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WO2021214323A1 - Système d'imitation médicale - Google Patents

Système d'imitation médicale Download PDF

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Publication number
WO2021214323A1
WO2021214323A1 PCT/EP2021/060740 EP2021060740W WO2021214323A1 WO 2021214323 A1 WO2021214323 A1 WO 2021214323A1 EP 2021060740 W EP2021060740 W EP 2021060740W WO 2021214323 A1 WO2021214323 A1 WO 2021214323A1
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WO
WIPO (PCT)
Prior art keywords
artificial
brain
medical
skull
vasculature
Prior art date
Application number
PCT/EP2021/060740
Other languages
English (en)
Inventor
David BERVINI
Fredrick Johnson JOSEPH
Andreas Raabe
Stefan Weber
Luca SAHLI
Original Assignee
Universität Bern
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universität Bern filed Critical Universität Bern
Publication of WO2021214323A1 publication Critical patent/WO2021214323A1/fr

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/30—Anatomical models
    • G09B23/303—Anatomical models specially adapted to simulate circulation of bodily fluids

Definitions

  • the present invention relates to a medical mimicking system according to the preamble of independent claim 1 and to a method of creating a medical mimicking system.
  • the present invention relates to a training system for cerebral medical interventions, especially at the vasculature in the brain.
  • Such a medical mimicking system can for example be used for training and exercising surgical skills of a surgeon using the medical mimicking system as an artificial physical model for performing surgical steps of a medical intervention.
  • the method of creating such a medical mimicking system can for example be used to design a naturalistic artificial physical model.
  • An open brain surgery may for example include opening the skull to get access to the brain tissue, vasculature and the neuronal system for example for removing abnormal brain tissue or tumors, clipping-off aneurysm or drain blood or other fluids.
  • the surgeon fails to optimally perform each step of the surgery there is a risk of bleeding in the brain, haemorrhage, brain swelling, impaired speech, vision coordination or balance, memory problems, strokes, neurological deficits, death and many more.
  • US 2018/0348876 A1 shows a simulation system and method for a virtual reality simulation of cerebral aneurysm clipping.
  • the system is based on a physical desktop workspace that provides a computer-generated virtual projection of a patient’s anatomy on a display.
  • the virtual projection of the body part can be manipulated by a user using haptic devices.
  • the system provides a feedback for a user’s interaction during surgery within the virtual reality display while the user executes steps required for clipping an aneurysm.
  • such a virtual system cannot fully mimic real world scenarios, lacks direct interaction with physical materials and particularly cannot reproduce any impact on body fluids.
  • WO 2006/083963 A2 discloses a simplified physical model for testing and developing surgery devices and tools.
  • the model is realized as a bench top model using synthetic analogue materials that can simulate physical properties of a living tissue.
  • One example is realized as a neuro vasculature brain model for testing brain surgery tools like dissectors, retractors, raspatories, currettes and the like.
  • Such testing models cannot provide sufficient feedback during and after the training of a surgeon and cannot include patient specific aspects for analysing or preparing a medical intervention.
  • the invention deals with a medical mimicking system comprising an artificial skull member made of a skull-like material having properties suitable to mimic a bone of a skull of a human or animal being, an artificial brain member made of a brain-like material having properties suitable to mimic a brain of the human or animal being, an artificial vasculature with vessels made of a vessel-like material having properties suitable to mimic body fluid vessels in the brain of the human or animal being, and a liquid circulation arrangement with a fluid forwarding unit and a fluid made of a liquid material suitable to mimic a body fluid such as blood, cerebrospinal fluid or fluid in a brain cavity for simulating procedures related to specific pathologies in particular related to changes in intracranial volumes and cerebrospinal fluid circulation (including cerebrospinal fluid production and reabsorption), physiology of hydrocephalus and Chiari malformation.
  • a medical mimicking system comprising an artificial skull member made of a skull-like material having properties suitable to mimic a bone of a skull of a human or animal being, an
  • the artificial brain member is arranged in an interior of the artificial skull member.
  • the artificial brain member can be provided with absorption capabilities for the liquid material.
  • the artificial brain member can be provided with electrophysiological properties.
  • the artificial vasculature is at least partially embodied in the artificial brain member.
  • the forwarding unit of the liquid circulation arrangement is configured to be coupled to the artificial vasculature such that it circulates the liquid material through vessels of the artificial vasculature when forwarding the liquid material.
  • the medical mimicking system realises an artificial physical model of a patient’s head comprising the essential components involved in medical applications like basic brain surgery procedures such as aneurysm clipping, tissue removal or cerebral fluid pressure reduction, or drug testing.
  • the artificial skull member, the artificial brain member and the artificial vasculature together may realize the physical model of a patient’s head and provide an anatomical representation of the head.
  • a visual and textural representation of the patients anatomy i.e. his skull, brain, vascular system, pathologies, microstructures, arachnoid and/or dura mater, can be provided by means of conventional techniques or by additive layer manufacturing such as 3D printing which can be combined with chemical based processing.
  • the liquid circulation arrangement may be positioned within the physical model, but preferably the liquid circulation arrangement is located near the model in vicinity of the artificial skull member and connected to the artificial vasculature from outside the head model.
  • the medical mimicking system is able to mimic all types of fluid circulation in a patient’s head either if it is involved in a medical intervention or needs to be avoided during a medical intervention.
  • the medical mimicking system may provide a surgeon with a realistic impression of his or her surgery actions during a medical intervention training with the model and receives immediate feedback on the impact of his or her action on the vasculatures or the brain tissue in a patient’s brain without involving the patient.
  • the medical mimicking system may be used as drug testing system.
  • the such drug testing system allows for emulating the influence of a drug on the circulation or fluid dynamics inside a head of a patient.
  • drug as used herein relates to a therapeutically active agent, also commonly called active pharmaceutical ingredient (API), as well as to a combination of plural such therapeutically active substances.
  • the term also encompasses diagnostic or imaging agents, like for example contrast agents (e.g. MRI contrast agents), tracers (e.g. PET tracers) and hormones, that need to be administered in liquid form to the patient.
  • diagnostic or imaging agents like for example contrast agents (e.g. MRI contrast agents), tracers (e.g. PET tracers) and hormones, that need to be administered in liquid form to the patient.
  • the training system according to the invention can efficiently be set up a closed-loop system with respect to behavioral and sensory such as flow-based feedback. Like this, it can perform fine-tuning based in its performance based on the feedback loop mechanism. Further, the system can efficiently be embodied to be mobile or portable. This allows the system to be freely mounted at an appropriate location and dislocated from the location of training or testing.
  • the invention deals with a method of creating a medical mimicking system, comprising obtaining an imaging dataset of head of a patient and evaluating the imaging dataset as to the structure of a skull of the patient, of a brain of the patient and of a vasculature of the brain of the patient as well as, optionally, of nerves of the patient, meninges of the patient, intracranial structures, skin and muscles of the patient.
  • the method further comprises manufacturing an artificial skull member in accordance with the structure of the skull evaluated by means of the imaging dataset, wherein the artificial skull member is made of a skull-like material having properties suitable to mimic a bone of the skull of the patient, manufacturing an artificial brain member in accordance with the structure of the brain evaluated by means of the imaging dataset, wherein the artificial brain member is made of a brain-like material having properties suitable to mimic the brain of the patient, and manufacturing an artificial vasculature in the brain member in accordance with the structure of the vasculature of the brain evaluated by means of the imaging dataset, wherein the artificial vasculature is made of a vessel-like material having properties suitable to mimic blood vessels in the brain of the patient.
  • the method further comprises connecting a liquid circulation arrangement having a forwarding unit and a fluid made of a liquid material suitable to mimic a blood flow to the artificial vasculature.
  • the method of creating a medical mimicking system provides an individualized artificial physical model of a patient’s head including specifics of an individual patient.
  • the medical mimicking system will reflect particularities of a patient that will be encountered during a medical intervention at the head of that patient.
  • a surgeon can practice the medical intervention using the individualized medical mimicking system and prepare himself or herself for any particular or even uncommon tissue structures, vessel distributions, complicated pathologies and/or neuro navigation. Therefore, the surgeon will be well prepared the real medical intervention at the patient’s head.
  • medical devices or instruments can be validated with the medical mimicking system which allows for making sure that they properly work in vivo.
  • skull-like material, brain-like material and vessel-like material shall be understood as a material that is not mandatorily identical to skull material, brain material or vessel material of a human being.
  • the skull-like material, brain-like material and vessel-like material comprises properties suitable to mimic the physical properties of a real skull, brain or vessel such as density, rigidity, flexibility, surface structure, and the look and feel of these parts of a patient’s head.
  • skull mimicking material brain mimicking material or vessel mimicking material, respectively.
  • Any artificial material that closely reflects the physical properties of such body parts, especially material that similarly reacts to surgery interventions as the real body parts is suitable for manufacturing an artificial skull member, artificial brain member or artificial vasculature for a medical mimicking system according to the invention.
  • the artificial vasculature of the medical mimicking system is used to mimic any type of body fluid circulation in the head of a patient.
  • an artificial vasculature may be provided to simulate a blood circulation system in the brain.
  • the physical properties of the liquid material should equal the physical properties of blood.
  • Such an artificial blood vasculature may mimic the artery systems and their branching, venous systems and capillary systems.
  • an artificial vasculature may be provided to simulate a circulation system for cerebrospinal fluid in the brain, wherein the properties of the liquid material should correspond to properties of cerebrospinal fluid.
  • a realistic medical mimicking system it can be suitable to provide more than one artificial vasculature to mimic a body fluid system circulating in the brain.
  • two artificial vasculatures might be used to mimic blood circulation in the left and the right brain hemispheres.
  • plural liquid forwarding units and/or circulation arrangements may be involved.
  • the medical mimicking system may comprise additional artificial structures to mimic a head of the patient.
  • a Dura mater member made of a Dura mater-like material i.e. a material similar to a human or animal Dura mater
  • the artificial skull member may be covered by a skin member made of a skin-like material, i.e. similar to a human or animal head skin, in order to emulate the skin of the head of the patient.
  • such artificial Dura mater and skin can be important for bypass procedures and treatment of lesions.
  • the artificial vasculature comprises an input port and an output port.
  • the forwarding unit of the liquid circulation arrangement is configured to be coupled to the input port.
  • the artificial vasculature can be coupled to differing liquid circulation arrangements depending on the differing conditions to be mimicked by the artificial vasculature.
  • such ports allow for providing a mechanical interface which, optionally in combination with other structures, to efficiently assembling and disassembling the medical intervention system.
  • the liquid circulation arrangement can be positioned outside the physical head model designed by artificial skull member, artificial brain member and vasculature, which provides flexibility in the set up of the medical mimicking system.
  • the forwarding unit of the liquid circulation arrangement comprises a pump.
  • the pump can actively circulate the liquid material through the artificial vasculature within the artificial brain member.
  • the pump may help in pumping in the cerebrospinal fluid into the head member when a new patient-specific head member is exchanged or plugged into the training system.
  • a container is coupled to the output port of the artificial vasculature to collect liquid material exiting the artificial vasculature after flowing through the head model.
  • the container can serve as overflow capacity for the liquid material, which may then be forwarded back to the artificial vasculature if needed.
  • filtering unit At some location in an outflow and/or the container there advantageously is filtering unit to remove the media or tracer elements in the flow liquid when the system is in a closed-loop configuration. Like this, the renal filtration of a kidney can be mimicked.
  • a reservoir can be coupled to the input port.
  • a reservoir may comprise the liquid material and, optionally other media like a tracer substance or gas.
  • At least one of the vessels of the artificial vasculature comprises anatomical elements of a brain’s vasculature such as branches and bifurcations.
  • at least one of the vessels of the artificial vasculature comprises a pathological structure such as an outward bulging section.
  • Such outward bulging section can be designed to mimic an aneurysm in the vasculature of a brain.
  • the outward bulging section may have form and size of aneurysms typically found in head pathologies.
  • the forwarding unit of the liquid circulation arrangement is configured to periodically forward the liquid material to mimic a pulse of the human or animal being. Further, the forwarding unit of the liquid circulation arrangement is configured to dynamically adapt a pressure in the liquid material such that a blood pressure in the artificial vasculature of the human or animal being is simulated. This can be achieved, for example, by controlling the pump of the liquid circulation arrangement to create a pulsed flow of the liquid material in the artificial vasculature and create a liquid material pressure within the vessels of the artificial vasculature.
  • the medical mimicking system comprises a control unit coupled to the liquid circulation arrangement and arranged to control the liquid circulation arrangement.
  • the control unit may be provided in order to control the liquid circulation arrangement according to varying pathological conditions of the blood vasculature.
  • Such conditions may be defined by a set of specific parameters representing a specific physiological blood flow and the control unit may be programmed according these parameters.
  • the parameters may for example define pulsatility, maximum/minimum pressures, cardiac arrests and other physiological phenomena of the blood flow.
  • the liquid circulation arrangement can easily emulate a specific pathological condition by simply choosing the corresponding program.
  • the control unit can be any computing entity suitable for performing the tasks involved for controlling the liquid circulation arrangement and eventually for other purposes such as data evaluation or the tasks as defined below. It can be or comprise a laptop computer, a desktop computer, a server computer, a tablet, a smartphone or the like.
  • the term “control unit” covers single devices as well as combined devices.
  • the control unit can, for example, involve a distributed system, such as a cloud solution, performing different tasks at different locations.
  • a control unit or computer has a processor or central processing unit (CPU), a permanent data storage having a recording media such as a hard disk, a flash memory or the like, a random access memory (RAM), a read only memory (ROM), a communication adapter such as an universal serial bus (USB) adapter, a local area network (LAN) adapter, a wireless LAN (WLAN) adapter, a Bluetooth adapter or the like, and a physical user interface such as a keyboard, a mouse, a touch screen, a screen, a microphone, a speaker or the like.
  • Control units or computers can be embodied with a broad variety of components.
  • the control unit can be partially or fully embodied as separate component, or as a component integrated in another device or component.
  • control unit preferably is configured to operate the forwarding unit of the liquid circulation arrangement such that it periodically forwards the liquid material to mimic a pulse of the human or animal being.
  • control unit preferably is configured to operate the forwarding unit of the liquid circulation arrangement such that a pressure in the liquid material is dynamically adapted to mimic a blood pressure in the artificial vasculature of the human or animal being.
  • the control unit can be equipped with a display or any other graphical user interface allowing an interaction with a practitioner. Furthermore, it can have a data interface to transfer data gathered, e.g., to provide it into the cloud. Such interfaces allow for monitoring and supervising the training applied with the medical mimicking system.
  • the control unit can be coupled to the artificial brain member and configured to provide and/or receive electrical impulses to or from the artificial brain member.
  • sophisticated Deep Brain Simulation can be implemented.
  • the artificial brain member can externally be stimulated by the control unit.
  • the control unit can receive impulses provided by the artificial brain member, e.g., as a result of a surgical intervention or an activity of a drug.
  • the medical mimicking system comprises a skull holder having a seat to receive the artificial skull member.
  • the skull holder may be used to position and hold the head model in place during exercising a medical intervention thereon.
  • the skull holder has an adjustment structure configured to adjust the seat for defining an orientation of the artificial skull member.
  • the adjustment structure may comprise several hinge units that allow for moving the seat of the skull holder.
  • the adjustment structure allows adjustment of the seat in six degrees of freedom.
  • the head model can be positioned and oriented in any desired way.
  • the adjustment structure may be coupled to an adapting system controlled by the control unit.
  • a variety of head positions may be programmed in the control unit and can be retrieved by the adapting system to adjust the adjustment structure.
  • the programmed positions may for example correspond to typical positions of a head used during brain medical interventions.
  • the medical mimicking system comprises a tracking system with a sensor configured to track positions of surgical instruments used during practicing a medical intervention. Such positions may be tracked relative to a reference defined on the head model, particularly on the artificial skull member.
  • the sensor may involve a camera, a magnetic resonance imaging (MRI) device, a computed tomography device and/or a sonography device.
  • the tracking system allows for observing movements and actions of surgical instruments within the head model.
  • a three-dimensional tracking system allows position recognition of a surgical instrument relative to a target anatomy within the head model.
  • the tracking system may for example use optical, electromagnetic tracking modalities. It allows for mimicking and observing a complete surgical or microsurgical workflow which allows for improving the intervention training.
  • the medical mimicking system can comprise stereotactic elements to allow stereotactic image guidance, e.g., using tracked surgical instruments.
  • an augmented reality representation can be generated, e.g. involving the control unit.
  • the liquid circulation arrangement of the medical mimicking system comprises a contrast medium provision unit.
  • a contrast medium provision unit imaging contrast enhancement substances can be injected. This allows for efficiently implementing radiological, optical and/or ultrasound imaging during training, which makes an efficient supervision or monitoring possible.
  • the liquid circulation arrangement comprises a bubble eliminator configured to remove bubbles from the liquid material.
  • bubbles in the fluid material which would impair the training and particularly its imaging can be eliminated or reduced.
  • the liquid circulation arrangement comprises a gas provision unit.
  • the liquid material can be enriched in order to accurately mimic the bodily fluid.
  • the fluid material can be enriched with Nitrogen, Oxygen and/or Carbon dioxide as desired.
  • the method of creating a medical mimicking system as explained above may involve additive layer manufacturing for producing the artificial skull member, the artificial brain member and the artificial vasculature.
  • an additive layer manufacturing device such as a 3D printer is provided with the imaging dataset of the head and the device evaluates the imaging dataset as to the structure of the skull, the brain and the vasculature of the patient.
  • the device can build up the head model using an additive layer process.
  • the liquid circulation arrangement can be coupled to the artificial vasculature to realise a medical mimicking system.
  • the imaging dataset for creating the medical mimicking system can for example be provided by computer tomography (CT), magnet resonance (MR), digital subtraction angiography (DSA), ultrasound or the like.
  • CT computer tomography
  • MR magnet resonance
  • DSA digital subtraction angiography
  • ultrasound ultrasound or the like.
  • CT imaging dataset is created for diagnosis and identifying damages of the brain or vasculature.
  • the same dataset can be used for creating the medical mimicking system according to the invention.
  • Fig. 1 shows a schematic set up of an embodiment of a medical mimicking system according to the present invention
  • Fig. 2 shows a schematic sectional view of a head model of the medical mimicking system of Fig. 1 ;
  • Fig. 3 shows a flow scheme of an embodiment of a process of operating the medical mimicking system of Fig. 1 .
  • FIG. 1 shows a schematic set up of a medical intervention training system as a medical mimicking system according to the invention.
  • the shown embodiment of the medical intervention training system is designed for training a surgeon on clipping an aneurysm in a vasculature of a patient’s brain.
  • the system comprises an artificial skull member 1 made of a skull-like material having properties suitable to mimic a bone of a skull of a human or animal being, a liquid circulation arrangement 12 with a fluid forwarding unit 8 and a fluid made of a liquid material suitable to mimic a cerebrospinal fluid.
  • the skull member 1 is equipped with an artificial brain member 2 made of a brain-like material having properties suitable to mimic a brain of the human or animal being and an artificial vasculature 3 with vessels 11 made of a vessel-like material having properties suitable to mimic blood vessels in the brain of the human or animal being.
  • the skull-like material, the brain-like material and the vessel-like material are selected from materials that can be monitored by means of ultrasound devices. Ultrasound is a reliable and cost-efficient imaging method and widely used in medical diagnostics.
  • the brain member 2 is arranged in an interior of the skull member 1 such that it is enclosed by the latter.
  • the artificial vasculature 3 is embodied in the brain member 2.
  • the skull member 1 , the brain member 2 and the artificial vasculature 3 with the vessels 11 realise a head model 15 that reflects relevant characteristics of a patient’s head and can be used for training of medical interventions as discussed above.
  • the artificial vasculature 3 comprises an input port 13 and an output port 14 which connect the inside of the brain member 2 to the outside of the skull member 1 .
  • the forwarding unit 8 of the liquid circulation arrangement 12 comprises a pump that is coupled to the input port 13 of the artificial vasculature 3 by a fluid tube 10 such that it circulates the liquid material through vessels 11 of the artificial vasculature 3 by forwarding the liquid material.
  • the pump of the liquid circulation arrangement 12 is coupled to a container 5, which serves as an overflow capacity for the liquid material emerging from the artificial vasculature 3, and a reservoir 17 housing media involved and, in particular, the liquid material.
  • the medical intervention training system as shown in the embodiment of Fig. 1 and Fig. 2 has a mechanical interface that allows rapid assembly and disassembly of the head model 15 with the liquid circulation arrangement 12.
  • the medical intervention training system comprises a control unit 18, a touchscreen 19 as display and input device, and a tracking system 9 with a camera and sensors.
  • the control unit 18 is coupled to the liquid circulation arrangement 18, the tracking system 9 and the touchscreen 19. In particular, such coupling enables data or signal transfer between the component.
  • the control unit 18 is configured to operate the pump of the liquid circulation arrangement, to gather and evaluate data of the tracking system 9, to receive settings and commands from the touchscreen 19, and to generate a graphical user interface on the touchscreen 19.
  • the artificial vasculature 3 comprises a section with a pathology 4 representing for example diverticula.
  • one of the vessels 11 of the artificial vasculature 3 comprises an outward bulging section 16, which simulates an aneurysm of the vasculature.
  • the medical intervention training system can be provided with a tracking system having sensors 9 as tracking adaptors to track positions of the surgical instruments relative to a reference defined on the head model 15. The movement of the surgical instruments may for example be displayed on a screen or recorded for later review.
  • the tracking system is realised as a 3- dimensional tracking system to monitor the instruments movement in a 3-dimensional space.
  • the medical intervention training system further comprises a skull holder 7 with a seat for the head model 15.
  • the skull holder 7 comprises an adjustable structure for adapting position and orientation of the head model 15 to specific surgical scenarios.
  • the adjustable structure may include several hinge portions for pivoting, turning or moving the seat with the head model 15 as required.
  • the control unit 18 is configured to operate the pump of the forwarding unit 8 of the liquid circulation arrangement 12 such that the liquid material is periodically forwarded and/or a pressure in the liquid material is dynamically adapted to mimic a pulse and a blood pressure of the human or animal being.
  • the liquid material is circulated through the artificial vasculature 8 creating a realistic impression of blood flow including features of viscosity, colour, speckles, and luminescence.
  • the liquid material is selected such that 2-dimensional or 3-dimensional angiography can be applied by providing radiographic contrast enhancement.
  • a contrast substance is added to the liquid material and introduced into the artificial vasculature 8 in the brain member 2 via the forwarding unit 8.
  • the medical intervention training system illustrated in Fig. 1 and Fig. 2 is created by a method as described above using an imaging dataset of a head of a patient. Like this, the training system is adapted to specific characteristics of a patient’s pathologies and a surgeon can train himself or herself on dealing with the specific situation.
  • FIG. 3 shows an embodiment of a process 9 of operating the medical intervention training system shown in Fig. 1 and Fig. 2.
  • the method 9 comprises the steps of:
  • an anatomy model and an image dataset are registered 93 after the patient head model is prepared by fixing a microscope of the tracking system, brain retractors and flow loops 920.
  • a cardiac simulator running on the control unit is then activated 94.
  • digital imaging communications in medicine DICOM
  • the 3D model is observed 95, which involves the tracking system.
  • the treatment training of a practitioner is started 96 until simulator operation is stopped.

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Abstract

L'invention concerne un système d'imitation médicale qui comprend un organe de crâne artificiel (1) constitué d'un matériau semblable à un crâne, un organe de cerveau artificiel (2) constitué d'un matériau semblable à un cerveau, au moins une vasculature artificielle (3) pourvue de vaisseaux constitués d'un matériau semblable aux vaisseaux imitant des vaisseaux de fluides corporels dans le cerveau d'un être humain, et au moins un agencement de circulation de liquide (12) pourvu d'une unité d'acheminement de fluide (8) et d'un fluide constitué d'un matériau liquide pouvant imiter un fluide corporel. L'organe de cerveau (2) est agencé dans un intérieur de l'organe de crâne (1) et la ou les vasculatures artificielles (3) sont au moins partiellement incorporées dans l'organe de cerveau (2). L'unité d'acheminement (8) est conçue pour être couplée à au moins une des vasculatures artificielles (3) de sorte qu'elle fait circuler le matériau liquide à travers des vaisseaux (11) de la vasculature artificielle (3) lorsqu'elle achemine le matériau liquide.
PCT/EP2021/060740 2020-04-24 2021-04-23 Système d'imitation médicale WO2021214323A1 (fr)

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EP20171281 2020-04-24

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202200013993A1 (it) * 2022-07-01 2024-01-01 Upsurgeon S R L Dispositivo per simulazione chirurgica, sistema di apprendimento per simulazione chirurgica, cartuccia per un dispositivo per simulazione chirurgica, e metodo di produzione di detta cartuccia

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006083963A2 (fr) 2005-02-03 2006-08-10 Christopher Sakezles Modeles et procedes mettant en oeuvre ces modeles pour l'essai de dispositifs medicaux
CN106228883A (zh) * 2016-09-06 2016-12-14 南方医科大学南方医院 基于3d打印与呼吸循环重建的全模拟神经外科手术平台
US20180348876A1 (en) 2012-09-27 2018-12-06 The Board Of Trustees Of The University Of Illinois Haptic augmented and virtual reality system for simulation of surgical procedures
WO2020079778A1 (fr) * 2018-10-17 2020-04-23 朝日インテック株式会社 Appareil de simulation de corps humain

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006083963A2 (fr) 2005-02-03 2006-08-10 Christopher Sakezles Modeles et procedes mettant en oeuvre ces modeles pour l'essai de dispositifs medicaux
US20180348876A1 (en) 2012-09-27 2018-12-06 The Board Of Trustees Of The University Of Illinois Haptic augmented and virtual reality system for simulation of surgical procedures
CN106228883A (zh) * 2016-09-06 2016-12-14 南方医科大学南方医院 基于3d打印与呼吸循环重建的全模拟神经外科手术平台
WO2020079778A1 (fr) * 2018-10-17 2020-04-23 朝日インテック株式会社 Appareil de simulation de corps humain

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT202200013993A1 (it) * 2022-07-01 2024-01-01 Upsurgeon S R L Dispositivo per simulazione chirurgica, sistema di apprendimento per simulazione chirurgica, cartuccia per un dispositivo per simulazione chirurgica, e metodo di produzione di detta cartuccia
WO2024003692A1 (fr) * 2022-07-01 2024-01-04 Upsurgeon S.R.L. Dispositif de simulation chirurgicale, système d'apprentissage de simulation chirurgicale, cartouche pour dispositif de simulation chirurgicale, et procédé de production de ladite cartouche

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