CN114948207A - Simulation device for dynamic deformation of organ, and evaluation device and method for registration accuracy - Google Patents

Abstract

The invention provides a simulation device for organ dynamic deformation, and an evaluation device and method for registration accuracy, which are used for simulating surgical navigation. The simulation device comprises a support component; the organ model is of a hollow structure and is arranged on the supporting component; the force assembly comprises a driving part, a transmission part and a traction part, wherein the transmission part is connected with the driving part, and the traction part is connected with the transmission part and the organ model; the driving part is used for driving the transmission part to do reciprocating motion so as to apply pulling force or cancel the pulling force to the organ model through the traction part, when the organ model is subjected to the pulling force, the organ model deforms, and when the pulling force is cancelled, the organ model recovers deformation. The simulation device can be applied to the simulation of navigation in operation, so that the accuracy of the registration operation in the navigation information acquisition process is evaluated, and a basis is provided for the optimization and improvement of the registration method.

Description

Device for simulating dynamic deformation of organs, device and method for evaluating registration accuracy

technical field

The invention relates to the technical field of medical devices, in particular to a device for simulating dynamic deformation of an organ, a device and a method for evaluating registration accuracy.

Background technique

With the development of computer technology and medical imaging technology, the application of surgical navigation technology is becoming more and more extensive. Surgical navigation technology registers the 3D model generated based on the static medical image of the surgical object before surgery with the information collected by the sensor in the surgical object during the operation, and establishes the mapping relationship between the intraoperative surgical object coordinate system and the 3D model coordinate system, and then Translate the real-time position of surgical instruments into a 3D model for intraoperative navigation.

In practice, for some organs, such as the bronchus, the shape is deformed with the breathing action. When using the existing surgical navigation technology for navigation, because only static medical images are used to generate a 3D model, the dynamic deformation is not considered, so registration is required. The accuracy is not high, resulting in poor navigation accuracy.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a device for simulating dynamic deformation of an organ, a device and method for evaluating the registration accuracy, and aiming at evaluating the registration accuracy, so as to provide for the optimization of the registration method.

In order to achieve the above object, the present invention provides a simulation device for organ dynamic deformation for simulating surgical navigation, and the simulation device includes:

support components;

an elastic organ model, the organ model is a hollow structure and is arranged on the support assembly;

a power assembly, comprising a driving part, a transmission part and a traction part, the transmission part is connected with the driving part, and the traction part is connected with the transmission part and the organ model;

The driving part is used to drive the transmission part to reciprocate, so as to apply or cancel the pulling force to the organ model through the pulling part. When the organ model is subjected to the pulling force, the organ model is deformed, and When cancelled, the organ model resumes its shape.

Optionally, the transmission part includes a first transmission part, a second transmission part and a third transmission part; the first transmission part is connected with the driving part, the second transmission part and the third transmission part are respectively connected with the first transmission part; the traction part includes a first traction part group and a second traction part group, the first traction part group connects the second transmission part and the organ model, the first traction part group Two traction part groups connect the third transmission element and the organ model;

The driving part is used to drive the first transmission member to reciprocate linear motion in the first direction, and then to drive the second transmission member to reciprocate linear motion in the second direction, and to move to the direction through the second traction part group. The organ model applies or cancels the pulling force, and drives the third transmission member to reciprocate linearly in a third direction, and applies or cancels the pulling force to the organ model through the second pulling part group.

Optionally, the simulation device further includes a guide mechanism, at least partially disposed on the support assembly; the guide mechanism includes a first guide part, a second guide part and a third guide part, the first guide part defining the first direction, the second guide portion defining the second direction, and the third guide portion defining the third direction;

The first transmission member is at least partially disposed on the first guide portion, the second transmission member is at least partially disposed on the second guide portion, and the third transmission member is at least partially disposed on the on the third guide.

Optionally, the second guide portion is rotatably connected to the support assembly; and/or the third guide portion is rotatably connected to the support assembly.

Optionally, the driving part includes a first sub-driving part, and the first sub-driving part is connected with the first transmission member, so as to drive the first transmission member to make a reciprocating straight line along the first direction sports.

Optionally, the transmission part further includes a fourth transmission part, the fourth transmission part is connected with the driving part and can be movably arranged on the support assembly; the traction part further includes a third traction part group, the third traction part group connects the fourth transmission member and the organ model;

The driving part is also used to drive the fourth transmission member to reciprocate linearly in a fourth direction, and apply or cancel a pulling force to the organ model through the third pulling part group.

Optionally, the third guide portion is connected with the fourth transmission member.

Optionally, the driving part further includes a second sub-driving part, and the second sub-driving part is connected with the fourth transmission member, so as to drive the fourth transmission member to reciprocate along the fourth direction Linear motion.

Optionally, the first sub-driving part includes a first rotating wheel, a connecting rod and a second rotating wheel, and the first rotating wheel is used to receive a driving force and rotate under the driving force of the driving force, and the The first rotating wheel is provided with a plurality of engaging holes arranged at intervals in the radial direction, one end of the connecting rod is selectively rotatably connected with one of the engaging holes, and the other end of the connecting rod is rotatably connected with the second connecting rod. The rotating wheel is rotatably connected, and the second rotating wheel is connected with the first transmission member.

Optionally, the first guide portion is rotatably connected to the support assembly.

Optionally, the support assembly includes a fixing portion and an adjusting ring, the adjusting ring is rotatably connected to the fixing portion, and the first guiding portion is provided on the adjusting ring.

Optionally, the first sub-driving part includes a motor, a lead screw and a lead screw nut, the lead screw is connected to the output end of the motor, the lead screw nut is sleeved on the lead screw, and is connected with the lead screw. The lead screw is threaded for screw transmission; the lead screw nut is also connected with the first transmission member.

Optionally, both the motor and the first guide portion are rotatably connected to the support assembly; alternatively, the support assembly includes a fixing portion and an adjusting ring, and the motor is rotatably arranged on the fixing portion The adjusting ring is rotatably connected to the fixing part, and the first guiding part is arranged on the adjusting ring.

Optionally, the second transmission member and the third transmission member are respectively rotatably connected to the first transmission member.

Optionally, the traction part includes a traction rope, the transmission part is provided with a connection through hole, one end of the traction rope passes through the connection through hole to be connected with the transmission part, and the other end is connected with the organ model connection.

Optionally, the traction part includes a traction rope and a threaded connection piece, the transmission part is provided with a threaded through hole, the threaded connection piece is connected with the threaded through hole, and one end of the traction rope is spirally wound and paralleled. is connected to the threaded connector, and the other end is connected to the organ model.

Optionally, the traction part includes a traction rope and an engagement ring, the engagement ring includes a loop and a loop, the loop is arranged on the organ model, and the number of the loops is multiple. The loops are circumferentially spaced on the loop, and the traction cord selectively passes through at least one of the loops.

In addition, in order to achieve the above object, the present invention also provides an evaluation device for registration accuracy, including a medical catheter, a processing unit, and the aforementioned device for simulating dynamic deformation of an organ; wherein,

the medical catheter is configured to be partially disposed in the organ model and capable of moving in the organ model;

The processing unit establishes a three-dimensional model of the organ model and a three-dimensional model of the medical conduit, and registers the three-dimensional model of the organ model with a predetermined object, and registers the three-dimensional model of the medical conduit with the medical conduit , and also evaluate the registration accuracy of the three-dimensional model of the organ model and the predetermined object according to predetermined criteria, and evaluate the registration accuracy of the three-dimensional model of the medical catheter and the catheter.

In addition, in order to achieve the above object, the present invention also provides a method for evaluating the registration accuracy, based on the aforementioned simulation device for organ dynamic deformation, the evaluation method includes the following steps:

Step S1: partially placing the medical catheter in the organ model;

Step S2: controlling the medical catheter to move, and also controlling the driving part to drive the transmission part to reciprocate;

Step S3: establishing a three-dimensional model of the organ model and a three-dimensional model of the medical catheter;

Step S4: registering the three-dimensional model of the organ model with the predetermined object, and registering the three-dimensional model of the medical conduit with the medical conduit; and,

Step S5: Evaluate the registration accuracy of the three-dimensional model of the organ model and the predetermined object according to predetermined criteria, and evaluate the registration accuracy of the three-dimensional model of the catheter and the catheter.

In addition, in order to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium on which a program is stored. When the program is executed, at least one of the methods for evaluating the registration accuracy described above is executed. of steps S3 to S5.

Compared with the prior art, the device for simulating the dynamic deformation of organs, the device and method for evaluating the registration accuracy of the present invention have the following advantages:

The aforementioned simulation device for organ dynamic deformation is used to simulate surgical navigation, the simulation device includes a support component, an organ model and a power component, the organ model is arranged on the support component, and the organ model is elastic and hollow structure; the driving assembly includes a driving part, a transmission part and a traction part, the transmission part is connected with the driving part, and the traction part is connected with the transmission part and the organ model; the driving part is used to drive the The transmission part performs a reciprocating motion to apply a pulling force or cancel the pulling force to the organ model through the pulling part, when the organ model is subjected to the pulling force, the organ model is deformed, and when the pulling force is canceled, the organ model recovers deformation. The organ model refers to a model of an organ deformed by a respiratory action, such as a bronchial model. In the organ dynamic deformation simulation device provided by the present invention, the driving part drives the transmission part to simulate the breathing action, and then the traction part pulls the organ model or relaxes the organ model, so that the organ model occurs accordingly Deformation or recovery of deformation, to simulate the process of dynamic deformation of organs with breathing action. With this configuration, the device for simulating the dynamic deformation of the organ can be used to simulate the navigation process during surgery, so as to evaluate the registration accuracy, thereby providing a basis for the optimization of the registration method.

Description of drawings

The accompanying drawings are used for better understanding of the present invention and do not constitute an improper limitation of the present invention. in:

Fig. 1 is the scene schematic diagram of the bronchoscopy surgical robot used in the prior art to perform surgery;

2 is a schematic diagram of a framework of a device for simulating dynamic deformation of organs provided by the present invention according to an embodiment;

3 is a schematic diagram of a breathing motion model when a surgical object lies flat on a surgical platform according to Embodiment 1 of the present invention;

4 is a schematic diagram of the overall structure of a simulation device for organ dynamic deformation according to Embodiment 1 of the present invention;

5 is a schematic diagram of a partial structure of a simulation device for organ dynamic deformation according to Embodiment 1 of the present invention;

6 is a schematic structural diagram of a second transmission member of the device for simulating dynamic deformation of organs provided by the first embodiment of the present invention;

7 is a schematic diagram of the connection between the traction rope and the second transmission member of the organ dynamic deformation simulation device according to the first embodiment of the present invention;

FIG. 8 is a schematic partial structure diagram of a device for simulating dynamic deformation of an organ according to Embodiment 1 of the present invention;

9 is a schematic diagram of the connection between the traction rope and the second transmission member of the organ dynamic deformation simulation device according to the first embodiment of the present invention;

10 is a schematic structural diagram of an engagement ring provided by the device for simulating the dynamic deformation of an organ provided by the first embodiment of the present invention;

11 is a schematic diagram of the connection between the traction rope and the organ model of the organ dynamic deformation simulation device provided according to the first embodiment of the present invention, the difference between a) and b) in the illustration is that the second transmission member in b) The range of movement in the positive direction of the second direction is larger and the range of movement of the third transmission member in the positive direction of the third direction is larger;

12 is a schematic structural diagram of the first sub-drive part of the simulation device for organ dynamic deformation according to the first embodiment of the present invention, and the first sub-drive part includes a connecting rod;

13 is a schematic structural diagram of the first rotating wheel of the first sub-drive part of the organ dynamic deformation simulation device according to the first embodiment of the present invention;

Fig. 14 shows the positive direction of the first transmission member along the first direction when the first rotating wheel of the first sub-driving part of the dynamic deformation of the organ provided by the first embodiment of the present invention rotates clockwise under the action of the driving force Schematic diagram of exercise;

15 is a schematic structural diagram of a device for simulating dynamic deformation of an organ according to Embodiment 1 of the present invention, and the figure shows the manner in which the first rotating wheel receives a driving force, and the driving force is provided manually;

FIG. 16 is a schematic diagram of the partial structure of the simulation device for organ dynamic deformation shown in FIG. 15;

17 is a schematic structural diagram of the first sub-drive part of the simulation device for organ dynamic deformation according to the first embodiment of the present invention, and the first sub-drive part includes two connecting rods;

18 is a schematic structural diagram of the first sub-drive part and the first transmission member of the simulation device for organ dynamic deformation according to the first embodiment of the present invention. two;

Fig. 19 shows the manner in which the first rotating wheel of the organ dynamic deformation simulation device shown in Fig. 18 receives the driving force, and the figure shows that the two first rotating wheels receive the driving force through the same belt and the driving pulley;

Fig. 20 shows the manner in which the first rotating wheel of the organ dynamic deformation simulation device shown in Fig. 18 receives the driving force, and the figure shows that the two first rotating wheels receive the driving force through a belt and a driving pulley respectively;

Figure 21 is a schematic diagram of the connection relationship between the first guide part for organ dynamic deformation provided by the first embodiment of the present invention and the support assembly, the first guide part shown in a), b) and c) in the figure is relative to the support assembly The angle of rotation is different;

22 is a schematic structural diagram of the apparatus for simulating the dynamic deformation of organs provided by the second embodiment and the third embodiment of the present invention;

23 is a schematic diagram of the connection relationship between the first guide part of the organ dynamic deformation simulation device provided by the second and third embodiments of the present invention and the adjusting ring of the support assembly, the first guide part shown in a) and b) in the figure The setting angles of the guide portion relative to the fixed portion of the support assembly are different;

24 is a schematic structural diagram of the first sub-drive part of the simulation device for organ dynamic deformation according to the third embodiment of the present invention;

FIG. 25 is a schematic diagram of the breathing motion of the surgical subject lying on the operating platform according to the fourth embodiment of the present invention;

FIG. 26 is a schematic diagram of the overall structure of the device for simulating the dynamic deformation of an organ provided by the fourth embodiment of the present invention;

FIG. 27 is a schematic diagram of a partial structure of a device for simulating dynamic deformation of an organ according to Embodiment 4 of the present invention.

[reference numerals are explained below]:

10- surgical operating device, 11- robotic arm, 20- bronchoscope, 30- surgical object;

1000-support assembly, 1100-first support, 1200-second support, 1300-third support, 1400-rotation shaft, 1500-fourth support, 1600-fifth support, 1700-sixth support , 1800-adjustment ring, 2000-organ model, 3000-power assembly, 3100-drive part, 3110-first sub-drive part, 3111-first turning wheel, 3112-connecting rod, 3113-second turning wheel, 3114- Engagement hole, 3115-motor, 3116-screw, 3117-screw nut, 3121-drive pulley, 3122-belt, 3123-rocker, 3124-drive shaft, 3125-driven pulley, 3226-engagement rod, 3200-drive part, 3210-first transmission part, 3220-second transmission part, 3230-third transmission part, 3240-fourth transmission part, 3250-fifth transmission part, 3201-connection through hole, 3202-plate body, 3203- Threaded through hole, 3300-traction part, 3310-traction rope, 3320-threaded connector, 3330-joint ring, 3331-ring sleeve, 3332-ring buckle, 4000-guide mechanism, 4100-first guide part, 4200-th Two guide parts, 4300 - the third guide part, 4400 - the fourth guide part.

Detailed ways

The embodiments of the present invention are described below through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the drawings provided in this embodiment are only to illustrate the basic concept of the present invention in a schematic way, so the drawings only show the components related to the present invention rather than the number, shape and the number of components in actual implementation. For dimension drawing, the type, quantity and proportion of each component can be changed at will in actual implementation, and the component layout may also be more complicated.

In addition, each embodiment of the following description has one or more technical features, but this does not mean that the person using the present invention must implement all the technical features in the first embodiment at the same time, or can only implement the different embodiments separately. One or all of the technical features of the . In other words, under the premise that the implementation is possible, those skilled in the art can selectively implement some or all of the technical features in any embodiment 1 according to the disclosure of the present invention and depending on design specifications or implementation requirements, or The combination of some or all of the technical features in the multiple embodiments is selectively implemented, thereby increasing the flexibility of the implementation of the present invention.

As used in this specification, the singular forms "a," "an," and "the" include plural referents, and the plural forms "a plurality" include two or more referents unless the content clearly dictates otherwise. As used in this specification, the term "or" is generally employed in its sense including "and/or" unless the content clearly dictates otherwise, and the terms "installed", "connected", "connected" shall be To be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication between two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In order to make the objects, advantages and features of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It should be noted that, the accompanying drawings are all in a very simplified form and in inaccurate scales, and are only used to facilitate and clearly assist the purpose of explaining the embodiments of the present invention. The same or similar reference numbers in the drawings represent the same or similar parts.

Figure 1 is a schematic diagram of the scene of the bronchoscopy surgery robot system performing surgery. The bronchoscope surgical robot system includes a control device, a surgical operation device 10 and a bronchoscope (not shown in the figure). The surgical operation device 10 includes a robotic arm 11, the distal end of the robotic arm 11 is equipped with the bronchoscope 20, and the bronchoscope 20 includes a catheter body and a position acquisition unit disposed at the end of the catheter body, so The position acquisition unit is used to acquire dynamic positioning data of the distal end of the catheter body in real time. The control device is connected in communication with the surgical operation device 10 and the position acquisition unit, so as to navigate the movement of the robotic arm 11 according to the dynamic positioning data of the distal end of the catheter body, thereby driving the bronchus The scope is moved so that the distal end of the bronchoscope extends into the bronchus of the subject 30 and reaches a predetermined position, thereby performing a bronchoscope operation.

Those skilled in the art know that the control device registers the three-dimensional model of the surgical object (eg, the bronchus) generated based on the static medical image of the surgical object with the predetermined object (eg, the bronchus or the lung), and the bronchoscope The three-dimensional model of 20 is registered with the bronchoscope 20 to establish a mapping relationship between the coordinate system of the surgical object during the operation and the coordinate system of the three-dimensional model, and then the dynamic positioning of the end of the catheter body collected by the position acquisition unit during the operation is performed. The data is converted into a 3D model for intraoperative navigation. That is to say, the accuracy of the registration operation has a very important influence on the accuracy of the navigation.

The purpose of the embodiments of the present invention is to provide a simulation device for organ dynamic deformation, by which the dynamic deformation of the organ to be navigated during the operation can be simulated, and then the intraoperative navigation process can be simulated to evaluate the accuracy of the surgical navigation. to evaluate the accuracy of the registration operation during navigation.

FIG. 2 shows a schematic diagram of the overall framework of a device for simulating dynamic deformation of an organ provided by an embodiment of the present invention. As shown in FIG. 2 , the simulation device includes a support assembly 1000 , an organ model 2000 , and a power assembly 3000 . The organ model 2000 is disposed on the support assembly 1000, and the organ model 2000 has elasticity and is a hollow structure. The power assembly 3000 includes a driving part 3100 , a transmission part 3200 and a traction part 3300 . The transmission part 3200 is connected with the driving part 3100 , and the traction part 3300 is connected with the transmission part 3200 and the organ model 2000 . The driving part 3100 is used to drive the transmission part 3200 to reciprocate, so that the pulling part 3300 applies a pulling force to the organ model 2000 or cancels the pulling force during the reciprocating movement of the transmission part 3200 . When the organ model 2000 is subjected to tension, the organ model 2000 is deformed, and when the tension is canceled, the organ model 2000 restores the deformation.

In the embodiment of the present invention, the organ model 2000 is, for example, a bronchial model. Therefore, the driving part 3100 can drive the transmission part 3200 to reciprocate to simulate the breathing movement of the surgical subject, and the organ model 2000 can be deformed or restored to simulate the dynamic deformation of the bronchus under the action of the breathing movement. . In other words, the organ dynamic deformation simulation device can be used for navigation simulation in bronchoscopy surgery to evaluate the accuracy of the registration operation. According to the evaluation results, those skilled in the art can optimize and improve the registration method, or select the registration method with the highest accuracy from multiple registration methods and apply it to the actual operation.

Those skilled in the art can understand that when the simulation device is used to perform navigation simulation in bronchoscopy, its operation can be exactly the same as the actual bronchoscopy. Specifically, a predetermined position is set in the organ model 2000, and then the distal end of the catheter body of the bronchoscope is placed in the organ model 2000, and then the movement of the bronchoscope is controlled according to intraoperative navigation, so that the distal end of the catheter body reaches the predetermined position. After the end of the navigation, the accuracy of the registration operation during the navigation can be evaluated according to predetermined criteria.

Next, the optional structure of the simulation device will be described in further detail with reference to specific embodiments.

<Example 1>

Fig. 3 shows a schematic diagram of a breathing motion model when the surgical object is lying flat on the surgical platform. As shown in FIG. 3 , in the breathing motion model, during the inhalation process of the surgical subject, the prothorax of the lung 31 expands in the direction of the back and prothorax (as shown by arrow S1 ), and the lower part of the lung 31 is close to The part of the abdomen expands in the direction from head to toe (as shown by arrow S2), and the part of the lower part of the lung 31 close to the back remains basically unchanged, so that the outline of the lung 31 of the operation subject is switched from the state shown by the solid line to the dashed line status shown. When the surgical subject exhales, the prothoracic part of the lung 31 contracts in the direction from the prothorax to the back (as shown by arrow S3 ), and the part of the lower part of the lung 31 close to the abdomen follows the direction from the foot to the head (as shown by arrow S4 ). shown) contraction, the lower part of the lung 31 close to the back is basically kept unchanged, so that the outline of the lung 31 of the operation subject is switched to the state shown by the solid line. The movement law of the bronchi 32 is the same as the movement law of the lungs 31 .

This embodiment provides a device for simulating the dynamic deformation of an organ for the breathing motion model shown in FIG. 3 . Referring to FIGS. 4 and 5 , the transmission portion 3200 includes a first transmission member 3210 , a second transmission member 3220 and a third transmission member 3230 . The first transmission member 3210 is connected to the driving part (not marked in FIG. 4 and not shown in FIG. 5 ), and the second transmission member 3220 and the third transmission member 3230 are respectively connected to the first transmission member 3220 and the third transmission member 3230 . A transmission member 3210 is connected. The pulling part 3300 includes a first pulling part group and a second pulling part group, the first pulling part group is connected with the second transmission member 3220 and the organ model 2000, and the second pulling part group is connected with the The third transmission member 3230 and the organ model. The driving part is used to drive the first transmission member 3210 to reciprocate linearly in a first direction (as shown by A in the figure), and then drive the second transmission member 3220 to move in a second direction (as shown in B in the figure). shown) make a reciprocating linear motion to apply or cancel the pulling force to the organ model 2000 through the first traction part group, and drive the third transmission member 3230 to make a reciprocating linear motion along the third direction (as shown in C in the figure) Movement to apply or cancel tension to the organ model 2000 through the second set of traction parts. In this embodiment, at least a part of the structure of the driving part is used to drive the first transmission member 3210 to move, and this part of the structure is called the first sub-driving part 3110 .

Specifically, when the first sub-driving part 3110 drives the first transmission member 3210 to move in the positive direction of the first direction (as shown by A1 in the figure), the second transmission member 3220 moves along the The positive direction of the second direction (shown as B1 in the figure) moves so that the first traction part group applies a pulling force to the organ model 2000, and at the same time, the third transmission member 3230 moves along the third direction. Moving in the positive direction (as shown by C1 in the figure) causes the second traction part group to apply a pulling force to the organ model 2000, so that the organ model 2000 moves along the positive direction of the second direction and the third direction at the same time. The positive direction of the direction of the expansion deformation. Then, the first sub-driving part 3110 drives the first transmission member 3210 to move in the negative direction of the first direction (as shown by A2 in the figure), so that the second transmission member 3220 moves along the second transmission member 3220. The negative direction (shown as B2 in the figure) moves in the negative direction, so that the pulling force exerted by the first traction part group on the organ model 2000 gradually decreases until it disappears, and the third transmission member 3230 moves along the The negative direction of the third direction (shown as C2 in the figure) moves so that the pulling force exerted by the second traction part group on the organ model 2000 is gradually reduced to zero, at which time the organ model 2000 contracts and recovers Deformation (ie, the organ model 2000 returns to its natural state without tension). In this way, the dynamic deformation of the bronchus 32 of the surgical subject can be simulated. It should be understood that the specific orientations of the first direction, the second direction and the third direction can be set as required, as long as the second transmission member 3220 moves in the positive direction of the second direction, and When the third transmission member 3230 moves in the positive direction of the third direction, the expansion direction of the bronchial model (ie the organ model 2000 ) matches the overall expansion direction of the lung 31 shown in FIG. 3 . That's it. In this embodiment, the first direction, the second direction and the third direction may all be located on the XZ plane shown in FIG. 4 and FIG. 5 , and the first direction, the second direction There is a non-zero included angle between any two of the direction and the third direction, that is, the first direction, the second direction and the third direction are different.

Please continue to refer to FIG. 5 , the traction part 3300 includes a plurality of traction ropes 3310 , and one end of each traction rope 3310 is connected to the transmission part 3200 , specifically to the second transmission member 3220 or the third transmission member 3220 The transmission member 3230 is connected, and the other end is connected with the organ model 2000 .

The traction rope 3310 and the transmission part 3200 may be connected in any suitable manner. In an optional manner, the transmission part 3200 is provided with a connecting through hole 3201 (marked in FIG. 6 ). Specifically, as shown in FIG. 6 , the second transmission part 3220 and the third transmission part 3220 and the third Each of the transmission members 3230 includes a plate body 3202, the plate body 3202 is provided with the connection through hole 3201, and one end of the traction rope 3310 passes through the connection through hole 3201 and then is knotted (as shown in FIG. 7). or any other suitable way to connect with the plate body 3202 . In another optional manner, as shown in FIG. 8 and FIG. 9 , the second transmission member 3220 and the third transmission member 3230 both include a plate body 3202, and the plate body 3202 is provided with a screw thread through hole 3203. The pulling part 3300 further includes a threaded connection piece 3320 , and the threaded connection piece 3320 passes through one of the threaded through holes 3303 and is threadedly connected with the threaded through hole 3303 . One end of the traction rope 3310 is spirally wound and connected to the threaded connector 3320 . That is, the traction rope 3310 is connected with the transmission part 3200 through the screw connection 3320 .

The other end of the traction rope 3310 can be connected to the organ model 2000 in any suitable manner. Referring to FIGS. 10 and 11 , in an optional manner, the traction part 3300 further includes an engaging ring 3330 , and the engaging ring 3330 includes a ring sleeve 3331 and a ring buckle 3332 , and the number of the ring buckles 3332 is A plurality of the ring buckles 3332 are arranged on the ring sleeve 3331 at intervals along the circumferential direction. The loop 3331 is set on the organ model 2000, and the other end of the traction rope 3310 is selectively passed through at least one of the loops 3332, and is connected with the loops 3332 by knotting or other means. connect.

It should be noted that, in this embodiment, the organ model 2000 includes a plurality of branches, and each of the branches is covered with the loop 3331, and is connected to the second through at least one of the traction ropes 3310. The transmission member 3220 and/or the third transmission member 3230 are connected. That is to say, the first traction part group includes a plurality of the traction ropes 3310, and the plurality of the traction ropes 3310 in the first traction part group are used to connect the second transmission member 3220 and the Organ model 2000, and the second traction part group includes a plurality of the traction ropes 3310, and the plurality of the traction ropes 3310 in the second traction part group are used to connect the third transmission member 3230 and the Organ Model 2000.

Further, please refer back to FIG. 4 , the simulation device further includes a guide mechanism 4000 , the guide mechanism 4000 is at least partially disposed on the support assembly 1000 and includes a first guide portion 4100 , a second guide portion 4200 and The third guide portion 4300 . The first guide portion 4100 defines the first direction, the second guide portion 4200 defines the second direction, and the third guide portion 4300 defines the third direction. The first transmission member 3210 is at least partially disposed on the first guide portion 4100 , so that the first transmission member 3210 reciprocates along the first direction under the guidance of the first guide portion 4100 sports. The second transmission member 3220 is at least partially disposed on the second guide portion 4200 , so that the second transmission member 3220 reciprocates in a straight line along the second direction under the guidance of the second guide portion 4200 sports. The third transmission member 3230 is at least partially disposed on the third guide portion 4300 , so that the third transmission member 3230 reciprocates in a straight line along the third direction under the guidance of the third guide portion 4300 sports.

Optionally, the first transmission member 3210 may be a rod-shaped structure, and the first guide portion 4100 may be a guide sleeve through which the first transmission member 3210 passes. The first transmission member 3210 may also be a plate-like structure, in which case the first guide portion 3100 may include a fixed plate and a guide rail or a guide groove (not shown in the figure) provided on the fixed plate. The plate-like structure is slidably connected with the guide rail or the guide groove. The second guide portion 4200 may include a fixing plate and a guide rail or guide groove provided on the fixing plate. The third guide portion 4300 may include a fixing plate and a guide rail or guide groove provided on the fixing plate.

Please continue to refer to FIG. 4 , the support assembly 1000 includes a first support member 1100 , a second support member 1200 and a third support member 1300 , the second support member 1200 and the third support member 1300 are arranged in parallel and opposite to each other , the first support member 1100 is vertically connected to the second support member 1200 and the third support member 1300 . In actual use, the first support 1100 is arranged in a horizontal direction, and both the second support 1200 and the third support 1300 are arranged vertically.

The second guide portion 4200 is connected to the second support member 1200 , and preferably the second guide portion 4200 and the second support member 1200 are rotatably connected, for example, the two are rotatably connected through a rotating shaft 1400 . The advantage of this arrangement is that the specific orientation of the second direction can be adjusted by rotating the second guide portion 4200 and the second support member 1200 relative to each other according to the actual situation of the surgical object. Correspondingly, preferably, the second transmission member 3220 and the first transmission member 3210 are rotatably connected.

The third guide portion 4300 is connected to the third support member 1300 . Similar to the connection method between the second transmission part 4200 and the second support member 1200 , preferably, the third guide part 4300 and the third support member 1300 are rotatably connected through another rotating shaft 1400 . And further preferably, the third transmission member 3230 is rotatably connected with the first transmission member 3210 .

Referring back to FIG. 4 , the support assembly 1000 further includes a fourth support member 1500 , a fifth support member 1600 and a sixth support member 1700 . The fourth support member 1500 is disposed parallel to the first support member 1100 , and two It can be an integrated structure or a split structure. The fifth support 1600 is vertically connected to the fourth support 1500 and is located on a side of the third support 1300 away from the second support 1200 . The sixth support 1700 is vertically connected to the fourth support 1500 and is located on a side of the fifth support 1600 away from the third support 1300 . The first guide portion 4100 is disposed on the fifth support member 1600 . The first sub-driving part 3110 is connected to the sixth supporting member 1700 .

Please continue to refer to FIG. 4 , and in conjunction with FIGS. 12 and 13 , the first sub-driving part 3110 includes a first rotating wheel 3111 , a connecting rod 3112 and a second rotating wheel 3113 . The first rotating wheel 3111 is rotatably disposed on the sixth support rod 1700, and is used for receiving a driving force and rotating under the driving force of the driving force. One end of the connecting rod 3112 is rotatably connected to the first rotating wheel 3111 , and the other end is rotatably connected to the second rotating wheel 3113 . The second rotating wheel 3113 is connected with the first transmission member 3210 . As shown in FIG. 14, through the rotation of the first rotating wheel 3111, the end of the connecting rod 3112 connected to the first rotating wheel 3111 can be driven to rotate around the central axis of the first rotating wheel 3111, thereby driving The first transmission member 3210 reciprocates linearly along the first direction. Taking the orientation shown in FIG. 14 as an example, when the first rotating wheel 3111 rotates in the clockwise direction, the end of the connecting rod 3112 connected to the first rotating wheel 3111 goes around the first rotating wheel 3111 The central axis rotates in the clockwise direction, thereby driving the first transmission member 3210 to move in the positive direction of the first direction, and then driving the first rotating wheel 3111 to rotate in the counterclockwise direction. The connected end of the first rotating wheel 3111 rotates counterclockwise around the central axis of the first rotating wheel 3111 , thereby driving the first transmission member 3210 to move in the negative direction of the first direction.

Further preferably, the first rotating wheel 3111 is provided with a plurality of engaging holes 3114 spaced apart in the radial direction, and one end of the connecting rod 3112 is selectively connected with one of the engaging holes 3114 . The connecting rod 3112 is connected with the different engaging holes 3114, so that the movement distance of the first transmission member 3210 can be adjusted in the reciprocating linear motion along the first direction, and then the second transmission member can be adjusted. The movement distance of the 3220 in the reciprocating linear motion along the second direction, and the movement distance of the third transmission member 3230 in the reciprocating linear motion along the third direction, so as to adjust the deformation amplitude of the organ model 2000 . Specifically, the greater the distance from the engagement hole 3114 connected to the connecting rod 3112 to the central axis of the first rotating wheel 3111, the reciprocating linear motion of the first transmission member 3210 in the first direction. The larger the movement distance is, the greater the movement distance of the second transmission member 3220 in the reciprocating linear motion along the second direction and the movement distance of the third transmission member 3230 in the reciprocating linear movement in the third direction. The larger it is, the larger the deformation amplitude of the organ model 2000 is correspondingly.

It can be understood that, in an implementation manner, as shown in FIG. 12 , FIG. 15 and FIG. 16 , the number of the first rotating wheel 3111 , the connecting rod 3112 and the second rotating wheel 3113 may be one. Alternatively, as shown in FIG. 17 , the number of the first rotating wheel 3111 and the second rotating wheel 3112 may be one, but the number of the connecting rods 3112 is two, and the two connecting rods 3112 are symmetrical ground layout. In these implementations, the first rotating wheel pass 3111 receives the driving force through a pulley assembly. The pulley assembly includes a driving pulley 3121 and a belt 3122 , and the driving pulley 3121 is connected with the first rotating pulley 3111 through the belt 3121 . A rocker 3123 can be provided on the driving wheel 3121, and the user applies a driving force to the driving wheel 3121 to the rocker 3123, so that the driving wheel 3121 rotates and the driving force is transmitted to the driving force through the belt 3122. The first rotating wheel 3111 is described. Of course, the driving wheel can also be sleeved on the output shaft of a driving motor, that is, a driving force is generated by the driving motor (not shown in the figure). It should be understood that, here, the number of the first transmission member 3210 is also one, and the second transmission member 3220 and the third transmission member 3230 are simultaneously connected to one of the first transmission members 3210 .

In another implementation manner, as shown in FIG. 18 , the number of the first sub-driving parts 3110 is two. The two first sub-driving parts 3110 are arranged in parallel, and the first rotating wheels 3111 of the two first sub-driving parts 3110 are connected, and the second rotation of the two first sub-driving parts 3110 wheel 3113 is connected, and in the two first sub-driving parts 3110, the connection position of the connecting rod 3112 and the first rotating wheel 3111 is the same, for example, both are connected with the axis closest to the first rotating wheel 3111 The engaging holes 3114 are connected so that the two sub-driving parts 3110 can move synchronously. The number of the first transmission members 3210 is also two, and the two first transmission members 3210 are respectively connected with the second rotating wheels 3113 of the two first sub-driving parts 3110 .

Referring to FIG. 19 , the two first sub-driving parts 3110 can be controlled by the same pulley assembly to realize synchronous action. Specifically, the first rotating wheels 3111 of the two first sub-driving parts 3110 are connected by a transmission shaft 3124 , and the two first rotating wheels 3111 rotate synchronously with the transmission shaft 3114 . The pulley assembly includes not only the driving pulley 3121 and the belt 3122, but also a driven pulley 3125. The driven pulley 3125 is fixedly sleeved on the transmission shaft 3124. The driving pulley 3121 communicates with the The driven wheel 3125 is connected.

Alternatively, referring to FIG. 20 , the two first sub-driving parts 3110 are moved by receiving the driving force through the two pulley assemblies. Here, the pulley assembly includes the driving pulley 3121 and the belt 3122 , each of the driving pulley 3121 is connected with one of the first rotating pulleys 3111 through the belt 3122 . Preferably, the two driving wheels are sleeved on the output shaft of the same driving motor (not shown in the figure), so as to control the synchronous rotation of the two driving wheels more conveniently, so as to make the two driving wheels rotate synchronously. The first sub-driving units operate synchronously.

Further, please refer back to FIG. 4 and in conjunction with FIG. 21 , preferably, the first guide portion 4100 is rotatably connected to the fourth support member 1500 . The advantage of doing so is that the specific orientation of the first direction can also be adjusted through the relative rotation of the first guide portion 4100 and the fourth support member 1500, so that when the first transmission member 3210 moves along the When reciprocating in the first direction, adjust the movement distance of the second transmission member 3220 when reciprocating in the second direction, and adjust the movement distance of the third transmission member 3230 when reciprocating in the third direction. The movement distance can achieve the purpose of adjusting the deformation amplitude of the organ model 2000 .

The technical solution provided in this embodiment can simulate the deformation of the organ with the breathing movement, and can also adjust the direction and magnitude of the deformation of the organ model 2000 according to actual needs, so as to make it more suitable for the actual situation of the surgical object.

<Example 2>

The difference between this embodiment and the first embodiment is that the connection manner between the first guide portion 4100 and the support assembly 1000 is different. Please refer to FIG. 22 and FIG. 23 , the support assembly 1000 includes a fixing portion and an adjusting ring 1800 . The fixing part at least includes the first support 1100 , the second support 1200 , the third support 1300 , the rotating shaft 1400 , the fourth support 1500 , and the sixth support 1700 . The adjusting ring 1800 may be rotatably connected to any structure of the fixing portion. The first guide portion 4100 is disposed on the adjusting ring 1800 and rotates synchronously with the adjusting ring 1800 to achieve the purpose of adjusting the specific orientation of the first direction.

In this embodiment, the first rotating wheel 3111 can be rotatably connected to the sixth support rod 1700 through an engaging rod 3226 , and the first rotating wheel 3111 can be rotatably connected to the engaging rod 3226 .

<Example 3>

The difference between this embodiment and the first embodiment is that the structure of the first sub-driving part 3110 is different. Referring to FIG. 24 , in this embodiment, the first sub-driving part 3110 includes a motor 3115 , a screw 3116 and a screw nut 3117 . The motor 3115 may be disposed on the sixth supporter 1700 . The lead screw 3116 is connected to the output shaft of the motor 3115 , and the lead screw nut 3117 is sleeved on the lead screw 3116 and threadedly matched with the lead screw 3116 for screw transmission. The first transmission member 3210 is connected with the screw nut 3117 . It should be understood that, in this embodiment, the lead screw 3116 extends along the first direction, and the variation law of the driving force output by the motor 3115 conforms to a sine wave.

Further, the first guide portion 4100 is rotatably connected to the third support member 1300 , while the motor 3115 is connected to the sixth support member 1700 . Alternatively, as shown in FIG. 22 and FIG. 23 , when the support assembly includes the fixing portion and the adjusting ring 1800 , the first guide portion 4100 may be disposed on the adjusting ring 1800 , while the motor 3115 is rotatably connected to the sixth support 1700 .

<Example 4>

FIG. 25 shows a schematic diagram of another breathing motion model when the surgical object is lying on the surgical platform. As shown in FIG. 25 , in this breathing motion model, during the inhalation process of the surgical subject 30 , the prothoracic portion of the lung 31 expands in the direction of the back and prothorax (as indicated by arrow S1 ), and the lung 31 The lower part near the abdomen and the lower part of the lungs near the back are expanded in the head-to-feet direction (as shown by arrow S3 ), so that the outline of the lung 31 of the operation subject is switched from the state shown by the solid line to the state shown by the dotted line state. When the surgical subject exhales, the prothorax of the lung 31 contracts in the direction from the prothorax to the back (as shown by arrow S3), the lower part of the lung 31 close to the abdomen and the lower part of the lung 31 close to the back The feet are contracted in the direction of the head (as shown by arrow S4 ), so that the outline of the lung 31 of the surgical subject 30 is switched from the state shown by the dotted line to the state shown by the solid line. The movement law of the bronchi 32 is the same as the movement law of the lungs 31 .

This embodiment provides an apparatus for simulating the dynamic deformation of organs for the respiratory motion model shown in FIG. 25 , which is improved on the basis of the first embodiment.

As shown in FIG. 26 and FIG. 27 , the difference between this embodiment and the first embodiment is that the transmission part 3200 further includes a fourth transmission part 3240 , and the fourth transmission part 3240 is connected to the driving part 3100 . and can be movably arranged on the support assembly 1000 , specifically, arranged on the first support member 1100 . The pulling part 3300 further includes a third pulling part group, and the third pulling part group connects the fourth transmission member 3240 and the organ model 2000 . The driving part 3100 is also used to drive the fourth transmission member 3240 to reciprocate linearly in a fourth direction (as shown in D in the figure), and apply a pulling force to the organ model 2000 through the third pulling part group or cancel the pull. Specifically, when the fourth transmission member 3240 moves in the positive direction of the fourth direction (as shown in D1 in the figure), the third pulling part group applies a pulling force to the organ model 2000, and when the first pulling force is applied to the organ model 2000 When the fourth transmission member 3240 moves in the negative direction of the fourth direction (as shown by D2 in the figure), the pulling force exerted by the third pulling part group on the organ model 2000 gradually decreases. In practice, the fourth direction may be the extension direction of the X axis shown in FIGS. 25 and 26 .

Optionally, the transmission part 3200 further includes a fifth transmission part 3250, and the fifth transmission part 3250 connects the fourth transmission part 3240 and the driving part 3100 (that is, the fourth transmission part 3240 passes through the The fifth transmission member 3250 is indirectly connected with the driving part 3100). The guide mechanism 4000 further preferably includes a fourth guide portion 4400, the fourth guide portion 4400 defines the fourth direction, and the fifth transmission member 3250 is at least partially disposed on the fourth guide portion 3240, In this way, the fifth transmission member 3250 is driven by the driving part 3100 to reciprocate linearly in the fourth direction, thereby driving the fourth transmission member 3240 to reciprocate linearly in the fourth direction. Alternatively, the fourth guide portion is disposed on the first support member, and the fourth transmission member is at least partially disposed on the fourth guide portion (not shown in the figure).

In addition, in this embodiment, the support assembly 1000 may not include a third support member, but the third guide portion 4300 is connected with the fourth transmission member 4240 . And, the driving part 3100 includes the first sub-driving part 3110 and the second sub-driving part 3130, and the first sub-driving part 3110 is used to drive the first transmission member 3210 to reciprocate along the first direction Linear motion, the second sub-driving part 3130 is used to drive the fourth transmission member 3240 to reciprocate. The structure of the second sub-driving part 3130 can be the same or different from that of the first sub-driving part 3110, as long as it can drive the fourth transmission member by driving the fifth transmission member 3250 to reciprocate The 3240 can perform a reciprocating linear motion along the fourth direction.

In addition, the third traction part group also includes a plurality of the traction ropes 3310 , and the connection method of the traction ropes 3310 with the organ model 2000 and the fourth transmission member 3240 can be referred to as described in the first embodiment.

In the actual work of the simulation device for organ dynamic deformation provided in this embodiment, when the first sub-driving part 3110 drives the second transmission member 3220 in the second direction through the first transmission member 3210 At the same time when the third transmission member 3230 moves in the positive direction and the third transmission member 3230 moves in the positive direction of the third direction, the second sub-driving part 3120 also drives the fourth transmission member 3240 through the fifth transmission member 3250 along the The positive direction movement in the fourth direction causes the organ model 2000 to expand and deform. When the first sub-driving part 3110 drives the second transmission part 3220 to move in the negative direction of the second direction through the first transmission part 3210 and the third transmission part 3230 moves in the third direction While moving in the negative direction of the fourth direction, the second sub-driving part 3120 also drives the fourth transmission member 3240 to move in the negative direction of the fourth direction through the fifth transmission member 3250, so that the organ model 2000 gradually shrinks to restore the deformation.

<Example 5>

This embodiment provides an evaluation device for registration accuracy, which includes a medical catheter, a processing unit, and the aforementioned device for simulating dynamic deformation of an organ. Wherein, the medical catheter is used to be partially arranged in the organ model and can move in the organ model. The processing unit establishes a three-dimensional model of the organ model and a three-dimensional model of the medical conduit, and registers the three-dimensional model of the organ model with a predetermined object, and registers the three-dimensional model of the medical conduit with the medical conduit , and also evaluate the registration accuracy of the three-dimensional model of the organ model and the predetermined object according to predetermined criteria, and evaluate the registration accuracy of the medical catheter.

When the organ model is a bronchial model, the medical catheter is a bronchoscope, and the predetermined object may be a bronchus or a lung of an operation subject. The predetermined standard can be determined by medical staff according to actual needs.

In practice, the medical catheter is set on the mechanical arm of the surgical robot and moved under the driving of the mechanical arm, so that the distal end of the medical catheter moves in the organ model and reaches a predetermined position. During the movement of the medical catheter, the driving part drives the first transmission member and the fifth transmission member to reciprocate, so that the second transmission member, the third transmission member, and the The fourth transmission member performs a reciprocating linear motion, and applies a pulling force or cancels the pulling force to the organ model through the traction part, so as to expand or contract the organ model. And, the processing unit generates navigation information according to the registration result of the three-dimensional model of the organ model and the predetermined object, and the registration result of the three-dimensional model of the medical catheter and the medical catheter, and according to the navigation information The movement of the medical catheter is used for navigation until the distal end of the medical catheter reaches the predetermined position. The "evaluating the registration accuracy of the three-dimensional model of the organ model and the predetermined object according to predetermined criteria, and evaluating the registration accuracy of the three-dimensional model of the medical catheter and the medical catheter" may be based on the The predetermined criterion evaluates the accuracy of the navigation information, thereby evaluating the registration accuracy of the three-dimensional model of the organ model and the predetermined object, and evaluating the registration accuracy of the medical catheter. Its actual purpose is to evaluate the registration algorithm, so as to provide a basis for those skilled in the art to optimize and improve the registration algorithm. It should be understood that the evaluation device can also use a variety of registration algorithms to register the three-dimensional model of the organ model and the predetermined object, and the three-dimensional model of the medical catheter and the medical catheter respectively before surgery. , and evaluate the registration accuracy of different registration methods, and then select the optimal registration method to apply in the actual operation to improve the safety of the operation.

<Example 6>

The purpose of this embodiment is to provide a method for evaluating registration accuracy, which is based on the device for evaluating registration accuracy provided in the fifth embodiment. The evaluation method includes the following steps:

Step S1: partially placing the medical catheter in the organ model;

Step S2: controlling the medical catheter to move, and also controlling the driving part to drive the transmission part to reciprocate;

Step S3: establishing a three-dimensional model of the organ model and a three-dimensional model of the medical catheter;

Step S4: registering the three-dimensional model of the organ model with the predetermined object, and registering the three-dimensional model of the medical conduit with the medical conduit; and,

Step S5: Evaluate the registration accuracy of the three-dimensional model of the organ model and the predetermined object according to predetermined criteria, and evaluate the registration accuracy of the three-dimensional model of the catheter and the catheter.

<Embodiment 7>

The purpose of this embodiment is to provide a computer-readable storage medium on which a program is stored. When the program is executed, at least step S3 and sub-step S5 in the method for evaluating registration accuracy described in Embodiment 6 are executed. .

Although the present invention is disclosed above, it is not limited thereto. Various modifications and variations can be made in the present invention by those skilled in the art without departing from the spirit and scope of the invention. Thus, provided that these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims (20)

1. A simulation device for organ dynamic deformation, for simulating surgical navigation, wherein the simulation device comprises: support components; an elastic organ model, the organ model is a hollow structure and is arranged on the support assembly; a power assembly, comprising a driving part, a transmission part and a traction part, the transmission part is connected with the driving part, and the traction part is connected with the transmission part and the organ model; The driving part is used to drive the transmission part to reciprocate, so as to apply or cancel the pulling force to the organ model through the pulling part. When the organ model is subjected to the pulling force, the organ model is deformed, and When cancelled, the organ model resumes its shape. 2 . The simulation device for organ dynamic deformation according to claim 1 , wherein the transmission part comprises a first transmission part, a second transmission part and a third transmission part; the first transmission part is connected with the driving part. 3 . The second transmission part and the third transmission part are respectively connected with the first transmission part; the traction part includes a first traction part group and a second traction part group, the first traction part group connecting the second transmission member and the organ model, and the second traction part group connecting the third transmission member and the organ model; The driving part is used to drive the first transmission member to reciprocate linear motion in the first direction, and then to drive the second transmission member to reciprocate linear motion in the second direction, and to move to the direction through the second traction part group. The organ model applies or cancels the pulling force, and drives the third transmission member to reciprocate linearly in a third direction, and applies or cancels the pulling force to the organ model through the second pulling part group. 3 . The simulation device for organ dynamic deformation according to claim 2 , wherein the simulation device further comprises a guide mechanism, at least partially disposed on the support assembly; the guide mechanism comprises a first guide portion, A second guide portion and a third guide portion, the first guide portion defines the first direction, the second guide portion defines the second direction, and the third guide portion defines the third guide portion direction; The first transmission member is at least partially disposed on the first guide portion, the second transmission member is at least partially disposed on the second guide portion, and the third transmission member is at least partially disposed on the on the third guide. 4 . The simulation device for organ dynamic deformation according to claim 3 , wherein the second guide portion is rotatably connected to the support assembly; and/or the third guide portion is connected to the support. 5 . The components are rotatably connected. 5 . The simulation device for organ dynamic deformation according to claim 3 or 4 , wherein the driving part comprises a first sub-driving part, and the first sub-driving part is connected with the first transmission member to It is used to drive the first transmission member to reciprocate linearly along the first direction. 6 . The simulation device for organ dynamic deformation according to claim 5 , wherein the transmission part further comprises a fourth transmission part, the fourth transmission part is connected with the driving part and can be movably arranged on the drive part. 7 . on the support assembly; the traction part further includes a third traction part group, and the third traction part group connects the fourth transmission member and the organ model; The driving part is also used to drive the fourth transmission member to reciprocate linearly in a fourth direction, and apply or cancel a pulling force to the organ model through the third pulling part group. 7 . The simulation device for organ dynamic deformation according to claim 6 , wherein the third guide portion is connected with the fourth transmission member. 8 . 8 . The simulation device for organ dynamic deformation according to claim 6 , wherein the driving part further comprises a second sub-driving part, and the second sub-driving part is connected with the fourth transmission part to use the fourth transmission element. 9 . The fourth transmission member is driven to perform a reciprocating linear motion along the fourth direction. 9 . The simulation device for organ dynamic deformation according to claim 5 , wherein the first sub-driving part comprises a first rotating wheel, a connecting rod and a second rotating wheel, and the first rotating wheel is used for receiving The first rotating wheel is provided with a plurality of engaging holes spaced apart in the radial direction, and one end of the connecting rod is selectively engageable with one of the engaging holes. rotatably connected, the other end of the connecting rod is rotatably connected with the second rotating wheel, and the second rotating wheel is connected with the first transmission member. 10 . The simulation device for organ dynamic deformation according to claim 3 or 9 , wherein the first guide portion is rotatably connected to the support assembly. 11 . 11. The simulation device for organ dynamic deformation according to claim 3 or 9, wherein the support assembly comprises a fixing part and an adjusting ring, the adjusting ring is rotatably connected to the fixing part, and the The first guide portion is arranged on the adjusting ring. 12 . The simulation device for organ dynamic deformation according to claim 5 , wherein the first sub-driving part comprises a motor, a lead screw and a lead screw nut, and the lead screw is connected to the output end of the motor, 12 . The lead screw nut is sleeved on the lead screw, and is threadedly matched with the lead screw to perform screw transmission; the lead screw nut is also connected with the first transmission member. 13 . The simulation device for organ dynamic deformation according to claim 12 , wherein the motor and the first guide portion are both rotatably connected to the support assembly; or the support assembly includes a fixed portion. 14 . and an adjusting ring, the motor is rotatably arranged on the fixing portion, the adjusting ring is rotatably connected to the fixing portion, and the first guide portion is arranged on the adjusting ring. 14 . The simulation device for organ dynamic deformation according to claim 2 , wherein the second transmission member and the third transmission member are respectively rotatably connected to the first transmission member. 15 . 15 . The simulation device for organ dynamic deformation according to claim 1 , wherein the traction part comprises a traction rope, the transmission part is provided with a connecting through hole, and one end of the traction rope passes through the connection. 16 . The through hole is connected with the transmission part, and the other end is connected with the organ model. 16 . The simulation device for organ dynamic deformation according to claim 1 , wherein the traction part comprises a traction rope and a threaded connection part, the transmission part is provided with a threaded through hole, and the threaded connection part is connected with the threaded connection part. 17 . The threaded through hole is connected, one end of the traction rope is wound with the helix and connected to the threaded connector, and the other end is connected to the organ model. 17 . The simulation device for organ dynamic deformation according to claim 1 , wherein the traction part comprises a traction rope and an engaging ring, the engaging ring comprises a loop sleeve and a loop buckle, and the loop sleeve is arranged on the said 17 . On the organ model, the number of the loops is multiple, the plurality of loops are arranged on the loop sleeve at intervals in the circumferential direction, and the traction rope selectively passes through at least one of the loops. 18. An evaluation device for registration accuracy, characterized by comprising a medical catheter, a processing unit, and the device for simulating dynamic deformation of an organ according to any one of claims 1-17; wherein, the medical catheter is configured to be partially disposed in the organ model and capable of moving in the organ model; The processing unit establishes a three-dimensional model of the organ model and a three-dimensional model of the medical conduit, and registers the three-dimensional model of the organ model with a predetermined object, and registers the three-dimensional model of the medical conduit with the medical conduit , and also evaluate the registration accuracy of the three-dimensional model of the organ model and the predetermined object according to predetermined criteria, and evaluate the registration accuracy of the three-dimensional model of the medical catheter and the catheter. 19. A method for evaluating registration accuracy, based on the simulation device for organ dynamic deformation according to any one of claims 1-17, wherein the evaluating method comprises the following steps: Step S1: partially placing the medical catheter in the organ model; Step S2: controlling the medical catheter to move, and also controlling the driving part to drive the transmission part to reciprocate; Step S3: establishing a three-dimensional model of the organ model and a three-dimensional model of the medical catheter; Step S4: registering the three-dimensional model of the organ model with the predetermined object, and registering the three-dimensional model of the medical conduit with the medical conduit; and, Step S5: Evaluate the registration accuracy of the three-dimensional model of the organ model and the predetermined object according to predetermined criteria, and evaluate the registration accuracy of the three-dimensional model of the catheter and the catheter. 20. A computer-readable storage medium on which a program is stored, characterized in that, when the program is executed, at least steps S3 to S3 in the method for evaluating registration accuracy as claimed in claim 19 are executed Step S5.

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