating cavity, and the maintenance compartment 1000 is fixed on the inner side of the trolley frame 109. The maintenance compartment 1000 is installed in the installation space, and the maintenance compartment 1000 is pullable and provided with a storage mechanism. The storage mechanism includes a support frame 21 slidably connected to the maintenance compartment and two hardware control hosts 23 and a lower computer 22; the maintenance compartment is provided with at least one wire hole 106, 107 to facilitate the passage of the connecting wire harness, that is, the hardware connecting wire harness can pass through the wire hole of the maintenance compartment to realize signal transmission with external displays, keyboards and other equipment. An opening 1001 is formed on one side of the maintenance compartment 1000, so that the storage mechanism can be pulled out and arranged in the maintenance compartment 1000 through the opening 1001. Specifically, the storage mechanism can be pulled out between a retracted position accommodated in the maintenance compartment 1000 (see Figure 2) and an extended position at least partially extended from the opening 1001 of the maintenance compartment 1000 (see Figure 3). The trolley shell 100 is provided with an inspection port 1002 at a position corresponding to the opening 1001 of the inspection compartment, and the door body 1003 can be opened and closed on the trolley shell to open or close the inspection port 1002; in this way, the control host 23 and the lower computer 22 that need to be inspected and maintained are installed in the inspection compartment 1000, and the inspection door body 1003 hides the inspection compartment 100 inside the trolley shell so that the trolley shell can install the entire hardware inside. When the hardware of the inspection compartment needs to be inspected, the door body is opened, and the inspection port 1002 corresponds to the opening 1001. In this way, the storage mechanism is pulled out from the inspection compartment through the inspection port 1002 and the opening 1001, which is convenient for daily maintenance and inspection, and the operation is quick and easy. In addition, the storage mechanism can be pulled out from the inspection compartment, which is convenient for plugging in the power cord / data cable / touch cable, etc. during maintenance, and the operation is convenient.

[0058] In some embodiments of the present invention, the medical trolley further includes a locking member for locking or releasing the storage mechanism to prevent accidental movement or sliding. It can be a buckle, a locking pin, a bolt, etc. In this way, when the medical trolley is in normal use, the storage mechanism is in a locked state in the maintenance compartment 1000, that is, it cannot be freely pulled out to prevent the movement of the medical trolley from causing the storage mechanism to shake; when the hardware on the storage mechanism needs to be repaired, the storage mechanism can be unlocked by the locking member to allow the storage mechanism to be pulled out of the maintenance compartment for maintenance and inspection. The locking member includes but is not limited to a buckle structure, a locking pin, and detachable fasteners such as screws, nuts, rivets, bolts, etc. In this embodiment, the maintenance compartment is a rectangular shape with an open rear side, which includes a left side wall, a right side wall, a front wall, a top wall, and a bottom wall. The storage mechanism is connected to the bottom wall of the maintenance compartment 1000 by a limit screw 5. Specifically, in order to ensure the pulling and drawing of the storage mechanism, a slide rail assembly is provided at the bottom of the support frame, so that there is a distance between the support frame itself and the bottom wall of the maintenance bin. In this way, an L-shaped connecting plate 51 is provided on the bottom side of the support frame facing the bottom wall of the maintenance bin. The bottom side of the support frame is fixedly connected to the bottom of the maintenance bin through the L-shaped connecting plate 51 and the limit screw to limit the overall displacement of the storage mechanism; when maintenance is required, the limit screw is removed to release the locking state of the storage mechanism. In some embodiments of the present invention, the hardware is limitedly connected to the support frame 21 to prevent the hardware from moving on the support frame to avoid movement and damage to the hardware caused by the movement of the trolley, while allowing the hardware to be disassembled and separated from the support frame to facilitate hardware maintenance. The structural methods of the limiting connection include but are not limited to locking pins, fasteners, pressure members, limiting grooves, etc. Referring to FIG4 , the support frame 21 provided by the present invention includes a tray 211 and an upper cover 212. The upper cover 212 is connected to the upper portion of the tray 211 by screws 218 to define a receiving space. The receiving space contains a control host 23. The upper portion of the upper cover 212 is used to accommodate the lower computer 22. In this way, the control host, which is larger in size and weight, is installed below the support frame for greater structural stability. The control host, the lower computer, and the support frame are connected in a limited manner. Specifically, the lower computer 22 is fixedly connected to the upper cover 212 by a detachable fastener 221. The upper cover 212 is provided with at least one movable pressing portion 213, which presses against the control host to limit its movement. This ensures that the control host 23 and the lower computer 22 can be separately disassembled and mutually interfere with each other during maintenance. In some examples, the top surface of the upper cover 212 is provided with at least one cantilever pressure plate 215, and the cantilever pressure plate 215 is provided with an internal thread, and the internal thread is threadedly connected to a screw 213, and the head of the screw 213 is pressed against the top of the control host 23 to prevent the control host from moving during the transportation and movement of the trolley.

[0059] In this embodiment, the maintenance compartment 1000 is fixedly mounted at the lower rear position of the trolley housing to facilitate maintenance personnel to pull out the support frame. The door body 1003 is fixed to the trolley housing by fixing screws to close the maintenance port, thus covering the interior of the maintenance compartment. The fixing screws are sealed by decorative plugs, that is, the screw hole position is sealed by decorative plugs to beautify the appearance. In one embodiment of the present invention, please refer to Figure 5. The top of the maintenance compartment is designed with a top wire hole 105, and the left and right sides are designed with side wire holes 106, 107. The wire holes are used to pass the connecting wire harness. In this way, all internal wire harnesses are extended into the maintenance compartment through the wire holes 105, 106 on the top and left and right sides of the maintenance compartment; at the same time, all maintenance hardware is installed on a removable support frame, which is convenient for pulling out for maintenance and plugging in various wiring interfaces. In addition, a certain area of ​​heat dissipation holes 108 are provided on the maintenance compartment to help remove the heat generated by the control host and the lower computer to prevent the equipment from overheating and maintain normal operation of the equipment. The storage mechanism and the inspection bin are pullable and compatible through a pull-out assembly. The pull-out assembly includes a slide rail structure, which enables it to slide or retract smoothly. Specifically, the left side wall and the right side wall of the inspection bin are fixedly connected with a left slide rail 12 and a right slide rail 13 respectively by screws and other fasteners, and the left and right sides of the support frame 21 are respectively provided with a left slide 15 and a right slide 16, and the left slide 15 and the right slide 15 are respectively slidably connected with the left slide rail 12 and the right slide rail 13; specifically, the left slide 15 is a left inner slide rail, and the right slide is a right inner slide rail. Optionally, the storage mechanism is also provided with a buffer assembly for controlling the movement speed and damping effect of the pulling and drawing process to ensure a smooth opening and closing process and reduce impact and vibration.

[0060] The trolley provided above does not rely on a physical airway model to determine the position of the endoscope. When combined with a three-dimensional physics engine, it can provide a variety of different airway models for operation training, which is beneficial to improving the applicability of the medical trolley and reducing the manufacturing cost of the medical trolley. In order to implement the above training mode, the control host includes the following modules:

[0061] an airway model providing module, configured to provide a selected three-dimensional digital airway model and present the currently selected airway model on a display;

[0062] a path planning module, configured to generate a navigation path from the airway entrance to the target lesion according to the currently selected target lesion in the airway model, and to display the navigation path on the airway model currently presented on the display;

[0063] a lens posture calculation module, configured to determine current posture information of the lens in the three-dimensional space where the currently selected airway model is located based on the insertion length of the endoscope tip, the bending angle of the endoscope tip, and the posture of the endoscope tip, wherein the posture information includes position and orientation information in the three-dimensional space;

[0064] a collision detection module for determining whether a collision occurs between the endoscope tip and the airway wall based on current posture information of the endoscope tip and position information of the airway wall in the three-dimensional digital airway model;

[0065] The lens posture calculation module is also used to determine the posture information of the lens after it moves with the endoscope in combination with the detection results of the collision detection module;

[0066] The real-time rendering module is used to determine the picture taken by the lens based on the current posture information and the posture information after the movement of the lens at the front end of the scope, and to render and present the picture in real time through the display.

[0067] This practical training teaching system uses a three-dimensional digital airway model for training. It does not rely on a physical airway model. It determines the insertion path of the endoscope based on various sensor signals and fits it with the three-dimensional numerical airway model to realize the insertion training of the endoscope in the airway model.

[0068] Since this system uses a virtual three-dimensional digital airway model for training, when simulating the insertion of an endoscope, it is necessary to calculate the insertion position of the endoscope in the airway model and the image captured by the lens on it to be displayed on the screen. First, after the insertion of the endoscope is detected by the detection device at the entrance of the instrument insertion channel, the airway model is loaded and the current image under the microscope is depicted; then the signal returned by the length detection device in the instrument insertion channel and the signal returned by the detection device on the handheld part of the endoscope are collected for collision detection, and the lens posture is solved based on the collision detection results; if an instrument is detected to be inserted in the biopsy instrument channel, the biopsy instrument is depicted. The specific implementation process is described in detail below.

[0069] The training teaching system in this embodiment displays a menu page on the display after being turned on. The menu page displays a variety of functional modes for users to choose from, including basic exploration, basic diagnosis, advanced diagnosis, therapeutic operation, etc.

[0070] Selecting Basic Exploration will access a 3D digital airway model with a designated route. This 3D digital airway model is pre-stored in the database. The designated route can be a pre-set route in the corresponding 3D digital airway model or a navigation path from the airway entrance to the target lesion, generated in real time based on the target lesion in the currently selected airway model. In a specific embodiment, after entering a specific function mode from the menu page, one or more 3D digital airway models can be provided from the database for the user to select.

[0071] In the basic exploration mode, the display interface of the monitor includes two independent display areas: the first display area and the second display area. In the first display area, the currently selected three-dimensional digital airway model and the navigation path are displayed; in the second display area, the real-time image captured by the endoscope lens is displayed.

[0072] Preferably, the system includes a CT reconstruction module for importing CT medical images, and performing three-dimensional reconstruction based on the imported CT medical images to obtain a three-dimensional digital airway model. The corresponding functional mode also includes a personalized data function. Under the personalized data function, the CT reconstruction module performs three-dimensional reconstruction to obtain a personalized three-dimensional digital airway model, and performs training or diagnosis operations based on the numerical airway model. Preferably, the three-dimensional digital airway model obtained by the CT reconstruction module is stored in a database for subsequent call, and is used for basic exploration and other training. Setting up a CT reconstruction module can provide personalized preoperative training based on the specific patient's condition, which is conducive to improving the success rate of the operation.

[0073] In personalized data mode, the currently imported CT medical image is displayed on the monitor. The system includes a lesion recognition module that identifies lesions within the CT medical image and displays them in a designated area on the monitor. The specific methods for 3D reconstruction based on CT medical images are conventional techniques in the field and will not be described in detail here.

[0074] The data settlement module in the practical training teaching system in this embodiment is responsible for calculating the position and posture of the endoscope lens in three-dimensional space, thereby determining the position of the endoscope in the current three-dimensional digital airway model and the image captured by its lens.

[0075] In this embodiment, the insertion length of the endoscope's tip lens is obtained by a length detection device installed in the instrument insertion channel. Taking a rotary encoder as an example, the endoscope insertion portion drives the rotary encoder's shaft to rotate, sending 4096 pulse signals per rotation. The diameter of the encoder shaft is d mm, and the number of currently received pulses is n. The bronchoscope insertion length is calculated as follows:

[0076] L = n / 4096 * d * 3.14

[0077] This allows the insertion length of the endoscope to be determined, and its insertion position within the current three-dimensional digital airway model to be determined.

[0078] When the endoscope insertion portion moves within the airway, the bending portion drives the endoscope's tip to bend in a set direction to enter different branches, or to view images at different angles. Therefore, by determining the bending angle of the bending portion, the bending angle of the endoscope's tip can be determined to determine its position within the three-dimensional digital airway model. The bending angle of the endoscope's tip is also related to the direction of movement of the lens. In an embodiment, a rotation detection device is provided on the handheld portion to determine the bending angle of the endoscope's tip. In this embodiment, the handheld portion of the endoscope is provided with a swing arm mechanism. The rotation detection device includes a sliding potentiometer. The movement of the swing arm mechanism drives the sliding potentiometer to move synchronously. The corresponding relationship between the resistance value returned by the sliding potentiometer and the rotation angle of the swing arm mechanism is pre-acquired. The rotation angle of the swing arm mechanism is determined based on the current resistance value returned by the sliding potentiometer, and the bending angle of the endoscope's tip is then determined based on the rotation angle.

[0079] For example, if the swing arm mechanism rotates up and down in the range of -40° to +40°, the resistance of the swing arm mechanism at the -40° position is a ohm, the resistance at the +40° position is b ohm, and the resistance at the current position of the swing arm mechanism is c ohm, then the swing arm mechanism angle α is:

[0080] α = -40 + (c – a) / ((b – a) / 80 )

[0081] Since the swing arm mechanism is linked with the bending portion through a traction rope or the like, the rotation angle of the endoscope tip can be determined after the angle of the swing arm mechanism is determined.

[0082] In specific applications, changes in the posture of the endoscope handpiece, such as rotation, will drive changes in the posture of the endoscope tip, resulting in changes in the image captured by the endoscope tip lens. Therefore, it is also necessary to determine the changes in the posture of the endoscope tip caused by the posture changes of the endoscope handpiece. In this embodiment, a posture sensor is set horizontally on the endoscope handpiece. The posture sensor includes a gyroscope and an acceleration sensor. The lens posture calculation module calculates the posture angle of the endoscope tip lens in the geographic space coordinate system based on the detection signal of the posture sensor; the selected three-dimensional numerical airway model also represents its position information in the coordinates of the geographic space coordinate system.

[0083] In this embodiment, the attitude sensor's z-axis corresponds to the direction of gravity, the y-axis corresponds to the operator's chest, and the x-axis corresponds to the operator's left-right direction. This coordinate system is constructed based on these directions. Figure 10 illustrates how the attitude sensor determines attitude changes, using the example of a handle rotating around the z-axis. When the handle rotates around the z-axis, the z-axis remains unchanged. The transformation relationship between the x- and y-axes is shown in Figure 10.

[0084] As shown in Figure 11:

[0085]

[0086] Writing the above three equations in matrix form gives the relationship after rotating around the z-axis by an angle of α, as follows:

[0087]

[0088] The transformation matrix is ​​as follows:

[0089]

[0090] Similarly, the rotation matrix around the x and y axes can be calculated. According to the child (x) (relative to y), the child (y) (relative to z), and the parent (z), in this embodiment, the Z axis is rotated by an angle of Ψ, the Y axis is rotated by an angle of θ, and the X axis is rotated by an angle of γ. The matrix multiplication is performed to calculate the posture matrix:

[0091]

[0092] The attitude angle transformation matrix transforms from the object coordinate system to the geographic coordinate system

[0093]

[0094]

[0095] q is a vector in three-dimensional space. From the above formula, we can get the attitude angles of x, y, and z axes respectively:

[0096]

[0097] After the endoscope's insertion portion enters the airway, it curves roughly 90 degrees. Therefore, when the endoscope's handpiece rotates about the y and z axes, the tip's attitude angle is the sum of the two axes' attitude angles. Therefore, the lens attitude calculation module uses the aforementioned calculation method to determine the endoscope's tip attitude. Furthermore, the attitude angle transformation matrix is ​​expressed in a geographic coordinate system, and the coordinates of the three-dimensional digital airway model are also expressed in a geographic coordinate system, enabling rapid determination of the endoscope's insertion position within the three-dimensional digital airway model.

[0098] However, the current position information of the endoscope tip determined in this manner does not take into account the limitations imposed by the airway wall on the endoscope insertion process. This current position information may result in situations where the endoscope tip penetrates the airway wall, which is not realistic. Therefore, to avoid this, this embodiment also performs collision detection on the endoscope tip. Based on the collision detection results, the current position of the endoscope tip is adjusted to obtain the position information after the movement.

[0099] In this embodiment, whether the endoscope tip collides with the airway wall is determined based on the posture information of the endoscope tip and the position information of the airway wall in the three-dimensional digital airway model.

[0100] The specific steps of collision detection are as follows:

[0101] The three-dimensional digital airway model and the endoscope tip lens are both represented by 3D mesh models;

[0102] Calculate the orientation DV of the endoscope tip lens;

[0103] Scan the airway mesh vertices in the DV direction and construct the airway wall vertex matrix MA in the DV direction;

[0104] Through a finite number of iterations, the Euclidean distance D between the endoscope tip vertex and MA is calculated;

[0105] When the distance is less than or equal to 0, it is determined that a collision has occurred.

[0106] The above-mentioned collision detection does not rely on any external components and sensors and is applicable to application scenarios of insertion training under various virtual airway models. Combined with collision detection, a variety of training scenarios can be provided, which is conducive to improving training effects.

[0107] When the endoscope insertion portion moves in the real airway, in this embodiment, the lens posture calculation module combines the detection results of the collision detection module to determine the posture information of the lens after moving with the endoscope, specifically:

[0108] The position and orientation of the lens are represented by a vector V in three-dimensional space. After a collision is detected, the triangular surface T where the collision point is located can be known. The angle between V and T is the collision angle between the lens and the airway wall. After the collision occurs, the lens vector V will rotate in the direction of a larger angle. The angle V1 after rotation is the forward direction of the lens. Combined with the insertion length collected by the length detection device, the position and posture of the lens after movement can be calculated.

[0109] Therefore, based on the current posture information and the posture information after movement of the front end lens of the endoscope, the posture information and movement of the lens in the three-dimensional space where the currently selected airway model is located can be accurately described. Based on the above information, the posture of the endoscope in the three-dimensional digital airway model and the image captured by the lens are calculated, and the image is rendered and presented in real time through the display.

[0110] In addition, this embodiment also evaluates the training results based on the collision detection results. The system includes an operation evaluation module for counting the number of collisions between the tip of the endoscope and the airway wall during a training session, and outputting an evaluation result based on the number of collisions. The number of times the airway wall is touched during the operation is displayed on the display interface to evaluate the operation results. Preferably, the insertion path of the endoscope is also analyzed to determine whether it fits the midline during the operation, and the training time is counted. Since whether the insertion path of the endoscope fits the midline movement and the time taken from insertion to reaching the target lesion can be used to evaluate the quality of an operation, the training time, the number of times the airway wall is touched, the time of fitting the midline, and other parameters in a training operation are output on the display interface to evaluate the training results. Parameterized presentation of the training results is conducive to intuitively reflecting the training results.

[0111] In this system, by selecting the therapeutic operation mode on the menu page, the use of the supporting instruments can be trained in conjunction with the biopsy channel and supporting instruments. Take the sampling of biopsy forceps as an example. When the endoscope is inserted into place, a prompt will be given to insert the biopsy forceps. After detecting the signal returned by the detection device in the biopsy channel, the insertion of the biopsy forceps is determined. According to the insertion length of the biopsy forceps and the current insertion length of the endoscope, after the biopsy forceps is inserted into place, a simulation screen of the biopsy forceps operation is displayed on the display interface. After receiving the signal returned from the operating handle of the supporting instrument, it is determined to start the sampling or removal action of the lesion, and the corresponding operation animation is played on the display interface to make the simulation operation training more realistic. For simulation operations such as snare or syringe irrigation, the implementation process is similar to the biopsy forceps sampling process. It is only necessary to display the corresponding supporting instrument on the display interface and play the corresponding supporting instrument's cutting or irrigation operation animation.

[0112] The system also provides a navigation exploration function. In navigation exploration mode, the first display area on the display interface displays the search target pattern, which is presented in the shape of a key in the figure; the second display area displays the currently used three-dimensional digital airway model; the operator controls the endoscope to reach the search target position, and the real-time observation image of the endoscope and the movement path of the endoscope insertion part are displayed in the first display area and the second display area respectively. In this mode, the size and color of the target pattern are used to distinguish whether the search target has been found. For example, after the target is found, the display interface displays the target pattern with an enlarged image and a different color.

[0113] The system of this embodiment enables practical training operations based on a virtual three-dimensional digital airway model, as well as simulation of endoscope movement and endoscope vision within this model. Based on this, those skilled in the art can provide a variety of training modes. This system does not rely on a physical airway model, is highly adaptable, and can provide a variety of training methods.

[0114] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. An AI training system, characterized in that: The training system includes: Trolley; A simulated head assembly, the simulated head assembly comprising a head model that can be lifted and lowered on a trolley, the head model having an instrument insertion channel, the instrument insertion channel being provided with an instrument insertion port as the airway entrance, the end of an endoscope being inserted from the instrument insertion port, and a length detection device for detecting the insertion length of the endoscope end lens is provided in the instrument insertion channel; A medical instrument assembly, wherein the medical instrument assembly is arranged on a trolley, and the medical instrument assembly at least comprises a simulated endoscope, wherein the simulated endoscope comprises a hand-held portion, a bending portion, and an insertion portion, wherein the hand-held portion is provided with a rotation detection device for detecting a bending angle of the bending portion of the endoscope, and a posture sensor for detecting a posture of the hand-held portion of the endoscope; A display, wherein the display is arranged on the trolley; A control component, wherein the control component includes a lower computer and a control host disposed inside the trolley, wherein the lower computer is connected to the control host by signal, and the lower computer is connected to the length detection device, the rotation detection device and the posture sensor to obtain signals from these devices, perform signal processing, and compile them into a computer language recognizable by the computer host; An input device is arranged on the trolley and is connected to a control host to input control information.

2. The AI ​​training system according to claim 1, characterized in that: The trolley includes a trolley shell, which defines a accommodating cavity, in which a trolley frame is installed, and an arc-shaped transition surface is used between the top side and the front side of the trolley shell, and the arc-shaped transition surface protrudes radially outward. The arc-shaped transition surface is provided with an embedding groove, and the embedding groove is embedded with an embedding structure, and the embedding structure is slidably connected to the trolley frame along the up and down directions. The embedding structure includes an embedding block and a head model, and the head model is set in the embedding block in a backward posture, and the chin of the head model extends in the vertical direction. The embedding block is nested in the embedding groove and can slide along the up and down directions along the embedding groove; the lifting drive device is installed in the accommodating cavity, and the lifting drive device is used to drive the embedding structure to move up and down.

3. The AI ​​training system according to claim 1, characterized in that: The trolley is provided with an arm structure, which includes a rotating shaft A installed on the trolley and an arm rotatably connected to the rotating shaft A. The free end of the arm is provided with at least one hanging bracket, and the hanging bracket forms at least one U-shaped groove.

4. The AI ​​training system according to claim 1, characterized in that: The trolley shell has a storage room inside, and an opening for taking and placing articles is arranged at a position corresponding to the storage room on the top side of the trolley shell, and the opening is opened and closed by a cover body, and the input device is installed on the cover body.

5. The AI ​​training system according to claim 1, characterized in that: An inspection bin is installed in the trolley shell, and the storage mechanism can be pulled out and installed in the inspection bin. The inspection bin is provided with at least one wire hole to facilitate the passage of the connecting wire harness. An opening is formed on one side of the inspection bin, and the trolley shell is provided with an inspection port at a position corresponding to the opening of the inspection bin. The door body can be opened and closed on the trolley shell to open or close the inspection port. The storage mechanism includes a support frame and a control host and a lower computer to be inspected arranged on the support frame.

6. The AI ​​training system according to claim 2, characterized in that: The embedding structure includes a connecting rod connected to the lower side of the embedding block, a slide rail is provided on the trolley frame, and the connecting rod is slidably connected to the slide rail through a sliding member; the lifting drive device includes a push rod connected to the connecting rod and a driving motor for driving the push rod to rise and fall; the embedding block has an outer wall that rubs against the inner wall of the embedding groove, and the top side of the embedding block forms an arc-shaped bevel extending toward the front side, and the head model is located on the upper side of the bevel; the head model is provided with a control button for controlling the lifting of the head model; preferably, the embedding groove has a rear wall, left and right side walls and a front wall, the embedding block has a circumferential outer wall that is tightly attached to the rear wall, left and right side walls and the front wall, and the rising height of the embedding block is not higher than the height of the front wall of the embedding groove.

7. The AI ​​training system according to claim 1, characterized in that: The control host includes an airway model providing module, a path planning module, a lens attitude solving module, a collision detection module, a lens attitude solving module and a real-time rendering module. The airway model providing module is used to provide a selected three-dimensional digital airway model and present the currently selected airway model on the display; the path planning module is used to generate a navigation path from the airway entrance to the target lesion according to the target lesion in the currently selected airway model, and display the navigation path on the airway model currently presented on the display; The lens posture solving module is used to determine the current posture information of the lens in the three-dimensional space where the currently selected airway model is located according to the insertion length of the endoscope tip, the bending angle of the endoscope tip and the posture of the endoscope tip, wherein the posture information includes the position and orientation information in the three-dimensional space; The collision detection module is used to determine whether the endoscope tip collides with the airway wall based on the current posture information of the endoscope tip and the position information of the airway wall in the three-dimensional digital airway model; The lens posture calculation module is used to determine the posture information of the endoscope after the end is moved in combination with the detection results of the collision detection module; The real-time rendering module is used to determine the picture taken by the lens according to the current posture information of the lens at the front end of the scope and the posture information after the movement, and present the picture in real time through the display.

8. The AI ​​training system according to claim 3, characterized in that: The support arm structure also includes a blocking structure, which is arranged on the trolley body and switches between a blocking state and an unlocking state. When in the blocking state, the blocking structure at least blocks the support arm from moving toward the trolley body, and when in the unlocking state, the blocking structure allows the support arm to move freely.

9. The AI ​​training system according to claim 2, characterized in that: The instrument insertion channel is arranged on the human head model, and the human head model is provided with instrument insertion ports corresponding to the mouth and the nose respectively; a laser sensor is arranged at the instrument entrance, and the laser sensor is used to identify whether an instrument enters the instrument insertion channel and distinguish whether the current instrument enters from the mouth or the nose.

10. The AI ​​training system according to claim 7, characterized in that: The determining of the position information of the lens after the endoscope moves in combination with the detection result of the collision detection module specifically includes: The position and orientation of the lens are represented by a vector V in three-dimensional space. After the collision is detected, the triangular plane T where the collision point is located can be known. The angle between V and T is the collision angle between the lens and the airway wall. After the collision occurs, the lens vector V will rotate in the direction of a larger angle, and the angle V1 after rotation is the forward direction of the lens. Combined with the insertion length of the endoscope tip, the position and posture of the lens after movement are calculated. The determining whether the endoscope tip collides with the airway wall based on the posture information of the endoscope tip and the position information of the airway wall in the three-dimensional digital airway model specifically includes: The three-dimensional digital airway model and the endoscope tip lens are both represented by a 3D mesh model; Calculate the orientation DV of the endoscope’s front lens; Scan the airway mesh vertices in the DV direction and construct the airway wall vertex matrix MA in the DV direction; Calculate the Euclidean distance D between the endoscope tip vertex and MA; When the distance is less than or equal to 0, it is determined that a collision has occurred.

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