CN216352969U - External simulation system for transcatheter tricuspid valve operation - Google Patents

Abstract

The application discloses in vitro simulation system for transcatheter tricuspid valve surgery, which comprises: the box body is used for simulating an in-vivo environment and is provided with a plurality of communicating interfaces and intervention interfaces; a right atrium unit for simulating a right atrium and superior and inferior vena cava in communication with the right atrium; the tricuspid valve unit is used for simulating a tricuspid valve and comprises a cylinder body and a simulation valve fixed in the cylinder body, and a plurality of sensors for sensing the positions of interventional instruments are arranged on the peripheral wall of the cylinder body; a right ventricle unit for simulating a right ventricle; a fluid supply device interfacing with the communication interface; each unit is provided with a simulation interface and is detachably connected with each other according to a physiological structure, and one simulation interface of the right atrium unit is connected with the intervention interface for the intervention instrument to enter and exit. The target simulation organ is formed by the simulation unit which can be assembled in a modularization mode, and therefore the specific running state of the interventional operation in-vitro simulation system can be adjusted according to actual needs.

Description

External simulation system for transcatheter tricuspid valve operation

Technical Field

The application relates to the field of medical equipment, in particular to an interventional tricuspid valve operation in-vitro simulation system.

Background

With the aging population, the incidence of valvular Heart disease has increased significantly, primarily due to the development of lesions in the Native Heart Valve (Native Valve) of patients. Such as native heart valve narrowing, native valve leakage, and regurgitation. At present, the experimental and clinical results show that the medicament for treating the pathological changes of the autologous heart valves has poor treatment effect and good operation effect. Surgery is primarily directed to replacement of the valve. When replacing the valve, the native valve may be excised and replaced with a biological or mechanical valve. Mechanical valves require lifelong administration of anticoagulant drugs to prevent clot formation, and the clicking of the valve is usually heard through the chest. Biological tissue valves generally do not require such drugs. Tissue valves may utilize porcine or bovine valves and are typically attached to a synthetic annulus, which is secured to the patient's heart valve annulus.

At this stage, it is considered that the placement of the postoperative recovery prosthetic valve is often performed in the form of a minimally invasive intervention. By intervention is meant that the interventional device is compression loaded into a catheter system which is then delivered through a body vessel or lumen to the site of the lesion for deployment. In surgery, the interventional instrument needs to be repeatedly passed through in a curved manner in the complex physiological structures of the human body, which puts considerable demands on the operation of the medical staff. Devices have also emerged to simulate the performance of interventional procedures in vitro.

However, the existing simulation device has single simulation function, small adjustable range and limited use effect in the scenes of training, simulation, in-vitro simulation and the like.

SUMMERY OF THE UTILITY MODEL

In order to solve the above technical problem, the present application discloses a transcatheter tricuspid valve surgery in-vitro simulation system, comprising:

the box body is used for simulating an in-vivo environment and is provided with a plurality of communicating interfaces and intervention interfaces;

a right atrium unit for simulating a right atrium and superior and inferior vena cava in communication with the right atrium;

the tricuspid valve unit is used for simulating a tricuspid valve and comprises a cylinder body and a simulation valve fixed in the cylinder body, and a plurality of sensors for sensing the positions of interventional instruments are arranged on the peripheral wall of the cylinder body;

a right ventricle unit for simulating a right ventricle;

a fluid supply device interfacing with the communication interface;

each unit is provided with a simulation interface and is detachably connected with each other according to a physiological structure, and one simulation interface of the right atrium unit is connected with the intervention interface for the intervention instrument to enter and exit.

Optionally, the transcatheter tricuspid surgery extracorporeal simulation system further comprises a monitoring device, wherein the monitoring device comprises a monitoring component for monitoring the interventional surgery implementation process, the monitoring component comprises a sensor component arranged near the target position and a response module controlled by the sensor component, and the sensor component is composed of the plurality of sensors.

Optionally, the sensor assembly is further configured to detect a movement trend upon release of the interventional instrument.

Optionally, the sensor assembly comprises:

the positioning ring is wound on the cylinder body of the valve unit;

a sensor array comprising a plurality of sensors arranged along the positioning ring;

and the detection point is arranged on a preset part of the interventional instrument and is used for triggering the sensor array.

Optionally, the positioning ring is sleeved on the outer circumferential surface of the barrel.

Optionally, the plurality of sensors are arranged co-planar.

Optionally, the sensor array is provided with a plurality of groups in parallel in the axial direction of the cylinder, so as to continuously monitor the motion process of the interventional instrument.

Optionally, the right atrium unit is at least provided with two emulation interfaces, one of the emulation interfaces is in butt joint with the tricuspid valve unit, and the other emulation interface is in butt joint with the intervention interface of the box body.

Optionally, the simulation interface in butt joint with the intervention interface of the box body is arranged on the superior vena cava or the inferior vena cava, and the intervention instrument enters the simulation organ through the corresponding intervention interface and the simulation interface.

Optionally, the simulation interface on one of the superior vena cava or the inferior vena cava not connected with the intervention interface is butted with the communication interface of the box body or is sealed by a blind plate.

The technical scheme disclosed in the application forms the target simulation organ through the simulation unit that can modularize the equipment, and the cooperation fluid supply equipment realizes the drive to the simulation organ to can intervene the external analog system concrete running state of operation according to actual need adjustment, effectively improve the adaptability to different situations, to training, simulation, have higher implementation meaning in the scene such as external simulation.

Specific advantageous technical effects will be further explained in conjunction with specific structures or steps in the detailed description.

Drawings

FIG. 1a is a schematic diagram of the assembly of a left ventricular unit and a right ventricular unit in one embodiment;

FIG. 1b is a schematic diagram of a right atrial unit in one embodiment;

FIG. 1c is a schematic diagram of an aortic unit in one embodiment;

FIG. 1d is a schematic diagram of a pulmonary artery unit in one embodiment;

FIG. 1e is a schematic view of a left atrial element in one embodiment;

FIG. 1f is a schematic view of a valve unit according to one embodiment;

FIG. 1g is a schematic diagram of a left ventricular unit in an embodiment;

FIG. 1h is a schematic diagram of a right ventricular unit in an embodiment;

FIG. 2a is a schematic diagram of the main artery body of the main artery unit in one embodiment;

FIG. 2b is a schematic view of the aortic body of FIG. 2a with an expansion unit attached;

FIG. 3a is a schematic diagram of a sensor assembly in one embodiment;

FIG. 3b is a schematic view of the sensor assembly of FIG. 3a from another perspective;

FIG. 4a is a schematic diagram of the construction of a simulated organ in an aortic valve intervention procedure in accordance with an embodiment;

FIG. 4b is a schematic diagram showing the simulated organ in FIG. 4a after adjusting the valve unit;

FIG. 4c is a schematic view of the simulated organ and tank assembly of FIG. 4 a;

FIG. 4d is a schematic diagram of an aortic valve intervention in-vitro simulation system in an embodiment;

FIG. 4e is a schematic diagram of the construction of a simulated organ in an aortic valve intervention operation according to another embodiment;

FIG. 5a is a schematic diagram illustrating the construction of a simulated organ in a tricuspid valve intervention operation according to an embodiment;

FIG. 5b is the mitral valve simulation organ of FIG. 5a after positioning adjustment;

FIG. 5c is a schematic diagram illustrating the construction of a simulated organ during an interventional procedure for a pulmonary valve according to an embodiment;

FIG. 5d is a schematic view of the simulated organ and tank assembly of FIG. 5 c;

FIG. 6a is a schematic diagram of mitral valve simulation intervention building and box body fitting in an embodiment;

FIG. 6b is a schematic diagram of the construction of an organ simulator in a mitral valve intervention operation according to another embodiment;

FIG. 6c is the mitral valve simulation organ of FIG. 6b after adjusting the position;

FIG. 6d is a schematic diagram of the mitral valve interventional in-vitro simulation system of FIG. 6 c;

FIG. 6e is a schematic diagram of the construction of a simulated organ in a mitral valve intervention operation according to yet another embodiment;

fig. 6f is a schematic diagram of the mitral valve interventional surgery in-vitro simulation system in fig. 6 e.

The reference numerals in the figures are illustrated as follows:

10. a box body; 11. a communication interface; 12. an interventional interface; 13. a pulling member;

20. simulating an organ; 21. a simulation interface; 211. a transition piece; 221. a left ventricular unit; 222. a right ventricular unit; 223. a right atrial unit; 2231. the superior vena cava; 2232. the inferior vena cava; 224. a left atrial unit; 2241. the pulmonary vein; 23. a valve unit; 231. a barrel; 232. simulating a valve; 233. a cavity diameter adjusting device; 2331. a first elastic bladder; 234. a valve adjustment device; 2341. a second elastic bag; 235. a control pipeline; 236. an adjusting seat; 241. an aortic unit; 2411. an aortic body; 2412. the ascending aorta; 2413. the aortic arch; 2414. the descending aorta; 2415. the thoracic aorta; 2416. the abdominal aorta; 2417. the femoral aorta; 2418. an extension unit; 24181. the right subclavian artery; 24182. the right common carotid artery; 24183. the left common carotid artery; 24184. the left subclavian artery; 242. a pulmonary artery unit; 25. a fixed part;

31. a supporting bracket;

40. a monitoring component; 41. a sensor assembly; 411. a positioning ring; 412. an array of sensors; 413. detecting points;

90. an interventional instrument.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. 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 application.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1a to 6f, the present application discloses an interventional surgical in vitro simulation system comprising

The box body 10 is used for simulating an in-vivo environment and is provided with a communication interface 11 and an intervention interface 12;

the simulation organ 20 is arranged in the box body 10 and comprises one or more simulation units which can be assembled in a modularized mode, each simulation unit is respectively provided with a simulation interface 21, and the simulation interfaces 21 are used for being communicated with the communication interfaces 11 and the intervention interfaces 12 or used for being communicated with the simulation units;

a fluid supply device connected to the communication port 11;

the monitoring equipment is used for acquiring and outputting relevant information of the simulated organ and/or the interventional instrument 90;

interventional instrument 90 of the interventional procedure performs a simulated interventional procedure on simulated organ 20 via interventional interface 12.

The technical scheme disclosed in the application forms target simulation organ 20 through the simulation unit that can modularize the equipment, and cooperation fluid supply equipment realizes the drive to simulation organ 20 to can intervene the external analog system specific running state of operation according to actual need adjustment, effectively improve the adaptability to different situations, under monitoring facilities's cooperation, have higher implementation meaning to in scenes such as training, simulation, external simulation. The advantageous technical effects and the mutual cooperation between the technical features will be explained in detail below with reference to the detailed arrangements of the specific parts.

The emphasis of the simulation is on how to realize the motion process of the simulated organ 20, especially, the simulation object is the organ which has violent and very important motion, such as the heart. In one embodiment, the simulated organ 20 is made of an elastic material.

The significance of the elastic material is to realize the simulation of the movement process of the real organ during the change of the pressure inside the container body 10. The simulated organ 20 is internally in communication with a fluid supply via a simulation interface 21, externally exposed to the inside of the tank 10, and the fluid supply is also capable of controlling environmental parameters (e.g., pressure, temperature, fluid circulation rate, etc.) within the tank 10, so that the fluid supply is capable of effecting movement of the simulated organ 20 by matching the parts.

In this function, the simulation unit can be made of a material, for example, a polymer material is used for the simulation unit. The advantage of polymeric materials is elasticity, such as silicone. Meanwhile, the polymer material can realize the advantages of stable structure and easy production. Further, the simulation unit is made of transparent material, which facilitates observation of the motion state of the interventional instrument 90. According to different visceral organ conditions, the high polymer material can conveniently adjust the proportion to meet different setting requirements of physicochemical parameters, such as elasticity, hardness, wall thickness and other parameters.

In an embodiment, shown with reference to fig. 1a to 1e, the simulated organ 20 is a cardiac tissue, the simulation unit comprising:

the atrioventricular unit is respectively used for simulating an atrium or a ventricle of a real heart;

valve units 23 for simulating valves located at various places in the real heart, respectively;

and the blood vessel unit is respectively used for simulating blood vessels in the real heart, which are communicated with the corresponding atria or ventricles.

The above units enable the atrioventricular unit, the valve unit 23 and the vascular unit to be connected according to the real heart by means of the emulation interface 21. In a specific use process, the simulation units in the embodiment can be flexibly matched, so that adjustment of different intervention operation types can be better realized according to different position settings, the adaptability of the device is improved, and the complexity of setting is reduced.

Similarly, referring to an embodiment, the valve unit 23 includes at least one of:

an aortic valve unit for simulating an aortic valve;

a pulmonary valve unit for simulating a pulmonary valve;

a mitral valve unit for simulating a mitral valve;

a tricuspid valve unit for simulating a tricuspid valve.

In the real physiological structure, valves at different positions have different structures, and the valve unit 23 in the embodiment is independently arranged for different valves, so that a more real simulation effect can be provided. Otherwise, there are no differences in the various types of valve units 23, and therefore, unless otherwise explicitly stated, the arrangement of the valve units 23 may be applied to each valve unit 23.

In an arrangement for improving the adaptability, referring to an embodiment, the simulation interface 21 is a predetermined specification, and the predetermined specification is represented by a flange or a thread manner. The preset specification size of the simulation interface 21 can be set to be the same size, and the setting can improve the sharing rate of the components, so that more simulation organ 20 structures can be realized under the condition of a certain number of components. In this context, the simulated organ 20 regulation also has a synergistic effect in the following, which will be explained in detail below. The preset specification size of the simulation interface 21 can also be set to be the size of the reference real physiological structure, thereby providing a more real simulation effect.

In a specific configuration of the simulation unit, in reference to an embodiment, the room unit includes at least one of the following:

a left ventricle unit 221 for simulating a left ventricle;

a right ventricle unit 222 for simulating a right ventricle;

a right atrium unit 223 for simulating the right atrium and the superior and inferior vena cava 2231, 2232 in communication with the right atrium;

left atrial element 224 is used to simulate the left atrium and pulmonary veins 2241 in communication with the left atrium.

The left ventricular unit 221 and the right ventricular unit 222 may be combined into a unitary structure or used separately, and structurally, referring to the embodiment shown in fig. 1a, the left ventricular unit 221 and the right ventricular unit 222 are both complementary in shape at the ventricular wall site. Because in this embodiment, the left ventricular unit 221 and the right ventricular unit 222 are often present at the same time, and separate arrangement may cause complexity in system arrangement, the number of components can be further reduced by integrating the left ventricular unit 221 and the right ventricular unit, and the system is convenient to produce, assemble, store, transport and construct. In fig. 1g and fig. 1h, the left ventricle unit 221 and the right ventricle unit 222 are independently arranged, so that the artificial organ can be flexibly built according to different simulation conditions. Similarly, the right atrial element 223 and the left atrial element 224 are both complementary in shape at the atrial wall site. The right atrial element 223 and the left atrial element 224 may be combined into a unitary structure or used separately.

Similarly, in the specific configuration of the blood vessel unit, in reference to an embodiment, the blood vessel unit includes at least one of the following:

an aortic unit 241 for simulating an aortic arch;

and a pulmonary artery unit 242 for simulating a pulmonary artery.

The two can be used as the intervention path of the common cardiac intervention operation or the target position to be intervened, and the independent setting can further improve the adaptability of the system in the embodiment.

In the actual building process, the building of each part can be flexibly selected according to the requirement of the simulated interventional operation. In the embodiment disclosed with reference to fig. 4c, the aortic valve intervention simulation surgery system is composed of the aortic unit 241, the left ventricular unit 221 and the aortic valve unit, wherein the right ventricle is not included in the intervention path, so that the left ventricular unit 221 can be used alone. However, in the process of simulating the heartbeat, whether the right ventricle exists or not may cause a certain influence on the working process of the simulated organ, so that, referring to the embodiment disclosed in fig. 4d, a complete ventricle portion is built, that is, the left ventricle unit 221 and the right ventricle unit 222 are both installed in the box, wherein each simulation interface 21 of the right ventricle unit 222 is connected with the corresponding communication interface 11 on the box, so as to simulate the organ dynamics under the real condition.

With reference to fig. 4a to 4d, the present application provides an aortic valve interventional surgery in-vitro simulation system, based on the arrangement of each simulation unit of the simulation organ 20, in combination with the combined arrangement of the units (e.g. may be integrated as desired, i.e. two or more of them are integrated), comprising:

the device comprises a box body 10, a control unit and a control unit, wherein the box body is used for simulating an in-vivo environment and is provided with a plurality of communication interfaces 11 and intervention interfaces 12;

an aortic unit 241 for simulating an aortic arch;

an aortic valve unit for simulating an aortic valve;

a left ventricle unit 221 for simulating a left ventricle;

a fluid supply device connected to the communication port 11;

the monitoring equipment is used for acquiring and outputting related information of the simulated organ and/or the interventional instrument;

the units are provided with simulation interfaces and are detachably connected with each other according to physiological structures, and one simulation interface 21 of the aorta unit 241 or the left ventricle unit 221 is connected with the intervention interface 12 for the access of intervention instruments.

As shown in fig. 2a to 2b, besides the aortic unit 241 for simulating the aortic arch 2413, peripheral components may be provided, and the aortic unit 241 specifically includes:

an aorta body 2411 for simulating an ascending aorta 2412, an aortic arch 2413, a descending aorta 2414, a thoracic aorta 2415, an abdominal aorta 2416, and a femoral aorta 2417;

a plurality of expansion units 2418 for simulating a right subclavian artery 24181, a right common carotid artery 24182, a left common carotid artery 24183 and a left subclavian artery 24184, respectively, wherein each expansion unit 2418 is connected with an aortic arch 2413 of the aorta body 2411 through a respective simulation interface 21.

The left ventricular unit 221 and the aortic unit 241 are differently targeted according to different interventional paths.

In the embodiment disclosed with reference to fig. 4c, the aortic unit 241 is provided with at least two emulation interfaces 21, wherein one emulation interface 21 interfaces with the aortic valve unit and the other emulation interface interfaces with the interventional interface 12 of the housing 10. Wherein the emulation interface interfacing with the intervention interface 12 of the box 10 is opened on the femoral aorta 2417 of the aorta unit 241, in a specific operation, independent setting of an intervention path and a drug administration (for example, a drug to be injected during an intervention such as contrast medium) path can be realized through the bifurcation characteristic of the femoral aorta 2417.

In the embodiment disclosed with reference to fig. 4e, the left ventricular unit 221 is provided with at least two emulation interfaces 21, wherein one emulation interface 21 interfaces with the aortic valve unit, the other emulation interface 21 interfaces adjacent to the apex of the heart and the interventional interface 12 of the housing 10 interfaces. This path requires the puncture of the apex of the heart to be made, so the emulation interface at the apex of the heart is connected to the interventional interface 12 via the transition piece 211.

In a specific product, the transition piece 211 can be mounted or dismounted through the simulation interface on the simulation unit, namely, the transition piece 211 can be mounted when needed and can be closed through a corresponding structure when the transition piece is not needed to be arranged. Other embodiments in which the transition piece 211 is not shown in other figures may be understood as having the transition piece 211 uninstalled and the corresponding emulation interface 21 in a closed state. The specific structure of the transition piece 211 can refer to the arrangement mode of the valve unit, and when an interventional instrument does not pass through the transition piece 211, the transition piece 211 can realize self-sealing, so that the complete form of the simulation unit is maintained; when the interventional device passes through, a channel can be opened to realize simulated puncture. In a specific configuration, the transition piece 211 is implemented by a channel similar to a valve unit, and an elastic piece capable of changing the shape is arranged in the channel, so as to realize closing or opening. In one embodiment, the transition piece 211 is a cylindrical structure, both axial ends of the cylindrical structure are respectively provided with a flange or a thread, an elastic body is arranged inside the cylindrical structure, a channel for an interventional instrument to pass through is arranged in the elastic body, and the channel has a tendency of keeping closed under the action of the elastic body.

In addition to the above embodiments, the present application also discloses an interventional pathway. In this embodiment, the aortic unit 241 is provided with at least two emulation interfaces 21, wherein one emulation interface 21 interfaces with the aortic valve unit, and the other emulation interface 21 interfaces with the interventional interface 12 of the housing 10. The emulation interface interfacing with the intervention interface of the box is disposed on one of the expansion units 2418. In this embodiment, the interventional instrument may access the aortic arch 2413 via one of the right subclavian artery 24181, the right common carotid artery 24182, the left common carotid artery 24183, and the left subclavian artery 24184 for an interventional procedure.

Besides different settings of the interventional path, the technical scheme in the application can further simulate organ states of different forms by adjusting the connection relation. For example, with reference to fig. 4b, at least one of the simulation interfaces on both sides of the valve assembly 23 is connected with the simulation interface of the corresponding simulation unit via an adjustment seat 236. The main function of the adjusting seat 236 is to adjust the spatial position between the simulation units, providing a richer simulation effect, comparing fig. 4a and fig. 4 b.

Fig. 4c and 4d, however, are directed to the combined arrangement of the left ventricular unit 221 and the right ventricular unit 222.

In combination with the above, similarly, the valve unit 23 can be adjusted to improve adaptability according to different intervention cases.

In reference to one embodiment, the valve unit 23 comprises:

the cylinder 231 is provided with simulation interfaces 21 at two ends of the cylinder 231;

the simulation valve 232 is fixed in the cylinder 231;

and adjusting means for changing the configuration of the valve unit 23.

The setting of the adjusting device can realize different lesion forms of multiple valves on a single valve unit 23, thereby providing the adaptation degree, reducing the number of valve units 23 configured in the system and ensuring the simulation effect of the system on different conditions.

As to the specific parameters of the adjustment means, the adjustment means comprises a lumen diameter adjustment means 233 and a valve adjustment means 234. The two may be arranged in cooperation (refer to the drawings) or independently (not shown).

In detail of the chamber diameter adjusting means 233, referring to an embodiment, the adjusting means includes a chamber diameter adjusting means 233 that adjusts the size of the chamber diameter inside the cylinder 231, and the chamber diameter adjusting means 233 includes:

the first elastic bag 2331 is arranged around the inner wall of the cylinder 231, and the simulated valve 232 is arranged on the inner wall of the first elastic bag 2331;

a control pipeline 235 communicated with the first elastic bag 2331 and extending to a corresponding communication interface 11 on the box body 10;

the first elastic cell 2331 is deformed under the control of the control line 235 to change the size of the bore of the cylinder 231.

First elastomeric cell 2331 may be generally annular in shape or may be provided in a plurality of individual elastomeric cells encircling to form an annulus. The control pipeline 235 may be an electric pipeline or a fluid conveying pipeline, the elastic bag is operated to realize deformation of the elastic bag, and when the inner diameter of the cylinder 231 is unchanged or is slightly changed, the size of the cavity diameter inside the cylinder 231 can be adjusted by changing the volume of the elastic bag, so as to simulate intervention conditions such as valve stenosis.

In detail of the valve adjustment device 234, referring to an embodiment, the adjustment device includes a valve adjustment device 234 for adjusting the shape of the simulated valve 232, and the valve adjustment device 234 includes:

a second elastic capsule 2341 for forming a simulated valve 232;

the control pipeline 235 is communicated with the second elastic bag 2341 and extends to the corresponding communication interface 11 on the box body 10;

the second elastomeric bladder 2341 changes its structural characteristics under the control of the control conduit 235.

The second elastomeric bladder 2341, through its own hollow nature, is able to achieve valve simulation for different conditions, depending on the different operations of the control conduit 235. The control line 235 may be an electrical line or a fluid delivery line, and operates on the elastic bladder to effect deformation thereof. Further, the second elastic capsule 2341 can also realize the simulation of local valve lesions by setting the local material or the differential setting of the strength.

In the specific details of the valve unit 23, the valve unit 23 can be further flexibly adjusted by the replaceable arrangement of the simulation valve 232, and in the arrangement of the simulation interface 21, especially in the connection mode of the simulation interface 21 of the valve unit 23, various modes such as threads, magnetic attraction, insertion, riveting and the like can be selected.

Besides the advantages of modular arrangement, the simulation unit can also realize simulation of more situations through adjustable assembly. Referring to an embodiment, the inside of the case 10 is provided with a limit seat (not shown) for restraining each simulation unit. The limiting support can be a limiting groove or a limiting column on a specific structure. In the adjusting process, referring to an embodiment, the limiting support is provided with a plurality of limiting supports for the simulation unit to adjust the position; or the limit brackets can adjust their position relative to the housing 10. In the present embodiment, the housing 10 is a rigid case because the housing 10 constrains the spatial positions of the respective simulation units. The specific rigid material is represented by a material which can bear certain load, wherein the material is common in the production of metal, plastic and the like, and the load is used for restraining the specific position of each simulation unit in space.

The above embodiment has the advantage of a simple structure. The present application also provides another means of fixation and adjustment of the simulated organ 20. In an embodiment, each simulation unit is provided with a plurality of fixing portions 25, the box 10 is provided with a pulling member 13 for connecting each fixing portion 25, and the length of the pulling member 13 is adjustable.

The spatial position relation of the fixing part 25 relative to the case body 10 can be restricted by the traction piece 13, so that the case body 10 can restrict the simulated organ 20. In a specific structure, the pulling pieces 13 are connected in different directions. Thereby imposing constraints on the simulated organ 20 in three-dimensional space. In the adjustment of the traction member 13, the length of the traction member 13 can be adjusted in the process of system construction, and in an embodiment, a control component (not shown) for connecting the traction member 13 is mounted on the box 10, and the fixing portion 25 moves under the driving of the control component to adjust the spatial position or the spatial form of each simulation unit. The embodiment has the advantage that the spatial position of the simulation organ 20, even the spatial position relationship between simulation units, can be flexibly adjusted by the control component after the system is built and even in the intervention implementation process.

In the structural system, there is a cooperative relationship between the pull 13 and the housing 10. When the box 10 is a rigid (see above for explanation of rigidity) material, the pull 13 is a flexible part capable of withstanding axial tension, with reference to one embodiment. The present application also provides a particular arrangement of the enclosure 10. referring to one embodiment, the enclosure 10 is a flexible container capable of withstanding internal pressure. The advantageous technical effects of the tank 10 will be explained in detail below, with emphasis on how the determination of the spatial position of the simulated organ 20 is achieved in the case of this embodiment. In an embodiment, the length-adjustable pulling member 13 is disposed between the fixing portions 25, and the corresponding fixing portions 25 move during the length adjustment process of the pulling member 13 to adjust the spatial position or the spatial configuration of each simulation unit. In contrast to the above arrangement in which the spatial position of the simulated organ 20 is constrained by the housing 10, the spatial configuration is established by the components of the simulated organ 20 itself in the present embodiment. In reference to one embodiment, the pulling elements 13 are rods capable of withstanding axial tension and compression. In a sense, the parts of the simulated organ 20 form a relatively stable structure, and the work process is realized by suspending the simulated organ in the box body 10.

There are various arrangements of the housing 10, and in one embodiment, the housing 10 is a rigid housing. Specific advantages are as detailed above with respect to the pull 13. Meanwhile, other forms can also be provided. Referring to one embodiment, the housing 10 is a flexible container capable of withstanding internal pressure. The flexible container has the advantages that the shape of the flexible container can be adjusted according to the use condition, and meanwhile, the flexible container is convenient to store and transport. Referring to one embodiment, the container 10 has an operative state in which the interior is filled with a fluid and a collapsible state when not in operation.

Referring to one embodiment, the housing 10 is externally provided with a support bracket 31 for supporting the interventional instrument 90, the support bracket 31 being adapted to simulate an interventional path away from the site of interventional procedure.

The interventional instrument 90 requires some adaptation in length to accommodate its own interventional path. The interventional instrument 90 may need to be of a length from the lower extremity of the body to the heart site, such as when accessing through the inferior vena cava or aortic arch. When such an interventional instrument 90 is used in the present system to perform a simulated surgery, the length of the interventional instrument 90 may cause certain complications. This problem is overcome in this embodiment by the bearer support 31, which bearer support 31 is able to mimic the intervention path within the enclosure 10, thereby avoiding the need for the operator to manually maintain the intervention path. In spatial relationship, with reference to one embodiment, the support frame 31 is disposed adjacent to the interventional interface 12.

In terms of the connection mode of each interface, in an embodiment, when each simulation interface 21 is connected with the intervention interface 12 of the box body 10, the simulation setting can be performed according to the blood vessel direction, and the connection can be performed as needed through simple through-connection. The intervention interfaces 12 of the box body 10 are configured with a plurality of intervention interfaces as required, and can be closed by blind plates, or added with simulated blood circulation, or used as an intervention instrument channel for practical operation.

Referring to one embodiment, the communication interface 11 on the housing 10 includes at least one of:

communicated to the inside of the simulated organ to simulate blood flow;

communicated to the outside of the simulated organ;

a control line 235 connected to the regulating device;

each communication port 11 is individually provided with a fluid supply device, or at least two communication ports 11 share a fluid supply device.

The fluid supply apparatus provides fluid in a variety of forms, and is capable of providing a variety of fluid forms. For example, the fluid is periodically pumped, and can simulate the simulated blood flow in the simulated organ; for example, when the fluid is periodically pumped, the fluctuation of tissue fluid outside the simulated organ caused by organ movement can be simulated, and even the organ movement is driven by the fluctuation; for example, when the fluid is a uniform and stable medium, the tissue fluid outside the simulated organ can be simulated; for example, when the fluid is under pressure, a control line 235 can be provided to control the configuration of the valve unit 23, and so on. The different fluid types described above may be provided by one or more fluid supply devices, or may be achieved by different fluid supply device types. Referring to an embodiment, the fluid supply device is a delivery pump. The delivery pump can also select a pulsating pump which periodically pumps fluid into the box body 10 in a specific form; or a peristaltic pump with a stable output; or a booster pump with certain pressure output capacity; or an axial flow pump or the like capable of outputting a high flow rate of fluid.

Besides the driving and controlling functions, the fluid delivered by the fluid supply device is also used for simulating the internal body environment, so that the temperature and the pressure are important parameters. In one embodiment, the fluid supply apparatus further comprises a temperature adjusting device for adjusting the temperature of the supplied fluid. In some treatment cases, particularly interventional treatment cases, temperature is important for switching the state of the interventional instrument 90. The thermostat can thus further increase the simulation capability of the device of this embodiment with respect to real environments.

Referring to one embodiment, the monitoring device comprises a medical imaging device (not shown) for imaging the interior of the housing 10. The medical imaging equipment can provide more real operation feeling for the operator. Such as a visualization device as in an actual interventional procedure, thereby improving the training results of the simulated interventional procedure. Meanwhile, the medical imaging equipment can be set to a mode which is not easy to realize in the real interventional operation process. In one embodiment, a medical imaging apparatus includes a camera and a three-dimensional support for mounting the camera. The camera enables direct observation of the interventional instrument 90 to further guide the performance of interventional procedures and also provides a structural basis for remote implementation of the system.

The camera can be a common camera, is used for providing basic video recording and output, and provides a basis for recording and displaying for simulating the interventional operation. The camera can also be set up to virtual reality camera for realize that the simulation intervenes operation three-dimensional recording image, operating personnel can freely adjust the recording and the show of visual angle in order to realize more dimensions when observing the record image. The virtual reality camera may employ prior art solutions such as a virtual reality camera Omni consisting of a Gopro camera, and further such as a Gopro Odyssey camera array provided by Gopro corporation.

In an embodiment, the camera may be further configured as an endoscope, and the present application discloses an endoscope system including an endoscope, a camera system host, a display device, and a storage device;

the endoscope is used for collecting images and sending the images to the camera system host;

the camera system host is used for executing the following steps:

acquiring a first image in a surgical video;

determining a target operation main stage to which a first image belongs according to first spatial information and historical stage information corresponding to the first image, wherein the target operation main stage is one of a plurality of main stages involved in an operation process, the historical stage information is used for representing an operation stage experienced before the first image is acquired, and the first spatial information is used for representing semantic features of the first image;

after the target operation main stage is determined, determining an operation sub-stage to which the first image belongs according to instrument existence information corresponding to the first image, wherein the instrument existence information is used for representing instruments existing in the first image, and the operation sub-stage is one of sub-stages included in the target operation main stage;

the camera system host is also used for processing the image and sending the processed image and the stage information of the identified operation stage to the display equipment and the storage device;

the display device is used for receiving the processed image and the stage information and displaying the processed image and the stage information on the display device;

the storage device is used for receiving the processed images and the stage information, forming the received images into operation videos, and storing the operation videos with the stage information for playback.

As described above, the monitoring devices may each include a display device communicatively coupled to the corresponding camera for different camera settings.

The display device is used for outputting images of the camera. In the display setting, different display effects can be realized through parameter adjustment of the display equipment, for example, a display mode similar to a CT image is realized, and the simulation degree of the simulated interventional operation is increased; and then, for example, a display effect similar to the simulation 3d is formed through real-time calculation, so that a structural basis is provided for the display and remote control of the simulated interventional operation. In the implementation of different display modes, the implementation can be realized through hardware adjustment, such as a lens assembly with different filters, or an imaging device with different sensors, and the like; the adjustment may also be implemented by software, such as the parameter adjustment through the display device mentioned above, or the display image with different display style or different display form obtained by calculating the image data through the computing device.

The computing device can also realize labeling, comparison and further image processing of the image data through image recognition.

The camera can also improve the adaptability through three-dimensional support. Referring to an embodiment, a three-dimensional scaffold includes:

the supporting arm is arc-shaped and spans the upper part of the box body, and two ends of the supporting arm are detachably arranged on the box body;

the sliding seat is arranged on the supporting arm in a sliding mode, and the sliding path is consistent with the extending direction of the supporting arm;

adjust the seat, self is installed on the sliding seat, and the camera is installed on adjusting the seat, adjusts the orientation that the camera can be adjusted to the seat.

The three-dimensional support can realize the multi-dimensional regulation of a plurality of positions in space to improve the adaptation degree of camera.

The three-dimensional support can further improve the recording and displaying effect of the medical imaging equipment through automatic control. For example, the medical imaging equipment comprises a control module for controlling the three-dimensional support, a sliding seat for driving the three-dimensional support and an electric unit for adjusting the seat to move, wherein the electric unit is controlled by the control module. The control module is used for driving a camera in the medical imaging equipment to record and/or scan and/or model the simulated interventional operation process according to a preset path and/or orientation.

Referring to one embodiment, the monitoring device includes a monitoring assembly 40 for monitoring the interventional procedure, the monitoring assembly 40 including a sensor assembly 41 disposed proximate to the target site and a response module controlled by the sensor assembly 41.

The monitoring assembly 40 can monitor the interventional instrument 90, thereby realizing a fully automatic detection process for interventional procedures and providing a structural basis for the remote implementation of the system. The response module can perform response operation according to preset rules for different sensing results of the sensor assembly 41, thereby enriching the functions of the system in the embodiment. For example, the response module may implement an alert function, and may be specifically configured to provide visual guidance during the interventional procedure. For example, when the contact apparatus is in a green light in a normal range, and when the position is inaccurate, the contact apparatus is lighted in a red light, and a yellow light for providing warning in a state between the green light and the yellow light is provided. Detecting the release position through the sensor assembly 41, and detecting whether the release position of the bracket is accurate in the release process; when the valve slides down, the warning lamp is on or the voice is used for reminding.

The sensor assembly 41 can be used to sense a number of parameters, such as pinching detection, or, with reference to one embodiment, the sensor assembly 41 is used to detect the spatial position of the interventional instrument 90 when released.

In a specific arrangement of the sensor assembly 41, referring to an embodiment, the sensor assembly 41 includes:

a positioning ring 411 wound around the cylinder 231 of the valve unit 23;

a sensor array 412 composed of a plurality of sensors according to a preset rule and mounted on the positioning ring 411;

and the detection point 413 is arranged on a preset part of the interventional instrument 90 and is used for triggering the sensor array.

The positioning ring 411 is disposed around the cylinder 231 of the valve unit 23, and the interventional device 90 penetrates the positioning ring 411 during the movement, so that the signal of the detection point 413 triggers the sensor array at the corresponding position. The specific detection signal may be an electric signal, a magnetic signal, a radiation signal, or other signal types with high resolution. The spatial position of the detection point 413 can be accurately judged through the intensity change of the signal and the spatial position of the sensor array 412, so that the spatial state of the interventional instrument 90 can be determined. The dimension and accuracy of detection can be effectively improved by increasing the number of detection points 413 and the number of sensor arrays 412. In a specific layout, referring to an embodiment, the positioning ring 411 is disposed on the outer circumferential surface of the cylinder 231. Further, the plurality of sensors are arranged in a coplanar manner. The sensor array can also be arranged in groups side by side in the axial direction of the cylinder, so that the course of movement of the interventional instrument 90 is continuously monitored.

In the embodiment shown in fig. 5c, the present application further discloses an extracorporeal simulation system for pulmonary artery interventional surgery, which comprises a housing 10 for simulating an in vivo environment and provided with a plurality of communication interfaces 11 and interventional interfaces 12;

a right atrium unit 223 for simulating the right atrium and the superior and inferior vena cava 2231, 2232 in communication with the right atrium;

a tricuspid valve unit for simulating a tricuspid valve;

a right ventricle unit 222 for simulating a right ventricle;

a pulmonary valve unit for simulating a pulmonary valve;

a pulmonary artery unit 242 for simulating a pulmonary artery;

a fluid supply device connected to the communication port 11;

the camera is arranged on the box body 10 in a three-dimensional adjustable mode;

the units are provided with emulation interfaces 21 and are detachably connected to each other according to a physiological configuration, and one of the emulation interfaces of the right atrium unit 223 is connected to the interventional interface 12 for the access of the interventional instrument 90.

In connection with the emulation interface, referring to an embodiment, the right atrium unit 223 is provided with at least two emulation interfaces 21, wherein one emulation interface 21 interfaces with the tricuspid valve unit and the other emulation interface 21 interfaces with the interventional interface 12 of the housing 10. The interventional instrument enters the simulated organ via the corresponding interventional interface 12, the simulation interface 21.

With reference to the above, a plurality of units may be integrated with each other as needed, that is, two or more units may be integrated into one body.

Referring to the embodiment shown in FIG. 5a, the present application further discloses a transcatheter tricuspid valve surgery in-vitro simulation system, comprising

The device comprises a box body 10, a control unit and a control unit, wherein the box body is used for simulating an in-vivo environment and is provided with a plurality of communication interfaces 11 and intervention interfaces 12;

a right atrium unit 223 for simulating the right atrium and the superior and inferior vena cava 2231, 2232 in communication with the right atrium;

the tricuspid valve unit is used for simulating a tricuspid valve and comprises a cylinder 231 and a simulated valve fixed in the cylinder 231, and a plurality of sensors for sensing the position of an interventional device are arranged on the peripheral wall of the cylinder 231;

a right ventricle unit 222 for simulating a right ventricle;

a fluid supply device connected to the communication port 11;

the units are provided with emulation interfaces 21 and are detachably connected with each other according to a physiological configuration, and one emulation interface 21 of the right atrium unit 223 is connected with the intervention interface 12 for the intervention instrument 90 to enter and exit.

In connection with the emulation interface, referring to an embodiment, the right atrium unit 223 is provided with at least two emulation interfaces 21, wherein one emulation interface 21 interfaces with the tricuspid valve unit and the other emulation interface 21 interfaces with the interventional interface 12 of the housing 10. In a particular product, the emulation interface 21 interfacing with the intervention interface 12 of the cassette 10 can be disposed on either the superior vena cava 2231 or the inferior vena cava 2232. The interventional instrument enters the simulated organ via the corresponding interventional interface 12, the simulation interface 21.

With reference to the above, a plurality of units may be integrated with each other as needed, that is, two or more units may be integrated into one body.

Referring to the embodiment shown in fig. 6a to 5c, the present application further discloses a mitral valve interventional surgery in-vitro simulation system, comprising

The device comprises a box body 10, a control unit and a control unit, wherein the box body is used for simulating an in-vivo environment and is provided with a plurality of communication interfaces 11 and intervention interfaces 12;

a mitral valve unit for simulating a mitral valve;

the peripheral simulation unit is provided with a simulation interface and is used for being matched with the mitral valve unit to simulate the physiological structure around the mitral valve;

one simulation interface 21 of the peripheral simulation unit is connected with the interventional interface 12 for the interventional instrument 90 to enter and exit;

a fluid supply device interfacing with the communication interface 11;

the position of each unit relative to the box body 10 is adjustable, the adjusting mode is that a limiting support for changing the position of each unit is arranged in the box body, or the adjusting mode is that the box body is connected with each unit through a traction piece 13 with adjustable length.

According to different intervention paths, the peripheral simulation units can be flexibly arranged.

For example, in the embodiment shown in fig. 6a, the peripheral simulation unit includes:

an aortic unit 241 for simulating an aortic arch;

an aortic valve unit for simulating an aortic valve;

a left ventricle unit 221 for simulating a left ventricle;

the units are provided with emulation interfaces 21 and are detachably connected to each other according to a physiological configuration, and one of the emulation interfaces 21 of the aorta unit 241 is connected to the interventional interface 12 for the access of the interventional instrument 90.

In this embodiment, the interventional instrument 90 performs an interventional procedure on the mitral valve via the aortic arch, aortic valve, and left ventricle. In connection with the emulation interfaces, referring to an embodiment, the aortic unit 241 is provided with at least two emulation interfaces 21, wherein one emulation interface 21 interfaces with the aortic valve unit and the other emulation interface interfaces with the interventional interface 12 of the housing 10. The interventional instrument enters the simulated organ via the corresponding interventional interface 12, the simulation interface 21.

In the embodiment shown in the figures, the peripheral simulation unit further comprises a left atrium unit 224 for simulating the left atrium and pulmonary veins communicating with the left atrium for providing a more realistic interventional environment.

In the embodiment shown with reference to fig. 6d, the peripheral simulation unit comprises:

a right atrium unit 223 for simulating the right atrium and the superior and inferior vena cava 2231, 2232 in communication with the right atrium;

a left atrial element 224 for simulating the left atrium and pulmonary veins communicating with the left atrium;

a mitral valve unit for simulating a mitral valve;

each unit is provided with an emulation interface 21 and detachably connected with each other according to a physiological structure, a puncture area for the intervention instrument 90 to puncture is arranged on the atrial wall between the right atrial unit 223 and the left atrial unit 224, and one emulation interface 21 of the right atrial unit 223 is connected with the intervention interface 12 for the intervention instrument 90 to enter and exit.

In this embodiment, the interventional device 90 performs an interventional procedure on the mitral valve via the right atrial unit 223 (embodied as the superior vena cava 2231 or the inferior vena cava 2232), the left atrial unit 224. In the approach disclosed in this embodiment, it is necessary to puncture the atrial wall between the right atrial unit 223 and the left atrial unit 224. The atrial wall between the right atrial unit 223 and the left atrial unit 224 may be made of a material similar to human tissue, and the simulated puncture is realized by the puncture capability of the interventional device, or in an embodiment, the right atrial unit 223 and the left atrial unit 224 are communicated with each other by a transition piece 221 disposed at the puncture region.

In a specific product, the transition piece 211 can be mounted or dismounted through the simulation interface on the simulation unit, namely, the transition piece 211 can be mounted when needed and can be closed through a corresponding structure when the transition piece is not needed to be arranged. Other embodiments in which the transition piece 211 is not shown in other figures may be understood as having the transition piece 211 uninstalled and the corresponding emulation interface 21 in a closed state. The specific structure of the transition piece 211 can refer to the arrangement mode of the valve unit, and when an interventional instrument does not pass through the transition piece 211, the transition piece 211 can realize self-sealing, so that the complete form of the simulation unit is maintained; when the interventional device passes through, a channel can be opened to realize simulated puncture. In a specific configuration, the transition piece 211 is implemented by a channel similar to a valve unit, and an elastic piece capable of changing the shape is arranged in the channel, so as to realize closing or opening. In one embodiment, the transition piece 211 is a cylindrical structure, both axial ends of the cylindrical structure are respectively provided with a flange or a thread, an elastic body is arranged inside the cylindrical structure, a channel for an interventional instrument to pass through is arranged in the elastic body, and the channel has a tendency of keeping closed under the action of the elastic body.

In the embodiment shown in the figure, the peripheral simulation unit further comprises a left ventricle unit 221 for simulating the left ventricle for providing a more realistic interventional environment.

In the embodiment shown in fig. 6f, the peripheral simulation unit comprises a left ventricle unit 221 of the left ventricle, the mitral valve unit and the left ventricle unit 221 are detachably connected to each other according to the physiological configuration, and the apex of the left ventricle unit 221 is provided with a simulation interface for puncturing the interventional instrument 90, and the simulation interface is connected with the interventional interface 12.

In this embodiment, the interventional instrument 90 performs an interventional procedure on the mitral valve via the left ventricular unit 221. In the approach disclosed in this embodiment, a puncture needs to be made at the apex of the left ventricular unit 221. In the implementation of puncturing, the apex of the left ventricle unit 221 may be made of a material similar to human tissue, and simulated puncturing is implemented by the puncturing capability of the interventional device, or in an embodiment, the simulated interface 21 at the apex of the heart is connected to the interventional interface 12 via the transition piece 211.

In a specific product, the transition piece 211 can be mounted or dismounted through the simulation interface on the simulation unit, namely, the transition piece 211 can be mounted when needed and can be closed through a corresponding structure when the transition piece is not needed to be arranged. Other embodiments in which the transition piece 211 is not shown in other figures may be understood as having the transition piece 211 uninstalled and the corresponding emulation interface 21 in a closed state. The specific structure of the transition piece 211 can refer to the arrangement mode of the valve unit, and when an interventional instrument does not pass through the transition piece 211, the transition piece 211 can realize self-sealing, so that the complete form of the simulation unit is maintained; when the interventional device passes through, a channel can be opened to realize simulated puncture. In a specific configuration, the transition piece 211 is implemented by a channel similar to a valve unit, and an elastic piece capable of changing the shape is arranged in the channel, so as to realize closing or opening. In one embodiment, the transition piece 211 is a cylindrical structure, both axial ends of the cylindrical structure are respectively provided with a flange or a thread, an elastic body is arranged inside the cylindrical structure, a channel for an interventional instrument to pass through is arranged in the elastic body, and the channel has a tendency of keeping closed under the action of the elastic body.

As the same as above, the peripheral simulation unit in this embodiment may further include a left ventricle unit 221 for simulating the left ventricle, so as to provide a more realistic interventional environment.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features. When technical features in different embodiments are represented in the same drawing, it can be seen that the drawing also discloses a combination of the embodiments concerned.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application.

Claims (10)

1. A transcatheter tricuspid surgical in vitro simulation system, comprising:

the box body is used for simulating an in-vivo environment and is provided with a plurality of communicating interfaces and intervention interfaces;

a right atrium unit for simulating a right atrium and superior and inferior vena cava in communication with the right atrium;

the tricuspid valve unit is used for simulating a tricuspid valve and comprises a cylinder body and a simulation valve fixed in the cylinder body, and a plurality of sensors for sensing the positions of interventional instruments are arranged on the peripheral wall of the cylinder body;

a right ventricle unit for simulating a right ventricle;

a fluid supply device interfacing with the communication interface;

each unit is provided with a simulation interface and is detachably connected with each other according to a physiological structure, and one simulation interface of the right atrium unit is connected with the intervention interface for the intervention instrument to enter and exit.

2. The transcatheter tricuspid valve surgical in vitro simulation system according to claim 1, further comprising a monitoring device including a monitoring component for monitoring an interventional procedure implementation, the monitoring component including a sensor component disposed near a target location and a response module controlled by the sensor component, the sensor component being comprised of the plurality of sensors.

3. The transcatheter tricuspid surgical extracorporeal simulation system according to claim 2, wherein the sensor assembly is further configured to detect a trend of motion upon release of an interventional instrument.

4. The transcatheter tricuspid surgical extracorporeal simulation system according to claim 2, wherein the sensor assembly comprises:

the positioning ring is wound on the cylinder;

a sensor array comprising a plurality of sensors arranged along the positioning ring;

and the detection point is arranged on a preset part of the interventional instrument and is used for triggering the sensor array.

5. The transcatheter tricuspid valve surgical in vitro simulation system according to claim 4, wherein the positioning ring is sleeved on the outer peripheral surface of the cylinder body.

6. The transcatheter tricuspid valve surgical extracorporeal simulation system according to claim 4, wherein the plurality of sensors are arranged co-planar.

7. The transcatheter tricuspid valve surgical extracorporeal simulation system according to claim 4, wherein the sensor array is provided in a plurality of sets side by side in the axial direction of the cylinder, thereby continuously monitoring the motion process of the interventional instrument.

8. The transcatheter tricuspid valve surgical extracorporeal simulation system according to claim 1, wherein the right atrium unit is provided with at least two emulation interfaces, one of which interfaces with the tricuspid valve unit and the other of which interfaces with an interventional interface of the housing.

9. The transcatheter tricuspid valve surgical extracorporeal simulation system according to claim 8, wherein a simulation interface which is docked with the intervention interface of the housing is provided on the superior vena cava or the inferior vena cava, and the interventional instrument enters the simulation organ via the corresponding intervention interface, simulation interface.

10. The transcatheter tricuspid surgical extracorporeal simulation system according to claim 9, wherein the emulation interface on one of the superior vena cava or the inferior vena cava to which the interventional interface is not connected is docked with a communication interface of the housing or closed by a blind plate.

Images