CN215606242U - Phantom capable of automatically simulating breathing cycle and puncture navigation system comprising same - Google Patents
Phantom capable of automatically simulating breathing cycle and puncture navigation system comprising same Download PDFInfo
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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Abstract
The utility model discloses a phantom for automatically simulating a breathing cycle and a puncture navigation system comprising the phantom, wherein the phantom comprises a motor controller and a motor driving device, the motor controller controls the motor driving device to move according to recorded real person breathing data, and the motor driving device moves to drive the simulated skin of the phantom to perform fluctuating movement of simulated breathing. The phantom disclosed by the utility model can copy and simulate a real respiration cycle signal, is combined with a puncture navigation system, can be used for simulating a pleuroperitoneal cavity puncture navigation experiment, and can solve the problems that the difficulty in accurately controlling air pressure, air flow and air inflation and suction frequency is high, the simulation and matching of the real respiration cycle signal is difficult, and the permanent deformation is generated after the air bag is used for multiple times, which influences the experiment effect, in the prior art, when the air bag deformation is used for simulating and simulating the change condition of a human body during respiration.
Description
Technical Field
The utility model relates to the field of medical treatment, in particular to a phantom for automatically simulating a respiratory cycle and a puncture navigation system comprising the phantom.
Background
With the development of minimally invasive interventional therapy and imaging techniques, respiratory tracking and compensation become especially important in the face of thoracoabdominal percutaneous aspiration surgery, because the target area of a focus in a body generates periodic motion along with respiration. Without respiratory tracking assistance, physicians face the following dilemma when performing interventional puncture procedures:
(1) doctors cannot accurately position the target area of the focus, and the operation time is prolonged and the operation risk is increased mainly by depending on personal skills and clinical experience;
(2) in view of the safety and accuracy of the operation, the doctor needs to suspend the operation process for many times to scan the image to confirm and correct the puncture path, so that the patient receives more radiation, and other hidden troubles may be introduced in the operation process.
Therefore, a puncture navigation system with a respiration tracking function is produced, and the system is provided with a phantom, so that a doctor can perform a large amount of operation simulation training before an operation, and the operation skill and proficiency are improved. Chinese patent document CN 110706570 a discloses a lung tissue model for puncture surgery experiment, and chinese patent document CN 110473440 a discloses a tumor respiratory motion simulation platform and a tumor position estimation method, which are applied to the surgery simulation training.
However, the prior art has the following problems:
firstly, most of the respiration simulation means of the existing phantom is to charge and suck air bags, and the deformation of the air bags is utilized to simulate the change condition of human body during respiration. The scheme has the advantages that the difficulty in accurately controlling air pressure, air flow and air charging and sucking frequency is high, real breathing cycle signals are difficult to simulate and match, and the air bag can generate permanent deformation after being used for many times and also can influence the experimental effect;
secondly, most of the phantoms used for the percutaneous puncture experiment are static phantoms, and the phantoms have the following problems: the epidermis produces permanent damage after puncturing for a plurality of times, and can not be repaired, and the phantom needs to be integrally replaced, resulting in the increase of experiment cost.
SUMMERY OF THE UTILITY MODEL
The utility model provides a phantom capable of automatically simulating a respiratory cycle, which can copy and simulate a real respiratory cycle signal, is combined with a puncture navigation system, can be used for simulating a puncture navigation experiment of the pleuroperitoneal cavity, and can solve the defects in the prior art.
The technical scheme of the utility model is as follows:
the utility model provides an automatic simulate breathing periodic phantom, its includes motor controller and motor drive, motor controller is according to the true man breath data control of typing in the motor drive motion, motor drive motion drives the simulation skin of phantom carries out the undulation motion of simulating breathing.
Preferably, as a phantom for automatically simulating a respiratory cycle, the motor controller is electrically connected to the motor driving device through a motor controller flat cable.
As a preferred alternative to the phantom for automatically simulating a breathing cycle, the motor controller supports data entry and control programming.
As one preference of the phantom for automatically simulating the respiratory cycle, the motor driving device comprises a driving motor, a guide rail, a screw-nut component and a tray, wherein the driving motor can be controlled by the motor controller to rotate forwards or backwards, the screw-nut component is used for converting the rotation motion of the driving motor into linear motion, the guide rail is used for guiding the linear motion of the screw-nut component, the tray is connected with the simulated skin, and the screw-nut component can drive the tray to move during the linear motion so as to drive the simulated skin to simulate the fluctuation motion of the respiration.
As one preferred option of the phantom for automatically simulating the breathing cycle, the screw rod nut assembly comprises a screw rod and a nut sliding assembly, wherein the screw rod is driven by the driving motor to rotate positively or negatively, the screw rod can drive the nut sliding assembly to reciprocate in the linear direction in the positive and negative rotation, and the reciprocating motion of the nut sliding assembly drives the tray to move so as to drive the simulated skin to simulate the fluctuation motion of breathing.
As an optimization of the phantom for automatically simulating the respiratory cycle, the nut sliding assembly comprises a nut in threaded fit with the screw rod, a push rod and a slide block, the push rod is sleeved outside the screw rod, one end of the push rod is connected with the tray, the screw rod is driven by the driving motor to rotate, the nut converts the rotation of the screw rod into linear motion, the slide block is driven by the nut to be followed by the guide rail linear motion, the push rod is driven by the nut to perform linear reciprocating motion and drive the tray reciprocating motion, and the tray drives the simulated skin to perform the fluctuating motion of simulated respiration.
The preferred of the phantom for automatically simulating the respiratory cycle further comprises a respiratory tracking marker ball support and a respiratory tracking marker ball arranged on the support, wherein the respiratory tracking marker ball support is fixed on the simulated skin and moves along with the simulated skin, and the motion track of the respiratory tracking marker ball can be captured and collected by an external optical positioning and tracking system and converted into a respiratory cycle signal.
The preferred of the phantom for automatically simulating the breathing cycle further comprises a focus simulation ball, wherein the focus simulation ball is connected to the nut sliding assembly of the motor driving device through a bracket and moves along with the nut sliding assembly, and is used for simulating the follow-up effect of the focus in the breathing movement process.
As one preferred of the phantom for automatically simulating the respiratory cycle, the phantom further comprises a model box body, wherein the model box body is used for simulating the position of the thoracic cavity and abdominal cavity of the human body, an opening part is arranged on the upper surface of the model box body, and the simulation skin is detachably arranged at the opening part of the model box body.
As a preferable example of the phantom for automatically simulating the breathing cycle, the model case is transparent.
The preferred of the phantom for automatically simulating the breathing cycle further comprises a positioning marker ball support and a positioning marker ball for positioning the phantom, wherein the positioning marker ball support is fixed on the model box body.
Based on the same inventive concept, the utility model also provides a puncture navigation system, which comprises any phantom for automatically simulating the respiratory cycle, wherein the puncture navigation system captures the start-stop time of an expiratory phase interval in the respiratory cycle in real time according to a respiratory gating method, and tracks and compensates respiration.
Compared with the prior art, the utility model has the following beneficial effects:
firstly, the utility model can simulate the respiratory motion periodic signal of a real person, is matched with respiratory gating, is convenient to capture the phase of the respiratory period and can effectively assist the percutaneous puncture navigation experiment.
Secondly, the phantom designed by the utility model supports the independent replacement of the simulated skin without influencing the use of other model components, thereby reducing the loss of the puncture phantom and the cost of puncture consumables.
Thirdly, the model box body of the phantom designed by the utility model is in a transparent design, belongs to a semi-open type box body, is convenient for observing and tracking the puncture experimental process, is convenient for finding out problems in the puncture process in time, and improves the puncture precision.
Of course, it is not necessary for any product in which the utility model is practiced to achieve all of the above-described advantages at the same time.
Drawings
Fig. 1 is a schematic perspective view of a phantom according to an embodiment of the utility model;
fig. 2 is a schematic perspective view of a motor driving apparatus of a phantom according to an embodiment of the present invention;
figure 3 is a partial cross-sectional view of the motor drive of the phantom of an embodiment of the utility model with the push rod broken away to expose the lead screw therein;
fig. 4 is a schematic flow chart illustrating the use of a phantom according to an embodiment of the utility model for breathing simulation.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Examples
An embodiment of the phantom for automatically simulating a respiratory cycle according to the present invention is described below with reference to fig. 1, 2 and 3.
Referring to fig. 1, a phantom for automatically simulating a respiratory cycle is shown, which mainly comprises:
the model box body 1 is used for simulating the chest and abdominal cavity parts of a human body, and the upper surface of the model box body 1 is open; the model box 1 is preferably made of transparent acrylic materials, so that the internal condition of the box can be observed conveniently in the test process, and other types of transparent materials can be used. The design of the model box body is characterized in that the upper end of the model box body is open, and the model box body is preferably a transparent box body, so the specific shape of the model box body is not limited to the cuboid shown in FIG. 1, and any suitable shape can be selected by a person skilled in the art;
the simulated skin 2 can be specifically an elastic silica gel membrane made of soft silica gel, the thickness of the soft silica gel membrane is preferably 3mm, and the simulated skin is fixed at an opening of the upper surface of the model box body 1 to replace artificial body surface skin; the combined design of the model box body 1 and the simulated skin 2 enables the simulated skin 2 to be independently disassembled and replaced; preferably, the simulated skin 2 is arranged to be individually replaceable. The material and thickness of the simulated skin are not particularly limited, and in alternative embodiments, the simulated skin can be made of other similar materials instead of silicone gel instead of elastic silicone membrane. In an alternative embodiment, the thickness index of the elastic silicone membrane or its substitute for the skin simulation can be determined according to experimental requirements (such as breathing simulation, force feedback simulation, etc.), and the above specific values regarding the thickness are merely examples and are not intended to limit the set range of the thickness of the skin simulation according to the present invention.
The motor driving device 3 comprises a driving motor, a guide rail, a screw nut component and a tray, and the enlarged structure of the motor driving device is shown in figure 2. The motor driving device 3 is used for driving the simulated skin 2 to move up and down. The drive motor is driven by a programmable controller.
And the motor controller 7 is used for controlling the driving motor and is electrically connected with the driving motor through a motor controller flat cable 8, and the motor controller 7 supports data entry and control programming. The motor controller 7 may be mounted on the model case 1. The motor controller 7 can control the driving motor to move according to the recorded real person breathing data.
And the breathing tracking marker ball bracket 40 is used for installing the breathing tracking marker ball 4 and is fixed on the simulated skin 2. The breath tracking marker ball support 40 and the breath tracking marker ball 4 are driven by the motor driving device 3 to move along with the simulated skin 2. The motion trail of the respiration tracking marker ball 4 can be captured and collected by an external optical positioning and tracking system and converted into a respiration cycle signal.
The focus simulation ball 5 is connected with a screw nut component of the motor driving device 3 through a bracket 6, moves up and down along with the screw nut component, and can simulate the follow-up effect of a focus in the respiratory motion process. In one embodiment, the lesion mimic ball 5 may be a ball made of PVC and having a diameter of 10 mm. However, for the phantom of the present invention, the size, shape and material of the lesion simulating ball 5 may be modified and selected as required by the experiment for simulating different types of lesions.
A positioning mark ball support and a positioning mark ball 9 for positioning the phantom and fixing on the model box body 1.
Referring to fig. 2 and fig. 3, the motor driving device 3 specifically includes a driving motor 31, a guide rail 32, a lead screw nut assembly 33, and a tray 34, wherein:
the driving motor 31 can accelerate/decelerate, and is specifically driven and controlled by the motor controller 7, and the motor controller 7 can adjust and program according to the real breathing frequency of the human body, so as to control the operation of the driving motor 31.
Guide rail 32: and cooperates with the lead screw nut assembly 33 to guide the lead screw nut assembly 33 to slide up and down and to provide a guiding function for the sliding of the lead screw nut assembly 33.
The feed screw nut assembly 33: the nut sliding device comprises a screw rod 331 and a nut sliding assembly 332, wherein the screw rod 331 is driven by a driving motor 31 to rotate forwards and backwards, and the screw rod 331 rotates forwards and backwards to drive the nut sliding assembly 332 to move upwards and downwards along the direction shown in fig. 2. The nut sliding assembly 332 specifically comprises a nut (the view angle is not visible in the figure) in threaded fit with the screw rod 331, and a push rod 332b and a slide block 332c which are connected with the nut, the push rod 332b is sleeved outside the screw rod, one end of the push rod 332b is connected with the tray 34, when the screw rod 331 is driven to rotate by the driving motor 31, the push rod 332b performs reciprocating motion in the linear direction and drives the tray 34 to perform synchronous motion, and then the simulated skin 2 is driven to perform fluctuating motion of simulated respiration.
The tray 34: be fixed in the top of push rod 332b, preferably with simulation skin 2 adhesion, when nut sliding component 332 moved up and down, push rod 332b can drive tray 34 up-and-down motion, and then tray 34 drives simulation skin 2 up-and-down motion to simulation skin 2 realizes the rolling motion, and the simulation is human to breathe. Alternatively, the tray 34 may not be connected to the simulated skin 2, and when the tray 34 is moved upward by the pushing rod 332b, the simulated skin 2 is pushed upward, and when the tray 34 is moved downward by the pushing rod 332b, the simulated skin 2 is reset and is not driven downward.
The principle of the phantom breathing simulation of the utility model is as follows: a driving motor (such as the driving motor 31) is arranged in a body model, the driving motor is used for driving the screw rod 331 to rotate forwards and backwards, the screw rod 331 rotates forwards and backwards to drive the nut sliding component 332 to move up and down, the push rod 332b of the nut sliding component 332 drives the tray 34 at the top to generate reciprocating mechanical motion, and when the simulated skin 2 is adhered to the tray 34, the driving motor rotates forwards and backwards to drive the tray 34 and the simulated skin 2 to move up and down regularly, so that the purpose of simulating the breathing of a human body is achieved. When the simulated skin 2 is not connected with the tray 34, the tray 34 is driven by the positive and negative rotation of the driving motor, so that the simulated skin 2 is repeatedly jacked up and reset, regular up and down fluctuating movement is realized, and the purpose of simulating human breathing is achieved.
The utility model also has a breath tracking function, the breath tracking marker ball 4 is fixed on the breath tracking marker ball support 40, the breath tracking marker ball support 40 is fixed on the simulated skin 2, and the breath tracking marker ball 4 is positioned in the visual field of an optical positioning tracking system, so that the movement fluctuation curve of the breath tracking marker ball 4 can be captured in real time.
The phantom is provided with a respiration tracking marker ball 4, is combined with a navigation system, can capture respiration cycle signals in real time and is used for simulating puncture navigation experiments.
The present invention further comprises a focus simulation ball configured to move with the nut sliding assembly 332 when the driving motor is rotated forward/backward, and may simulate a focus follow-up effect during a breathing process.
In addition, the open design of the box body in the phantom designed by the utility model and the design matched with the simulated skin support the independent replacement of the simulated skin without influencing the use of other model components, the simulated skin is designed to be replaceable, and the cost of experimental consumables can be reduced.
Fig. 4 is a schematic flow chart illustrating the use of a phantom according to an embodiment of the utility model for breathing simulation. With reference to fig. 4, the flow of use of the body mold body of the present invention is schematically illustrated as follows:
1) preparing data: the method comprises the steps of collecting real person respiration data from the outside, carrying out preprocessing such as filtering, enhancing and conversion processing on the data to obtain a group of displacement sequences, recording the data into a motor controller 7, converting the recorded respiration data into a motor positive and negative rotation period and acceleration by the motor controller 7, outputting a control signal to control a driving motor 31 to move, and at the moment, moving the driving motor 31 according to a program recorded in the motor controller 7.
2) And (3) breathing simulation: when the driving motor 31 is started, the driving motor 31 drives the lead screw 331 to rotate forward and backward in real time according to the operation signal output by the motor controller 7, particularly the period and the acceleration of the forward and backward rotation. The screw 331 drives the nut sliding component 332 to move up and down, the nut sliding component 332 drives the simulated skin 2 to move up and down to simulate the breathing process, in addition, the breathing tracking marker ball 4 on the breathing tracking marker ball support 40 fixed on the simulated skin 2 can also generate the effect of moving up and down along with the up and down movement of the simulated skin 2, and the movement periodic signal of the breathing tracking marker ball 4 can be captured by an external optical navigation system; in addition, the focus simulation ball 5 fixed on the push rod 332b of the nut sliding assembly 332 of the motor driving device 3 through the bracket 6 also moves synchronously with the fluctuation of the nut sliding assembly 332, so as to simulate the fluctuation effect of the focus in the breathing process.
The use scenario of the present invention may be: by means of the simulation effects of the breathing simulation and the focus fluctuation motion simulation generated by the phantom, the puncture navigation system can capture the start-stop time of an expiratory phase interval in a breathing cycle in real time according to a breathing gate control method, track and compensate the breathing, and further finish a puncture navigation experiment more accurately.
The phantom of the utility model is characterized in that:
firstly, a detachable simulated skin is designed through the specific matching of a model box body and the simulated skin;
secondly, based on the processing of the real person respiration data and the control of the motion of the driving motor through the motor controller, the mechanical motion generated by the driving motor is used for replacing the fluctuation of the human thorax, and the respiration cycle signal is simulated;
thirdly, the tracking and positioning marker ball designed by the phantom is set to move synchronously with the simulated skin, can be used for capturing a respiratory cycle signal and further used for simulating a puncture navigation experiment;
fourthly, the focus simulation ball designed by the phantom can simulate the follow-up effect of the focus in the process of respiratory movement;
the sleeve body mold device is a simplified model of the human body pleuroperitoneal cavity, and the real puncturing effect of the human body pleuroperitoneal cavity can be simulated through the sleeve body mold device.
The utility model has the advantages that:
firstly, the phantom designed by the utility model supports the independent replacement of the artificial body surface skin without influencing the use of other model components, so that the puncture phantom loss can be reduced, and the puncture consumable cost can be reduced.
Secondly, the utility model can simulate respiratory motion cycle signals, is matched with respiratory gating, is convenient to capture respiratory cycle phases and can effectively assist a percutaneous puncture navigation experiment.
Thirdly, the model box body of the phantom designed by the utility model is in a transparent design, belongs to a semi-open type box body, is convenient for observing and tracking the puncture experimental process, is convenient for finding out problems in the puncture process in time, and improves the puncture precision.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the utility model has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention. The utility model is limited only by the claims and their full scope and equivalents.
Claims (12)
1. The utility model provides an automatic simulate breathing periodic phantom, its characterized in that includes motor controller and motor drive, motor controller is according to the control of the real person's of typing in breathing data motor drive motion, motor drive motion drives the wavy motion that the simulation skin of phantom carried out the simulation and breathed.
2. The phantom for automatically simulating a respiratory cycle of claim 1, wherein said motor controller is electrically connected to said motor drive means by a motor controller cable.
3. A phantom for automatically simulating a respiratory cycle as in claim 1, wherein the motor controller supports data entry and control programming.
4. The phantom for automatically simulating the respiratory cycle as set forth in claim 1, wherein the motor driving device comprises a driving motor, a guide rail, a screw nut assembly and a tray, the driving motor can be controlled by the motor controller to rotate forward or backward, the screw nut assembly is used for converting the rotational motion of the driving motor into a linear motion, the guide rail is used for guiding the linear motion of the screw nut assembly, the tray is connected with the simulated skin, and the screw nut assembly can drive the tray to move during the linear motion so as to drive the simulated skin to perform the fluctuating motion of the simulated breath.
5. The phantom for automatically simulating the respiratory cycle as claimed in claim 4, wherein the lead screw and nut assembly comprises a lead screw and a nut sliding assembly, wherein the lead screw is driven by the driving motor to rotate forward or backward, the lead screw can drive the nut sliding assembly to reciprocate in a linear direction by the forward or backward rotation of the lead screw, and the reciprocating motion of the nut sliding assembly drives the tray to move so as to drive the simulated skin to move in a fluctuating motion simulating the respiration.
6. The phantom for automatically simulating the respiratory cycle as claimed in claim 5, wherein the nut sliding assembly comprises a nut screw-engaged with the lead screw, a push rod and a slide block connected with the nut, the push rod is sleeved outside the lead screw, one end of the push rod is connected with the tray, when the lead screw is driven by the driving motor to rotate, the nut converts the rotation of the lead screw into linear motion, the slide block is driven by the nut to move linearly along the guide rail, the push rod is driven by the nut to reciprocate linearly and drive the tray to reciprocate, and the tray drives the simulated skin to move up and down for simulating the respiration.
7. The phantom for automatically simulating a respiratory cycle of claim 1, further comprising a respiratory tracking marker ball support and a respiratory tracking marker ball mounted on the support, wherein the respiratory tracking marker ball support is fixed on the simulated skin and moves along with the simulated skin, and the motion trail of the respiratory tracking marker ball can be captured and collected by an external optical positioning and tracking system and converted into a respiratory cycle signal.
8. The phantom for automatically simulating a respiratory cycle of claim 6, further comprising a lesion simulating ball connected to the nut sliding assembly of the motor drive via a bracket and moving with the nut sliding assembly for simulating a follow-up effect of a lesion during respiratory movement.
9. The phantom for automatically simulating the breathing cycle as claimed in claim 1, further comprising a model box for simulating the thoracic and abdominal cavity of a human body, wherein the upper surface of the model box has an open part, and the simulated skin is detachably mounted at the open part of the model box.
10. A phantom for automatically simulating a breathing cycle according to claim 9, wherein the model housing is transparent.
11. The phantom for automatically simulating a breathing cycle of claim 9 further comprising a positioning marker ball support and a positioning marker ball for positioning the phantom, said positioning marker ball support being affixed to said model housing.
12. A puncture navigation system, comprising the phantom for automatically simulating a respiratory cycle according to any one of claims 1 to 11, wherein the puncture navigation system captures the start and stop times of an expiratory phase interval in the respiratory cycle in real time according to a respiratory gating method, and tracks and compensates for respiration.
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| CN113763794B (en) * | 2021-09-10 | 2022-04-12 | 杭州大牧医疗科技有限公司 | Respiratory motion simulation device |
| CN114220327A (en) * | 2021-12-03 | 2022-03-22 | 广东省中医院（广州中医药大学第二附属医院、广州中医药大学第二临床医学院、广东省中医药科学院） | Simulated respiratory motion tissue phantom for puncture and dilation test and use method thereof |
| CN114176725B (en) * | 2021-12-10 | 2023-08-22 | 佗道医疗科技有限公司 | Motion curve simulation body membrane, simulation method and accuracy calculation method of breathing gating algorithm of motion curve simulation body membrane |
| CN113974577B (en) * | 2021-12-31 | 2022-03-11 | 南京阳图医疗科技有限公司 | Performance detection device of multi-guide sleep monitor |
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