CN110706570A - Lung tissue model for puncture surgery experiment - Google Patents
Lung tissue model for puncture surgery experiment Download PDFInfo
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- CN110706570A CN110706570A CN201911000405.4A CN201911000405A CN110706570A CN 110706570 A CN110706570 A CN 110706570A CN 201911000405 A CN201911000405 A CN 201911000405A CN 110706570 A CN110706570 A CN 110706570A
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- 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
Abstract
The invention discloses a lung tissue model for puncture surgery experiments, which comprises an installation chassis, an optical positioning unit, a lung tissue unit, a simulated respiration unit and a data acquisition and control unit.
Description
Technical Field
The invention relates to the field of medical experiments, in particular to a lung tissue model for puncture surgery experiments.
Background
Lung cancer, the most common primary lung tumor, is the most rapidly growing malignant tumor with highest incidence and mortality and highest threat to human health and life worldwide. The percutaneous lung puncture biopsy can be used for diagnosing lung diseases such as lung cancer, and various tumor ablations (such as microwave ablation, radio frequency ablation, argon-helium knife and the like) and radioactive particle implantation based on puncture operations are newly developed minimally invasive tumor treatment technologies in recent years. Therefore, the lung puncture operation has important significance for the detection and treatment of lung tumor.
However, due to the respiratory characteristics of the lung, the tumor target point moves continuously during puncturing, which causes great trouble to manual puncturing or robot-assisted puncturing, and if the puncturing position is not accurate, the puncturing needs to be performed again, which aggravates the trauma of the patient and causes complications such as pneumothorax and bleeding. To overcome this problem, doctors and scientists need to perform a lot of simulation experiments and try to help the development of puncture guiding technology by means of external navigation technology (such as optical positioning, magnetic navigation, etc.), so that there is a great demand for lung tissue models that can simulate the respiratory motion of the lung.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a lung tissue model for puncture surgery experiments, which has the following specific technical scheme:
a lung tissue model for puncture surgery experiments, the model comprising:
the installation chassis is used as a model base;
the optical positioning unit is fixed on the mounting chassis and used for identifying a marker through optical positioning equipment so as to obtain the position of the model and provide reference information for three-dimensional registration with CT data;
the lung tissue unit is used for providing a lung physiological environment and a tumor target point required by a puncture surgery experiment and comprises a bionic lung tissue and a transparent observation box, wherein the bionic lung tissue is placed in the transparent observation box, and the transparent observation box is fixed on the installation chassis; the bionic lung tissue is formed by layering, solidifying and molding human skin color silica gel and special transparent silica gel, and is embedded with an air bag for simulating the expansion and contraction of an alveolus;
the device is connected with the air bag embedded in the lung tissue unit through a pipeline, controls the expansion and contraction of the air bag, and simulates the deformation of lung physiological tissues and the displacement of a tumor target point in the breathing process of a patient;
and the data acquisition and control unit is in communication connection with the air bag in the lung tissue unit and the simulated respiration unit, and records the caused motion parameters of the bionic lung tissue while controlling the simulated respiration unit to simulate the respiration process of a patient.
Furthermore, the positioning table plane of the optical positioning unit and the mounting base plate form an angle of 30-45 degrees, three mounting areas for mounting optical positioning markers are arranged on the positioning table plane, and small holes are formed right below the marker identification points and used for placing aluminum balls, steel balls and shot balls respectively, so that the optical positioning markers correspond to the CT image markers, and three-dimensional registration reference information is provided.
Furthermore, the lung tissue unit further comprises a mounting plate, a positioning structure is arranged on the mounting plate, and the transparent observation box is fixed on the mounting base plate through the mounting plate and positioned through the positioning structure.
Furthermore, the bionic lung tissue comprises three layers of bionic tissues, wherein the top layer of bionic tissue is human skin color silica gel and simulates skin, the middle layer of bionic tissue is transparent special bionic silica gel with the hardness lower than 10 degrees, the built-in dark color silica gel bead simulates lung tumor, the bottom layer of bionic tissue is human skin color silica gel, and the built-in air bag simulates alveolus.
Furthermore, in order to prevent scratches caused by puncture from shielding other silica gel pellets, the silica gel pellets have a special arrangement mode, so that the silica gel pellets can be arranged behind shallower silica gel pellets in 2 observation positions in front view and left view or arranged in a staggered manner.
Further, lung organize the unit still include miniature inertia measuring unit, and with the baroceptor that the gasbag is connected, data acquisition and the control unit with miniature inertia measuring unit and baroceptor communication be connected, through the patient respiratory capacity parameter conversion that will gather in reality to the air pump output, control simulation respiratory device simulates real breathing process, simultaneously through baroceptor and miniature inertia measuring unit obtain the pressure of gasbag and bionic lung tissue's motion parameter.
Furthermore, the simulated respiration unit comprises an air pump and a two-position four-way electromagnetic valve, the air pump is connected with the lung tissue unit through the two-position four-way electromagnetic valve, and the switching between lung expansion and lung contraction is realized by changing the position of a valve core of the two-position four-way electromagnetic valve.
The invention has the following beneficial effects:
the lung tissue model for the puncture surgery experiment integrates the lung tumor bionic model and the tumor optical positioning mark, is particularly suitable for the puncture surgery experiment based on optical positioning navigation, and simulates lung respiration based on real data, thereby extremely restoring the real environment.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a lung tissue model for puncture surgery experiments according to the present invention;
FIG. 2 is a schematic diagram of the optical positioning stage of the present invention;
FIG. 3 is a schematic diagram of the special arrangement of the bionic lung tissue and the silica gel beads inside the bionic lung tissue;
figure 4 is a schematic diagram of the operation of the simulated breathing apparatus of the present invention.
Fig. 5 is a flow chart of the control of the simulated breathing apparatus of the present invention.
The labels in the figure are: 1-mounting a chassis, 2-optical positioning unit, 3-lung tissue unit, 4-simulated respiration unit, 5-data acquisition and control unit, 21-optical positioning marker, 22-steel ball, 23-shot, 24-aluminum ball, 31-top layer bionic tissue, 32-middle layer bionic tissue, 33-bottom layer bionic tissue, 34-pipeline joint, 35-air pressure sensor, 36-air bag, 37-micro Inertial Measurement Unit (IMU), 38-silica gel ball, 41-two-position four-way electromagnetic valve and 42-air pump.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments, and the objects and effects of the invention will become more apparent. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the lung tissue model for puncture surgery experiment of the present invention includes a mounting chassis 1, an optical positioning unit 2, a lung tissue unit 3, a simulated respiration unit 4 and a data acquisition and control unit 5.
Installing a chassis 1 as a model base; an optical locating unit 2 is fixed on the mounting chassis 1 for identifying the marker 21 by an optical locating device, thereby obtaining the model position and providing reference information for three-dimensional registration with the CT data.
The lung tissue unit 3 is used for providing a lung physiological environment and a tumor target point required by a puncture surgery experiment, and comprises a bionic lung tissue and a transparent observation box, wherein the bionic lung tissue is placed in the transparent observation box, and the transparent observation box is fixed on the installation base plate; the bionic lung tissue is formed by layering, solidifying and molding human skin color silica gel and special transparent silica gel, and is embedded with an air bag for simulating the expansion and contraction of an alveolus;
the simulated respiration unit 4 is connected with an air bag embedded in the lung tissue unit 3 through a pipeline, controls the expansion and contraction of the air bag, and simulates the deformation of lung physiological tissues and the displacement of a tumor target point in the respiration process of a patient;
and the data acquisition and control unit 5 is in communication connection with the air bag in the lung tissue unit 3 and the simulated respiration unit 4, and records the caused motion parameters of the bionic lung tissue while controlling the simulated respiration process of the patient by the simulated respiration unit 4.
As shown in fig. 2, the positioning table plane of the optical positioning unit 2 forms an angle of 30-45 degrees with the mounting chassis 1, three mounting areas for mounting the optical positioning markers 21 are arranged on the positioning table plane, and small holes are formed right below the marker identification points for respectively placing the aluminum balls 24, the steel balls 22 and the shot balls 23, so that the optical positioning markers correspond to the CT image markers, and reference information for three-dimensional registration is provided.
As shown in fig. 3, the bionic lung tissue includes three layers of bionic tissues, wherein the top layer bionic tissue 31 is a skin color silica gel and simulates skin, the middle layer bionic tissue 32 is a transparent special bionic silica gel with hardness lower than 10 degrees, the built-in dark silica gel bead 38 simulates lung tumor, the bottom layer bionic tissue 33 is a skin color silica gel and the built-in air bag 36 simulates alveoli. The lung tissue unit further comprises a miniature inertial measurement unit 37, a pressure sensor 35 connected to a balloon 36 and a tubing connector 34 connected to the simulated respiration unit 4.
In order to prevent scratches caused by puncturing from blocking other silica gel beads 38, the silica gel beads have a special arrangement mode, so that the silica gel beads can be arranged behind shallower silica gel beads or arranged in a staggered manner at two observation positions of front view and left view.
For accurate positioning, the lung tissue unit further comprises a mounting plate, a positioning structure is arranged on the mounting plate, and the transparent observation box is fixed on the mounting base plate 1 through the mounting plate and is positioned through the positioning structure.
As shown in fig. 4, the simulated respiration unit 4 includes a two-position four-way solenoid valve 41 and an air pump 42, the air pump 42 is connected to the air bag 36 through the two-position four-way solenoid valve 41, and the switching between the lung expansion and the lung contraction is performed by changing the valve core position of the two-position four-way solenoid valve 41.
As shown in fig. 5, the working process of the lung tissue model for puncture surgery experiments according to the present invention is given, the lung respiration volume change period of the patient is actually collected, kalman filtering is performed to eliminate the measurement error, the corresponding air pump rotation speed control signal and respiration alternation signal are calculated according to the lung respiration volume change, the two signals are used to respectively control the air pump rotation speed and the solenoid valve core position to play a role in simulating real respiration, and the pressure of the air bag and the motion parameters of the bionic lung tissue are obtained by using the air pressure sensor and the micro Inertial Measurement Unit (IMU).
In practical use, after the model is installed, the relative position of the lung tissue model can be provided for a doctor through an optical positioning camera and CT, and a position reference for three-dimensional registration is provided. Meanwhile, the model can be used for robot or artificial lung tumor puncture surgery experiments.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and although the invention has been described in detail with reference to the foregoing examples, it will be apparent to those skilled in the art that various changes in the form and details of the embodiments may be made and equivalents may be substituted for elements thereof. All modifications, equivalents and the like which come within the spirit and principle of the invention are intended to be included within the scope of the invention.
Claims (7)
1. A lung tissue model for puncture surgery experiments, the model comprising:
the installation chassis is used as a model base;
the optical positioning unit is fixed on the mounting chassis and used for identifying a marker through optical positioning equipment so as to obtain the position of the model and provide reference information for three-dimensional registration with CT data;
the lung tissue unit is used for providing a lung physiological environment and a tumor target point required by a puncture surgery experiment and comprises a bionic lung tissue and a transparent observation box, wherein the bionic lung tissue is placed in the transparent observation box, and the transparent observation box is fixed on the installation chassis; the bionic lung tissue is formed by layering, solidifying and molding human skin color silica gel and special transparent silica gel, and is embedded with an air bag for simulating the expansion and contraction of an alveolus;
the device is connected with the air bag embedded in the lung tissue unit through a pipeline, controls the expansion and contraction of the air bag, and simulates the deformation of lung physiological tissues and the displacement of tumor targets in the breathing process of a patient.
And the data acquisition and control unit is in communication connection with the air bag in the lung tissue unit and the simulated respiration unit, and records the caused motion parameters of the bionic lung tissue while controlling the simulated respiration unit to simulate the respiration process of a patient.
2. The lung tissue model for puncture surgery experiments according to claim 1, wherein the positioning table plane of the optical positioning unit forms an angle of 30-45 degrees with the mounting chassis, three mounting areas for mounting optical positioning markers are arranged on the positioning table plane, and small holes are formed right below the marker identification points for respectively placing aluminum balls, steel balls and shot balls, so that the optical positioning markers correspond to the CT image markers, and reference information for three-dimensional registration is provided.
3. The lung tissue model for puncture surgery experiments according to claim 1, wherein the lung tissue unit further comprises a mounting plate, a positioning structure is arranged on the mounting plate, and the transparent observation box is fixed on the mounting chassis through the mounting plate and is positioned through the positioning structure.
4. The lung tissue model for puncture surgery experiments as claimed in claim 1, wherein the bionic lung tissue comprises three layers of bionic tissues, wherein the top layer of bionic tissue is human skin color silica gel to simulate skin, the middle layer of bionic tissue is transparent special bionic silica gel with hardness lower than 10 degrees, the built-in dark color silica gel globule simulates lung tumor, the bottom layer of bionic tissue is human skin color silica gel, and the built-in air sac simulates alveoli.
5. The pulmonary tissue model for puncture surgery experiments according to claim 4, wherein the silicone beads have a special arrangement to arrange deeper silicone beads behind shallower silicone beads or staggered arrangement at 2 observation positions in front and left view in order to prevent scratches caused by puncture from blocking other silicone beads.
6. The lung tissue model for puncture surgery experiments according to claim 4, wherein the lung tissue unit further comprises a micro inertial measurement unit and an air pressure sensor connected with the air bag, the data acquisition and control unit is in communication connection with the micro inertial measurement unit and the air pressure sensor, the air pump output is converted from the actually acquired respiratory quantity parameters of the patient, the simulated breathing device is controlled to simulate the real breathing process, and meanwhile, the pressure of the air bag and the motion parameters of the bionic lung tissue are obtained through the air pressure sensor and the micro inertial measurement unit.
7. The lung tissue model for puncture surgery experiments according to claim 1, wherein the simulated respiration unit comprises an air pump and a two-position four-way solenoid valve, the air pump is connected with the lung tissue unit through the two-position four-way solenoid valve, and the switching between lung expansion and lung contraction is realized by changing the position of a valve core of the two-position four-way solenoid valve.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911000405.4A CN110706570B (en) | 2019-10-21 | 2019-10-21 | Lung tissue model for puncture surgery experiment |
| PCT/CN2020/075719 WO2021077647A1 (en) | 2019-10-21 | 2020-02-18 | Lung tissue model for use in puncture surgery experiment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911000405.4A CN110706570B (en) | 2019-10-21 | 2019-10-21 | Lung tissue model for puncture surgery experiment |
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| CN110706570A true CN110706570A (en) | 2020-01-17 |
| CN110706570B CN110706570B (en) | 2021-02-26 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021077647A1 (en) * | 2019-10-21 | 2021-04-29 | 浙江大学 | Lung tissue model for use in puncture surgery experiment |
| CN114081632A (en) * | 2021-11-22 | 2022-02-25 | 南京普爱医疗设备股份有限公司 | Comprehensive positioning error detection device for orthopedic surgery robot |
| CN114220327A (en) * | 2021-12-03 | 2022-03-22 | 广东省中医院（广州中医药大学第二附属医院、广州中医药大学第二临床医学院、广东省中医药科学院） | Simulated respiratory motion tissue phantom for puncture and dilation test and use method thereof |
| CN114387862A (en) * | 2022-02-25 | 2022-04-22 | 浙江大学湖州研究院 | Simulation platform for simulating respiratory motion of lung tissue |
| CN114495671A (en) * | 2022-02-25 | 2022-05-13 | 浙江大学湖州研究院 | Lung puncture simulation platform |
| WO2022222500A1 (en) * | 2021-04-19 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Abdominal organ tumor simulation platform |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2021077647A1 (en) | 2021-04-29 |
| CN110706570B (en) | 2021-02-26 |
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