CN107749227B - Craniotomy training device with interlayer positioning and throwing device - Google Patents
Craniotomy training device with interlayer positioning and throwing device Download PDFInfo
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Abstract
The utility model provides a craniotomy trainer with device is put in to interlaminar location, relate to the medical teaching field, including emulation epidermis, emulation skull, emulation dura mater, emulation brain layer, pathological change module, interlaminar location put in the device can realize opening of simulation organizational structure layer, and can put in pathological change module is automatic in appointed position, the pathological change of different positions has been set up the route of going into of simulation operations such as incision simultaneously on each simulation organizational structure, when carrying out the operation training, can truly simulate cutting resistance and simulation bleeding, provide more real environment for medical student carries out craniotomy operation training, realize the purpose of operation route training.
Description
Technical Field
The invention relates to the field of medical teaching, in particular to a device with an interlayer positioning and throwing device for craniotomy training.
Background
Intracranial tumors, intracranial hematomas, skull fractures and the like seriously endanger the life and health of human beings, and the common treatment method is neurosurgery: craniotomy, which opens the skull of a patient through mechanical equipment, so that some unconventional treatments are performed, which is the basic surgical skill of the operation of neurosurgeon, and the brain injury of the patient may be caused by the misoperation of doctor due to the high risk of craniotomy. Therefore, the craniotomy has high requirements for doctors, not only can accurately position the scalp incision of the focus and accurately remove the focus, but also can reduce the extra trauma to the patients in the operation access process as much as possible. Therefore, it is necessary to improve the skill level of the medical students to train by means of some training models.
At present, the focus positioning technology is mature, wherein the method mainly comprises a scalp marker positioning method, an intracranial anatomical sign measuring positioning method, a stereotactic instrument carrying device positioning method and a no carrying device navigation positioning method, and the best positioning of the focus can be easily obtained by utilizing the method according to medical rooting CT/MRI images.
The positions of the focuses are different for different diseases, however, the focus positions can not be automatically selected in the market, a training model for the craniotomy approach is not available, and other training models similar to the approach operation are not available, so students in medical institutions have no opportunity to practice, and therefore, the development of a device which can automatically select the focus positions and is used for the craniotomy approach training is very necessary.
Disclosure of Invention
In order to solve the problems, the invention provides a craniotomy training device with an interlayer positioning and throwing device.
The technical scheme adopted by the invention is as follows: the craniotomy training device with the interlayer positioning and throwing device comprises a simulation tissue and a lesion module and is characterized by further comprising an interlayer positioning and throwing device and a control device, wherein the interlayer positioning and throwing device comprises 1-N layers of objective tables for supporting and fixing the simulation tissue, a lifting mechanism for controlling the objective tables to perform lifting motion and a six-degree-of-freedom manipulator; the objective table is provided with a groove capable of accommodating the lifting mechanism; the control device controls the lifting mechanism to drive the objective table to lift, and controls the six-degree-of-freedom manipulator to clamp and throw the lesion module.
The six-degree-of-freedom manipulator comprises a rotary base, a first telescopic mechanism connected with the rotary base, a second telescopic mechanism rotationally connected with the first telescopic mechanism and a manipulator arranged at the top end of the second telescopic mechanism, wherein the rotary base is provided with a containing groove for placing a lesion module.
The lifting mechanism comprises a supporting rod capable of achieving up-and-down movement and a power device for driving the supporting rod to move up and down.
The supporting rod is one of a scissor fork type, a sleeve type, a telescopic arm type and a folding arm type.
The power device is one of a hydraulic cylinder, an air cylinder and a motor.
The simulated tissue comprises a simulated epidermis, and the simulated epidermis is provided with an incision to form a movable skin flap; the inner side of the incision is provided with a resistance device which is used for simulating the resistance generated when the epidermis cutting operation is performed; the lower surface of the movable flap is provided with a bleeding device which is used for simulating bleeding generated during the operation of lifting the epidermis.
The simulated tissue also comprises a simulated skull, the simulated skull comprises a detachable bone flap, and the detachable bone flap is movably connected with the simulated skull.
The simulated tissue also comprises a simulated dura mater, wherein the simulated dura mater is provided with an incision to form a movable diaphragm.
The simulation organization further comprises a simulation brain layer, wherein the simulation brain layer is a luminous component and comprises a display module and a detection module, the detection module receives external data, transmits the external data to the control device, processes and analyzes the data, and transmits the external data to the display module for display.
The pathological change module comprises a capsule body and a simulation assembly wrapping the capsule body; the simulation assembly comprises 1-N simulation vascular network layers and 1-N simulation mucus layers.
The beneficial effects of the invention are as follows:
1. automatic placement of interlayer positioning: the lifting mechanism and the six-degree-of-freedom manipulator are controlled by the control device, so that the object stage can bear the simulated epidermis, the simulated skull, the simulated dura mater and the simulated brain layer to move up or down along with the lifting mechanism, so that the layers are separated to form a layer space, and the manipulator can conveniently clamp a lesion module under the action of the first telescopic mechanism and the second telescopic mechanism and place the lesion module at a designated position;
2. presetting an entrance path: the simulated epidermis is provided with the incision to form the movable flap, the simulated skull is provided with the detachable flap, the simulated dura mater is provided with the incision to form the movable flap, the path of the real operation access is simulated, and an operator can realize the step learning of the access process only by operating step by step according to the set path;
3. and (3) structural simulation: the device can simulate adhesion and traction between tissue layers, resistance during cutting, incision and subcutaneous hemorrhage, and pathological change modules with different pathological characteristics provide a more real operation environment;
4. and (3) operation detection: detecting the operation force and operation time of an operator in the process of removing the lesions through a detection module, and judging whether the operation is in a correct standard range or not;
the invention can realize the automatic delivery of lesion modules with different positions and different symptoms, can truly simulate the process of operation access, can also perform the training of focus clearance, and can meet various requirements in teaching, training and examination.
Drawings
FIG. 1 is a schematic view of the appearance of the present invention;
FIG. 2 is a schematic diagram of an interlayer positioning and releasing device;
FIG. 3 is a schematic view of a partially enlarged structure of a simulated epidermis incision;
FIG. 4 is another schematic structural view of a simulated skin;
FIG. 5 is a schematic diagram of the working principle of the present invention;
wherein: 1 simulated epidermis, 11 movable skin flaps, 2 simulated skull, 21 detachable bone flaps, 3 simulated dura mater, 31 movable membrane flaps, 4 simulated brain layers, 5 pathological change modules, 6 control devices, 7 objective tables, 71 grooves, 81 supporting rods, 82 power devices, 91 rotary bases, 92 first telescopic mechanisms, 93 second telescopic mechanisms and 94 mechanical arms.
Detailed Description
The present invention will be further described in detail with reference to the following examples, for the purpose of making the objects, technical solutions and advantages of the present invention more apparent, and it should be understood that the specific examples described herein are only for explaining the present invention and are not intended to limit the present invention.
As shown in fig. 1-2, as a head model, the simulated epidermis 1, the simulated skull 2, the simulated dura mater 3, the simulated brain layer 4, the lesion module 5 and the control device 6 can be seen, the interlaminar positioning and throwing device comprises 4 layers of object tables 7, the simulated epidermis 1, the simulated skull 2, the simulated dura mater 3 and the simulated brain layer 4 are respectively and fixedly supported, grooves 71 are formed in the upper surface and the lower surface of each layer of the object tables 7, scissor-type supporting rods 81 arranged between the layers can be contained, the supporting rods 81 are driven to perform lifting motion through the arranged hydraulic power device 82, the six-degree-of-freedom manipulator comprises a first telescopic mechanism 92 fixed on a rotating base 91, a second telescopic mechanism 93 rotationally connected with the first telescopic mechanism 92 and a manipulator 94 positioned at the top end of the second telescopic mechanism 93, the rotating base 91 is provided with a containing groove, the lesion module 5 to be clamped is placed, the control device 6 controls the power device 82 to drive the supporting rods 81 to drive the object tables 7 to perform lifting motion, so that the simulated tissue borne by the object tables 7 are driven to perform lifting motion, and the control device 6 also controls the six-degree-of-freedom manipulator to clamp the lesion module 5 in the containing groove and throw the lesion module into a specified position.
The simulated epidermis 1 is provided with an incision to form a movable skin flap 11, as shown in fig. 3, needle-like protrusions are arranged on two sides of the incision, and the top end is a liquid sac filled with simulated blood for simulating resistance generated during epidermis cutting operation and simulating epidermis incision bleeding during cutting; the lower surface of the movable flap 11 is provided with a liquid bag filled with simulated blood for simulating bleeding generated during the flap lifting operation after the cutting of the epidermis. In order to increase the utilization rate of the model, the bleeding devices and the resistance devices on the two sides of the incision and on the lower surface of the movable flap 11 can be detachable, as shown in fig. 4, a silica gel layer which is matched with the structures of the lower surfaces of the incision and the movable flap 11 is arranged, and the surface of the silica gel layer is provided with a liquid sac; the liquid bag filled with simulated blood can be directly stuck on the inner side of the incision or the lower surface of the movable skin flap, and when the liquid bag is broken due to the action of external force, the simulated blood flows out.
The artificial skull 2 comprises an articulated detachable bone flap 21.
The simulated dura 3 is provided with an incision to form a movable flap 31.
The emulation brain layer 4 is a luminous component, including LED screen, pressure sensor, receives the size that outside operation data includes emulation brain layer 4 impression outside pressure through pressure sensor, the length of time of atress to give controlling means 6, through data processing analysis, and the transmission shows for the LED screen, in order to reach the effect of warning, whether adopt in this scheme to show the operator through the change of the intensity or the colour of LED screen light and operate correctly, can also adopt audio-visual equipment to carry out audio-visual broadcast's mode and warn.
The pathological change module 5 comprises a capsule body, a simulated blood vessel network layer and a simulated mucus layer, wherein the simulated blood vessel network layer and the simulated mucus layer are coated on the periphery of the capsule body, the size of the capsule body, the number of layers of the simulated blood vessel network layer and the number of layers of the simulated mucus layer can be set according to different symptoms, the more the number of layers of the simulated blood vessel network layer is, the denser the extracorporeal blood vessel network is, the more the number of layers of the simulated mucus layer is, and the more sufficient the extracorporeal tissue fluid is.
The operation flow is as follows: training for removing subdural hematoma
1. Setting a disease:
the control device 6 controls the power device 82 to drive the supporting rod 81 positioned between the simulated dura mater 3 and the simulated brain layer 4 to perform ascending movement, and drives the three-layer objective table 7 carrying the simulated dura mater 3, the simulated skull 2 and the simulated epidermis 1 to perform ascending movement, so that a layer space exists between the simulated dura mater 3 and the simulated brain layer 4; meanwhile, the control device 6 controls the six-degree-of-freedom manipulator to put in the lesion module 5, and the manipulator 94 clamps the lesion module 5 positioned in the accommodating groove under the drive of the rotary base 91, the first telescopic mechanism 92 and the second telescopic mechanism 93, and as the lesion module 5 is provided with different difficulty degrees and shapes, the correct lesion module 5 is selected according to the symptoms and put in the appointed position of the opened layer space between the simulated dura mater 3 and the simulated brain layer 4; the throwing of the lesion module 5 is completed, the control device 6 controls the rotary base 91, the first telescopic mechanism 92 and the second telescopic mechanism 93 to drive the manipulator 94 to restore to the initial state, and simultaneously controls the power device 82 to drive the supporting rod 81 to move downwards to drive the three-layer objective table 7 carrying the simulated dura mater 3, the simulated skull 2 and the simulated epidermis 1 to move downwards, so that the simulated dura mater 3 and the simulated brain layer 4 are attached, and the disease setting is completed;
2. operation training:
1) Conventional sterilization:
2) Incising the epidermis: the holding instrument performs cutting operation along the incision of the simulated epidermis 1, the needle-like protrusions and the liquid sac design enable an operator to obviously feel real resistance and simulate bleeding, the movable skin flap 11 is lifted up to the clamp, the liquid sac on the lower surface is broken to simulate subcutaneous bleeding, and the operator performs hemostasis operation;
3) Removing bone flap: the operator removes the movable bone flap 21 movably connected to the artificial skull 2;
4) The dura mater was dissected: the holding instrument performs a cutting operation along the incision simulating the dura mater 3 and hangs the movable membrane flap 31;
5) Hematoma removal: the pathological change module 5 is clamped by using a surgical instrument, in the clamping process, the pressure sensor detects whether the surgical instrument is contacted with the simulated brain layer 4, the contact time length and the stress, the detection data is fed back to the control device 6, whether the operation of an operator is in a normal allowable range is judged through analysis processing, and the warning is carried out through the LED screen by the intensity or the color change of light, for example: in the normal allowable range, the LED screen is not lightened, and the operation reaches the standard; beyond the normal allowable range, the LED screen prompts an operator that the operation is not up to standard through the intensity of light emission, and the larger the intensity is, the more the exceeding range is;
6) And (3) restoring the device: placing the suspended movable membrane flap 31 back; placing the removed movable bone flap 21 back; the movable skin flap 11 of the clamp is put back;
7) The surgical operation is completed.
In the training process of removing the subdural hematoma, four layers of simulation tissues comprise a simulation epidermis 1, a simulation skull 2, a simulation dura mater 3 and a simulation brain layer 4, the simulation tissues are respectively fixed on four layers of objective tables 7, the upper three layers of objective tables 7 need to be lifted upwards when a lesion module 5 is placed, and in order to reduce the use loss of the structure, the simulation epidermis 1, the simulation skull 2 and the simulation dura mater 3 can be fixed on one objective table. In other embodiments, corresponding adjustments may be made depending on the location of the condition.
The bleeding device at the simulated epidermis 1 is a consumable material, and the sac filled with simulated blood needs to be replaced when the next operation training is carried out.
The recess 71 is provided on the stage 7, so that the support rod 81 and the power device 82 can be completely accommodated in the recess 71 in the non-working state, i.e. the initial state, and the occupied space is high, so that the contact between the simulation tissue layers is not affected.
The craniotomy training device with the interlayer positioning and throwing device provided by the invention can be not only the head model, but also any other appearance which can accommodate the interlayer positioning and throwing device.
Claims (10)
1. The craniotomy training device with the interlayer positioning and throwing device comprises a simulation tissue and a lesion module and is characterized by further comprising an interlayer positioning and throwing device and a control device, wherein the interlayer positioning and throwing device comprises 1-N layers of objective tables for supporting and fixing the simulation tissue, a lifting mechanism for controlling the objective tables to perform lifting motion and a six-degree-of-freedom manipulator; the objective table is provided with a groove capable of accommodating the lifting mechanism; the control device controls the lifting mechanism to drive the objective table to lift, and controls the six-degree-of-freedom manipulator to clamp and throw the lesion module.
2. The craniotomy training device with the interlayer positioning and releasing device according to claim 1, wherein the six-degree-of-freedom manipulator comprises a rotary base, a first telescopic mechanism connected with the rotary base, a second telescopic mechanism rotatably connected with the first telescopic mechanism and a manipulator arranged at the top end of the second telescopic mechanism, and the rotary base is provided with a containing groove for placing a lesion module.
3. The craniotomy training device with the interlayer positioning and releasing device according to claim 1, wherein the lifting mechanism comprises a supporting rod capable of achieving up-and-down movement and a power device for driving the supporting rod to move up and down.
4. The craniotomy training apparatus with the interlayer positioning delivery device of claim 3 wherein the support bar is one of scissor type, telescopic arm type, folding arm type.
5. The craniotomy training apparatus with the interlaminar positioning and feeding device according to claim 3, wherein the power device is one of a hydraulic cylinder, an air cylinder and a motor.
6. The craniotomy training apparatus with an interlayer positioning delivery device of claim 1 wherein the simulated tissue comprises a simulated skin, the simulated skin having an incision therein to form a movable flap; the inner side of the incision is provided with a resistance device which is used for simulating the resistance generated when the epidermis cutting operation is performed; the lower surface of the movable flap is provided with a bleeding device which is used for simulating bleeding generated during the operation of lifting the epidermis.
7. The craniotomy training apparatus with an interlayer positioning delivery device of claim 5 wherein the simulated tissue further comprises a simulated skull comprising a detachable bone flap that is movably connected to the simulated skull.
8. The craniotomy training apparatus with an interlayer positioning delivery unit of claim 6 wherein the simulated tissue further comprises a simulated dura mater, the simulated dura mater having an incision therein to form the movable flap.
9. The craniotomy training device with the interlayer positioning and releasing device according to claim 7, wherein the simulation tissue further comprises a simulation brain layer, the simulation brain layer is a luminous component and comprises a display module and a detection module, the detection module receives external data, transmits the external data to the control device, processes and analyzes the data, and transmits the external data to the display module for display.
10. The craniotomy training apparatus with an interlayer positioning delivery device of claim 1 wherein said lesion module comprises a capsule and a simulation assembly encasing said capsule; the simulation assembly comprises 1-N simulation vascular network layers and 1-N simulation mucus layers.
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| CN201711084461.1A CN107749227B (en) | 2017-11-07 | 2017-11-07 | Craniotomy training device with interlayer positioning and throwing device |
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| CN201711084461.1A CN107749227B (en) | 2017-11-07 | 2017-11-07 | Craniotomy training device with interlayer positioning and throwing device |
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| CN107749227B true CN107749227B (en) | 2023-09-08 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2298570Y (en) * | 1997-05-04 | 1998-11-25 | 林大全 | Model for human craniocerebral radiation, diagnose and treatment |
| CN106898221A (en) * | 2017-04-21 | 2017-06-27 | 福州大学 | A kind of lateral cerebral ventricle puncture operation practice device and its application method |
| CN207833763U (en) * | 2017-11-07 | 2018-09-07 | 天津天堰科技股份有限公司 | The operation of opening cranium training device of delivery device is positioned with interlayer |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2897418T3 (en) * | 2013-03-01 | 2022-03-01 | Applied Med Resources | Advanced Surgical Simulation Methods and Constructs |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2298570Y (en) * | 1997-05-04 | 1998-11-25 | 林大全 | Model for human craniocerebral radiation, diagnose and treatment |
| CN106898221A (en) * | 2017-04-21 | 2017-06-27 | 福州大学 | A kind of lateral cerebral ventricle puncture operation practice device and its application method |
| CN207833763U (en) * | 2017-11-07 | 2018-09-07 | 天津天堰科技股份有限公司 | The operation of opening cranium training device of delivery device is positioned with interlayer |
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