CN110473440A - Tumour respiratory movement analog platform and knub position estimation method - Google Patents

Abstract

The present invention is applicable to the technical field of surgical training devices, and provides a tumor respiration motion simulation platform and a tumor position estimation method, wherein the tumor respiration motion simulation platform is used for percutaneous puncture surgery, including: a human abdominal phantom, which has an inner hollow structure , and covered with humanoid skin, positioning mark points are set on the humanoid skin; the airbag is fixedly arranged in the human abdomen phantom, and can be inflated and deflated cyclically. keep in contact with the humanoid skin all the time; the guide rail is arranged on the abdominal body membrane of the human body, and is set opposite to the humanoid skin; the displacement plate is slidably connected to the guide rail, and one side of the airbag touches the Connected to the displacement plate, the displacement plate reciprocates on the guide rail as the airbag is inflated and deflated; and the puncture dummy is fixed on the displacement plate and has a puncture target built in point. The present invention provides doctors with a more clinical puncture scene.

Description

Tumor respiratory motion simulation platform and tumor location estimation method

technical field

The invention relates to the technical field of surgical training devices, in particular to a tumor respiratory motion simulation platform and a tumor position estimation method.

Background technique

Percutaneous puncture surgery is a kind of surgery that directly punctures into the tumor through the human skin to obtain biological tissue samples or treat tumors. It is widely used in the fields of cancer biopsy diagnosis and ablation therapy, and is an important means of tumor diagnosis and treatment. The positions of human thoracoabdominal organs are significantly affected by respiratory movement. For example, the displacement of the liver in the direction of the head and feet is as high as 22mm, which will seriously affect the precise puncture of the tumor. Clinically, in order to avoid the influence of respiratory movement, patients are generally asked to scan CT or MRI under breath-holding, and then perform puncture while holding the patient's breath after determining the tumor location, but there are cases where patients' breath-holding is inconsistent; in addition, some patients are limited by their physical conditions , unable to cooperate with the doctor to perform breath-holding operation, and need to puncture under natural breathing.

At present, the percutaneous puncture training models on the market do not consider the influence of respiratory movement, such as the comprehensive puncture training electronic standardized patient BZ-C-I of Shanghai Baizhou Science and Education Equipment Co., Ltd., and the abdominal puncture phantom 057A of the American CIRS company. However, the existing breathing motion simulation devices are not suitable for puncture occasions. For example, some simulation designs simulate breathing motion, but they can only be used for radiotherapy, not for percutaneous puncture surgery.

Contents of the invention

The purpose of the present invention is to provide a tumor respiratory motion simulation platform, aiming to solve the technical problem that the current percutaneous puncture training model does not consider the influence of respiratory motion.

The present invention is achieved in this way, the tumor breathing motion simulation platform is used for percutaneous puncture surgery, including:

The human abdomen phantom has an inner hollow structure and is covered with humanoid skin, and positioning marker points are set on the humanoid skin;

The airbag is fixedly arranged in the human abdomen phantom, and can be inflated and deflated cyclically, and the airbag is always in contact with the humanoid skin during the process of inflating and deflated;

The guide rail is arranged on the abdominal body membrane of the human body, and is arranged opposite to the humanoid skin;

A displacement plate is slidably connected to the guide rail, one side of the airbag abuts against the displacement plate, and the displacement plate reciprocates on the guide rail as the airbag is inflated and deflated; and

The puncture dummy is fixedly arranged on the displacement plate and has a puncture target built in.

In one embodiment, the human abdomen phantom comprises:

first side panel;

the second side plate is arranged opposite to the first side plate, and the two ends of the guide rail are respectively connected to one end of the first side plate and the second side plate; and

The two ends of the humanoid skin are respectively connected with the other ends of the first side plate and the second side plate.

In one embodiment, the tumor breathing motion simulation platform further includes an elastic member arranged horizontally, one end of the elastic member is connected to the displacement plate, and the other end of the elastic member is connected to the second side plate .

In one embodiment, the tumor respiratory motion simulation platform further includes a mounting plate fixedly connected in the human abdomen phantom, and the airbag is arranged on the mounting plate.

In one embodiment, the mounting plate is L-shaped and includes a horizontal portion and a vertical portion vertically connected to each other, the left side of the airbag abuts against the vertical portion, and the top side of the airbag abuts against the vertical portion. Connected to the humanoid skin, the bottom side of the airbag abuts on the horizontal part, and the right side of the airbag abuts on the displacement plate.

In one embodiment, the displacement plate includes a support part arranged horizontally and an abutment part arranged vertically, the puncture dummy is fixedly arranged on the support part, and the airbag abuts against the support part. On the abutting portion, one end of the elastic member is fixedly connected to a side of the abutting portion away from the airbag.

In one embodiment, the displacement plate further includes a connecting portion connected between the supporting portion and the abutting portion, and the connecting portion is L-shaped.

In one embodiment, the tumor breathing motion simulation platform further includes a plurality of pulleys arranged at the bottom of the displacement plate, and the pulleys slide on the guide rails.

In one embodiment, the tumor breathing motion simulation platform further includes:

The air pump has an air pump inlet and an air pump outlet;

The first directional valve has a first air inlet, a first air outlet and a first waste gas port, the first air inlet communicates with the air pump inlet, the first air outlet communicates with the air bag, The first exhaust port communicates with the outside world;

The second directional valve has a second air inlet, a second air outlet and a second exhaust port, the second air inlet communicates with the air pump outlet, the second air outlet communicates with the air bag, and the second air outlet communicates with the air bag. The second exhaust port communicates with the outside world; and

a controller electrically connected to the air pump, the first directional valve, and the second directional valve, and used to control the air pump, the first directional valve, and the second directional valve;

The first exhaust gas port, the first air inlet, the air pump inlet, the air pump outlet, the second air inlet, the second air outlet and the air bag are connected in sequence to form an inflatable air path; the air bag, the first air outlet, The first air inlet, the air pump air inlet, the air pump outlet, the second air inlet and the second exhaust air port are connected in sequence to form a deflation air path.

Another object of the present invention is to provide a method for estimating tumor location, which uses the tumor breathing motion simulation platform described in any one of the above embodiments, and the method for estimating tumor location includes the following steps:

Test and record the tidal volume data of the airbag during inflation and deflation, the position data of the positioning marker points, and the position data of the puncture target in the puncture dummy;

Establish an association model of tidal volume, location of landmarks on the surface of humanoid skin, and location of puncture target;

The position of the tumor target in the human abdominal phantom is estimated according to the tidal volume and the position of the positioning landmark on the human skin surface.

Implementing the tumor breathing motion simulation platform of the present invention has the following beneficial effects: it designs a brand-new tumor breathing motion simulation platform, including a human abdomen phantom covered with humanoid skin, refillable and deflated airbags, guide rails, The displacement plate slidingly connected to the guide rail, and the puncture phantom fixed on the displacement plate are provided with positioning mark points on the humanoid skin, and the puncture phantom has built-in puncture targets, and the airbag is always inflated and deflated. Keeping in contact with the humanoid skin, the displacement plate reciprocates on the guide rail as the airbag is inflated and deflated; compared with the existing percutaneous puncture training model, the present invention considers the influence of breathing movement on the puncture phantom , the puncture phantom body and humanoid skin motion are simultaneously driven by a cyclically inflatable and deflated airbag, providing doctors with a more clinical puncture scene; A puncture phantom with a built-in target is added, and the airbag simultaneously drives the puncture phantom and human skin movement, which can be applied to percutaneous puncture surgery.

Implementing the tumor position estimation method of the present invention has the following beneficial effects: it establishes the tidal volume by testing and recording the tidal volume data of the air bag inflation and deflation process, the positional data of the positioning marker points, and the positional data of the puncture target point of the puncture phantom. 1. The correlation model between the position of the positioning mark point on the surface of the human skin and the position of the puncture target point, so as to estimate the position of the tumor target point in the human abdominal phantom according to the tidal volume and the position of the positioning mark point on the surface of the human skin.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the embodiments. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For Those of ordinary skill in the art can also obtain other drawings based on these drawings without making creative efforts.

Fig. 1 is a schematic structural diagram of a tumor breathing motion simulation platform provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the structure of the tumor respiratory motion simulation platform provided by the embodiment of the present invention at the end of expiration;

Fig. 3 is a schematic diagram of the gas path structure of the air bag of the tumor breathing motion simulation platform provided by the embodiment of the present invention;

Fig. 4 is a schematic diagram of the control structure of the airbag of the tumor breathing motion simulation platform provided by the embodiment of the present invention;

Fig. 5 is a schematic diagram of the inflation air path of the air bag of the tumor breathing motion simulation platform provided by the embodiment of the present invention;

Fig. 6 is a schematic diagram of the deflation air path of the air bag of the tumor breathing motion simulation platform provided by the embodiment of the present invention;

Fig. 7 is a flowchart of a method for estimating a tumor location provided by an embodiment of the present invention.

The details of the labels involved in the above drawings are as follows:

1-humanoid skin; 11-positioning mark point; 2-first side plate; 3-second side plate; 4-displacement plate; 401-support part; 402-contact part; 403-connection part; 5-guide rail ; 6-puncture body; 61-puncture target; 7-elastic part; 8-installation plate; 81-horizontal part; 82-vertical part; 9-pulley; 10-air bag; Air port; 22-air pump outlet; 30-first direction valve; 31-first air inlet; 32-first air outlet; 33-first exhaust port; 40-second direction valve; 41-second inlet Air port; 42-second air outlet; 43-second exhaust port; 50-controller; 60-first flow sensor; 70-second flow sensor; 80-first pressure sensor; 90-second pressure sensor; 101 - first joint; 102 - second joint; 103 - third joint.

Detailed ways

In order to make the object, technical solution and advantages of the present invention more clear, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

It should be noted that when a component is referred to as being “fixed on” or “disposed on” another component, it may be directly or indirectly located on the other component. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. The indicated orientation or position is based on the orientation or position shown in the drawings, and is only for convenience of description, and should not be understood as a limitation on the technical solution. The terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of technical features. "Plurality" means two or more, unless otherwise clearly and specifically defined.

At present, the percutaneous puncture training models on the market do not consider the influence of breathing movement, and the existing breathing movement simulation devices are not suitable for puncture occasions. For example, some simulation designs simulate breathing movement, but it can only be used For radiotherapy, not for percutaneous surgery. To this end, the embodiment of the present invention designs a brand-new tumor respiratory motion simulation platform, which includes a human abdomen phantom covered with human-like skin, an airbag that can be repeatedly inflated and deflated, a guide rail, and a displacement plate that is slidably connected to the guide rail. As well as the puncture dummy fixed on the displacement plate, positioning mark points are set on the humanoid skin, and the puncture target is built into the puncture dummy. The airbag is always in contact with the humanoid skin during the process of inflation and deflation. As the airbag is inflated and deflated, it reciprocates on the guide rail; compared with the existing percutaneous puncture training model, the embodiment of the present invention takes into account the influence of breathing movement on the puncture phantom, through cyclic inflation and deflation The airbag simultaneously drives the puncture phantom and humanoid skin movement, providing doctors with a more clinical puncture scene; compared with the respiratory motion simulation device used for radiotherapy surgery, the embodiment of the present invention adds built-in targets to the puncture scene The puncture dummy, and the airbag drives the puncture dummy and human skin at the same time, which can be applied to percutaneous puncture surgery.

In order to illustrate the technical solution of the present invention, the following will be described in detail in conjunction with specific drawings and embodiments.

Please refer to Fig. 1 and Fig. 2 together, the embodiment of the present invention provides a tumor respiratory motion simulation platform for percutaneous puncture surgery, including human abdominal body membrane, air bag 10, guide rail 5, displacement plate 4 and puncture phantom 6. Among them, the body membrane of the human abdomen is hollow inside, and its top is covered with a humanoid skin 1. The humanoid skin 1 is provided with a positioning mark point 11, and the positioning mark point 11 moves up and down continuously with the humanoid skin 1, thereby simulating The breathing movement of the human body. Optionally, the positioning mark point 11 is an optical or magnetic positioning mark point 11 , which can be pasted on the humanoid skin 1 . The airbag 10 is fixedly installed in the abdominal body membrane of the human body. The airbag 10 can be inflated and deflated cyclically, and the airbag 10 is always in contact with the humanoid skin 1 during the inflation and deflation process, so as to drive the humanoid skin 1 to move up and down. For example, when the inflated volume of the airbag 10 increases, the simulated human skin 1 moves upward; when the volume of the airbag 10 deflates decreases, the simulated human skin 1 moves downward. The guide rail 5 is arranged on the body membrane of the human abdomen, and is set opposite to the humanoid skin 1. The guide rail 5 and the body membrane of the human abdomen are enclosed to form an accommodating space, and other components of the tumor respiratory motion simulation platform are accommodated in the accommodating space . The displacement plate 4 is arranged in the abdominal body membrane of the human body, and is slidably connected to the guide rail 5. One side of the airbag 10 abuts on the displacement plate 4, and the displacement plate 4 is formed on the guide rail 5 as the airbag 10 is inflated and deflated. reciprocating motion. The puncture dummy body 6 is fixedly arranged on the displacement plate 4 and has a puncture target point 61 built in. The puncture dummy body 6 can move together with the displacement plate 4 . This embodiment adopts air pressure to drive the reciprocating motion of the puncture body 6 to imitate the breathing motion of the thoracoabdominal organ tumor. Inconsistent situations and natural breathing situations are simulated to provide doctors with a more clinical scene for surgical training.

In this embodiment, as the airbag 10 is continuously inflated and deflated, its volume becomes larger or smaller, and the displacement plate 4 drives the puncturing dummy 6 to reciprocate continuously, and at the same time, the airbag 10 drives the humanoid skin 1 to reciprocate continuously up and down , and drives the positioning mark point 11 pasted on the humanoid skin 1 to continuously reciprocate up and down.

In a specific application, the puncture dummy body 6 can be located on the left or right side of the displacement plate 4 , and of course, other positions on the displacement plate 4 can also be used.

In one embodiment, the body membrane of the abdomen of a human body includes a first side panel 2 , a second side panel 3 and the aforementioned humanoid skin 1 . Wherein, the second side plate 3 is arranged opposite to the first side plate 2, specifically parallel to each other and arranged at intervals, and the two ends of the guide rail 5 are respectively connected with one end of the first side plate 2 and the second side plate 3, imitating human skin 1 The two ends of the first side plate 2 and the other end of the second side plate 3 are respectively connected, and then, the first side plate 2, the guide rail 5, the second side plate 3 and the humanoid skin 1 are sequentially connected to form the above-mentioned accommodating space. In a specific application, the two ends of the humanoid skin 1 can be bonded to the first side plate 2 and the second side plate 3, and the two ends of the guide rail 5 can be fixedly connected to the first side plate 2 and the second side plate by fasteners. on the side panel 3.

In one embodiment, in order to ensure the stable contact between the displacement plate 4 and the airbag 10, the displacement plate 4 is connected to the second side plate 3 through the elastic member 7, and the elastic member 7 is always kept compressed during the left and right movement of the displacement plate 4 state. Specifically, the tumor breathing motion simulation platform of this embodiment also includes an elastic member 7 arranged horizontally, one end of the elastic member 7 is fixedly connected to the displacement plate 4, and the other end of the elastic member 7 is fixedly connected to the second side plate 3 . Preferably, the elastic member 7 is a spring.

In one embodiment, in order to support the airbag 10 , a mounting plate 8 is also fixedly connected in the abdominal body membrane of the human body. Specifically, the tumor respiratory motion simulation platform of this embodiment further includes a mounting plate 8 fixedly connected to the human abdomen phantom, and the airbag 10 is arranged on the mounting plate 8 . Further, the mounting plate 8 is L-shaped, including a horizontal portion 81 and a vertical portion 82 vertically connected to each other, the left side of the airbag 10 abuts on the vertical portion 82, and the top side of the airbag 10 abuts against the humanoid skin 1, the bottom side of the airbag 10 abuts on the horizontal portion 81, and the right side of the airbag 10 abuts on the displacement plate 4. In this way, when the airbag 10 is inflated and deflated, its volume becomes larger and smaller continuously, and the airbag 10 pushes the displacement plate 4 to reciprocate left and right along the guide rail 5. At the same time, the airbag 10 also drives the humanoid skin 1 to move up and down.

In a specific application, as shown in Figure 2, when the volume of the airbag 10 is the smallest, that is, the end-expiratory state, it should be ensured that the mounting plate 8 and the displacement plate 4 do not affect the movement of the humanoid skin 1, that is, it is necessary to ensure that the mounting plate 8 And the highest point of the displacement plate 4 is lower than the highest point when the volume of the airbag 10 is the smallest.

In one embodiment, the displacement plate 4 includes a supporting part 401 and an abutting part 402 connected to each other, wherein the puncture dummy 6 is fixedly arranged on the supporting part 401, and the right side of the airbag 10 is abutted on the abutting part 402, One end of the elastic member 7 is fixedly connected to the side of the abutting portion 402 away from the airbag 10 .

Further, the displacement plate 4 further includes a connecting portion 403 connected between the supporting portion 401 and the abutting portion 402 , and the connecting portion 403 is L-shaped. In this embodiment, one end of the connecting portion 403 is vertically connected to the supporting portion 401, the other end of the connecting portion 403 is extended inwardly, and the abutting portion 402 is vertically connected to the other end of the connecting portion 403, wherein, by setting the connecting portion 403 can make the overall structure more compact, thereby reducing the volume of the entire tumor respiration motion simulation platform.

In one embodiment, in order to reduce the friction between the support portion 401 of the displacement plate 4 and the guide rail 5, a plurality of pulleys 9 are arranged at the bottom of the support portion 401 of the displacement plate 4, and the pulleys 9 can be mounted on the guide rail 5 slide. Specifically, two pulleys 9 are provided at both front and rear ends of the support portion 401 of the displacement plate 4 .

In one embodiment, the tumor respiratory motion simulation platform further includes an air pump 20 , a first directional valve 30 , a second directional valve 40 and a controller 50 . Wherein, the airbag 10 is the function equipment for charging and deflation; the air pump 20 is the power equipment for gas delivery, and the air pump 20 has an air pump inlet 21 and an air pump outlet 22, and the air pump 20 is formed at its air pump inlet 21 during work. Negative pressure, its air pump air outlet 22 places form positive pressure. The first directional valve 30 and the second directional valve 40 can realize the flexible switching of the inflation air path and the deflation air path. The first directional valve 30 has a first air inlet 31 , a first air outlet 32 and a first exhaust air port 33 , the first air inlet 31 communicates with the air pump inlet 21, the first air outlet 32 communicates with the airbag 10, and the first exhaust port 33 communicates with the outside world; the second directional valve 40 has a second air inlet 41, a second Two air outlets 42 and a second waste gas port 43 , the second air inlet 41 communicates with the air pump outlet 22 , the second air outlet 42 communicates with the airbag 10 , and the second waste gas port 43 communicates with the outside. The controller 50 is electrically connected to the air pump 20, the first directional valve 30, and the second directional valve 40, and is used to control the air pump 20, the first directional valve 30, and the second directional valve 40, and control the inflation and deflation according to actual needs. process.

In this embodiment, the first waste gas port 33 of the first directional valve 30, the first air inlet 31 of the first directional valve 30, the air pump air inlet 21, the air pump outlet 22, the second air inlet of the second directional valve 40 The second air outlet 42 of the air inlet 41, the second directional valve 40, and the air bag 10 are connected in turn to form an inflatable air path; The air port 31 , the air pump inlet 21 , the air pump outlet 22 , the second air inlet 41 of the second directional valve 40 , and the second waste gas port 43 of the second directional valve 40 are sequentially connected to form an air discharge path.

In this embodiment, the air bag 10, the air pump 20, the first directional valve 30, the second directional valve 40 and the controller 50 are set, wherein the air bag 10, the first directional valve 30, the air pump 20, the second directional valve 40 and the air bag 10 are sequentially arranged. Connect to form a circulation line, specifically, the first waste gas port 33 of the first directional valve 30, the first air inlet 31 of the first directional valve 30, the air pump inlet 21, the air pump outlet 22, and the second directional valve 40. The second air outlet 41 of the second air inlet 41, the second directional valve 40 and the air bag 10 are connected in turn to form an inflatable air path, the first air outlet 32 of the air bag 10, the first directional valve 30, the first directional valve 30 of the first directional valve 30. An air inlet 31, an air pump inlet 21, an air pump outlet 22, the second air inlet 41 of the second directional valve 40 and the second waste gas port 43 of the second directional valve 40 are connected in sequence to form a deflation gas path, through The controller 50 can control the state of each component to realize the flexible switch between the inflation gas circuit and the deflation gas circuit, and then complete the function of active cycle charging and deflation. The air parameters can be flexibly adjusted according to actual needs; in addition, because the single air pump 20 is used, compared with the existing design of double air pumps for charging and discharging air separately, the cost is reduced.

Preferably, both the first directional valve 30 and the second directional valve 40 are solenoid valves. Wherein, the electromagnetic valve is convenient for the controller 50 to control it. Under the control of the controller 50, any two of the first air inlet 31, the first air outlet 32 and the first waste gas port 33 can be connected. Any two of the inlet 41 , the second outlet 42 and the second exhaust 43 may be in communication. Of course, in other embodiments, the first directional valve 30 and the second directional valve 40 may also use other controllable valves.

In one embodiment, between the airbag 10 and the first directional valve 30, between the airbag 10 and the second directional valve 40, between the air pump 20 and the first directional valve 30, and between the air pump 20 and the second directional valve 40 are connected by pipelines. Wherein, the pipeline can be a flexible pipe or a hard pipe. It is preferably a hose, which facilitates the arrangement of the overall structure, makes the overall structure more compact, and further reduces the volume of the overall structure.

In one embodiment, considering that the pressure loss caused by the air pump 20 will cause the measurement error of the air charging and discharging circuit, therefore, on the pipeline between the air pump inlet 21 and the first air inlet 31 of the first directional valve 30 The first flow sensor 60 is connected in series, and the first flow sensor 60 is used to detect the gas flow in the corresponding pipeline; A second flow sensor 70 is connected, and the second flow sensor 70 is used to detect the gas flow in the corresponding pipeline. The first flow sensor 60 and the second flow sensor 70 can detect the flow parameters of the charging and discharging path in real time. The first flow sensor 60 and the second flow sensor 70 are electrically connected to the controller 50 respectively, and the controller 50 receives the measurement results of the first flow sensor 60 and the second flow sensor 70 and controls the inflation and deflation process according to actual needs.

In another embodiment, considering that the pressure loss caused by the air pump 20 will cause the measurement error of the air charging and discharging circuit, therefore, the pipe between the air pump inlet 21 and the first air inlet 31 of the first directional valve 30 There is also a first pressure sensor 80 on the road, which is used to detect the gas pressure in the corresponding pipeline; on the pipeline between the air pump outlet 22 and the second air inlet 41 of the second directional valve 40 A second pressure sensor 90 is also provided, and the second pressure sensor 90 is used to detect the gas pressure in the corresponding pipeline. The first pressure sensor 80 and the second pressure sensor 90 can detect the pressure parameters of the charging and discharging circuit in real time. The first pressure sensor 80 and the second pressure sensor 90 are electrically connected to the controller 50 respectively, and the controller 50 receives the measurement results of the first pressure sensor 80 and the second pressure sensor 90 and controls the inflation and deflation process according to actual needs. In this embodiment, dual sensors are used to measure the parameters of the inflation air path and the deflation air path respectively, and the measurement results are more reliable.

In one embodiment, a first connector 101 is connected to the pipeline between the air pump inlet 21 and the first inlet 31 of the first directional valve 30, the first connector 101 is a three-way connector, and the The first connector 101 has three interfaces, namely a first interface, a second interface and a third interface. Wherein, the first interface of the first joint 101 communicates with the air pump inlet 21, the second interface of the first joint 101 communicates with the first air inlet 31 of the first directional valve 30, and the above-mentioned first pressure sensor 80 is arranged on the second Inside the third interface of a connector 101 . In this embodiment, the connection between the first directional valve 30 and the air pump 20 is facilitated by providing a three-way joint, and at the same time, the first pressure sensor 80 is conveniently provided. In addition, the above-mentioned first flow sensor 60 is connected in series in the pipeline between the second port of the first connector 101 and the first air inlet 31 of the first directional valve 30 .

In one embodiment, a second joint 102 is connected to the pipeline between the air pump outlet 22 and the second air inlet 41 of the second directional valve 40, the second joint 102 is a three-way joint, and the first The second joint 102 has three interfaces, which are respectively a first interface, a second interface and a third interface. Wherein, the first interface of the second joint 102 communicates with the air pump outlet 22, the second interface of the second joint 102 communicates with the second air inlet 41 of the second directional valve 40, and the above-mentioned second pressure sensor 90 is arranged on the second Inside the third interface of the joint 102. In this embodiment, the connection between the second directional valve 40 and the air pump 20 is facilitated by providing a three-way joint, and the second pressure sensor 90 is conveniently provided. In addition, the above-mentioned second flow sensor 70 is connected in series in the pipeline between the second interface of the second joint 102 and the second air inlet 41 of the second directional valve 40 .

In one embodiment, a third joint 103 is connected to the pipeline between the air bag 10 and the first air outlet 32 of the first directional valve 30 and the second air outlet 42 of the second directional valve 40 , the third joint 103 It is a three-way joint, and the third joint 103 has three interfaces, namely a first interface, a second interface and a third interface. Wherein, the first port of the third joint 103 communicates with the airbag 10, the second port of the third joint 103 communicates with the first air outlet 32 of the first direction valve 30, and the third port of the third joint 103 communicates with the second direction valve 30. The second air outlet 42 of the valve 40 is connected. In this embodiment, a three-way joint is provided to facilitate the connection between the inflation and discharge path and the airbag 10 .

In one embodiment, the first exhaust port 33 of the first directional valve 30 communicates with the atmosphere, and the second exhaust port 43 of the second directional valve 40 communicates with the atmosphere. In the process of inflation, the atmosphere enters from the first waste gas port 33 and finally into the airbag 10 ; during the process of deflation, the gas in the airbag 10 is discharged to the atmosphere through the second waste gas port 43 .

In another embodiment, the first waste gas port 33 of the first directional valve 30 is used to let in processed gas, and the second waste gas port 43 of the second directional valve 40 is connected to the atmosphere. In the process of inflation, the processed gas is introduced from the first waste gas port 33 and finally passed into the air bag 10; Vent to atmosphere.

Referring to Fig. 3, when the airbag 10 needs to be inflated, the inflation process is as follows: the first air inlet 31 of the first directional valve 30 communicates with the first waste gas port 33, the first air outlet 32 is closed, and the second directional valve 40 The second air inlet 41 communicates with the second air outlet 42, and the second waste gas port 43 is closed. The first flow sensor 60, the first joint 101, the air pump inlet 21, the air pump 20, the air pump outlet 22, the second joint 102, the second flow sensor 70, the second air inlet 41 of the second directional valve 40, the second Two air outlets 42, the third joint 103 enters the air bag 10, and this air path is an inflatable air path, as shown by the arrow in Figure 3, wherein the second pressure sensor 90 is used to measure the pressure of the inflatable air path, and the second flow sensor 70 Used to measure the flow rate of the inflation air circuit.

Please refer to Fig. 4, when the airbag 10 needs to deflate, the first air inlet 31 of the first directional valve 30 communicates with the first air outlet 32, the first waste air port 33 is closed, and the second air inlet of the second directional valve 40 The port 41 communicates with the second exhaust port 43, the second air outlet 42 is closed, the air pump 20 uses the air in the airbag 10 as the air source, and the air passes through the third joint 103 and the first air outlet of the first directional valve 30 from the airbag 10 32. First air inlet 31, first flow sensor 60, first connector 101, air pump inlet 21, air pump 20, air pump outlet 22, second connector 102, second flow sensor 70, second directional valve 40 The second air inlet 41 and the second waste gas port 43 enter the atmosphere, and this air path is a deflation gas path, as shown by the arrow in Figure 3, wherein the first pressure sensor 80 is used to measure the pressure of the deflation gas path, The first flow sensor 60 is used to measure the flow of the deflation air path.

During the above-mentioned inflation and deflation process, the controller 50 controls the flow rate of the air circuit by changing the voltage of the air pump 20, and the controller 50 controls the conduction direction of the first directional valve 30 and the second directional valve 40 in real time according to the design requirements. Switching of the inflation and deflation circuit, and receiving the inflation air circuit pressure and flow parameters measured by the second pressure sensor 90 and the second flow sensor 70, and the deflation air circuit measured by the first pressure sensor 80 and the first flow sensor 60 The pressure and flow parameters are used to adjust the parameters of the charging and discharging gas path respectively.

Please refer to FIG. 7 , an embodiment of the present invention also provides a method for estimating a tumor position, which uses the tumor breathing motion simulation platform described in any one of the above embodiments, and the method for estimating a tumor position includes the following steps:

S1. Test and record the tidal volume data of the airbag 10 during inflation and deflation, the position data of the positioning mark point 11, and the position data of the puncture target point 61 in the puncture dummy 6;

S2. Establishing a correlation model of tidal volume, position of positioning mark point 11 on the surface of humanoid skin 1, and position of puncture target point 61;

S3. Estimate the position of the tumor target in the human abdomen phantom according to the tidal volume and the position of the positioning marker point 11 on the surface of the humanoid skin 1 .

Wherein, the above-mentioned correlation model may be a linear function or a quadratic function.

It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, the execution order of each process should be determined by its function and internal logic, and should not constitute any limited.

In this embodiment, as the airbag 10 is continuously inflated and deflated, its volume becomes larger and smaller, and the displacement plate 4 drives the puncture dummy body 6 to continuously reciprocate, while the airbag 10 drives the humanoid skin 1 to continuously reciprocate up and down. And drive the positioning mark point 11 pasted on the humanoid skin 1 to continuously reciprocate up and down. By testing and recording the tidal volume data of the inflation and deflation process of the airbag 10, the position data of the positioning mark point 11, and the position data of the puncture target point 61 of the puncture dummy body 6, the tidal volume and the position of the positioning mark point 11 on the surface of the imitation human skin 1 are established. Correlation model with the position of the puncture target point 61, so as to estimate the position of the tumor target point in the human abdominal phantom according to the tidal volume and the position of the positioning mark point 11 on the surface of the human skin 1, and can be used for the situation of inconsistent breath-holding and the situation of natural breathing Simulation provides a more clinical scene for doctors' surgical training.

The above descriptions are only optional embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. The tumor breathing motion simulation platform is characterized in that it is used for percutaneous puncture surgery, including: The human abdomen phantom has an inner hollow structure and is covered with humanoid skin, and positioning marker points are set on the humanoid skin; The airbag is fixedly arranged in the human abdomen phantom, and can be inflated and deflated cyclically, and the airbag is always in contact with the humanoid skin during the process of inflating and deflated; The guide rail is arranged on the abdominal body membrane of the human body, and is arranged opposite to the humanoid skin; A displacement plate is slidably connected to the guide rail, one side of the airbag abuts against the displacement plate, and the displacement plate reciprocates on the guide rail as the airbag is inflated and deflated; and The puncture dummy is fixedly arranged on the displacement plate and has a puncture target built in. 2. The tumor respiratory motion simulation platform according to claim 1, wherein the human abdomen phantom comprises: first side panel; the second side plate is arranged opposite to the first side plate, and the two ends of the guide rail are respectively connected to one end of the first side plate and the second side plate; and The two ends of the humanoid skin are respectively connected with the other ends of the first side plate and the second side plate. 3. The tumor respiratory exercise simulation platform according to claim 2, characterized in that, the tumor respiratory exercise simulation platform further comprises an elastic member arranged horizontally, one end of the elastic member is connected with the displacement plate, and the The other end of the elastic member is connected to the second side plate. 4. The tumor respiratory exercise simulation platform according to claim 1, characterized in that, the tumor respiratory exercise simulation platform also includes a mounting plate fixedly connected in the abdominal phantom of the human body, and the airbag is arranged on the mounting plate. board. 5. The tumor breathing motion simulation platform according to claim 4, wherein the mounting plate is L-shaped, comprising a horizontal portion and a vertical portion vertically connected to each other, and the left side of the airbag abuts against the On the vertical part, the top side of the airbag abuts on the humanoid skin, the bottom side of the airbag abuts on the horizontal part, and the right side of the airbag abuts on the displacement plate superior. 6. The tumor respiratory motion simulation platform according to claim 3, wherein the displacement plate includes a support portion arranged horizontally, and an abutment portion arranged vertically, and the puncture phantom is fixedly arranged on the The airbag abuts on the abutting part, and one end of the elastic member is fixedly connected to the side of the abutting part away from the airbag. 7. The tumor respiratory motion simulation platform according to claim 6, wherein the displacement plate further comprises a connection part connected between the support part and the abutment part, and the connection part is L-shaped. type. 8. The tumor respiratory exercise simulation platform according to any one of claims 1 to 7, wherein the tumor respiratory exercise simulation platform further comprises a plurality of pulleys arranged at the bottom of the displacement plate, and the pulleys are located on the bottom of the displacement plate. slide on the guide rail. 9. The tumor respiratory motion simulation platform according to any one of claims 1 to 7, wherein the tumor respiratory motion simulation platform further comprises: The air pump has an air pump inlet and an air pump outlet; The first directional valve has a first air inlet, a first air outlet and a first waste gas port, the first air inlet communicates with the air pump inlet, the first air outlet communicates with the air bag, The first exhaust port communicates with the outside world; The second directional valve has a second air inlet, a second air outlet and a second exhaust port, the second air inlet communicates with the air pump outlet, the second air outlet communicates with the air bag, and the second air outlet communicates with the air bag. The second exhaust port communicates with the outside world; and a controller electrically connected to the air pump, the first directional valve, and the second directional valve, and used to control the air pump, the first directional valve, and the second directional valve; The first exhaust gas port, the first air inlet, the air pump inlet, the air pump outlet, the second air inlet, the second air outlet and the air bag are connected in sequence to form an inflatable air path; the air bag, the first air outlet, The first air inlet, the air pump air inlet, the air pump outlet, the second air inlet and the second exhaust air port are connected in sequence to form a deflation air path. 10. The method for estimating tumor position, characterized in that, using the tumor breathing motion simulation platform according to any one of claims 1 to 9, the method for estimating tumor position comprises the following steps: Test and record the tidal volume data of the airbag during inflation and deflation, the position data of the positioning marker points, and the position data of the puncture target in the puncture dummy; Establish an association model of tidal volume, location of landmarks on the surface of humanoid skin, and location of puncture target; The position of the tumor target in the human abdominal phantom is estimated according to the tidal volume and the position of the positioning landmark on the human skin surface.