CN112535533B - Supporting device for helping remote operation by 3D printing focus model - Google Patents

Abstract

A supporting device for assisting remote surgery by utilizing a 3D printed focus model comprises a patient end and a model end which are used for signal transmission through a signal transmission device, wherein the patient end is provided with a focus positioning mechanism; a 3D printing focus model is arranged at the model end, the 3D printing focus model is connected with a model clamping mechanism to clamp the 3D printing focus model, the model clamping mechanism is connected with a model moving mechanism to realize the movement of the model clamping mechanism, and a model positioning mechanism is arranged beside the 3D printing focus model to position the 3D printing focus model; the 3D printing focus model is modeled and printed according to a CT scanning image of a focus of a patient, the 3D printing focus model comprises a blood vessel model, the outer side of the blood vessel model is a tissue model, and the inner side of the blood vessel model is provided with a plurality of miniature wireless pressure sensors; the blood vessel model and the tissue model are made of transparent materials, and the colors of the materials are different; the invention helps doctors clearly and stereoscopically observe the focus in the operation process, avoids accidentally injuring blood vessels at the focus and improves the success rate of the operation.

Description

A companion device that uses 3D printed lesion models to aid remote surgery

technical field

The invention relates to the technical field of medical devices, in particular to a supporting device for assisting remote surgery by using a 3D printed lesion model.

Background technique

At present, economic development and medical resources are extremely unbalanced. In many remote areas, many patients are difficult to seek medical treatment due to geographical reasons. If major surgery is required, it must be performed in a large city, which often delays the best time for surgery. With the vigorous development of 5g technology, remote surgery has become possible. Remote surgery can connect patients in remote areas with well-known experts in large hospitals, perform surgery in time, and reduce the physical, mental and economic burden of patients.

Although telesurgery has become more and more mature, it still has many problems to be solved, such as the difficulty of displaying the three-dimensional structure of the lesion clearly on the computer 2D display, easily injuring the blood vessels at the lesion, and difficult to observe the physiological signs of the patient.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a supporting device that uses 3D printed lesion models to assist remote surgery, which helps doctors to observe the lesions clearly and three-dimensionally during the operation, avoids accidental injury to the blood vessels at the lesions, and improves the operation efficiency. Success rate.

In order to achieve the above object, the technical scheme adopted in the present invention is:

A supporting device for using a 3D printed lesion model to assist remote surgery, including a patient end and a model end for signal transmission through a signal transmission device 6, the patient end is provided with a lesion positioning mechanism 5; the model end is provided with a 3D printed lesion model 1, 3D The printed lesion model 1 and the model clamping mechanism 2 are connected to clamp the 3D printed lesion model 1. The model clamping mechanism 2 and the model moving mechanism 4 are connected to realize the movement of the model clamping mechanism 2. There is a model positioning next to the 3D printed lesion model 1. Institution 3 locates the 3D printed lesion model 1;

The signal transmission device 6 includes a model-side computer 601 and a patient-side computer 602 for data transmission through the network.

The 3D printed lesion model 1 is modeled and printed according to the CT scan image of the patient's lesion. The 3D printed lesion model 1 includes a blood vessel model 101, the outside of the blood vessel model 101 is a tissue model 102, and the inside of the blood vessel model 101 is provided with a plurality of micro wireless pressure sensor 103 .

The miniature wireless pressure sensor 103 is implanted on the blood vessel wall of the blood vessel model 101 to record the pressure signal corresponding to the blood vessel model 101 .

The blood vessel model 101 and the tissue model 102 are made of transparent materials with different colors. The mechanical properties of the materials used to print the blood vessel model 101 and the tissue model 102 are close to those of the blood vessels and tissues at the patient's lesion.

The model clamping mechanism 2 includes a stage 205, the stage 205 is connected with an X-direction fixing plate 204 in the horizontal direction, and the X-direction fixing plate 204 is connected with the X-direction driving mechanism 203; the object stage 205 is provided with a Y-direction in the vertical direction. To the fixed plate 202, the Y to the fixed plate 202 and the Y to the drive mechanism 201 are connected; into the groove of the fixing plate 202 .

The model moving mechanism 4 includes a three-dimensional moving mechanism 401 . The three-dimensional moving mechanism 401 is connected to a platform 403 through a connecting shaft 402 , and the platform 403 is connected to the stage 205 .

The model positioning mechanism 3 includes a first origin receiver 303, a first X-direction receiver 301 and a first Y-direction receiver 304, the first X-direction receiver 301, and the first Y-direction receiver 304 located on the same horizontal plane. It is connected with the first origin receiver 303 through a data line, and the first origin receiver 303 is connected with the model end computer 601 of the signal transmission device 6; the first origin receiver 303, the first X-direction receiver 301 and the first Y-direction receive The device 304 simultaneously receives the signal from the model positioning sensor 305, the model positioning sensor 305 is implanted into the tissue model 102 below the 3D printed lesion model 1, and the coordinates of the model positioning sensor 305 are obtained by the distance.

The lesion positioning mechanism 5 includes a second X-direction receiver 502 , a second Y-direction receiver 504 , a second X-direction receiver 502 and a second origin receiver 503 fixed on the plane of the operating table 501 through a data cable. , the second origin receiver 503 is connected to the patient computer 602 of the signal transmission device 6; the second X-direction receiver 502, the second Y-direction receiver 504 and the second origin receiver 503 receive the signal sent by the lesion location sensor 505, The lesion locating sensor 505 is attached to the human skin just below the lesion, and the coordinates of the lesion locating sensor 505 are obtained through the distance.

Compared with the prior art, the beneficial effects of the present invention are:

By 3D printing the lesion model 1, the present invention can avoid the occurrence of blood vessel rupture at the lesion caused by the doctor's misoperation, solve the problem that the lesion can only be observed in two dimensions in remote surgery, and help the doctor to observe the lesion in a clear and three-dimensional manner during the operation. Avoid accidental injury of blood vessels at the lesion and improve the success rate of surgery.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic diagram of a 3D printed lesion model according to the present invention.

FIG. 3 is a schematic diagram of the model clamping structure and the model moving structure of the present invention.

FIG. 4 is a schematic diagram of the model positioning structure of the present invention.

FIG. 5 is a schematic diagram of the structure of the lesion location according to the present invention.

Detailed ways

The technical solutions of the present invention will be more clearly and completely described below with reference to the accompanying drawings and embodiments. In the description of the present invention, it should be understood that the terms "X-direction", "Y-direction", "origin", "center", "longitudinal", "lateral", "upper", "lower", "front" , "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and other indicated orientation or positional relationships are based on the drawings The orientation or positional relationship is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention .

Referring to FIG. 1, a supporting device for using 3D printed lesion model to assist remote surgery includes a patient end and a model end for signal transmission through a signal transmission device 6, the patient end is provided with a lesion positioning mechanism 5; the model end is provided with a 3D printed lesion Model 1, 3D printing lesion model 1 and model clamping mechanism 2 are connected to clamp 3D printing lesion model 1, model clamping mechanism 2 and model moving mechanism 4 are connected to realize the movement of model clamping mechanism 2, next to 3D printing lesion model 1 A model positioning mechanism 3 is provided to position the 3D printed lesion model 1;

The signal transmission device 6 includes a model-side computer 601 and a patient-side computer 602 for data transmission through the network.

Referring to FIG. 2, the 3D printed lesion model 1 is modeled and printed according to the CT scan image of the patient's lesion. The 3D printed lesion model 1 includes a blood vessel model 101. The outside of the blood vessel model 101 is a tissue model 102, and the inside of the blood vessel model 101 is provided with A plurality of miniature wireless pressure sensors 103, the miniature wireless pressure sensors 103 are implanted on the blood vessel wall of the blood vessel model 101, and record the pressure signal corresponding to the blood vessel model 101; the blood vessel model 101 and the tissue model 102 are made of transparent materials, The two materials have different colors, and the mechanical properties of the materials used to print the blood vessel model 101 and the tissue model 102 are close to the mechanical properties of the blood vessels and tissues at the patient's lesion.

3, the model clamping mechanism 2 includes a stage 205, the stage 205 is connected with an X-direction fixing plate 204 in the horizontal direction, and the X-direction fixing plate 204 is connected with the X-direction driving mechanism 203; the object stage 205 is vertical A Y-direction fixing plate 202 is provided in the direction, and the Y-direction fixing plate 202 is connected with the Y-direction driving mechanism 201; the X-direction fixing plate 204 is provided with a convex groove, and the Y-direction fixing plate 202 is provided with a groove. The convex groove enters into the groove of the Y-direction fixing plate 202 .

3 , the model moving mechanism 4 includes a three-dimensional moving mechanism 401 . The three-dimensional moving mechanism 401 is connected to a platform 403 through a connecting shaft 402 , and the platform 403 is connected to the stage 205 through bolts.

4 , the model positioning mechanism 3 includes a first origin receiver 303 , a first X-direction receiver 301 and a first Y-direction receiver 304 , and a first origin receiver 303 and a first X-direction receiver located on the same horizontal plane. The distance between the receivers 301, the first origin receiver 303 and the first Y-direction receiver 304 is 1000mm; the first X-direction receiver 301, the first Y-direction receiver 304 and the first origin receiver 303 pass data The first origin receiver 303 is connected to the model end computer 601 of the signal transmission device 6; the first origin receiver 303, the first X direction receiver 301 and the first Y direction receiver 304 simultaneously receive the model positioning sensor 305. The signal of the model positioning sensor 305 is implanted into the tissue model 102 below the 3D printed lesion model 1, and the coordinates of the model positioning sensor 305 are obtained through the distance.

Referring to FIG. 5 , the lesion positioning mechanism 5 includes a second X-direction receiver 502 , a second Y-direction receiver 504 , a second origin receiver 503 , and a second X-direction receiver 502 , which are fixed on the plane of the operating table 501 . , The second Y direction receiver 504 and the second origin receiver 503 are connected by a data line, between the two X direction receiver 502 and the second origin receiver 503, and the second Y direction receiver 504 and the second origin receiver The distance between the receivers 503 is 1000mm, the second origin receiver 503 is connected to the patient computer 602 of the signal transmission device 6; the second X-direction receiver 502, the second Y-direction receiver 504 and the second origin receiver 503 receive the location of the lesion According to the signal sent by the sensor 505, the lesion locating sensor 505 is attached to the human skin directly below the lesion, and the coordinates of the lesion locating sensor 505 are obtained through the distance.

The working principle of the present invention is:

Using CT scanning technology to collect the lesion information of the patient through the lesion location sensor 505, reconstruct the blood vessels and tissues at the lesion by 3D reconstruction software, determine the relative position of the lesion location sensor 505 and the lesion, model the lesion and print it as a lesion Model; the micro wireless pressure sensor 103 and the model positioning sensor 305 are implanted into the blood vessel model 101 and the tissue model 102 in the lesion model by using a probe to form a 3D printed lesion model 1;

Place the 3D printed lesion model 1 on the lower right corner of the stage 205 of the model clamping mechanism 2, use the Y-direction drive mechanism 201 and the Y-direction fixing plate 202 to position the 3D-printed lesion model 1 in the Y direction, and use the X-direction drive mechanism 203 and the X-direction fixing plate 204 perform X-direction positioning on the 3D printed lesion model 1, thus realizing the clamping of the 3D printed lesion model 1;

The patient's lesion is placed on the operating bed 502, and the signal from the lesion location sensor 505 is received by the second X-direction receiver 502, the second Y-direction receiver 504 and the second origin receiver 503, and the second X-direction receiver 502 coordinates is (1000,0,0), the second Y direction receiver 504 has coordinates (0,1000,0), the second origin receiver 503 coordinates are (0,0,0), and the second X direction receiver 502. The distance between the second Y-direction receiver 504 and the second origin receiver 503 can calculate the spatial coordinates (X ₀ , Y ₀ , Z ₀ ) of the lesion positioning sensor 505 , and upload it to the lesion-side computer 602 through the data line;

Similarly, the model-side positioning sensor 305 also outputs a coordinate (X ₁ , Y ₁ , Z ₁ ), and calculates the difference between the two coordinates according to the coordinates (X ₀ , Y ₀ , Z ₀ ) returned by the signal transmission device 6 value, the model computer 601 controls the three-dimensional movement mechanism 401 to move in space, so that the coordinates of the model positioning sensor 305 are also (X ₀ , Y ₀ , Z ₀ ), the repositioning of the 3D printed lesion model 1 is completed, and the synchronous operation is started;

The force exerted on the blood vessel wall of the blood vessel model 101 is received by the receiving module of the model computer 601 through the wireless transmitter module through the miniature wireless pressure sensor 103; after analysis and processing, if the maximum value of the pressure exceeds the maximum value that the blood vessel wall can bear, The computer 601 on the model side sends out an alarm signal and a stop instruction to stop the operation of the surgical robot on the lesion side.

The above content is only to illustrate the technical idea of the present invention, and cannot limit the protection scope of the present invention. Any changes made on the basis of the technical solution according to the technical idea proposed by the present invention all fall within the scope of the claims of the present invention. within the scope of protection.

Claims (5)

1. A supporting device for assisting remote operation by using a 3D printed focus model comprises a patient end and a model end which are used for signal transmission through a signal transmission device (6), wherein the patient end is provided with a focus positioning mechanism (5); the method is characterized in that: a 3D printing focus model (1) is arranged at the model end, the 3D printing focus model (1) is connected with a model clamping mechanism (2) to clamp the 3D printing focus model (1), the model clamping mechanism (2) is connected with a model moving mechanism (4) to realize the movement of the model clamping mechanism (2), and a model positioning mechanism (3) is arranged beside the 3D printing focus model (1) to position the 3D printing focus model (1);

the signal transmission device (6) comprises a model end computer (601) and a patient end computer (602) which are used for data transmission through a network;

the 3D printing focus model (1) is modeled and printed according to a CT scanning image of a focus of a patient, the 3D printing focus model (1) comprises a blood vessel model (101), the outer side of the blood vessel model (101) is a tissue model (102), and the inner side of the blood vessel model (101) is provided with a plurality of miniature wireless pressure sensors (103);

the miniature wireless pressure sensor (103) is implanted on the vessel wall of the vessel model (101) and records a pressure signal borne by the corresponding vessel model (101);

the blood vessel model (101) and the tissue model (102) are made of transparent materials, the colors of the materials of the blood vessel model (101) and the tissue model (102) are different, and the mechanical properties of the materials for printing the blood vessel model (101) and the tissue model (102) are close to the mechanical properties of blood vessels and tissues at the focus of a patient;

during synchronous operation, force applied to the vessel wall of the vessel model (101) is received by a receiving module of a model end computer (601) through a wireless transmitting module by a micro wireless pressure sensor (103); after analysis and processing, if the maximum value of the pressure exceeds the maximum value which can be borne by the vessel wall, the model end computer (601) sends out an alarm signal and a stop instruction, so that the operation robot at the focus end stops acting.

2. The kit for assisting remote surgery with 3D printing of a lesion model according to claim 1, wherein: the model clamping mechanism (2) comprises an object stage (205), an X-direction fixing plate (204) is connected to the object stage (205) in the horizontal direction, and the X-direction fixing plate (204) is connected with an X-direction driving mechanism (203); a Y-direction fixing plate (202) is arranged in the vertical direction of the object stage (205), and the Y-direction fixing plate (202) is connected with a Y-direction driving mechanism (201); the X-direction fixing plate (204) is provided with a convex groove, the Y-direction fixing plate (202) is provided with a concave groove, and the convex groove of the X-direction fixing plate (204) enters the concave groove of the Y-direction fixing plate (202) during movement.

3. The kit for assisting remote surgery using a 3D printed lesion model according to claim 2, wherein: the model moving mechanism (4) comprises a three-dimensional moving mechanism (401), the three-dimensional moving mechanism (401) is connected with a platform (403) through a connecting shaft (402), and the platform (403) is connected with an object stage (205).

4. The kit for assisting remote surgery with 3D printing of a lesion model according to claim 1, wherein: the model positioning mechanism (3) comprises a first origin receiver (303), a first X-direction receiver (301) and a first Y-direction receiver (304) which are positioned on the same horizontal plane, the first X-direction receiver (301) and the first Y-direction receiver (304) are respectively connected with the first origin receiver (303) through data lines, and the first origin receiver (303) is connected with a model end computer (601) of the signal transmission device (6); the first origin receiver (303), the first X-direction receiver (301) and the first Y-direction receiver (304) simultaneously receive signals sent by the model positioning sensor (305), the model positioning sensor (305) is implanted into the tissue model (102) below the 3D printing lesion model (1), and coordinates of the model positioning sensor (305) are obtained through distances.

5. The kit for assisting remote surgery with 3D printing of a lesion model according to claim 1, wherein: the lesion positioning mechanism (5) comprises a second X-direction receiver (502), a second Y-direction receiver (504) and a second origin receiver (503) which are fixed on the plane of an operating table (501), the second X-direction receiver (502), the second Y-direction receiver (504) and the second origin receiver (503) are connected through data lines, and the second origin receiver (503) is connected with a patient end computer (602) of the signal transmission device (6); the second X-direction receiver (502), the second Y-direction receiver (504) and the second origin receiver (503) receive signals sent by a focus positioning sensor (505), the focus positioning sensor (505) is attached to the human skin right below the focus, and coordinates of the focus positioning sensor (505) are obtained through distance.

Images