CN216287126U - Transcatheter mitral valve surgery simulation system in vitro - Google Patents

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

需要说明的是，当组件被称为与另一个组件“连接”时，它可以直接与另一个组件连接或者也可以存在居中的组件。当一个组件被认为是“设置于”另一个组件，它可以是直接设置在另一个组件上或者可能同时存在居中组件。It should be noted that when a component is referred to as being "connected" to another component, it can be directly connected to the other component or an intervening component may also exist. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be a co-existing centered component.

除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同。本文中在本申请的说明书中所使用的术语只是为了描述具体的实施例的目的，不是在于限制本申请。本文所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field to which this application belongs. The terms used herein in the specification of the present application are for the purpose of describing specific embodiments only, and are not intended to limit the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

参考附图1a至附图6f，本申请公开了一种介入手术体外模拟系统，包括Referring to Figures 1a to 6f, the present application discloses an in vitro simulation system for interventional surgery, comprising:

箱体10，用于模拟体内环境且设有连通接口11和介入接口12；The box 10 is used to simulate the internal environment and is provided with a communication interface 11 and an intervention interface 12;

仿真器官20，设置在箱体10内且包括一个或多个可模块化组装的仿真单元，各仿真单元分别设有仿真接口21，仿真接口21用于同连通接口11、介入接口12连通，或用于仿真单元之间彼此连通；The simulation organ 20 is arranged in the box body 10 and includes one or more simulation units that can be assembled in a modular manner, each simulation unit is respectively provided with a simulation interface 21, and the simulation interface 21 is used for communicating with the communication interface 11 and the intervention interface 12, or It is used to connect the simulation units to each other;

流体供应设备，与连通接口11连接；a fluid supply device, connected to the communication interface 11;

监测设备，采集仿真器官和/或介入器械90的相关信息并进行输出；Monitoring equipment, collecting and outputting relevant information of simulated organs and/or interventional instruments 90;

介入手术的介入器械90经由介入接口12对仿真器官20进行模拟介入手术。The interventional instrument 90 for the interventional operation performs simulated interventional operation on the simulated organ 20 via the interventional interface 12 .

本申请公开的技术方案通过可模块化组装的仿真单元来形成目标仿真器官20，配合流体供应设备来实现对仿真器官20的驱动，从而能够根据实际需要调整介入手术体外模拟系统具体运行状态，有效提高对于不同情况的适应性，在监测设备的配合下，对于训练、模拟、体外仿真等场景中的具有较高的实施意义。下面将结合具体部分的细节设置详细阐释有益技术效果以及技术特征之间的相互协同。The technical solution disclosed in the present application forms the target simulated organ 20 through a modularly assembled simulation unit, and cooperates with the fluid supply device to realize the driving of the simulated organ 20, so that the specific operation state of the in vitro simulation system for interventional surgery can be adjusted according to actual needs, effectively Improve the adaptability to different situations, with the cooperation of monitoring equipment, it has high implementation significance for training, simulation, in vitro simulation and other scenarios. The beneficial technical effects and the mutual synergy between the technical features will be explained in detail below in conjunction with the detail settings of specific parts.

仿真的重点在于如何实现仿真器官20的运动过程，尤其是仿真对象为心脏这类运动较为剧烈且非常重要的脏器。参考一实施例中，仿真器官20的材质为弹性材料。The key point of the simulation is how to realize the motion process of the simulated organ 20 , especially the simulated object is an organ with intense and very important motion such as the heart. Referring to an embodiment, the material of the simulated organ 20 is an elastic material.

弹性材料的意义在于实现在箱体10内部压力变化过程中模拟真实器官的运动过程。仿真器官20内部通过仿真接口21与流体供应设备连通，外部暴露于箱体10内，流体供应设备还能够控制箱体10内的环境参数(例如压力、温度、流体循环速度等等)，因此流体供应设备能够通过各部分的匹配来实现仿真器官20的运动。The significance of the elastic material is to simulate the movement process of a real organ during the pressure change process inside the box body 10 . The inside of the simulated organ 20 is communicated with the fluid supply device through the simulation interface 21, and the outside is exposed to the box 10. The fluid supply device can also control the environmental parameters (such as pressure, temperature, fluid circulation speed, etc.) in the box 10, so the fluid The supply device can realize the motion of the simulated organ 20 by matching the parts.

在此功能上，可以通过仿真单元的材质设置来实现，例如仿真单元的采用高分子材料。高分子材料的优势在于弹性，例如硅胶。同时高分子材料能够实现结构稳定，易于生产的优势。进一步的，仿真单元采用透明材料制成，方便观察介入器械90的运动状态。根据不同的脏器情况，高分子材料能够方便的调整配比来实现不同的理化参数设置需求，例如弹性、硬度以及壁厚等参数。In this function, it can be realized through the material setting of the simulation unit, for example, the simulation unit adopts polymer material. The advantage of polymer materials is elasticity, such as silicone. At the same time, polymer materials can achieve the advantages of stable structure and easy production. Further, the simulation unit is made of transparent material, which is convenient for observing the movement state of the interventional instrument 90 . According to different organ conditions, polymer materials can easily adjust the ratio to achieve different physical and chemical parameters setting requirements, such as elasticity, hardness and wall thickness.

参考附图1a至附图1e所示的一实施例中，仿真器官20为心脏组织，仿真单元包括：Referring to an embodiment shown in FIG. 1a to FIG. 1e, the simulated organ 20 is heart tissue, and the simulation unit includes:

房室单元，分别用于模拟真实心脏的心房或者心室；Atrioventricular units, which are used to simulate the atria or ventricles of the real heart, respectively;

瓣膜单元23，分别用于模拟位于真实心脏中各处的瓣膜；The valve units 23 are respectively used to simulate the valves located in various places in the real heart;

血管单元，分别用于模拟真实心脏中与对应心房或者心室连通的血管。The blood vessel units are used to simulate the blood vessels connected to the corresponding atrium or ventricle in the real heart, respectively.

上述单元能够实现房室单元、瓣膜单元23以及血管单元通过仿真接口21按照真实心脏连接。在具体使用过程中，本实施例中的各仿真单元能够灵活搭配，从而针对不同的位置设置能够更好实现对于不同介入手术类型的调整，提高装置适应性的同时降低设置的复杂程度。The above-mentioned units can realize that the atrioventricular unit, the valve unit 23 and the blood vessel unit are connected according to the real heart through the simulation interface 21 . In the specific use process, the simulation units in this embodiment can be flexibly matched, so that different types of interventional procedures can be better adjusted for different position settings, and the adaptability of the device can be improved while reducing the complexity of the settings.

同理的，参考一实施例中，瓣膜单元23包括以下至少一者：Similarly, referring to an embodiment, the valve unit 23 includes at least one of the following:

主动脉瓣单元，用于模拟主动脉瓣；Aortic valve unit for simulating the aortic valve;

肺动脉瓣单元，用于模拟肺动脉瓣；Pulmonary valve unit, used to simulate the pulmonary valve;

二尖瓣单元，用于模拟二尖瓣；Mitral valve unit, used to simulate the mitral valve;

三尖瓣单元，用于模拟三尖瓣。Tricuspid valve unit, used to simulate the tricuspid valve.

真实生理结构中，各处的瓣膜在结构上存在差异，本实施例中的瓣膜单元23针对不同瓣膜独立设置瓣膜单元，能够提供更为真实模拟效果。在其他方面，各种类型的瓣膜单元23不存在差异，因此下文中若非明确指出，瓣膜单元23的设置可以应用与各瓣膜单元23。In a real physiological structure, there are differences in the structure of the valves in different places. The valve unit 23 in this embodiment is independently provided with valve units for different valves, which can provide a more realistic simulation effect. In other respects, there are no differences among various types of valve units 23 , so the settings of the valve units 23 can be applied to each valve unit 23 unless explicitly stated below.

在提高适应性的设置上，参考一实施例中，仿真接口21为预设规格，预设规格表现为法兰或螺纹方式。在仿真接口21的预设规格尺寸上，可以设置为同一尺寸，该设置能够提高部件的共用率，从而在部件数量一定的情况下尽可能的实现更多的仿真器官20结构。在该思路上，下文中仿真器官20调节也具有协同作用，将在下文中具体阐释。在仿真接口21的预设规格尺寸上，也可以设置为参照真实生理结构的尺寸，从而提供更为真实的模拟效果。In terms of improving the adaptability, in a reference to an embodiment, the simulation interface 21 is a preset specification, and the preset specification is expressed as a flange or a thread. The preset size of the simulation interface 21 can be set to the same size, which can improve the sharing rate of components, so as to realize as many simulated organ 20 structures as possible with a certain number of components. In this line of thought, the simulation organ 20 regulation in the following also has a synergistic effect, which will be explained in detail below. The preset size of the simulation interface 21 can also be set to refer to the size of the real physiological structure, so as to provide a more realistic simulation effect.

在仿真单元的具体设置上，参考一实施例中，房室单元包括以下至少一者：Regarding the specific setting of the simulation unit, referring to an embodiment, the atrioventricular unit includes at least one of the following:

左心室单元221，用于模拟左心室；The left ventricle unit 221 is used to simulate the left ventricle;

右心室单元222，用于模拟右心室；right ventricular unit 222 for simulating the right ventricle;

右心房单元223，用于模拟右心房以及与右心房连通的上腔静脉2231和下腔静脉2232；The right atrium unit 223 is used to simulate the right atrium and the superior vena cava 2231 and the inferior vena cava 2232 communicating with the right atrium;

左心房单元224，用于模拟左心房以及与左心房连通的肺静脉2241。The left atrium unit 224 is used to simulate the left atrium and the pulmonary veins 2241 that communicate with the left atrium.

左心室单元221和右心室单元222可以合并为一体的结构或者单独使用，在结构上，参考在附图1a所示的实施例中，左心室单元221和右心室单元222两者在心室壁部位的形状互补。因为在本实施例中，左心室单元221和右心室单元222两者常常同时出现，分开设置会造成系统设置过程中搭建复杂程度，两者一体能够进一步减少部件数量，方便系统的生产、装配、储运以及搭建。在附图1g和附图1h中，左心室单元221和右心室单元222独立设置，能够根据不同的模拟情况进行仿真器官的灵活搭建。同理的，右心房单元223和左心房单元224两者在心房壁部位的形状互补。右心房单元223和左心房单元224可以合并为一体的结构或者单独使用。The left ventricular unit 221 and the right ventricular unit 222 can be combined into an integrated structure or used separately. In terms of structure, referring to the embodiment shown in FIG. complementary shapes. Because in this embodiment, both the left ventricle unit 221 and the right ventricle unit 222 often appear at the same time, and their separate arrangement will cause complexity in the system setup process. Storage and construction. In FIG. 1g and FIG. 1h, the left ventricle unit 221 and the right ventricle unit 222 are independently set up, which can flexibly construct the simulated organ according to different simulation situations. Similarly, the shapes of the right atrium unit 223 and the left atrium unit 224 at the atrial wall are complementary. The right atrial unit 223 and the left atrial unit 224 may be combined as a unitary structure or used separately.

同理的，在血管单元的具体设置上，参考一实施例中，血管单元包括以下至少一者：Similarly, regarding the specific setting of the blood vessel unit, referring to an embodiment, the blood vessel unit includes at least one of the following:

主动脉单元241，用于模拟主动脉弓；an aortic unit 241 for simulating the aortic arch;

肺动脉单元242，用于模拟肺动脉。The pulmonary artery unit 242 is used to simulate the pulmonary artery.

两者作为常见的心脏介入手术的介入路径或者被介入的靶点位置，单独设置能够进一步调高本实施例中系统的适应程度。The two are used as the intervention path or the intervened target position in a common cardiac interventional operation, and their independent setting can further increase the adaptability of the system in this embodiment.

在实际搭建过程中，可以根据模拟介入手术的需要灵活选择各部件的搭设。参考附图4c公开的实施例中，通过主动脉单元241、左心室单元221以及主动脉瓣膜单元组成了主动脉瓣膜介入模拟手术系统，其中介入路径中不包括右心室，因此可以单独选用左心室单元221。但是在模拟心脏跳动的过程中，是否存在右心室可能会对仿真器官的工作过程造成一定的影响，因此也可以参考附图4d公开的实施例中，搭建完整的心室部分，即左心室单元221和右心室单元222均安装在箱体内，其中右心室单元222的各仿真接口21与箱体上对应的连通接口11连接，以模拟真实状况下的器官动态。In the actual construction process, the construction of each component can be flexibly selected according to the needs of simulated interventional surgery. In the embodiment disclosed with reference to FIG. 4c, the aortic valve intervention simulation operation system is formed by the aortic unit 241, the left ventricle unit 221 and the aortic valve unit, wherein the right ventricle is not included in the intervention path, so the left ventricle can be selected alone Unit 221. However, in the process of simulating the beating of the heart, whether there is a right ventricle may have a certain impact on the working process of the simulated organ. Therefore, referring to the embodiment disclosed in FIG. 4d, a complete ventricular part, that is, the left ventricle unit 221, can also be built. The right ventricular unit 222 and the right ventricular unit 222 are both installed in the box, wherein each simulation interface 21 of the right ventricular unit 222 is connected to the corresponding communication interface 11 on the box to simulate the organ dynamics under real conditions.

基于仿真器官20的各仿真单元的设置，结合多个单元之间的组合设置(例如可以根据需要整合，即其中两个或以上单元集成为一体)，参考附图4a至附图4d，本申请提供了一种主动脉瓣介入手术体外模拟系统，包括：Based on the settings of each simulation unit of the simulated organ 20, combined with the combination settings between multiple units (for example, it can be integrated as required, that is, two or more units are integrated into one), with reference to FIG. 4a to FIG. 4d, the present application An in vitro simulation system for aortic valve interventional surgery is provided, including:

箱体10，用于模拟体内环境且设有多个连通接口11和介入接口12；The box 10 is used to simulate the internal environment and is provided with a plurality of communication interfaces 11 and intervention interfaces 12;

主动脉单元241，用于模拟主动脉弓；an aortic unit 241 for simulating the aortic arch;

主动脉瓣单元，用于模拟主动脉瓣；Aortic valve unit for simulating the aortic valve;

左心室单元221，用于模拟左心室；The left ventricle unit 221 is used to simulate the left ventricle;

流体供应设备，与连通接口11连接；a fluid supply device, connected to the communication interface 11;

监测设备，采集仿真器官和/或介入器械的相关信息并进行输出；Monitoring equipment, collecting and outputting relevant information of simulated organs and/or interventional devices;

各单元设有仿真接口且按照生理构造彼此可拆卸连接，主动脉单元241或左心室单元221的其中一仿真接口21与介入接口12连接，供介入器械进出。Each unit is provided with a simulation interface and is detachably connected to each other according to the physiological structure. One of the simulation interfaces 21 of the aortic unit 241 or the left ventricular unit 221 is connected to the interventional interface 12 for the entry and exit of interventional instruments.

其中，参考附图2a至附图2b所示，主动脉单元241除了用于模拟主动脉弓2413外，还可以设置周围部件，具体的主动脉单元241包括：2a to 2b, in addition to simulating the aortic arch 2413, the aortic unit 241 can also be provided with peripheral components. The specific aortic unit 241 includes:

主动脉本体2411，用于模拟升主动脉2412、主动脉弓2413、降主动脉2414、胸主动脉2415、腹主动脉2416以及股主动脉2417；Aortic body 2411, used to simulate ascending aorta 2412, aortic arch 2413, descending aorta 2414, thoracic aorta 2415, abdominal aorta 2416 and femoral aorta 2417;

若干个扩展单元2418，分别用于模拟右锁骨下动脉24181、右颈总动脉24182、左颈总动脉24183以及左锁骨下动脉24184，各扩展单元2418通过各自的仿真接口21与主动脉本体2411的主动脉弓2413连接。Several expansion units 2418 are used to simulate the right subclavian artery 24181, the right common carotid artery 24182, the left common carotid artery 24183 and the left subclavian artery 24184 respectively. Aortic arch 2413 connection.

根据不同的介入路径，左心室单元221和主动脉单元241进行了不同的针对设置。According to different interventional paths, the left ventricular unit 221 and the aortic unit 241 are configured differently.

参考附图4c公开的实施例中，主动脉单元241至少设有两个仿真接口21，其中一仿真接口21与主动脉瓣单元对接，另一仿真接口与箱体10的介入接口12对接。其中与箱体10的介入接口12对接的仿真接口开设于主动脉单元241的股主动脉2417上，在具体操作中，可以通过股主动脉2417的分叉特性来实现介入路径和给药(例如造影剂等介入治疗过程中需要注入的药剂)路径的独立设置。In the embodiment disclosed with reference to FIG. 4 c , the aortic unit 241 is provided with at least two simulation interfaces 21 , wherein one simulation interface 21 is docked with the aortic valve unit, and the other simulation interface is docked with the intervention interface 12 of the box 10 . The simulation interface connected with the interventional interface 12 of the box 10 is provided on the femoral aorta 2417 of the aortic unit 241. In specific operations, the bifurcation characteristics of the femoral aorta 2417 can be used to realize the interventional route and drug delivery (for example, The independent setting of the path of the agent that needs to be injected during the interventional treatment such as contrast agent.

参考附图4e公开的实施例中，左心室单元221至少设有两个仿真接口21，其中一仿真接口21与主动脉瓣单元对接，另一仿真接口21邻近心尖处且箱体10的介入接口12对接。此路径上需要实现对心尖的穿刺，因此心尖处的仿真接口经由过渡件211与介入接口12连接。In the embodiment disclosed with reference to FIG. 4e, the left ventricular unit 221 is provided with at least two simulation interfaces 21, one of which is connected to the aortic valve unit, and the other simulation interface 21 is adjacent to the apex of the heart and the intervention interface of the box 10. 12 butt. On this path, puncture to the apex needs to be achieved, so the simulation interface at the apex is connected to the interventional interface 12 via the transition piece 211 .

在具体产品中，过渡件211可以通过仿真单元上的仿真接口安装或者拆卸，即在有需要的时候安装，当无需设置时，可以通过相应的结构封闭。其他附图中未显示过渡件211的实施例可以理解为过渡件211未安装且对应的仿真接口21处于封闭状态。过渡件211的具体结构可以参考瓣膜单元的设置方式，在介入器械未穿过此处时，过渡件211能够实现自身封闭，从而维持仿真单元的完整形态；当介入器械穿过时，能够开放一个通道实现模拟穿刺。在具体结构上，过渡件211通过类似于瓣膜单元的通道来实现，通道内设有可以改变形态的弹性件，从而实现封闭或者开放。参考一实施例中，过渡件211为筒状结构，筒状结构轴向两端分别带有法兰或螺纹，在筒状结构内部设置有弹性体，弹性体中开设有供介入器械贯穿的通道，该通道在弹性体自身作用下具有保持封闭的趋势。In a specific product, the transition piece 211 can be installed or removed through the simulation interface on the simulation unit, that is, it can be installed when necessary, and can be closed by a corresponding structure when it is not required to be installed. In the embodiments in which the transition piece 211 is not shown in other drawings, it can be understood that the transition piece 211 is not installed and the corresponding simulation interface 21 is in a closed state. The specific structure of the transition piece 211 can refer to the setting method of the valve unit. When the interventional instrument does not pass through here, the transition piece 211 can achieve self-closing, so as to maintain the complete shape of the simulation unit; when the interventional instrument passes through, a channel can be opened. Realize simulated puncture. In specific structure, the transition piece 211 is realized through a channel similar to the valve unit, and the channel is provided with an elastic piece that can change the shape, so as to realize closing or opening. Referring to an embodiment, the transition piece 211 is a cylindrical structure, the axial ends of the cylindrical structure are respectively provided with flanges or threads, an elastic body is arranged inside the cylindrical structure, and a channel for the interventional instrument to pass through is opened in the elastic body. , the channel has a tendency to remain closed under the action of the elastomer itself.

除了上文的实施例外，本申请还公开了一种介入路径。在本实施例中，主动脉单元241至少设有两个仿真接口21，其中一仿真接口21与主动脉瓣单元对接，另一仿真接口21与箱体10的介入接口12对接。与所述箱体的介入接口对接的仿真接口设置于其中一扩展单元2418上。在本实施例中，介入器械可以经由右锁骨下动脉24181、右颈总动脉24182、左颈总动脉24183以及左锁骨下动脉24184中的一者进入主动脉弓2413实现介入手术。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 simulation interfaces 21 , wherein one simulation interface 21 is connected with the aortic valve unit, and the other simulation interface 21 is connected with the intervention interface 12 of the case 10 . An emulation interface docked with the intervention interface of the box is provided on one of the expansion units 2418 . In this embodiment, the interventional instrument can enter 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 to achieve the interventional procedure.

除了介入路径的不同设置外，本申请中的技术方案还可以通过调节连接关系来进一步模拟不同形态的器官状态。例如参考附图4b所示的实施例中，瓣膜组件23两侧的仿真接口中至少其中一者通过调节座236与对应仿真单元的仿真接口连接。调节座236的主要作用在于能够调整各仿真单元之间的空间位置，提供更为丰富的仿真效果，具体对比附图4a和附图4b。In addition to different settings of interventional paths, the technical solutions in this application can further simulate organ states of different shapes by adjusting the connection relationship. For example, referring to the embodiment shown in FIG. 4 b , at least one of the simulation interfaces on both sides of the valve assembly 23 is connected to the simulation interface of the corresponding simulation unit through the adjustment seat 236 . The main function of the adjustment seat 236 is to adjust the spatial position between the simulation units, so as to provide a richer simulation effect. For details, compare Fig. 4a and Fig. 4b.

附图4c和附图4d的却别在于左心室单元221和右心室单元222的组合设置。Figures 4c and 4d, however, differ in the combined arrangement of the left ventricular unit 221 and the right ventricular unit 222.

结合上文，同理的，瓣膜单元23也可以根据不同的介入案例进行一定的调整来提高适应性。In combination with the above, for the same reason, the valve unit 23 can also be adjusted according to different intervention cases to improve the adaptability.

参考一实施例中，瓣膜单元23包括：Referring to an embodiment, the valve unit 23 includes:

筒体231，筒体231的两端设有仿真接口21；The cylinder body 231, the two ends of the cylinder body 231 are provided with the simulation interface 21;

仿真瓣膜232，固定于筒体231内；The simulated valve 232 is fixed in the cylinder 231;

调节装置，用于改变瓣膜单元23形态。The adjusting device is used to change the shape of the valve unit 23 .

调节装置的设置能够在单个瓣膜单元23上实现多种瓣膜的不同病灶形态，从而提供适应程度，减少系统中配置的瓣膜单元23数量的同时，确保系统对于不同情况的模拟效果。The setting of the adjustment device can realize different lesion shapes of various valves on a single valve unit 23, thereby providing an adaptation degree, reducing the number of valve units 23 configured in the system, and at the same time ensuring the simulation effect of the system for different situations.

调节装置的具体参数上来看，调节装置包括腔径调节装置233和瓣膜调节装置234。两者可以协同设置(参考附图)或者独立设置(图未示)。In terms of specific parameters of the adjustment device, the adjustment device includes a cavity diameter adjustment device 233 and a valve adjustment device 234 . The two can be co-located (refer to the accompanying drawings) or independently (not shown).

腔径调节装置233的细节上，参考一实施例中，调节装置包括调节筒体231内部的腔径大小的腔径调节装置233，腔径调节装置233包括：Regarding the details of the cavity diameter adjusting device 233, referring to an embodiment, the adjusting device includes a cavity diameter adjusting device 233 for adjusting the size of the cavity diameter inside the cylinder body 231, and the cavity diameter adjusting device 233 includes:

第一弹性囊2331，环设于筒体231的内壁上，仿真瓣膜232设置在第一弹性囊2331的内壁上；The first elastic bag 2331 is arranged on the inner wall of the cylinder body 231, and the simulated valve 232 is arranged on the inner wall of the first elastic bag 2331;

控制管路235，与第一弹性囊2331连通并延伸至箱体10上对应的连通接口11；The control pipeline 235 communicates with the first elastic bag 2331 and extends to the corresponding communication port 11 on the box body 10;

第一弹性囊2331在控制管路235的控制下形变以改变筒体231的腔径大小。The first elastic bladder 2331 is deformed under the control of the control pipeline 235 to change the size of the cavity diameter of the cylinder body 231 .

第一弹性囊2331可以为整体的环形也可以设置为多个独立的弹性囊合围形成环形。控制管路235可以为电气管路或者流体输送管路，对弹性囊进行操作实现弹性囊的形变，在筒体231的内径不变或者变化较小的情况下，弹性囊的体积发生变化能够实现筒体231内部的腔径大小的调节，从而模拟瓣膜处狭窄等介入情况。The first elastic bag 2331 may be an integral ring shape or may be configured as a plurality of independent elastic bags encircled to form a ring shape. The control pipeline 235 can be an electrical pipeline or a fluid delivery pipeline, and the elastic bag is operated to realize the deformation of the elastic bag. When the inner diameter of the cylinder body 231 remains unchanged or has a small change, the volume of the elastic bag can be changed. The size of the cavity inside the cylinder body 231 is adjusted to simulate intervention situations such as valve stenosis.

瓣膜调节装置234的细节上，参考一实施例中，调节装置包括调节仿真瓣膜232形态的瓣膜调节装置234，瓣膜调节装置234包括：Regarding the details 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:

第二弹性囊2341，用于形成仿真瓣膜232；The second elastic bag 2341 is used to form the simulated valve 232;

控制管路235，与第二弹性囊2341连通并延伸至箱体10上对应的连通接口11；The control pipeline 235 communicates with the second elastic bag 2341 and extends to the corresponding communication port 11 on the box body 10;

第二弹性囊2341在控制管路235的控制下改变自身结构特点。The second elastic bladder 2341 changes its own structural characteristics under the control of the control pipeline 235 .

第二弹性囊2341通过自身的中空特性能够根据控制管路235的不同操作来实现对于不同情况的瓣膜的模拟。控制管路235可以为电气管路或者流体输送管路，对弹性囊进行操作实现弹性囊的形变。进一步的，第二弹性囊2341还可以通过设置局部材质或者强度的差异化设置，来实现对于局部瓣膜病变的模拟。The second elastic bladder 2341 can simulate the valve in different situations according to the different operations of the control pipeline 235 through its hollow characteristics. The control pipeline 235 can be an electrical pipeline or a fluid delivery pipeline, and operates the elastic bladder to realize the deformation of the elastic bladder. Further, the second elastic bag 2341 can also be configured to simulate local valvular lesions by setting different local material or strength settings.

在具体的瓣膜单元23设置细节上，瓣膜单元23可以通过仿真瓣膜232可更换的设置来实现进一步的灵活调整，在仿真接口21的设置上，尤其是瓣膜单元23的仿真接口21连接方式上，可以选择螺纹、磁吸、插接、铆接等多种方式。Regarding the specific setting details of the valve unit 23, the valve unit 23 can be further flexibly adjusted by simulating the replaceable setting of the valve 232. In the setting of the simulation interface 21, especially the connection mode of the simulation interface 21 of the valve unit 23, Various methods such as threading, magnetic suction, plugging, riveting, etc. can be selected.

仿真单元除了模块化设置的优势外，还可以通过可调整的组装来实现更多情况的模拟。参考一实施例中，箱体10的内部设有约束各仿真单元的限位支座(图未示)。限位支座在具体结构上可以为限位槽或者限位柱。在调整的过程中，参考一实施例中，限位支座设有多个以供仿真单元调整位置；或限位支座能够相对箱体10调整自身位置。在本实施例中，箱体10对各仿真单元实现空间位置上的约束，因此，箱体10为刚性的壳体。此处的刚性的具体材料上表现为金属、塑料等生产中常见的可以承受一定载荷的材料，上述载荷用于约束各仿真单元在空间上的具体位置。In addition to the advantages of a modular set-up, the simulation unit enables the simulation of many more situations through an adjustable assembly. Referring to an embodiment, the inside of the box body 10 is provided with a limit support (not shown) for constraining each simulation unit. The limit support can be a limit groove or a limit column in specific structure. During the adjustment process, referring to an embodiment, a plurality of limit supports are provided for the simulation unit to adjust the position; or the limit supports can adjust their position relative to the box body 10 . In this embodiment, the box body 10 implements spatial position constraints on each simulation unit, so the box body 10 is a rigid shell. The rigid concrete material here is expressed as a material commonly used in production such as metal and plastic that can bear a certain load, and the above load is used to constrain the specific position of each simulation unit in space.

上述实施方式的优点在于结构简单。本申请还提供了另一种仿真器官20的固定以及调节方式。参考一实施例中，各仿真单元上设有多个固定部25，箱体10上设有用于连接各固定部25的牵拉件13，牵拉件13的长度可调。The advantage of the above-described embodiment is that the structure is simple. The present application also provides another way of fixing and adjusting the simulated organ 20 . Referring to an embodiment, each simulation unit is provided with a plurality of fixing portions 25 , and 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.

通过牵拉件13能够约束固定部25相对于箱体10的空间位置关系，从而实现箱体10对于仿真器官20的约束。在具体结构上，各牵拉件13朝向不同方向实现连接。从而对仿真器官20实现三维空间上的约束。在牵拉件13的调整上，可以在系统搭建的过程中调节牵拉件13的长度，也可以参考一实施例中，箱体10上安装有用于连接牵拉件13的控制部件(图未示)，固定部25在控制部件的驱动下运动以调节各仿真单元的空间位置或者空间形态。本实施例中的优势为能够在系统搭建结束后，甚至在介入实施过程中，灵活的通过控制部件来微调仿真器官20的空间位置，甚至微调仿真单元之间的空间位置关系。The spatial positional relationship of the fixing portion 25 relative to the box body 10 can be constrained by the pulling member 13 , so as to realize the constraint of the box body 10 on the simulated organ 20 . In terms of specific structure, each pulling member 13 is connected in different directions. Thereby, constraints on the three-dimensional space are realized for the simulated organ 20 . Regarding the adjustment of the pulling member 13, the length of the pulling member 13 can be adjusted during the system construction. It is also possible to refer to an embodiment that a control component for connecting the pulling member 13 is installed on the box body 10 (not shown in the figure). shown), the fixed part 25 moves under the driving of the control component to adjust the spatial position or spatial form of each simulation unit. The advantage of this embodiment is that the spatial position of the simulated organ 20 can be flexibly fine-tuned through the control components, and even the spatial positional relationship between the simulation units can be flexibly fine-tuned after the system construction is completed or even during the implementation of the intervention.

在结构体系上，牵拉件13和箱体10之间具有协同关系。当箱体10为刚性(参见上文对于刚性的解释)材料时，参考一实施例中，牵拉件13为能够承受轴向拉伸的柔性部件。本申请还提供了一种特殊的箱体10设置方式，参考一实施例中，箱体10为能够承受内部压力的柔性容器。关于箱体10的有益技术效果将在下文具体阐述，此处将重点阐释在该实施例情况下，仿真器官20如何实现空间位置的确定。参考一实施例中，各固定部25之间设有长度可调的牵拉件13，对应牵拉件13的长度调整过程中对应的固定部25运动以调节各仿真单元的空间位置或者空间形态。相较于上文中通过箱体10约束仿真器官20空间位置的设置方式而言，本实施例中通过仿真器官20自身的各部件来实现空间形态的确立。参考一实施例中，牵拉件13为能够承受轴向拉伸和压缩的杆件。从某种意义而言，仿真器官20的各部件之间形成了一个相对稳定的结构，通过“悬浮”于箱体10，从而实现工作过程。In terms of structural system, there is a synergistic relationship between the pulling member 13 and the box body 10 . When the box body 10 is a rigid (refer to the above explanation of rigidity) material, referring to an embodiment, the pulling member 13 is a flexible member capable of withstanding axial stretching. The present application also provides a special arrangement of the box body 10 . Referring to an embodiment, the box body 10 is a flexible container capable of withstanding internal pressure. The beneficial technical effects of the box body 10 will be described in detail below, and the focus will be on explaining how the simulated organ 20 realizes the determination of the spatial position in the case of this embodiment. Referring to an embodiment, a pulling member 13 with an adjustable length is arranged between each fixing portion 25, and the corresponding fixing portion 25 moves during the length adjustment process of the pulling member 13 to adjust the spatial position or spatial shape of each simulation unit. . Compared with the above setting method of constraining the spatial position of the simulated organ 20 by the box 10 , in this embodiment, the establishment of the spatial shape is realized by the components of the simulated organ 20 itself. Referring to an embodiment, the pulling member 13 is a rod member capable of bearing axial tension and compression. In a certain sense, a relatively stable structure is formed between the various parts of the simulated organ 20, and the working process is realized by "suspending" in the box body 10.

在箱体10的设置上，具有多种设置方式，参考一实施例中，箱体10为刚性的壳体。具体的优势参见上文中关于牵拉件13的详细表述。同时，还可以设置其他形式。参考一实施例中，箱体10为能够承受内部压力的柔性容器。柔性容器的优点在于能够根据使用情况来调整其形态，同时方便储运。参考一实施例中，箱体10具有内部填充流体的工作状态和非工作时的可折叠状态。There are various ways of setting the box body 10 . Referring to an embodiment, the box body 10 is a rigid shell. For specific advantages, see the detailed description above with regard to the pulling element 13 . At the same time, other forms can also be set. Referring to an embodiment, the box body 10 is a flexible container capable of withstanding internal pressure. The advantage of a flexible container is that its shape can be adjusted according to the use situation, and it is convenient for storage and transportation. Referring to an embodiment, the case 10 has a working state in which the interior is filled with fluid and a foldable state when it is not working.

参考一实施例中，箱体10外设有用于承托介入器械90的承托支架31，承托支架31用于模拟远离介入手术实施部位的介入路径。Referring to an embodiment, the box body 10 is provided with a supporting bracket 31 for supporting the interventional instrument 90 , and the supporting bracket 31 is used to simulate an intervention path away from the site where the interventional operation is performed.

介入器械90为适应自身介入路径，需要在长度上进行一定的适配。例如当通过下体腔静脉或者主动脉弓进行介入时，介入器械90有可能需要满足从人体下肢至心脏部位的长度。当该类介入器械90在本系统中进行模拟手术时，介入器械90的长度会带来一定的困扰。本实施例中通过承托支架31来克服该问题，承托支架31能够在箱体10外模拟介入路径，从而避免操作人员需要手工维持介入路径。在空间位置关系上，参考一实施例中，承托支架31设置于介入接口12附近。In order to adapt to its own intervention path, the interventional instrument 90 needs to be adapted in length. For example, when intervening through the lower body vena cava or the aortic arch, the interventional instrument 90 may need to meet the length from the lower limbs of the human body to the heart. When this type of interventional instrument 90 performs a simulated operation in the system, the length of the interventional instrument 90 will bring certain troubles. In this embodiment, this problem is overcome by supporting the bracket 31, which can simulate the intervention path outside the box 10, thereby avoiding the need for the operator to maintain the intervention path manually. In terms of spatial positional relationship, referring to an embodiment, the supporting bracket 31 is disposed near the interventional interface 12 .

在各接口的连接方式上，参考一实施例中，各仿真接口21与箱体10的介入接口12连接时，可依照血管走向仿真设置，也可以通过简易贯通按需连通。箱体10的介入接口12根据需要配置有多个，可用盲板封闭，或加入模拟血流循环，或作为实操的介入器械通道。Regarding the connection mode of each interface, referring to an embodiment, when each simulation interface 21 is connected to the interventional interface 12 of the box 10, it can be simulated according to the direction of the blood vessel, or can be connected on demand through a simple connection. There are multiple interventional interfaces 12 of the box 10 as required, which can be closed with a blind plate, or added to simulate blood circulation, or used as an interventional instrument channel for practical operations.

参考一实施例中，箱体10上的连通接口11包括以下至少一者：Referring to an embodiment, the communication interface 11 on the box body 10 includes at least one of the following:

连通至仿真器官内部以模拟血流；Connected to the inside of the simulated organ to simulate blood flow;

连通至仿真器官外部；Connected to the outside of the simulated organ;

连通至调节装置的控制管路235；a control line 235 connected to the regulating device;

各连通接口11单独配置流体供应设备，或至少两个连通接口11公用一流体供应设备。Each communication interface 11 is configured with a fluid supply device independently, or at least two communication interfaces 11 share a fluid supply device.

流体供应设备提供的流体具有多种形式，能够提供多种流体形式。例如流体为周期性泵送时，能够模拟仿真器官内部的模拟血流；例如流体为周期性泵送时，能够模拟仿真器官外部的组织液因为器官运动造成的波动，甚至通过该波动来驱动器官运动；例如，流体为均匀稳定的介质时，能够模拟仿真器官外部的组织液；例如，流体为具备一定压力时，能够提供控制管路235来控制瓣膜单元23的形态等等。上述不同的流体类型可以通过一个或者多个流体供应设备来提供，也可以通过不同的流体供应设备类型来实现。参考一实施例中，流体供应设备为输送泵。输送泵在具体形式还可以选择周期性向箱体10内泵送流体的脉动泵；或者稳定输出的蠕动泵；或者是带有一定压力输出能力的增压泵；或者是能够输出高流量流体的轴流泵等等。The fluids provided by the fluid supply equipment come in a variety of forms and can provide a variety of fluid forms. For example, when the fluid is pumped periodically, it can simulate the simulated blood flow inside the simulated organ; for example, when the fluid is pumped periodically, it can simulate the fluctuation of the tissue fluid outside the simulated organ caused by the movement of the organ, and even drive the movement of the organ through 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 has a certain pressure, a control pipeline 235 can be provided to control the shape 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 by different fluid supply device types. Referring to an embodiment, the fluid supply device is a delivery pump. In the specific form, the delivery pump can also choose a pulsating pump that periodically pumps fluid into the box 10; or a peristaltic pump with stable output; or a booster pump with a certain pressure output capability; or a shaft capable of outputting high-flow fluids flow pump, etc.

流体供应设备输送的流体除了驱动和控制的作用外，还用于模拟内体环境，因此温度、压力都是重要的参数。参考一实施例中，流体供应设备还包括温度调节装置，用以调节所供应流体的温度。在一些治疗案例中，尤其是介入治疗案例中，温度对于介入器械90的状态切换时非常重要的。因此温度调节装置能够进一步调高本实施例中装置对于真实环境的模拟能力。In addition to the role of driving and control, the fluid delivered by the fluid supply device is also used to simulate the internal body environment, so temperature and pressure are important parameters. Referring to an embodiment, the fluid supply device further includes a temperature adjustment device for adjusting the temperature of the supplied fluid. In some treatment cases, especially interventional treatment cases, the temperature is very important for the state switching of the interventional instrument 90 . Therefore, the temperature adjustment device can further increase the simulation capability of the device in this embodiment for the real environment.

参考一实施例中，监测设备包括用于对箱体10内部进行成像的医学影像设备(图未示)。医学影像设备能够为操作人员提供更为真实的操作感受。例如和实际介入手术过程中一样的造影设备，从而提高模拟介入手术的训练效果。同时医学影像设备还可以设置为真实介入手术过程中不容易实现的方式。参考一实施例中，医学影像设备包括摄像头和用于安装摄像头的三维支架。摄像头能够实现介入器械90的直接观测，从而进一步指导介入手术的实施，也能够为本系统的远程实施上提供结构基础。Referring to an embodiment, the monitoring device includes a medical imaging device (not shown) for imaging the inside of the box 10 . Medical imaging equipment can provide operators with a more realistic operating experience. For example, the imaging equipment is the same as the actual interventional surgery process, so as to improve the training effect of the simulated interventional surgery. At the same time, the medical imaging equipment can also be set in a way that is not easy to achieve in real interventional surgery. Referring to an embodiment, the medical imaging device includes a camera and a three-dimensional bracket for installing the camera. The camera can realize the direct observation of the interventional instrument 90, so as to further guide the implementation of the interventional operation, and can also provide a structural basis for the remote implementation of the system.

在摄像头的具体设置上，可以是普通摄像机,用于提供基础的视频录制和输出,为模拟介入手术提供记录和展示的基础。摄像头还可以设置为虚拟现实相机，用于实现模拟介入手术三维记录影像，操作人员在观察记录影像时能够自由调整视角以实现更多维度的记录和展示。虚拟现实相机可以采用现有技术中的解决方案，例如由Gopro相机组成的虚拟现实相机Omni，再例如Gopro公司提供的GoPro Odyssey相机阵列。In terms of the specific settings of the camera, it can be a common camera, which is used to provide basic video recording and output, and provide the basis for recording and displaying simulated interventional procedures. The camera can also be set as a virtual reality camera to realize three-dimensional recording images of simulated interventional surgery, and the operator can freely adjust the viewing angle when observing and recording images to achieve more dimensional recording and display. The virtual reality camera may adopt solutions in the prior art, such as the virtual reality camera Omni composed of Gopro cameras, or the GoPro Odyssey camera array provided by Gopro.

在摄像头还可以设置为内窥镜，参考一实施例中，本申请公开了一种内窥镜系统，内窥镜系统包括内窥镜、摄像系统主机、显示设备和存储装置；The camera head can also be set as an endoscope. Referring to an embodiment, the present application discloses an endoscope system, the endoscope system includes an endoscope, a camera system host, a display device, and a storage device;

内窥镜用于采集图像，将所述图像发送给所述摄像系统主机；The endoscope is used to collect images and send the images to the camera system host;

摄像系统主机用于执行以下步骤：The camera system main unit is used to perform the following steps:

获取手术视频中的第一图像；obtain the first image in the surgical video;

根据第一图像对应的第一空间信息和历史阶段信息，确定第一图像所属的目标手术主阶段，目标手术主阶段为手术过程涉及的多个主阶段中的一个，历史阶段信息用于表征在采集所述第一图像之前经历的手术阶段，所述第一空间信息用于表征所述第一图像的语义特征；According to the first spatial information and historical stage information corresponding to the first image, determine the main stage of the target operation to which the first image belongs. the surgical stage experienced before acquiring the first image, the first spatial information being used to characterize semantic features of the first image;

在确定所述目标手术主阶段之后，根据所述第一图像对应的器械存在信息，确定所述第一图像所属的手术子阶段，所述器械存在信息用于表征所述第一图像中存在的器械，所述手术子阶段为所述目标手术主阶段包括的子阶段中的一个；After the main stage of the target operation is determined, the operation sub-stage to which the first image belongs is determined according to the instrument existence information corresponding to the first image, and the instrument existence information is used to represent the existing equipment in the first image. an instrument, the surgery sub-stage is one of the sub-stages included in the target surgery main stage;

摄像系统主机还用于对图像进行处理，将处理后的图像和识别出的手术阶段的阶段信息发送给显示设备和存储装置；The camera system host is also used to process the image, and send the processed image and the identified stage information of the operation stage to the display device and the storage device;

显示设备用于接收处理后的图像和阶段信息，将处理后的图像和阶段信息显示在显示设备上；The display device is used to receive the processed image and stage information, and display the processed image and stage information on the display device;

存储装置用于接收处理后的图像和阶段信息，将接收到的图像形成手术视频，存储带有阶段信息的手术视频，以供回放。The storage device is used for receiving the processed image and stage information, forming the received image into a surgical video, and storing the surgical video with the stage information for playback.

如上文描述的，针对不同的摄像头设置，监测设备均可以包括与对应述摄像头通信连接的显示设备。As described above, for different camera settings, the monitoring device may include a display device communicatively connected to the corresponding camera.

显示设备用于输出摄像头的图像。在显示设置上，能够通过显示设备的参数调节来实现不同的显示效果，例如实现类似于CT影像的显示模式，增加模拟介入手术的模拟程度；再例如通过实时演算形成类似于仿真3d的显示效果，为模拟介入手术的展示、远程提供结构基础。在不同显示模式的实现上，可以通过硬件的调整来实现，例如带有不同滤镜的镜头组件，或带有不同传感器的成像设备等等；也可以通过软件的调整来实现，例如上文中提到的通过显示设备的参数调节，或者通过计算设备对影像数据进行计算得到的不同显示风格或者不同显示形式的显示影像。The display device is used to output the image from the camera. In terms of display settings, different display effects can be achieved by adjusting the parameters of the display device, for example, a display mode similar to CT images can be realized, and the simulation degree of simulated interventional surgery can be increased; , to provide a structural basis for the demonstration and remote operation of simulated interventional surgery. The realization of different display modes can be realized through hardware adjustment, such as lens components with different filters, or imaging devices with different sensors, etc.; it can also be realized through software adjustment, such as the above mentioned The obtained display images of different display styles or different display forms obtained by adjusting the parameters of the display device, or by calculating the image data by the computing device.

计算设备还能通过图像识别实现对影像数据的标注，比对以及进一步的图像处理。The computing device can also realize the annotation, comparison and further image processing of image data through image recognition.

摄像头还可以通过三维支架提高适应性。参考一实施例中，三维支架包括：The camera can also improve adaptability through a 3D stand. Referring to an embodiment, the three-dimensional scaffold includes:

支撑臂，自身为弧形且跨设在箱体的上方，支撑臂的两端可拆卸式安装于箱体；The support arm itself is arc-shaped and is arranged above the box body, and both ends of the support arm are detachably installed on the box body;

滑动座，滑动安装在支撑臂上，滑动路径与所述支撑臂自身的延伸方向一致；The sliding seat is slidably installed on the support arm, and the sliding path is consistent with the extension direction of the support arm itself;

调节座，自身安装在滑动座上，摄像头安装在调节座上，调节座能够调节摄像头的朝向。The adjustment seat is installed on the sliding seat, the camera is installed on the adjustment seat, and the adjustment seat can adjust the orientation of the camera.

三维支架能够从空间上实现多个位置的多维度调节，从而提高摄像头的适应程度。The three-dimensional bracket can realize multi-dimensional adjustment of multiple positions in space, thereby improving the adaptability of the camera.

三维支架还可以通过自动化控制来进一步提高医学影像设备的记录和展示效果。例如医学影像设备包括用于控制三维支架的控制模块、驱动三维支架的滑动座和调节座运动的电动单元，电动单元受控于控制模块。控制模块用于驱动医学影像设备中的摄像头按照预设路径和/或朝向对模拟介入手术过程进行记录和/或扫描和/或建模。The 3D scaffold can also further improve the recording and presentation of medical imaging equipment through automated control. For example, a medical imaging device includes a control module for controlling the three-dimensional support, a sliding base for driving the three-dimensional support and an electric unit for adjusting the movement of the base, and the electric unit is controlled by the control module. The control module is used to drive the camera in the medical imaging device to record and/or scan and/or model the simulated interventional procedure according to a preset path and/or orientation.

参考一实施例中，监测设备包括用于监控介入手术实施过程的监控组件40，监控组件40包括设置在靶点位置附近的传感器组件41以及受控于传感器组件41的响应模块。Referring to an embodiment, the monitoring device includes a monitoring component 40 for monitoring an interventional procedure. The monitoring component 40 includes a sensor component 41 disposed near the target position and a response module controlled by the sensor component 41 .

监控组件40能够对介入器械90进行监控，从而实现对介入手术过程进行全自动的检测过程，能够为本系统的远程实施上提供结构基础。响应模块能够根据预设规则针对传感器组件41不同传感结果进行响应操作，从而丰富本实施例中系统的功能。例如通过响应模块实现警示功能，具体可以设置为随着介入过程提供视觉指引。例如当接触器械处于正常范围内绿灯，位置不准确时亮红灯，两者中间状态提供警示的黄灯等。再例如通过传感器组件41检测释放位置，在释放过程中检测支架释放位置是否准确；瓣膜下滑时警示灯亮或语音提醒。The monitoring component 40 can monitor the interventional instrument 90, so as to realize a fully automatic detection process of the interventional operation process, and can provide a structural basis for the remote implementation of the system. The response module can respond to different sensing results of the sensor component 41 according to preset rules, thereby enriching the functions of the system in this embodiment. For example, the warning function can be realized through the response module, which can be specifically set to provide visual guidance along with the intervention process. For example, when the contact device is within the normal range, the green light is on, the red light is on when the position is inaccurate, and the yellow light for warning is provided in the middle of the two. For another example, the sensor assembly 41 is used to detect the release position, and during the release process, it is detected whether the stent release position is accurate; when the valve slides down, the warning light is on or a voice prompt is given.

传感器组件41能够用于感应多项参数，例如夹瓣叶检测，或者参考一实施例中，传感器组件41用于检测介入器械90释放时的空间位置。The sensor assembly 41 can be used to sense a number of parameters, such as detection of the leaflet, or in one embodiment, the sensor assembly 41 can be used to detect the spatial position of the interventional instrument 90 when it is released.

在传感器组件41具体设置上，参考一实施例中，传感器组件41包括：Regarding the specific settings of the sensor assembly 41, referring to an embodiment, the sensor assembly 41 includes:

定位环411，绕设在瓣膜单元23的筒体231上；The positioning ring 411 is wound around the cylinder 231 of the valve unit 23;

传感器阵列412，由多个传感器按照预设规则组成且安装在定位环411上；The sensor array 412 is composed of a plurality of sensors according to preset rules and is installed on the positioning ring 411;

检测点413，设置在介入器械90的预设部位上且用于触发传感器阵列。The detection point 413 is set on a preset position of the interventional instrument 90 and used to trigger the sensor array.

定位环411，绕设在瓣膜单元23的筒体231上，介入器械90在运动过程中贯穿定位环411，因此检测点413的信号会触发对应位置的传感器阵列。具体的检测信号可以是电信号，磁信号，放射信号等具有高辨识度的信号类型。通过信号的强度变化配合传感器阵列412的空间位置能够精确的判断检测点413的空间位置，从而确定介入器械90的空间状态。通过增加检测点413数量以及传感器阵列412数量能够有效提高检测的维度以及精度。在具体布局上，参考一实施例中，定位环411套设在筒体231的外周面上。进一步的，多个传感器共面布置。传感器阵列还能够在筒体的轴向上并排设置有多组，从而连续监控介入器械90的运动过程。The positioning ring 411 is wound around the barrel 231 of the valve unit 23 , and the interventional instrument 90 penetrates the positioning ring 411 during the movement, so the signal of the detection point 413 will trigger the sensor array at the corresponding position. The specific detection signal may be an electrical signal, a magnetic signal, a radiation signal, or the like with a high degree of identification. The spatial position of the detection point 413 can be accurately determined through the change of the signal intensity and the spatial position of the sensor array 412 , thereby determining the spatial state of the interventional instrument 90 . By increasing the number of detection points 413 and the number of sensor arrays 412, the dimension and accuracy of detection can be effectively improved. In terms of specific layout, referring to an embodiment, the positioning ring 411 is sleeved on the outer peripheral surface of the cylindrical body 231 . Further, the plurality of sensors are coplanarly arranged. The sensor array can also be arranged in multiple groups side by side in the axial direction of the barrel, so as to continuously monitor the movement process of the interventional instrument 90 .

参考附图5c所示的实施例中，本申请还公开了一种肺动脉介入手术体外模拟系统，包括箱体10，用于模拟体内环境且设有多个连通接口11和介入接口12；Referring to the embodiment shown in FIG. 5 c , the present application also discloses an in vitro simulation system for pulmonary artery intervention, including a box 10 for simulating an in vivo environment and provided with a plurality of communication interfaces 11 and intervention interfaces 12 ;

右心房单元223，用于模拟右心房以及与所述右心房连通的上腔静脉2231和下腔静脉2232；a right atrium unit 223 for simulating the right atrium and the superior vena cava 2231 and inferior vena cava 2232 communicating with the right atrium;

三尖瓣单元，用于模拟三尖瓣；Tricuspid valve unit, used to simulate the tricuspid valve;

右心室单元222，用于模拟右心室；right ventricular unit 222 for simulating the right ventricle;

肺动脉瓣单元，用于模拟肺动脉瓣；Pulmonary valve unit, used to simulate the pulmonary valve;

肺动脉单元242，用于模拟肺动脉；a pulmonary artery unit 242 for simulating a pulmonary artery;

流体供应设备，与连通接口11连接；a fluid supply device, connected to the communication interface 11;

摄像头，三维位置可调的安装于箱体10；The camera is installed in the box body 10 with adjustable three-dimensional position;

各单元设有仿真接口21且按照生理构造彼此可拆卸连接，右心房单元223的其中一仿真接口与介入接口12连接，供介入器械90进出。Each unit is provided with a simulation interface 21 and is detachably connected to each other according to the physiological structure. One of the simulation interfaces of the right atrium unit 223 is connected to the interventional interface 12 for the insertion and exit of the interventional instrument 90 .

在仿真接口的连接上，参考一实施例中，右心房单元223至少设有两个仿真接口21，其中一仿真接口21与三尖瓣单元对接，另一仿真接口21与箱体10的介入接口12对接。介入器械经由对应的介入接口12、仿真接口21进入仿真器官。Regarding the connection of the simulation interface, referring to an embodiment, the right atrium unit 223 is provided with at least two simulation interfaces 21 , wherein one simulation interface 21 is connected to the tricuspid valve unit, and the other simulation interface 21 is connected to the intervention interface of the box 10 . 12 butt. The interventional instrument enters the simulated organ via the corresponding interventional interface 12 and the simulation interface 21 .

参考上文，多个单元之间也可以根据需要整合，即其中两个或以上单元集成为一体。Referring to the above, multiple units can also be integrated as required, that is, two or more units are integrated into one.

参考附图5a所示的实施例中，本申请还公开了一种三尖瓣介入手术体外模拟系统，包括箱体10，用于模拟体内环境且设有多个连通接口11和介入接口12；Referring to the embodiment shown in FIG. 5a , the present application also discloses an in vitro simulation system for tricuspid valve intervention, including a box 10 for simulating an in vivo environment and provided with a plurality of communication interfaces 11 and intervention interfaces 12;

右心房单元223，用于模拟右心房以及与所述右心房连通的上腔静脉2231和下腔静脉2232；a right atrium unit 223 for simulating the right atrium and the superior vena cava 2231 and inferior vena cava 2232 communicating with the right atrium;

三尖瓣单元，用于模拟三尖瓣，包括筒体231以及固定于筒体231内的仿真瓣膜，在筒体231的周壁上布置多个感应介入器械位置的传感器；The tricuspid valve unit, used for simulating the tricuspid valve, includes a cylindrical body 231 and a simulated valve fixed in the cylindrical body 231, and a plurality of sensors for sensing the position of the interventional instrument are arranged on the peripheral wall of the cylindrical body 231;

右心室单元222，用于模拟右心室；right ventricular unit 222 for simulating the right ventricle;

流体供应设备，与连通接口11连接；a fluid supply device, connected to the communication interface 11;

各单元设有仿真接口21且按照生理构造彼此可拆卸连接，右心房单元223的其中一仿真接口21与介入接口12连接，供介入器械90进出。Each unit is provided with a simulation interface 21 and is detachably connected to each other according to the physiological structure. One of the simulation interfaces 21 of the right atrium unit 223 is connected to the interventional interface 12 for the insertion and exit of the interventional instrument 90 .

在仿真接口的连接上，参考一实施例中，右心房单元223至少设有两个仿真接口21，其中一仿真接口21与三尖瓣单元对接，另一仿真接口21与箱体10的介入接口12对接。在具体的产品中，与箱体10的介入接口12对接的仿真接口21可以设置在上腔静脉2231或下腔静脉2232上。介入器械经由对应的介入接口12、仿真接口21进入仿真器官。Regarding the connection of the simulation interface, referring to an embodiment, the right atrium unit 223 is provided with at least two simulation interfaces 21 , wherein one simulation interface 21 is connected to the tricuspid valve unit, and the other simulation interface 21 is connected to the intervention interface of the box 10 . 12 butt. In a specific product, the simulation interface 21 that is docked with the interventional interface 12 of the case 10 can be provided on the superior vena cava 2231 or the inferior vena cava 2232 . The interventional instrument enters the simulated organ via the corresponding interventional interface 12 and the simulation interface 21 .

参考上文，多个单元之间也可以根据需要整合，即其中两个或以上单元集成为一体。Referring to the above, multiple units can also be integrated as required, that is, two or more units are integrated into one.

参考附图6a至5c所示的实施例中，本申请还公开了一种经导管二尖瓣手术体外模拟系统，包括Referring to the embodiments shown in Figures 6a to 5c, the present application also discloses an in vitro simulation system for transcatheter mitral valve surgery, comprising:

箱体10，用于模拟体内环境且设有多个连通接口11和介入接口12；The box 10 is used to simulate the internal environment and is provided with a plurality of communication interfaces 11 and intervention interfaces 12;

二尖瓣单元，用于模拟二尖瓣；Mitral valve unit, used to simulate the mitral valve;

周边仿真单元，设有仿真接口且用于与二尖瓣单元配合以仿真二尖瓣周围的生理结构；The peripheral simulation unit is provided with a simulation interface and is used for cooperating with the mitral valve unit to simulate the physiological structure around the mitral valve;

周边仿真单元的其中一仿真接口21与所述介入接口12连接，供介入器械90进出；One of the simulation interfaces 21 of the peripheral simulation unit is connected to the interventional interface 12 for the interventional instrument 90 to enter and exit;

流体供应设备，与连通接口11对接；Fluid supply equipment, docked with the communication interface 11;

各单元相对于箱体10位置可调，调节方式为在箱体的内部设有改变各单元位置的限位支座，或调节方式为所述箱体与各单元之间通过长度可调的牵拉件13连接。The position of each unit relative to the box body 10 is adjustable. The adjustment method is that a limit support is provided inside the box body to change the position of each unit, or the adjustment method is that the length can be adjusted between the box body and each unit. The pull piece 13 is connected.

根据介入路径的不同，周围仿真单元能够灵活设置。According to the different intervention paths, the surrounding simulation units can be flexibly set.

例如参考附图6a所示的实施例中，周边仿真单元包括：For example, referring to the embodiment shown in FIG. 6a, the peripheral simulation unit includes:

主动脉单元241，用于模拟主动脉弓；an aortic unit 241 for simulating the aortic arch;

主动脉瓣单元，用于模拟主动脉瓣；Aortic valve unit for simulating the aortic valve;

左心室单元221，用于模拟左心室；The left ventricle unit 221 is used to simulate the left ventricle;

各单元设有仿真接口21且按照生理构造彼此可拆卸连接，主动脉单元241的其中一仿真接口21与介入接口12连接，供介入器械90进出。Each unit is provided with a simulation interface 21 and is detachably connected to each other according to the physiological structure. One of the simulation interfaces 21 of the aortic unit 241 is connected to the interventional interface 12 for the insertion and exit of the interventional instrument 90 .

在本实施例中，介入器械90经由主动脉弓、主动脉瓣膜、左心室对二尖瓣进行介入手术操作。在仿真接口的连接上，参考一实施例中，主动脉单元241至少设有两个仿真接口21，其中一仿真接口21与主动脉瓣单元对接，另一仿真接口与箱体10的介入接口12对接。介入器械经由对应的介入接口12、仿真接口21进入仿真器官。In this embodiment, the interventional instrument 90 performs an interventional operation on the mitral valve via the aortic arch, the aortic valve, and the left ventricle. Regarding the connection of the simulation interface, referring to an embodiment, the aortic unit 241 is provided with at least two simulation interfaces 21 , wherein one simulation interface 21 is connected to the aortic valve unit, and the other simulation interface is connected to the interventional interface 12 of the box 10 . docking. The interventional instrument enters the simulated organ via the corresponding interventional interface 12 and the simulation interface 21 .

在附图所示的实施例中，周边仿真单元还包括用于模拟左心房以及与所述左心房连通的肺静脉的左心房单元224，用于提供更为真实的介入环境。In the embodiment shown in the drawings, the peripheral simulation unit further includes a left atrium unit 224 for simulating the left atrium and the pulmonary veins communicating with the left atrium, so as to provide a more realistic interventional environment.

参考附图6d所示的实施例中，周边仿真单元包括：Referring to the embodiment shown in FIG. 6d, the peripheral simulation unit includes:

右心房单元223，用于模拟右心房以及与所述右心房连通的上腔静脉2231和下腔静脉2232；a right atrium unit 223 for simulating the right atrium and the superior vena cava 2231 and inferior vena cava 2232 communicating with the right atrium;

左心房单元224，用于模拟左心房以及与所述左心房连通的肺静脉；a left atrium unit 224 for simulating the left atrium and the pulmonary veins communicating with the left atrium;

二尖瓣单元，用于模拟二尖瓣；Mitral valve unit, used to simulate the mitral valve;

各单元设有仿真接口21且按照生理构造彼此可拆卸连接，右心房单元223和左心房单元224之间的心房壁上开设有供介入器械90穿刺的穿刺区，右心房单元223其中一仿真接口21与介入接口12连接，供介入器械90进出。Each unit is provided with a simulation interface 21 and is detachably connected to each other according to the physiological structure. The atrial wall between the right atrium unit 223 and the left atrium unit 224 is provided with a puncture area for the interventional instrument 90 to puncture. One of the simulation interfaces of the right atrium unit 223 21 is connected to the interventional interface 12 for the interventional instrument 90 to enter and exit.

在本实施例中，介入器械90经由右心房单元223(具体表现为上腔静脉2231或下腔静脉2232)、左心房单元224对二尖瓣进行介入手术操作。在本实施例公开的路径上，需要对右心房单元223和左心房单元224之间的心房壁进行穿刺。右心房单元223和左心房单元224之间的心房壁可以设置为与人体组织类似的材质，通过介入器械的穿刺能力实现仿真穿刺，也可参考一实施例中，右心房单元223和左心房单元224之间的之间通过设置在穿刺区的过渡件221相连通。In this embodiment, the interventional instrument 90 performs an interventional operation on the mitral valve via the right atrium unit 223 (specifically expressed as the superior vena cava 2231 or the inferior vena cava 2232 ) and the left atrium unit 224 . On the path disclosed in this embodiment, the atrial wall between the right atrial unit 223 and the left atrial unit 224 needs to be punctured. The atrial wall between the right atrium unit 223 and the left atrium unit 224 can be made of a material similar to that of human tissue, and a simulated puncture can be achieved through the puncturing capability of the interventional instrument. The space between 224 is communicated through a transition piece 221 arranged in the puncture area.

在具体产品中，过渡件211可以通过仿真单元上的仿真接口安装或者拆卸，即在有需要的时候安装，当无需设置时，可以通过相应的结构封闭。其他附图中未显示过渡件211的实施例可以理解为过渡件211未安装且对应的仿真接口21处于封闭状态。过渡件211的具体结构可以参考瓣膜单元的设置方式，在介入器械未穿过此处时，过渡件211能够实现自身封闭，从而维持仿真单元的完整形态；当介入器械穿过时，能够开放一个通道实现模拟穿刺。在具体结构上，过渡件211通过类似于瓣膜单元的通道来实现，通道内设有可以改变形态的弹性件，从而实现封闭或者开放。参考一实施例中，过渡件211为筒状结构，筒状结构轴向两端分别带有法兰或螺纹，在筒状结构内部设置有弹性体，弹性体中开设有供介入器械贯穿的通道，该通道在弹性体自身作用下具有保持封闭的趋势。In a specific product, the transition piece 211 can be installed or removed through the simulation interface on the simulation unit, that is, it can be installed when necessary, and can be closed by a corresponding structure when it is not required to be installed. In the embodiments in which the transition piece 211 is not shown in other drawings, it can be understood that the transition piece 211 is not installed and the corresponding simulation interface 21 is in a closed state. The specific structure of the transition piece 211 can refer to the setting method of the valve unit. When the interventional instrument does not pass through here, the transition piece 211 can achieve self-closing, so as to maintain the complete shape of the simulation unit; when the interventional instrument passes through, a channel can be opened. Realize simulated puncture. In terms of specific structure, the transition piece 211 is realized through a channel similar to the valve unit, and the channel is provided with an elastic piece that can change the shape, so as to realize closing or opening. Referring to an embodiment, the transition piece 211 is a cylindrical structure, the axial ends of the cylindrical structure are respectively provided with flanges or threads, an elastic body is arranged inside the cylindrical structure, and a channel for the interventional instrument to pass through is opened in the elastic body. , the channel has a tendency to remain closed under the action of the elastomer itself.

在附图所示的实施例中，周边仿真单元还包括用于模拟左心室的左心室单元221，用于提供更为真实的介入环境。In the embodiment shown in the drawings, the peripheral simulation unit further includes a left ventricle unit 221 for simulating the left ventricle, so as to provide a more realistic intervention environment.

参考附图6f所示的实施例中，周边仿真单元包括左心室的左心室单元221，二尖瓣单元和左心室单元221按照生理构造彼此可拆卸连接，左心室单元221的心尖处设有供所述介入器械90穿刺的仿真接口，该仿真接口与与介入接口12连接。Referring to the embodiment shown in FIG. 6f, the peripheral simulation unit includes a left ventricular unit 221 of the left ventricle, the mitral valve unit and the left ventricular unit 221 are detachably connected to each other according to the physiological structure, and the apex of the left ventricular unit 221 is provided with a The simulation interface for puncturing by the interventional instrument 90 is connected with the interventional interface 12 .

在本实施例中，介入器械90经由左心室单元221对二尖瓣进行介入手术操作。在本实施例公开的路径上，需要对左心室单元221的心尖处实施穿刺。在穿刺的实现上，左心室单元221的心尖处可以设置为与人体组织类似的材质，通过介入器械的穿刺能力实现仿真穿刺，也可以参考一实施例中，心尖处的仿真接口21经由过渡件211与介入接口12连接。In this embodiment, the interventional instrument 90 performs an interventional operation on the mitral valve via the left ventricular unit 221 . On the route disclosed in this embodiment, it is necessary to perform puncture at the apex of the left ventricular unit 221 . In the realization of puncture, the apex of the left ventricle unit 221 can be made of a material similar to that of human tissue, and the simulated puncture can be realized by the puncturing capability of the interventional instrument. You can also refer to an embodiment where the simulated interface 21 at the apex of the heart passes through the transition piece. 211 is connected to the intervention interface 12 .

在具体产品中，过渡件211可以通过仿真单元上的仿真接口安装或者拆卸，即在有需要的时候安装，当无需设置时，可以通过相应的结构封闭。其他附图中未显示过渡件211的实施例可以理解为过渡件211未安装且对应的仿真接口21处于封闭状态。过渡件211的具体结构可以参考瓣膜单元的设置方式，在介入器械未穿过此处时，过渡件211能够实现自身封闭，从而维持仿真单元的完整形态；当介入器械穿过时，能够开放一个通道实现模拟穿刺。在具体结构上，过渡件211通过类似于瓣膜单元的通道来实现，通道内设有可以改变形态的弹性件，从而实现封闭或者开放。参考一实施例中，过渡件211为筒状结构，筒状结构轴向两端分别带有法兰或螺纹，在筒状结构内部设置有弹性体，弹性体中开设有供介入器械贯穿的通道，该通道在弹性体自身作用下具有保持封闭的趋势。In a specific product, the transition piece 211 can be installed or removed through the simulation interface on the simulation unit, that is, it can be installed when necessary, and can be closed by a corresponding structure when it is not required to be installed. In the embodiments in which the transition piece 211 is not shown in other drawings, it can be understood that the transition piece 211 is not installed and the corresponding simulation interface 21 is in a closed state. The specific structure of the transition piece 211 can refer to the setting method of the valve unit. When the interventional instrument does not pass through here, the transition piece 211 can achieve self-closing, so as to maintain the complete shape of the simulation unit; when the interventional instrument passes through, a channel can be opened. Realize simulated puncture. In terms of specific structure, the transition piece 211 is realized through a channel similar to the valve unit, and the channel is provided with an elastic piece that can change the shape, so as to realize closing or opening. Referring to an embodiment, the transition piece 211 is a cylindrical structure, the axial ends of the cylindrical structure are respectively provided with flanges or threads, an elastic body is arranged inside the cylindrical structure, and a channel for the interventional instrument to pass through is opened in the elastic body. , the channel has a tendency to remain closed under the action of the elastomer itself.

与上文中同理的，本实施例中周边仿真单元还可以包括用于模拟左心室的左心室单元221，用于提供更为真实的介入环境。Similar to the 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 intervention environment.

以上所述实施例的各技术特征可以进行任意的组合，为使描述简洁，未对上述实施例中的各技术特征所有可能的组合都进行描述，然而，只要这些技术特征的组合不存在矛盾，都应当认为是本说明书记载的范围。不同实施例中的技术特征体现在同一附图中时，可视为该附图也同时披露了所涉及的各个实施例的组合例。The technical features of the above-described embodiments can be combined arbitrarily. In order to simplify the description, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction between the combinations of these technical features, All should be regarded as the scope described in this specification. When the technical features of different embodiments are embodied in the same drawing, it can be considered that the drawing also discloses the combination examples of the various embodiments involved.

以上所述实施例仅表达了本申请的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对申请专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本申请构思的前提下，还可以做出若干变形和改进，这些都属于本申请的保护范围。The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are relatively specific and detailed, but should not be construed as a limitation on the scope of the patent application. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application.