WO2021077647A1

WO2021077647A1 - Lung tissue model for use in puncture surgery experiment

Info

Publication number: WO2021077647A1
Application number: PCT/CN2020/075719
Authority: WO
Inventors: 周春琳; 万梓威; 方晨昊; 李陈浩文; 熊蓉
Original assignee: 浙江大学
Priority date: 2019-10-21
Filing date: 2020-02-18
Publication date: 2021-04-29
Also published as: CN110706570A; CN110706570B

Abstract

Disclosed is a lung tissue model for use in a puncture surgery experiment, the lung tissue model comprising: a mounting base plate (1) serving as a model base; an optical positioning unit (2) for identifying a marker (21) by means of an optical positioning apparatus, acquiring the position of the model, and providing reference information for three-dimensional registration with CT data; a lung tissue unit (3) for providing a physiological environment of a lung and a tumor target required for the puncture surgery experiment; a breathing simulation unit (4) connected to a balloon embedded in the lung tissue unit via a pipeline and controlling expansion and contraction of the balloon to simulate the deformation of physiological tissue of the lung and the displacement of the tumor target in a breathing process of a patient; and a data acquisition and control unit (5) for controlling the breathing simulation unit (4) to simulate the breathing process of the patient and recording parameters of the induced motion of the bionic lung tissue. The lung tissue model integrates a pulmonary alveoli bionic model, a tumor bionic model, and the optical positioning of a marker, can simulate respiratory motion of a lung on the basis of real data, and is suitable for use in a puncture surgery experiment based on optical positioning navigation.

Description

A lung tissue model for puncture surgery experiment

Technical field

The invention relates to the field of medical experiments, in particular to a lung tissue model used for puncture surgery experiments.

Background technique

As the most common primary lung tumor, lung cancer is the malignant tumor with the fastest increase in morbidity and mortality worldwide and the highest threat to human health and life. Percutaneous lung biopsy can be used to diagnose lung diseases such as lung cancer. At the same time, various tumor ablation procedures based on puncture surgery (such as microwave ablation, radiofrequency ablation, argon helium knife, etc.) and radioactive seed implantation have been newly developed in recent years Minimally invasive tumor treatment technology. Therefore, lung puncture surgery is of great significance to the detection and treatment of lung tumors.

However, due to the breathing characteristics of the lungs, the tumor target is constantly moving during puncture, which causes huge troubles for manual puncture or robot-assisted puncture. If the puncture position is inaccurate, the puncture needs to be performed again, which will aggravate the patient. The trauma caused by pneumothorax, bleeding and other complications. In order to overcome this problem, doctors and scientists need to conduct a large number of simulation experiments, and try to rely on external navigation technology (such as optical positioning, magnetic navigation, etc.) to help the development of puncture guidance technology, so it can simulate the lung tissue of the lung breathing movement The model demand is huge.

Summary of the invention

In view of the shortcomings of the prior art, the present invention provides a lung tissue model for puncture surgery experiments. The specific technical solutions are as follows:

A lung tissue model for puncture surgery experiments, characterized in that the model includes:

Installing a chassis, the installation chassis serving as a model base;

An optical positioning unit, the optical positioning unit is fixed on the mounting chassis and used for identifying markers through an optical positioning device, thereby obtaining the position of the model, and providing reference information for three-dimensional registration with CT data;

Lung tissue unit, the lung tissue unit is used to provide the lung physiological environment and tumor target required for the puncture surgery experiment, which includes the bionic lung tissue and the transparent observation box, and the bionic lung tissue is placed on the transparent In the observation box, the transparent observation box is fixed on the mounting chassis; the bionic lung tissue is formed by layered solidification of human skin color silica gel and special transparent silica gel, and is embedded with airbags for simulating the expansion and expansion of alveoli shrink;

A simulated breathing unit, which is connected to the airbag embedded in the lung tissue unit through a pipeline, controls the expansion and contraction of the airbag, and simulates the deformation of the lung physiological tissue and the displacement of the tumor target during the breathing process of the patient;

The data acquisition and control unit communicates with the airbag in the lung tissue unit and the simulated breathing unit, and controls the simulated breathing unit to simulate the breathing process of the patient while recording the motion parameters of the bionic lung tissue caused.

Further, the positioning table plane of the optical positioning unit is at an angle of 30-45 degrees with the mounting chassis, and three installation areas for installing optical positioning markers are set on the positioning table plane, and A small hole is opened directly below the object recognition point for placing aluminum balls, steel balls, and shot balls respectively, so that the optical positioning mark corresponds to the CT image mark and provides reference information for three-dimensional registration.

Further, the lung tissue unit further includes a mounting plate, the mounting plate is provided with a positioning structure, the transparent observation box is fixed on the mounting chassis through the mounting plate, and passes through the mounting plate. The positioning structure described above realizes positioning.

Further, the bionic lung tissue includes three layers of bionic tissue, wherein the top bionic tissue is human skin color silica gel to simulate skin, and the middle bionic tissue is transparent special bionic silica gel with a hardness of less than 10 degrees, with built-in dark silica gel balls to simulate lungs. In the tumor, the underlying biomimetic tissue is human skin color silica gel, with built-in air sacs to simulate alveoli.

Furthermore, in order to prevent the scratches caused by the puncture from blocking other silica gel balls, the silica gel balls have a special arrangement that enables them to arrange the deeper silica gel balls in the shallower at the two observation positions of the front view and the left view. Behind the silicone pellets, or staggered.

Further, the lung tissue unit further includes a miniature inertial measurement unit, and an air pressure sensor connected to the airbag, and the data acquisition and control unit is in communication connection with the miniature inertial measurement unit and the air pressure sensor, By converting the actual collected patient breathing volume parameters into the pumping volume of the air pump, the simulated breathing device is controlled to simulate the real breathing process, and the pressure of the airbag and the motion parameters of the bionic lung tissue are obtained through the air pressure sensor and the miniature inertial measurement unit.

Further, the simulated breathing unit includes an air pump and a two-position four-way solenoid valve, and the air pump is connected to the lung tissue unit through the two-position four-way solenoid valve, and by changing the two-position four-way solenoid valve The position of the spool plays a role in switching between expansion and contraction of the lungs.

The beneficial effects of the present invention are as follows:

The lung tissue model for puncture surgery experiments of the present invention integrates a lung tumor bionic model and tumor optical positioning markers, and is particularly suitable for puncture surgery experiments based on optical positioning navigation. At the same time, lung breathing is simulated based on real data. Extremely restored the real environment.

Description of the drawings

Figure 1 is a schematic diagram of the overall structure of the lung tissue model for puncture surgery experiments of the present invention;

2 is a schematic diagram of the structure of the optical positioning table of the present invention;

Figure 3 is a schematic diagram of the special arrangement of the bionic lung tissue and the internal silica gel pellets of the present invention;

Fig. 4 is a schematic diagram of the operation of the simulated breathing apparatus of the present invention.

Fig. 5 is a control flow chart of the simulated breathing apparatus of the present invention.

Marks in the picture: 1-installation chassis, 2-optical positioning unit, 3-pulmonary tissue unit, 4-simulated breathing unit, 5-data acquisition and control unit, 21-optical positioning marker, 22-steel ball, 23- Shot, 24-aluminum ball, 31-top bionic tissue, 32-middle bionic tissue, 33-bottom bionic tissue, 34-pipe joint, 35-air pressure sensor, 36-balloon, 37-miniature inertial measurement unit (IMU), 38 -Silica gel ball, 41-two-position four-way solenoid valve, 42-air pump.

Detailed ways

The following describes the present invention in detail based on the accompanying drawings and preferred embodiments, and the purpose and effects of the present invention will become more apparent. It should be understood that the specific embodiments described here are only used to explain the present invention, but not to limit the present invention.

As shown in FIG. 1, the lung tissue model for puncture surgery experiments of the present invention includes a mounting chassis 1, an optical positioning unit 2, a lung tissue unit 3, a simulated breathing unit 4 and a data acquisition and control unit 5.

The mounting chassis 1 serves as a model base; the optical positioning unit 2 is fixed on the mounting chassis 1 and is used to identify the marker 21 through the optical positioning device, thereby obtaining the position of the model, and providing reference information for three-dimensional registration with CT data.

The lung tissue unit 3 is used to provide the lung physiological environment and tumor targets required for the puncture surgery experiment. It includes a bionic lung tissue and a transparent observation box. The bionic lung tissue is placed in the transparent observation box, and the transparent observation box is fixed in the installation On the chassis; the biomimetic lung tissue is formed by layered solidification of human skin color silicone and special transparent silicone, and is embedded with airbags to simulate the expansion and contraction of alveoli;

The simulated breathing unit 4 is connected to the airbag embedded in the lung tissue unit 3 through a pipe to control the expansion and contraction of the airbag, and simulate the deformation of the lung physiological tissue and the displacement of the tumor target during the breathing process of the patient;

The data acquisition and control unit 5 communicates with the airbag in the lung tissue unit 3 and the simulated breathing unit 4, and controls the simulated breathing unit 4 to simulate the breathing process of the patient while recording the motion parameters of the bionic lung tissue caused.

As shown in Figure 2, the positioning platform plane of the optical positioning unit 2 is at an angle of 30-45 degrees with the installation chassis 1. Three installation areas for installing optical positioning markers 21 are set on the positioning platform plane, and are located at the marker recognition point There are small holes directly under the, for placing the aluminum ball 24, the steel ball 22, and the shot ball 23 respectively, so that the optical positioning mark corresponds to the CT image mark and provides reference information for three-dimensional registration.

As shown in Figure 3, the bionic lung tissue includes three layers of bionic tissue. The top bionic tissue 31 is human skin color silica gel, which simulates the skin, and the middle bionic tissue 32 is a transparent special bionic silica gel with a hardness of less than 10 degrees, with a built-in dark silica gel ball. 38 simulates lung tumors, the underlying bionic tissue 33 is human skin color silica gel, and the built-in air sacs 36 simulate alveoli. The lung tissue unit also includes a miniature inertial measurement unit 37, an air pressure sensor 35 connected to the airbag 36, and a pipe joint 34 connected to the simulated breathing unit 4.

In order to prevent the scratches caused by the puncture from blocking other silica gel balls 38, the silica gel balls have a special arrangement that allows them to arrange the deeper silica gel balls on the shallower silica gel balls in the front and left viewing positions. Behind, or staggered.

For accurate positioning, the lung tissue unit also includes a mounting plate, the mounting plate is provided with a positioning structure, the transparent observation box is fixed on the mounting chassis 1 through the mounting plate, and positioning is achieved through the positioning structure.

As shown in Figure 4, the simulated breathing unit 4 includes a two-position four-way solenoid valve 41 and an air pump 42. The air pump 42 is connected to the airbag 36 through the two-position four-way solenoid valve 41. By changing the position of the spool of the two-position four-way solenoid valve 41, Switch to lung expansion and contraction.

As shown in Figure 5, the working process of the lung tissue model used in the puncture surgery experiment of the present invention is given. The lung respiratory volume change period of the patient is actually collected, and Kalman filtering is performed to eliminate the measurement error, and then according to the lung respiratory volume Change and calculate the corresponding air pump speed control signal and breathing alternate signal, use these two signals to control the air pump speed and solenoid valve spool position to simulate real breathing, and use the air pressure sensor and the micro inertial measurement unit (IMU) to obtain the air bag The pressure and motion parameters of the bionic lung tissue.

In actual use, after the model is installed, the relative position of the lung tissue model can be provided to the doctor through the optical positioning camera and CT, and the position reference for three-dimensional registration can be provided. At the same time, the model itself can be used for robotic or artificial lung tumor puncture surgery experiments.

Those of ordinary skill in the art can understand that the above are only preferred examples of the invention and are not intended to limit the invention. Although the invention has been described in detail with reference to the foregoing examples, for those skilled in the art, they can still The technical solutions recorded in the foregoing examples are modified, or some of the technical features are equivalently replaced. All modifications and equivalent substitutions made within the spirit and principle of the invention shall be included in the protection scope of the invention.

Claims

A lung tissue model for puncture surgery experiments, characterized in that the model includes:

Installing a chassis, the installation chassis serving as a model base;

An optical positioning unit, the optical positioning unit is fixed on the mounting chassis and used for identifying markers through an optical positioning device, thereby obtaining the position of the model, and providing reference information for three-dimensional registration with CT data;

Lung tissue unit, the lung tissue unit is used to provide the lung physiological environment and tumor target required for the puncture surgery experiment, which includes the bionic lung tissue and the transparent observation box, and the bionic lung tissue is placed on the transparent In the observation box, the transparent observation box is fixed on the mounting chassis; the bionic lung tissue is formed by layered solidification of human skin color silica gel and special transparent silica gel, and is embedded with airbags for simulating the expansion and expansion of alveoli shrink;

A simulated breathing unit, which is connected to the airbag embedded in the lung tissue unit through a pipeline, controls the expansion and contraction of the airbag, and simulates the deformation of the lung physiological tissue and the displacement of the tumor target during the breathing process of the patient.

The data acquisition and control unit communicates with the airbag in the lung tissue unit and the simulated breathing unit, and controls the simulated breathing unit to simulate the breathing process of the patient while recording the motion parameters of the bionic lung tissue caused.
The lung tissue model for puncture surgery experiments according to claim 1, wherein the positioning platform plane of the optical positioning unit and the mounting chassis are at an angle of 30-45 degrees, and the positioning platform There are three installation areas on the plane for installing optical positioning markers, and there are small holes just below the identification point of the markers for placing aluminum balls, steel balls, and shot balls respectively, so that the optical positioning marks and CT images Corresponding to the mark, it provides reference information for three-dimensional registration.
The lung tissue model for puncture surgery experiments according to claim 1, wherein the lung tissue unit further comprises a mounting plate, the mounting plate is provided with a positioning structure, and the transparent observation The box is fixed on the mounting chassis through the mounting plate, and positioning is achieved through the positioning structure.
The lung tissue model for puncture surgery experiments according to claim 1, wherein the bionic lung tissue comprises three layers of bionic tissue, wherein the top bionic tissue is human skin color silica gel, which simulates skin, and the middle bionic tissue is Transparent special bionic silicone with a hardness of less than 10 degrees, built-in dark silicone balls to simulate lung tumors, the underlying bionic tissue is human skin color silicone, and built-in airbags to simulate alveoli
The lung tissue model for puncture surgery experiments according to claim 4, characterized in that, in order to prevent the scratches caused by puncture from blocking other silica gel balls, the silica gel balls have a special arrangement to enable them to Arrange the deeper silica gel balls behind the shallower silica gel balls in the front and left viewing positions, or stagger the arrangement.
The lung tissue model for puncture surgery experiments according to claim 4, wherein the lung tissue unit further comprises a miniature inertial measurement unit, and an air pressure sensor connected to the airbag, and The data acquisition and control unit communicates with the miniature inertial measurement unit and the air pressure sensor. By converting the actual collected patient breathing volume parameters into the air pump output, the simulated breathing device is controlled to simulate the real breathing process, and the air pressure is simultaneously passed The sensor and the miniature inertial measurement unit obtain the pressure of the air bag and the motion parameters of the bionic lung tissue.
The lung tissue model for puncture surgery experiments according to claim 1, wherein the simulated breathing unit includes an air pump and a two-position four-way solenoid valve, and the air pump passes through the two-position four-way solenoid valve. The solenoid valve is connected to the lung tissue unit, and by changing the position of the spool of the two-position four-way solenoid valve, the lungs can be switched between expansion and contraction.