CN113284388A - In-vitro vascular embolism simulation system and method - Google Patents
In-vitro vascular embolism simulation system and method Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
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- G—PHYSICS
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- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
Abstract
The invention relates to the technical field of medical equipment, in particular to an in vitro vascular embolization simulation system and method. The scheme can reduce the push injection of different tumor vascular networks and different embolic agents and simulate the embolization effect, and gives enough presence and immersion to an operator, thereby improving the training effect. By injecting different embolic agents, visitors feel the viscosity and the injection pressure of different embolic agents from the sense of touch, so that visitors can obtain the experience of being personally on the scene and can evaluate the difference of the different embolic agents in the injection pressure and the embolization effect.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to an in-vitro vascular embolism simulation system and method.
Background
Liver cancer is the sixth most common cancer worldwide, and is the fourth most dying cancer. In 2018, about 84 new liver cancer patients are added worldwide, and 78 new liver cancer patients are removed every year, while China is a big liver cancer country, and the new liver cancer cases and death cases in each year account for about half of the world. Although surgical resection is the most ideal treatment scheme for liver cancer, since liver cancer in early stage is highly hidden, symptoms are not obvious and diagnosis is difficult, a large number of patients cannot be diagnosed until the middle and late stages, so that only 25% of early cases can be treated by means of surgical resection, liver transplantation and the like, and liver cancer has high tolerance to chemotherapy and radiotherapy and poor treatment effect. Currently, comprehensive therapies based on interventional therapies (such as embolization and ablation) have become an important means for treating liver cancer in middle and advanced stages in clinic.
Interventional Radiology (Interventional Radiology) is a general term for a series of techniques for introducing specific instruments or materials into a lesion of a human body by using various Interventional devices under the guidance of a medical imaging system to perform minimally invasive treatment. Modern interventional radiology, originated half a century ago and after decades of development, has gained widespread attention and use worldwide as one of the three clinical leg disciplines juxtaposed to medicine and surgery. The interventional therapy has the advantages of targeted arrival at a focus part, small wound, high curative effect, few complications and the like, is widely applied to organ bleeding, angioplasty, intrahepatic portal vein shunt, stent transplantation, elimination and canceration of pathological organs and tumor local treatment in clinic, and particularly plays an important role which cannot be replaced by other therapies in the treatment of some solid tumors (such as liver cancer, kidney cancer, uterine fibroids and the like).
Vascular interventions include Arterial perfusion and Arterial Embolization (TAE). The unique dual blood supply of the liver is the physiological basis of arterial embolization (TAE). The development and progression of primary liver cancer (HCC) requires abundant blood supply, the blood supply for normal liver 2/3-3/4 comes from the portal vein, the blood supply for 1/4-2/3 comes from the hepatic artery, and in HCC patients, tumors are supplied with blood mainly from the hepatic artery. The principle of TAE is to block the blood supply to tumor by embolizing hepatic artery, which leads to tumor necrosis.
Arterial Chemoembolization (TACE) is based on TAE and is used for synchronously delivering high-concentration chemotherapeutics when tumor blood vessels are embolized, so that the chemotherapeutics are preserved in the tumor blood vessels for a long time and are locally and slowly released, toxic and side effects caused by systemic administration are reduced, tumor necrosis is promoted, and the life quality of patients is improved. The TACE treatment is carried out on the patients once every 2-3 months on average, so that the median survival time of the patients is improved to 19.4 months, and the 5-year survival rate is improved to 32.4 percent.
Interventional embolization has high requirements for doctors, and the success rate of embolization can be improved and the occurrence of medical accidents can be reduced by having rich clinical experience and cognition on the performances of different embolization agents. Therefore, the in vitro simulated embolization technology can effectively help doctors to practice interventional embolization operations, and the prior art adopts hardware to simulate clinical interventional embolization operations by injecting the hardware into a blood vessel network (micro-fluidic technology or simulating blood vessels through pipelines) prepared by different molding technologies. Reference may be made in particular to the new patents: grant bulletin No. 207718689U, an extracorporeal interventional embolization simulation system; application number CN201911327328.3, an in vitro simulation training device for vascular interventional therapy. The main disadvantages of the above prior art are as follows:
1. can not restore the hydrodynamics or embolism state of different kinds of embolisms in the process of bolus embolism to the maximum extent.
2. Due to the wide variation in the lesion of tumor vessels in different cases, one vessel cannot be used to simulate the tumor vascular network of different patients.
3. As an interventional embolization operation training device or a preoperative simulation treatment device, the device cannot provide sufficient on-site feeling for doctors.
Disclosure of Invention
The invention provides an in vitro vascular embolism simulation system and method, which solve the technical problem that the embolism simulation device cannot restore the hydrodynamics or the embolism state of different kinds of embolic agents to the maximum extent in the process of injecting embolism.
The invention provides an in vitro vascular embolism simulation system for solving the technical problems, which comprises:
the parameter acquisition module is used for injecting embolic agent in vitro by using an injector and a micro catheter, and a pressure sensor is added at an injection outlet to obtain a fluid initial pressure signal and convert the fluid initial pressure signal into an electronic signal of an injection rate;
the modeling module is used for carrying out 3D reconstruction on a tumor vascular network of a tumor patient through a digital technology;
the fluid simulation module is used for simulating blood flow in the reconstructed tumor vascular network according to a fluid mechanics simulation technology, simulating a fluid mechanics state in the 3D reconstructed tumor vascular network by using the fluid mechanics simulation technology, wherein the fluid mechanics state comprises an electronic signal of the injection rate, the viscosity of the embolic agent and the heat exchange parameters, and evaluating the embolization effect of different embolic agents in the tumor vascular network after being injected at different injection rates;
the VR module is used for presenting the simulation process in front of an operator in a VR mode and improving the presence;
preferably, a pressure sensor for monitoring the pressure of the embolism bolus injection is arranged at the injection port;
preferably, the embolic agent comprises one of iodine oil, embolic particles/microspheres, ethylene vinyl alcohol polymer, temperature sensitive gel;
preferably, the digital techniques adopted by the modeling module are CT and MRI;
the invention also provides a method for the in-vitro vascular embolism simulation system, which comprises the following steps:
s1, injecting embolic agent in vitro by using an injector and a microcatheter, adding a pressure sensor at an injection outlet to obtain a fluid initial pressure signal, and converting the fluid initial pressure signal into an electronic signal of an injection rate;
s2, performing 3D reconstruction on the tumor vascular network of the tumor patient through a digital technology;
s3, simulating blood flow in the reconstructed tumor vascular network according to a fluid mechanics simulation technology, and simulating a fluid mechanics state in the 3D reconstructed tumor vascular network by using the fluid mechanics simulation technology, wherein the fluid mechanics state comprises electronic signals of the injection rate, and parameters such as the viscosity and heat exchange of the embolic agent, so as to evaluate the embolization effect of different embolic agents in the tumor vascular network after being injected at different injection rates;
and S4, presenting the simulation process in a VR form in front of the operator, and improving the presence.
Has the advantages that: the invention provides an in vitro vascular embolization simulation system and method, which can restore different tumor vascular networks, the bolus injection of different embolization agents and the simulation of embolization effects, give enough presence and immersion to an operator, and improve training effects. Virtual reality technology (VR) may provide better immersion than mixed reality technology (MR). The visitors wear virtual reality glasses, and the scenes of the interventional embolization operation and the embolization process are displayed in front of the eyes. By injecting different embolic agents (temperature sensitive nano-gel, iodized oil, embolic particles/microspheres and the like), visitors feel the viscosity and the injection pressure of the different embolic agents from the sense of touch, and the embolization effect is fed back to the image in real time through a VR (virtual reality) technology, so that the visitors obtain the feeling of being personally on the scene. This shows the difference in bolus pressure and embolic effect for different embolic agents.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic flow chart of the in vitro vascular embolization simulation method of the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. The invention is described in more detail in the following paragraphs by way of example with reference to the accompanying drawings. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in figure 1, the invention provides an in vitro vascular embolization simulation system, which comprises a parameter acquisition module, a parameter analysis module and a control module, wherein the parameter acquisition module is used for injecting embolization agents in vitro by using a syringe and a microcatheter, and a pressure sensor is added at an injection outlet to acquire a fluid initial pressure signal and convert the fluid initial pressure signal into an electronic signal of an injection rate;
the modeling module is used for carrying out 3D reconstruction on a tumor vascular network of a tumor patient through a digital technology;
the fluid simulation module is used for simulating blood flow in the reconstructed tumor vascular network according to a fluid mechanics simulation technology, simulating a fluid mechanics state in the 3D reconstructed tumor vascular network by using the fluid mechanics simulation technology, wherein the fluid mechanics state comprises electronic signals of the injection rate and parameters such as the viscosity and heat exchange of the embolic agent, and thus evaluating the embolization effect of different embolic agents in the tumor vascular network after being injected at different injection rates;
and the VR module is used for presenting the simulation process in front of an operator in a VR form and improving the presence.
The injector provides visual pressure feeling for visitors so as to judge the pushing hand feeling of different embolic agents, and the pressure sensor converts the pressure generated in the process of pushing the embolic agents into digital signals so as to provide flow rate conditions for embolization effect simulation; the digital model of the operation scene and the tumor vascular network is characterized in that the whole interventional embolism operation room scene is modeled by acquiring tumor angiography CT data of different patients, is completely displayed in front of visitors, and can be moved and observed in the whole virtual space through a controller; simulating blood flow and embolism effect, and carrying out fluid mechanics simulation on the blood flow and different embolization agents to obtain the display of the embolization effect of the embolization agent in a tumor vascular network.
Wherein, the parameter acquisition module comprises: the device comprises a syringe, a micro-catheter and a pressure sensor, and is used for acquiring pressure change data when the embolic agent is injected into the micro-catheter. The scheme can reduce the simulation of the bolus injection effect of different embolic agents, gives enough presence and immersion to an operator, and improves the training effect and the immersion. By injecting different embolic agents, visitors feel the viscosity and the injection pressure of different embolic agents in touch sense, so that visitors can obtain the experience of being personally on the scene. This shows the difference in bolus pressure and embolic effect for different embolic agents.
Virtual reality technology (VR) may provide better immersion than mixed reality technology (MR). The visitors wear virtual reality glasses, and the scenes of the interventional embolization operation and the embolization process are displayed in front of the eyes. By injecting different embolic agents (temperature sensitive nano-gel, iodized oil, embolic particles/microspheres and the like), visitors feel the viscosity and the injection pressure of the different embolic agents from the sense of touch, and the embolization effect is fed back to the image in real time through a VR (virtual reality) technology, so that the visitors obtain the feeling of being personally on the scene. This shows the difference in bolus pressure and embolic effect for different embolic agents.
Preferably, the injection port is provided with a pressure sensor for monitoring the pressure of the embolism bolus injection. The bolus pressure is recorded in real time. The injector provides visual pressure feeling for visitors so as to judge the pushing hand feeling of different embolic agents, and the pressure sensor converts the pressure generated in the process of pushing the embolic agents into digital signals so as to provide flow rate conditions for embolization effect simulation.
In the preferred scheme, the simulation system further comprises a VR module, and the embolism effect is fed back to the image in real time through a VR technology, so that visitors can obtain the experience of being personally on the scene. This shows the difference in bolus pressure and embolic effect for different embolic agents. The operation scene and the tumor vascular network digital model are used for modeling the whole interventional embolism operation room scene and tumor vascular network by acquiring tumor angiography CT data of different patients, are completely displayed in front of visitors, and can be moved and observed in the whole virtual space through the controller. The fluid represents blood flow, and the fluid mechanics simulation is carried out on the blood flow and different embolic agents through the blood flow and the embolism effect simulation, so that the embolism effect display of the embolic agents in the tumor vascular network is obtained.
The system can restore the hydrodynamics or the embolism state of different kinds of embolisms to the maximum extent in the process of bolus embolism. Because the tumor vascular obliteration of different cases is greatly different, the tumor vascular obliteration of different cases is simulated by injecting different kinds of embolic agents, so that the tumor vascular network conditions of different patients are simulated, and quantitative evaluation is carried out. By injecting different embolisms, visitors feel the viscosity and the injection pressure of different embolisms in a tactile manner. As an interventional embolization operation training device or a preoperative simulation treatment device, the embolization operation training device can provide sufficient on-site feeling for doctors or trainers.
As shown in fig. 1, the present invention also provides a method for an in vitro vascular embolization simulation system, comprising:
s1, injecting embolic agent in vitro by using an injector and a microcatheter, adding a pressure sensor at an injection outlet to obtain a fluid initial pressure signal, and converting the fluid initial pressure signal into an electronic signal of an injection rate;
s2, performing 3D reconstruction on the tumor vascular network of the tumor patient through a digital technology;
s3, simulating blood flow in the reconstructed tumor vascular network according to a fluid mechanics simulation technology, and simulating a fluid mechanics state in the 3D reconstructed tumor vascular network by using the fluid mechanics simulation technology, wherein the fluid mechanics state comprises electronic signals of the injection rate, and parameters such as the viscosity and heat exchange of the embolic agent, so as to evaluate the embolization effect of different embolic agents in the tumor vascular network after being injected at different injection rates;
and S4, presenting the simulation process in a VR form in front of the operator, and improving the presence.
Specifically, an injector and a microcatheter are used for injecting an embolic agent in vitro, a pressure sensor is added at an injection outlet to obtain a fluid initial pressure signal, and the fluid initial pressure signal is converted into an electronic signal of an injection rate; carrying out 3D reconstruction on a tumor vascular network of a tumor patient by a CT technology; simulating the blood flow in the reconstructed tumor blood vessel network by using a fluid mechanics simulation technology; simulating the injection rate electronic signal obtained in the step one, the viscosity of the embolic agent, heat exchange and other parameters by using a fluid mechanics simulation technology to simulate the fluid mechanics state in the 3D reconstructed tumor vascular network so as to evaluate the embolization effect of different embolic agents in the tumor vascular network after being injected at different injection rates; and fourthly, the digital simulation process is presented to an operator in a VR form, so that the presence is improved. Wherein, utilize VR simulation whole operating room environment and tumour embolism process, feed back the image in real time in the operator in front of the eye, the operator can perceive the embolism state of different embolic agents in the tumour vascular network of accurate reconstruction under the different bolus rate, pressure circumstances through pushing the bolus.
The method can restore the hydrodynamics or the embolism state of different kinds of embolisms in the process of bolus embolism to the maximum extent through hydrodynamics simulation. The digital model is accurately reconstructed for the tumor vascular networks of different patients, and the defect that the prior art replaces all tumor vascular networks with a universal solid model is overcome.
Has the advantages that: the invention provides an in vitro vascular embolization simulation system and method, which can restore different tumor vascular networks, the bolus injection of different embolization agents and the simulation of embolization effects, give enough presence and immersion to an operator, and improve training effects. Virtual reality technology (VR) may provide better immersion than mixed reality technology (MR). The visitors wear virtual reality glasses, and the scenes of the interventional embolization operation and the embolization process are displayed in front of the eyes. By injecting different embolic agents (temperature sensitive nano-gel, iodized oil, embolic particles/microspheres and the like), visitors feel the viscosity and the injection pressure of the different embolic agents from the sense of touch, and the embolization effect is fed back to the image in real time through a VR (virtual reality) technology, so that the visitors obtain the feeling of being personally on the scene. This shows the difference in bolus pressure and embolic effect for different embolic agents.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; the present invention may be readily implemented by those of ordinary skill in the art as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.
Claims (5)
1. An in vitro vascular embolization simulation system, comprising:
the parameter acquisition module is used for injecting embolic agent in vitro by using an injector and a micro catheter, and a pressure sensor is added at an injection outlet to obtain a fluid initial pressure signal and convert the fluid initial pressure signal into an electronic signal of an injection rate;
the modeling module is used for carrying out 3D reconstruction on a tumor vascular network of a tumor patient through a digital technology;
the fluid simulation module is used for simulating blood flow in the reconstructed tumor vascular network according to a fluid mechanics simulation technology, simulating a fluid mechanics state in the 3D reconstructed tumor vascular network by using the fluid mechanics simulation technology, wherein the fluid mechanics state comprises an electronic signal of the injection rate, the viscosity of the embolic agent and the heat exchange parameters, and evaluating the embolization effect of different embolic agents in the tumor vascular network after being injected at different injection rates;
and the VR module is used for presenting the simulation process in front of an operator in a VR form and improving the presence.
2. The in vitro vascular embolism simulation system according to claim 1, wherein a pressure sensor for monitoring an embolism bolus pressure is provided at the injection port.
3. The in vitro vascular embolization simulation system of claim 1, wherein the embolizing agent comprises one of iodooil, embolization particles/microspheres, ethylene vinyl alcohol polymer, temperature-sensitive nanogel.
4. The in vitro vascular embolization simulation system of claim 1, wherein the digital techniques employed by the modeling module are CT and MRI.
5. A method for an in vitro vascular embolization simulation system according to any one of claims 1 to 4, comprising:
s1, injecting embolic agent in vitro by using an injector and a microcatheter, adding a pressure sensor at an injection outlet to obtain a fluid initial pressure signal, and converting the fluid initial pressure signal into an electronic signal of an injection rate;
s2, performing 3D reconstruction on the tumor vascular network of the tumor patient through a digital technology;
s3, simulating blood flow in the reconstructed tumor vascular network according to a fluid mechanics simulation technology, and simulating a fluid mechanics state in the 3D reconstructed tumor vascular network by using the fluid mechanics simulation technology, wherein the fluid mechanics state comprises an electronic signal of the injection rate, the viscosity of the embolic agent and the heat exchange parameters, so as to evaluate the embolization effect of different embolic agents in the tumor vascular network after being injected at different injection rates;
and S4, presenting the simulation process in a VR form in front of the operator, and improving the presence.
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