CN117975800A - Interactive kidney puncture simulation training model and simulation method thereof - Google Patents

Abstract

The invention discloses an interactive kidney puncture simulation training model and a simulation method thereof, belongs to the technical field of medical simulation training models, and solves the technical problems that the operation result information fed back to a trainer in the traditional kidney puncture simulation training model is single and rough, and puncture depth, puncture force and puncture position information after puncture training cannot be fed back to the trainer more accurately.

Description

An interactive renal puncture simulation training model and simulation method thereof

Technical Field

The invention belongs to the technical field of medical simulation training models, and in particular relates to an interactive renal puncture simulation training model and a simulation method thereof.

Background technique

Renal puncture is also known as renal biopsy puncture. The most commonly used method is to use a puncture needle under the guidance of ultrasound to take a small amount of tissue from the patient's kidney for pathological diagnosis. The human kidney can be divided into three parts: cortex, medulla and renal pelvis. Among them, the glomerulus is located in the renal cortex and is a blood filter. It has three layers from the inside to the outside: the inner layer is the endothelial cell layer, which is a flat cell attached to the glomerular basement membrane. There are countless small holes of varying sizes on it, and the small holes have a very thin diaphragm; the middle layer is the glomerular basement membrane, the medulla contains millions of urine-producing microtubules, and the renal pelvis is funnel-shaped and can collect and output urine. The actual sampling of renal puncture is done by clinical sampling of the human body. The traditional learning operation method is to learn the puncture technique with the help of experienced clinical puncture doctors, which is limited for teaching, learning or internship training. At present, there are simulation training models to achieve learning and simulation training, such as the renal biopsy puncture model for simulating renal puncture disclosed in the patent document with application number 201320172374.2. The trainee or tester can also get feedback on the operation quality by operating on the model.

Including the currently existing simulation training models disclosed in the above patent documents, traditional renal puncture simulation training models are often simple in structure, resulting in unsatisfactory training effects. In addition, these models often lack integration with real clinical operations, which makes trainees still feel confused when facing actual operations. Therefore, the present invention aims to create a renal puncture simulation training model that is closer to actual clinical operations by introducing a variety of advanced technologies and systems, so as to improve the trainees' operating skills and ability to deal with complex situations.

Most of them have relatively simple structures, which are not only inconvenient to use or not intelligent enough, but also fail to distinguish the parts of the kidney. For example, the patent document with application number 201320172374.2 only marks different parts of the kidney with different colors. After puncture sampling, only rough feedback information about which part is punctured can be obtained. No training feedback is given to the trainee on the puncture force, puncture depth, and whether the target sampling part is accurately punctured, which leads to low efficiency of training or teaching. In addition, different kidney diseases have different sampling parts. The simulation operation of different sampling parts is of great significance for trainees to learn and master the puncture techniques of different case categories. At present, the development of a traditional kidney puncture simulation training model or simulation training method with humanized operation and more accurate and comprehensive training feedback information has become a problem that needs to be solved in the field of medical simulation training design technology.

Summary of the invention

The present invention discloses an interactive renal puncture simulation training model and a simulation method thereof, which are intended to solve the technical problems that the traditional renal puncture simulation training model has single and rough feedback of operation result information to the trainee, and cannot accurately feedback the puncture depth, puncture force and puncture position information after puncture training to the trainee.

In order to solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

An interactive renal puncture simulation training model comprises a simulated human body model shell, simulated bones corresponding to the positions around human kidneys, simulated kidney external tissues, simulated kidney organs and an interactive control system arranged on the simulated human body model shell; the simulated kidney organ comprises at least one group of simulated kidney cortex layers, simulated kidney medulla and simulated renal pelvis and simulated blood vessels arranged in sequence from the outside to the inside; the simulated kidney organ is provided with at least one group of puncture channels arranged in sequence from the simulated human body model shell to the simulated renal pelvis; a first sensor and a second sensor are respectively arranged at the entrance and exit of the kidney cortex layer of the puncture channel; the first sensor and the second sensor are respectively used to obtain the first position and the second position of the puncture needle; a plurality of third sensors with different distances from the exit are arranged on the inner wall of the puncture channel, and the third sensor is a tactile sensor used to obtain the third position and puncture force of the puncture needle; the interactive control system is used to convert the data obtained by the first sensor, the second sensor and the third sensor into the value of the first position data, the value of the second position data, the value of the third position data, the difference between the value of the first position data and each of the third position data, and the value of the force data, and interactively output whether the insertion position is qualified, whether the puncture exit position is qualified, the insertion depth and the insertion force to feedback to the trainee.

The interactive renal puncture simulation training model of the present invention is based on the provision of a simulated human body model shell that imitates the upper body of the human body, simulated bones at corresponding positions around the human kidney, simulated kidney external tissues and simulated kidney organs. The simulated kidney organ is provided to include at least one group of simulated kidney cortex layers, simulated renal medulla and simulated renal pelvis and simulated blood vessels arranged in sequence from the outside to the inside; the simulated kidney organ is provided with at least one group of puncture channels from the simulated human body model shell to the simulated renal pelvis in sequence; not only is a renal cortex layer entrance for the puncture needle for training provided for puncture simulation training, but also a first sensor and a second sensor are respectively provided at the renal cortex layer entrance and exit of the puncture channel, the first sensor and the second sensor are used to obtain the position of the puncture needle, so that after the trainee uses the puncture needle to puncture the simulated renal cortex, the first sensor can provide the puncture position information and the position information of the puncture channel exit through the interactive control system, and can more accurately obtain whether the channel exit is punctured, thereby judging whether the puncture standard is met, and by setting a distance from the exit on the outer wall of the puncture channel A plurality of third sensors at different distances are provided, and the third sensors can obtain the lateral squeezing force exerted on the outer wall of the puncture channel. Since different third sensors are at different distances from the outlet, the position of the puncture needle is obtained, and the depth of the puncture needle in the puncture channel is measured. The third sensor is a tactile sensor, and the puncture force can be obtained. The first sensor, the second sensor and the third sensor are set and then transmitted to the interactive control system through the signal circuit. The interactive control system compares the operation training data according to the standard operation parameters in the preset puncture mode, and can feed back to the trainer whether the insertion position of this operation training is qualified and the deviation from the preset standard. It can also provide the trainer with the data of the puncture force and the needle insertion depth. Compared with the traditional renal puncture model, it can not only feed back to the trainer whether the operation is qualified, but also provide whether the insertion position is correct and the deviation value. This provides important information for the trainer to improve the operation after the training, and can greatly improve the effectiveness of the trainer's learning and training, thereby improving the efficiency of the simulation training.

Preferably, the interactive control system includes: a data processing module, an interactive control module, a data analysis module, a power module, and an interactive output module; the interactive control module controls the operation of the data processing module, the data analysis module, the power module, and the interactive output module through a signal circuit; the data processing module is used to obtain the first position data transmitted by the first sensor, the second position data transmitted by the second sensor, the third position data transmitted by the third sensor, and the force data transmitted by the third sensor, and classify and organize them into second data for transmission to the data analysis module; the data analysis module is used to analyze the value of the first position data in the second data, analyze the value of the second position data, the value of each of the third position data, calculate the difference between the value of the first position data and each of the third position data, analyze each of the force data values, and form third data for transmission to the interactive output module; the interactive output module is used to interactively feed back the third data to the trainee.

Furthermore, the interactive renal puncture simulation training model of the present invention presets the mode to be trained in advance through the interactive control system, inputs standard parameters such as puncture depth, position, force and needle insertion angle in the preset mode, and realizes setting a standard reference mode, and transmits first data to the data processing module through the signal circuit through the first, second, third sensors and the tactile sensor; the data processing module can classify and organize the first data and transmit second data to the data analysis module, and the data analysis module can calculate the second data according to the puncture mode executed by the interactive control module; the data analysis module can transmit the calculated third data to the interactive control module. Interactive output module; the interactive control module controls the interactive output module through a signal circuit to feedback and display the third data in a human-computer interaction mode. Compared with the traditional manual calculation and analysis mode, not only is the data information provided more accurate, but also, since the real scene of puncture should be for the patient's body, the feedback display through the above-mentioned specific human-computer interaction mode helps the trainer to quickly read the training or test information, and can also improve the trainer's user experience. Compared with the traditional human-computer interaction mode, the other component settings of the puncture model in this scene described in the present invention are more applicable, more convenient to use, and faster to provide feedback information, thereby improving the user experience and further improving the efficiency of the trainer's simulation training.

Preferably, in the interactive renal puncture simulation training model of the present invention, the second sensor includes a plurality of angle sensor units having different deviation angles from the center of the entrance of the renal cortical layer; each of the angle sensor units can be identified by the interactive control system through a different number.

The preferred embodiment of the interactive renal puncture simulation training model of the present invention is to set up several angle sensor units with different deviation angles from the center of the renal cortical layer entrance, and the puncture channel is wide enough to enable several of the angle sensor units to be located at the exit. If the puncture needle deviates from the center position of the renal cortical layer entrance during the process of the trainee inserting the puncture needle from the renal cortical layer entrance, the angle sensor unit corresponding to the angle deviated from the center position will be punctured. Different angle sensor units are identified by the interactive control system through numbering. The interactive control system can calculate the angle of the insertion end deviating from the center of the renal cortical layer entrance by comparing the original position parameters of the angle sensor units, thereby realizing feedback on the deviation of the insertion angle to the trainee, further adding an item of training information that the puncture trainee can obtain, increasing the function of the interactive renal puncture simulation training model, and enhancing the applicability of the interactive puncture simulation system.

Preferably, in the interactive renal puncture simulation training model of the present invention, a fourth sensor is provided in the simulated blood vessel near the puncture channel, and the fourth sensor is a tactile sensor; the fourth sensor is connected to the interactive control system through an electrical signal.

In this preferred embodiment, a fourth sensor is arranged on the simulated blood vessel near the puncture channel. When the puncture needle of the simulated trainee touches the fourth sensor due to the deviation of the insertion, the fourth sensor transmits the acquired signal data to the interactive control system, so that the interactive control system recognizes and outputs the touch information to the trainee through a preset mode and an interactive output module. For example, the trainee is prompted by voice and alarm tone that the blood vessel has been punctured by mistake, and a warning is given to provide the simulated trainee with a prompt of operation safety, so that the simulated trainee can obtain the error information of the puncture touching the blood vessel, thereby improving the safety of the use of the interactive renal puncture simulation training model.

Preferably, in the interactive renal puncture simulation training model described in the present invention, a simulated breathing airbag is provided on the outside of the simulated kidney external tissue, and a micro-inflator is provided in the simulated human body shell, and the micro-inflator can inflate the simulated breathing airbag through the trachea; the simulated breathing airbag is provided with an inflation and inhalation switch; the inflation and inhalation switch and the micro-inflator are controlled by the interactive control system through electrical signals; the interactive control system simulates human breathing by controlling the time of inspiration and inflation.

The preferred embodiment of the interactive renal puncture simulation training model of the present invention is that a simulated breathing airbag is provided on the outside of the simulated kidney external tissue, and through the action of the micro-inflator, the interactive control system simulates human breathing by controlling the time of inspiration and inflation. Since in the actual clinical operation of renal puncture, it is necessary to cooperate with the patient's breathing to perform needle insertion or needle removal, compared with other traditional simulation training models or traditional renal puncture models with simple structures, it can be more in line with the actual situation of actual application scenarios. Moreover, in renal puncture training, coordinating with the patient's breathing is an important training project. Through the preferred embodiment, the project is conveniently and effectively implemented.

Preferably, the interactive renal puncture simulation training model described in the present invention also includes: an ultrasound model and at least one group of ultrasound sensors arranged in the simulated kidney organ; the ultrasound model can receive the transmission signal of the ultrasound sensor; the ultrasound model can output the ultrasound image of the simulated kidney organ through the interactive control system.

The preferred embodiment of the interactive renal puncture simulation training model described in the present invention is to set an ultrasonic sensor and an ultrasound machine model so that the simulated kidney organ forms an ultrasound image in the ultrasound machine model through the ultrasonic sensor, and the internal structure of the model is converted into an ultrasound image. The ultrasound machine model is connected through a high-resolution display screen, and the signal collected by the sensor is used to generate an ultrasound image in real time and display it on the display screen, so that the simulation training is closer to actual clinical operations, the simulation training is more targeted, and the timeliness of the training of the trainees is further improved.

Preferably, the interactive renal puncture simulation training model of the present invention further includes a virtual reality system and an augmented reality system; the virtual reality system and the augmented reality system are controlled by the interactive control system through an integrated circuit.

The preferred embodiment of the interactive renal puncture simulation training model of the present invention can construct a multi-person collaborative simulation environment by setting up a virtual reality system and an augmented reality system, and controlling the virtual reality system and the augmented reality system through an interactive control system. Students can operate through head-mounted devices and other interactive devices, so that the simulation training model can be used in a scenario-based manner. Trainees can select roles and receive tasks through the virtual reality system and the augmented reality system, which improves the convenience of use for trainees and enhances the trainees' experience of the scenario.

Preferably, the interactive renal puncture simulation training model of the present invention further includes an integrated expert system, which obtains the link of the expert equipment terminal through the network protocol, and then obtains the expert technical guidance information of the expert equipment terminal.

The preferred solution of the interactive renal puncture simulation training model described in the present invention obtains expert guidance from the expert equipment terminal by integrating the expert system, and is able to provide real-time guidance and feedback based on the student's operating conditions. The expert system can also provide students with strategies and methods for solving complex problems.

The present invention also obtains expert guidance information from expert equipment terminals by integrating an expert system. This design can provide real-time guidance and feedback according to the students' operation conditions, help students solve complex problems, and further improve their operation skills.

Preferably, the interactive renal puncture simulation training model described in the present invention further includes a temperature sensor and a humidity sensor arranged on the outer shell of the simulation human body model, and the temperature sensor and the humidity sensor transmit temperature data and humidity data to the interactive control system via electrical signals.

The preferred solution of the interactive renal puncture simulation training model of the present invention is described in the following. In order to ensure interoperability with other devices and systems, we will follow industry standards and specifications for design and development. Considering that simulation training may be conducted under different environmental conditions, we will ensure that the sensor layout scheme has good environmental adaptability. This includes the ability to adapt to environmental factors such as temperature, humidity, and pressure to ensure that the sensor can provide accurate data under various conditions.

Specifically, the interactive renal puncture simulation training model of the present invention not only has a simulated human body model shell, but also integrates multiple sensors such as temperature sensors and humidity sensors to obtain and transmit environmental data in real time. These sensors are carefully arranged and have good environmental adaptability, and can provide accurate data under various conditions to ensure the accuracy and reliability of simulation training.

Preferably, the interactive renal puncture simulation training model described in the present invention further includes a calibration and debugging system, which is linked to the interactive control system through circuit signals; the calibration and debugging system includes a regular cleaning time reminder output module and a regular inspection output module.

Preferably, the present invention also introduces a calibration and debugging system, which is linked to the interactive control system through circuit signals. The system can regularly remind cleaning, checking and calibrating the parameters in the model to ensure that the model is always in the best working state. At the same time, the design of human-computer interaction also enables users to operate and maintain more conveniently.

The preferred embodiment of the interactive renal puncture simulation training model described in the present invention, in order to ensure the longer-term use and accuracy of the model, a calibration and debugging system is set, and the calibration and debugging system is linked to the interactive control system through circuit signals. By setting time parameters for regular cleaning, inspection and calibration in the interactive control system, the interactive control system adjusts and calibrates the parameters in the model by controlling the calibration and debugging system, and can also use human-computer interaction methods, including sound or picture to remind the user to regularly clean, inspect and calibrate components to ensure that they are always in the best working condition.

The present invention also integrates a virtual reality system and an augmented reality system, and controls these systems through an interactive control system to build a multi-person collaborative simulation environment. Trainers can operate through head-mounted devices and other interactive devices, select roles, and receive tasks, making simulation training more scenario-based and convenient. This design not only improves the trainers' user experience, but also enhances their experience of the scene.

Based on the above-mentioned interactive renal puncture simulation training model, the present invention further provides a simulation method of the interactive renal puncture simulation training model, comprising the following steps:

S1: Inputting standard parameters of different sampling positions in the interactive control system to obtain a preset mode corresponding to the standard parameters; the standard parameters include: the first position data standard value, the low temperature position data standard value, the insertion depth standard value range, and the insertion force standard range.

S2: comparing the first position data value with the first position data standard value, if they are equal, it is concluded that the training person's insertion position is qualified, otherwise, it is concluded that the training person's insertion position is unqualified;

Comparing the second position data value with the second position data standard value, if they are equal, it is concluded that the trainee's insertion position is qualified, and if they are not equal, it is concluded that the trainee's insertion position is unqualified;

Calculate the value of each third position data in the third data with the value of the first position data to obtain the depth value corresponding to each third position, and calculate the maximum depth value as the actual insertion depth value of the trainee; compare and calculate the actual insertion depth value with the insertion depth standard range to obtain the insertion depth deviation value between the actual insertion value and the insertion depth standard range;

Calculate the average value of each penetration force data value in the third data to obtain the penetration force data average value, compare and calculate the penetration force average value with the penetration force standard value, and obtain the penetration force deviation value between the actual penetration force value and the penetration force standard value;

S3: Feedback the training person with the information of whether the insertion position is qualified, the insertion depth value, the insertion depth deviation value, and the insertion force deviation value through the interactive output module.

The simulation method of the interactive renal puncture simulation training model described in the present invention enables the trainee to have specific reference standard values for standard operation before the training starts by inputting standard parameters of different sampling positions in the interactive control system, and then obtains three different signals through three different sensors, and then compares the three different signals with the corresponding preset parameters respectively. The accurate value of the puncture position and the deviation value of the puncture position, the insertion depth and the deviation value of the insertion depth, the puncture force data and the puncture force deviation value can be calculated and obtained through the interactive control system. The first position data, the second position data, the insertion depth data and the puncture force data and their deviation values are calculated to obtain the standard degree of the trainee's operation, and the standard degree of the trainee's operation and the third data are fed back to the trainee through the interactive output module, so that the simulation method of the model is simpler and more efficient. In addition, the simulation method has a small parameter error, a simple data transmission path, and can quickly and accurately obtain the feedback information required by the trainee. It can be combined with the model to operate more efficiently and conveniently.

Preferably, in the simulation method of the interactive renal puncture simulation training model described in the present invention, the standard parameters also include: the deviation angle value of each of the angle sensor units and the center of the entrance of the renal cortical layer; marking each of the angle sensor units with a corresponding mark so that each mark corresponds to an angle deviation value; one of the angle sensor units that obtains the insertion signal transmits the confirmation insertion signal to the interactive control system, the interactive control system identifies the first mark of the angle sensor unit that transmits the confirmation insertion signal, and then extracts the deviation angle value under the first mark; the angle deviation value is interactively output as the insertion angle and fed back to the trainee.

The simulation method of the interactive renal puncture simulation training model described in the present invention sets a plurality of angle sensor units with different deviation angles from the center of the renal cortical layer entrance. The puncture channel is wide enough to enable the plurality of angle sensor units to be located at the exit. If the puncture needle deviates from the center position of the renal cortical layer entrance during the process of the trainee inserting the puncture needle from the renal cortical layer entrance, the puncture needle will puncture the angle sensor unit corresponding to the angle deviating from the center position. Different angle sensor units are identified by numbering by the interactive control system. The interactive control system can calculate the angle of the insertion end deviating from the center of the renal cortical layer entrance by comparing the original position parameters of the angle sensor units, thereby realizing feedback on the deviation of the insertion angle to the trainee, further adding an item of training information that the puncture trainee can obtain, increasing the function of the interactive renal puncture simulation training model, and the simulation training method has high applicability.

In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

1. Compared with the traditional renal puncture model, the present invention can not only provide feedback to the trainee on whether the operation is qualified, but also provide information on whether the insertion position is correct and the deviation value. This provides important information for the trainee to improve the operation in the next training after training, and can greatly improve the effectiveness of the trainee's learning and training, thereby improving the efficiency of simulation training.

2. Compared with traditional manual calculation and analysis, the data information provided by the present invention is not only more accurate, but also, because the real scene of puncture should be the patient's body, the feedback display through the above-mentioned specific human-computer interaction mode can help trainers to quickly read training or test information, and can also improve the trainers' user experience. Compared with the traditional human-computer interaction mode, the other components of the puncture model in this scene described in the present invention are more applicable, more convenient to use, and can quickly provide feedback information, thereby improving the user experience and further improving the efficiency of the trainers' simulation training.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will now be described by way of example with reference to the accompanying drawings, in which:

FIG1 is a partial structural diagram of the interactive renal puncture simulation training model of the present invention;

FIG2 is a cross-sectional view of a simulated kidney organ of the interactive renal puncture simulation training model of the present invention;

FIG3 is a cross-sectional view b of a simulated kidney organ of the interactive renal puncture simulation training model of the present invention;

FIG4 is a cross-sectional view c of a simulated kidney organ of the interactive renal puncture simulation training model of the present invention;

FIG5 is a schematic diagram showing the connection of an interactive control system of the interactive renal puncture simulation training model of the present invention;

FIG6 : Schematic diagram of the interactive renal puncture simulation training model in use according to the present invention.

Reference numerals:

0-puncture needle; 1-simulated human body model shell; 2-simulated bones; 3-simulated kidney external tissue; 31-simulated renal fascia layer; 311-fifth sensor; 4-simulated kidney organ; 41-simulated renal cortex layer; 42-simulated renal medulla; 43-simulated renal pelvis; 44-simulated blood vessel; 441-fourth sensor; 5-puncture channel; 51-renal cortex layer entrance; 511-first sensor; 512-second sensor; 513-third sensor; 514-angle sensor unit; 52-exit; 6-interactive control system; 7-simulated breathing airbag; 71-inflation and inhalation switch; 8-ultrasonic sensor; 9-ultrasound instrument model.

Detailed ways

To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the embodiments of the present application and the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and indicated in the accompanying drawings here can be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or are the positions or positional relationships in which the inventive product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

The present invention is described in detail below in conjunction with FIG. 1 to FIG. 5 .

Example 1

As shown in Fig. 1-Fig. 2, an interactive renal puncture simulation training model comprises a simulated human body model shell 1, simulated bones 2 corresponding to the position around the human kidney, simulated kidney external tissue 3, simulated kidney organ 4 and an interactive control system 6 arranged on the simulated human body model shell 1; the simulated kidney organ comprises at least one group of simulated kidney cortex layer 41, simulated renal medulla 42, simulated renal pelvis 43 and simulated blood vessels 44 arranged in sequence from the outside to the inside; the simulated kidney organ 4 is provided with at least one group of puncture channels 5 from the simulated human body model shell 1 to the simulated renal pelvis 43 in sequence; a first sensor 511 and a second sensor 512 are respectively arranged at the entrance 51 and the exit 52 of the kidney cortex layer of the puncture channel 5; the first sensor 511 and the second sensor 512 are respectively arranged The sensor 512 is used to obtain the first position and the second position of the puncture needle 0 respectively; a plurality of third sensors 513 are provided on the inner wall of the puncture channel 5 at different distances from the outlet 52, and the third sensor 513 is a tactile sensor used to obtain the third position and puncture force of the puncture needle 0; the interactive control system is used to convert the data obtained by the first sensor 511, the second sensor 512 and the third sensor 513 into the value of the first position data, the value of the second position data, the value of the third position data, the difference between the value of the first position data and each of the third position data, and the force data value, and interactively output whether the insertion position is qualified, whether the puncture exit position is qualified, the insertion depth and the insertion force to feedback to the trainee.

It should be noted that the first position is the puncture entrance position, and the second position is the exit position of the puncture channel 5; the third sensor 513 is used to obtain the third position of the puncture needle 0, which can be understood as several positions of several third sensors 513, and the implementation method is: the third sensor 513 is marked as several positions with different distances from the entrance 51 of the renal cortex layer in the preset mode, and each third sensor 513 corresponds to a third position. The puncture needle 0 touches different third sensors at different positions when it penetrates to a different depth, and the position is transmitted to the interactive control system. The interactive control system can correspond the third position to the corresponding third sensor's marking number through the data processing module. The distance between the third sensor corresponding to the number and the first position is known in the preset, and the difference between the three sensors can be used to obtain the penetration depth value. The distance between the two third sensors can be reduced by making the third sensors dense and reducing the spacing to reduce the error.

The specific application and role of the second sensor in the interactive renal puncture simulation training model are mainly reflected in the following aspects:

First, the second sensor can accurately capture the trainee's subtle operational changes during the puncture process. For example, it can detect the trainee's tiny hand movements, changes in force, and adjustments to the puncture angle in real time. This ability to capture details enables the model to more accurately simulate the real surgical environment and provide trainees with a more realistic training experience.

Secondly, the second sensor provides trainees with immediate operation evaluation and guidance through a real-time feedback mechanism. When trainees make improper operations or lack of skills during the puncture process, the second sensor can quickly identify and issue prompts to help trainees correct errors in time and optimize their operation skills. This real-time feedback and guidance helps trainees master the correct operation methods more quickly and improve their surgical skills.

In addition, the second sensor also has data recording and analysis functions. It can continuously collect the trainee's operation data, including the speed, force, angle and success rate of puncture. By analyzing these data, the trainee can have a clearer understanding of his or her own operation habits and skill level, and find out potential problems and room for improvement. At the same time, these data can also serve as an important basis for coaches or teachers to evaluate the trainee's skill level, providing strong support for personalized teaching.

Finally, the second sensor also has an adaptive learning function. It can automatically adjust the difficulty and feedback mode of the model according to the trainer's operation data and feedback to meet the needs of different trainers. This personalized training mode helps to stimulate the trainer's interest and enthusiasm in learning and improve the training effect.

The interactive control system is used to convert the data obtained by the first sensor 511, the second sensor 512 and the third sensor 513 into the information of reaching the target of the puncture position, the puncture depth information and the puncture force information and feed it back to the trainer. As shown in FIG5 , in this embodiment, the interactive control system 6 comprises: the interactive control system 6 comprises: a data processing module, an interactive control module, a data analysis module, a power module and an interactive output module; the interactive control module controls the operation of the data processing module, the data analysis module, the power module and the interactive output module through a signal circuit; the data processing module is used to obtain the first position data transmitted by the first sensor 511, the second position data transmitted by the second sensor 512, the third position data transmitted by the third sensor 513 and the force data transmitted by the third sensor, and classify and organize them into the second data and transmit them to the data analysis module; the data analysis module is used to analyze the value of the first position data in the second data, analyze the value of the second position data, the value of each of the third position data, calculate the difference between the value of the first position data and each of the third position data, analyze each of the force data values, and form the third data and transmit them to the interactive output module; the interactive output module is used to interactively feed back the third data to the trainer.

The data transmission link logic of the interactive renal puncture simulation training model of the present invention is shown in FIG5 , wherein the interactive control module controls the data processing module, the data analysis module, the interactive output module and the power module respectively; the power module provides power to the data processing module, the data analysis module and the interactive output module respectively; the data processing module transmits data to the data analysis module, and the data analysis module transmits data to the interactive output module;

The control system of the interactive renal puncture simulation training model can be said to be the "brain" and "heart" of the entire model. It carries multiple tasks such as processing complex instructions, driving model responses, and providing accurate feedback. By deeply analyzing its working principle, we can find more amazing details.

At the control logic level, the control system not only has highly sophisticated algorithms, but also incorporates rich medical knowledge and experience. It is well versed in every detail of renal puncture surgery, from fine-tuning the angle of the puncture needle, to precise control of force, to simulation of kidney tissue deformation, it can handle it with ease. This deep integration of medical knowledge enables the control system to more accurately simulate real surgical scenarios, providing trainees with a more targeted training experience.

In terms of data processing flow, the control system demonstrates powerful data processing capabilities and real-time response speed. After high-speed processing and analysis, the data from the sensor is immediately converted into the model's motion instructions, achieving millisecond-level response. This efficient data processing capability not only ensures the real-time nature of the model, but also enables trainees to more intuitively feel the effects of their operations.

In addition, the control system's adaptive learning ability is even more impressive. It can not only adjust the control logic and data processing flow according to the trainer's operating habits and skill level, but also continuously optimize its own performance through machine learning algorithms. As the use time increases, the control system will "understand" the trainer's needs more and more, providing a training experience that is more in line with personalized needs.

At the same time, the control system also performs well in terms of emotional communication. It creates a real and immersive surgical environment for trainees through a carefully designed operating interface, realistic visual feedback and tactile simulation. This emotional design not only improves the trainees' operating experience, but also enhances their perception and understanding of the surgical process.

Finally, it is worth mentioning that the stability and reliability of the control system have also been rigorously tested and verified. Whether in harsh environments such as high temperature, low temperature or high humidity, the control system can maintain stable performance and ensure the continuous operation of the model. This excellent stability and reliability enables the model to provide trainers with stable and reliable training support in various scenarios.

It should be noted that, by controlling the interactive output module through the interactive control system, the first position data value can be fed back to the trainee to determine whether the insertion position is qualified. For example, if the value of the first position data is 1 and the standard value of the first position data is 1, the interactive output indicates that the insertion position is qualified. If the value of the first position data is 0, the insertion is biased or the puncture channel is not punctured.

The interactive output module is controlled by the interactive control system to interactively output the second position information as whether the puncture position is qualified. For example, if the second position data is 1 and the standard data value of the second position is 0, the puncture depth exceeds the end of the puncture channel and has penetrated the simulated kidney cortical layer 41. The interactive output module feeds back to the trainee that the puncture position is unqualified. If the value of the second position data is 0, the insertion judgment does not obtain a signal, indicating that the puncture needle 0 has not penetrated the position of the second sensor, and the feedback shows that the puncture position is qualified.

The interactive output module can be controlled by the interactive control system to calculate the value of each third position data in the third data with the value of the first position data, to obtain the depth value corresponding to each third position, and to calculate the maximum depth value therein as the actual insertion depth value of the trainee; and then the actual insertion depth information is fed back to the trainee through the interactive output;

By controlling the interactive output module through the interactive control system, each of the force data values in the third data can be interactively fed back to the trainee as a plurality of insertion force data.

It should be noted that the various parts of the human kidney include: the kidney has a raised outer edge and a concave inner edge. The center of the concave is called the renal hilum, which is the place where the renal blood vessels, lymphatic vessels, ureters and nerves enter and exit the kidney. On the frontal section of the kidney, the renal parenchyma is divided into the surface renal cortex and the inner renal medulla. The renal medulla forms the bottom end facing the renal cortex and consists of 15-20 renal pyramids. The tips of the renal pyramids extend to the renal papilla. Tactile sensor: This sensor is sensitive to touch, pressure or any force on its surface. The sensor usually detects the above characteristics in the form of electrical parameters such as capacitance or resistance. Then after further processing, a virtual image is created for the above features. This is done by using other circuits, which we also call correlation circuits.

It should be noted that the "simulation" is understood to be a device whose physical structure and shape are similar to human organs, but the material is made of corrosion-resistant or other inorganic materials. If elastic parts need to be manufactured, sponge or silicone layers can be used. The blood vessels can be made of plastic, and the material selection can be made by referring to other medical models.

The interactive renal puncture simulation training model fully demonstrates exquisite craftsmanship and well-considered practical considerations in its structural design, especially in the connection of components and material selection, to ensure that the model is not only stable and durable, but also highly realistic.

The shell and the simulated skeleton are connected by a combination of high-strength, corrosion-resistant precision screws and special locking devices. This connection method not only ensures the stability of the structure, but also enables easy disassembly, transportation, storage, cleaning and maintenance. The shell material is made of engineering plastics that have been specially processed, which not only ensures excellent pressure resistance and wear resistance, but also ensures light weight and a touch close to the real human body, providing trainees with an immersive operation experience.

The connection between the simulated kidney's external tissue and the simulated bones uses advanced medical-grade flexible adhesive technology to ensure that the tissue can fit closely to the bones while maintaining sufficient elasticity and toughness to truly simulate the dynamic changes of the kidney. The tissue material is made of medical-grade silicone, which has excellent biocompatibility and touch, and can highly restore the texture and appearance of the real kidney, making the trainee feel as if they are in a real surgical environment.

The puncture channel 5 refers to a puncture passage for the puncture needle 0 provided to the puncture trainee, such as an entrance 51 and an exit 52 of the kidney cortex layer.

It should be noted that the inner wall of the puncture channel is made of smooth, corrosion-resistant stainless steel material to ensure smooth and unimpeded entry of the puncture needle 0. At the same time, the connection between the channel and the kidney organ adopts a highly sealed rubber gasket design to effectively prevent liquid leakage and bacterial invasion, ensuring the safety of the simulation training.

The preset mode refers to formulating different preset modes according to different patients in the interactive control system 6, for example, different parameters are input for female cases and male cases, different parameters are input for fatter cases and thinner cases, and standard data such as puncture position, puncture depth and puncture force are input.

The puncture position is obtained by the first sensor 511 and the second sensor 512. For example, during puncture training, the puncture needle 0 penetrates the entrance 51 of the renal cortex layer, and the first sensor 511 can obtain the punctured entrance position. If the second sensor 512 also obtains a puncture signal, it means that the puncture depth of the trainee has exceeded the renal cortex layer. If the second sensor 512 does not obtain a puncture signal, and the third sensor 513 corresponding to a certain position of the puncture channel 5 obtains a puncture signal, then through the calculation and control of the interactive control system 6, a set of puncture depth data and a set of information on whether the puncture position is correct can be output to the trainee.

In addition, the key components of the model, such as sensors and circuits, adopt advanced waterproof, dustproof and shockproof designs, which can maintain stable performance in various harsh environments. These components are made of special plastics that are resistant to high temperatures and corrosion, ensuring the stability and reliability of the model in long-term use.

It should be noted that the puncture channel 5 (puncture path) is at least one group. For the sake of clarity, only one group is shown in Figure 2. It can be understood that multiple puncture channels 5 are set at different positions in the model, each channel has a different path and difficulty, and can be suitable for multiple students to operate at the same time.

It should be noted that the first sensor 511 and the second sensor 512 can be force sensors or tactile sensors. The first sensor 511 is arranged on the outer wall of the puncture channel 5 and is connected thereto. The puncture needle 0 penetrates the puncture channel 5 and squeezes the side wall of the puncture channel 5, thereby generating a side wall force or tactile induction on the first sensor 511, so that the first sensor 511 generates a trigger signal to obtain the puncture position information. The second sensor 512 is arranged at the end of the outlet 52, and is blocked by an elastic member at the end of the second sensor 512 that receives the puncture needle 0 to prevent the puncture needle 0 from penetrating and damaging the second sensor 512. The trainee can also make a rough estimate of the puncture depth through a preliminary estimate of the puncture depth in the preset mode to avoid puncturing beyond the deepest position and damaging the second sensor 512.

In this embodiment, the interactive renal puncture simulation training model described in the present invention can also be provided with a simulated renal fascia layer 31 on the simulated kidney external tissue 3, and a plurality of fifth sensors 311 are provided on the surface of the simulated renal fascia layer 31, and the third sensor 513 is a tactile sensor; the tactile sensor is connected to the interactive control system 6 through an electrical signal.

It should be noted that by setting the simulated kidney external tissue 3 to an elastic sponge layer that can be pierced by the puncture needle 0, such as a silicone layer or a sponge layer, the simulated renal fascia layer 31 is an elastic plastic layer. For simple puncture force exercises, the puncture force can be obtained through the fifth sensor 311 set outside the simulated renal fascia layer 31, and the fifth sensor 311 can be set as a pressure sensor.

The interactive renal puncture simulation training model of the present invention sets a simulated renal fascia layer 31 on the simulated kidney external tissue 3, performs a touch pressure test on the renal fascia layer through the third sensor 513, and then transmits the touch pressure test data to the interactive control system 6 through an electrical signal. The interactive control system 6 controls other modules for analysis, and can obtain the force of the trainee's puncture into the simulated renal fascia layer 31. Because in actual puncture, the doctor judges the stage of puncture needle 0 insertion by feeling the top touch of the renal fascia layer, puncturing the renal fascia layer and then puncturing the renal fat layer to reach the renal capsule layer is a key step in renal puncture, which requires the doctor to have rich experience to predict, and requires repeated training during training. It is a project that is difficult to train in traditional renal puncture training models. Through the above-mentioned setting, the present invention can easily obtain the depth of puncture into the renal fascia layer, and the feedback information is more critical, which has a higher simulation training effect for the trainee.

In this embodiment, the interactive renal puncture simulation training model of the present invention is provided with a fourth sensor 441 near the simulated blood vessel 44 of the puncture channel 5, and the fourth sensor 441 is a tactile sensor; the fourth sensor 441 is connected to the interactive control system 6 through an electrical signal. It should be noted that the fourth sensor 441 can be set as a tactile sensor, and the blood vessel near the puncture channel 5 is understood to be a blood vessel arranged around the puncture channel 5. If the puncture channel 5 is punctured by the trainee and pierces the blood vessel, the fourth sensor 441 can detect and transmit signals.

In this embodiment, the interactive renal puncture simulation training model described in the present invention is characterized in that the outside of the simulated kidney external tissue 33 is provided with a simulated breathing airbag 7, and the simulated human body shell 1 is provided with a micro-inflator, which can inflate the simulated breathing airbag 7 through the trachea; the simulated breathing airbag 7 is provided with an inflation switch 71; the inflation switch 71 and the micro-inflator are controlled by the interactive control system 6 through electrical signals; the interactive control system 6 simulates human breathing by controlling the time of inspiration and inflation.

It should be noted that the simulated breathing airbag 7 is arranged inside the simulated human body shell by bonding or pre-embedding. The simulated breathing airbag 7 is made of elastic material and can be expanded by inflation through a micro-inflator and compressed by inhalation to simulate human breathing. The frequency of inflation and inhalation can be controlled by controlling the inflation and inhalation switch 71 to simulate human breathing.

In this embodiment, the design of the simulated breathing airbag fully considers the characteristics of the real human respiratory system and can simulate the fluctuations during breathing and the expansion and contraction of the chest cavity. When the trainee performs a renal puncture, the simulated breathing airbag will simulate breathing according to a preset breathing pattern, providing the trainee with an operating experience that is closer to a real surgical environment.

The combination with the interactive control system is the key to the effectiveness of the simulated breathing airbag. The control system monitors the state of the simulated breathing airbag in real time through sensors, including parameters such as breathing rate and breathing depth. Based on these parameters, the control system can accurately control the response of the model and simulate the movement of kidney tissue in different breathing stages. For example, during the breathing process, the position and shape of the kidneys will change subtly, and these changes will be conveyed to the trainee in real time through the model's feedback system.

In addition, the interactive control system can dynamically adjust the simulated breathing airbag according to the trainer's operation. When the trainer performs the puncture operation, the control system will adjust the breathing pattern and strength of the simulated breathing airbag in real time according to the position and depth of the puncture needle 0 to simulate a more realistic puncture experience. This dynamic adjustment mechanism enables the model to better adapt to different operation scenarios and improve the authenticity and credibility of the simulation.

In this embodiment, the interactive renal puncture simulation training model of the present invention further includes: an ultrasound model 9 and at least one group of ultrasound sensors 8 arranged in the simulated kidney organ 4; the ultrasound model 9 can receive the transmission signal of the ultrasound sensor 8; the ultrasound model 9 can output the ultrasound image of the simulated kidney organ 4 through the interactive control system 6. It should be noted that the ultrasound sensor 8 is understood as a trigger sensor matched with the ultrasound model 9, that is, when the detection part of the ultrasound machine contacts the ultrasound sensor 8, and the ultrasound sensor 8 is set as a displacement or distance sensor, which can sense the distance moved by the detection part of the ultrasound model 9, the ultrasound model 9 outputs the kidney ultrasound image originally stored in the ultrasound model 9 in the interactive control system 6, and by moving the detection part, the ultrasound model 9 moves the kidney ultrasound image by a similar proportional distance through the microcomputer processing, thereby simulating the function of ultrasound detection.

In this embodiment, firstly, the ultrasound machine model strictly follows the specifications and standards of the real ultrasound equipment during the design and manufacturing process, ensuring that its appearance and operation process are highly consistent with the real ultrasound machine. From the appearance point of view, the ultrasound machine model uses the same material and color as the real ultrasound machine, so that the trainee can feel the real touch and visual effect when operating. In terms of the operation process, the ultrasound machine model simulates the power on and off, probe selection, parameter adjustment and other links of the real ultrasound machine, allowing the trainee to fully experience the whole process of ultrasound-guided renal puncture in a simulated environment.

The ultrasound machine model not only provides an appearance and operation process similar to that of a real ultrasound machine, but more importantly, it can also simulate real ultrasound images. This is due to the highly accurate image generation system inside the model, which can generate clear and realistic ultrasound images based on the actual situation of the simulated kidney. These images not only have real texture and layering, but also can reflect the position, size and morphological changes of the kidney in real time. This intuitive visual feedback enables trainees to judge the condition of the kidney more accurately, providing strong support for subsequent puncture operations.

The ultrasound sensor is the core component for realizing the ultrasound guidance function. It uses advanced ultrasound receiving technology to capture ultrasound signals from the simulated kidney in real time. When the trainee uses the ultrasound model to scan the simulated kidney, the ultrasound sensor will respond quickly and receive these signals, and then convert them into simulated ultrasound images through the internal processing system. This process is completely consistent with the ultrasound guidance operation in real surgery, allowing trainees to fully understand and master the skills of ultrasound guidance in a simulated environment.

By combining the ultrasound machine model with the ultrasound sensor, trainees can perform real ultrasound-guided renal puncture in a simulated environment. They can adjust the parameters of the ultrasound machine and observe ultrasound images to familiarize themselves with the interpretation techniques of ultrasound images and accurately determine the position and shape of the kidneys. At the same time, they can also select the appropriate puncture path and angle based on the guidance of ultrasound images to improve the accuracy and success rate of the puncture. This kind of simulation training not only helps to improve the trainees' operating skills, but also enhances their understanding and mastery of the ultrasound-guided renal puncture surgical process.

In addition, the combination of the ultrasound model and the ultrasound sensor also provides trainers with a real-time feedback and evaluation mechanism. The system can accurately record every step and detail of the trainer's operation, including the scanning angle, force, puncture path, etc. Through the built-in feedback system, the system can provide trainers with detailed operation analysis and suggestions, helping them to understand their shortcomings in a timely manner and make targeted improvements. This real-time feedback and evaluation mechanism enables trainers to improve their operation level more efficiently and be fully prepared for future surgical operations.

In this embodiment, the interactive renal puncture simulation training model of the present invention further includes a virtual reality system and an augmented reality system; the virtual reality system and the augmented reality system are controlled by the interactive control system 6 through an integrated circuit. The trainer can operate through a head-mounted device and other interactive devices, and realize real-time communication and collaboration with other students and virtual characters through the virtual reality and augmented reality systems.

In this embodiment, the interactive renal puncture simulation training model described in the present invention also includes an integrated expert system, which obtains the link of the expert equipment terminal through the network protocol, and then obtains the expert technical guidance information of the expert equipment terminal.

In this embodiment, the interactive renal puncture simulation training model described in the present invention also includes a temperature sensor and a humidity sensor arranged in the simulation human body model shell 1, and the temperature sensor and the humidity sensor transmit temperature data and humidity data to the interactive control system 6 through electrical signals.

In this embodiment, referring to FIG6 , the method for using the interactive renal puncture simulation training model of the present invention is as follows: the first position data standard value, low temperature position data standard value, insertion depth standard value range, insertion force standard range and other parameters are input into the interactive control system 6. The ultrasonic instrument model is used to detect the simulated renal organ position in the renal puncture model, and the handheld puncture needle 0 is inserted into the entrance of the puncture channel.

The standard parameters also include: the deviation angle value of each angle sensor unit 514 from the center of the kidney cortex layer entrance 51; marking each angle sensor unit 514 with a corresponding mark so that each mark corresponds to an angle deviation value;

One of the angle sensor units 514 that obtains the insertion signal transmits the confirmation insertion signal to the interactive control system 6. The interactive control system 6 identifies the first mark of the angle sensor unit that transmits the confirmation insertion signal, and then extracts the deviation angle value under the first mark; the angle deviation value is interactively output as the insertion angle to feed back to the trainee.

In this embodiment, the interactive renal puncture simulation training model described in the present invention also includes a calibration and debugging system, which is linked to the interactive control system 6 through a circuit signal; the calibration and debugging system includes a regular cleaning time reminder output module and a regular inspection output module.

Example 2

Based on Example 1, the interactive renal puncture simulation training model described in the present invention, as shown in Figure 2, the second sensor 512 includes a plurality of angle sensor units 514 with different deviation angles from the center of the renal cortical layer entrance 51; each of the angle sensor units 514 can be identified by the interactive control system 6 through different numbers.

In this embodiment, each angle sensor unit 514 in the second sensor 512 obtains a signal of whether the puncture needle 0 has penetrated and transmits it to the interactive control system. Each angle sensor unit 514 is marked with a corresponding symbol. For example, when the puncture needle 0 penetrates the angle sensor unit 514 marked with a number a, the interactive control system recognizes the symbol and obtains the deviation angle of the angle sensor unit 514, thereby providing the penetration angle data of the puncture needle 0 and feeding it back to the trainee through the interactive control system.

It should be noted that, first of all, in terms of sensor accuracy, we have selected the industry's top high-precision sensor technology to ensure that the slightest changes in the puncture process can be captured. These sensors not only have excellent measurement accuracy, can accurately record the position, depth and force of the puncture needle, but also have excellent stability, can maintain stable performance during long-term use, and provide continuous and reliable feedback to trainers.

Secondly, in terms of sensor calibration, we use advanced multi-point, multi-dimensional calibration technology. By calibrating the sensor at different positions, depths and angles, we can comprehensively reduce errors and ensure that the sensor's measurement accuracy reaches the highest level. In addition, we have equipped the model with an intelligent calibration system that can automatically detect the status of the sensor and perform real-time calibration to ensure that the model always maintains optimal performance during use.

We also carefully designed and optimized the layout and installation of sensors. According to the actual needs of renal puncture surgery, we cleverly arranged sensors at key locations of the kidney model to fully capture various information during the puncture process. At the same time, we adopted a unique fixed structure and shockproof design to ensure that the sensors are not easily disturbed or damaged by the outside world during the use of the model, further improving the stability and durability of the model.

It should be noted that the kidney cortex layer entrance 51 described in this embodiment can be set as a wider entrance, so that the entrance width is equal to the width of the outlet 52, and the width of the outlet 52 can accommodate a plurality of angle sensor units 514 provided. For example, as shown in FIG. 2 , the width can accommodate three angle sensor units 514 whose angles deviate from the central angle of the kidney cortex layer entrance 51 by 10-20 degrees. The angle sensor unit 514 is understood to be a sensor with different angles, and the sensor can also be a pressure sensor or a tactile sensor.

Example 3

On the basis of embodiments 1 and 2, the present invention further provides a simulation method of an interactive renal puncture simulation training model, comprising the following steps:

S1: Input standard parameters of different sampling positions in the interactive control system 6 to obtain a preset mode corresponding to the standard parameters; the standard parameters include: the first position data standard value, the low temperature position data standard value, the insertion depth standard value range, and the insertion force standard range.

S2: comparing the first position data value with the first position data standard value, if they are equal, it is concluded that the training person's insertion position is qualified, otherwise, it is concluded that the training person's insertion position is unqualified;

Comparing the second position data value with the second position data standard value, if they are equal, it is concluded that the trainee's insertion position is qualified, and if they are not equal, it is concluded that the trainee's insertion position is unqualified;

Calculate the value of each third position data in the third data with the value of the first position data to obtain the depth value corresponding to each third position, and calculate the maximum depth value as the actual insertion depth value of the trainee; compare and calculate the actual insertion depth value with the insertion depth standard range to obtain the insertion depth deviation value between the actual insertion value and the insertion depth standard range;

Calculate the average value of each penetration force data value in the third data to obtain the penetration force data average value, compare and calculate the penetration force average value with the penetration force standard value, and obtain the penetration force deviation value between the actual penetration force value and the penetration force standard value;

S3: Feedback the training person with the information of whether the insertion position is qualified, the insertion depth value, the insertion depth deviation value, and the insertion force deviation value through the interactive output module.

The standard parameters also include: the deviation angle value of each angle sensor unit 514 from the center of the kidney cortex layer entrance 51; marking each angle sensor unit 514 with a corresponding mark so that each mark corresponds to an angle deviation value;

One of the angle sensor units 514 that obtains the insertion signal transmits the confirmation insertion signal to the interactive control system 6. The interactive control system 6 identifies the first mark of the angle sensor unit that transmits the confirmation insertion signal, and then extracts the deviation angle value under the first mark; the angle deviation value is interactively output as the insertion angle to feed back to the trainee.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. An interactive kidney puncture simulation training model, which is characterized in that: comprises a simulated human body model shell (1), a simulated bone (2) corresponding to the surrounding position of human body kidney, a simulated kidney external tissue (3), a simulated kidney organ (4) and an interactive control system (6) arranged on the simulated human body model shell (1); the simulated kidney organ (4) comprises at least one group of simulated kidney cortex layers (41), simulated kidney medulla (42), simulated renal pelvis (43) and simulated blood vessels (44) which are sequentially arranged from outside to inside; the simulated kidney organ (4) is provided with at least one group of puncture channels (5) from the simulated human body model shell (1) to the simulated renal pelvis (43) in sequence; a first sensor (511) and a second sensor (512) are respectively arranged at an inlet (51) and an outlet (52) of the kidney cortex layer of the puncture channel (5); the first sensor (511) and the second sensor (512) are used for acquiring a first position and a second position of the puncture needle respectively; a plurality of third sensors (513) with different distances from the outlet (52) are arranged on the inner wall of the puncture channel (5), and the third sensors (513) are tactile sensors for acquiring the third position and the puncture force of the puncture needle; the interactive control system is used for converting the data acquired by the first sensor (511), the second sensor (512) and the third sensor (513) into a value of first position data, a value of second position data, a value of third position data, a difference value between the value of the first position data and each third position data and a force data value, and interactively outputting whether a puncturing position is qualified, whether a puncturing position is qualified or not, and feeding back the puncturing depth and the puncturing force to a trainer.

2. An interactive kidney puncture simulation training model according to claim 1, characterized in that: the second sensor (512) comprises a plurality of angle sensor units (514) with different off-center angles from the kidney cortex inlet (51); each of the angle sensor units (514) can be identified by a different number by the interactive control system (6).

3. An interactive kidney puncture simulation training model according to claim 1, characterized in that: a fourth sensor (441) is arranged near the simulated blood vessel (44) of the puncture channel (5), and the fourth sensor (441) is a touch sensor; the fourth sensor (441) is connected to the interactive control system (6) by means of an electrical signal.

4. An interactive kidney puncture simulation training model according to claim 1, characterized in that: the interactive control system (6) comprises: the system comprises a data processing module, an interactive control module, a data analysis module, a power module and an interactive output module; the interactive control module controls the operation of the data processing module, the data analysis module, the power supply module and the interactive output module through a signal circuit; the data processing module is used for acquiring first position data transmitted by the first sensor (511), second position data transmitted by the second sensor (512), third position data transmitted by the third sensor (513) and force data transmitted by the third sensor, and classifying and sorting the first position data, the second position data and the force data into second data, and transmitting the second data to the data analysis module; the data analysis module is used for analyzing the value of the first position data in the second data, analyzing the value of the second position data, the value of each third position data, calculating the difference value between the value of the first position data and each third position data, analyzing each force data value, and forming third data to be transmitted to the interactive output module; the interactive output module is used for interactively feeding back the third data to a trainer.

5. An interactive kidney puncture simulation training model according to claim 1, characterized in that: the outside of the simulated kidney external tissue (3) is provided with a simulated respiratory air bag (7), a miniature inflating and sucking machine is arranged in the simulated human body shell, and the miniature inflating and sucking machine can inflate the simulated respiratory air bag (7) through an air pipe; the simulated respiratory air bag (7) is provided with an inflation and suction switch (71); the air charging and sucking switch (71) and the miniature air charging and sucking machine are controlled by the interactive control system (6) through electric signals; the interactive control system (6) simulates breathing of a human body by controlling the time of inhalation and inflation.

6. An interactive kidney puncture simulation training model according to any of claims 1-4, characterized in that: further comprises: an ultrasound instrument model (9) and at least one set of ultrasound sensors (8) arranged in the simulated kidney organ (4); -the ultrasound machine model (9) is able to receive the transmission signal of the ultrasound sensor (8); the ultrasound instrument model (9) is capable of outputting ultrasound images with the simulated kidney organ (4) through the interactive control system (6).

7. An interactive kidney puncture simulation training model according to any of claims 1-4, characterized in that: the system also comprises an integrated expert system, wherein the integrated expert system acquires the link of the expert equipment terminal through a network protocol, and further acquires the expert technology guiding information of the expert equipment terminal.

8. An interactive kidney puncture simulation training model according to any of claims 1-4, characterized in that: the system also comprises a calibration and debugging system which is linked with the interactive control system (6) through a circuit signal; the calibration and debugging system comprises a regular cleaning time reminding output module and a regular checking output module.

9. A simulation method of an interactive kidney puncture simulation training model as set forth in claim 2, comprising the steps of:

S1: inputting standard parameters of different sampling positions in the interactive control system (6) to obtain a preset mode corresponding to the standard parameters; the standard parameters include: the first position data standard value, the low-temperature position data standard value, the penetration depth standard value range and the penetration force standard range.

S2: comparing the first position data value with the first position data standard value, if the first position data value is equal to the first position data standard value, obtaining that the puncture position of the trainer is qualified, and if the first position data value is not equal to the first position data standard value, obtaining that the puncture position of the trainer is unqualified;

comparing the second position data value with the second position data standard value, if the second position data value is equal to the second position data standard value, obtaining that the puncture position of the trainer is qualified, and if the second position data value is not equal to the second position data standard value, obtaining that the puncture position of the trainer is unqualified;

calculating the value of each third position data in the third data and the value of the first position data respectively to obtain a depth value corresponding to each third position, and calculating a maximum depth value as an actual penetration depth value of a trainer; comparing and calculating the actual penetration depth value with a penetration depth standard range to obtain a penetration depth deviation value of the actual penetration value and the penetration depth standard range;

each penetration force data value in the third data is averaged to obtain a penetration force data average value, and the penetration force average value is compared with a penetration force standard value to calculate so as to obtain a penetration force deviation value between an actual penetration force value and the penetration force standard value;

s3: and feeding back whether the puncturing position is qualified or not, the puncturing depth value, the puncturing depth deviation value and the puncturing force deviation value to a trainer through an interactive output module.

10. A simulation method of an interactive kidney puncture simulation training model according to claim 9, comprising the steps of:

The standard parameters further include: -an offset angle value of each of said angle sensor units (514) from the center of said renal cortex inlet (51); marking each angle sensor unit (514) as a corresponding mark, so that each mark corresponds to an angle deviation value;

One of the angle sensor units (514) which acquires the penetration signal transmits a penetration confirmation signal to an interactive control system (6), and the interactive control system (6) identifies a first sign of the angle sensor unit which transmits the penetration confirmation signal and extracts a deviation angle value under the first sign; the angle deviation value is interactively output as the penetration angle to be fed back to the trainer.