CN113823161B - Double-channel interventional operation simulation device and simulation control method - Google Patents
Double-channel interventional operation simulation device and simulation control method Download PDFInfo
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Abstract
The invention discloses a double-channel interventional operation simulation device and a simulation control method. The simulation device comprises a base body, wherein a plurality of detection stations are arranged on the base body, intervention channels serving as walking channels of interventional surgical instruments are respectively arranged on the detection stations, and detection assemblies used for detecting the passed interventional surgical instruments are respectively arranged at the detection stations; the detection stations comprise an inlet detection station, a first middle detection station, a second middle detection station, a first tail end detection station and a second tail end detection station; and the base body is also provided with a guide mechanism. The invention can respectively introduce two guide wires which are inserted successively into different channels, simulate the double-guide-wire operation, ensure that the hand feeling of the double-guide-wire insertion operation is fit for clinic and achieve the aim of simulation training.
Description
Technical Field
The invention relates to an interventional operation simulation device and a control method based on the simulation device.
Background
The interventional operation is a common surgical minimally invasive operation and is mainly used for operations such as acute coronary occlusion, chronic coronary occlusion, cerebrovascular blockage, cerebral hemangioma, thoracic aortic aneurysm, lower limb stenosis and the like, and has high operation difficulty and high requirement on the skill of a doctor.
The instruments used in the operation mainly comprise a catheter, a bracket, a guide wire and the like. The catheter firstly enters the body, and the guide wire and the stent are both arranged inside the catheter; the guide wire runs along the catheter under the support of the bracket and is used as a core operation tool to reach a target position for corresponding operation.
In clinical coronary artery interventional operation, a surgical method called double-guide-wire technology is adopted, a catheter is firstly inserted into a coronary artery blood vessel, then two guide wires (corresponding to two groups of stents) are inserted into the catheter, one guide wire enters a branch blood vessel, the other guide wire enters a diseased blood vessel, the purpose is to prevent plaque displacement from blocking the branch blood vessel when the diseased blood vessel is treated by saccule expansion, and the surgical method is a surgical method commonly used in interventional operation.
In order to assist doctors in practicing the double-guide-wire interventional operation, accumulate operation experience and improve the operation level, a device capable of simulating the double-guide-wire interventional operation is needed. The device must be able to introduce two guide wires inserted one after the other into different channels and to enable the detection of instruments such as catheters, stents and guide wires. The prior art does not have the device, and the purpose of simulated training cannot be achieved.
Disclosure of Invention
The invention provides a double-channel interventional operation simulation device and a simulation control method, and aims to provide a double-channel interventional operation simulation device and a simulation control method, wherein the device comprises the following components: the interventional operation simulation device can introduce two guide wires which are inserted in sequence into different channels, simulate double-guide-wire operation, detect a catheter, a bracket and the guide wires and provide feedback data for simulated training.
The technical scheme of the invention is as follows:
a double-channel type interventional operation simulation device comprises a base body, wherein a plurality of detection stations are arranged on the base body, interventional channels serving as walking channels of interventional operation instruments are respectively arranged on the detection stations, and detection assemblies used for detecting the passing interventional operation instruments are respectively arranged at the detection stations;
the detection stations comprise an inlet detection station, a first middle detection station, a second middle detection station, a first tail end detection station and a second tail end detection station;
the substrate is also provided with a guide mechanism, and the guide mechanism is internally provided with an inlet channel, a guide channel, a first branch channel and a second branch channel; the front end of the inlet channel, the rear end of the first branch channel and the rear end of the second branch channel are respectively communicated with the guide channel; the guide mechanism also comprises an indexing motor and a guide rudder which is arranged in the guide channel and driven by the indexing motor to rotate;
the intervention channel of the inlet detection station is communicated with the rear end of the inlet channel through a connecting pipe assembly; the front end of the first branch channel is communicated with the intervention channel of the first tail end detection station through the intervention channel of the first middle detection station and a connecting pipe assembly in sequence; the front end of the second branch channel is communicated with the intervention channel of the second tail end detection station through the intervention channel of the second middle detection station and a connecting pipe assembly in sequence;
the connecting pipe assembly is telescopic.
As a further improvement of the above simulation apparatus: each detection station is provided with a diameter detection mechanism as the detection assembly; the diameter detection mechanism comprises an encoder, a rotating block and a return spring;
the encoder is arranged on the base body, and the rotating block is arranged on a rotating shaft of the encoder;
an opening is formed in the intervention channel, and the rotating block is located at the opening;
the rotating block is provided with a first extending part; the reset spring is connected with the rotating block and used for pushing the rotating block to rotate so that the first extending part is contacted with the inner wall part on the intervention channel, which is positioned on the opposite side of the opening.
As a further improvement of the above simulation apparatus: at least one detection station is provided with a clamping mechanism for simulating plaque obstruction; the clamping mechanism comprises a movable contact block arranged in a through hole at the bottom of the intervention channel and a pushing mechanism used for pushing the movable contact block to move upwards.
As a further improvement of the above simulation apparatus: the pushing mechanism comprises a push rod motor, a connecting rod, a rotary connecting block and a flexible ejector head;
the push rod motor is arranged on the base body, and the rotary connecting block is arranged on the base body in a rotating fit manner;
one end of the connecting rod is rotatably connected with a telescopic rod of the push rod motor, the other end of the connecting rod is rotatably connected with one end of the rotating connecting block, and the flexible ejecting head is installed at the other end of the rotating connecting block and is used for being in contact with the bottom of the movable contact block.
As a further improvement of the above simulation apparatus: the detection assembly at least at one position of the first middle detection station, the second middle detection station, the first tail end detection station and the second tail end detection station comprises a diameter detection mechanism, a moving state detection device for detecting the displacement and/or the rotation angle of an interventional surgical tool in an interventional channel and a clamping mechanism for simulating plaque obstruction;
the diameter detection mechanism comprises an encoder, a rotating block and a return spring; the encoder is arranged on the base body, and the rotating block is arranged on a rotating shaft of the encoder; an opening is formed in the intervention channel, and the rotating block is located at the opening; the rotating block is provided with a first extending part; the reset spring is connected with the rotating block and used for pushing the rotating block to rotate so as to enable the first extending part to be in contact with the inner wall part of the intervention channel, which is positioned on the opposite side of the opening;
the detection point of the moving state detection device and the clamping point of the clamping mechanism are respectively positioned at two sides of the opening.
As a further improvement of the above simulation apparatus: the connecting pipe assembly comprises an inner pipe, an outer pipe, a positioning sleeve and a compression spring; the front end of the inner tube is inserted into the rear end of the outer tube, the positioning sleeve is fixed on the outer wall of the inner tube, the front end of the compression spring is in contact with the rear end face of the outer tube, and the rear end of the compression spring is in contact with the front end face of the positioning sleeve.
As a further improvement of the above simulation apparatus: the left side wall and the right side wall of the inlet channel are gradually close to each other from back to front, and the upper side wall and the lower side wall are gradually close to each other from back to front, so that the area of a rear port of the inlet channel is larger than that of a front port.
The invention also provides a simulation control method based on the simulation device, which comprises the following steps:
in the execution process of the steps, the detection assembly sends the detected data to the upper computer in real time, the upper computer compares the detected data with preset operation data, judges whether the requirements are met, and controls the steering rudder to act according to the judgment result.
As a further improvement of the above control method: and if the sequence of the detection data obtained by the upper computer does not accord with the steps 1 to 4, or the judgment result of the upper computer after obtaining the detection data does not meet the requirement, the upper computer sends an alarm to prompt an operation error.
As a further improvement of the above control method: at least one detection station is also provided with a clamping mechanism for simulating plaque obstruction;
when the upper computer detects that the interventional surgical instrument reaches the preset plaque position, the corresponding clamping mechanism is controlled to clamp the interventional surgical instrument in the interventional channel at the position, and the situation that the interventional surgical instrument meets the plaque is simulated.
Compared with the prior art, the invention has the following beneficial effects: (1) The device can respectively introduce two guide wires which are inserted successively into different channels, simulate double-guide-wire operation, enable the hand feeling of the double-guide-wire insertion operation to be fitted clinically, and achieve the purpose of simulation training; (2) The catheter, the two groups of brackets and the two guide wires can be further independently detected, the problem of mutual interference between the two guide wires is solved, and accurate feedback detection data are finally provided for an upper computer; (3) A plurality of groups of detection assemblies are arranged to respectively detect the guide wire, the catheter and the bracket; (4) For the guide wire with a small diameter, the relative positions of the clamping mechanism, the diameter detection mechanism and the moving state detection device are reasonably arranged, and the detection of the moving state detection device is prevented from being influenced when the clamping mechanism acts.
Drawings
FIG. 1 is a schematic view of the overall structure of the apparatus;
FIG. 2 is a schematic structural view of a detection assembly of an inlet detection station and a corresponding clamping mechanism of the device;
FIG. 3 is a schematic view of the guide mechanism;
FIG. 4 is an exploded view of the guide mechanism;
FIG. 5 is a schematic structural view of a middle/end sensing assembly portion and a corresponding clamping analog mechanism portion;
FIG. 6 is a schematic structural view of the connector assembly;
fig. 7 is an exploded view of the connector assembly.
Detailed Description
The technical scheme of the invention is explained in detail in the following with the accompanying drawings:
referring to fig. 1, a two-channel interventional operation simulation device and a simulation control method thereof include a base 1 formed by a metal frame body processed by CNC, and five detection stations are arranged on the base 1, namely an entrance detection station 2, a first middle detection station 5, a second middle detection station 8, a first end detection station 6 and a second end detection station 7. Referring to fig. 2 and 5, each detection station is provided with an intervention channel 100 as a walking channel of an intervention surgical instrument, and each detection station is further provided with a detection assembly for detecting the passed intervention surgical instrument.
In this embodiment, the access passage 100 is defined by a through groove at the top of the base on the substrate 1 and a cover plate located above the through groove.
As shown in fig. 1, 3 and 4, a guide mechanism 4 is further disposed on the base body 1, and a main body of the guide mechanism 4 includes a base plate 4-1 and an upper cover 4-2. The base plate 4-1 is provided with a Y-shaped through groove, and the through groove and the upper cover 4-2 form an inlet channel 4-7, a guide channel 4-6, a first branch channel 4-5 and a second branch channel 4-8. The front end of the inlet channel 4-7, the rear end of the first branch channel 4-5 and the rear end of the second branch channel 4-8 are respectively communicated with the guide channel 4-6. The branch passage is arc-shaped, so that the resistance of the guide wire passing can be reduced.
The guide mechanism 4 further comprises an indexing motor 4-3 (preferably a servo motor fixedly arranged on a connecting frame of the base body 1 through a screw) and a guide rudder 4-4 which is arranged in the guide channel 4-6 and is arranged on an output shaft of the indexing motor 4-3 through a screw.
Preferably, the left side wall and the right side wall of the inlet channel 4-7 are gradually close from back to front, and the upper side wall and the lower side wall are gradually close from back to front, so that the area of the rear port of the inlet channel 4-7 is larger than that of the front port, the inserted guide wire is opposite to the guide rudder 4-4 as far as possible, and the guide wire is prevented from being clamped in a gap between the guide rudder 4-4 and the upper cover 4-2 or the base plate 4-1.
As shown in fig. 1, the access passage 100 of the entrance inspection station 2 communicates with the rear end of the entrance passages 4-7 through a connecting tube assembly 3; the front end of the first branch channel 4-5 is communicated with the intervention channel 100 of the first tail end detection station 6 through the intervention channel 100 of the first middle detection station 5 and a connecting pipe component 3 in sequence; the front ends of the second branch passages 4-8 are communicated with the intervention passage 100 of the second end detection station 7 sequentially through the intervention passage 100 of the second middle detection station 8 and a connecting pipe assembly 3.
The connecting pipe assembly 3 is telescopic. As shown in fig. 6 and 7, the connection pipe assembly 3 includes an inner pipe 3-1, an outer pipe 3-4, a position sleeve 3-2, and a compression spring 3-3; the front end of the inner tube 3-1 is inserted into the rear end of the outer tube 3-4, a set screw at the side of the positioning sleeve 3-2 is fixed on the outer wall of the inner tube 3-1, the front end of the compression spring 3-3 is in contact with the rear end face of the outer tube 3-4, and the rear end of the compression spring is in contact with the front end face of the positioning sleeve 3-2. During installation, the length of the connecting pipe assembly 3 is firstly shortened, the front end and the rear end of the connecting pipe assembly are respectively aligned to the front channel and the rear channel, and then the connecting pipe assembly 3 is gradually loosened to extend to complete installation. The telescopic structure can reduce the installation difficulty, and the installation can be completed without disassembling the base body 1.
As shown in fig. 2 and 5, each detection station is provided with a diameter detection mechanism (one of the detection components); the diameter detection mechanism comprises an encoder 200-1, a rotating block 200-2 and a return spring 200-3.
The encoder 200-1 is an absolute type and is installed on the base body 1, and the rotating block 200-2 is installed on a rotating shaft of the encoder 200-1.
An opening is formed in the intervention channel 100, and the rotating block 200-2 is located at the opening. The turning block 200-2 is provided with a first extending part and a second extending part. The upper end of the return spring 200-3 is in contact with the bottom of the second extending part of the rotating block 200-2, and the lower end of the return spring is sleeved on the positioning column on the base body 1, so as to push the rotating block 200-2 to rotate, and thus the first extending part is in contact with the inner wall part of the intervention channel 100, which is positioned on the opposite side of the opening. Furthermore, more than two positioning columns are arranged on the base body 1 side by side, so that the position of the return spring 200-3 can be conveniently adjusted.
Preferably, the first extending portion extends toward the outlet end of the intervention passage 100, and an inclined surface facing one side of the inlet end of the intervention passage 100 is arranged on the first extending portion. When the guide wire and the catheter enter the intervention channel 100, the front end firstly touches the inclined plane to directly push the rotating block 200-2 to rotate, so that the resistance of the relative movement of the guide wire and the catheter is reduced.
The tail end of the first extending part is also provided with a round angle, so that the guide wire and the catheter are prevented from being scratched when passing through the tail end of the first extending part.
When a catheter, guide wire, or other instrument passes through the first extension 2, the turning block 200-2 is pushed to rotate and pass through the access channel 100. Under the action of the return spring 200-3, the first extending part always rotates upwards to clamp the instrument together with the top cover plate, the gap between the first extending part and the cover plate is the diameter of the instrument, and the size of the gap also determines the angular position of the rotating block 200-2, so that the rotating angle of the rotating block 200-2 is obtained through the encoder 200-1, and the diameter size can be further obtained according to the corresponding relation between the rotating angle of the rotating block 200-2 and the diameters of the inserted guide wire and the inserted guide pipe.
One achievable diameter calculation method is: the inclined angle of the inclined plane of the rotating block 200-2 relative to the interventional channel 100 in the initial period is recorded in advance, and the diameter of the instrument is obtained through geometric calculation by combining the rotating angle of the guide wire passing through the rotating block 200-2 and the size of the component.
On the other hand, since the diameter specification is limited, it is also possible to insert instruments of different diameters into the interventional channel 100 in advance, record the angle of rotation of the rotating block 200-2, construct a look-up table by associating the diameters with the angles, and then rapidly obtain the diameter size by a table look-up method in the simulation operation.
During clinical surgery, catheters and guide wires are often blocked by plaque in blood vessels. When a plurality of inexperienced doctors just meet the situations, the emotional fluctuation is caused by the sudden change of the hand feeling, and the misoperation occurs. In order to simulate the situation of encountering plaques, the device is also provided with a clamping mechanism, so that a trained doctor can experience and be familiar with the hand feeling under the situation, and can face more leisurely under the similar situation encountered in a clinical state.
As shown in fig. 2 and 5, the clamping mechanism is also provided near the inspection station, and includes a movable contact 300-5 installed in a through hole at the bottom of the intervention channel 100 and a pushing mechanism for pushing the movable contact 300-5 to move upward. Specifically, the pushing mechanism comprises a push rod motor 300-1, a connecting rod 300-2, a rotary connecting block 300-3 and a flexible plug 300-4.
The push rod motor 300-1 is horizontally arranged on the base body 1, and the rotary connecting block 300-3 is arranged on the base body 1 through a rotary shaft. One end of the connecting rod 300-2 is rotatably connected with the telescopic rod of the push rod motor 300-1, the other end is rotatably connected with one end of the rotating connecting block 300-3, and the flexible top 300-4 is mounted at the other end of the rotating connecting block 300-3 through a screw and is used for contacting with the bottom of the movable contact block 300-5.
When the push rod motor 300-1 extends, the rotary connecting block 300-3 rotates, the jacking head 300-4 moves upwards, the movable contact block 300-5 is jacked up, and the movable contact block and the upper wall of the interventional channel 100 clamp a catheter or a guide wire together, so that the situation of encountering plaques is simulated. When the push rod motor 300-1 is shortened, the top head 300-4 falls, the movable contact block 300-5 automatically falls under the action of gravity, and a guide wire or a guide pipe is loosened.
The rated thrust of the push rod motor 300-1 is 60N. The output thrust is changed by adjusting the input voltage of the push rod motor 300-1, so that the upward thrust of the movable contact block 300-5 is controlled, and the purpose of adjusting the clamping force is achieved.
The detection assembly at the detection station further comprises a movement state detection means 400 for detecting a displacement and/or a rotation angle of the interventional surgical instrument in the interventional channel 100. In this embodiment, a VL53L1X laser ranging sensor is used to detect the moving speed, displacement, and rotation angle of a guide wire, a catheter, and the like in the intervention channel 100. Other detection mechanisms can also be adopted, such as an operation information acquisition unit used in the system and the method for cooperatively controlling the catheter and the guide wire of the robot for the vascular interventional surgery in the Chinese patent with the publication number of CN 109730779A.
As shown in fig. 2, the conduit detected at the entrance detection station 2 has the largest diameter and better rigidity, so that even if the conduit is clamped by the clamping mechanism, the conduit will not be greatly displaced, resulting in an error in detection of the moving state detection device 400 (especially, non-contact type, not shown in the figure). However, as in fig. 5, the situation is different between the intermediate inspection station and the end inspection station. If the clamping mechanism is close to the moving state detection device 400, the guide wire is very thin, and after the clamping mechanism clamps the guide wire, the guide wire can be greatly deviated, which easily causes an obvious error in the detection result of the moving state detection device 400. In order to solve the problem, in the middle detection station and the end detection station, the detection point of the moving state detection device 400 and the clamping point of the clamping mechanism are respectively arranged at two sides of the opening, the guide wire is automatically and slightly clamped by the rotating block 200-2 of the diameter detection mechanism, the clamping mechanism is separated from the moving state detection device 400, the guide wire at the front side of the rotating block 200-2 is ensured to be stable all the time, the guide wire cannot shake along with the action of the clamping mechanism, and the detection error is eliminated.
The steps of the simulation control method are as follows:
And 2, indexing a guide rudder 4-4 of a guide mechanism 4, leading a first guide wire entering along the guide pipe to reach a first tail end detection station 6 through a first branch channel 4-5 and a first middle detection station 5 (diameter detection and plaque simulation clamping can be performed in advance during passing) under the guide of the guide rudder 4-4, and switching to the step 3 after a diameter detection mechanism of the first tail end detection station 6 detects the first guide wire and the diameter of the first guide wire meets the requirement.
And 3, re-indexing the guide rudder 4-4 of the guide mechanism 4 to enable a second guide wire entering along the guide pipe to pass through a second branch passage 4-8 and a second middle detection station 8 (diameter detection and plaque simulation clamping can be performed in advance during passing) under the guide of the guide rudder 4-4 to reach a second tail end detection station 7, and after the diameter detection mechanism of the second tail end detection station 7 detects the second guide wire and the diameter of the second guide wire meets the requirement, shifting to the step 4.
And 4, returning the guide rudder 4-4 to the middle position, respectively waiting for the arrival of the first support and the second support corresponding to the first guide wire and the second guide wire by the detection assemblies of the first middle detection station 5 and the second middle detection station 8, and detecting whether the diameter of the corresponding support meets the requirement.
In the execution process of the steps, the diameter detection mechanism can send the detected data to the upper computer in real time, the upper computer compares the diameter detection value with preset data, judges whether the requirements are met, and controls the guide rudder 4-4 to act according to the judgment result. And if the sequence of the detection data obtained by the upper computer does not accord with the steps 1 to 4, or the judgment result of the upper computer after the detection data is obtained does not meet the requirement, the upper computer sends an alarm to prompt an operation error.
On the other hand, when the upper computer detects that the interventional operation instrument reaches the preset plaque position, the corresponding clamping mechanism can be controlled to clamp the interventional operation instrument in the interventional channel 100 at the position, and the situation that the interventional operation instrument meets the plaque is simulated.
During operation, the movement state detection device 400 can detect the movement speed, displacement and rotation angle of a guide wire, a catheter and the like in the intervention channel 100 in real time. Obviously, in combination with the diameter data obtained by the diameter detection mechanism, the upper computer can determine which type of interventional device the current movement state detection device 400 detects. The obtained speed, displacement and rotation angle can be used as the display content of an upper computer for reference of a doctor, and the running tracks and positions of guide wires and the like in a human body can be further calculated based on the data, superposed on the cardiovascular and cerebrovascular tissue images and displayed on a screen for perception and comparison of an operator, so that the aim of simulation training is fulfilled.
Claims (9)
1. A two-channel interventional surgery simulation device comprises a base body (1), and is characterized in that: the base body (1) is provided with a plurality of detection stations, each detection station is provided with an intervention channel (100) serving as a walking channel of an intervention surgical instrument, and each detection station is also provided with a detection assembly for detecting the passed intervention surgical instrument;
the detection stations comprise an inlet detection station (2), a first middle detection station (5), a second middle detection station (8), a first tail end detection station (6) and a second tail end detection station (7);
the base body (1) is also provided with a guide mechanism (4), and an inlet channel (4-7), a guide channel (4-6), a first branch channel (4-5) and a second branch channel (4-8) are arranged in the guide mechanism (4); the front end of the inlet channel (4-7), the rear end of the first branch channel (4-5) and the rear end of the second branch channel (4-8) are respectively communicated with the guide channel (4-6); the guide mechanism (4) further comprises an indexing motor (4-3) and a guide rudder (4-4) which is arranged in the guide channel (4-6) and driven to rotate by the indexing motor (4-3);
the intervention channel (100) of the inlet detection station (2) is communicated with the rear end of the inlet channel (4-7) through a connecting pipe component (3); the front end of the first branch channel (4-5) is communicated with the intervention channel (100) of the first tail end detection station (6) through the intervention channel (100) of the first middle detection station (5) and a connecting pipe component (3) in sequence; the front end of the second branch channel (4-8) is communicated with the intervention channel (100) of the second tail end detection station (7) through the intervention channel (100) of the second middle detection station (8) and a connecting pipe assembly (3) in sequence;
the connecting pipe assembly (3) is telescopic.
2. The dual channel interventional procedure simulation device of claim 1, wherein: each detection station is provided with a diameter detection mechanism as the detection assembly; the diameter detection mechanism comprises an encoder (200-1), a rotating block (200-2) and a return spring (200-3);
the encoder (200-1) is arranged on the base body (1), and the rotating block (200-2) is arranged on a rotating shaft of the encoder (200-1);
an opening is formed in the intervention channel (100), and the rotating block (200-2) is located at the opening;
the rotating block (200-2) is provided with a first extending part; the return spring (200-3) is connected with the rotating block (200-2) and used for pushing the rotating block (200-2) to rotate so that the first extending part is contacted with the inner wall part on the opposite side of the opening of the intervention channel (100).
3. The dual channel interventional procedure simulation device of claim 1, wherein: at least one detection station is provided with a clamping mechanism for simulating plaque obstruction; the clamping mechanism comprises a movable contact block (300-5) arranged in a through hole at the bottom of the intervention channel (100) and a pushing mechanism used for pushing the movable contact block (300-5) to move upwards.
4. The dual channel interventional procedure simulation device of claim 3, wherein: the pushing mechanism comprises a push rod motor (300-1), a connecting rod (300-2), a rotary connecting block (300-3) and a flexible ejector head (300-4);
the push rod motor (300-1) is arranged on the base body (1), and the rotary connecting block (300-3) is arranged on the base body (1) in a rotating fit manner;
one end of the connecting rod (300-2) is rotatably connected with the telescopic rod of the push rod motor (300-1), the other end of the connecting rod is rotatably connected with one end of the rotating connecting block (300-3), and the flexible top head (300-4) is installed at the other end of the rotating connecting block (300-3) and is used for being in contact with the bottom of the movable contact block (300-5).
5. The dual channel interventional procedure simulation device of claim 1, wherein: the detection assembly at least one of the first middle detection station (5), the second middle detection station (8), the first end detection station (6) and the second end detection station (7) comprises a diameter detection mechanism, a moving state detection device (400) for detecting the displacement and/or rotation angle of an interventional surgical instrument in the interventional channel (100) and a clamping mechanism for simulating plaque obstruction;
the diameter detection mechanism comprises an encoder (200-1), a rotating block (200-2) and a return spring (200-3); the encoder (200-1) is arranged on the base body (1), and the rotating block (200-2) is arranged on a rotating shaft of the encoder (200-1); an opening is formed in the intervention channel (100), and the rotating block (200-2) is located at the opening; a first extending part is arranged on the rotating block (200-2); the return spring (200-3) is connected with the rotating block (200-2) and is used for pushing the rotating block (200-2) to rotate so as to enable the first extending part to be in contact with the part, located on the opposite side of the opening, of the inner wall of the intervention channel (100);
the detection point of the moving state detection device (400) and the clamping point of the clamping mechanism are respectively positioned at two sides of the opening.
6. The dual channel interventional procedure simulation device of any one of claims 1 to 5, wherein: the left and right side walls of the inlet channel (4-7) are gradually close from back to front, and the upper and lower side walls are gradually close from back to front, so that the rear port area of the inlet channel (4-7) is larger than the front port area.
7. The simulation control method based on the dual-channel interventional operation simulation device of claim 1, characterized by comprising the following steps:
step 1, detecting whether a conduit is inserted by a detection assembly positioned at an inlet detection station (2), detecting whether the diameter of the inserted conduit meets the requirement, and switching to step 2 after the requirement is met;
2, the guide rudder (4-4) of the guide mechanism (4) is indexed, a first guide wire entering along the guide pipe is guided by the guide rudder (4-4) to reach a first tail end detection station (6) through a first branch channel (4-5) and a first middle detection station (5), and a detection assembly of the first tail end detection station (6) detects the first guide wire and the diameter of the first guide wire meets the requirement, and then the step 3 is carried out;
step 3, the guide rudder (4-4) of the guide mechanism (4) is indexed again, a second guide wire entering along the guide pipe is guided by the guide rudder (4-4) to reach a second tail end detection station (7) through a second branch passage (4-8) and a second middle detection station (8), and after a detection assembly of the second tail end detection station (7) detects the second guide wire and the diameter of the second guide wire meets the requirement, the step 4 is switched to;
step 4, the guide rudder (4-4) returns to the middle position, the detection components of the first middle detection station (5) and the second middle detection station (8) respectively wait for the arrival of the first bracket and the second bracket corresponding to the first guide wire and the second guide wire, and detect whether the diameter of the corresponding bracket meets the requirement;
in the execution process of the steps, the detection assembly sends the detected data to the upper computer in real time, the upper computer compares the detected data with preset operation data, judges whether the requirements are met, and controls the guide rudder (4-4) to act according to the judgment result.
8. The analog control method of claim 7, wherein: and if the sequence of the detection data obtained by the upper computer does not accord with the steps 1 to 4, or the judgment result of the upper computer after the detection data is obtained does not meet the requirement, the upper computer sends an alarm to prompt an operation error.
9. The analog control method of claim 7, wherein: at least one detection station is also provided with a clamping mechanism for simulating plaque obstruction;
when the upper computer detects that the interventional surgical instrument reaches the preset plaque position, the corresponding clamping mechanism is controlled to clamp the interventional surgical instrument in the interventional channel (100) at the position, and the situation that the interventional surgical instrument meets the plaque is simulated.
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