CN110473440A - Tumour respiratory movement analog platform and knub position estimation method - Google Patents
Tumour respiratory movement analog platform and knub position estimation method Download PDFInfo
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- CN110473440A CN110473440A CN201910615243.9A CN201910615243A CN110473440A CN 110473440 A CN110473440 A CN 110473440A CN 201910615243 A CN201910615243 A CN 201910615243A CN 110473440 A CN110473440 A CN 110473440A
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Abstract
The present invention is suitable for operative training engineering device technique field, provide a kind of tumour respiratory movement analog platform and knub position estimation method, wherein, tumour respiratory movement analog platform is performed the operation for percutaneous puncture, it include: human abdomen's body mould, in interior hollow structure, and it is covered with apery skin, is provided with position mark point on the apery skin；Air bag is fixedly installed in human abdomen's body mould, and recyclable inflation/deflation, the air bag remain and the apery skin contact during inflation/deflation；Guide rail is set on human abdomen's body film, and is oppositely arranged with the apery skin；Displacement plate is slidably connected on the guide rail, and the side of the air bag is connected on the displacement plate, and the displacement plate moves reciprocatingly on the guide rail with the inflation/deflation of the air bag；And imitative body is punctured, it is fixedly installed on the displacement plate, and be built-in with puncture target spot.The present invention provides the puncture scene of more close clinic for doctor.
Description
Technical field
The present invention relates to operative training engineering device technique field, in particular to a kind of tumour respiratory movement analog platform and tumour
Location estimation method.
Background technique
Percutaneous puncture operation be it is a kind of by human skin Direct perforantes to inside tumor, acquisition biological tissue samples or
To the operation that tumour is treated, the fields such as the biopsy for being widely used in cancer makes a definite diagnosis, ablation, are the important of tumour diagnosis and treatment
Means.Human body splanchnocoel organ site is influenced obviously by respiratory movement, such as displacement of the liver in head foot direction is up to 22mm, this
It will cause to seriously affect to the venipuncture of tumour.Clinically in order to avoid influencing caused by respiratory movement, generally patient is allowed to exist
Hold one's breath lower scanning computed tomography or MRI, equally punctures in the case where patient holds one's breath after determining knub position, but there are patient hold one's breath it is inconsistent
The case where；In addition, some patients are limited by physical qualification, doctor can not be cooperated to carry out breath-hold operation, needed under general breathing
It is punctured.
Currently, percutaneous puncture training pattern in the market does not all account for respirometric influence, such as Shanghai Bai Zhou section
Teach the comprehensive puncturing training electronic standardized patient BZ-C-I of equipment Co., Ltd, the abdomen puncture body mould of CIRS company, the U.S.
057A etc..And existing respiratory movement simulator is not suitable for puncturing in occasion, such as some board designs to breathing fortune
It is dynamic to be simulated, it can only being used for radiotherapy, and it cannot be used for percutaneous puncture operation.
Summary of the invention
The purpose of the present invention is to provide a kind of tumour respiratory movement analog platforms, it is intended to solve current percutaneous puncture instruction
Practice the technical issues of model does not consider respirometric influence.
The invention is realized in this way tumour respiratory movement analog platform, performs the operation for percutaneous puncture, comprising:
Human abdomen's body mould is in interior hollow structure, and is covered with apery skin, is provided with witness marker on the apery skin
Point；
Air bag is fixedly installed in human abdomen's body mould, and recyclable inflation/deflation, mistake of the air bag in inflation/deflation
It is remained in journey and the apery skin contact；
Guide rail is set on human abdomen's body film, and is oppositely arranged with the apery skin；
Displacement plate is slidably connected on the guide rail, and the side of the air bag is connected on the displacement plate, the displacement
Plate moves reciprocatingly on the guide rail with the inflation/deflation of the air bag；And
Imitative body is punctured, is fixedly installed on the displacement plate, and be built-in with puncture target spot.
In one embodiment, human abdomen's body mould includes:
First side plate；
Second side plate is oppositely arranged with first side plate, the both ends of the guide rail respectively with first side plate and
One end of two side plates connects；And
The apery skin, both ends are connect with the other end of first side plate and the second side plate respectively.
In one embodiment, the tumour respiratory movement analog platform further include in horizontally disposed elastic component, it is described
One end of elastic component is connect with the displacement plate, and the other end of the elastic component is connect with second side plate.
In one embodiment, the tumour respiratory movement analog platform further includes being fixedly connected on human abdomen's body
Mounting plate in mould, the air bag are set on the mounting plate.
In one embodiment, the mounting plate is in L font, including the horizontal part being mutually connected vertically and vertical portion, institute
It states and is connected on the left of air bag on the vertical portion, the top side of the air bag is connected on the apery skin, the air bag
Bottom side is connected on the horizontal part, is connected on the displacement plate on the right side of the air bag.
In one embodiment, the displacement plate include be in horizontally disposed support portion, and in the abutting being vertically arranged
Portion, the imitative body of puncture are fixedly installed on the support portion, and the air bag is connected on the abutting part, the elastic component
One end is fixedly connected with the abutting part far from the side of the air bag.
In one embodiment, the displacement plate further includes the connection being connected between the support portion and the abutting part
Portion, the interconnecting piece are in L font.
In one embodiment, the tumour respiratory movement analog platform further includes be set to the displacement plate bottom more
A pulley, the pulley are slided on the guide rail.
In one embodiment, the tumour respiratory movement analog platform further include:
Air pump, has that air pump air inlet is gentle pumps out port；
First direction valve, have the first air inlet, the first gas outlet and the first exhaust outlet, first air inlet with it is described
The connection of air pump air inlet, first gas outlet are connected to the air bag, and first exhaust outlet is in communication with the outside；
Second direction valve, have the second air inlet, the second gas outlet and the second exhaust outlet, second air inlet with it is described
The connection of air pump gas outlet, second gas outlet are connected to the air bag, and second exhaust outlet is in communication with the outside；And
Controller is electrically connected with the air pump, first direction valve and second direction valve respectively, and for controlling the gas
Pump, first direction valve and second direction valve；
First exhaust outlet, the first air inlet, air pump air inlet, air pump gas outlet, the second air inlet, the second gas outlet
It is sequentially communicated to form inflation gas circuit with air bag；The air bag, the first gas outlet, the first air inlet, air pump air inlet, air pump outlet
Mouth, the second air inlet and the second exhaust outlet are sequentially communicated to form deflation gas circuit.
Another object of the present invention is to provide a kind of knub position estimation method, any one embodiment as above is used
The tumour respiratory movement analog platform, the knub position estimation method the following steps are included:
It tests and records tidal volume data, the position data of position mark point of the air bag during inflation/deflation, and wear
Thorn imitates the position data of intracorporal puncture target spot；
Establish the correlation model of tidal volume, apery skin surface position mark point position and puncture target spot position；
According to the position of tumor targets in tidal volume and apery skin surface position mark point location estimation human abdomen's body mould
It sets.
Implement tumour respiratory movement analog platform of the invention, it is a kind of completely new to have the advantages that it is devised
Tumour respiratory movement analog platform, including be covered with human abdomen's body mould of apery skin, the air bag of repeatable inflation/deflation, guide rail,
Body is imitated in the displacement plate being slidably connected on guide rail, and the puncture being fixedly installed on displacement plate, is provided on apery skin
Position mark point, puncture it is imitative be equipped with puncture target spot in vivo, air bag remained during inflation/deflation with apery skin contact,
Displacement plate moves reciprocatingly on the guide rail with the inflation/deflation of air bag；Compared with existing percutaneous puncture training pattern,
The present invention considers influence of the respiratory movement to imitative body is punctured, the air bag by being recycled inflation/deflation drive simultaneously the imitative body of puncture and
Apery skin movements provide the puncture scene of more close clinic for doctor；It is filled with the respiratory movement simulation performed the operation for radiotherapy
Set and compare, for the present invention for scene is punctured, body is imitated in the puncture for increasing built-in target spot, and air bag drive simultaneously the imitative body of puncture and
Apery skin movements can be applied to percutaneous puncture operation.
Implement knub position estimation method of the invention, has the advantages that it is filled by testing and recording air bag
Tidal volume data, the position data of position mark point of deflation course puncture the position data of the puncture target spot of imitative body, establish tide
Tolerance, apery skin surface position mark point position and puncture target spot position correlation model, thus according to tidal volume and apery
The position of tumor targets in skin surface position mark point location estimation human abdomen's body mould.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the structural schematic diagram of tumour respiratory movement analog platform provided in an embodiment of the present invention；
Fig. 2 is structural schematic diagram of the tumour respiratory movement analog platform provided in an embodiment of the present invention in end-tidal；
Fig. 3 is the gas circuit structure schematic diagram of the air bag of tumour respiratory movement analog platform provided in an embodiment of the present invention；
Fig. 4 is the control structure schematic diagram of the air bag of tumour respiratory movement analog platform provided in an embodiment of the present invention；
Fig. 5 is the inflation gas circuit schematic diagram of the air bag of tumour respiratory movement analog platform provided in an embodiment of the present invention；
Fig. 6 is the deflation gas circuit schematic diagram of the air bag of tumour respiratory movement analog platform provided in an embodiment of the present invention；
Fig. 7 is knub position estimation method flow chart provided in an embodiment of the present invention.
Label detail involved in above-mentioned attached drawing is as follows:
1- apery skin；11- position mark point；The first side plate of 2-；The second side plate of 3-；4- displacement plate；401- support portion；
402- abutting part；403- interconnecting piece；5- guide rail；6- punctures imitative body；61- puncture target spot；7- elastic component；8- mounting plate；81- is horizontal
Portion；The vertical portion 82-；9- pulley；10- air bag；20- air pump；21- air pump air inlet；22- air pump gas outlet；30- first direction
Valve；The first air inlet of 31-；The first gas outlet 32-；The first exhaust outlet of 33-；40- second direction valve；The second air inlet of 41-；42-
Second gas outlet；The second exhaust outlet of 43-；50- controller；60- first flow sensor；70- second flow sensor；80-
One pressure sensor；90- second pressure sensor；The first connector of 101-；The second connector of 102-；103- third connector.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It should be noted that when component is referred to as " being fixed on " or " being set to " another component, it can directly or
It connects and is located on another component.When a component referred to as " is connected to " another component, it be can be directly or indirectly
It is connected on another component.Term " on ", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top",
The orientation or position of the instructions such as "bottom", "inner", "outside" are orientation based on the figure or position, are merely for convenience of describing,
It should not be understood as the limitation to the technical program.Term " first ", " second " are used merely to facilitate description purpose, and should not be understood as
Indication or suggestion relative importance or the quantity for implicitly indicating technical characteristic.The meaning of " plurality " is two or more,
Unless otherwise specifically defined.
Currently, percutaneous puncture training pattern in the market does not all account for respirometric influence, and existing breathing is transported
Dynamic simulator, which is not suitable for puncturing, is simulated respiratory movement in occasion, such as some board designs, it can only
For radiotherapy, and it cannot be used for percutaneous puncture operation.For this purpose, the embodiment of the present invention devises a kind of completely new tumour respiratory movement
Analog platform, including being covered with human abdomen's body mould of apery skin, the air bag of repeatable inflation/deflation, guide rail, being slidably connected to and lead
Body is imitated in displacement plate on rail, and the puncture being fixedly installed on displacement plate, is provided with position mark point on apery skin, is worn
Thorn is imitative to be equipped with puncture target spot in vivo, air bag remained during inflation/deflation with apery skin contact, displacement plate is with gas
The inflation/deflation of capsule and move reciprocatingly on the guide rail；Compared with existing percutaneous puncture training pattern, the embodiment of the present invention
Influence of the respiratory movement to imitative body is punctured is considered, the air bag by being recycled inflation/deflation drives the imitative body of puncture and apery skin simultaneously
Skin movement, provides the puncture scene of more close clinic for doctor；Compared with the respiratory movement simulator performed the operation for radiotherapy,
For the embodiment of the present invention for scene is punctured, body is imitated in the puncture for increasing built-in target spot, and air bag drive simultaneously the imitative body of puncture and
Apery skin movements can be applied to percutaneous puncture operation.
In order to illustrate technical solutions according to the invention, it is described in detail below in conjunction with specific accompanying drawings and embodiments.
Also referring to Fig. 1 and Fig. 2, the embodiment of the invention provides a kind of tumour respiratory movement analog platforms, for passing through
Skin puncture operation, including human abdomen's body film, air bag 10, guide rail 5, displacement plate 4 and the imitative body 6 of puncture.Wherein, human abdomen's body film
In interior hollow structure, top is covered with apery skin 1, is provided with position mark point 11 on the apery skin 1, the position mark point
11 constantly pump with apery skin 1, and then simulate the respiratory movement of human body.Optionally, which is
Optics or the position mark point of magnetics 11, can stick on apery skin 1.Air bag 10 is fixedly installed on human abdomen's body film
Interior, which is recycled inflation/deflation, and the air bag 10 is remained during inflation/deflation and contacted in apery skin 1, with
Apery skin 1 is driven to move up and down.For example, apery skin 1 moves upward when 10 filled volume of air bag increases；When air bag 10
When deflation volume reduces, apery skin 1 moves downward.Guide rail 5 is set on human abdomen's body film, and opposite with apery skin 1
Setting, the guide rail 5 and human abdomen's body film are enclosed accommodating space, other portions houses of tumour respiratory movement analog platform
In in the accommodating space.Displacement plate 4 is set in human abdomen's body film, and is slidably connected on guide rail 5, and the side of air bag 10 is supported
It is connected on displacement plate 4, which moves reciprocatingly on guide rail 5 with the inflation/deflation of air bag 10.It is fixed to puncture imitative body 6
It is set on displacement plate 4, and is built-in with puncture target spot 61, which imitates body 6 and can move together with displacement plate 4.The present embodiment
The respiratory movement that imitative body 6 moves back and forth imitation splanchnocoel organ tumor is punctured using air pressure driving, while air pressure drives human body abdomen
The respiratory movement of the reciprocating motion simulation skin of the apery skin 1 of portion's body film, meanwhile, the present embodiment can be to inconsistent feelings of holding one's breath
Situation under condition and general breathing is simulated, and provides the scene of more close clinic for surgical training.
In the present embodiment, as the continuous inflation/deflation of air bag 10, volume constantly become larger or become smaller, pass through displacement plate 4
Driving punctures imitative body 6 and constantly moves back and forth, while air bag 10 drives apery skin 1 constantly to pump, and drives apery
The position mark point 11 pasted on skin 1 constantly pumps.
In a particular application, the left or right side that imitative body 6 can be located at displacement plate 4 is punctured, it is of course also possible to be displacement plate
Other positions on 4.
In one embodiment, human abdomen's body film includes the first side plate 2, the second side plate 3 and above-mentioned apery skin 1.Its
In, the second side plate 3 is oppositely arranged with the first side plate 2, is specially parallel to each other and is spaced setting, and the both ends of guide rail 5 are respectively with
Side plate 2 is connected with one end of the second side plate 3, and the both ends of apery skin 1 are another with the first side plate 2 and the second side plate 3 respectively
End connection, in turn, the first side plate 2, guide rail 5, the second side plate 3 and apery skin 1 are sequentially connected and are enclosed above-mentioned accommodating space.
In a particular application, the both ends of apery skin 1 can be adhered on the first side plate 2 and the second side plate 3, and the both ends of guide rail 5 can pass through
Fastener is fixedly connected on the first side plate 2 and the second side plate 3.
In one embodiment, in order to guarantee the steady contact of displacement plate 4 Yu air bag 10, displacement plate 4 is passed through into elastic component 7
It is connect with the second side plate 3, during 4 side-to-side movement of displacement plate, elastic component 7 remains compressive state.Specifically, this reality
The tumour respiratory movement analog platform for applying example further includes in horizontally disposed elastic component 7, one end of the elastic component 7 and displacement plate 4
It is fixedly connected, the other end of the elastic component 7 is fixedly connected with the second side plate 3.Preferably, which is spring.
In one embodiment, for support air bag 10, mounting plate 8 is also fixedly connected in human abdomen's body film.Tool
Body, the tumour respiratory movement analog platform of the present embodiment further includes the mounting plate 8 being fixedly connected in human abdomen's body mould, gas
Capsule 10 is set on mounting plate 8.Further, mounting plate 8 is in L font, including the horizontal part 81 that is mutually connected vertically and vertical
Portion 82, the left side of air bag 10 are connected on vertical portion 82, and the top side of air bag 10 is connected on the inner sidewall of apery skin 1, air bag
10 bottom side is connected on horizontal part 81, and the right side of air bag 10 is connected on displacement plate 4.In this way, when 10 inflation/deflation of air bag,
Volume, which constantly recycles, to become larger and becomes smaller, and air bag 10 pushes displacement plate 4 along the continuous bilateral reciprocation of guide rail 5, meanwhile, air bag 10 is also
Apery skin 1 is driven to move up and down.
In a particular application, as shown in Fig. 2, when 10 volume minimum of air bag, i.e. expiration last current state should ensure that mounting plate 8
The movement of apery skin 1 is not influenced with displacement plate 4, that is, needing to guarantee that the highest point of mounting plate 8 and displacement plate 4 is lower than air bag
Highest point when 10 volume minimum.
In one embodiment, displacement plate 4 includes support portion 401 interconnected and abutting part 402, wherein is punctured imitative
Body 6 is fixedly installed on support portion 401, and the right side of air bag 10 is connected on abutting part 402, one end of elastic component 7 and abutting part
402 sides far from air bag 10 are fixedly connected.
Further, displacement plate 4 further includes interconnecting piece 403, which is connected to support portion 401 and abutting part 402
Between, also, the interconnecting piece 403 is in L font.In the present embodiment, one end of interconnecting piece 403 is vertical with support portion 401 connect,
The other end of interconnecting piece 403 is extended inwardly, and abutting part 402 is vertically connected on the other end of interconnecting piece 403, wherein logical
Crossing setting interconnecting piece 403 can make overall structure more compact, and then reduce the body of entire tumour respiratory movement analog platform
Product.
In one embodiment, in order to reduce the frictional force between the support portion 401 of displacement plate 4 and guide rail 5, in displacement plate
The bottom of 4 support portion 401 is provided with multiple pulleys 9, which can slide on guide rail 5.Specifically, in displacement plate 4
The rear and front end of support portion 401 is respectively provided with there are two pulley 9.
In one embodiment, tumour respiratory movement analog platform further includes air pump 20, first direction valve 30, second direction
Valve 40 and controller 50.Wherein, air bag 10 is the acting device of inflation/deflation；Air pump 20 is the power-equipment of gas conveying, the gas
Pump 20 has air pump air inlet 21 is gentle to pump out port 22, and air pump 20 forms at its air pump air inlet 21 negative during the work time
It presses, forms positive pressure at air pump gas outlet 22.First direction valve 30 and second direction valve 40 can realize inflation gas circuit and deflation gas
The flexible switching on road, the first direction valve 30 have the first air inlet 31, the first gas outlet 32 and the first exhaust outlet 33, this first
Air inlet 31 is connected to air pump air inlet 21, and the first gas outlet 32 is connected to air bag 10, and the first exhaust outlet 33 is in communication with the outside；It should
Second direction valve 40 has the second air inlet 41, the second gas outlet 42 and the second exhaust outlet 43, second air inlet 41 and air pump
Gas outlet 22 is connected to, and the second gas outlet 42 is connected to air bag 10, and the second exhaust outlet 43 is in communication with the outside.Controller 50 respectively with gas
Pump 20, first direction valve 30 and second direction valve 40 are electrically connected, and for controlling air pump 20, first direction valve 30 and second party
To valve 40, and inflation/deflation process is controlled according to actual needs.
In the present embodiment, the first air inlet 31, the gas of the first exhaust outlet 33 of first direction valve 30, first direction valve 30
Pump steam inlet 21, air pump gas outlet 22, the second air inlet 41 of second direction valve 40, second direction valve 40 the second gas outlet 42
It is sequentially communicated to form inflation gas circuit with air bag 10；Air bag 10, the first gas outlet 32 of first direction valve 30, first direction valve 30
First air inlet 31, air pump air inlet 21, air pump gas outlet 22, second direction valve 40 the second air inlet 41 and second direction valve
40 the second exhaust outlet 43 is sequentially communicated to form deflation gas circuit.
The present embodiment passes through setting air bag 10, air pump 20, first direction valve 30, second direction valve 40 and controller 50,
In, air bag 10, first direction valve 30, air pump 20, second direction valve 40 and air bag 10 are in turn connected to form recycle circuit, specifically
Ground, the first exhaust outlet 33 of first direction valve 30, the first air inlet 31, air pump air inlet 21, the air pump of first direction valve 30 go out
Port 22, the second air inlet 41 of second direction valve 40, the second gas outlet 42 of second direction valve 40 and air bag 10 are sequentially communicated
Formed inflation gas circuit, air bag 10, the first gas outlet 32 of first direction valve 30, first direction valve 30 the first air inlet 31, gas
Pump steam inlet 21, air pump gas outlet 22, the second air inlet 41 of second direction valve 40 and the second exhaust outlet of second direction valve 40
43 are sequentially communicated to form deflation gas circuit, may be implemented in inflation gas circuit and deflation gas circuit by the state that controller 50 controls each component
Between flexible switching, and then complete active cycle inflation/deflation function, since gas replenishment process and deflation course have air pump 20
It participates in, inflation/deflation parameter can be adjusted flexibly according to actual needs；In addition, due to using single air pump 20, with existing double air pumps
The design for carrying out inflation/deflation respectively is compared, and is reduced costs.
Preferably, first direction valve 30 and second direction valve 40 are solenoid valve.Wherein, solenoid valve is right convenient for controller 50
It is controlled, under control of controller 50, any between the first air inlet 31, the first gas outlet 32 and the first exhaust outlet 33
The two may be implemented to be connected to, both any between the second air inlet 41, the second gas outlet 42 and the second exhaust outlet 43 to may be implemented
Connection.Certainly, in other embodiments, first direction valve 30 and second direction valve 40 can also be using other controlled valves.
In one embodiment, between air bag 10 and first direction valve 30, between air bag 10 and second direction valve 40, air pump
Pass through piping connection between 20 and first direction valve 30 and between air pump 20 and second direction valve 40.Wherein, which can
To be hose, it is also possible to hard tube.Preferably hose, hose is convenient for integrally-built arrangement, so that overall structure is more compact,
And then reduce integrally-built volume.
In one embodiment, it is contemplated that the pressure loss caused by air pump 20 will lead to the measurement error of charge and discharge gas circuit, because
This, is serially connected with first flow sensor on the pipeline between air pump air inlet 21 and the first air inlet 31 of first direction valve 30
60, which is used to detect the gas flow in corresponding pipeline；In air pump gas outlet 22 and second direction valve
It is serially connected with second flow sensor 70 on pipeline between 40 the second air inlet 41, the second flow sensor 70 is for detecting
Gas flow in corresponding pipeline.The first flow sensor 60 and second flow sensor 70 can real-time detection charge and discharge gas circuits
Flow parameter.The first flow sensor 60 and second flow sensor 70 are electrically connected with controller 50 respectively, pass through control
Device 50 receives the measurement result of first flow sensor 60 and second flow sensor 70 and controls inflation/deflation according to actual needs
Process.
In another embodiment, it is contemplated that the pressure loss caused by air pump 20 will lead to the measurement error of charge and discharge gas circuit,
Therefore, first pressure sensing is additionally provided on the pipeline between air pump air inlet 21 and the first air inlet 31 of first direction valve 30
Device 80, the first pressure sensor 80 are used to detect the gas pressure in corresponding pipeline；In air pump gas outlet 22 and second direction
It is additionally provided with second pressure sensor 90 on pipeline between second air inlet 41 of valve 40, the second pressure sensor 90 is for examining
Survey the gas pressure in corresponding pipeline.The first pressure sensor 80 and second pressure sensor 90 can real-time detection charge and discharge gas circuits
Pressure parameter.The first pressure sensor 80 and second pressure sensor 90 are electrically connected with controller 50 respectively, pass through control
Device 50 processed receives the measurement result of first pressure sensor 80 and second pressure sensor 90 and controls charge and discharge according to actual needs
Gas process.In the present embodiment, the parameter of inflation gas circuit and deflation gas circuit is measured respectively using dual sensor, is measured
As a result more reliable.
In one embodiment, on the pipeline between air pump air inlet 21 and the first air inlet 31 of first direction valve 30
It is connected with the first connector 101, which is three-way connection, also, there are three interfaces for first connector 101 tool, respectively
For first interface, second interface and third interface.Wherein, the first interface of the first connector 101 is connected to air pump air inlet 21, the
The second interface of one connector 101 is connected to the first air inlet 31 of first direction valve 30, and above-mentioned first pressure sensor 80 is arranged
In in the third interface of the first connector 101.In the present embodiment, by the way that three-way connection is arranged, in order to realize first direction valve
30 with the connection of air pump 20, while convenient for setting first pressure sensor 80.In addition, above-mentioned first flow sensor 60 is serially connected with
In pipeline between the second interface of first connector 101 and the first air inlet 31 of first direction valve 30.
In one embodiment, on the pipeline between air pump gas outlet 22 and the second air inlet 41 of second direction valve 40
It is connected with the second connector 102, which is three-way connection, also, there are three interfaces for second connector 102 tool, respectively
For first interface, second interface and third interface.Wherein, the first interface of the second connector 102 is connected to air pump gas outlet 22, the
The second interface of two connectors 102 is connected to the second air inlet 41 of second direction valve 40, and above-mentioned second pressure sensor 90 is arranged
In in the third interface of the second connector 102.In the present embodiment, by the way that three-way connection is arranged, in order to realize second direction valve
40 with the connection of air pump 20, while convenient for setting second pressure sensor 90.In addition, above-mentioned second flow sensor 70 is serially connected with
In pipeline between the second interface of second connector 102 and the second air inlet 41 of second direction valve 40.
In one embodiment, air bag 10 and first direction valve 30 the first gas outlet 32 and second direction valve 40 the
It is connected with third connector 103 on pipeline between two gas outlets 42, which is three-way connection, also, the third connects
There are three interfaces, respectively first interface, second interface and third interface for first 103 tool.Wherein, the first of the third connector 103
Interface is connected to air bag 10, and the second interface of third connector 103 is connected to the first gas outlet 32 of first direction valve 30, and third connects
First 103 third interface is connected to the second gas outlet 42 of second direction valve 40.In the present embodiment, it is connected by setting three
Head, in order to realize the connection of charge and discharge gas circuit Yu air bag 10.
In one embodiment, the first exhaust outlet 33 of first direction valve 30 is communicated with the atmosphere, and the of second direction valve 40
Two exhaust outlets 43 are communicated with the atmosphere.During inflation, atmosphere is passed through out of first exhaust outlet 33 and is finally passed through air bag 10；
During deflation, the gas of air bag 10 is expelled to atmosphere from the second exhaust outlet 43.
In another embodiment, the first exhaust outlet 33 of first direction valve 30 is used to be passed through the gas crossed through processing
Second exhaust outlet 43 of body, second direction valve 40 is communicated with the atmosphere.During inflation, be passed through out of first exhaust outlet 33 through
Gas that working process is crossed simultaneously finally is passed through air bag 10；During deflation, air bag 10 through processing cross gas from
Second exhaust outlet 43 is expelled to atmosphere.
Referring to Fig. 3, gas replenishment process is as follows when air bag 10 needs to inflate: the first air inlet of first direction valve 30
31 are connected to the first exhaust outlet 33, and the first gas outlet 32 is closed, the second air inlet 41 of second direction valve 40 and the second gas outlet
42 connections, the second exhaust outlet 43 are closed, air pump 20 using atmosphere as gas source, first exhaust outlet 33 of the air through first direction valve 30,
First air inlet 31, first flow sensor 60, the first connector 101, air pump air inlet 21, air pump 20, air pump gas outlet 22,
Two connectors 102, second flow sensor 70, the second air inlet 41 of second direction valve 40, the second gas outlet 42, third connector
103 enter air bag 10, which is inflation gas circuit, as shown by arrows in Figure 3, wherein second pressure sensor 90 is for measuring
The pressure of gas circuit is inflated, second flow sensor 70 is used to measure the flow of inflation gas circuit.
Referring to Fig. 4, when air bag 10 needs to deflate, the first air inlet 31 of first direction valve 30 and the first gas outlet 32
Connection, the first exhaust outlet 33 are closed, and the second air inlet 41 of second direction valve 40 is connected to the second exhaust outlet 43, the second gas outlet
42 close, and air pump 20 is using the air in air bag 10 as gas source, and air is from air bag 10 through third connector 103, first direction valve 30
The first gas outlet 32, the first air inlet 31, first flow sensor 60, the first connector 101, air pump air inlet 21, air pump 20,
Air pump gas outlet 22, the second connector 102, second flow sensor 70, second direction valve 40 the second air inlet 41, the second exhaust gas
Mouth 43 enters atmosphere, which is deflation gas circuit, as shown by arrows in Figure 3, wherein first pressure sensor 80 is put for measuring
The pressure of gas gas circuit, first flow sensor 60 are used to measure the flow of deflation gas circuit.
During above-mentioned inflation/deflation, controller 50 carries out the flow control of gas circuit by changing the voltage of air pump 20
System, controller 50 are filled according to the conducting direction of design requirement real-time control first direction valve 30 and second direction valve 40
The switching on deflation road, and receive inflation airline pressure, stream that second pressure sensor 90 and second flow sensor 70 measure
Deflation airline pressure that amount parameter and first pressure sensor 80 and first flow sensor 60 measure, flow parameter point
It is other that charge and discharge gas path parameter is adjusted.
Referring to Fig. 7, the embodiment of the invention also provides a kind of knub position estimation method, use it is as above any one
Tumour respiratory movement analog platform described in embodiment, the knub position estimation method the following steps are included:
S1, test simultaneously record tidal volume data, the position data of position mark point 11 of the air bag 10 during inflation/deflation,
And puncture the position data of the puncture target spot 61 in imitative body 6；
S2, the association for establishing tidal volume, 1 surface position mark point of apery skin, 11 position and 61 position of puncture target spot
Model；
S3, according to tumor target in 11 location estimation human abdomen's body mould of tidal volume and 1 surface position mark point of apery skin
The position of point.
Wherein, above-mentioned correlation model can be linear function or quadratic function.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment,
The execution sequence of each process should be determined by its function and internal logic, and the implementation process without coping with the embodiment of the present invention, which is constituted, appoints
What is limited.
In the present embodiment, as the continuous inflation/deflation of air bag 10, volume constantly become larger and become smaller, pass through displacement plate 4
Driving punctures imitative body 6 and constantly moves back and forth, while air bag 10 drives apery skin 1 constantly to pump, and drives apery
The position mark point 11 pasted on skin 1 constantly pumps.By the tide for testing and recording 10 inflation/deflation process of air bag
The position data of tolerance data, position mark point 11 punctures the position data of the puncture target spot 61 of imitative body 6, establishes tidal volume, imitates
The correlation model of 1 surface position mark point of application on human skin 11 position and 61 position of puncture target spot, thus according to tidal volume and apery skin
The position of tumor targets in 1 surface position mark point of skin, 11 location estimation human abdomen's body mould, can be to inconsistent situation of holding one's breath
It is simulated with the situation under general breathing, provides the scene of more close clinic for surgical training.
The foregoing is merely alternative embodiments of the invention, are not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. tumour respiratory movement analog platform, which is characterized in that perform the operation for percutaneous puncture, comprising:
Human abdomen's body mould is in interior hollow structure, and is covered with apery skin, is provided with position mark point on the apery skin；
Air bag is fixedly installed in human abdomen's body mould, and recyclable inflation/deflation, and the air bag is during inflation/deflation
It remains and the apery skin contact；
Guide rail is set on human abdomen's body film, and is oppositely arranged with the apery skin；
Displacement plate is slidably connected on the guide rail, and the side of the air bag is connected on the displacement plate, the displacement plate with
The inflation/deflation of the air bag and move reciprocatingly on the guide rail；And
Imitative body is punctured, is fixedly installed on the displacement plate, and be built-in with puncture target spot.
2. tumour respiratory movement analog platform as described in claim 1, which is characterized in that human abdomen's body mould includes:
First side plate；
Second side plate is oppositely arranged with first side plate, the both ends of the guide rail respectively with first side plate and second side
One end of plate connects；And
The apery skin, both ends are connect with the other end of first side plate and the second side plate respectively.
3. tumour respiratory movement analog platform as claimed in claim 2, which is characterized in that the tumour respiratory movement simulation is flat
Platform further includes in horizontally disposed elastic component, and one end of the elastic component is connect with the displacement plate, the elastic component it is another
End is connect with second side plate.
4. tumour respiratory movement analog platform as described in claim 1, which is characterized in that the tumour respiratory movement simulation is flat
Platform further includes the mounting plate being fixedly connected in human abdomen's body mould, and the air bag is set on the mounting plate.
5. tumour respiratory movement analog platform as claimed in claim 4, which is characterized in that the mounting plate is in L font, including
The horizontal part being mutually connected vertically and vertical portion are connected on the vertical portion on the left of the air bag, the top side of the air bag
It is connected on the apery skin, the bottom side of the air bag is connected on the horizontal part, and institute is connected on the right side of the air bag
It states on displacement plate.
6. tumour respiratory movement analog platform as claimed in claim 3, which is characterized in that the displacement plate includes setting in level
The support portion set, and in the abutting part being vertically arranged, the imitative body of puncture is fixedly installed on the support portion, the air bag
It is connected on the abutting part, one end of the elastic component is fixedly connected with the abutting part far from the side of the air bag.
7. tumour respiratory movement analog platform as claimed in claim 6, which is characterized in that the displacement plate further includes being connected to
Interconnecting piece between the support portion and the abutting part, the interconnecting piece are in L font.
8. tumour respiratory movement analog platform as described in any one of claim 1 to 7, which is characterized in that the tumour breathing
Motion simulation platform further includes the multiple pulleys for being set to the displacement plate bottom, and the pulley is slided on the guide rail.
9. tumour respiratory movement analog platform as described in any one of claim 1 to 7, which is characterized in that the tumour breathing
Motion simulation platform further include:
Air pump, has that air pump air inlet is gentle pumps out port；
First direction valve has the first air inlet, the first gas outlet and the first exhaust outlet, first air inlet and the air pump
Air inlet connection, first gas outlet are connected to the air bag, and first exhaust outlet is in communication with the outside；
Second direction valve has the second air inlet, the second gas outlet and the second exhaust outlet, second air inlet and the air pump
Gas outlet connection, second gas outlet are connected to the air bag, and second exhaust outlet is in communication with the outside；And
Controller, respectively with the air pump, first direction valve and second direction valve be electrically connected, and for control the air pump,
First direction valve and second direction valve；
First exhaust outlet, the first air inlet, air pump air inlet, air pump gas outlet, the second air inlet, the second gas outlet are gentle
Capsule is sequentially communicated to form inflation gas circuit；The air bag, the first gas outlet, the first air inlet, air pump air inlet, air pump gas outlet,
Second air inlet and the second exhaust outlet are sequentially communicated to form deflation gas circuit.
10. knub position estimation method, which is characterized in that use tumour respiratory movement as described in any one of claim 1 to 9
Analog platform, the knub position estimation method the following steps are included:
Tidal volume data, the position data of position mark point of the air bag during inflation/deflation are tested and recorded, and is punctured imitative
The position data of intracorporal puncture target spot；
Establish the correlation model of tidal volume, apery skin surface position mark point position and puncture target spot position；
According to the position of tumor targets in tidal volume and apery skin surface position mark point location estimation human abdomen's body mould.
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