CN114898626A - Laparoscopic surgery teaching training platform based on 3D printing technology and use method thereof - Google Patents
Laparoscopic surgery teaching training platform based on 3D printing technology and use method thereof Download PDFInfo
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- 238000012549 training Methods 0.000 title claims abstract description 48
- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 41
- 238000010146 3D printing Methods 0.000 title claims abstract description 33
- 238000005516 engineering process Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 16
- 210000003815 abdominal wall Anatomy 0.000 claims abstract description 39
- 210000000056 organ Anatomy 0.000 claims abstract description 35
- 210000000683 abdominal cavity Anatomy 0.000 claims abstract description 13
- 238000001356 surgical procedure Methods 0.000 claims abstract description 10
- 208000005646 Pneumoperitoneum Diseases 0.000 claims description 13
- 210000001519 tissue Anatomy 0.000 claims description 13
- 238000004519 manufacturing process Methods 0.000 claims description 9
- 210000003205 muscle Anatomy 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 230000003902 lesion Effects 0.000 claims description 4
- 238000005094 computer simulation Methods 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000001954 sterilising effect Effects 0.000 claims description 3
- 238000004088 simulation Methods 0.000 abstract description 8
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 6
- 230000003187 abdominal effect Effects 0.000 description 4
- 239000000853 adhesive Substances 0.000 description 4
- 230000001070 adhesive effect Effects 0.000 description 4
- 229910002092 carbon dioxide Inorganic materials 0.000 description 3
- 239000001569 carbon dioxide Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012830 laparoscopic surgical procedure Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 238000007639 printing Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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- 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
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Abstract
The invention discloses a laparoscopic surgery teaching and training platform based on a 3D printing technology and a using method thereof, wherein the platform comprises a human body model, a surgery module and auxiliary equipment; the human body model is provided with a spine and an abdominal wall outer skin, the spine is positioned on the right middle line of the abdominal cavity inner wall of the human body model, and the abdominal wall outer skin is bonded at the abdominal wall position of the human body model and can be cut by a scalpel and inserted by a puncture outfit; the operation module is manufactured by 3D printing and is detachably connected with the spine of the human body model; the operation module comprises a target organ and a focus part; the focus part is positioned on the target organ and can be excised from the target organ by an operator; the auxiliary device includes a monitor for displaying a photographed image of the laparoscope and a sound output device for emitting an alert sound. The modular assembling surgical module meets different surgical training requirements, and can remind an operator of error operation in simulation training, so that the operator is helped to shorten a learning curve.
Description
Technical Field
The invention relates to the technical field of medical teaching training, in particular to a laparoscopic surgery teaching training platform based on a 3D printing technology and a using method thereof.
Background
As an emerging minimally invasive method, laparoscopic surgery is widely used for surgical treatment in various fields such as urology surgery, hepatobiliary surgery, pancreatic surgery, etc. due to its various advantages. However, in laparoscopic surgery, a doctor needs to complete three-dimensional surgical operation by means of a monitor, and the problems of poor tactile feedback, limited space, difference from open surgical operation habits, inapplicability to the traditional hand-grip teaching mode and the like exist. Therefore, before performing laparoscopic surgery, the physician must perform a large number of repeated laparoscopic surgical skill trainings.
In this case, the use of the laparoscopic simulator trainer not only helps the physician to get a quick familiarity with the operation of various instruments, but also helps to exercise their spatial orientation and eye-hand coordination. However, the existing laparoscopic training equipment in the market has the following defects, and the problem that the learning curve of the current laparoscopic surgery is too long cannot be effectively solved:
(1) most of the normal organ models are simple normal organ models, and only simple operation training of laparoscopic instruments can be carried out, and complete flow simulation training of laparoscopic surgery cannot be carried out;
(2) the simulation degree of the model is low, and the real laparoscopic surgery environment cannot be effectively restored;
(3) the used organ models are many, can not be disassembled, have single types, and can not meet the requirements of doctors on various operation training;
(4) absent a feedback system, the operator is unable to correct the erroneous operation in laparoscopic surgical training.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides a laparoscopic surgery teaching and training platform based on a 3D printing technology and a using method thereof, wherein the platform can provide a real laparoscopic surgery operating environment close to the simulated surgery operation so as to train the complete steps of the laparoscopic surgery; the operator can satisfy different operation training demands through the modularization equipment operation module to this platform can remind the operator to simulate the maloperation that exists in the training, thereby helps the operator to shorten the learning curve, masters laparoscopic surgery's operation fast.
In order to achieve the purpose, the laparoscopic surgery teaching and training platform based on the 3D printing technology comprises a human body model, a surgery module and auxiliary equipment;
the human body model is provided with a spine and an abdominal wall outer skin, the spine is positioned on the right middle line of the abdominal cavity inner wall of the human body model, and the abdominal wall outer skin is adhered to the abdominal wall position of the human body model and can be cut by a scalpel and inserted by a puncture outfit;
the operation module is manufactured by 3D printing and is detachably connected with the spine of the human body model; the surgical module comprises a target organ and a focus part; the focus part is positioned on a target organ and can be excised from the target organ by an operator;
the auxiliary device includes a monitor for displaying a photographed image of the laparoscope and a sound output device for emitting a warning sound. The operation module can be according to the different training demands of operator, through the different organ models of 3D customization of printing to assemble in the manikin. The customized target organ may be a simulation of a normal organ or a simulation of an organ with a different pathological state. And the assembly is movable and detachable, so that an operator can conveniently adjust the position of the organ or replace other organ models for surgical training. The auxiliary device may be used to guide an operator in the training of laparoscopic surgical procedures.
Further, the outer skin of the abdominal wall comprises skin tissue and muscle tissue, and the muscle tissue is attached to the inner part of the skin tissue. The abdominal wall skin is adhered to the abdominal wall of the manikin by an adhesive and can be inserted by a scalpel cutting and puncturing device. The abdominal wall skin can be replaced, so that only the abdominal wall skin in the human body model needs to be replaced when the laparoscopic surgery is performed every time, and the cost can be reduced.
Further, the surgical module also includes an adjoining structure that is connected to the organ of interest.
Furthermore, be provided with a plurality of fixed orifices on the backbone, be provided with the fixed column that a plurality of and fixed orifices match on the operation module, the operation module is connected with the backbone can be dismantled in the fixed orifices is torn into through the fixed column. Thus, a plurality of fixing holes are arranged on the spine, and the fixing holes can be used for fixing abdominal organs at different abdominal positions at corresponding positions in the human body model. The operation module comprises a fixing column which is detachably arranged inside the abdominal cavity of the human body model by being inserted into the fixing hole, so that the operation module can be replaced by different types of operation modules.
Furthermore, still be provided with a plurality of sensing device on the operation module, sensing device is used for monitoring the pressure value when operation module receives the extrusion or collides, sensing device is connected with the auxiliary assembly electricity.
Furthermore, the sensing device can send an electric signal to the auxiliary equipment to judge whether the normal tissue is damaged or not and whether the focus part is cut off or not, and prompt sound is sent out through the sound output equipment to provide feedback.
Further, the monitor is electrically connected to a laparoscope placed in the abdominal cavity of the manikin, and a photographed image of the laparoscope is displayed through the monitor.
Still further, the human body model is a sealing structure, and the interior of the human body model can be filled with gas. The human body model has good sealing performance and can be filled with carbon dioxide, so that the artificial pneumoperitoneum can be established by simulating laparoscopic surgery.
Further, the method of fabricating the surgical module by 3D printing is as follows:
s1: acquiring data, acquiring medical image data of an enhanced CT of a real case, and importing the medical image data into medical image three-dimensional reconstruction software;
s2: processing data, selecting to extract and process medical image data of a target organ and an adjacent structure thereof, and storing a three-dimensional data format in stl format;
s3: in the auxiliary design, according to the original three-dimensional data of the spine and the three-dimensional data obtained in the step S2, a plurality of fixing columns are added to the three-dimensional structure of the operation module through computer simulation matching according to the anatomical position of a target organ in a human body, so that the operation module can be correctly connected with the spine by the aid of the fixing columns, and the data are stored as stl-format three-dimensional matching data;
s4: and (4) manufacturing an operation module, importing stl data obtained in the step (S3) into a 3D printer, and 3D printing to manufacture the operation module.
The invention also provides a use method of the laparoscopic surgery teaching training platform based on the 3D printing technology, which comprises the following steps:
s1: an operator firstly puts the manikin into a correct operation body position and fixes the manikin on an operation bed;
s2: sterilizing the target operation area;
s3: placing into a pneumoperitoneum needle, and injecting CO into abdominal cavity via the pneumoperitoneum needle 2 Expanding the abdominal wall by gas to establish an artificial pneumoperitoneum;
s4: an operator cuts and punches holes on the outer skin of the abdominal wall according to an operation mode, and a puncture tube and a puncture sleeve are placed in the holes;
s5: placing the laparoscope, and then performing laparoscopic surgery training according to the image of the monitor and the instruction of the sound output device;
s6: inserting a surgical instrument, and cutting and separating tissues around the focus to completely free the focus part;
s7: making an incision on the abdominal wall outer skin by an operator, and completely taking out the focus part from the incision;
s8: evolution of CO 2 And (4) after the air exits from the puncture cannula, finally, the operator sews an incision at the outer skin of the abdominal wall.
Compared with the prior art, the invention has the following advantages:
firstly, the laparoscopic surgery teaching training platform based on the 3D printing technology can simulate the real environment of the surgery, provides training for the whole process of the laparoscopic surgery, is provided with a sensing device for prompting an operator to perform wrong operation, can help the operator to quickly master the flow and operation of the laparoscopic surgery, and shortens the learning curve.
Secondly, the invention can customize the operation module individually according to the training requirement of the operator, and can be assembled in the human body model in a detachable way, thereby realizing the targeted training and being used for preoperative simulation and teaching training of complex diseases.
Thirdly, the operation module and the spine assembly of the human body model are movable and detachable, so that an operator can conveniently adjust the organ position or replace other organ models to perform operation training, and the auxiliary equipment can be used for guiding the operator to perform laparoscopic operation training.
Fourthly, the outer skin of the abdominal wall is adhered to the abdominal wall of the human body model through the adhesive, can be cut by the scalpel and inserted by the puncture outfit, and can be replaced, so that only the outer skin of the abdominal wall in the human body model needs to be replaced when the laparoscopic surgery is performed every time, and the cost can be reduced.
Fifthly, the human body model has good sealing performance, can be filled with carbon dioxide, and can be used for simulating laparoscopic surgery to establish artificial pneumoperitoneum.
Drawings
FIG. 1 is a schematic diagram showing the framework of a teaching and training platform for laparoscopic surgery based on 3D printing technology;
FIG. 2 is a schematic structural diagram of a teaching and training platform for laparoscopic surgery based on 3D printing technology;
FIG. 3 is a schematic view of the surgical module;
in the figure, a human body model 1 (a spine 1.1, a fixing hole 1.11, an abdominal wall outer skin 1.2, skin tissues 1.21 and muscle tissues 1.22), a surgical module 2 (a target organ 2.1, a focus part 2.2, an adjacent structure 2.3, a fixing column 2.4, a sensing device 2.5) and auxiliary equipment 3 (a monitor 3.1 and a sound output device 3.2) are shown.
Detailed Description
The following describes the embodiments of the present invention in detail with reference to the embodiments, but they are not intended to limit the present invention and are only examples. While the advantages of the invention will be apparent and readily appreciated by the description.
A teaching and training platform for laparoscopic surgery based on 3D printing technology as shown in fig. 1 and 2 comprises a manikin 1, a surgery module 2 and an auxiliary device 3. The human model 1 is a standard human model of the whole body, the model has good mobility, can be placed in different operation positions, has certain flexibility and sealing property, and is of a sealing structure, the human model 1 can be filled with gas, and the abdominal wall can be expanded after carbon dioxide is injected through a pneumoperitoneum needle. The human body model 1 is provided with a spine 1.1 and an abdominal wall outer skin 1.2, the spine 1.1 is positioned on the right middle line of the abdominal cavity inner wall of the human body model 1, the abdominal wall outer skin 1.2 is bonded at the abdominal wall position of the human body model 1 and can be cut by a scalpel and inserted by a puncture outfit, and the incision can be made and the puncture outfit can be inserted in the operation. The abdominal wall skin 1.2 comprises skin tissue 1.21 and muscle tissue 1.22, and the muscle tissue 1.22 is attached to the inside of the skin tissue 1.21. In this embodiment, the abdominal skin 1.2 is fixed to the manikin 1 by an adhesive to seal the abdominal cavity. And the abdominal wall outer skin 1.2 of the model can be replaced, and when the operator finishes the simulation operation once, only the abdominal wall outer skin 1.2 part of the human body model needs to be replaced.
As shown in fig. 3, the surgical module 2 is made by 3D printing and detachably connected to the spine 1.1 of the manikin 1; the surgical module 2 comprises a target organ 2.1 and a focal site 2.2, an adjoining structure 2.3; the focus part 2.2 is positioned on the target organ 2.1 and can be cut off from the target organ 2.1 by an operator; the abutment structure 2.3 is connected to the organ of interest 2.1. In addition, the surgical module may be a model of a physiologically normal abdominal internal organ, as required by the operator, and the printed surgical module does not include the focal site 2.2. And, the adjacent structure can be optionally not printed, so as to reduce the operation difficulty, help beginners to be familiar with the surgical instruments of the laparoscopic operation and perform operation exercises.
As shown in fig. 2, the auxiliary device 3 comprises a monitor 3.1 and a sound output device 3.2, the monitor 3.1 is used for displaying the photographed image of the laparoscope, and the sound output device 3.2 is used for emitting a warning sound. The monitor 3.1 is electrically connected to a laparoscope placed in the abdominal cavity of the manikin 1, and displays a photographed image of the laparoscope through the monitor, thereby guiding an operator to perform a surgical operation of the laparoscope.
As shown in fig. 2 and 3, a plurality of fixing holes 1.11 are formed in the spine 1.1, a plurality of fixing columns 2.4 matched with the fixing holes 1.11 are formed in the operation module 2, and the operation module 2 is detachably connected with the spine 1.1 by being disassembled into the fixing holes 1.11 through the fixing columns 2.4. The operation module 2 is inserted into the fixing hole 1.11 through the fixing column 2.4 on the operation module, so that the operation module can be detachably arranged in the abdominal cavity of the human body model, and other operation modules of different types can be conveniently selected for replacement.
Among the above-mentioned technical scheme, still be provided with a plurality of sensing device 2.5 on the operation module 2, sensing device 2.5 is used for monitoring the pressure value when operation module 2 receives the extrusion or collide, and sensing device 2.5 is connected with auxiliary assembly 3 electricity. The sensing device 2.5 can send an electric signal to the auxiliary device 3 to judge whether the normal tissue is damaged or not and whether the focus part 2.2 is cut off or not, and send out a prompt tone through the sound output device 3.2 to provide feedback. The sensing device 2.5 can monitor the acting force of the surgical instrument received by the surgical module 2 in use and transmit the acting force to the data processing system for analysis: if the data processing system judges that the target organ 2.1 or the adjacent structure 2.3 in the operation module is damaged, if the data processing system judges that the damage is caused, a signal is sent to the sound output equipment to send out a prompt sound to prompt an operator to operate by mistake; if the operating system judges that the lesion site 2.2 is successfully excised, a signal is sent to the sound output device to emit a prompt sound to prompt the operator that the operation is successful.
In the above technical solution, the method for manufacturing the surgical module 2 by 3D printing is as follows:
s1: acquiring data, acquiring medical image data of an enhanced CT of a real case, and importing the medical image data into medical image three-dimensional reconstruction software;
s2: processing data, selecting to extract and process medical image data of a target organ and an adjacent structure thereof, and storing a three-dimensional data format in stl format;
s3: in the auxiliary design, according to the original three-dimensional data of the spine and the three-dimensional data obtained in the step S2, a plurality of fixing columns are added to the three-dimensional structure of the operation module through computer simulation matching according to the anatomical position of a target organ in a human body, so that the operation module can be correctly connected with the spine by the aid of the fixing columns, and the data are stored as stl-format three-dimensional matching data;
s4: and (4) manufacturing an operation module, importing stl data obtained in the step (S3) into a 3D printer, and 3D printing to manufacture the operation module.
By the above scheme, the surgical module 2 is connected with the spine 1.1, so that the surgical module 2 can be detachably installed in the human body model 1. And then the abdominal wall outer skin 1.2 is fixed on the surface of the thoracic cavity of the human body model 1 through an adhesive to seal the human body model 1, and the assembly of the 3D printing technology-based laparoscopic surgery teaching training platform is completed.
The invention also provides a use method of the laparoscopic surgery teaching training platform based on the 3D printing technology, which comprises the following steps:
s1: an operator firstly puts the manikin 1 into a correct operation body position and fixes the manikin on an operation bed;
s2: sterilizing the target operation area;
s3: placing into a pneumoperitoneum needle, and injecting CO into abdominal cavity via the pneumoperitoneum needle 2 Expanding the abdominal wall by gas to establish an artificial pneumoperitoneum;
s4: after the artificial pneumoperitoneum is successfully established, an operator cuts and punches holes at the outer skin 1.2 of the abdominal wall according to an operation mode, and a puncture tube and a puncture sleeve are placed;
s5: placing the laparoscope, and then carrying out laparoscopic surgery training according to the image of the monitor 3.1 and the instruction of the sound output device 3.2;
s6: inserting a surgical instrument, and cutting and separating tissues around the focus to completely free the focus part 2.2;
s7: when the prompt of successful operation is heard, the operator successfully excises the focus part 2.2, the operator makes an incision on the abdominal wall outer skin 1.2, and the focus part 2.2 is completely taken out from the incision;
s8: evolution of CO 2 And (4) after the air is exhausted from the puncture cannula, finally, the operator sews an incision at the outer skin 1.2 of the abdominal wall.
The training effect on the operator can be well realized through the steps of S1-S8, and the preoperative simulation and teaching training of complex diseases can be assisted.
The above description is only an embodiment of the present invention, and it should be noted that any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention, and the rest that is not described in detail is the prior art.
Claims (10)
1. The utility model provides a laparoscopic surgery teaching training platform based on 3D printing technique which characterized in that: comprises a human body model (1), a surgery module (2) and auxiliary equipment (3);
the human body model (1) is provided with a spine (1.1) and an abdominal wall outer skin (1.2), the spine (1.1) is positioned on the median line of the inner wall of an abdominal cavity of the human body model (1), and the abdominal wall outer skin (1.2) is bonded at the position of the abdominal wall of the human body model (1) and can be cut by a scalpel and inserted by a puncture outfit;
the operation module (2) is manufactured by 3D printing and is detachably connected with a spine (1.1) of the human body model (1); the surgical module (2) comprises a target organ (2.1) and a lesion site (2.2); the focus part (2.2) is positioned on the target organ (2.1) and can be cut off from the target organ (2.1) by an operator;
the auxiliary device (3) comprises a monitor (3.1) and a sound output device (3.2), wherein the monitor (3.1) is used for displaying the photographic image of the laparoscope, and the sound output device (3.2) is used for emitting prompt sound.
2. The laparoscopic surgery teaching and training platform based on 3D printing technology as claimed in claim 1, wherein: the abdominal wall outer skin (1.2) comprises skin tissue (1.21) and muscle tissue (1.22), and the muscle tissue (1.22) is attached to the inner part of the skin tissue (1.21).
3. The laparoscopic surgery teaching training platform based on 3D printing technology according to claim 1, wherein: the surgical module (2) further comprises an abutment structure (2.3), the abutment structure (2.3) being connected to the organ of interest (2.1).
4. The laparoscopic surgery teaching training platform based on 3D printing technology according to claim 1, 2 or 3, characterized in that: be provided with a plurality of fixed orifices (1.11) on backbone (1.1), be provided with fixed column (2.4) that a plurality of and fixed orifices (1.11) match on operation module (2), operation module (2) are connected with backbone (1.1) can dismantle in pulling into fixed orifices (1.11) through fixed column (2.4).
5. The laparoscopic surgery teaching training platform based on 3D printing technology according to claim 4, wherein: still be provided with a plurality of sensing device (2.5) on operation module (2), sensing device (2.5) are used for monitoring operation module (2) receive the pressure value when extrudeing or colliding, sensing device (2.5) are connected with auxiliary assembly (3) electricity.
6. The laparoscopic surgery teaching training platform based on 3D printing technology according to claim 5, wherein: the sensing device (2.5) can send an electric signal to the auxiliary equipment (3) to judge whether normal tissues are damaged or not and whether the focus part (2.2) is cut off or not, and prompt sound is sent out through the sound output equipment (3.2) to provide feedback.
7. The laparoscopic surgery teaching training platform based on 3D printing technology according to claim 6, wherein: the monitor (3.1) is electrically connected with a laparoscope placed in the abdominal cavity of the manikin (1), and the monitor displays the photographic image of the laparoscope.
8. The laparoscopic surgery teaching training platform based on 3D printing technology according to claim 1, 2 or 3, characterized in that: the human body model (1) is of a sealing structure, and gas can be filled in the human body model.
9. The laparoscopic surgery teaching training platform based on 3D printing technology according to claim 1, 2 or 3, characterized in that: the method for manufacturing the surgical module (2) by 3D printing is as follows:
s1: acquiring data, acquiring medical image data of an enhanced CT of a real case, and importing the medical image data into medical image three-dimensional reconstruction software;
s2: processing data, selecting to extract and process medical image data of a target organ and an adjacent structure thereof, and storing a three-dimensional data format in stl format;
s3: in the auxiliary design, according to the original three-dimensional data of the spine and the three-dimensional data obtained in the step S2, a plurality of fixing columns are added to the three-dimensional structure of the operation module through computer simulation matching according to the anatomical position of a target organ in a human body, so that the operation module can be correctly connected with the spine by the aid of the fixing columns, and the data are stored as stl-format three-dimensional matching data;
s4: and (4) manufacturing an operation module, importing stl data obtained in the step (S3) into a 3D printer, and 3D printing to manufacture the operation module.
10. Use of the 3D printing technology based teaching and training platform for laparoscopic surgery according to any of claims 1 to 9, characterized in that: the method comprises the following steps:
s1: an operator firstly puts the human body model (1) into a correct operation body position and fixes the human body model on an operation bed;
s2: sterilizing the target operation area;
s3: placing into a pneumoperitoneum needle, and injecting CO into abdominal cavity via the pneumoperitoneum needle 2 Expanding the abdominal wall by gas to establish an artificial pneumoperitoneum;
s4: an operator cuts and punches at the outer skin (1.2) of the abdominal wall according to an operation mode, and a puncture tube and a puncture sleeve are placed;
s5: placing the laparoscope, and then performing laparoscopic surgery training according to the image of the monitor (3.1) and the instruction of the sound output device (3.2);
s6: inserting a surgical instrument, cutting and separating the tissues around the lesion to completely free the lesion site (2.2);
s7: an operator makes an incision on the abdominal wall outer skin (1.2), and the focus part (2.2) is completely taken out from the incision;
s8: evolution of CO 2 And (4) after the gas exits the puncture cannula, finally, the operator sews an incision at the outer skin (1.2) of the abdominal wall.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117218922A (en) * | 2023-11-08 | 2023-12-12 | 北京唯迈医疗设备有限公司 | Auxiliary training and evaluating method and device for interventional operation robot |
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