Liver suturing operation training simulator under endoscope and suturing level quantitative evaluation method

The invention discloses a liver suturing training simulator under an endoscope, which comprises an opening and closing type shell model, a simulated gall bladder, a three-dimensional mechanical sensor and an electromagnetic tracking device, and is characterized in that the opening and closing type shell model comprises a human abdomen simulating upper shell fixed on a bottom plate; the three-dimensional mechanical sensor and the liver model are fixed in the opening and closing type shell model, the liver model is provided with a simulated gall bladder, a simulated bile duct, a simulated liver internal blood vessel and a simulated liver internal blood vessel branch, a neural network is used for automatically segmenting the liver position, the liver internal blood vessel and the liver internal blood vessel branch from a CT image, and a three-dimensional model is constructed and then is manufactured through 3D printing; the simulated bile duct, the blood vessels in the liver and the branches are filled with simu