WO2021078119A1 - 医疗模型及其打印方法、打印系统、打印设备 - Google Patents

医疗模型及其打印方法、打印系统、打印设备 Download PDF

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Publication number
WO2021078119A1
WO2021078119A1 PCT/CN2020/122212 CN2020122212W WO2021078119A1 WO 2021078119 A1 WO2021078119 A1 WO 2021078119A1 CN 2020122212 W CN2020122212 W CN 2020122212W WO 2021078119 A1 WO2021078119 A1 WO 2021078119A1
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Prior art keywords
model
printing
digital model
dimensional digital
medical
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PCT/CN2020/122212
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English (en)
French (fr)
Inventor
陈晓坤
夏瑛琪
马达荣
陈保全
周毅
陈伟
蒋韦
符青真
Original Assignee
珠海赛纳三维科技有限公司
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Priority claimed from CN201911008443.4A external-priority patent/CN110605853B/zh
Priority claimed from CN202010070037.7A external-priority patent/CN111199674B/zh
Priority claimed from CN202010100858.0A external-priority patent/CN111376482B/zh
Application filed by 珠海赛纳三维科技有限公司 filed Critical 珠海赛纳三维科技有限公司
Publication of WO2021078119A1 publication Critical patent/WO2021078119A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C64/00—Additive manufacturing, i.e. manufacturing of three-dimensional [3D] objects by additive deposition, additive agglomeration or additive layering, e.g. by 3D printing, stereolithography or selective laser sintering
    • B29C64/30—Auxiliary operations or equipment
    • B29C64/386—Data acquisition or data processing for additive manufacturing
    • 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
    • B33Y50/00—Data acquisition or data processing for additive manufacturing
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
    • 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

Definitions

  • This application relates to the technical field of 3D object molding, in particular to medical models and their printing methods, printing systems, and printing equipment.
  • the embodiments of the present application provide a medical model and its printing method, printing system, and printing equipment, which can intuitively and clearly display the information needed in surgical simulation or surgical planning, disease research and diagnosis, thereby facilitating better planning
  • the surgical path improves the success rate of the operation and reduces the risk of the operation.
  • an embodiment of the present application provides a method for printing a medical model, and the method includes:
  • an embodiment of the present application also provides a printing system for a medical model, the printing system including a data processing device and a printing device;
  • the data processing device includes a data acquisition module, an information addition module, and an attribute definition module;
  • the data acquisition module is used to acquire the three-dimensional digital model of the medical model to be printed
  • the information adding module is configured to add label information to the three-dimensional digital model and divide the three-dimensional digital model of the medical model into multiple regions;
  • the attribute definition module is configured to set the printing attributes of the three-dimensional digital model according to the marking information, so that at least part of adjacent areas of the plurality of areas have at least one attribute mutation area;
  • the printing device is used for printing based on a three-dimensional digital model with printing attributes and preset printing materials to obtain a medical model.
  • the embodiments of the present application also provide a medical model based on three-dimensional printing.
  • the medical model includes at least one organ model, and the at least one organ model includes a plurality of regions, and at least some of the regions are adjacent to each other. There is at least one attribute mutation area between the areas.
  • an embodiment of the present application also provides a three-dimensional printing device for a medical model, including: a processor and a memory, the memory is used to store at least one instruction, the instruction is loaded and executed by the processor to achieve The above-mentioned printing method of medical model
  • the medical model and its printing method, printing system, and printing device provided by the embodiments of the present application divide the three-dimensional digital model of the medical model into multiple regions, and make at least part of the adjacent regions in the multiple regions There is at least one attribute mutation area between, so as to realize intuitive and accurate identification of each area, which not only facilitates the communication and communication between doctors and patients, but also facilitates doctors to grasp and study the condition, thereby helping doctors to better plan the surgical path In order to reduce the risk of surgery, and further realize the purpose of precision medicine.
  • FIG. 1 is a schematic diagram of a printing system of a medical model provided by an embodiment of the application
  • FIG. 2 is a schematic structural diagram of a data processing device for a medical model provided by an embodiment of the application
  • FIG. 3 is a schematic structural diagram of a printing device for a medical model provided by an embodiment of the present application.
  • FIG. 4 is a schematic flowchart of a printing method of a medical model provided by an embodiment of the application.
  • Fig. 5a is a schematic diagram of a first model of a heart model provided in an embodiment of the application.
  • FIG. 5b is a schematic diagram of a second model of the heart model provided in an embodiment of the application.
  • FIG. 5c is a schematic diagram of a third model of the heart model provided by an embodiment of the application.
  • FIG. 5d is a schematic diagram of a fourth model of the heart model provided by an embodiment of the application.
  • Figure 6a is a cross-sectional view of a heart model provided by an embodiment of the application.
  • Figure 6b is a cross-sectional view of another heart model provided by an embodiment of the application.
  • Figure 7a is a schematic structural diagram of a hypertrophic heart disease medical model provided by an embodiment of the application.
  • Figure 7b is a cross-sectional view of a hypertrophic heart disease medical model provided by an embodiment of the application.
  • FIG. 8a is a schematic diagram of the structure of the part to be resected of the hypertrophic heart disease medical model provided by an embodiment of the application;
  • FIG. 8a is a schematic diagram of the structure of the part to be resected of the hypertrophic heart disease medical model provided by an embodiment of the application;
  • FIG. 8b is a cross-sectional view of the part to be resected of the hypertrophic heart disease medical model provided by an embodiment of the application;
  • FIG. 9a is a schematic structural diagram of a grid unit of a hypertrophic heart disease medical model provided by an embodiment of the application.
  • FIG. 9b is a schematic structural diagram of another grid unit of the hypertrophic heart disease medical model provided by an embodiment of the application.
  • FIG. 9c is a schematic structural diagram of another grid unit of the hypertrophic heart disease medical model provided by an embodiment of the application.
  • FIG. 10 is a schematic diagram of the structure of a tissue organ part provided by an embodiment of the application.
  • FIG. 11 is a schematic diagram of the structure of the lung organ tissue provided by an embodiment of the application.
  • FIG. 12 is a schematic structural diagram of a part of lung organ tissue provided by an embodiment of the application.
  • Figure 13 is a schematic structural diagram of an arterial dissection provided by an embodiment of the application.
  • Figure 14 is an enlarged view of Figure 13;
  • 15 is a schematic cross-sectional view of an arterial dissection provided by an embodiment of the application.
  • FIG. 16 is a schematic structural diagram of a three-dimensional model segmentation provided by an embodiment of this application.
  • FIG. 17 is a schematic structural diagram of another three-dimensional model segmentation provided by an embodiment of this application.
  • FIG. 18 is a schematic structural diagram of yet another three-dimensional model segmentation provided by an embodiment of this application.
  • FIG. 1 is a schematic diagram of a printing system for a medical model provided by an embodiment of the application.
  • the printing system includes a data processing device 10 and a printing device 20.
  • the data processing device 10 is used to obtain medical image data of the medical model to be printed, and to generate a three-dimensional digital model based on the medical image data;
  • the printing device 20 is used for printing based on preset printing materials and a three-dimensional digital model with printing attributes to obtain a medical model.
  • the medical model refers to a part of the animal body, including systems, organs, tissues, cells or any of the above-mentioned surrounding environment, such as the heart and its related blood vessels, gastrointestinal tract, cardiovascular system, urinary System, respiratory tract, etc. and structures related to pathology, such as tumor cells or tissues.
  • animals can be humans or mammals.
  • FIG. 2 is a schematic structural diagram of a data processing device for a medical model provided by an embodiment of the application.
  • the data processing device 10 includes a data acquisition module 11, an information addition module 12, an attribute definition module 13, and print data generation Module 14, in some other embodiments, the print data generation module 14 may not be included in the data processing device 10, but included in the printing device 20, that is, the print data generation module of the printing device 20 can be obtained from the data processing device In 10, a three-dimensional digital model with printing attributes defined by the attribute definition module 13 is acquired, and the medical model is obtained by performing three-dimensional printing after generating printing data based on the acquired three-dimensional digital model.
  • the data acquisition module 11 is used to acquire the three-dimensional digital model of the medical model to be printed.
  • the data acquisition module 11 includes an acquisition unit and a modeling unit.
  • the acquiring unit is used to acquire the medical image data of the medical model to be printed.
  • the medical image data may be data received from a data acquisition device.
  • the data acquisition device includes, but is not limited to, a computer tomography (CT) system, a magnetic resonance imaging (MRI) system, and a positron emission tomography (PET) system.
  • CT computer tomography
  • MRI magnetic resonance imaging
  • PET positron emission tomography
  • two-dimensional or three-dimensional fluorescence imaging system two-dimensional, three-dimensional or four-dimensional ultrasound imaging system.
  • the modeling unit is used to perform three-dimensional modeling based on the medical image data to obtain a three-dimensional digital model of the medical model.
  • the three-dimensional digital model may include at least one of a tissue part, an organ part, a blood vessel part, and a lesion part.
  • the modeling unit includes an extraction subunit, a modeling subunit, and a fusion subunit.
  • the extraction subunit is used to extract various tissues and/or organs and/or blood vessels and/or lesions of the medical model from the medical image data;
  • the modeling subunit is used to establish at least one of a three-dimensional digital model of a tissue, a three-dimensional digital model of an organ, a three-dimensional digital model of a blood vessel, and a three-dimensional digital model of a lesion based on the extracted corresponding data;
  • the fusion subunit is used to fuse the tissue 3D digital model and/or the organ 3D digital model and/or the blood vessel 3D digital model and/or the lesion 3D digital model to obtain the 3D digital model of the medical model.
  • the outer contour data of other heart regions can be extracted from the medical image data of the heart, and the digital model of the left atrium, the digital model of the right atrium, and the digital model of the left ventricle can be established respectively.
  • a digital model of the right ventricle extracting the outer contour data of the myocardium of the heart from the medical image data to establish a physical model of the myocardium; hollowing out the digital model of the left atrium and the digital model of the right atrium to obtain a three-dimensional digital model of the atrial muscle; According to the right ventricle digital model, the left ventricle digital model, and the myocardial entity model, a three-dimensional digital model of ventricular muscle is obtained; the three-dimensional digital model of atrial muscle and the three-dimensional digital model of ventricular muscle are fused to obtain a three-dimensional digital model of the myocardium.
  • the information adding module 12 is used to add marking information to the three-dimensional digital model.
  • the marking information may be the location information of the part to be excised and/or the part to be preserved, or the marking information may also be organ segmentation information.
  • the marking information may also be the position information, the cut plane, etc. of the marking area and/or the non-marking area.
  • the marking information may also include patient information, such as the gender and age of the patient. There is no limitation here. Understandably, the added tag information can help doctors perform surgical planning and simulate the surgical environment.
  • the information adding module 12 may be used to determine the organ segmentation information of the medical model based on a medical segmentation method, and use the organ segmentation information as the marking information ; Add the organ segmentation information to the three-dimensional digital model.
  • the information adding module 12 is further configured to determine a segmentation plane based on the organ segmentation information, and segment the three-dimensional digital model of the medical model into multiple regions based on the segmentation plane.
  • the information adding module 12 is also used to create a partition based on the segmentation plane, and merge the partition with the three-dimensional digital model of the medical model; wherein the partition is set between at least part of adjacent regions
  • the printing attributes of the areas on both sides of the partition are different from the printing attributes of the partition.
  • the information adding module 12 is further configured to divide at least one of the regions into a shell part and an inner part; wherein the printing attributes of the shell part are at least different from the printing attributes of the border parts of the adjacent regions.
  • the marking information includes the location information of the site to be resected and/or the site to be retained, and the information adding module 12 can also be used to based on the site to be resected and/or to be retained.
  • the position information of the reserved part divides the three-dimensional digital model of the medical model into a part to be excised and a part to be reserved.
  • the medical model includes a heart model
  • the three-dimensional digital model of the heart model includes a three-dimensional digital model of the myocardium and other three-dimensional digital models of the heart region
  • the three-dimensional digital model of the myocardium is formed inside The cavities of the left atrium, the right atrium, the left ventricle, and the right ventricle
  • the three-dimensional digital models of the other heart regions include the left atrium digital model, the right atrium digital model, the left ventricle digital model, and the right ventricle digital model
  • the information adding module 12 can also be used to mark the three-dimensional digital model of the myocardium according to the position information of the outer contour of the three-dimensional digital model of the other heart region in the three-dimensional digital model of the myocardium, and mark the three-dimensional digital model of the myocardium.
  • the three-dimensional digital model is divided into at least two areas of a left atrium marked area, a right atrium marked area, a left ventricle marked area, a right ventricle marked area, and a non-marked area.
  • the above-mentioned various marking information is to enable the medical model to be divided into multiple regions, so that the doctor can accurately determine the location of the lesion, so as to better plan the surgical path to reduce the surgical risk, and further realize the precision medical treatment. the goal of.
  • the information adding module 12 includes a dividing unit and an information adding unit.
  • the segmentation unit is configured to segment the three-dimensional digital model of the medical model into multiple regions based on the label information. For example, different regions can be divided into relatively independent regions, and then printing attributes can be set for the different regions to form at least one attribute mutation region between at least part of the adjacent regions.
  • the segmentation unit may be used to determine a segmentation plane based on organ segmentation information, and segment the three-dimensional digital model of the medical model into multiple regions based on the segmentation plane;
  • the segmentation unit can be used to segment the area to be excised from the three-dimensional digital model based on the position information of the area to be excised and/or the area to be preserved.
  • the information adding module 12 is used to:
  • the left atrium marked area, right atrium marked area, left ventricle marked area, and right ventricle marked area are respectively wrapped in the area where the left atrium digital model, right atrium digital model, left ventricle digital model, and right ventricle digital model are located. Outside.
  • the information adding unit is used to add preset indicative information to the three-dimensional digital model; so that the doctor can understand the patient's condition during the simulated operation.
  • the information adding module 12 is also used for:
  • the cut plane is a plane that passes through the left atrium, right atrium, left ventricle, and right ventricle at the same time, so that the printing device follows the cut plane
  • the three-dimensional digital model is printed to obtain a heart model.
  • the cut plane also passes through the lesion part.
  • the lesion part may be a ventricular septal defect.
  • the attribute definition module 13 is configured to set the printing attributes of the three-dimensional digital model according to the marking information, so that at least part of the adjacent areas of the plurality of areas have at least one attribute mutation area.
  • the three-dimensional digital model of the heart model can be set.
  • the printing attributes of the marked area and the non-marked area, the marked area and the non-marked area adopt different identification colors, so that at least one attribute mutation area is formed between adjacent different marked areas; or, the part to be excised can be set and
  • the printing attributes of the part to be retained, the part to be resected and the part to be retained adopt different marking colors or different hardness, etc., so that an attribute mutation area is formed between the part to be resected and the part to be retained; in this way, it is convenient for the doctor to Quickly identify different areas during simulated surgery or during preoperative surgical planning, thereby improving the accuracy of surgical treatment or facilitating the doctor's surgical planning.
  • "resection” refers to the method of removing part of the tissue by cutting, perforating, etc. with surgical instruments such as a scalpel or surgical drill.
  • the printing attributes include at least color.
  • Set to transparent when the site to be resected is located inside the site to be retained, the site to be retained is transparent in order to be able to observe the site to be resected from the outside.
  • the colors of different parts can be obtained by printing materials of the same color, or they can be obtained by printing materials of different colors in a preset ratio.
  • Mixed printing in a preset ratio refers to printing materials of different colors according to a preset ratio to a specific area to mix to form the area; specifically, in a specific area, a single voxel is formed of materials of one color, and volumes of different colors are formed. The voxels are mixed in a preset ratio. It can also be that in a specific area, a single voxel is formed by mixing materials of different colors in a preset ratio.
  • This application does not specifically limit the specific color formation method of each area, as long as it can It suffices to make the part to be excised and the part to be retained have different colors at least at the contact part.
  • the printing properties can also include tensile strength, tear resistance, or Shore hardness, etc.
  • the part to be removed and the part to be retained can have the same or different tensile strength, or have the same or different tear resistance. Degree, or have the same or different Shore hardness, etc.
  • the print data generating module 14 is used to generate print data according to the three-dimensional digital model after setting the print attributes.
  • the print data generating module 14 includes a preprocessing unit and a generating unit.
  • the preprocessing unit is used to slice the three-dimensional digital model after the printing attributes are set, and to halftone the image data of each slice layer to obtain the processed multiple slice layer image data; the generating unit is used to process the image data based on multiple slices.
  • One slice layer image data generates print data.
  • halftone means that the tone value is a picture gradation expressed by the size or density of dots, so as to ensure the smoothness of the color transition during the printing process.
  • FIG. 3 is a schematic structural diagram of a printing device for a medical model provided by an embodiment of the present application.
  • the printing device is used for printing based on a three-dimensional digital model with printing attributes and preset printing materials to obtain Medical model.
  • the printing device 20 includes a jetting mechanism 21, a printing platform 22, a leveling mechanism 23, a curing mechanism 24, a moving mechanism, and a controller.
  • the printing device 20 is a jet type three-dimensional printer.
  • the ejection mechanism 21 is used to eject a preset printing material onto the printing platform 22 to form a material layer.
  • the ejection mechanism 21 is used to eject at least the first material and the second material.
  • the first material and the second material have different printing properties, and the printing properties include color, tensile strength, tear resistance, and shore. At least one of hardness.
  • the colors of the first material and the second material are different.
  • the ejection mechanism can also eject more materials of different colors according to actual needs.
  • a general color printing device is usually configured with three colors of C (sky blue), M (magenta), and Y (yellow). Sometimes there are transparent materials, white materials or black materials, etc., which are not limited in this application.
  • the leveling mechanism 23 is used to level the uncured material layer to ensure the dimensional accuracy of the material layer.
  • the curing mechanism 24 is used for curing the material layer to form a shaped layer.
  • the curing mechanism 24 is a light curing mechanism.
  • the light curing mechanism may be an ultraviolet light curing mechanism, and the first material and the second material are both light curing materials.
  • the UV curing technology refers to adding a photoinitiator to a specially formulated system (called a light curing system), after absorbing the high-intensity UV light generated in the UV curing mechanism, active free radicals or cations are generated, thereby initiating Polymerization, cross-linking and grafting reactions, the first material and the second material are converted from liquid to solid technology within a certain period of time.
  • the moving mechanism is used to move the jetting mechanism 21 and/or the printing platform 22 so that the jetting mechanism can jet the printing material onto the printing platform 22.
  • the controller is used to control the jetting mechanism, the printing platform, the leveling mechanism and the moving mechanism.
  • the controller controls the moving mechanism to move the jetting mechanism 21 and/or the printing platform 22 in the horizontal direction based on the printing data, and controls the jetting mechanism 21 to eject the printing material onto the printing platform 22 to form a material layer, and control
  • the leveling mechanism 23 levels the uncured material layer to ensure the dimensional accuracy of the material layer, and controls the curing mechanism 24 to cure the material layer to form a shaped layer.
  • the controller controls the moving mechanism to move in the vertical direction, and controls the jetting mechanism 21 and/or the printing platform 22 to repeat the above steps to form a plurality of superimposed stereotypes until the printing is completed, and a medical model is obtained.
  • the shape of the medical model is generally irregular, and there may be structures that need to be supported, such as a cantilever structure. Therefore, the ejection mechanism 21 is also used to eject the support material used to form the support structure, the support structure is used to provide support for the medical model during the printing process, and the support structure is removed after the model is printed to obtain the final medical model.
  • the medical model includes a heart model, wherein the heart three-dimensional digital model includes a non-marked area; the printing device 20 is further used to: according to the printing data, use different identification colors to compare the heart three-dimensional digital model The marked area and non-marked area are printed.
  • the printing device 20 is further configured to: use different identification colors to print different marked areas included in the marked areas of other heart areas of the heart three-dimensional digital model according to the printing data; wherein, The marking area of the other heart area includes at least one marking area of a left atrium marking area, a right atrium marking area, a left ventricle marking area, and a right ventricle marking area.
  • the printing device 20 is further configured to: print the left atrium marking area and the left ventricle marking area in the same color or the same color system; and/or, to print the right atrium marking area and the left ventricle marking area; The atrial marking area and the right ventricle marking area are printed in the same color or the same color system.
  • the medical model includes a site to be excised and a site to be retained; the printing device 20 is also used to print the site to be excised and the site to be retained by using printing materials of different colors according to the printing data.
  • the medical model includes at least one of a tissue organ part, a blood vessel part, and a lesion part; the printing device 20 is further used to: according to the printing data, perform a comparison of the tissue organ part, the blood vessel part, and the lesion At least one of the parts is printed, and the attribute of the tissue organ part and/or the blood vessel part is different from the attribute of the lesion part, for example, has a different color, a different hardness, or a different transparency.
  • FIG. 4 is a schematic flowchart of a method for printing a medical model provided by an embodiment of the application. As shown in FIG. 4, the method includes:
  • Step S10 obtaining a three-dimensional digital model of the medical model to be printed
  • Step S20 adding label information to the three-dimensional digital model, and dividing the three-dimensional digital model of the medical model into multiple regions;
  • Step S30 setting the printing attributes of the three-dimensional digital model according to the marking information, so that at least part of adjacent areas of the plurality of areas have at least one attribute mutation area;
  • step S40 printing is performed based on the three-dimensional digital model with printing attributes and preset printing materials to obtain a medical model.
  • different printing attributes are set for different regions of the 3D digital model, so that at least part of the adjacent regions of the 3D digital model have at least one attribute mutation region, which is convenient for doctors to quickly identify different regions during the simulated operation.
  • Region or location which can more accurately grasp the resection position, direction and depth, which is beneficial to plan the surgical path according to the actual position of the resection distribution, and adjust the resection position, direction, and depth in the actual operation process based on the results of the simulated operation; and
  • different areas of a single organ can also be distinguished intuitively and clearly; this can increase the success rate of surgery, reduce the risk of surgery, and facilitate the realization of precision medicine.
  • step S10 includes:
  • Step S101 obtaining medical image data of the medical model to be printed
  • Step S102 Perform three-dimensional modeling according to the medical image data to obtain a three-dimensional digital model of the medical model.
  • each tissue and/or organ and/or blood vessel of the medical model can be extracted from the medical image data, and then the extracted multiple tissues and/or organs and/or blood vessels can be fused to obtain a three-dimensional digital model of the medical model .
  • modeling can be performed according to actual needs.
  • the medical model can have no lesion part, that is, no lesion is performed during 3D modeling. Partial modeling.
  • the lesion can be extracted and further modeled, and the lesion can be integrated into the printed medical model, which not only facilitates the communication and communication between doctors and patients , It can also facilitate the doctor to accurately determine the location of the lesion, so as to better plan the surgical path to reduce the surgical risk, and further achieve the purpose of precision medical treatment.
  • tissues, organs, blood vessels and lesions can be selected and modeled according to actual needs, that is, they can include tissues, organs and blood vessels at the same time, or they can be modeled separately, or blood vessels can be modeled separately. Modeling, of course, can also include any two of tissues, organs, and blood vessels.
  • step S10 may specifically include:
  • the construction of the medical model in this embodiment can only be based on the outer contour of the tissue and organ part in the medical image data to establish the tissue and organ part that does not include the cavity.
  • the initial three-dimensional model since at least a part of the blood vessel part and the lesion part is located inside the tissue organ part, there are multiple cavities matching the blood vessel part and the lesion part inside the tissue organ part, and the accurate construction including multiple cavities is based on the medical image data.
  • the medical model of a cavity is very complicated.
  • the construction of the medical model in this embodiment can only be based on the outer contour of the tissue and organ part in the medical image data to establish the tissue and organ part that does not include the cavity.
  • the initial three-dimensional model since at least a part of the blood vessel part and the lesion part is located inside the tissue organ part, there are multiple cavities matching the blood vessel part and the lesion part inside the tissue organ part, and the accurate construction including multiple cavities is based on the medical image data.
  • the medical model of a cavity is very complicated.
  • the fusion of the medical model includes cutting off the area occupied by the blood vessel part and the lesion part from the initial three-dimensional model of the tissue organ part based on the position and size of the blood vessel part and the lesion part in the tissue organ part, so as to obtain the vascular part and the blood vessel part.
  • the lesion part matches the actual three-dimensional digital model of the tissue and organ part of the cavity, and the actual three-dimensional digital model of the tissue and organ part, the three-dimensional digital model of the blood vessel part, and the three-dimensional digital model of the lesion part are fused to form a three-dimensional digital model of the medical model.
  • the medical model when used for teaching, the medical model may not include the lesion part, that is, according to actual needs, in the process of obtaining the medical model, the three-dimensional digital model of the tissue and organ part can be obtained separately, or it can be separately obtained.
  • the three-dimensional digital model of the blood vessel part Obtain the three-dimensional digital model of the blood vessel part, and also obtain the three-dimensional digital model of the tissue and organ part and the three-dimensional digital model of the blood vessel part.
  • three-dimensional modeling is performed according to the medical image data to obtain a three-dimensional digital model 1a of the myocardium of the heart and three-dimensional digital models of other heart regions.
  • Part of the three-dimensional digital model includes: left atrium digital model 2a, right atrium digital model 3a, left ventricle digital model 4a, and right ventricle digital model 5a.
  • step S10 includes:
  • left atrium digital model 2a right atrium digital model 3a, left ventricle digital model 4a, and right ventricle digital model 5a based on the outer contours of the left atrium, left ventricle, right atrium, and right ventricle respectively;
  • the left atrium digital model 2a, the right atrium digital model 3a, the left ventricle digital model 4a, and the right ventricle digital model 5a are subtracted from the three-dimensional solid model of the myocardium through Boolean operations, so that the left atrium and left ventricle are formed inside the three-dimensional solid model of the myocardium , The right atrium and the cavities of the right ventricle, the myocardial three-dimensional digital model 1a is obtained.
  • step S10 may also include:
  • the hollowing process is performed on the solid model of the blood vessel to form a blood vessel cavity inside the blood vessel to obtain a three-dimensional digital model of the blood vessel.
  • step S10 may also include:
  • the three-dimensional digital model of the heart is obtained by fusing the three-dimensional digital model of myocardium 1a and the three-dimensional digital model of blood vessels.
  • the myocardial three-dimensional digital model 1a includes atrial muscle and ventricular muscle. It should be noted that, as shown in Figures 5a to 5b, because the atrial muscle is very thin, it is difficult to remove the atrial muscle from the left based on ordinary CT data, MRI data, or ultrasound data.
  • the atrium digital model 2a and the right atrium digital model 3a are segmented. Therefore, the left atrium digital model 2a and the right atrium digital model 3a reconstructed based on the medical imaging data of the heart include atrial muscle, which is extracted from the medical imaging data.
  • the three-dimensional digital model does not include atrial muscle.
  • the left ventricle digital model 4a and the right ventricle digital model 5a are subtracted from the myocardial three-dimensional digital model 1a to obtain the three-dimensional digital model of the ventricular muscle having the cavity of the left ventricle 4 and the cavity of the right ventricle 5, and fuse the three-dimensional digital model of the ventricle.
  • a three-dimensional digital model of atrial muscle, a three-dimensional digital model of ventricular muscle, and a three-dimensional digital model of blood vessels are used to obtain a three-dimensional digital model of the heart model.
  • the "hollowing out inside” means that the model is divided into a shell part and an inner core part at a certain thickness inward along the surface of the model, and the inner core part is removed. Therefore, the left atrium digital model 2a and the right atrium
  • the three-dimensional digital model of atrial muscle obtained by hollowing out the interior of the digital model 3a is a closed layered structure, that is, after the three-dimensional digital model of atrial muscle and the three-dimensional digital model of ventricular muscle are fused, the atrial cavity and the ventricular cavity are separated by the atrium. Part of the partition of the three-dimensional digital model of muscle does not conform to the structure of the atrium and ventricle of the heart. Therefore, it is necessary to partition the atrial cavity and the ventricular cavity after the three-dimensional digital model of atrial muscle and the three-dimensional digital model of ventricular muscle are fused. Partial erasure of digital model of atrial muscle.
  • the marking information includes location information of the site to be resected and/or the site to be retained. Further, the marking information may also include patient information, such as the gender and age of the patient. There is no limitation here. Understandably, the added tag information can help the doctor to simulate the surgical environment.
  • Step S20 adding label information to the three-dimensional digital model, and dividing the three-dimensional digital model of the medical model into multiple regions, including:
  • step S201 the three-dimensional digital model of the medical model is divided into a site to be resected and a site to be retained based on the location information of the site to be resected and/or the site to be retained. Understandably, the segmented parts to be excised and the parts to be retained are relatively independent, and the printing attributes can be set for the parts to be excised and the parts to be preserved respectively.
  • the marking information may be organ segmentation information determined based on a medical segmentation method.
  • Step S20 adding label information to the three-dimensional digital model, and dividing the three-dimensional digital model of the medical model into multiple regions, including:
  • Step S201' determining a segmentation plane based on the organ segmentation information, and using the segmentation plane as the label information;
  • Step S202' dividing the three-dimensional digital model of the medical model into a plurality of regions based on the dividing plane.
  • step S20 may also include:
  • Step S203' creating a partition based on the dividing surface, and fusing the partition with the three-dimensional digital model of the medical model; wherein the partition is provided between at least part of adjacent areas, and the partition is The printing attributes of the areas on both sides are different from the printing attributes of the partition.
  • the liver organ tissue includes multiple partitions, and the multiple partitions may be connected to each other.
  • multiple separators can be formed of materials with the same properties or different properties.
  • the thickness of multiple separators can be the same or different. It is necessary to ensure that there is at least one attribute mutation area between any two adjacent segments.
  • step S20 may also include:
  • Step S203 dividing at least one of the regions into a shell part and an inner part; wherein the printing attributes of the shell part are at least different from the printing attributes of the border parts of the adjacent regions. Understandably, it can be obtained by dividing based on the dividing plane. Any one of the multiple areas is divided into a shell part and an inner part. It should be noted that after being divided into a shell part and an inner part, the shell part is wrapped around the outer part of the inner part, and there is no need to create a partition.
  • the medical model includes a heart model
  • step S20 adding label information to the three-dimensional digital model, and dividing the three-dimensional digital model of the medical model into multiple regions, includes:
  • the three-dimensional digital model of the myocardium is marked, and the three-dimensional digital model of the myocardium is divided into a left atrium marking area, a right atrium marking area, At least two of the left ventricle marked area, right ventricle marked area and non-marked area; among them, the left atrium marked area, right atrium marked area, left ventricle marked area, and right ventricle marked area in the myocardial three-dimensional digital model correspond to the package respectively On the outside of the area where the left atrium, right atrium, left ventricle, and right ventricle are located. Therefore, in subsequent printing, different identification colors can be used to print each area of the heart model.
  • step S30 the printing attributes of the three-dimensional digital model are set according to the marking information, so that at least part of adjacent areas of the plurality of areas have at least one attribute mutation area.
  • the printing attributes of the three-dimensional digital model can be set according to the position information of the part to be excised and/or the part to be retained, so that the part to be excised and the part to be preserved have at least different colors in the contact part; or, the heart model can be set
  • the printing attributes of the marked area and/or the non-marked area in the three-dimensional digital model are such that at least one attribute mutation area is formed between at least two adjacent marked areas.
  • different printing attributes are defined for different regions of the three-dimensional digital model, that is, different regions of the medical model are formed by different attribute materials.
  • the printing attributes may include one or more of color, transparency, intensity, and hardness.
  • the part to be resected can be set to the first color
  • the part to be retained is set to the second color
  • the outer surface of the part to be resected with a certain thickness inward can be further set to the first color
  • other parts of the part to be resected can be set to the first color.
  • Some are set to transparent.
  • the site to be resected is located inside the site to be retained, the site to be retained is transparent in order to be able to observe the site to be resected from the outside.
  • different colors or transparency can be used to represent different material properties, or color and transparency can jointly represent different material properties, so as to facilitate the definition of the printing properties of the three-dimensional model.
  • the printing attributes include at least color.
  • the colors of different parts may be obtained by printing materials of the same color, or may be obtained by printing materials of different colors in a preset ratio.
  • Mixed printing in a preset ratio refers to printing materials of different colors in a preset ratio to a specific area to mix to form the area.
  • a single voxel is formed of one color material, and voxels of different colors are mixed in a preset ratio, or in a specific area, a single voxel is made of multiple different colors of materials It is mixed and formed in a preset ratio, and the application does not specifically limit the specific forming method of the color of each area, as long as it can make the color mutation area between adjacent areas.
  • the printing attributes of the three-dimensional digital model can also be set in other ways. Specifically, the user can make settings according to actual needs and the material configuration of the printing device, which is not limited in this application.
  • the printing properties may also include tensile strength, tear resistance, or Shore hardness, etc.
  • the part to be removed and the part to be retained may have the same or different tensile strength, or have the same or Different degrees of tear resistance, or have the same or different Shore hardness, etc.
  • the user can set the hardness to obtain medical models with different hardnesses or medical models with different hardness regions by printing using materials with different hardnesses.
  • the hardness setting can be based on the entire medical model setting, that is, the overall medical model.
  • the hardness of is the same, or it can be set based on any single area in the medical model. That is, each area in the medical model may have different hardness. By adjusting the hardness, a medical model that is closer to the feel of the real organ can be obtained.
  • step S40 includes:
  • Step S401 performing slice processing on the three-dimensional digital model with the printing attributes set, and performing halftone processing on each slice layer image data to obtain processed slice layer image data;
  • Step S402 generating print data based on the multiple slice layer image data.
  • halftone means that the tone value is a picture gradation expressed by the size or density of dots, so as to ensure the smoothness of the color transition during the printing process.
  • This embodiment provides a method for printing a medical model.
  • the method for printing a medical model is by dividing the three-dimensional digital model of the medical model into a plurality of regions, and at least part of the adjacent regions of the plurality of regions have At least one attribute mutation area, so as to realize intuitive and accurate identification of each area. It can not only facilitate the communication and communication between doctors and patients, but also facilitate doctors to accurately determine the location of each area, so as to better plan the surgical path to reduce the surgical risk and further achieve the purpose of precision medicine.
  • an embodiment of the present application provides a medical model based on three-dimensional printing.
  • the medical model includes at least one organ model, the at least one organ model includes a plurality of regions, and at least some of the regions are adjacent to each other. There is at least one attribute mutation area in between.
  • the medical model of hypertrophic heart disease is a medical model of hypertrophic heart disease printed based on the above-mentioned second aspect of the printing method:
  • Fig. 7a is a schematic structural diagram of a hypertrophic heart disease medical model provided by an embodiment of the application
  • Fig. 7b is a cross-sectional view of a hypertrophic heart disease medical model provided by an embodiment of the application.
  • the hypertrophic heart disease medical model includes a site to be resected 100 and a site to be retained 200.
  • the color of the site to be resected 100 and the site to be retained 200 are different, that is, the site to be resected 100 and the site to be retained
  • the printing material used to print the medical model in the first embodiment includes a first material and a second material, and the first material and the second material have different colors.
  • the first material is used to print at least the part 100 to be excised
  • the second material is used to print at least the part 200 to be kept.
  • the second material is a transparent material, that is, the site to be retained 200 It is transparent.
  • the part to be resected 100 may be set to the first color, and the part to be retained 200 may be set to the second color, or the outer surface of the part to be resected 100 inward with a certain thickness may be further set to the first color to be resected.
  • the other parts of the part 100 are set to be transparent.
  • the transparent material is a material with a light transmittance greater than 10%, preferably a material with a light transmittance greater than 40%, and more preferably a material with a light transmittance greater than 80%.
  • the transparent material may be a colored transparent material or a colorless transparent material.
  • the colors of different parts can be obtained by printing materials of the same color, or they can be obtained by printing materials of different colors in a preset ratio.
  • Mixed printing in a preset ratio refers to printing materials of different colors in a preset ratio to a specific area to mix to form the area.
  • a single voxel is formed of one color material, and voxels of different colors are mixed in a preset ratio, or in a specific area, a single voxel is made of multiple different colors of materials It is mixed and formed in a preset ratio.
  • the application does not specifically limit the specific forming method of the color of each region, as long as the part to be resected 100 and the part to be retained 200 can have different colors at least in the contact part.
  • the cutability of the first material and/or the second material will change with the change of the printing thickness, that is, the thicker the printed object, the more difficult it is to cut, which makes it difficult to reasonably control
  • the cutting performance of different parts to be resected 100 for medical models, the size and position of the part to be resected 100 vary from person to person, which makes it more difficult to control the cutting performance of the part to be resected 100 of different medical models.
  • the cutting is performed on the upper surface to simulate a real surgical scene, and the part to be excised 100 needs to have the ability to be easy to cut.
  • Fig. 8a is a schematic structural diagram of a part to be resected of a hypertrophic heart disease medical model provided by an embodiment of the application.
  • the part to be cut 100 includes a shell part 110 and an inner part 120 located inside the shell part 110.
  • the printing material further includes a third material, and the material strength of the third material is lower than the material strength of the first material and the second material. Further, the tear strength of the third material is less than the tear strength of the first material and the second material.
  • the first material is used to print the outer part 110 of the part to be removed
  • the third material is used to print the inner part 120 of the part to be removed.
  • the thickness of the shell part 110 is controlled to be 0.5-5 mm by controlling the thickness of the material layer formed of the first material, so as to avoid the large thickness of the part to be removed 100 that is difficult to cut, and to ensure its cutting performance .
  • the thickness of the shell part 110 is related to the parameter performance of the first material. For example, when the tensile strength of the first material is 1.0 MPa, or the Shore hardness of the first material is 20A when the first material is cured, or when the first material is When the tear resistance is 2.5Kg/cm, the thickness of the shell part 110 can be set to 4mm.
  • Fig. 8b is a cross-sectional view of the part to be resected of a hypertrophic heart disease medical model provided by an embodiment of the application.
  • the internal The part 120 includes a plurality of grid cells connected to each other, that is, a plurality of grid cells similar to the structure of human tissue are formed in the internal part 120 of the part to be resected 100, so that the doctor can obtain a more realistic cut when performing a simulated operation.
  • the internal The part 120 includes a plurality of grid cells connected to each other, that is, a plurality of grid cells similar to the structure of human tissue are formed in the internal part 120 of the part to be resected 100, so that the doctor can obtain a more realistic cut when performing a simulated operation.
  • feel the internal part 120 of the part to be resected 100
  • the grid unit includes a frame part 121 and a filling part 122.
  • the first material is used to print the shell part 110 of the part to be excised, and the second material is used to print the part to be kept 200 ;
  • the frame part 121 does not contact the part to be retained 200, therefore, its color can be arbitrary.
  • the first material and/or the second material are used The frame part 121 of the grid unit is printed, and the third material is used to print the filling part 122 of the grid unit. That is, the third material is used to reduce the tear resistance of the inner part 120, and the first material and/or the second material are used to reduce the tear resistance of the inner part 120. Ensure that the internal 120 has a certain strength.
  • Figures 9a-9c respectively show schematic structural diagrams of three different grid units.
  • the shapes of the frame parts 121 of the three grid units are all linear.
  • the grid unit may also be formed into other regular polyhedral structures or irregular structures, and the shape of the frame portion 121 may also be curvilinear, spiral, etc., which will not be listed here.
  • different positions of the grid cells in the three-dimensional space of the inner part 120 may have different sizes and/or shapes, and the grid cells may also be distributed in a gradient, uniformly or irregularly in the three-dimensional space of the inner part 120. Therefore, the cutability of the inner part 120 can be adjusted by controlling the size, shape and distribution of the grid cells in the three-dimensional space according to the real tissue structure of the site to be resected 100 to simulate a more realistic cutting feel.
  • the part to be retained 200 can also be divided into a second housing part and a second inner part located inside the second housing part.
  • the second material is used to print the second outer part of the part 200 to be reserved, and the second material and the third material are used to print the second inner part of the part 200 to be reserved.
  • the second inner part includes a plurality of grid structures connected to each other, and the grid structure includes a second frame part and a second filling part.
  • the second material is used to form the second frame part of the grid structure, and the third material is used to form the filling part of the grid structure.
  • the softness, stretching ability, hand feeling and mechanical strength of the part to be retained 200 are adjusted to be similar to real human tissues.
  • the medical model may also include a blood vessel part 300, and the color of the blood vessel part 300 is different from the color of the part to be resected 100 and the part to be preserved 200.
  • the color of the blood vessel part 300 is different from the color of the part to be resected 100 and the part to be preserved 200.
  • the blood vessel part 300 can be formed by mixed printing of a first material and a second material.
  • the first material and the second material have different colors, and the second material is a transparent material.
  • the other properties of the first material and the second material can be arbitrary. of.
  • the printing material includes a first material and a second material.
  • the colors of the first material and the second material are different.
  • the first material and the second material are printed on the part to be removed 100 at a preset first ratio to form at least a part of the part to be removed 100, and the first material and the second material are printed at the part to be retained 200 at the preset second ratio.
  • At least a part of the part 200 to be reserved is formed by printing.
  • the first material and the second material are printed on the blood vessel part 300 at a preset third ratio to form the blood vessel part 300.
  • the first material and the second material are both transparent materials.
  • the site to be resected 100, the site to be retained 200, and the blood vessel site 300 can also be formed in other ways. This embodiment is not limited, as long as the site to be resected 100 and the site to be retained 200 are at least different in contact with each other.
  • the first material and the second material are printed on the shell part 110 of the part to be cut 100 at a preset first ratio to form the shell part 110 of the part to be cut 100.
  • the first material and the second material are The preset second ratio is printed on the second shell part of the part to be reserved 200 to form the second shell part of the part to be reserved 200.
  • the medical model further includes a support structure, and the support structure is used to provide support for the medical model during the printing process.
  • the supporting material used for support usually has lower tensile strength, lower tear resistance, and lower Shore hardness after curing .
  • the first material and the second material used to form the hypertrophic heart disease medical model are soft materials.
  • the tensile strength of the soft material is lower than 5 MPa
  • the tear resistance of the soft material is lower than 10 Kg/cm
  • the Shore hardness of the soft material after curing is lower than 70A.
  • the printing material when the hardness required by the medical model is greater than the hardness of the soft material, the printing material also includes a hard material, and the hard material is used in combination with the first material and/or the second material or used alone as the first material.
  • One material and/or second material are used.
  • mixing hard materials and soft materials in a preset ratio to adjust the softness and hardness of each area where mixing in a preset ratio refers to printing soft and hard materials in a specific area at a preset ratio.
  • the material forms an area with a certain degree of softness and hardness.
  • the color of the hard material can be transparent, the same color as any of the soft materials, or a color different from the soft material.
  • the first material and the second material may be soft materials with different colors only, and the soft material includes 10-75% soft monomer, 10-75% hard monomer, and 55% by weight. -20% cross-linking agent, 5-20% non-reactive soft resin, 0.5-10% photoinitiator, 0-0.5% coloring agent, 0.05-8% auxiliary agent.
  • the soft monomer is a monofunctional soft monomer, which is characterized in that it contains a (meth)acryloyloxy group in the molecule and has a glass transition temperature of less than 0°C.
  • the soft monomer may be alkyl (meth)acrylate, hydroxyalkyl (meth)acrylate, alkoxy (meth)acrylate, (meth)acrylate with cyclic structure, One or more of (meth)acrylates with urethane groups.
  • the hard monomer is a monofunctional hard monomer, which is characterized by a (meth)acryloyloxy group in the molecule and a glass transition temperature higher than 25°C.
  • the hard monomer may be one or more of cycloalkyl (meth)acrylate, heterocyclic (meth)acrylate, (meth)acrylate with a benzene ring structure, and the like.
  • the crosslinking agent may be one or more of a difunctional soft monomer and a difunctional soft resin.
  • the non-reactive soft resin does not contain radiation curable groups in its molecules, and its glass transition temperature is less than 0°C.
  • the non-reactive soft resin is a non-reactive soft resin that has good compatibility with the acrylic system and strong intermolecular forces.
  • the photoinitiator is a free radical photoinitiator.
  • the free radical photoinitiator can be benzoin ether, benzoin ⁇ , ⁇ -dimethylbenzyl ketal, ⁇ , ⁇ -diethoxyacetophenone, 2 -Hydroxy-2-methyl-phenylacetone-1,1-hydroxy-cyclohexyl benzophenone, 2-hydroxy-2-methyl-p-hydroxyethyl ether phenylacetone-1, [2-methyl 1 -(4-Methylmercaptophenyl)-2-morpholinone-1], [2-benzyl-2-dimethylamino-1-(4-morpholinphenyl)butanone-1], benzoyl Formate, 2,4,6-trimethylphenylacyl-ethoxy-phenylphosphine oxide, 2,4,6-trimethylphenylacyl-diphenylphosphine oxide, bis(2,4 ,6-Trimethylphenylacyl)phenyl phosphin
  • the soft material may or may not contain a coloring agent.
  • the soft material When it does not contain a coloring agent, the soft material has a transparent color.
  • the coloring agent may be a pigment or a dye. Understandably, the first material and the second material can be made to have different colors by means of a colorant.
  • the auxiliary agent is selected from one or more of leveling agents, defoamers and stabilizers.
  • a red soft material is provided, the material composition of which is shown in Table 1 below:
  • the performance of the red soft material is measured.
  • the tensile strength is tested according to the national standard GB/T 528; the hardness test is tested according to the national standard GB/T 529; the tear strength test is tested according to the national standard GB/T 529.
  • the national standard GB/T 531.1 standard is tested. The test results are shown in Table 2.
  • the hard material includes 5-50% vinyl oligomer, 50-95% vinyl monomer, 0.5-10% photoinitiator, and 0-0.5% colorant by weight percentage. , 0.05-8% additives.
  • the vinyl oligomer is selected from one or more of urethane acrylate, polyester acrylate, polyether acrylate and epoxy acrylate.
  • the vinyl monomer is selected from one or more of monofunctional acrylate, bifunctional acrylate, multifunctional acrylate, acrylamide monomer, and vinyl ether monomer; specifically, monofunctional acrylic
  • the ester can be alkyl (meth)acrylate, hydroxyalkyl (meth)acrylate, alkoxy (meth)acrylate, (meth)acrylate with urethane group, cycloalkyl (Meth)acrylate, heterocyclic (meth)acrylate, (meth)acrylate with benzene ring structure, etc.
  • bifunctional acrylate can be acrylate with chain structure and acrylate with cyclic structure
  • the multifunctional acrylate can be tris(2-hydroxyethyl)isocyanurate triacrylate, ethoxylated trimethylolpropane triacrylate, pentaerythritol triacrylate, etc.
  • the acrylamide monomer can be acryloylmorpholine , N-hydroxyethyl acrylamide
  • the photoinitiator is a free radical photoinitiator, specifically, the free radical photoinitiator can be benzoin ether, benzoin ⁇ , ⁇ -dimethyl benzyl ketal, ⁇ , ⁇ -diethoxyacetophenone , 2-Hydroxy-2-methyl-phenylacetone-1,1-hydroxy-cyclohexyl benzophenone, 2-hydroxy-2-methyl-p-hydroxyethyl ether phenylacetone-1, [2-methyl 1-(4-Methylmercaptophenyl)-2-morpholinone-1], [2-benzyl-2-dimethylamino-1-(4-morpholinphenyl)butanone-1], benzene Formyl formate, 2,4,6-trimethylphenylacyl-ethoxy-phenylphosphine oxide, 2,4,6-trimethylphenylacyl-diphenylphosphine oxide, bis(2 , 4,6-trimethylphenyl acyl) phenyl
  • the auxiliary agent is selected from one or more of toughening agents, defoamers, leveling agents and stabilizers.
  • the colorant is selected from the self-dispersing nano-scale pigment color paste, specifically a self-dispersing nano-scale inorganic pigment color paste or a self-dispersing nano-level organic pigment color paste, wherein the self-dispersing nano-scale inorganic pigment color paste can be a white pigment color paste.
  • the pastes include titanium dioxide, zinc oxide, lithopone, lead white, etc., and can be black pigment pastes, including carbon black, graphite, iron oxide black, aniline black, carbon black, etc.; self-dispersing nano-level organic pigment pastes can be It is a color pigment paste specifically including Golden Red (PR21), Lithol Scarlet (PR49:1), Pigment Red G (PR37), Pigment Red 171 (PR171), Light Fast Yellow G (PY1), Hansa Yellow R( PY10), Permanent Yellow GR (PY13), Pigment Yellow 129 (PY129), Pigment Yellow 150 (PY150), Pigment Yellow 185 (PY185), Phthalocyanine Blue (PB15), Indanthrone (PB60), etc.
  • a hard material is provided, the material composition of which is shown in Table 3 below:
  • the performance of hard materials is measured, in which the tensile strength test is tested according to the national standard GB/T1040.3; the hardness test is tested according to the national standard GB/T2411.
  • the test results are shown in Table 4.
  • the support material may be a water-soluble support material.
  • the water-soluble support material includes the following components in terms of weight percentage: 55-98% of monofunctional monomer, 1-50% of linear non-ionic water-soluble polymer, 0-20% of polar organic solvent, 0.1% of photoinitiator ⁇ 5% and additives 0.5 ⁇ 10%.
  • the monofunctional monomer is selected from one or more of monofunctional acrylate monomer, monofunctional acrylamide derivative monomer and monofunctional vinyl monomer.
  • the linear non-ionic water-soluble polymer is selected from one or more of polyvinyl alcohol, polyethylene glycol, polyacrylamide, polyvinylpyrrolidone, and polyacryloylmorpholine.
  • the polar organic solvent has a boiling point of 120° C. or higher and is water-soluble. Specifically, one or more of alcohols and ester solvents commonly used in existing photocuring reactions can be used.
  • the auxiliary agent is selected from one or more of a polymerization inhibitor, a defoamer, and a leveling agent.
  • the defoamer, a leveling agent, and a polymerization inhibitor are all commonly used auxiliary agents in the existing light curing reaction.
  • a water-soluble support material is provided, the material composition of which is shown in Table 5 below:
  • the support material may also be an alkali-soluble support material.
  • the alkali-soluble support material includes the following components in terms of weight percentage: 18-40% of photo-curable host material, 2-30% of functional reaction promoting material, 48-78% of non-curable water-miscible material, photoinitiator 1 to 5% and additives 0.4 to 5%.
  • the photocurable host material is at least one selected from (meth)acrylate compounds and (meth)acrylamide compounds.
  • the molecular structure of the functional reaction promoting material contains carboxyl groups and active hydrogen, which can react with peroxide radicals to increase the double bond conversion rate of the photocurable host material.
  • the non-curable water-miscible material is selected from at least one of polyols, specifically, polyol 3165, polyol 3610, EO/THF copolymer, polypropylene glycol, polyglycerol, 1,2-propylene glycol, tripropylene glycol monomethyl Ether, dipropylene glycol monomethyl ether, triethylene glycol dimethyl ether, polyethylene glycol monomethyl ether (400), polyethylene glycol (400), polyethylene glycol (200), etc.
  • polyols specifically, polyol 3165, polyol 3610, EO/THF copolymer, polypropylene glycol, polyglycerol, 1,2-propylene glycol, tripropylene glycol monomethyl Ether, dipropylene glycol monomethyl ether, triethylene glycol dimethyl ether, polyethylene glycol monomethyl ether (400), polyethylene glycol (400), polyethylene glycol (200), etc.
  • the photoinitiator is selected from at least one of free radical photoinitiators; the auxiliary agent is selected from at least one of surfactants and polymerization inhibitors.
  • an alkali-soluble support material is provided, the material composition of which is shown in Table 6 below:
  • the medical model includes a tissue organ part 2', a blood vessel part 3', and a lesion part 1'.
  • the tissue organ part 2' is divided into multiple parts according to the medical segmentation method. Segmentation, for example, as shown in FIG. 10, the tissue organ part 2'is the liver organ tissue 21', and the liver organ tissue 21' is divided into 5 lobes and 8 segments according to the Couinaud liver segmentation method. As shown in Figure 10, the 8 segments are the caudate lobe of segment I, the upper left outer lobe of segment II, the lower left outer lobe of segment III, the left inner lobe of segment IV, the lower right anterior lobe of segment V, and the right posterior segment of segment VI. The lower segment, the upper right posterior segment of the VII segment, and the upper right anterior segment of the VIII segment.
  • the Couinaud liver segmentation method divides the liver into 8 independent segments according to function.
  • Each segment has its own inflow and outflow blood vessels and bile duct system.
  • portal vein In the center of each segment, there are portal vein, hepatic artery, and bile duct branches.
  • the right hepatic vein divides the liver into the right anterior segment and the right posterior segment.
  • the middle hepatic vein divides the liver into the left lobe and the right lobe (or right hepatic and left hepatic hepatic).
  • the vein divides the left lobe of the liver into medial and lateral segments.
  • the portal vein divides the liver into upper and lower segments.
  • the left and right portal veins send out upper and lower branches into the center of each segment.
  • each segment is an independent unit, and the removal of any one segment will not affect the others.
  • the resection must be performed along the blood vessels around these segments, that is, The resection line is parallel to the hepatic vein, so that the central portal vein, bile duct, and hepatic artery are preserved, that is, the segmentation of the tissue organ part 2'can usually be determined based on the distribution of the blood vessel part 3'.
  • the tissue organ part 2'can be segmented according to the distribution of the blood vessel part 3'and/or other duct systems.
  • the duct system is the bile duct, and in the segmentation of the lung organs ,
  • the pipeline system can be a trachea, this application does not limit the specific segmentation method.
  • the medical model of liver organ tissue 21' also includes at least one partition 4', and partitions 4'are arranged between at least part of adjacent regions (segments), and the partition 4'connects the organ model (liver
  • the organ tissue 21') is divided into a plurality of regions; the attributes of the regions on both sides of the partition 4'are different from the attributes of the partition 4'.
  • each segment of the liver organ tissue 21' can be distinguished by the partition 4'area, and the lesion part 1'is further integrated into the medical model, which can facilitate the doctor to accurately determine which segment area the lesion part 1'is located in. So as to better plan the surgical path to reduce the risk.
  • any two adjacent sections are separated by a partition 4', that is, the liver organ tissue 21' includes a plurality of partitions 4', wherein the plurality of partitions 4'may be connected to each other , They can also be independent of each other, and the plurality of partitions 4'can be formed of materials with the same properties, or they can be formed of materials with different properties, and the thickness of the plurality of partitions 4'can be the same or Different, it is only necessary to ensure that there is at least one attribute mutation area between any two adjacent segments. Further, the attributes of the segments on both sides of the partition 4'are different from the attributes of the partition 4'.
  • the color or transparency of the partition 4' is different from the color or transparency of the segments on both sides of the partition 4'. It can also be that the color and transparency of the partition 4'are different from the color and transparency of the segments on both sides of the partition 4', in order to make the partition 4'visually clearer and will not occupy too much space and affect the internal part.
  • the thickness of the partition 4' can be set to 0.3mm-2mm, in other embodiments, the thickness of the partition 4'is 0.6mm-1.2mm; in this embodiment, due to the properties of the partition 4'
  • the attributes of the segments on both sides of the partition 4' are not the same. Therefore, the junction of the partition 4'and the segments on both sides of the partition has an attribute mutation area respectively, that is, there are two attribute mutations between adjacent segments. area.
  • FIG. 11 is a schematic diagram of a lung segmentation model.
  • the tissue organ part 2' is the lung organ tissue 22', and the lung organ tissue 22' can be divided into the upper left lobe 221' of the lung organ tissue based on the medical segmentation method, Five segments of left lower lobe 222', right upper lobe 223', right middle lobe 224', and right lower lobe 225', wherein the lesion part 1'is located in the right upper lobe 223', and any two of the five segments have a partition between 4', the partition 4'and the segments on both sides of it have different attributes, that is, there is at least one attribute mutation area between the segments; further, the lung organ tissue 22' can be carried out in other segmentation methods according to actual needs.
  • Segmentation for example, the left upper lobe 221 ′ of the lung organ tissue can be further divided into the posterior apical segment, the anterior segment, the upper lingual lobe, and the lower lingual lobe.
  • the present application does not limit the specific segmentation of the lung organ tissue 22 ′.
  • FIG. 16 shows a schematic flow chart of segmenting the tissue organ part 2'and dividing the tissue organ by creating a partition 4'.
  • the part V of the liver organ tissue 21' Sections and VII sections are taken as examples for description.
  • section V section VII is divided by the segmentation plane 5', which is determined according to the Couinaud liver segmentation method.
  • the creation of the partition 4' includes the liver organ tissue 21'
  • the dividing planes 5'of the V and VII sections are extracted and offset by a certain thickness in the direction perpendicular to the dividing plane 5'to form the partition 4'. More specifically, the offset direction can be along the dividing plane 5. Either side of the', can also be along both sides of the dividing plane 5'.
  • the appropriate offset direction can be selected according to the actual dividing situation.
  • the partition 4' is further fused with the three-dimensional model of the 21' part of the liver organ tissue to obtain a segmented three-dimensional model of the 21' part of the liver organ tissue. That is, the partition 4 is integrated into the three-dimensional model of the 21' part of the liver organ tissue.
  • the occupied position is cut off, that is, a groove matching the partition 4'is formed in the part of the liver organ tissue 21', and then the partition 4'is fused with the three-dimensional model of the cut liver organ.
  • the partitions 4'and the segments on both sides of the partition 4' can be individually defined for their attributes.
  • the tissue organ part 2' is formed of colorless transparent material and/or colored transparent material.
  • the light transmittance of the colored transparent material is greater than 80%, and the light transmittance of the colored transparent material is greater than 0% and less than 45%; the blood vessel part 3'and the lesion part 1'can also be formed of colored transparent materials and/or colored opaque materials, opaque
  • the light transmittance of the colored material is less than 10%.
  • the tissue organ part 2', the blood vessel part 3'and the lesion part 1' are respectively formed of materials with different colors and/or transparency.
  • the blood vessel part 3' may also include arteries and veins. Therefore, the blood vessel part 3'may further be made of different colors and/or transparent materials to form arteries and veins. Generally, in order to further facilitate the user's identification To communicate with each other, the colors of arteries and veins can be consistent with the colors on the traditional medical anatomy map, that is, arteries are formed of red material and veins are formed of blue material.
  • the tissue organ part 2' may be formed of a colorless transparent material, and the partition 4'may be formed of a white material.
  • the white material The light transmittance is less than 10%, which can be considered as a kind of opaque material.
  • the blood vessel part 3'and the lesion part 1' can be formed of colored opaque material, so that the blood vessel part 33' and the lesion part 1'can be in the tissue organ part 2.
  • the shape, structure and distribution position of the tissue are clearly displayed, so that the doctor can accurately determine the segment of the lesion part 1'in order to plan the surgical path, and each segment of the tissue organ part 2'can pass through the partition 4'
  • the partition 4' is set to white, which can further improve the brightness of the three-dimensional organ model; in other embodiments, the lesion part 1'can also be formed of a transparent color material, which can make the blood vessel part 3'
  • the distribution within 1'of the lesion is also clearly displayed, which further improves the accuracy of the surgeon's surgical planning.
  • the medical model printed by the above-mentioned medical model printing method may not include the partition 4', and the adjacent segments can be made to have different attributes at least in the contacting parts. There is an attribute mutation area in between, and each segment can be identified intuitively and accurately based on the attribute mutation area.
  • the three-dimensional model in Figure 12 includes a part of lung organ tissue 22', blood vessel part 3', and lesion part 1', that is, tissue organ part 2'is a part of lung organ tissue 22', where , This part of the lung organ tissue 22' is divided into 4 segments, including the segment where the lesion part 1'is located and the three adjacent segments. Any two adjacent segments are composed of different colors. It is formed of transparent material, that is, there is an attribute mutation area between any two adjacent segments, and the blood vessel part 3'and the lesion part 1'can be formed of colored opaque material, so that the internal lung tissue 22' The blood vessel part 3'and the lesion part 1'can be clearly observed from the outside of the medical model.
  • the lung organ tissue 22' can also be divided into multiple segments, and the user can intuitively judge the lesion part 1'and the blood vessel part 3'and The relative positional relationship between the segments; in addition, in actual applications, it may not be necessary to print a complete organ, and only a part of the organ can meet the needs.
  • the doctor only needs to know the lesion part 1 "Which segment of the tissue organ part 2" is located, the position of the segment adjacent to this segment, and the positional relationship between this segment and the blood vessel part 3', that is, the medical model only needs to include the lesion part 1'and the blood vessel part 3.
  • the section including the lesion section 1'and the section adjacent to the section in the'and tissue organ section 2' can meet the needs of doctors. Therefore, the amount of material used for printing medical models can be reduced and the cost of medical models can be reduced.
  • At least one area (segment) of the medical model includes a shell part and an inner part.
  • at least one region of the tissue organ part 2'further includes a shell part 211' and an inner part 212', and the attributes of the shell part 211' are at least different from the attributes of the boundary part of the adjacent region.
  • the outer shell part 211' is wrapped around at least part of the inner part 212'.
  • the outer shell part 211' is formed of a colored transparent material
  • the inner part 212' is formed of a colorless transparent material. Due to the thickness of the final printing of the colored transparent material Only the outer shell part 211', and the inner part 212' is formed of an achromatic transparent material whose transparency is greater than that of the color transparent material, which can improve the overall transparency of the tissue organ part 2', while the outer shell part of two adjacent regions (segments) 211' is formed of colored transparent materials of different colors, that is, there is an attribute mutation area between any two adjacent areas (segments) to facilitate distinguishing adjacent areas (segments).
  • FIG. 17 shows a schematic flow diagram of dividing a segment into an outer part 211' and an inner part 212'. Specifically, in each segment on both sides of the dividing surface 5', in the The segment is divided into a shell part 211' and an inner part 212' in a direction perpendicular to the outer surface of the segment toward a certain distance inside the segment.
  • the shell part 211' wraps the outside of the entire inner part 212', and the shell part 211'
  • the thickness can be adjusted according to the transparency of the material. Generally, the thickness of the shell portion 211' can be 0.05mm-100mm.
  • FIG. 18 shows another schematic flow chart of dividing each segment into an outer part 211' and an inner part 212'.
  • each segment the direction is perpendicular to the dividing plane of the segment.
  • a certain distance inside the segment divides the segment into a shell part 211' and an inner part 212'.
  • the shell part 211' wraps around the outside of the part of the inner part 212', that is, the shell part 211' is only formed in this area and the corresponding area. The side where the neighboring area touches.
  • FIG. 13 a segmented structure of an arterial dissection model is also provided.
  • Figures 13, 14 and 15 show an arterial dissection diagram.
  • the artery is the vascular part 3'in this embodiment.
  • An arterial dissection is a variant artery, that is, a variation of the 3'part of the blood vessel.
  • the arterial blood vessel includes the intima 311', the media 312' and the adventitia.
  • the three-layer structure is tight. Fit and carry the blood flow together.
  • the media 312' is the thickest, mainly composed of 40-70 layers of elastic membrane with holes.
  • Arterial dissection refers to the place where the blood in the arterial lumen is torn from the aortic intima 311' Enter the aortic media 312', separate the media 312' from the adventitia, and expand along the long axis of the artery to form a true and false two-lumen separation state of the arterial wall.
  • the blood vessel can be divided into a true lumen segment 31' and a false lumen segment 32' based on the separation position of the media 312 and the adventitia.
  • the true lumen segment 31' includes the intima 311' and the media 312' of the arterial blood vessel.
  • the true lumen adventitia 313' of the true cavity part, and the false lumen segment 32' includes the false lumen adventitia 321' of the false lumen part; at this time, by making the true lumen segment 31' and the false lumen segment 32' have different properties , Even if an attribute mutation area is formed between the true cavity section 31' and the false cavity section 32', it is convenient for the doctor to distinguish the real cavity from the false cavity, and if the false cavity section 32' is further formed of a transparent material, it can also be intuitive Determine the location of the tear on the inner membrane 311'.
  • Figures 5a-5d are schematic diagrams of heart models in different states provided by the present disclosure
  • the three-dimensional digital model of the heart model includes a three-dimensional digital model of the myocardium and other three-dimensional digital models of the heart region
  • the cavities of the left atrium 2, the right atrium 3, the left ventricle 4, and the right ventricle 5 are formed inside the three-dimensional digital model of the myocardium
  • the three-dimensional digital models of the other heart regions include the left atrium digital model 2a, the right atrium digital model 3a, Left ventricle digital model 4a and right ventricle digital model 5a.
  • the establishment of the left atrium digital model 2a, right atrium digital model 3a, left ventricle digital model 4a, and right ventricle digital model 5a refers to the establishment of the left atrium 2, right atrium 3, left ventricle 4, and right ventricle 5 in the medical imaging data.
  • the corresponding digital model is reconstructed from the outer contour.
  • the myocardial solid model is reconstructed according to the outer contour of the myocardium in the medical image data, and the left atrium digital model 2a, right atrium digital model 3a, left ventricle digital model 4a, and right ventricle digital model 5a are subtracted from the myocardial solid model. To obtain the three-dimensional digital model 1a of the myocardium.
  • the three-dimensional digital model of the myocardium 1a is marked according to the position information of the outer contour of the three-dimensional digital model of the other heart region in the three-dimensional digital model 1a of the myocardium, and the three-dimensional digital model 1a of the myocardium is divided into At least two areas among the left atrium marked area 6, the right atrium marked area 7, the left ventricle marked area 8, the right ventricle marked area 9, and the non-marked area.
  • the printed heart model includes a myocardial model in which the left atrium 2, right atrium 3, left ventricle 4, and right ventricle 5 are formed inside the myocardial model, and the left atrium marking area is set on the myocardial model 6. At least two of the right atrium marking area 7, the left ventricle marking area 8, the right ventricle marking area 9, and the non-marking area 1.
  • the marked area and the non-marked area have different identification colors.
  • different materials may be used for printing and forming, so that the marked areas of other heart regions in the myocardial model are highlighted in the myocardial model.
  • the left atrium marking area 6, the right atrium marking area 7, the left ventricle marking area 8, and the right ventricle marking area 9 can also be formed by printing materials of different colors, so that each marking area has a different identification color.
  • label information can be added to the three-dimensional digital model of the heart, and the three-dimensional digital model of the medical model (heart model) can be divided into multiple regions.
  • the specific steps include:
  • the three-dimensional digital model of the myocardium is marked according to the position information of the outer contour of the three-dimensional digital model of the other heart region in the three-dimensional digital model of the myocardium, and the three-dimensional digital model of the myocardium is divided into the left atrium marked area and the right atrium. At least two areas among the marked area of the atrium, the marked area of the left ventricle, the marked area of the right ventricle, and the non-marked area. Wherein, the left atrium marking area, right atrium marking area, left ventricle marking area, and right ventricle marking area are respectively wrapped in the left atrium digital model, right atrium digital model, left ventricle digital model, and right ventricle digital model The area you are in.
  • the specific steps include:
  • the left atrium digital model 2a When hollowing out the inside of the right atrium digital model 3a, the housing part is usually set to be thinner. Therefore, the housing part of the left atrium digital model 2a can be directly set as the left atrium marking area 6, and the right atrium
  • the housing part of the digital model 3a is set as the right atrium marking area 7, that is, the atrial muscle wrapped outside the left atrium 2 as described above is set as the left atrium marking area 6, and the atrial muscle wrapped outside the right atrium 3 is set as the right atrium marking Area 7.
  • the outer contours of the left atrium digital model 2a and the right atrium digital model 3a can be uniformly directed. Expansion to a certain thickness and subtracting the corresponding original digital model to obtain left atrium 2 cavity, right atrium 3 cavity and left atrium marking area 6, right atrium marking area 7, the left atrium marking area 6, right atrium marking area 7 are respectively wrapped around the left atrium 2 cavity and right atrium 3 cavity, and further fused the myocardial three-dimensional digital model 1a and the left atrium marking area 6, right atrium marking area 7 to obtain the left atrium marking Area 6, a three-dimensional digital model of the heart model marked area 7 in the right atrium.
  • Figure 5d shows a cross-sectional view of a heart model with a left atrium marking area 6, a right atrium marking area 7, a left ventricle marking area 8, and a right ventricle marking area 9.
  • a left atrium marking area 6 a right atrium
  • the outer contours of the left ventricle digital model 4a and the right ventricle digital model 5a are uniformly expanded outward to a certain thickness and the corresponding original digital model is subtracted to obtain the left ventricle 4 cavity and the right ventricle 5 Cavity and left ventricle marking area 8, right ventricle marking area 9, the left ventricle marking area 8 and right ventricle marking area 9 are wrapped around the left ventricle 4 cavity and right ventricle 5 cavity, and the The left ventricle marked area 8, the right ventricle marked area 9 and the three-dimensional digital model of the heart with the left atrium marked area 6 and the right atrium marked area 7 shown in Figure 5c are fused to obtain the left ventricle marked area 8 and the right ventricle marking area 9 shown in
  • the fusion of the left atrium marking area 6, the right atrium marking area 7, the left ventricle marking area 8, the right ventricle marking area 9 and the myocardium refers to subtracting the left atrium from the myocardial three-dimensional digital model 1a through a Boolean logic operation Marking area 6, right atrium marking area 7, left ventricle marking area 8, right ventricle marking area 9, and combining the remaining part of the myocardial three-dimensional digital model 1a with the left atrium marking area 6, right atrium marking area 7, left
  • the combination of the ventricular marking area 8 and the right ventricle marking area 9 realizes the division of the left atrium marking area 6, the right atrium marking area 7, the left ventricle marking area 8 and the right ventricle marking area 9 from the myocardial three-dimensional digital model 1a.
  • the left atrium marking area 6, the right atrium marking area 7, the left ventricle marking area 8 and the right ventricle marking area 9 with different colors are included, so that the left atrium 2, the right atrium 3, the left ventricle 4, and the right ventricle 5 can be easily distinguished.
  • the method for printing the medical model may further include determining a cut plane of the three-dimensional digital model of the heart model, and printing the three-dimensional digital model according to the cut plane to obtain the heart model; wherein
  • the cut plane is a plane that penetrates the left atrium, left ventricle, right atrium, and right ventricle at the same time.
  • the cut plane is a plane passing through the left atrium, right atrium, left ventricle, and right ventricle, and the cut plane divides the heart digital model into Two parts, the above-mentioned data processing is performed on the two parts respectively to obtain the corresponding printing control data, the two parts can be carried out in the same printing job, or can be carried out in different printing jobs respectively , This disclosure does not limit this.
  • the heart model includes a diseased area inside, in order to be able to show the diseased area on the cut surface, the cut surface also passes through the diseased area, and the diseased area may be a ventricular septal defect or the like.
  • the left atrium marking area 6 and the left ventricle marking area 8 have the same color or the same color system; and/or, the right atrium marking area 7 and the right ventricle marking area 9 have the same color Or the logo color of the same color.
  • the color system can specifically include warm color system, cool color system; red color system, orange color system, blue color system, and so on.
  • the thickness of the marked area there is no particular limitation on the thickness of the marked area, as long as the color attribute of the corresponding area can be clearly displayed, and it can usually be set to 2mm-5mm. At this time, the thickness of the myocardium is greater than that of the marked area. Therefore, the myocardium usually also includes a non-marked area 1, and the non-marked area 1 can usually be set to be transparent, that is, the non-marked area 1 is formed of a transparent material.
  • the heart model further includes: a blood vessel model
  • the blood vessel model includes one or more of the aorta, pulmonary artery, left pulmonary vein, right pulmonary vein, superior vena cava, and inferior vena cava.
  • the identification colors of the aorta, the left pulmonary vein, and the right pulmonary vein and the identification colors of the left atrium marking area and the left ventricle marking area belong to the same color or the same color system;
  • the colors of the pulmonary artery, the superior vena cava and the inferior vena cava belong to the same color or the same color system as the identification colors of the right atrium marking area and the right ventricle marking area.
  • the heart model further includes a cut plane, and the cut plane is a plane that passes through the left atrium, left ventricle, right atrium, and right ventricle at the same time.
  • the heart model further includes a diseased area, and when the heart model also includes a diseased area inside, the cut plane also passes through the diseased area; specifically, the diseased area may be a ventricular septal defect or the like.
  • Figures 6a and 6b are respectively cross-sectional views of two heart models provided by the present disclosure; as shown in Figure 6a, the heart model does not include a diseased area, and the cross-sectional plane passes through the left atrium 2 and the right atrium. 3.
  • the heart model also includes myocardium, aorta 10, pulmonary artery 11, left pulmonary vein 12, right pulmonary vein 13, superior vena cava 14, inferior vena cava 15, and the myocardium includes non- The marking area 1, the left atrium marking area 6, the right atrium marking area 7, the left ventricle marking area 8, the right ventricle marking area 9, the left atrium marking area 6 is wrapped outside the left atrium 2, and the right atrium marking area 7 is wrapped in Outside the right atrium 3, the left ventricle marking area 8 is wrapped around the left ventricle 4, the right ventricle marking area 9 is wrapped outside the right ventricle 5, and the non-marked area 1 is wrapped around the left atrium marking area 6, the right atrium marking Area 7, left ventricle marking area 8, right ventricle marking area 9, wherein the non-marking area 1, the left atrium marking area 6, the right atrium marking area 7, the left ventricle marking area 8, and the right ventricle marking area 9 has different colors.
  • the non-marking area 1 can be formed of a transparent material.
  • the colors of the left atrial marking area 6 and the left ventricle marking area 8 belong to the same color system.
  • the color of the right atrium marking area 7 and the right ventricle marking area 9 also belong to the same color system, and is different from the color system of the left atrium marking area 6 and the left ventricle marking area 8, for example, blue
  • the color of the left atrium marking area 6 and the left ventricle marking area 8 can also be The same, for example, both are red, and the colors of the right atrium marking area 7 and the right ventricle marking area 9 may also be the same, for example, both are blue.
  • the heart model may also include one or more of the mitral valve 16, the aortic valve 17, the tricuspid valve 18, and the pulmonary valve 19.
  • the mitral valve 16 is located between the left atrium 2 and the left ventricle 4
  • the aortic valve 17 is located between the left ventricle 4 and the aorta 10
  • the tricuspid valve 18 is located between the right atrium 3 and the right ventricle.
  • the pulmonary valve 19 is located between the right ventricle 5 and the pulmonary artery 11.
  • the aorta 10 is connected to the left ventricle 4, the pulmonary artery 11 is connected to the right ventricle, the left pulmonary vein 12 and the right pulmonary vein 13 are connected to the left atrium 2, and the superior vena cava 14 and inferior vena cava 15 are connected to the right atrium 3, as described above
  • the left heart system can include left atrium 2, left ventricle 4, aorta 10, left pulmonary vein 12, and right pulmonary vein 13, and the right heart system can include right atrium 3, right ventricle 5, pulmonary artery 11, superior vena cava 14, and inferior vena cava 15.
  • the aorta 10, the left pulmonary vein 12 and the right pulmonary vein 13 can be set to be the same color as the left atrial marking area 6 and the left ventricle marking area 8 or belong to The same color system, and the pulmonary artery 11, superior vena cava 14 and inferior vena cava 15 can be set to be the same color or belong to the same color system as the right atrium marking area 7 and right ventricle marking area 9; what needs to be understood is The heart model described in this application is not required to include all blood vessels as described above.
  • the aorta 10, pulmonary artery 11, left pulmonary vein 12, right pulmonary vein 13, superior vena cava 14 and inferior vena cava can be selected according to actual needs. Printing by one or more of the veins 15.
  • the heart model also includes a diseased area, that is, there is a partial defect in the myocardium between the left ventricle 4 and the right ventricle 5, that is, the ventricular septal defect 20, and the cut plane passes through the left atrium 2, The inside of the right atrium 3, the left ventricle 4, and the right ventricle 5 and the position where the ventricular septal defect 20 is located. Due to the presence of the ventricular septal defect 20, the left ventricle 4 and the right ventricle 5 are connected to each other through the defect, as shown in Figure 6b As shown, the left ventricle marking part 8 and the right ventricle marking part 9 of the heart model intersect at the position of the ventricular septal defect 20.
  • the heart model includes the diseased area of the ventricular septal defect 20. It should be noted that in order to make the left ventricle marking area 8 and the right ventricle marking area 9 intersect only at the position of the ventricular septal defect 20, and to make the intersection position as far as possible to more accurately represent the position of the ventricular septal defect 20, it is necessary
  • the thickness of the left ventricle marking area 8 and the right ventricle marking area 9 is made as small as possible, usually set to a thickness capable of expressing the color of the marking area, for example, it can be set to 0.5mm-3mm, or 1mm-2mm.
  • the myocardium may not include the left ventricle marking area 8 and the right ventricle marking area 9, and in this case, it may only be in the left
  • the outside of one of the atria 2 and the right atrium 3 forms a marked area, and the color of the marked area is different from the color of the rest of the myocardium, for example, a left atrium marked area 6 is formed, and the color of the left atrium marked area 6 is the same as The colors of the rest of the myocardium are different, so that the left atrium 2 and right atrium 3 can still be visually recognized.
  • the left atrium marking area 6 and the right atrium marking area 7 can also be formed on the outside of the left atrium 2 and right atrium 3, respectively. , And make the color of the left atrium marking area 6 and the right atrium marking area 7 different and different from the colors of the rest of the myocardium; or in the case where only the left ventricle 4 and the right ventricle 5 need to be distinguished, the heart model
  • the left atrium marking area 6 and the right atrium marking area 7 may not be included, and, in this case, the marking area may be formed only outside one of the left ventricle 4 and the right ventricle 5, and the color of the marking area is different
  • the left ventricle marking area 8 is formed.
  • the color of the left ventricle marking area 8 is different from the color of the rest of the myocardium, so that the left ventricle 4 and the right ventricle 5 can still be visually recognized.
  • the color of the remaining area of the myocardium alternatively, a marking area may be formed on the outside of one of the left atrium 2 and the right atrium 3, and a marking area may be formed on the outside of one of the left ventricle 4 and the right ventricle 5, the two marking areas
  • the color of is different from the color of the rest of the myocardium, and the colors of the two marked areas can be the same or different, so that the left atrium 2, right atrium 3, left ventricle 4, and right ventricle can be distinguished intuitively. 5; How to set the marking area and how to set the color of the marking area is not limited in this application, as long as the purpose of visually identifying the relevant heart cavity can be achieved.
  • the left atrium marked area, the right atrium marked area, and the left ventricle are formed in the three-dimensional digital model of the myocardium. Mark the marked area and the right ventricle marked area, and make these marked areas appear in the printed heart model, so that the state of the various heart chambers in the heart can be well presented, which is easy to identify, and is also conducive to the diagnosis and treatment of specific types of congenitals.
  • the key information of the heart is obtained and used.
  • an embodiment of the present application also provides a three-dimensional printing device for a medical model, including: a processor and a memory, the memory is used to store at least one instruction, and the instruction is loaded and executed by the processor to achieve The above-mentioned second aspect of the printing method of the medical model.

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Abstract

一种医疗模型及其打印方法、打印系统、打印设备，其中，打印方法包括：获取待打印的医疗模型的三维数字模型；在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域；根据所述标记信息设置所述三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域；基于设置有打印属性的三维数字模型及预设的打印材料进行打印，得到医疗模型。该医疗模型，能够直观地显示各个区域，从而有利于更好地规划手术路径，提高手术成功率，降低手术风险。

Description

医疗模型及其打印方法、打印系统、打印设备
本申请要求三件提交中国专利局的中国专利的优先权，分别为：申请日为2019年10月22日、申请号为201911008443.4、发明名称为“三维器官模型、三维器官模型的打印方法、打印装置及打印设备”的中国专利；申请日为2020年01月21日、申请号为202010070037.7、发明名称为“心脏模型、心脏模型的三维打印方法及系统”的中国专利以及申请日为2020年02月18日、申请号为202010100858.0、发明名称为“手术训练模型及其打印方法、打印系统”的中国专利，上述三件中国专利其全部内容通过引用结合在本申请中。
技术领域
本申请涉及3D物体成型技术领域，尤其涉及医疗模型及其打印方法、打印系统、打印设备。
背景技术
随着科学技术的发展，人类在医学上取得了很多进步，但在临床医学中，仍有部位疾病存在手术成功率低、风险大的问题。目前，三维打印技术在精准医疗方面具有显著的应用，其可根据患者的医学影像资料快速制造出与患者器官完全一致的三维打印模型，便于医生在术前从多维度真实预见术中情形，规划手术路径并预演手术，极大地降低了手术的风险。
通常，医生会在手术前估算需要切除的部位的体积、重量、大小，起点和末点等位置信息，但是，现有的三维打印模型上不能直观地显示需要切除的部位的位置信息，外科医生在模型上模拟手术时，因无参考标准或者客观的参考物，所以无法对手术中的切除部位、方向、深度等准确把握；或者在一些手术规划和病情研究、诊断中，需要对单个器官进行分段或区域划分等，然而，现有的医疗模型不能直观、清晰地显示出这些信息。
申请内容
本申请实施例提供一种医疗模型及其打印方法、打印系统、打印设备，能够直观、清晰地地显示手术模拟或者手术规划、病情研究和诊断中所需要的信息，从而有利于更好地规划手术路径，提高手术成功率，降低手术风险。
第一方面，本申请实施例提供一种医疗模型的打印方法，所述方法包括：
获取待打印的医疗模型的三维数字模型；在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域；根据所述标记信息设置所述三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域；基于设置有打印属性的三维数字模型及预设的打印材料进行打印，得到医疗模型。
第二方面，本申请实施例还提供一种医疗模型的打印系统，所述打印系统包括数据处理装置及打印装置；
所述数据处理装置包括数据获取模块、信息添加模块及属性定义模块；
所述数据获取模块，用于获取待打印的医疗模型的三维数字模型；
所述信息添加模块，用于在所述三维数字模型中添加标记信息，并将所述医疗模型的三 维数字模型分割为多个区域；
所述属性定义模块，用于根据所述标记信息设置所述三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域；
所述打印装置，用于基于设置有打印属性的三维数字模型及预设的打印材料进行打印，得到医疗模型。
第三方面，本申请实施例还提供一种基于三维打印的医疗模型，所述医疗模型包括至少一个器官模型，所述至少一个器官模型包括多个区域，所述多个区域中至少部分相邻区域之间具有至少一个属性突变区域。
第四方面，本申请实施例还提供一种医疗模型的三维打印设备，包括：处理器和存储器，所述存储器用于存储至少一条指令，所述指令由所述处理器加载并执行时以实现上述的医疗模型的打印方法。
本申请实施例提供的医疗模型及其打印方法、打印系统、打印设备，通过将所述医疗模型的三维数字模型分割为多个区域，且使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域，进而实现直观、准确地辨认出各个区域，不仅能够便于医患之间的交流和沟通，还能够便于医生掌握和研究病情，从而能够帮助医生更好地规划手术路径以降低手术风险，进一步实现精准医疗的目的。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本申请实施例提供的医疗模型的打印系统的示意图；
图2为本申请实施例提供的医疗模型的数据处理装置的结构示意图；
图3是本申请实施例提供的医疗模型的打印装置的结构示意图；
图4为本申请实施例提供的医疗模型的打印方法的流程示意图；
图5a为本申请实施例提供的心脏模型的第一模型示意图；
图5b为本申请实施例提供的心脏模型的第二模型示意图；
图5c为本申请实施例提供的心脏模型的第三模型示意图；
图5d为本申请实施例提供的心脏模型的第四模型示意图；
图6a为本申请实施例提供的一种心脏模型的剖视图；
图6b为本申请实施例提供的另一种心脏模型的剖视图；
图7a为本申请实施例提供的肥厚型心脏病医疗模型的结构示意图；
图7b为本申请实施例提供的肥厚型心脏病医疗模型的剖视图；
图8a为本申请实施例提供的肥厚型心脏病医疗模型的拟切除部位的结构示意图；
图8b为本申请实施例提供的肥厚型心脏病医疗模型的拟切除部位的剖视图；
图9a为本申请实施例提供的肥厚型心脏病医疗模型的一种网格单元的结构示意图；
图9b为本申请实施例提供的肥厚型心脏病医疗模型的另一种网格单元的结构示意图；
图9c为本申请实施例提供的肥厚型心脏病医疗模型的另一种网格单元的结构示意图；
图10为本申请实施例所提供的组织器官部分的结构示意图；
图11为本申请实施例所提供的肺器官组织的结构示意图；
图12为本申请实施例所提供的肺器官组织的一部分的结构示意图；
图13为本申请实施例所提供的动脉夹层的结构示意图；
图14为图13的放大图；
图15为本申请实施例所提供的动脉夹层的截面示意图；
图16为本申请实施例所提供的三维模型分割的结构示意图；
图17为本申请实施例所提供的另一种三维模型分割的结构示意图；
图18为本申请实施例所提供的又一种三维模型分割的结构示意图。
具体实施例
为了更好的理解本申请的技术方案，下面结合附图对本申请实施例进行详细描述。
应当明确，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其它实施例，都属于本申请保护的范围。
在本申请实施例中使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本申请。在本申请实施例和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其它含义。
应当理解，本文中使用的术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
第一方面，请参阅附图1，图1为本申请实施例提供的一种医疗模型的打印系统的示意图，打印系统包括数据处理装置10及打印装置20。
数据处理装置10，用于获取待打印的医疗模型的医学影像数据，并基于医学影像数据生成三维数字模型；
打印装置20，用于基于预设的打印材料及设置有打印属性的三维数字模型进行打印，得到医疗模型。
在本实施例中，医疗模型是指动物身体的一部分，包括系统、器官、组织、细胞或上述任一项的周围环境，例如：心脏和与其相关的血管、胃肠道、心血管系统、泌尿系统、呼吸道等以及与病理相关结构，如肿瘤细胞或组织，其中，动物可以人类，也可以是哺乳动物等。
可以理解地，医生在进行手术前，往往需要大量的实操训练才能提高手术的成功率。而目前常常采用尸体标本进行训练，但其资源匮乏，价格成本高，因此需要制作医疗模型以供医生在手术前进行手术实操训练，提高手术的成功率，降低手术风险。
图2为本申请实施例提供的一种医疗模型的数据处理装置的结构示意图，如图2所示，数据处理装置10包括数据获取模块11、信息添加模块12、属性定义模块13、打印数据生成模块14，在一些其他的实施例中，打印数据生成模块14也可以不包括在数据处理装置10中，而是包括在打印装置20中，即打印装置20的打印数据生成模块可以从数据处理装置10中获取经属性定义模块13定义了打印属性的三维数字模型，基于获取的三维数字模型生成打印数据后执行三维打印获得所述医疗模型。
数据获取模块11，用于获取待打印的医疗模型的三维数字模型。
具体地，数据获取模块11包括获取单元及建模单元。获取单元，用于获取待打印的医疗模型的医学影像数据。其中，医学影像数据可以是从数据采集装置处接收的数据，示例性地，数据采集装置包括但不限于计算机断层扫描(CT)系统、核磁共振成像(MRI)系统、正电子发射断层扫描(PET)系统、二维或三维荧光成像系统、二维、三维或四维超声成像系统。
建模单元，用于根据医学影像数据进行三维建模，得到医疗模型的三维数字模型。三维数字模型可以包括组织部分、器官部分、血管部分和病灶部分中的至少一个。
具体地，建模单元包括提取子单元、建模子单元及融合子单元。
提取子单元，用于从医学影像数据中提取医疗模型的各个组织和/或器官和/或血管和/或病灶部分；
建模子单元，用于基于提取的相应数据建立组织三维数字模型、器官三维数字模型、血管三维数字模型、病灶三维数字模型中的至少一个；
融合子单元，用于将组织三维数字模型和/或器官三维数字模型和/或血管三维数字模型和/或病灶三维数字模型进行融合，得到医疗模型的三维数字模型。示例性地，以心脏模型中的心肌三维数字模型为例，可以先从心脏的医学影像数据中提取其他心脏区域的外轮廓数据，分别建立左心房数字模型、右心房数字模型、左心室数字模型以及右心室数字模型；从所述医学影像数据中提取心脏的心肌的外轮廓数据，建立心肌实体模型；对所述左心房数字模型和右心房数字模型进行镂空处理，获得心房肌三维数字模型；根据右心室数字模型、左心室数字模型以及所述心肌实体模型，获得心室肌三维数字模型；对所述心房肌三维数字模型和心室肌三维数字模型进行融合处理，获得心肌三维数字模型。
信息添加模块12，用于在三维数字模型中添加标记信息，在一些具体实施方式中，标记信息可以是拟切除部位和/或拟保留部位的位置信息，或者标记信息还可以是器官分段信息，或者，标记信息还可以是标记区域和/或非标记区域的位置信息、剖切面等。进一步地，标记信息还可以包括病患信息，如患者的性别、年龄等信息。在此不做限定。可以理解地，添加的标记信息能够有利于医生进行手术规划和模拟手术环境。
具体的，在一种实施例中，所述信息添加模块12，可以用于基于医学上的分段方法确定所述医疗模型的器官分段信息，将所述器官分段信息作为所述标记信息；在所述三维数字模型中添加所述器官分段信息。
所述信息添加模块12，还用于基于所述器官分段信息确定分割面，并基于所述分割面将所述医疗模型的三维数字模型分割为多个区域。
所述信息添加模块12，还用于基于所述分割面创建隔板，并将所述隔板与所述医疗模型的三维数字模型融合；其中，至少部分相邻区域之间设置有所述隔板，所述隔板两侧的区域的打印属性与所述隔板的打印属性不同。
所述信息添加模块12，还用于将至少一个所述区域分割为外壳部分和内部部分；其中，所述外壳部分的打印属性至少与相邻区域的边界部分的打印属性不同。
具体的，在另一种实施例中，所述标记信息包括拟切除部位和/或拟保留部位的位置信息，所述信息添加模块12，还可以用于基于所述拟切除部位和/或拟保留部位的位置信息将所述医疗模型的三维数字模型分割为拟切除部位和拟保留部位。
具体的，在又一种实施例中，所述医疗模型包括心脏模型，所述心脏模型的三维数字模型包括心肌三维数字模型及其他心脏区域的三维数字模型；所述心肌三维数字模型内部形成 有左心房、右心房、左心室及右心室的空腔；所述其他心脏区域的三维数字模型包括左心房数字模型、右心房数字模型、左心室数字模型以及右心室数字模型；
所述信息添加模块12，还可以用于根据所述其他心脏区域的三维数字模型的外轮廓在所述心肌三维数字模型中的位置信息，对所述心肌三维数字模型进行标记，将所述心肌三维数字模型分割为左心房标记区域、右心房标记区域、左心室标记区域、右心室标记区域及非标记区域中的至少两个区域。
可以理解地，上述各种标记信息都是为了使得医疗模型能够被分割成多个区域，便于医生准确判断病灶部分所处的位置，从而更好地规划手术路径以降低手术风险，进一步实现精准医疗的目的。
具体地，信息添加模块12包括分割单元及信息添加单元。
分割单元，用于基于标记信息将所述医疗模型的三维数字模型分割为多个区域。例如，可以分割得到相对独立的不同区域，再对不同区域分别设置打印属性即可在至少部分相邻区域之间形成至少一个属性突变区域。
在一种具体的实现过程中，分割单元可以用于基于器官分段信息确定分割面，并基于所述分割面将所述医疗模型的三维数字模型分割为多个区域；
在另一种具体的实现过程中，分割单元可以用于基于拟切除部位和/或拟保留部位的位置信息从三维数字模型中将拟切除部位分割出来。
在又一种具体的实现过程中，以心脏模型为例，所述信息添加模块12用于：
获得所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓；
并对所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓进行扩展处理；
根据扩展处理的结果在所述心肌三维数字模型中标出左心室标记区域，和/或，右心室标记区域；
和/或，
获得所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓；
并对所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓进行镂空处理；
根据镂空处理的结果在所述心肌三维数字模型中标出左心房标记区域，和/或，右心房标记区域。
其中，左心房标记区域、右心房标记区域、左室标记区域、右心室标记区域分别对应包裹在所述左心房数字模型、右心房数字模型、左心室数字模型、右心室数字模型所在的区域的外侧。
信息添加单元，用于将预设的指示性信息添加到三维数字模型中；以便于医生在模拟手术过程中，了解患者的情况。
进一步地，所述信息添加模块12还用于：
确定所述心脏模型的三维数字模型的剖切面，其中，所述剖切面为同时贯穿所述左心房、右心房、左心室及右心室内部的平面，以使得打印装置按照所述剖切面对所述三维数字模型进行打印，得到心脏模型。进一步地，当三维数字模型内部包括病灶部分时，所述剖切面还通过病灶部分，具体的，所述病灶部分可以是室间隔缺损。
属性定义模块13，用于根据标记信息设置三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域。
可以理解地，是指为三维数字模型的不同区域设置不同的打印属性，从而使得三维数字模型的至少部分相邻区域之间具有至少一个属性突变区域，例如可以设置心脏模型的三维数字模型中的标记区域及非标记区域的打印属性，所述标记区域及所述非标记区域采用不同的标识颜色，使得相邻的不同标记区域之间形成至少一个属性突变区域；或者，可以设置拟切除部位和拟保留部位的打印属性，所述拟切除部位和拟保留部位采用不同的标识颜色或不同的软硬度等，使得拟切除部位和拟保留部位之间形成属性突变区域；这样，能够方便医生在模拟手术的过程中或者进行术前手术规划的过程中快速识别不同区域，从而提高手术处理的精准度或者便于医生进行手术规划。其中，“切除”是指通过手术刀或手术钻头等手术器械通过切割、开孔等方式去除部分组织的方式。
在一种实施方式中，打印属性至少包括颜色。例如，可以将拟切除部位设置为第一颜色、将拟保留部位设置为第二颜色，或者可以将拟切除部位的外表面向内一定厚度的部分设置为第一颜色，拟切除部位的其他部分则设置为透明。并且，当拟切除部位位于拟保留部位的内部时，为了能够从外部观察到拟切除部位，拟保留部位呈透明状。
在打印过程中，不同部位的颜色可以是通过同一种颜色的材料打印获得，也可以是通过不同颜色的材料以预设比例混合打印获得。以预设比例混合打印是指按预设比例分别打印不同颜色的材料到特定区域混合形成该区域；具体可以是，在特定区域内，单个体素由一种颜色的材料形成，不同颜色的体素以预设比例混合，也可以是，在特定区域内，单个体素由多种不同颜色的材料以预设比例混合形成，本申请对各区域的颜色的具体形成方式不作具体限制，只要能够使得拟切除部位和拟保留部位至少在接触的部位具有不同的颜色即可。
进一步地，打印属性还可以包括拉伸强度、抗撕裂强度或邵氏硬度等，例如，拟切除部位和拟保留部位可以具有相同或不同的拉伸强度，或者具有相同或不同的抗撕裂程度、或者具有相同或不同的邵氏硬度等。
打印数据生成模块14，用于根据设置打印属性后的三维数字模型生成打印数据。
打印数据生成模块14包括预处理单元及生成单元。
预处理单元，用于将设置打印属性后的三维数字模型进行切片处理，并对每个切片层图像数据进行半色调处理，得到处理后的多个切片层图像数据；生成单元，用于基于多个切片层图像数据生成打印数据。
可以理解地，半色调是指色调值是用网点大小或疏密来表现的画面阶调，从而保证打印过程中色彩的过渡平滑性。
图3是本申请实施例提供的一种医疗模型的打印装置的结构示意图，如图3所示，打印装置，用于基于设置有打印属性的三维数字模型及预设的打印材料进行打印，得到医疗模型。具体地，打印装置20包括喷射机构21、打印平台22、校平机构23、固化机构24、移动机构和控制器。在本实施例中，打印装置20为喷射式三维打印机。
喷射机构21，用于将预设的打印材料喷射至打印平台22上，以形成材料层。在一种实施方式中，喷射机构21用于至少喷射第一材料和第二材料，第一材料和第二材料的打印属性不同，打印属性包括颜色、拉伸强度、抗撕裂强度和邵氏硬度中的至少一种。例如第一材料和第二材料的颜色不同。喷射机构还可以根据实际需要喷射更多种不同颜色的材料，例如，一般的彩色打印装置通常会配置由C(天蓝色)、M(洋红色)、Y(黄色)三种颜色的彩色材料，有时还会配置有透明材料、白色材料或黑色材料等，本申请对此不作限制。
校平机构23，用于对未固化处理的材料层进行校平，以保证材料层的尺寸精度。
固化机构24，用于对材料层进行固化处理，以形成定型层。在一种实施方式中，固化机构24为光固化机构，具体地，光固化机构可以是紫外光固化机构，则第一材料和第二材料均为光固化材料。其中，紫外光固化技术是指在特殊配方的体系(称为光固化体系)中加入光引发剂，经过吸收紫外光固化机构中产生的高强度紫外光后，产生活性自由基或阳离子，从而引发聚合、交联和接枝反应，使第一材料和第二材料在一定时间内由液态转化为固态的技术。
移动机构，用于移动喷射机构21和/或打印平台22，以使得喷射机构能够将打印材料喷射至打印平台22上。
控制器，用于控制喷射机构、打印平台、校平机构及移动机构。
具体地，在打印过程中，控制器基于打印数据控制移动机构在水平方向上移动喷射机构21和/或打印平台22，并控制喷射机构21喷射打印材料到打印平台22上形成材料层，并控制校平机构23对还未固化的材料层进行校平，以保证材料层的的尺寸精度，控制固化机构24对材料层进行固化以形成定型层。控制器控制移动机构在竖直方向上移动，并控制所述喷射机构21和/或打印平台22重复上述步骤以形成多个层层叠加的定型层直至打印完成，得到医疗模型。
可以理解地，医疗模型的形状一般是不规则的，可能会存在需要支撑的结构，例如悬臂结构。因此，喷射机构21还用于喷射用于形成支撑结构的支撑材料，支撑结构用于在打印过程中给医疗模型提供支撑，支撑结构在模型打印完成后被去除以获得最终的医疗模型。
可选的，医疗模型包括心脏模型，其中，心脏三维数字模型中包括有非标记区域；所述打印装置20，还用于：根据打印数据，采用不同的标识颜色对所述心脏三维数字模型中的标记区域和非标记区域进行打印。
可选的，所述打印装置20，还用于：根据打印数据，采用不同的标识颜色对所述心脏三维数字模型的其他心脏区域的标记区域中所包括的不同标记区域进行打印；其中，所述其他心脏区域的标记区域包括左心房标记区域、右心房标记区域、左心室标记区域、右心室标记区域中的至少一个标记区域。
在一种实施方式中，所述打印装置20，还用于：对所述左心房标记区域和左心室标记区域采用相同颜色或相同色系的标识颜色进行打印；和/或，对所述右心房标记区域和右心室标记区域采用相同颜色或相同色系的标识颜色进行打印。
可选的，所述医疗模型包括拟切除部位和拟保留部位；所述打印装置20，还用于：根据打印数据，采用不同的颜色的打印材料对拟切除部位和拟保留部位进行打印。
可选的，医疗模型包括组织器官部分、血管部分和病灶部分中的至少一个；所述打印装置20，还用于：根据打印数据，对所述组织器官部分、所述血管部分和所述病灶部分中的至少一个进行打印，所述组织器官部分和/或血管部分的属性与所述病灶部分的属性不同，例如，具有不同的颜色，不同的软硬度，或不同的透明度等等。
第二方面，图4为本申请实施例提供的医疗模型的打印方法的流程示意图，如图4所示，方法包括：
步骤S10，获取待打印的医疗模型的三维数字模型；
步骤S20，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域；
步骤S30，根据所述标记信息设置所述三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域；
步骤S40，基于设置有打印属性的三维数字模型及预设的打印材料进行打印，得到医疗模型。
在本方案中，通过为三维数字模型的不同区域设置不同的打印属性，从而使得三维数字模型的至少部分相邻区域之间具有至少一个属性突变区域，方便医生在模拟手术过程中快速识别不同的区域或部位，从而能够更加准确地把握切除位置、方向及深度，有利于根据切除分布的实际位置规划手术路径，以及基于模拟手术的结果来调整实际手术过程中的切除位置、方向、深度；并且，在一些手术规划和病情研究、诊断中，也能直观、清晰的分辨单个器官的不同区域；从而能够提高手术成功率，降低手术的风险，有利于精准医疗的实现。
具体地，步骤S10包括：
步骤S101，获取待打印的医疗模型的医学影像数据；
步骤S102，根据医学影像数据进行三维建模，得到医疗模型的三维数字模型。
具体地，可以从医学影像数据中提取医疗模型的各个组织和/或器官和/或血管，然后将提取出来的多个组织和/或器官和/或血管进行融合，得到医疗模型的三维数字模型。此处需要说明的是，在进行三维建模时，可以根据实际需求进行建模，具体的，当用于医学教学时，医疗模型中可以没有病灶部分，即在进行三维建模时不进行病灶部分的建模，当基于手术分析进行三维建模时，可以提取病灶部分并进一步对病灶部分进行建模，将病灶部分结合到打印的医疗模型中，不仅能够便于医患之间的交流和沟通，还能够便于医生准确判断病灶部分所处的位置，从而更好地规划手术路径以降低手术风险，进一步实现精准医疗的目的。在实际处理过程中，组织、器官、血管与病灶部分可以根据实际需求进行选择建模，即可以同时包括组织、器官和血管，也可以单独进行组织或器官的建模，还可以单独进行血管的建模，当然，也可以包括组织、器官和血管中的任意两个。
进一步地，步骤S10具体可以包括：
基于组织器官部分的医学影像数据建立组织器官三维模型；
基于血管部分的医学影像数据建立血管三维模型；和/或
基于病灶部分的医学影像数据建立病灶三维模型；及
融合组织器官三维模型、血管三维模型和/或病灶三维模型以获得医疗模型的三维数字模型。
可以理解地，由于血管部分和病灶部分的至少一部分位于组织器官部分的内部，因此，组织器官部分的内部存在与血管部分和病灶部分匹配的多个空腔，基于医学影像数据来准确构建包括多个空腔的医疗模型是很复杂的，为了简化构建医疗模型的步骤，本实施例医疗模型的构建可以仅基于医学影像数据中组织器官部分的外轮廓来建立不包括空腔的组织器官部分的初始三维模型。
医疗模型的融合包括基于血管部分和病灶部分在组织器官部分中的位置和大小，从组织器官部分的初始三维模型中将血管部分和病灶部分占据的区域剪切掉，从而获得具有与血管部分和病灶部分匹配空腔的组织器官部分的实际三维数字模型，组织器官部分的实际三维数 字模型、血管部分的三维数字模型和病灶部分的三维数字模型融合形成为医疗模型的三维数字模型。
此处需要说明的是，将医疗模型用于教学时，医疗模型可以不包括病灶部分，即可以根据实际需求，获得医疗模型的过程中，可以单独获取组织器官部分的三维数字模型，也可以单独获取血管部分的三维数字模型，还可以获取组织器官部分的三维数字模型和血管部分的三维数字模型。
如图5a～5d所示，以心脏的三维数字模型为例，根据所述医学影像数据进行三维建模，获得心脏的心肌三维数字模型1a、以及其他心脏区域的三维数字模型，所述其他心脏部分的三维数字模型包括：左心房数字模型2a、右心房数字模型3a、左心室数字模型4a和右心室数字模型5a。
具体地，以心脏的三维数字模型为例，步骤S10包括：
获取心脏模型的医学影像数据；
基于心肌的外轮廓建立心肌三维实体模型；
基于左心房、左心室、右心房、右心室的外轮廓分别建立左心房数字模型2a、右心房数字模型3a、左心室数字模型4a和右心室数字模型5a；
通过布尔运算将左心房数字模型2a、右心房数字模型3a、左心室数字模型4a、右心室数字模型5a从心肌三维实体模型中减去，从而在心肌三维实体模型内部形成有左心房、左心室、右心房以及右心室的空腔，得到心肌三维数字模型1a。
进一步地，步骤S10还可以包括：
基于血管的外轮廓建立血管的实体模型；
并对血管的实体模型执行镂空处理以在血管内部形成血管空腔，获得血管三维数字模型。
进一步地，步骤S10还可以包括：
融合心肌三维数字模型1a和血管三维数字模型获得心脏的三维数字模型。
其中，心肌三维数字模型1a包括心房肌和心室肌，需要注意的是，如图5a～5b所示，由于心房肌很薄，基于普通的CT数据、MRI数据或超声数据难以将心房肌从左心房数字模型2a、右心房数字模型3a中分割出来，因此，基于心脏的医学影像数据重建的左心房数字模型2a、右心房数字模型3a中包括有心房肌，从医学影像数据中提取出来的心肌三维数字模型则不包括心房肌，因此，需要在所述左心房数字模型2a、右心房数字模型3a的内部进行镂空获得具有左心房2空腔和右心房3空腔的心房肌三维数字模型，从所述心肌三维数字模型1a中减去所述左心室数字模型4a、右心室数字模型5a以获得具有左心室4空腔和右心室5空腔的所述心室肌三维数字模型，融合所述心房肌三维数字模型、心室肌三维数字模型、血管三维数字模型以获得心脏模型的三维数字模型。
其中，所述“在内部进行镂空”是指在沿模型表面向内一定厚度的位置将模型分割为外壳部分和内核部分，并将内核部分去除，因此，通过在左心房数字模型2a和右心房数字模型3a的内部进行镂空获得的心房肌三维数字模型是封闭的层状结构，即在心房肌三维数字模型和心室肌三维数字模型融合后，心房空腔和心室空腔之间被所述心房肌三维数字模型的一部分隔断，不符合心脏的心房和心室连通的结构，因此，需要在所述心房肌三维数字模型和心室肌三维数字模型融合后将隔断所述心房空腔和心室空腔的心房肌数字模型的部分擦除。
在一种实施方式中，标记信息包括拟切除部位和/或拟保留部位的位置信息。进一步地， 标记信息还可以包括病患信息，如患者的性别、年龄等信息。在此不做限定。可以理解地，添加的标记信息能够有利于医生模拟手术环境。
步骤S20，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域，包括：
步骤S201，基于拟切除部位和/或拟保留部位的位置信息将所述医疗模型的三维数字模型分割为拟切除部位和拟保留部位。可以理解地，分割出来的拟切除部位与拟保留部位相对独立，可以对拟切除部位与拟保留部位分别设置打印属性。
在另一种实施方式中，标记信息可以是基于医学上的分段方法确定的器官分段信息。
步骤S20，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域，包括：
步骤S201’，基于所述器官分段信息确定分割面，并将所述分割面作为所述标记信息；
步骤S202’，基于所述分割面将所述医疗模型的三维数字模型分割为多个区域。
进一步的，步骤S20，还可以包括：
步骤S203’，基于所述分割面创建隔板，并将所述隔板与所述医疗模型的三维数字模型融合；其中，至少部分相邻区域之间设置有所述隔板，所述隔板两侧的区域的打印属性与所述隔板的打印属性不同。以肝器官组织为例，肝器官组织的8个分段中的任意两个分段之间通过隔板隔开，即肝器官组织包括多个隔板，其中，多个隔板可以是相互连接的，也可以是相互独立的，并且，多个隔板可以由相同属性的材料形成，也可以由不同属性的材料形成，多个隔板的厚度可以是相同的，也可以是不同的，只需保证任意两个相邻分段之间具有至少一个属性突变区域即可。
进一步的，步骤S20，还可以包括：
步骤S203”，将至少一个所述区域分割为外壳部分和内部部分；其中，所述外壳部分的打印属性至少与相邻区域的边界部分的打印属性不同。可以理解地，可以基于分割面分割得到的多个区域中的任意一个区域分割为外壳部分和内部部分。需要说明的是，分割为外壳部分和内部部分后，外壳部分包裹在内部部分的外侧，不需要创建隔板。
又一种实施方式中，医疗模型包括心脏模型，步骤S20，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域，包括：
根据其他心脏区域的数字模型的外轮廓在所述心肌三维数字模型中的位置，对所述心肌三维数字模型进行标记，将所述心肌三维数字模型分割为左心房标记区域、右心房标记区域、左心室标记区域、右心室标记区域及非标记区域中的至少两个区域；其中，心肌三维数字模型中的左心房标记区域、右心房标记区域、左室标记区域、右心室标记区域分别对应包裹在所述左心房、右心房、左心室、右心室所在的区域的外侧。从而在后续打印时，可以采用不同的标识颜色对心脏模型的各个区域进行打印。
在步骤S30中，根据所述标记信息设置所述三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域。
示例性地，可以根据拟切除部位和/或拟保留部位的位置信息设置三维数字模型的打印属性，使得拟切除部位与拟保留部位至少在接触部位具有不同的颜色；或者，可以设置心脏模型的三维数字模型中的标记区域和/或非标记区域的打印属性，使得至少两个相邻的标记区域之间形成至少一个属性突变区域。
为能够直观、准确地辨认出组织、器官、血管的各个区域，为三维数字模型的不同区域定义不同的打印属性，即使得医疗模型的不同区域由不同的属性材料形成。
打印属性可以包括颜色、透明度、强度和硬度中的一种或多种。例如，可以将拟切除部位设置为第一颜色、将拟保留部位设置为第二颜色，或者还可以进一步将拟切除部位的外表面向内一定厚度的部分设置为第一颜色，拟切除部位的其他部分则设置为透明。并且，当拟切除部位位于拟保留部位的内部时，为了能够从外部观察到拟切除部位，拟保留部位呈透明状。更为具体的，在定义打印属性的过程中，可以分别使用不同颜色或者透明度来表示不同的材料属性，也可以是颜色和透明度共同表示不同的材料属性，以便于三维模型的打印属性的定义。
在一种实施例中，打印属性至少包括颜色，在打印过程中，不同部位的颜色可以是通过同一种颜色的材料打印获得，也可以是通过不同颜色的材料以预设比例混合打印获得。以预设比例混合打印是指按预设比例分别打印不同颜色的材料到特定区域混合形成该区域。具体可以是，在特定区域内，单个体素由一种颜色的材料形成，不同颜色的体素以预设比例混合，也可以是，在特定区域内，单个体素由多种不同颜色的材料以预设比例混合形成，本申请对各区域的颜色的具体形成方式不作具体限制，只要能够使得相邻区域之间具有颜色突变区域即可。
在其他实施例中，还可以以其他的方式对三维数字模型设置打印属性。具体地，用户可以根据实际需求和打印装置的材料配置进行设置，本申请对此不作限制。
在另一种实施例中，打印属性还可以包括拉伸强度、抗撕裂强度或邵氏硬度等，例如，拟切除部位和拟保留部位可以具有相同或不同的拉伸强度，或者具有相同或不同的抗撕裂程度、或者具有相同或不同的邵氏硬度等。具体的，用户可以通过硬度的设置来通过使用硬度不同的材料进行打印来获得具有不同硬度的医疗模型或者具有不同硬度区域的医疗模型，硬度的设置可以是基于整个医疗模型设置，即医疗模型整体的硬度一致，也可以是基于医疗模型中的任意一个单独的区域进行设定，即医疗模型中各个区域可能具有不同的硬度，通过硬度的调整能够获得和真实器官手感更接近的医疗模型。
具体地，步骤S40包括：
步骤S401，将设置打印属性后的三维数字模型进行切片处理，并对每个切片层图像数据进行半色调处理，得到处理后的多个切片层图像数据；
步骤S402，基于多个切片层图像数据生成打印数据。
可以理解地，半色调是指色调值是用网点大小或疏密来表现的画面阶调，从而保证打印过程中色彩的过渡平滑性。
本实施例提供一种医疗模型的打印方法，该医疗模型的打印方法通过将所述医疗模型的三维数字模型分割为多个区域，且所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域，进而实现直观、准确地辨认出各个区域。不仅能够便于医患之间的交流和沟通，还能够便于医生准确判断各个区域所处的位置，从而更好地规划手术路径以降低手术风险，进一步实现精准医疗的目的。
第三方面，本申请实施例提供一种基于三维打印的医疗模型，所述医疗模型包括至少一个器官模型，所述至少一个器官模型包括多个区域，所述多个区域中至少部分相邻区域之间 具有至少一个属性突变区域。
以下基于具体实施例1肥厚型心脏病的医疗模型对本方案进行详细的阐述。肥厚型心脏病的医疗模型是基于上述第二方面的打印方法打印的肥厚型心脏病的医疗模型：
图7a为本申请实施例提供的一种肥厚型心脏病医疗模型的结构示意图，图7b为本申请实施例提供的一种肥厚型心脏病医疗模型的剖视图。如图7a～7b所示，肥厚型心脏病医疗模型包括拟切除部位100和拟保留部位200，其中，拟切除部位100的颜色和拟保留部位200的颜色不同，即拟切除部位100和拟保留部位200之间具有属性突变区域。
具体的，用于打印本实施例1中的医疗模型的打印材料包括第一材料及第二材料，第一材料与第二材料的颜色不同。本实施例中，第一材料至少用于打印拟切除部位100，第二材料至少用于打印拟保留部位200。本实施例中，由于拟切除部位100位于拟保留部位200的内部，为了便于医生从外部观察到拟切除部位100和拟保留部位200的位置关系，第二材料为透明材料，即拟保留部位200呈透明状。
例如，可以将拟切除部位100设置为第一颜色、将拟保留部位200设置为第二颜色，或者还可以进一步将拟切除部位100的外表面向内一定厚度的部分设置为第一颜色，拟切除部位100的其他部分则设置为透明。
具体地，透明材料为透光率大于10％的材料，优选为透光率大于40％的材料，更优选为透光率大于80％的材料。透明材料可以是彩色透明材料也可以是无色透明材料。
在打印过程中，不同部位的颜色可以是通过同一种颜色的材料打印获得，也可以是通过不同颜色的材料以预设比例混合打印获得。以预设比例混合打印是指按预设比例分别打印不同颜色的材料到特定区域混合形成该区域。具体可以是，在特定区域内，单个体素由一种颜色的材料形成，不同颜色的体素以预设比例混合，也可以是，在特定区域内，单个体素由多种不同颜色的材料以预设比例混合形成，本申请对各区域的颜色的具体形成方式不作具体限制，只要能够使得拟切除部位100和拟保留部位200至少在接触的部位具有不同的颜色即可。
进一步地，在实际打印过程中，第一材料和/或第二材料的可切割性能会随着打印厚度的变化而变化，即打印的物体越厚，切割难度越大，从而导致难以合理地控制不同的拟切除部位100的可切割性能。并且，对于医疗模型而言，拟切除部位100的大小、位置是因人而异的，从而导致对不同医疗模型的拟切除部位100的可切割性能的控制难度进一步加大，为了方便在医疗模型上进行切割来模拟真实的手术场景，拟切除部位100需要具有易切割性能。
图8a为本申请实施例提供的一种肥厚型心脏病医疗模型的拟切除部位的结构示意图。如图8a所示，在本实施例中，拟切除部位100包括外壳部分110及位于外壳部分110内侧的内部部分120。
具体地，打印材料还包括第三材料，第三材料的材料强度小于第一材料、第二材料的材料强度。进一步地，第三材料的抗撕裂强度小于第一材料、第二材料的抗撕裂强度。
在本实施例中，第一材料用于打印拟切除部位的外壳部分110，第三材料用于打印拟切除部位的内部部分120。
在一种实施方式中，通过控制由第一材料形成的材料层的厚度来控制外壳部分110的厚度为0.5～5mm，从而避免拟切除部位100的厚度较大而难以切割，保证其可切割性能。
其中，外壳部分110的厚度和第一材料的参数性能相关，例如，当第一材料的拉伸强度 为1.0MPa，或者当第一材料固化时的邵氏硬度为20A，或者当第一材料的抗撕裂强度为2.5Kg/cm时，外壳部分110的厚度可以设置为4mm。
图8b为本申请实施例提供的一种肥厚型心脏病医疗模型的拟切除部位的剖视图，如图8b所示，为了能够使得医疗模型的可切割性能更加接近真实人体组织的可切割性能，内部部分120包括相互连接的多个网格单元，即在拟切除部位100的内部部分120中形成类似于人体组织结构的多个网格单元，从而使得医生在进行模拟手术时能够获得更真实的切割手感。
其中，网格单元包括框架部121和填充部122。本实施例中，为了保证拟切除部位100和拟保留部位200至少在接触的部位具有不用的颜色，第一材料用于打印拟切除部位的外壳部分110，第二材料用于打印拟保留部位200；框架部121不与拟保留部位200接触，因此，其颜色可以是任意的，为了使得医疗模型的可切割性能更加接近真实人体组织的可切割性能，第一材料和/或第二材料用于打印网格单元的框架部121，第三材料用于打印网格单元的填充部122，即通过第三材料来降低内部部分120的抗撕裂强度，通过第一材料和/或第二材料来保证内部120具有一定的强度。
图9a-图9c分别示出了三种不同的网格单元的结构示意图，如图9a-图9c所示，三种网格单元的框架部121的形状均为直线型。在其他实施方式中，网格单元还可以构成为其他规则的多面体结构或不规则结构，并且，框架部121的形状还可以是曲线型、螺旋型等，此处不再一一列举。另外，网格单元在内部部分120的三维空间中的不同位置可以具有不同的大小和/或形状，网格单元也可以在内部部分120的三维空间中呈梯度分布、均匀分布或无规则分布，因此，可以根据拟切除部位100的真实组织结构通过控制网格单元大小、形状及其在三维空间内的分布来调节内部部分120的可切割性能以模拟更真实的切割手感。
进一步地，为了能够使得医疗模型具有更加真实的手感，还可以将拟保留部位200也可以分割为第二外壳部分及位于第二外壳部分内侧的第二内部部分。
第二材料用于打印拟保留部位200的第二外壳部分，第二材料与第三材料用于打印拟保留部位200的第二内部部分。
具体地，第二内部部分包括相互连接的多个网格结构，网格结构包括第二框架部和第二填充部。第二材料用于形成网格结构的第二框架部，第三材料用于形成网格结构的填充部。
通过控制网格单元大小、形状及其在三维空间内的分布来调节拟保留部位200的柔软度、拉伸能力、手感及力学强度与真实的人体组织相类似。
进一步地，如图6a所示，医疗模型还可以包括血管部位300，血管部位300的颜色与拟切除部位100、拟保留部位200的颜色不同。从而便于辨认拟切除部位100和血管部位300之间的位置关系，从而更好地规划手术路径。
具体地，血管部位300可以由第一材料和第二材料混合打印形成，第一材料和第二材料的颜色不同且第二材料为透明材料，第一材料和第二材料的其他属性可以是任意的。
在另一种实施方式中，打印材料包括第一材料及第二材料，第一材料与第二材料的颜色不同，为了保证拟切除部位100和拟保留部位200至少在接触部位具有不同的颜色，第一材料与第二材料以预设的第一比例在拟切除部位100进行打印形成拟切除部位100的至少一部分，第一材料与第二材料以预设的第二比例在拟保留部位200进行打印形成拟保留部位200的至少一部分。为了使得血管部位300和拟切除部位100和拟保留部位200具有不同的颜色，第一材料和第二材料以预设的第三比例在血管部位300进行打印形成血管部位300。同样， 当拟切除部位100位于拟保留部位200内部时，为了能够从外部观察到拟切除部位100，第一材料和第二材料均为透明材料。当然，拟切除部位100、拟保留部位200和血管部位300还可以以其他的方式形成，本实施例对此不作限制，只要能够使得拟切除部位100和拟保留部位200至少在接触的部位具有不同的颜色即可，例如，第一材料与第二材料以预设的第一比例在拟切除部位100的外壳部分110进行打印形成拟切除部位100的外壳部分110，第一材料与第二材料以预设的第二比例在拟保留部位200的第二外壳部分进行打印形成拟保留部位200的第二外壳部分。
进一步地，医疗模型还包括支撑结构，支撑结构用于在打印过程中给医疗模型提供支撑。为了能够便于在打印完成后移除用于支撑的支撑结构，用于支撑的支撑材料通常具有较低的拉伸强度、较低的抗撕裂强度，并且在固化后具有较低的邵氏硬度。
为了模拟人体的真实手感，用于形成肥厚型心脏病医疗模型的第一材料和第二材料为软质材料。本实施例中，软质材料的拉伸强度低于5MPa，软质材料的抗撕裂强度低于10Kg/cm，软质材料固化后的邵氏硬度低于70A。
具体地，当医疗模型需要的硬度大于软质材料的硬度时，打印材料还包括硬质材料，所述硬质材料用于与所述第一材料和/或第二材料组合使用或单独作为第一材料和/或第二材料使用。例如，将硬质材料与软质材料按预设比例混合，来调整各区域的软硬度，其中，按预设比例混合是指在特定区域内按预设比例分别打印软质材料和硬质材料形成具有一定软硬度的区域。硬质材料的颜色可以是透明的、或与其中任一软质材料相同的颜色，也可以是不同于软质材料的颜色。
在一种实施方式中，第一材料和第二材料可以是仅颜色不同的软质材料，软质材料按重量百分比计包括10～75％软性单体、10～75％硬性单体、5～20％交联剂、5～20％非反应性软性树脂、0.5～10％光引发剂、0～0.5％着色剂、0.05～8％助剂。
其中，软性单体为单官能度软性单体，其特征是分子中含有一个(甲基)丙烯酰氧基团，且玻璃化温度小于0℃。具体地，软性单体可以是烷基(甲基)丙烯酸酯、羟烷基(甲基)丙烯酸酯、烷氧化(甲基)丙烯酸酯、带有环状结构的(甲基)丙烯酸酯、带有胺基甲酸酯基的(甲基)丙烯酸酯等中的一种或多种。
硬性单体为单官能度硬性单体，其特征是分子中含有一个(甲基)丙烯酰氧基团，且玻璃化温度高于25℃。具体地，硬性单体可以是环烷基(甲基)丙烯酸酯、杂环(甲基)丙烯酸酯、带苯环结构(甲基)丙烯酸酯等中的一种或多种。
交联剂可以是双官能度软性单体和双官能度软性树脂中的一种或多种。
非反应性软性树脂的分子中不含可辐射固化基团，且玻璃化温度小于0℃。在一种实施方式中，非反应性软性树脂为与丙烯酸体系相容性好且分子间作用力强的非反应性软性树脂。
光引发剂为自由基光引发剂，具体地，自由基光引发剂可以是安息香乙醚、安息香α，α-二甲基苯偶酰缩酮、α，α-二乙氧基苯乙酮、2-羟基-2甲基-苯基丙酮-1,1-羟基-环己基苯甲酮、2-羟基-2-甲基-对羟乙基醚基苯基丙酮-1、[2-甲基1-(4-甲巯基苯基)-2-吗啉丙酮-1]、[2-苄基-2-二甲氨基-1-(4-吗啉苯基)丁酮-1]、苯甲酰甲酸酯、2,4,6-三甲基苯基酰基-乙氧基-苯基氧化膦、2,4,6-三甲基苯基酰基-二苯基氧化膦、双(2,4,6-三甲基苯基酰基)苯基氧化膦、4-对甲苯巯基二苯甲酮等。
软质材料可以含有着色剂，也可以不含有着色剂，当不含有着色剂时，软质材料为透明 色，当含有着色剂时，着色剂可以是颜料或染料。可以理解地，可以借助着色剂使得第一材料和第二材料具有不同的颜色。
助剂选自流平剂、消泡剂和稳定剂中的一种或多种。
在本实施例中，提供一种红色软质材料，其材料成分见下表1：
表1.红色软质材料成份比例表
Figure PCTCN2020122212-appb-000001
在本实施例中，通过对红色软质材料进行性能测定，其中，拉伸强度检测按照国标GB/T 528标准进行测试；硬度检测按照国标GB/T 529标准进行测试；抗撕裂强度检测按照国标GB/T 531.1标准进行测试。测试结果如表2所示。
表2.红色软质材料的性能测试结果
性能参数 测试结果
拉伸强度(单位：MPa) 0.5-1.0
硬度(单位：A) 10-15
抗撕裂强度(单位：Kg/cm) 1.5-20
由上表可知，软质材料的拉伸强度、抗撕裂强度及固化后的硬度均能够符合医疗模型所需的可切割性能。
在一种实施方式中，硬质材料按重量百分比计包括5～50％乙烯基类低聚物、50～95％乙烯基类单体、0.5～10％光引发剂、0～0.5％着色剂、0.05～8％助剂。
所述乙烯基类低聚物选自聚氨酯丙烯酸酯、聚酯丙烯酸酯、聚醚丙烯酸酯和环氧丙烯酸酯中的一种或多种。
所述乙烯基类单体选自单官能团丙烯酸酯、双官能团丙烯酸酯、多官能团丙烯酸酯、丙烯酰胺类单体、乙烯基醚类单体中的一种或多种；具体的，单官能团丙烯酸酯可以是烷基(甲基)丙烯酸酯、羟烷基(甲基)丙烯酸酯、烷氧化(甲基)丙烯酸酯、带有胺基甲酸酯基的(甲基)丙烯酸酯、环烷基(甲基)丙烯酸酯、杂环(甲基)丙烯酸酯、带苯环结构(甲基)丙烯酸酯等；双官能团丙烯酸酯可以是带有链状结构丙烯酸酯和带有环状结构丙烯酸酯；多官能团丙烯酸酯可以是三(2-羟乙基)异氰脲酸三丙烯酸酯、乙氧化三羟甲基丙烷三丙烯酸酯、季戊四醇三丙烯酸酯等；丙烯酰胺类单体可以是丙烯酰吗啉、N-羟乙基丙烯酰胺等；乙 烯基醚类单体可以是4-羟丁基乙烯基醚、三乙二醇二乙烯基醚(DVE-3)等。
所述光引发剂为自由基光引发剂，具体地，自由基光引发剂可以是安息香乙醚、安息香α，α-二甲基苯偶酰缩酮、α，α-二乙氧基苯乙酮、2-羟基-2甲基-苯基丙酮-1,1-羟基-环己基苯甲酮、2-羟基-2-甲基-对羟乙基醚基苯基丙酮-1、[2-甲基1-(4-甲巯基苯基)-2-吗啉丙酮-1]、[2-苄基-2-二甲氨基-1-(4-吗啉苯基)丁酮-1]、苯甲酰甲酸酯、2,4,6-三甲基苯基酰基-乙氧基-苯基氧化膦、2,4,6-三甲基苯基酰基-二苯基氧化膦、双(2,4,6-三甲基苯基酰基)苯基氧化膦、4-对甲苯巯基二苯甲酮等。
所述助剂选自增韧剂、消泡剂、流平剂和稳定剂中的一种或多种。
着色剂选自自分散型纳米级颜料色浆，具体为自分散型纳米级无机颜料色浆或自分散型纳米级有机颜料色浆，其中自分散型纳米级无机颜料色浆可以是白色颜料色浆具体有二氧化钛、氧化锌、锌钡白、铅白等，可以是黑色颜料色浆具体有炭黑、石墨、氧化铁黑、苯胺黑，炭黑等；自分散型纳米级有机颜料色浆可以是彩色颜料色浆具体有金光红(PR21)、立索尔大红(PR49：1)、颜料红G(PR37)、颜料红171(PR171)、耐晒黄G(PY1)、汉沙黄R(PY10)、永固黄GR(PY13)、颜料黄129(PY129)、颜料黄150(PY150)、颜料黄185(PY185)、酞菁蓝(PB15)、靛蒽酮(PB60)等。
在本实施例中，提供一种硬质材料，其材料成分见下表3：
表3.一种硬质材料成份比例表
Figure PCTCN2020122212-appb-000002
在本实施例中，通过对硬质材料进行性能测定，其中，拉伸强度检测按照国标GB/T1040.3标准进行测试；硬度检测按照国标GB/T2411标准进行测试。测试结果如表4所示。
表4.硬质材料的性能测试结果
性能参数 测试结果
拉伸强度(单位：MPa) 45-55
硬度(单位：D) 70-80
在一种实施方式中，支撑材料可以是水溶性支撑材料。水溶性支撑材料按照重量百分比 计包括如下组分：单官能度单体55～98％、直链型非离子水溶性聚合物1～50％、极性有机溶剂0～20％、光引发剂0.1～5％和助剂0.5～10％。
其中，单官能度单体选自单官能度丙烯酸酯单体、单官能度丙烯酰胺衍生单体和单官能度乙烯基单体中的一种或多种。
直链型非离子水溶性聚合物选自聚乙烯醇、聚乙二醇、聚丙烯酰胺、聚乙烯吡咯烷酮、聚丙烯酰吗啉中的一种或多种。
极性有机溶剂的沸点为120℃以上且具有水溶性，具体可选用现有光固化反应中常用的醇类和酯类溶剂中的一种或多种。
助剂选自阻聚剂、消泡剂、流平剂中的一种或多种，消泡剂、流平剂、阻聚剂均为现有光固化反应中常用的助剂。
在本实施例中，提供一种水溶性支撑材料，其材料成分见下表5：
表5.水溶性支撑材料成份比例表
Figure PCTCN2020122212-appb-000003
在另一种实施方式中，支撑材料也可以是碱溶性支撑材料。具体地，碱溶性支撑材料按照重量百分比计包括如下组分：光固化主体材料18～40％、功能性反应促进材料2～30％、不可固化的水混溶性材料48～78％、光引发剂1～5％和助剂0.4～5％。
其中，光固化主体材料选自(甲基)丙烯酸酯类化合物、(甲基)丙烯酰胺类化合物中的至少一种。
功能性反应促进材料的分子结构中含有羧基且含有活泼氢，活泼氢能与过氧化自由基反应提高光固化主体材料的双键转化率。
不可固化水混溶性材料选自多元醇中的至少一种，具体如，多元醇3165、多元醇3610、EO/THF共聚物、聚丙二醇、聚丙三醇、1,2-丙二醇、三丙二醇单甲醚、二丙二醇单甲醚、三乙二醇二甲醚、聚乙二醇单甲醚(400)、聚乙二醇(400)，聚乙二醇(200)等。
光引发剂选自自由基光引发剂中的至少一种；助剂选自表面活性剂、阻聚剂中的至少一种。
在本实施例中，提供一种碱溶性支撑材料，其材料成分见下表6：
表6碱溶性支撑材料成份比例表
Figure PCTCN2020122212-appb-000004
Figure PCTCN2020122212-appb-000005
由于支撑材料的拉伸强度、抗撕裂强度及固化后的硬度较低，难以测试其具体数值。
以下基于具体实施例2的医疗模型对本方案进行详细的阐述。
如图10所示，本实施例中，医疗模型包括组织器官部分2’、血管部分3’和病灶部分1’，本实施例依据医学上的分段方法将组织器官部分2’分割为多个分段，例如，如图10所示，组织器官部分2’为肝器官组织21’，将肝器官组织21’依据Couinaud肝脏分段法分割为5叶8段。如图10中所示，8个分段分别为Ⅰ段尾状叶、Ⅱ段左外叶上段、Ⅲ段左外叶下段、Ⅳ段左内叶、Ⅴ段右前叶下段、Ⅵ段右后叶下段、Ⅶ段右后叶上段和Ⅷ段右前叶上段。
具体的，Couinaud肝脏分段法是根据功能将肝脏分为8个独立的段，每段有自己的流入和流出血管以及胆管系统，在每一段的中心有门静脉、肝动脉及胆管分支，每一段的外围有通过肝静脉的流出血管，肝右静脉将肝脏分为右前段和右后段，肝中静脉将肝脏分为左叶和右叶(或者说右半肝和左半肝)，肝左静脉将肝左叶分为内侧段和外侧段，门静脉将肝脏分为上、下段，左、右门静脉发出上、下分支分别进入每段的中心。依据这种分法，每个分段都是一个独立的单位，切除任何一个分段均不会影响其他，为保证肝脏存活，切除时必须沿着这些分段周围的血管进行，也就是说，切除线平行于肝静脉，这样位于中心位置的门静脉、胆管和肝动脉得以保留，即组织器官部分2’的分段通常可以基于血管部分3’的分布确定的。在实际的应用中，可以根据血管部分3’和/或其他管道系统的分布对对组织器官部分2’进行分段，本实施例中，管道系统为胆管，其中，在肺器官的分段中，管道系统可以是气管，本申请对具体的分段方法不作限制。
其中，肝器官组织21’的医疗模型还包括至少一个隔板4’，至少部分相邻区域(分段)之间设置有隔板4’，所述隔板4’将所述器官模型(肝器官组织21’)分割为多个区域；所述隔板4’两侧的区域的属性与所述隔板4’的属性不同。可以理解地，肝器官组织21’的各分段可以通过隔板4’区分辨认，进一步将病灶部分1’结合到医疗模型中，能够便于医生准确判断病灶部分1’具体位于哪个分段区域，从而更好地规划手术路径以降低风险。
在肝器官组织21’中，任意两个相邻分段之间由隔板4’分隔，即肝器官组织21’包括 多个隔板4’，其中，多个隔板4’可以是相互连接的，也可以是相互独立的，并且，多个隔板4’可以由相同属性的材料形成，也可以由不同属性的材料形成，多个隔板4’的厚度可以是相同的，也可以是不同的，只需保证任意两个相邻分段之间具有至少一个属性突变区域即可。进一步的，隔板4’两侧的分段的属性与隔板4’的属性不同，具体的，隔板4’的颜色或者透明度不同于隔板4’两侧的分段的颜色或者透明度，也可以是隔板4’的颜色和透明度不同于隔板4’两侧的分段的颜色和透明度，为了使得隔板4’在视觉上较为清晰且不会占据太大的位置而影响内部部分的观察，隔板4’的厚度可以设置为0.3mm-2mm，在其他的实施例中，隔板4’的厚度为0.6mm-1.2mm；本实施例中，由于隔板4’的属性和隔板4’两侧的分段的属性均不相同，因此，隔板4’和其两侧的分段的交界处分别具有一个属性突变区域，即相邻分段之间具有两个属性突变区域。
图11为一种肺分段模型的示意图，本实施例中，组织器官部分2’为肺器官组织22’，肺器官组织22’可以基于医学分段方法分为肺器官组织左上叶221’、左下叶222’、右上叶223’、右中叶224’和右下叶225’五段，其中，病灶部分1’位于右上叶223’中，五个分段中的任意两个之间具有隔板4’，隔板4’和其两侧的分段具有不同的属性，即分段之间具有至少一个属性突变区域；进一步，根据实际需求还可以将肺器官组织22’按其他分段方式进行分割，例如，可以进一步将肺器官组织左上叶221’分割为尖后段、前段、舌叶上段、舌叶下段，本申请对肺器官组织22’的具体分段不作限制。
在本实施例中，图16示出了一种对组织器官部分2’进行分段并以创建隔板4’的方式对组织器官进行分割的流程示意图，此处以肝器官组织21’部分的Ⅴ段和Ⅶ段为例进行说明，具体的，Ⅴ段Ⅶ段通过分割面5’分割，分割面5’是根据Couinaud肝脏分段法确定的，隔板4’的创建包括将肝器官组织21’的Ⅴ段和Ⅶ段的分割面5’提取出来，并沿垂直于分割面5’的方向偏移一定的厚度来形成隔板4’，更为具体的，偏移方向可以是沿分割面5’的任意一侧，也可以沿分割面5’的两侧，实际应用中，可以根据实际的分割情况选择合适的偏移方向。隔板4’进一步和肝器官组织21’部分的三维模型融合以获得分段的肝器官组织21’部分的分段三维模型，即通过在肝器官组织21’部分的三维模型中将隔板4’占据的位置剪切掉，即在肝器官组织21’部分中形成与隔板4’匹配的槽，再将隔板4’和剪切后的肝器官部分的三维模型融合即可，此时隔板4’和隔板4’两侧的分段均可以分别独立进行属性定义。
具体的，为了使得分布在组织器官部分2’中的血管部分3’或者病灶部分1’能够从模型外部被观察到，组织器官部分2’由无色透明材料和/或彩色透明材料形成，无色透明材料的透光率大于80％，彩色透明材料的透光率大于0％且小于45％；血管部分3’和病灶部分1’也可以由彩色透明材料和/或彩色不透明材料形成，不透明彩色材料的透光率小于10％，但是，为了便于区分，组织器官部分2’、血管部分3’和病灶部分1’分别由颜色和/或透明度不同的材料形成，具体如何设置可以根据用户的实际情况设定，本申请对此不作限制。在部分实施例中，血管部分3’还可以包括动脉和静脉，因此，血管部分3’还可以进一步通过由颜色和/或透明不同的材料来形成动脉和静脉，通常，为了进一步便于用户的辨认和沟通便，动脉和静脉的颜色可以和传统医学解剖图谱上的色彩保持一致，即，动脉由红色材料形成，静脉由蓝色材料形成。
更进一步的，由于彩色透明材料的透明度低于无色透明材料的透明度，组织器官部分2’ 可以由无色透明材料形成，隔板4’可以由白色材料形成，本实施例中，白色材料的透光率小于10％，可以认为是不透明材料的一种，血管部分3’和病灶部分1’可以由彩色不透明材料形成，这样可以使得血管部分33’和病灶部分1’在组织器官部分2内的形状、结构和分布位置均被清楚的显示，从而使得医生能够准确判断病灶部分1’所处的分段以便于规划手术路径，并且组织器官部分2’的各分段可以通过隔板4’区分辨认，并且，将隔板4’设置为白色，可以进一步提高三维器官模型的明亮度；在其他的实施例中，病灶部分1’也可以由透明彩色材料形成，这样可以使得血管部分3’在病灶部分1’内的分布也被清楚的显示，进一步提高医生进行手术规划的精准度。
在本实施例中，通过上述的医疗模型的打印方法打印出来的医疗模型也可以不包括隔板4’，可以通过使得相邻分段至少在接触的部分具有不同的属性而使得相邻分段之间具有属性突变区域，基于属性突变区域即可直观、准确地辨认出各个分段。
具体的，以图12为例说明，图12中三维模型包括肺器官组织22’的一部分、血管部分3’和病灶部分1’，即组织器官部分2’为肺器官组织22’的一部分，其中，肺器官组织22’的该部分被分割为4个分段，包括病灶部分1’所在的分段和与该分段相邻的三个分段，任意两个相邻的分段分别由不同颜色的透明材料形成，即任意两个相邻分段之间具有一个属性突变区域，而血管部分3’和病灶部分1’则可以由彩色不透明材料形成，这样，既可以使得肺器官组织22’内部的血管部分3’和病灶部分1’能够清楚的从医疗模型的外部观察到，还可以将肺器官组织22’区分为多个分段，用户可以直观地判断病灶部分1’和血管部分3’以及各分段之间的相对位置关系；另外，在实际的应用中，可能不需要打印完整的器官，仅打印器官的一部分即可满足需求，例如，在手术规划中，医生只需要知道病灶部分1’位于组织器官部分2’的哪个分段、与该分段相邻的分段的位置以及该分段和血管部分3’的位置关系即可，即医疗模型仅需包括病灶部分1’、血管部分3’和组织器官部分2’中包括病灶部分1’的分段和与该分段相邻的分段就能够满足医生的需求，因此，可以减少打印医疗模型的材料使用量从而降低减少医疗模型的成本。
由于彩色透明材料的透明度一般较低，并且随着打印厚度的增加，打印的医疗模型整体所呈现的透明度会随之降低，为了提高医疗模型整体的透明度，以便于用户观察组织器官部分2’内部的血管部分3’的分布和病灶部分1’位置，在本实施例中，医疗模型的至少一个区域(分段)包括外壳部分和内部部分。例如组织器官部分2’的至少一个区域进一步包括外壳部分211’和内部部分212’，所述外壳部分211’的属性至少与相邻区域的边界部分的属性不同。
在本实施例中，外壳部分211’包裹在至少部分内部部分212’的外侧，外壳部分211’由彩色透明材料形成，内部部分212’由无色透明材料形成，由于彩色透明材料最终打印的厚度仅为外壳部分211’，而内部部分212’则由透明度大于彩色透明材料的非彩色透明材料形成，能够提高组织器官部分2’整体的透明度，而相邻两个区域(分段)的外壳部分211’由不同颜色的彩色透明材料形成，即任意两个相邻区域(分段)之间具有一个属性突变区域以便于区分相邻区域(分段)。
其中，在本实施例中，图17示出了将分段分割为外壳部分211’和内部部分212’的流程示意图，具体的，在分割面5’两侧的每个分段中，在沿垂直于分段外表面的方向朝向分段内部一定距离的位置处将分段分割为外壳部分211’和内部部分212’，外壳部分211’包 裹在整个内部部分212’的外侧，外壳部分211’的厚度可以根据材料的透明度进行调整，通常，外壳部分211’的厚度可以是0.05mm-100mm。图18示出了另一种将每个分段分割为外壳部分211’和内部部分212’的流程示意图，具体的，在每个分段中，在沿垂直于分段的分割面的方向朝向分段内部一定距离的位置将分段分割为外壳部分211’和内部部分212’，所述外壳部分211’包裹在部分内部部分212’的外侧，即外壳部分211’仅形成在该区域与相邻区域接触的一侧。
具体的，在本实施例中还提供一种动脉夹层模型的分段结构，图13、图14和图15示出了一种动脉夹层图，动脉即本实施例中的血管部分3’中的一种，而动脉夹层是一种变异的动脉，也即血管部分3’的变异，其中，动脉血管包括内膜311’、中膜312’和外膜，正常的动脉血管中，三层结构紧密贴合，共同承载血流的通过，其中，中膜312’最厚，主要由40～70层有孔的弹性膜构成，动脉夹层指动脉腔内的血液从主动脉内膜311’撕裂处进入主动脉中膜312’，使中膜312’和外膜分离，沿动脉长轴方向扩展形成动脉壁的真假两腔分离状态。在实际应用中，可以基于中膜312和外膜分离的位置将血管分割为真腔段31’和假腔段32’，真腔段31’包括动脉血管的内膜311’和中膜312’以及真腔部分的真腔外膜313’，假腔段32’则包括假腔部分的假腔外膜321’；此时，通过使得真腔段31’和假腔段32’具有不同的属性，即使得真腔段31’和假腔段32’之间形成有属性突变区域，可以便于医生区分真腔和假腔，并且，若进一步使得假腔段32’由透明材料形成，还可以直观地确定内膜311’上撕裂处的位置。
以下基于具体实施例3心脏模型对上述打印方法进行详细的阐述。
图5a-5d分别为本公开提供的不同状态的心脏模型示意图；如图5a和图5b所示的，所述心脏模型的三维数字模型包括心肌三维数字模型1a及其他心脏区域的三维数字模型；所述心肌三维数字模型内部形成有左心房2、右心房3、左心室4及右心室5的空腔；所述其他心脏区域的三维数字模型包括左心房数字模型2a、右心房数字模型3a、左心室数字模型4a及右心室数字模型5a。
其中，左心房数字模型2a、右心房数字模型3a、左心室数字模型4a、右心室数字模型5a的建立是指依据医学影像数据中左心房2、右心房3、左心室4、右心室5的外轮廓重建相应的数字模型。而依据医学影像数据中心肌的外轮廓重建心肌实体模型，并从所述心肌实体模型中减去所述左心房数字模型2a、右心房数字模型3a、左心室数字模型4a、右心室数字模型5a以获得所述心肌三维数字模型1a。
进一步地，根据所述其他心脏区域的三维数字模型的外轮廓在所述心肌三维数字模型1a中的位置信息，对所述心肌三维数字模型1a进行标记，将所述心肌三维数字模型1a分割为左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9及非标记区域中的至少两个区域。
相对应地，打印得到的心脏模型包括心肌模型，所述心肌模型内部形成有左心房2、右心房3、左心室4及右心室5的空腔，所述心肌模型上设置有左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9和非标记区域1中的至少两个。
所述标记区域及所述非标记区域具有不同的标识颜色。在具体实施方式中，可以采用不同的材料打印形成，以使所述心肌模型中的其他心脏区域的标记区域突出显示在所述心肌模 型中。进一步地，左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9也可以采用不同颜色的材料打印形成，使得各个标记区域具有不同的标识颜色。
具体地，在进行打印前，可以在心脏三维数字模型中添加标记信息，并将医疗模型(心脏模型)的三维数字模型分割为多个区域，具体步骤包括：
根据所述其他心脏区域的三维数字模型的外轮廓在所述心肌三维数字模型中的位置信息，对所述心肌三维数字模型进行标记，将所述心肌三维数字模型分割为左心房标记区域、右心房标记区域、左心室标记区域、右心室标记区域及非标记区域中的至少两个区域。其中，所述左心房标记区域、右心房标记区域、左室标记区域、右心室标记区域分别对应包裹在所述左心房数字模型、右心房数字模型、左心室的数字模型、右心室的数字模型所在的区域。
更具体地，上述在心脏三维数字模型中添加标记信息，并将医疗模型(心脏模型)的三维数字模型分割为多个区域，具体步骤包括：
获得所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓；
并对所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓进行扩展处理；
根据扩展处理的结果在所述心肌三维数字模型中标出左心室标记区域，和/或，右心室标记区域；
和/或，
获得所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓；
并对所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓进行镂空处理；
根据镂空处理的结果在所述心肌三维数字模型中标出左心房标记区域，和/或，右心房标记区域。
以下以左心房数字模型2a和右心房数字模型3a包括心房肌为例进行说明，如图5a及5c所示，由于心房肌很薄，为了模拟真实的心脏模型，在所述左心房数字模型2a和右心房数字模型3a内部进行镂空时，所述外壳部分通常也设置为较薄，因此，可以直接将所述左心房数字模型2a的外壳部分设置为左心房标记区域6，将所述右心房数字模型3a的外壳部分设置为右心房标记区域7，即将如上所述的包裹在左心房2外侧的心房肌设置为左心房标记区域6，包裹在右心房3外侧的心房肌设置为右心房标记区域7。
当然，在其他的实施例中，当所述左心房数字模型2a和右心房数字模型3a不包括心房肌时，可以通过基于所述左心房数字模型2a、右心房数字模型3a的外轮廓均匀向外膨胀一定厚度并减去相应的原始数字模型从而获得左心房2空腔、右心房3空腔和左心房标记区域6、右心房标记区域7，所述左心房标记区域6、右心房标记区域7分别包裹在所述左心房2空腔、右心房3空腔的外侧，进一步融合所述心肌三维数字模型1a和所述左心房标记区域6、右心房标记区域7获得所述具有左心房标记区域6、右心房标记区域7的心脏模型的三维数字模型。
当然，为了模拟真实的心脏模型，需要将隔断所述心房空腔和心室空腔的标记区域的部分擦除。
图5d示出了具有左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9的心脏模型的剖视图，在图5c所示的具有左心房标记区域6、右心房标记区域7的心脏模型的基础上，基于左心室数字模型4a、右心室数字模型5a的外轮廓均匀向外膨胀一定厚度并减去相应的原始数字模型从而获得左心室4空腔、右心室5空腔和左心室标记区域8、 右心室标记区域9，所述左心室标记区域8和右心室标记区域9包裹在所述左心室4空腔、右心室5空腔的外侧，进一步将所述左心室标记区域8、右心室标记区域9和图5c所示的具有左心房标记区域6、右心房标记区域7的心脏三维数字模型融合，从而获得具有左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9的心脏模型的三维数字模型。
其中，所述左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9和心肌的融合是指通过布尔逻辑运算从心肌三维数字模型1a中减去所述左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9，并将所述心肌三维数字模型1a的剩余部分和所述左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9组合到一起，即实现了从心肌三维数字模型1a中划分出左心房标记区域6、右心房标记区域7、左心室标记区域8和右心室标记区域9中的至少一个以获得所述心脏模型的三维数字模型，因而能够对心肌的三维数字模型的不同区域分别进行属性定义以使得打印的心脏模型中的不同标记区域具备不同颜色，例如，心肌三维数字模型包括具有不同颜色的左心房标记区域6、右心房标记区域7、左心室标记区域8和右心室标记区域9，从而能够便于区分左心房2、右心房3、左心室4、右心室5。
可选的，在进行打印之前，医疗模型的打印方法还可以包括确定心脏模型的三维数字模型的剖切面，并按照所述剖切面对三维数字模型进行打印，获得心脏模型；其中，所述剖切面为同时贯穿所述左心房、左心室、右心房、右心室内部的平面。
在本申请中，为了能够清楚地显示心脏的内部结构，所述剖切面为通过所述左心房、右心房、左心室、右心室内部的面，所述剖切面将所述心脏数字模型分割为两个部分，分别对所述两个部分进行如上所述的数据处理来获得相应的打印控制数据，所述两个部分可以在同一个打印工作中进行，也可以分别在不同的打印工作中进行，本公开对此不作限制。当所述心脏模型内部包括病变区域时，为了能够在剖切面显示出所述病变区域，所述剖切面还通过所述病变区域，所述病变区域可以室间隔缺损等。
在一些实施例中，所述左心房标记区域6和左心室标记区域8具有相同颜色或相同色系的标识颜色；和/或，所述右心房标记区域7和右心室标记区域9具有相同颜色或相同色系的标识颜色。其中，色系具体可包括暖色系、冷色系；也可包括有红色系、橘色系、蓝色系等等。
进一步的，本申请中，对所述标记区域的厚度没有特别的限制，只要能够清楚地显示出相应区域的颜色属性即可，通常可以设置为2mm-5mm，此时，心肌的厚度大于标记区域的厚度，因此，所述心肌通常还包括非标记区域1，所述非标记区域1通常可以设置为透明，即所述非标记区域1由透明材料形成。
可选的，所述心脏模型还包括：血管模型；
所述血管模型包括主动脉、肺动脉、左肺静脉、右肺静脉、上腔静脉和下腔静脉中的一个或多个。
可选的，所述主动脉、左肺静脉和右肺静脉的标识颜色与所述左心房标记区域和左心室标记区域的标识颜色属于相同颜色或相同色系；
所述肺动脉、上腔静脉和下腔静脉的颜色与所述右心房标记区域和右心室标记区域的标识颜色属于相同颜色或相同色系。
可选的，所述心脏模型还包括剖切面，所述剖切面为同时贯穿所述左心房、左心室、右心房、右心室内部的平面。
可选的，所述心脏模型还包括病变区域，当所述心脏模型内部还包括病变区域时，所述剖切面还通过所述病变区域；具体的，所述病变区域可以是室间隔缺损等。
具体举例来说，图6a和图6b分别为本公开提供的两种心脏模型的剖视图；如图6a所示的，所述心脏模型不包括病变区域，所述剖切面通过左心房2、右心房3、左心室4、右心室5的内部，所述心脏模型还包括心肌、主动脉10、肺动脉11、左肺静脉12、右肺静脉13、上腔静脉14、下腔静脉15，所述心肌包括非标记区域1、左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9、所述左心房标记区域6包裹在左心房2的外侧，右心房标记区域7包裹在右心房3的外侧，左心室标记区域8包裹在左心室4外侧包裹，右心室标记区域9包裹在右心室5外侧，所述非标记区域1包裹在所述左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9的外侧，其中，所述非标记区域1、所述左心房标记区域6、右心房标记区域7、左心室标记区域8、右心室标记区域9具有不同的颜色，通常，所述非标记区域1可以由透明材料形成，而为了分辨左心系统和右心系统，所述左心房标记区域6和左心室标记区域8的颜色属于同一色系，例如红色系，所述右心房标记区域7和右心室标记区域9的颜色也属于同一色系，并且不同于所述左心房标记区域6和左心室标记区域8的色系，例如蓝色系；在其他的实施例中，由于左心房2和左心室4、右心房3和右心室5是较容易区分的，因此，所述左心房标记区域6和左心室标记区域8的颜色还可以是相同的，例如均为红色，右心房标记区域7和右心室标记区域9的颜色也可以是相同的，例如均为蓝色。在其他的实施例中，为了能够使得心脏模型内部的结构更加真实，所述心脏模型还可以包括二尖瓣16、主动脉瓣17、三尖瓣18、肺动脉瓣19中的一个或多个，具体的，所述二尖瓣16位于左心房2和左心室4之间，所述主动脉瓣17位于左心室4和主动脉10之间，所述三尖瓣18位于右心房3和右心室5之间，所述肺动脉瓣19位于右心室5和肺动脉11之间。
其中，主动脉10与左心室4相连，肺动脉11与右心室相连，左肺静脉12和右肺静脉13与左心房2相连，上腔静脉14和下腔静脉15与右心房3相连，如上所述的左心系统可以包括左心房2、左心室4、主动脉10、左肺静脉12和右肺静脉13，右心系统则可以包括右心房3、右心室5、肺动脉11、上腔静脉14和下腔静脉15，因此，为了便于区分左心系统和右心系统，所述主动脉10、左肺静脉12和右肺静脉13可以设置为和所述左心房标记区域6、左心室标记区域8的颜色相同或属于同一色系，而所述肺动脉11、上腔静脉14和下腔静脉15则可以设置为和所述右心房标记区域7、右心室标记区域9的颜色相同或属于同一色系；需要理解的是，本申请所述的心脏模型并不要求包括如上所述的所有血管，可以根据实际需要选择如上所述的主动脉10、肺动脉11、左肺静脉12、右肺静脉13、上腔静脉14和下腔静脉15中的一个或多个进行的打印。
而如图6b所示的，所述心脏模型还包括病变区域，即左心室4和右心室5之间的心肌存在部分缺损，即室间隔缺损20，所述剖切面通过所述左心房2、右心房3、左心室4、右心室5的内部和室间隔缺损20所在的位置，由于该室间隔缺损20的存在使得所述左心室4和右心室5之间通过该缺损互相连通，如图6b所示，所述心脏模型的左心室标记部分8和右心室标记部分9在室间隔缺损20的位置处相交，因此，能够清楚直观地观察到该心脏模型包括室 间隔缺损20的病变区域，此处需要注意的是，为了使得左心室标记区域8和右心室标记区域9仅在室间隔缺损20的位置相交，并尽可能使得该相交位置能够更准确的表现出室间隔缺损20的位置，需要使得左心室标记区域8和右心室标记区域9的厚度尽可能小，通常设置为能够表现出标记区域的颜色的厚度即可，例如，可以设置为0.5mm-3mm，或者1mm-2mm。
另外，需要理解的是，要想直观清楚地分辨四个腔室，并不一定需要同时在四个腔室的外侧形成不同颜色的标记区域，如上所述，由于心室和心房容易区分，因此，可以使得左心室标记区域8和左心房标记区域6的颜色相同，使得右心室标记区域9和右心房标记区域7的颜色相同，如此设置也能容易地分辨左心房2、右心房3、左心室4、右心室5；或者，在仅需要区分左心房2和右心房3的情况下，心肌可以不包括左心室标记区域8和右心室标记区域9，并且在这种情况下，可以仅在左心房2和右心房3中的其中一个的外侧形成标记区域，并且该标记区域的颜色不同于心肌的其余区域的颜色，例如，形成左心房标记区域6，所述左心房标记区域6的颜色和心肌的其余区域的颜色不同，这样仍然能够直观的辨认出左心房2和右心房3，当然，也可以在左心房2和右心房3的外侧分别形成左心房标记区域6和右心房标记区域7，并使得所述左心房标记区域6和右心房标记区域7的颜色不同且均不同于心肌的其余区域的颜色；或者在仅需要区分左心室4和右心室5的情况下，所述心脏模型可以不包括左心房标记区域6和右心房标记区域7，并且，在这种情况下，可以仅在左心室4和右心室5中的其中一个的外侧形成标记区域，并且该标记区域的颜色不同于心肌的其余区域的颜色，例如，形成左心室标记区域8，所述左心室标记区域8的颜色和心肌的其余区域的颜色不同，这样仍然能够直观的辨认出左心室4和右心室5，当然，也可以在左心室4和右心室5的外侧分别形成左心室标记区域8和右心室标记区域9，并使得所述左心室标记区域8和右心室标记区域9的颜色不同且均不同于心肌的其余区域的颜色；或者，可以在左心房2和右心房3中的一个的外侧形成标记区域，并在左心室4和右心室5中的一个的外侧形成标记区域，该两个标记区域的颜色和心肌的其余区域的颜色不同，并且该两个标记区域的颜色可以是相同的也可以是不同的，这样也能够直观地分辨出左心房2、右心房3、左心室4、右心室5；具体如何设置标记区域以及具体如何设置标记区域的颜色，本申请对此不作限制，只要能够实现直观地辨认出相关心腔的目的即可。
在本实施例中，通过对左心房、右心房、左心室以及右心室在心肌三维数字模型中的位置进行标注，以在心肌三维数字模型中形成左心房标记区域、右心房标记区域、左心室标记区域以及右心室标记区域，并以使这些标记区域呈现在打印得到的心脏模型中，从而可将心脏中各相关心腔状态进行很好的呈现，便于辨认，也利于对诊疗特定类型的先天性心脏病时，心脏的关键信息获取和使用。
第四方面，本申请实施例还提供一种医疗模型的三维打印设备，包括：处理器及存储器，所述存储器用于存储至少一条指令，所述指令由所述处理器加载并执行时以实现上述第二方面的医疗模型的打印方法。
以上仅为本申请的较佳实施例而已，并不用以限制本申请，凡在本申请的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本申请保护的范围之内。

Claims (50)

  1. 一种医疗模型的打印方法，其特征在于，所述方法包括：
    获取待打印的医疗模型的三维数字模型；
    在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域；
    根据所述标记信息设置所述三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域；
    基于设置有打印属性的三维数字模型及预设的打印材料进行打印，得到医疗模型。
  2. 根据权利要求1所述的打印方法，其特征在于，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域的具体步骤，还包括：
    基于医学上的分段方法确定所述医疗模型的器官分段信息，将所述器官分段信息作为所述标记信息；
    在所述三维数字模型中添加所述器官分段信息。
  3. 根据权利要求2所述的打印方法，其特征在于，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域的具体步骤，包括：
    基于所述器官分段信息确定分割面；
    基于所述分割面将所述医疗模型的三维数字模型分割为多个区域。
  4. 根据权利要求3所述的打印方法，其特征在于，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域的具体步骤，还包括：
    基于所述分割面创建隔板，并将所述隔板与所述医疗模型的三维数字模型融合；其中，至少部分相邻区域之间设置有所述隔板，所述隔板两侧的区域的打印属性与所述隔板的打印属性不同。
  5. 根据权利要求3所述的打印方法，其特征在于，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域的具体步骤，还包括：
    将至少一个所述区域分割为外壳部分和内部部分；其中，所述外壳部分的打印属性至少与相邻区域的边界部分的打印属性不同。
  6. 根据权利要求1所述的打印方法，其特征在于，所述标记信息包括拟切除部位和/或拟保留部位的位置信息；在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域的具体步骤，包括：
    基于所述位置信息将所述医疗模型的三维数字模型分割为拟切除部位和拟保留部位。
  7. 根据权利要求6所述的打印方法，其特征在于，所述预设的打印材料包括第一材料及第二材料，所述第一材料与所述第二材料的颜色不同，所述第一材料至少用于打印所述拟切除部位，所述第二材料至少用于打印所述拟保留部位。
  8. 根据权利要求7所述的打印方法，其特征在于，所述拟切除部位包括外壳部分及位于所述外壳部分内侧的内部部分；所述预设的打印材料还包括第三材料，所述第一材料用于打印所述拟切除部位的外壳部分，所述第三材料用于打印所述拟切除部位的内部部分；所述第三材料的材料强度小于所述第一材料、所述第二材料的材料强度。
  9. 根据权利要求7所述的打印方法，其特征在于，所述拟切除部位包括外壳部分及位于所述外壳部分内侧的内部部分，所述内部部分包括相互连接的多个网格单元，所述网格单元 包括框架部和填充部；
    所述预设的打印材料还包括第三材料，所述第一材料用于打印所述拟切除部位的外壳部分，所述第一材料和/或所述第二材料用于打印所述网格单元的框架部，所述第三材料用于打印所述网格单元的填充部；所述第三材料的材料强度小于所述第一材料、所述第二材料的材料强度。
  10. 根据权利要求8或9所述的打印方法，其特征在于，所述第三材料的抗撕裂强度小于所述第一材料、所述第二材料的抗撕裂强度。
  11. 根据权利要求7所述的打印方法，其特征在于，所述第二材料为透明材料。
  12. 根据权利要求7所述的打印方法，其特征在于，所述第一材料与所述第二材料以预设的第一比例在所述拟切除部位进行打印形成所述拟切除部位的至少一部分，所述第一材料与所述第二材料以预设的第二比例在所述拟保留部位进行打印形成所述拟保留部位的至少一部分。
  13. 根据权利要求8或9所述的打印方法，其特征在于，所述预设的打印材料还包括支撑材料，所述支撑材料用于打印形成支撑结构，所述支撑结构用于在打印过程中给所述医疗模型提供支撑。
  14. 根据权利要求13所述的打印方法，其特征在于，所述第三材料为所述支撑材料。
  15. 根据权利要求7所述的打印方法，其特征在于，所述第一材料及所述第二材料为软质材料。
  16. 根据权利要求15所述的打印方法，其特征在于，所述预设的打印材料还包括硬质材料，所述硬质材料用于与所述第一材料和/或第二材料组合使用。
  17. 根据权利要求15或16所述的打印方法，其特征在于，所述软质材料按重量百分比计包括10～75％软性单体、10～75％硬性单体、5～20％交联剂、5～20％非反应性软性树脂、0.5～10％光引发剂、0～0.5％着色剂、0.05～8％助剂。
  18. 根据权利要求16所述的打印方法，其特征在于，所述硬质材料按重量百分比计包括5～50％乙烯基类低聚物、50～95％乙烯基类单体、0.5～10％光引发剂、0～0.5％着色剂、0.05～8％助剂。
  19. 根据权利要求15所述的打印方法，其特征在于，所述软质材料的抗撕裂强度低于10Kg/cm。
  20. 根据权利要求15所述的打印方法，其特征在于，所述软质材料的拉伸强度低于5MPa。
  21. 根据权利要求15所述的打印方法，其特征在于，所述软质材料固化后的邵氏硬度低于70A。
  22. 根据权利要求1所述的打印方法，其特征在于，所述医疗模型包括心脏模型，所述心脏模型的三维数字模型包括心肌三维数字模型及其他心脏区域的三维数字模型；所述心肌三维数字模型内部形成有左心房、右心房、左心室及右心室的空腔；所述其他心脏区域的三维数字模型包括左心房数字模型、右心房数字模型、左心室数字模型以及右心室数字模型；
    在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域的具体步骤，还包括：
    根据所述其他心脏区域的三维数字模型的外轮廓在所述心肌三维数字模型中的位置信息，对所述心肌三维数字模型进行标记，将所述心肌三维数字模型分割为左心房标记区域、右心 房标记区域、左心室标记区域、右心室标记区域及非标记区域中的至少两个区域。
  23. 根据权利要求22所述的打印方法，其特征在于，在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域的具体步骤，还包括：
    获得所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓；
    并对所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓进行扩展处理；
    根据扩展处理的结果在所述心肌三维数字模型中标出左心室标记区域，和/或，右心室标记区域；
    和/或，
    获得所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓；
    并对所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓进行镂空处理；
    根据镂空处理的结果在所述心肌三维数字模型中标出左心房标记区域，和/或，右心房标记区域。
  24. 根据权利要求22或23所述的打印方法，其特征在于，所述根据所述标记信息设置所述三维数字模型的打印属性的具体步骤，包括：
    设置所述心脏模型的三维数字模型中的标记区域和/或非标记区域的打印属性，使得至少两个相邻的标记区域之间形成至少一个属性突变区域。
  25. 根据权利要求22所述的打印方法，其特征在于，所述方法还包括：
    确定所述心脏模型的三维数字模型的剖切面，其中，所述剖切面为同时贯穿所述左心房、右心房、左心室及右心室内部的平面，并按照所述剖切面对所述三维数字模型进行打印，得到心脏模型。
  26. 一种医疗模型的打印系统，其特征在于，所述打印系统包括数据处理装置及打印装置；
    所述数据处理装置包括数据获取模块、信息添加模块及属性定义模块；
    所述数据获取模块，用于获取待打印的医疗模型的三维数字模型；
    所述信息添加模块，用于在所述三维数字模型中添加标记信息，并将所述医疗模型的三维数字模型分割为多个区域；
    所述属性定义模块，用于根据所述标记信息设置所述三维数字模型的打印属性，使得所述多个区域中的至少部分相邻区域之间具有至少一个属性突变区域；
    所述打印装置，用于基于设置有打印属性的三维数字模型及预设的打印材料进行打印，得到医疗模型。
  27. 根据权利要求26所述的打印系统，其特征在于，所述信息添加模块，还用于：
    基于医学上的分段方法确定所述医疗模型的分段信息，将所述器官分段信息作为所述标记信息；
    在所述三维数字模型中添加所述器官分段信息。
  28. 根据权利要求27所述的打印系统，其特征在于，所述信息添加模块，还用于：
    基于所述器官分段信息确定分割面，并基于所述分割面将所述医疗模型的三维数字模型分割为多个区域。
  29. 根据权利要求28所述的打印系统，其特征在于，所述信息添加模块，还用于：
    基于所述分割面创建隔板，并将所述隔板与所述医疗模型的三维数字模型融合；其中， 至少部分相邻区域之间设置有所述隔板，所述隔板两侧的区域的打印属性与所述隔板的打印属性不同。
  30. 根据权利要求28所述的打印系统，其特征在于，所述信息添加模块，还用于：
    将至少一个所述区域分割为外壳部分和内部部分；其中，所述外壳部分的打印属性至少与相邻区域的边界部分的打印属性不同。
  31. 根据权利要求26所述的打印系统，其特征在于，所述标记信息包括拟切除部位和/或拟保留部位的位置信息；所述信息添加模块，还用于：
    基于所述位置信息将所述医疗模型的三维数字模型分割为拟切除部位和拟保留部位。
  32. 根据权利要求31所述的打印系统，其特征在于，所述预设的打印材料包括第一材料及第二材料，所述第一材料与所述第二材料的颜色不同，所述第一材料至少用于打印所述拟切除部位，所述第二材料至少用于打印所述拟保留部位。
  33. 根据权利要求32所述的打印系统，其特征在于，所述拟切除部位包括外壳部分及位于所述外壳部分内侧的内部部分；所述预设的打印材料还包括第三材料，所述第一材料用于打印所述拟切除部位的外壳部分，所述第三材料用于打印所述拟切除部位的内部部分；所述第三材料的材料强度小于所述第一材料、所述第二材料的材料强度。
  34. 根据权利要求32所述的打印系统，其特征在于，所述拟切除部位包括外壳部分及位于所述外壳部分内侧的内部部分，所述内部部分包括相互连接的多个网格单元，所述网格单元包括框架部和填充部；
    所述预设的打印材料还包括第三材料，所述第一材料用于打印所述拟切除部位的外壳部分，所述第一材料和/或所述第二材料用于打印所述网格单元的框架部，所述第三材料用于打印所述网格单元的填充部；所述第三材料的材料强度小于所述第一材料、所述第二材料的材料强度。
  35. 根据权利要求26所述的打印系统，其特征在于，所述医疗模型包括心脏模型，所述心脏模型的三维数字模型包括心肌三维数字模型及其他心脏区域的三维数字模型；所述心肌三维数字模型内部形成有左心房、右心房、左心室及右心室的空腔；所述其他心脏区域的三维数字模型包括左心房数字模型、右心房数字模型、左心室数字模型以及右心室数字模型；
    所述信息添加模块，还用于：
    根据所述其他心脏区域的三维数字模型的外轮廓在所述心肌三维数字模型中的位置信息，对所述心肌三维数字模型进行标记，将所述心肌三维数字模型分割为左心房标记区域、右心房标记区域、左心室标记区域、右心室标记区域及非标记区域中的至少两个区域。
  36. 根据权利要求35所述的打印系统，其特征在于，所述信息添加模块，还用于：
    获得所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓；
    并对所述左心室数字模型的外轮廓，和/或，所述右心室数字模型的外轮廓进行扩展处理；
    根据扩展处理的结果在所述心肌三维数字模型中标出左心室标记区域，和/或，右心室标记区域；
    和/或，
    获得所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓；
    并对所述左心房数字模型的外轮廓，和/或，所述右心房数字模型的外轮廓进行镂空处理；
    根据镂空处理的结果在所述心肌三维数字模型中标出左心房标记区域，和/或，右心房标 记区域。
  37. 根据权利要求35所述的打印系统，其特征在于，所述信息添加模块，还用于：
    确定所述心脏模型的三维数字模型的剖切面，其中，所述剖切面为同时贯穿所述左心房、右心房、左心室及右心室内部的平面，以使得所述打印装置按照所述剖切面对所述三维数字模型进行打印，得到心脏模型。
  38. 根据权利要求35或36所述的打印系统，其特征在于，所述属性定义模块，还用于：
    设置所述心脏模型的三维数字模型中的标记区域及非标记区域的打印属性，所述标记区域及所述非标记区域采用不同的标识颜色，使得相邻的不同标记区域之间形成至少一个属性突变区域。
  39. 一种基于三维打印的医疗模型，其特征在于，所述医疗模型包括至少一个器官模型，所述至少一个器官模型包括多个区域，所述多个区域中至少部分相邻区域之间具有至少一个属性突变区域。
  40. 根据权利要求39所述的医疗模型，其特征在于，所述医疗模型还包括至少一个隔板，至少部分相邻区域之间设置有所述隔板，所述隔板将所述器官模型分割为多个区域；所述隔板两侧的区域的属性与所述隔板的属性不同。
  41. 根据权利要求39所述的医疗模型，其特征在于，所述医疗模型的至少一个区域包括外壳部分和内部部分；
    所述外壳部分的属性至少与相邻区域的边界部分的属性不同。
  42. 根据权利要求39所述的医疗模型，其特征在于，所述医疗模型的至少一个区域包括拟切除部位和拟保留部位，所述拟切除部位和所述拟保留部位之间具有至少一个所述属性突变区域。
  43. 根据权利要求42所述的医疗模型，其特征在于，所述拟切除部位位于所述拟保留部位的内部，所述拟保留部位呈透明状。
  44. 根据权利要求42所述的医疗模型，其特征在于，所述拟切除部位包括外壳部分及位于所述外壳部分内侧的内部部分，所述内部部分的材料强度小于所述外壳部分的材料强度。
  45. 根据权利要求44所述的医疗模型，其特征在于，所述内部部分包括相互连接的多个网格单元，所述网格单元包括框架部和填充部，所述填充部的材料强度小于所述框架部的材料强度。
  46. 根据权利要求39所述的基于三维打印的医疗模型，其特征在于，所述医疗模型包括心脏模型，所述心脏模型包括心肌模型，所述心肌模型内部形成有左心房、右心房、左心室及右心室的空腔，所述心肌模型上设置有左心房标记区域、右心房标记区域、左心室标记区域、右心室标记区域和非标记区域中的至少两个。
  47. 根据权利要求46所述的基于三维打印的医疗模型，其特征在于，所述标记区域及所述非标记区域具有不同的标识颜色。
  48. 根据权利要求46所述的基于三维打印的医疗模型，其特征在于，所述左心房标记区域和左心室标记区域具有相同颜色或相同色系的标识颜色；
    和/或，
    所述右心房标记区域和右心室标记区域具有相同颜色或相同色系的标识颜色。
  49. 根据权利要求46所述的基于三维打印的医疗模型，其特征在于，所述心脏模型还包 括病变区域和剖切面；其中，所述剖切面为同时贯穿所述左心房、左心室、右心房、右心室以及病变区域内部的平面。
  50. 一种医疗模型的三维打印设备，包括：
    处理器；
    存储器，所述存储器用于存储至少一条指令，所述指令由所述处理器加载并执行时以实现权利要求1-25中任意一项所述的方法。
PCT/CN2020/122212 2019-10-22 2020-10-20 医疗模型及其打印方法、打印系统、打印设备 WO2021078119A1 (zh)

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