WO2009139431A1 - 手術シミュレーション用軟質血管モデルの製造方法 - Google Patents
手術シミュレーション用軟質血管モデルの製造方法 Download PDFInfo
- Publication number
- WO2009139431A1 WO2009139431A1 PCT/JP2009/058964 JP2009058964W WO2009139431A1 WO 2009139431 A1 WO2009139431 A1 WO 2009139431A1 JP 2009058964 W JP2009058964 W JP 2009058964W WO 2009139431 A1 WO2009139431 A1 WO 2009139431A1
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- WIPO (PCT)
- Prior art keywords
- blood vessel
- model
- data
- soft
- vascular
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Classifications
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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
- 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
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
- A61B2017/00716—Dummies, phantoms; Devices simulating patient or parts of patient simulating physical properties
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B33—ADDITIVE MANUFACTURING TECHNOLOGY
- B33Y—ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3-D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3-D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING
- B33Y80/00—Products made by additive manufacturing
Definitions
- the present invention grasps the three-dimensional standing ⁇ of the blood vessel near the affected part, determines the method of # ⁇ in advance, and results in the change of shape given to the S blood vessel.
- the present invention relates to a method for producing a soft blood vessel model for surgical simulation that enables optimal treatment.
- it is an invention of a method for producing a soft blood vessel model for surgical simulation that is useful when vascular treatment of a cerebral aneurysm is performed with a clip and a coil or a stent. Background scythe '''
- Arteriovenous vascular treatment mainly involves aneurysm treatment, blood vessel bypass, amputation, anastomosis, etc. for arteries, and venous treatment for varicose veins, catheters, hemorrhoids, resections, and lasers 3 ⁇ 43 ⁇ 41, etc. Is done.
- An aneurysm in this treatment is an unruptured aneurysm, but there is no symptom, but an aneurysmal force may cause internal bleeding, resulting in serious life-threatening consequences. .
- the risk of rupture of a cerebral aneurysm “The age at which a live aneurysm was found is to clip the root of the aneurysm from the outside, block the blood inside the aneurysm, or into the aneurysm Treatments that avoid the accumulation of blood flow into the aneurysm by placing a coil or various stents inside the vessel at the root of the aneurysm are widely used.
- An aneurysm expands to the outside of the blood vessel in the shape of a ridge, but for example, a clip is close to a ridge-shaped ridge, which is preferable from the viewpoint of how to stop rupture of an aneurysm.
- a change in the three-dimensional shape of the blood vessel in the vicinity of the aneurysm due to narrow or distortion or bending in the vascular membrane near the clip position after clipping occurs.
- X will occur, the blood flow shape will become unstable, and the smooth blood flow will be hindered.
- the shape of the subsequent blood flow may be It becomes stable.
- a model of the blood vessel shape of an actual patient is manufactured, the position of the clip, the position of the crib and the placement of the koino ⁇ , and the method are tested, and the blood vessel is disturbed in the three-dimensional shape of the blood vessel after the treatment. If you can perform a pre-operative simulation to perform a special event, ## When: ftig clip or coy / or stent treatment can be performed quickly, so it has great benefits for both patients and rest become.
- Patent Document 1 As a simulation model, the present applicant has already proposed a force method for producing a human bone model for simulation by thinning it into a thin s ⁇ and producing powder * ⁇ talent with a laser for each thin film.
- this manufacturing method is a human bone model formed of a material with the same hardness and ease of IJ as a human bone
- this i method is a blood vessel with a flexible '14 like the blood vessel of the present invention. I can't make a modern model.
- An aneurysm developed in the arteriovenous used for preoperative simulation of arteriovenous vascular treatment The shape of the stenosis is reproduced by a soft polymer model, and this is used for vascular treatment using surgical instruments such as clips, coils and stents.
- the purpose of this study is to create a vascular model that can perform training and pre-operative simulation.
- the nozzle and support material are input to a precision computer equipped with a jet nozzle that ejects droplets in the form of fine particles with a particle size of 50 ⁇ m or less.
- the bottom surface of the three-dimensional data was obtained by cutting the 3D data into a given thin layer unit with a thickness of 0.1 mm or less using a horizontal plane.
- Output thin plane data consisting of the U3 ⁇ 4 region, and output the blood vessel »S region data of the orchid layer plane data.
- the thickness of the three-dimensional data can be reduced by forming a thin support material layer by outputting a jet nozzle injection signal that jets support material droplets into the space portion of the thin layer data.
- a thin layer of 1 mm or less Performs the vascular membrane model formation operation surrounded by the support material layer for each unit, and repeats the speech operation for each thin layer unit from the lower end of the 3D data.
- a soft blood vessel model made of a soft polymer has a three-dimensional blood vessel shape. is doing After removing the port material and taking out the soft blood vessel model embedded in the matrix, it is then necessary to take out the support material existing inside the extracted soft blood vessel model from the opening of the blood vessel model. ## Production of soft blood vessel model for Tesimulation ⁇
- the soft blood vessel model manufactured according to the present invention performs the treatment that is planned on the actual blood vessel, and changes the shape that occurs in the vascular membrane, the presence or absence of strain, distortion, etc. Since it is possible to search for the treatment of hemorrhoids, it is useful for arterial and vascular vascular therapy, especially for the prevention of unbroken palpitations between fB # and medical defects.
- the use of the support material of the present invention has an advantage that a three-dimensional open shape of a soft blood vessel can be accurately formed.
- FIG. 5 is a woven drawing of a medical blood vessel model manufactured according to the male example of the invention.
- reference numeral 1 is a portion corresponding to an aneurysm
- 2 is a portion corresponding to a blood vessel in the vicinity of the aneurysm
- 3 is a boundary surface of the three-dimensional image.
- a tomographic image data obtained by blood flow in a predetermined arteriovenous fistula is obtained by using a glaze agent.
- the three-dimensional data of the separated vascular membrane is cut out in a spatial region so as to include a predetermined last separation, and three-dimensional data is created in which the three-dimensional shape of the fibrous vascular membrane floats in the air.
- a precision laminating machine that uses an ink jet method to stack and fix the material for each thin film can be used.
- This is an apparatus that stacks multiple layers of vascular ridges to form a stack of blood vessels, as if a thin printed layer is repeatedly printed. Even if a crusty three-dimensional shape of a blood vessel is formed, the shape is fixed Without it, the next 3 ⁇ 4 cannot be printed. Therefore, it is necessary to provide a support material in the spatial region in order to fix the vascular membrane ⁇ f standing.
- the lamination of thin-film units of three-dimensional data is divided by a cross-sectional figure surrounding a vascular membrane cross-sectional area having a small and narrow area and a large space area.
- a thin film unit is formed by spraying a soft polymer on the blood vessel surface area with an ink jet ⁇ ; and at the same time in the space area with an ink jet; ⁇ with a support material as an ink and a solid printing overprint layer.
- Thickness force S A thin film unit stack is formed so as to surround a narrow and narrow fiber vessel surface area with a section of a sabot material having a wide area.
- This thin-film orchid formation is measured over the entire three-dimensional data in the selfish space, and in the support material, a lump of support material in which the three-dimensional shape of the agile vascular membrane floats in the air is obtained. It is done. If the support material is dissolved and removed from the mass with ⁇ ij such as ⁇ 3 ⁇ 4 ⁇ , a standing vascular membrane model with the support material contained inside will appear with the active shape in mind. If the support material is dissolved or squeezed out and removed from the opening of the vascular membrane model, the desired soft vascular model can be obtained.
- This device is difficult for thin ink jets :: Two-color printing is an example of printing.
- the fiber layer unit is divided into a blood vessel cross section and a space section, and a blood vessel model material made of a soft polymer that forms a portion corresponding to the blood vessel cross section is obtained.
- the layer is sprayed! ⁇ Layered, and the support material for forming the shape is sprayed into the space section, the tide unit is formed, and these are stacked one after the other to form the soft polymer standing vascular membrane model.
- a space is formed by the support material.
- the three-dimensional data of ⁇ M vascular membrane standing in the air, soft polymer (prepolymer) in the form of Tsuruta droplets of 50 ⁇ m or less
- the jet nozzle and support material to be ejected are input into a precision computer equipped with a jet nozzle that jets fine droplets of less than 50 ⁇ m, and the three-dimensional data input to the computer.
- the vascular membrane partial region data and ⁇ space obtained by cutting the three-dimensional data into predetermined thin layer units with a thickness of 0.1 mm or less using the TO horizontal surface on the bottom of the three-dimensional data.
- Thin layer plane data consisting of partial region data is output, and the blood vessel ⁇ ⁇ region data of the output thin layer plane data is output.
- the jet polymer is output as a jet-nozzle n $ shot signal that ejects a night drop of a soft polymer. »: A droplet of a sex polymer is ejected to form a portion corresponding to a thin vascular membrane.
- the self-output spatial area data of the thin-layer plane data is output as a jet nozno i-irradiation signal that supports the droplets of the support material, and the droplets of the support material are ejected to create a thin layer simple diff.
- a sabot material layer is formed.
- the thin film formed at this time is in close contact with the portion corresponding to the underlying vascular membrane and the support portion, integrated, and one layer of a is added to each stacked layer.
- the thickness of one layer is suitable because of the accuracy of the heat, the accuracy of the required shape of the blood vessel model, and the model's accuracy!
- the force that can be adjusted is usually 0.1 mm or less, preferably 0.1 mm to 0.005 mm, and more preferably 0.05 mm to 0.01 nun. This thickness is the blood vessel model ⁇ injection pitch in the height direction of the heel, the thinner the thickness, the more accurate the vertical cross-sectional shape of the blood vessel model becomes, and the distortion of the shape when treated with a clip, etc. The state of can be accurately TO.
- Thickness of 3D data Thin layer from bottom surface to upper tip of 3D data with vascular membrane ⁇ yf3 ⁇ 4 «work for each thin layer unit of 0.1 mm or less and space area that adheres to it.
- the soft blood vessel model with the support material is taken out, and then the support material to be placed inside the taken out soft blood vessel model can be taken out from the opening of the blood vessel model by squeezing or dissolving. By removing the support substance from the inside, a three-dimensional medium-thick ikk membrane model similar to »can be obtained.
- the soft blood vessel model is a blood vessel model with an aneurysm
- the placement of a coin or stent was severely used as a scissors, and various t3 ⁇ 4 coils or stents were inserted into the blood vessel model and inserted. It is possible to shape the blood vessels without any abnormal blood flow after surgery.
- the ink material ejected from the ink jet nozzle that controls the material of the material of the soft blood vessel model of the present invention is a soft rubber-like polymer material, and has a play, an inkjet nozzle, Especially if it is jetted as a droplet and solidifies immediately to form a vascular membrane model that is already crushed and integrated with the underlying rubbery polymer material.
- the preferred ink material of the soft blood vessel model is a liquid prepolymer of a rubbery polymer, which is preferably made of a photocurable liquid prepolymer material that does not contain J.
- the ink substance is supplied to the cartridge connected to the ink jet nozzle, and is atomized by jet injection and injected into the vascular membrane region. Then, the fine particles of the ink substance ejected from the ink jet nozzle are polymerized by the ultraviolet rays while flying as a magnetic insulator during the ultraviolet irradiation, and become a soft polymer and adhere to the vascular membrane region.
- Objet 3 ⁇ 4 $ g “FULLCURE930 TANG0PLUS” can be used.
- This ink substance is sprayed from the tip of the inkjet nozzle as fine particle droplets, and when it adheres to the vascular membrane region, it is integrated into the previously printed droplets and at the same time irradiated during ejection
- the dissolved ultraviolet light is dissolved, polymerization is caused by the dissolved disclosure agent, and the prepolymer is instantaneously converted into a soft polymer to form a soft polymer substance that forms a soft blood vessel model.
- the material of the support material of the present invention is ejected from the ink jet nozzle.
- the ink material is ejected as fine droplets from the ink jet nozzle and immediately solidifies and accumulates. Any material that can form a layer, can be easily removed from the surface of the vascular model, or ⁇ ⁇ or can be removed from the soft polymer of the vascular model 3 ⁇ 4j ⁇ If possible, there is no particular limitation.
- a substance that can be easily pulverized by applying force to it becomes a soft solid that has the necessary shape to make a shape during the manufacturing process of a lightweight product such as a vascular membrane model.
- the ink substance forming the support material for example, Objet t $$ "FULLCURE705" can be used.
- ink jet nozzles that support the material of the soft blood vessel model, and to support the material of the support material. Then, a soft rubber-like material support and a support material sync are sprinkled to form a thin film corresponding to the thickness of the above-mentioned one layer.
- the jet region jets the vascular membrane region and the spatial region of each thin film unit of the three-dimensional data to form a thin film unit stack.
- the correct 3 ⁇ 4g of the figure to be ejected by changing the blood region and the spatial region is determined by the pitch interval of the ejection.
- the precision laminated ridge used in the present invention is generally 0.1 mm or less, preferably 0 ⁇ lmm to 0.005 mm, more preferably 0.05 mm to 0.0 lmm in the plane XY-axis direction, similar to the above-described height-direction injection pitch.
- the spray pitch can be
- the sewed soft polymer is in the form of fine droplets with a length of 50 m or less. If the length exceeds 50 ⁇ m, the shape of the microvessel is inaccurate.
- a soft polymer tube model with unruptured cerebral aneurysm is developed with precision stacking according to Ob jet ne.
- m m “Eden5oov” has eight ink jet nozzles capable of ejecting two inks, and each ink jet nozzle has 96 micro-droplet spray holes at the tip. The eight ink jet nozzles having a large number of fine droplet injection holes have a function that allows the unit to be jetted uniformly and marked.
- the eight ink jet nozzles are supplied with ink force S from the first ink cartridge and the second ink cartridge, respectively.
- the height was set at a pitch of 0.03 mm, and the injection pitch in the ⁇ flat direction was layered at a pitch of 0.05 mm for both axes ( ⁇ direction). If this pitch is set to 0.1 mm or more, it is difficult to accurately reproduce the effects of accurate vascular membrane # ⁇ treatment.
- the vertical sickle layer pitch 0.03mm is the same as the thickness of the fault thin film.
- the ink “FULLCURE930TANG0PLUS” from Objet Ne which contains a light disclosure agent, and used it as the cartridge for the first ink.
- a polymer of ⁇ polymer obtained by photopolymerization of this ink ( ⁇ raw, that is, the physical properties of the material of the blood vessel model are cutting tensile strength 1455MPa, 20% elasticity 0.146MPa, 50% elastic modulus 0.263MPa, elongation Degree 218% Shore hardness 27, metatropic tension 3.47k gZcm, glass temperature 9.6 ° C.
- Physician in charge S 3D three-dimensional blood flow shape by performing DCTA with DCTA in the blood region where the aneurysm of the patient designated by the patient is designated. (Instead of C ⁇ imaging, it is also possible to obtain three-dimensional blood flow shape data using MR I of blood flow with contrast medium).
- Three-dimensional active blood flow shape A 0.3 mm thick vascular membrane is added to the surface of the data by data processing to obtain a three-dimensional three-dimensional vascular membrane model shape. It was.
- the three-dimensional three-dimensional vascular membrane shape data is output to a computer so that it can be output as tomographic data with a thickness of 0 ⁇ 03 mm.
- Ob j e t Ne ⁇ $ 3 ⁇ 4HiiM has a space of 490mmX 390mmX 200mm.
- the internal support material is taken out into the iim so as not to form the vascular membrane from the opening.
- the obtained blood vessel model with an aneurysm was inserted into various aneurysms at various positions, and various clips or staying coins or stents were inserted to examine the occurrence of vascular membrane shape distortion in the vicinity of the aneurysm.
- the condition of the clip amount of 3 ⁇ 4i and the position of the clip position, or the shape of the coin or the stent can be obtained.
- the state of the blood vessel after the operation can be performed before the arteriovenous hand ⁇ f, so there is an advantage that the arteriovenous operation can be performed accurately and quickly, and the clip, stent and It can be widely used in vascular treatment of koino and in the medical industry.
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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KR1020107026045A KR101180165B1 (ko) | 2008-05-12 | 2009-05-07 | 수술 시뮬레이션용 연질 혈관 모델의 제조방법 |
US12/991,115 US8359118B2 (en) | 2008-05-12 | 2009-05-07 | Method of producing flexible vessel model for simulating surgical operation |
CN2009801172727A CN102027525B (zh) | 2008-05-12 | 2009-05-07 | 手术模拟用软质血管模型的制造方法 |
EP09746637.9A EP2287823B1 (en) | 2008-05-12 | 2009-05-07 | Method of producing flexible vessel model for simulating surgical operation |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2008125008A JP5140857B2 (ja) | 2008-05-12 | 2008-05-12 | 手術シミュレーション用軟質血管モデルの製造方法 |
JP2008-125008 | 2008-05-12 |
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WO2009139431A1 true WO2009139431A1 (ja) | 2009-11-19 |
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PCT/JP2009/058964 WO2009139431A1 (ja) | 2008-05-12 | 2009-05-07 | 手術シミュレーション用軟質血管モデルの製造方法 |
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US (1) | US8359118B2 (ja) |
EP (1) | EP2287823B1 (ja) |
JP (1) | JP5140857B2 (ja) |
KR (1) | KR101180165B1 (ja) |
CN (1) | CN102027525B (ja) |
WO (1) | WO2009139431A1 (ja) |
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- 2009-05-07 EP EP09746637.9A patent/EP2287823B1/en not_active Not-in-force
- 2009-05-07 CN CN2009801172727A patent/CN102027525B/zh not_active Expired - Fee Related
- 2009-05-07 KR KR1020107026045A patent/KR101180165B1/ko active IP Right Grant
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JP2009273508A (ja) | 2009-11-26 |
EP2287823B1 (en) | 2013-08-14 |
US20110060446A1 (en) | 2011-03-10 |
EP2287823A1 (en) | 2011-02-23 |
CN102027525A (zh) | 2011-04-20 |
KR20110008254A (ko) | 2011-01-26 |
KR101180165B1 (ko) | 2012-09-05 |
US8359118B2 (en) | 2013-01-22 |
CN102027525B (zh) | 2013-02-13 |
JP5140857B2 (ja) | 2013-02-13 |
EP2287823A4 (en) | 2012-11-21 |
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