Surgical training model and printing method and printing system thereof

Abstract

The present application provides a surgical training model and a printing method and printing system thereof, wherein the printing method includes obtaining a three-dimensional digital model of the surgical training model to be printed, the surgical training model including a planned resection site and a planned retention site; adding surgical information to the three-dimensional digital model, the surgical information including positional information of the planned resection site and / or the planned retention site; setting printing properties of the three-dimensional digital model according to the surgical information, wherein the planned resection site includes an external structure and an internal structure located inside the external structure, wherein the material strength of the internal structure is less than that of the external structure; generating printing data based on the three-dimensional digital model after setting the printing properties; and printing based on preset printing materials and printing data to obtain the surgical training model. The surgical training model provided in the embodiments of the present application can provide an objective reference, thereby facilitating better planning of surgical pathways, improving surgical success rates, and reducing surgical risks.

Description

Technical Field

[0001] The present application relates to the technical field of 3D object forming, and in particular to a surgical training model and a printing method and system thereof. Background Art

[0002] With the development of science and technology, humanity has made great progress in medicine. However, in clinical medicine, some local diseases still face low surgical success rates and high risks. Currently, 3D printing technology has significant applications in precision medicine. It can quickly create 3D printed models that are identical to the patient's organs based on the patient's medical imaging data. This allows doctors to foresee the intraoperative situation from multiple dimensions, plan the surgical path, and rehearse the operation, greatly reducing the risks of surgery.

[0003] Typically, doctors estimate the volume, weight, size, starting and ending points, and other location information of the area to be removed before surgery. However, existing 3D printed models cannot intuitively display the location information of the area to be removed. When surgeons simulate the operation on the model, they lack reference standards or objective reference objects, so they cannot accurately grasp the location, direction, and depth of the resection during the operation. Therefore, there is still a certain degree of surgical risk and the success rate of the operation is low. Summary of the Invention

[0004] The embodiments of the present application provide a surgical training model and a printing method and system thereof, which can intuitively display the parts that need to be resected, thereby facilitating better planning of the surgical path, improving the success rate of the surgery, and reducing the risk of the surgery.

[0005] In a first aspect, an embodiment of the present application provides a method for printing a surgical training model, the method comprising:

[0006] A three-dimensional digital model of a surgical training model to be printed is obtained, the surgical training model including a planned resection site and a planned retention site; surgical information is added to the three-dimensional digital model, the surgical information including position information of the planned resection site and / or the planned retention site; printing properties of the three-dimensional digital model are set according to the surgical information, so that the planned resection site and the planned retention site have different colors at least at the contact site; printing data is generated according to the three-dimensional digital model after the printing properties are set; and printing is performed based on a preset printing material and the printing data to obtain the surgical training model.

[0007] In combination with the first aspect, in a feasible embodiment, the printing material includes a first material and a second material, the first material and the second material have different colors, the first material is at least used to print the area to be resected, and the second material is at least used to print the area to be retained.

[0008] In combination with the first aspect, in a feasible embodiment, the intended resection part includes an external structure and an internal structure located inside the external structure; the printing material also includes a third material, the first material is used to print the external structure of the intended resection part, and the third material is used to print the internal structure of the intended resection part; the material strength of the third material is less than the material strength of the first material and the second material.

[0009] In combination with the first aspect, in a feasible embodiment, the intended resection portion includes an external structure and an internal structure located inside the external structure, the internal structure includes a plurality of grid units connected to each other, and the grid units include a frame portion and a filling portion;

[0010] The printing material also includes a third material, the first material is used to print the external structure of the intended resection area, the first material and / or the second material are used to print the frame part of the grid unit, and the third material is used to print the filling part of the grid unit; the material strength of the third material is less than the material strength of the first material and the second material.

[0011] In combination with the first aspect, in a feasible implementation manner, the tearing strength of the third material is less than the tearing strength of the first material and the second material.

[0012] In combination with the first aspect, in a feasible implementation manner, the second material is a transparent material.

[0013] In combination with the first aspect, in a feasible embodiment, the first material and the second material are printed at the intended resection site in a preset first ratio to form at least a part of the intended resection site, and the first material and the second material are printed at the intended retained site in a preset second ratio to form at least a part of the intended retained site.

[0014] In combination with the first aspect, in a feasible implementation manner, the thickness of the external structure is 0.5 to 5 mm.

[0015] In combination with the first aspect, in a feasible implementation, the surgical training model further includes a blood vessel portion, and the color of the blood vessel portion is different from the color of the intended resection portion and the intended retention portion.

[0016] In combination with the first aspect, in a feasible implementation, the printing material further includes a support material, the support material is used to print to form a support structure, and the support structure is used to provide support for the surgical training model during the printing process.

[0017] In combination with the first aspect, in a feasible implementation manner, the third material is the supporting material.

[0018] In combination with the first aspect, in a feasible implementation manner, the first material and the second material are soft materials.

[0019] In combination with the first aspect, in a feasible implementation manner, the printing material further includes a hard material, and the hard material is used in combination with the first material and / or the second material.

[0020] In combination with the first aspect, in a feasible embodiment, the soft material includes, by weight percentage, 10 to 75% soft monomer, 10 to 75% hard monomer, 5 to 20% cross-linking agent, 5 to 20% non-reactive soft resin, 0.5 to 10% photoinitiator, 0 to 0.5% colorant, and 0.05 to 8% auxiliary agent.

[0021] In combination with the first aspect, in a feasible embodiment, the hard material includes, by weight percentage, 5-50% vinyl oligomers, 50-95% vinyl monomers, 0.5-10% photoinitiator, 0-0.5% colorant, and 0.05-8% additives.

[0022] In combination with the first aspect, in a feasible embodiment, the tearing strength of the soft material is lower than 10Kg / cm.

[0023] In combination with the first aspect, in a feasible implementation manner, the tensile strength of the soft material is lower than 5 MPa.

[0024] In combination with the first aspect, in a feasible implementation manner, the Shore hardness of the soft material after curing is lower than 70A.

[0025] In conjunction with the first aspect, in a feasible implementation manner, obtaining a three-dimensional digital model of a surgical training model to be printed includes:

[0026] Obtain medical image data of a surgical training model to be printed, wherein the surgical training model includes a planned resection site and a planned retention site; perform three-dimensional modeling based on the medical image data to obtain a three-dimensional digital model of the surgical training model.

[0027] In a second aspect, an embodiment of the present application further provides a printing system for a surgical training model, the printing system comprising a data processing device and a printing device;

[0028] The data processing device includes a data acquisition module, an information adding module, an attribute definition module and a print data generation module;

[0029] The data acquisition module is used to obtain a three-dimensional digital model of a surgical training model to be printed, wherein the surgical training model includes a planned resection site and a planned retention site;

[0030] The information adding module is used to add surgical information to the three-dimensional digital model, wherein the surgical information includes position information of the intended resection site and / or the intended retention site;

[0031] The attribute definition module is used to set the printing attributes of the three-dimensional digital model according to the surgical information, so that the intended resection part and the intended retention part have different colors at least in the contact part;

[0032] The printing data generating module is used to generate printing data according to the three-dimensional digital model after the printing attributes are set;

[0033] The printing device is used to print based on preset printing materials and the printing data to obtain a surgical training model.

[0034] In conjunction with the second aspect, in a feasible implementation manner, the printing device includes a jetting mechanism, a printing platform, a leveling mechanism, and a curing mechanism;

[0035] The spraying mechanism is used to spray the preset printing material onto the printing platform to form a material layer;

[0036] The leveling mechanism is used to level the uncured material layer to ensure the dimensional accuracy of the material layer;

[0037] The curing mechanism is used to perform curing treatment on the material layer to form a shaping layer.

[0038] In combination with the second aspect, in a feasible implementation, the printing material includes a first material and a second material, the first material and the second material are different in color, the first material is used to print the area to be resected, and the second material is used to print the area to be retained.

[0039] In combination with the second aspect, in a feasible implementation manner, the second material is a transparent material.

[0040] In conjunction with the second aspect, in a feasible implementation manner, the data acquisition module includes an acquisition unit and a modeling unit;

[0041] The acquisition unit is used to acquire medical image data of the surgical training model to be printed;

[0042] 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 surgical training model.

[0043] In a third aspect, an embodiment of the present application further provides a surgical training model, which includes a planned resection site and a planned retention site, wherein the planned resection site and the planned retention site have different colors at least at the contact site.

[0044] In combination with the third aspect, in a feasible implementation manner, the proposed resection site is located inside the proposed retention site, and the proposed retention site is transparent.

[0045] In combination with the third aspect, in a feasible embodiment, the intended resection portion includes an external structure and an internal structure located inside the external structure, and the material strength of the internal structure is less than the material strength of the external structure.

[0046] In combination with the third aspect, in a feasible embodiment, the internal structure includes a plurality of grid units connected to each other, the grid unit includes a frame portion and a filling portion, and the material strength of the filling portion is less than the material strength of the frame portion.

[0047] In combination with the third aspect, in a feasible implementation manner, the thickness of the external structure is 0.5 to 5 mm.

[0048] In combination with the third aspect, in a feasible implementation, the surgical training model further includes a blood vessel portion, and the color of the blood vessel portion is different from the color of the intended resection portion and the intended retention portion.

[0049] The surgical training model and its printing method and printing system provided in the embodiments of the present application set different colors for the part to be resected and the part to be retained at least in contact, and display the position of the pre-estimated part to be resected by color coding, so that surgeons can intuitively and clearly identify the position of the part to be resected when performing surgical simulations or young doctors can more accurately grasp the resection position, direction and depth, which is conducive to planning the surgical path according to the actual position of the resection distribution, and adjusting the resection position, direction and depth during the actual operation based on the results of the simulated operation, thereby improving the success rate of the operation and reducing the risk of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0051] Figure 1 A schematic diagram of a printing system for a surgical training model provided in an embodiment of the present application;

[0052] Figure 2 A schematic diagram of the structure of a data processing device for a surgical training model provided in an embodiment of the present application;

[0053] Figure 3 This is a schematic structural diagram of a printing device for a surgical training model provided in an embodiment of the present application;

[0054] Figure 4 A schematic diagram of a process for printing a surgical training model provided in an embodiment of the present application;

[0055] Figure 5 A schematic diagram of the structure of a hypertrophic heart disease surgery training model provided in an embodiment of the present application;

[0056] Figure 6 A cross-sectional view of a hypertrophic heart disease surgical training model provided in an embodiment of the present application;

[0057] Figure 7 A schematic structural diagram of the intended resection site of a hypertrophic heart disease surgical training model provided in an embodiment of the present application;

[0058] Figure 8 A cross-sectional view of the planned resection site of a hypertrophic heart disease surgical training model provided in an embodiment of the present application;

[0059] Figure 9a A schematic diagram of the structure of a grid unit of the hypertrophic heart disease surgery training model provided in an embodiment of the present application;

[0060] Figure 9b A schematic diagram of the structure of another grid unit of the hypertrophic heart disease surgery training model provided in an embodiment of the present application;

[0061] Figure 9c This is a schematic diagram of the structure of another grid unit of the hypertrophic heart disease surgery training model provided in an embodiment of the present application. Specific embodiments

[0062] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0063] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0064] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0065] It should be understood that the term "and / or" as used herein is merely a description of the relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the associated objects are in an "or" relationship.

[0066] Please see the attached Figure 1 , Figure 1 This is a schematic diagram of a printing system for a surgical training model provided in an embodiment of the present application. The printing system includes a data processing device 10 and a printing device 20.

[0067] The data processing device 10 is used to obtain medical image data of the surgical training model to be printed, and generate printing data based on the medical image data;

[0068] The printing device 20 is used to print based on preset printing materials and printing data to obtain a surgical training model.

[0069] In this embodiment, the surgical training model refers to a part of the animal body, including systems, organs, tissues, cells or the surrounding environment of any of the above, such as: the heart and its related blood vessels, gastrointestinal tract, cardiovascular system, urinary system, respiratory tract, etc., as well as pathology-related structures such as tumor cells or tissues, wherein the animal can be a human or a mammal, etc.

[0070] Understandably, doctors often require extensive hands-on training before performing surgery to improve their success rate. Currently, cadaver specimens are often used for training, but these are scarce and expensive. Therefore, surgical training models are needed to allow doctors to practice their skills before surgery, improving success rates and reducing surgical risks.

[0071] Figure 2 A schematic diagram of a data processing device for a surgical training model provided in an embodiment of the present application is shown in FIG. Figure 2 As shown, the data processing device 10 includes a data acquisition module 11 , an information adding module 12 , an attribute definition module 13 , and a print data generation module 14 .

[0072] The data acquisition module 11 is used to acquire a three-dimensional digital model of a surgical training model to be printed, where the surgical training model includes a planned resection site and a planned retention site.

[0073] Specifically, the data acquisition module 11 includes an acquisition unit and a modeling unit.

[0074] An acquisition unit is configured to acquire medical image data of the surgical training model to be printed. The medical image data may be data received from a data acquisition device, which exemplarily includes but is not limited to a computed tomography (CT) system, a magnetic resonance imaging (MRI) system, a positron emission tomography (PET) system, a two-dimensional or three-dimensional fluorescence imaging system, or a two-dimensional, three-dimensional, or four-dimensional ultrasound imaging system.

[0075] The modeling unit is used to perform three-dimensional modeling based on medical imaging data to obtain a three-dimensional digital model of the surgical training model.

[0076] Specifically, the modeling unit includes an extraction subunit and a fusion subunit.

[0077] The extraction subunit is used to extract the various tissues and / or organs of the surgical training model from the medical imaging data; the fusion subunit is used to fuse the extracted multiple tissues and / or organs to obtain a three-dimensional digital model of the surgical training model.

[0078] The information adding module 12 is used to add surgical information to the 3D digital model. This surgical information includes the location of the intended resection site and / or the intended preservation site. Furthermore, this surgical information may also include patient information, such as the patient's gender and age, without limitation. It is understood that the added surgical information can help doctors simulate the surgical environment.

[0079] Specifically, the information adding module 12 includes a segmentation unit and an information adding unit.

[0080] a segmentation unit for segmenting the intended resection portion from the three-dimensional digital model based on position information of the intended resection portion and / or the intended retention portion; it is understood that the segmented intended resection portion and the intended retention portion are relatively independent, and printing properties can be set for the intended resection portion and the intended retention portion respectively;

[0081] 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.

[0082] The attribute definition module 13 is used to set the printing attributes of the three-dimensional digital model according to the surgical information, so that the part to be removed and the part to be retained have different colors at least at the contact part.

[0083] This means setting different printing attributes for different areas of the 3D digital model, resulting in different printing attributes for the intended resection and the intended retention areas. The intended resection and retention areas can each have their own printing attributes, each with a different color. Alternatively, the contact area between the intended resection and retention areas can be set to a different color. This allows the surgeon to quickly identify the desired area during the simulated surgery, improving the accuracy of the procedure.

[0084] In one embodiment, the printing attributes include at least color. For example, the intended resection portion can be set to a first color, and the intended retained portion can be set to a second color. Alternatively, a portion of the outer surface of the intended resection portion that is a certain thickness inward can be set to the first color, while the rest of the intended resection portion can be set to transparent. Furthermore, when the intended resection portion is located within the intended retained portion, the intended retained portion can be rendered transparent to ensure that the intended resection portion can be observed from the outside.

[0085] During the printing process, the colors of different parts can be obtained by printing with a material of the same color, or by printing with materials of different colors mixed in a preset ratio. Mixed printing in a preset ratio means printing materials of different colors separately in a preset ratio to a specific area to form the area; specifically, within a specific area, a single voxel can be formed by a material of one color, and voxels of different colors can be mixed in a preset ratio. Alternatively, within a specific area, a single voxel can be formed by a mixture of materials of multiple different colors in a preset ratio. This application does not impose any specific restrictions on the specific method of forming the colors of each area, as long as the area to be removed and the area to be retained can have different colors at least in the contact area.

[0086] In other embodiments, the printing attributes of the three-dimensional digital model can also be set in other ways. Specifically, the user can set it according to actual needs and the material configuration of the printing device, and this application does not limit this.

[0087] Furthermore, the printing properties may also include tensile strength, tear strength or Shore hardness, etc. For example, the intended resection portion and the intended retention portion may have the same or different tensile strength, or the same or different tear resistance, or the same or different Shore hardness, etc.

[0088] The printing data generating module 14 is configured to generate printing data according to the three-dimensional digital model after the printing attributes are set.

[0089] The print data generating module 14 includes a pre-processing unit and a generating unit.

[0090] The pre-processing unit is used to slice the three-dimensional digital model after setting the printing attributes, and perform halftone processing on each slice layer image data to obtain multiple processed slice layer image data; the generation unit is used to generate printing data based on the multiple slice layer image data.

[0091] It can be understood that halftone refers to the gradation of the picture in which the tonal value is expressed by the size or density of the dots, thereby ensuring the smooth transition of colors during the printing process.

[0092] Figure 3 FIG. 1 is a structural diagram of a printing device for a surgical training model provided in an embodiment of the present application. Figure 3 As shown, the printing device 20 includes an ejection mechanism 21, a printing platform 22, a leveling mechanism 23, a curing mechanism 24, a moving mechanism, and a controller. In this embodiment, the printing device 20 is a jet-type 3D printer.

[0093] The ejection mechanism 21 is used to eject a preset printing material onto the printing platform 22 to form a material layer. In this embodiment, the ejection mechanism 21 is used to eject at least a first material and a second material, and the first material and the second material have different printing properties, and the printing properties include at least one of color, tensile strength, tear strength and Shore hardness. For example, the first material and the second material have different colors. The ejection mechanism can also eject more materials of different colors according to actual needs. For example, a general color printing device is usually equipped with color materials of three colors: C (sky blue), M (magenta), and Y (yellow), and sometimes also equipped with transparent materials, white materials or black materials, etc., which are not limited in this application.

[0094] The leveling mechanism 23 is used to level the uncured material layer to ensure the dimensional accuracy of the material layer.

[0095] The curing mechanism 24 is used to cure the material layer to form a fixed layer. In one embodiment, the curing mechanism 24 is a light-curing mechanism. Specifically, the light-curing mechanism can be a UV-curing mechanism, and the first material and the second material are both light-curing materials. Among them, UV-curing technology refers to a technology that adds a photoinitiator to a specially formulated system (referred to as a light-curing system). After absorbing the high-intensity UV light generated by the UV-curing mechanism, active free radicals or cations are generated, thereby initiating polymerization, cross-linking, and grafting reactions, so that the first material and the second material are converted from liquid to solid within a certain period of time.

[0096] The moving mechanism is used to move the ejection mechanism 21 and / or the printing platform 22 so that the ejection mechanism can eject the printing material onto the printing platform 22 .

[0097] The controller is used to control the ejection mechanism, printing platform, leveling mechanism and moving mechanism.

[0098] Specifically, during the printing process, the controller controls the moving mechanism to horizontally move the ejection mechanism 21 and / or the printing platform 22 based on the print data. The controller controls the ejection mechanism 21 to eject printing material onto the printing platform 22 to form a material layer. The controller controls the leveling mechanism 23 to level the uncured material layer to ensure the dimensional accuracy of the material layer. The controller controls the curing mechanism 24 to cure the material layer to form a fixed layer. The controller controls the moving mechanism to vertically move the ejection mechanism 21 and / or the printing platform 22 to repeat these steps to form multiple stacked fixed layers until printing is complete, resulting in a surgical training model.

[0099] It is understood that surgical training models are generally irregular in shape and may contain structures that require support, such as cantilever structures. Therefore, the spray mechanism 21 is also used to spray support material to form a support structure. The support structure is used to provide support for the surgical training model during the printing process. After the model is printed, the support structure is removed to obtain the final surgical training model.

[0100] Figure 4 A flow chart of a method for printing a surgical training model provided in an embodiment of the present application is shown as follows: Figure 4 As shown, the method includes:

[0101] Step S01, obtaining a three-dimensional digital model of a surgical training model to be printed, where the surgical training model includes a planned resection site and a planned retention site;

[0102] Step S02, adding surgical information to the three-dimensional digital model, the surgical information including position information of the intended resection site and / or the intended preservation site;

[0103] Step S03, setting the printing properties of the three-dimensional digital model according to the surgical information so that the part to be removed and the part to be retained have different colors at least at the contact part;

[0104] Step S04, generating printing data according to the three-dimensional digital model after setting printing attributes;

[0105] Step S05: Printing is performed based on the preset printing materials and printing data to obtain a surgical training model.

[0106] In this solution, by setting different colors for the part to be resected and the part to be retained at least in contact, and by displaying the pre-estimated position of the part to be resected by color coding, surgeons can intuitively and clearly identify the position of the part to be resected when performing surgical simulations, or young doctors can grasp the resection position, direction and depth more accurately, which is conducive to planning the surgical path according to the actual position of the resection distribution, and adjusting the resection position, direction and depth during the actual operation based on the results of the simulated operation, thereby improving the success rate of the operation and reducing the risk of the operation.

[0107] Specifically, step S01 includes:

[0108] Step S011, obtaining medical image data of a surgical training model to be printed;

[0109] Step S012: Perform three-dimensional modeling based on the medical imaging data to obtain a three-dimensional digital model of the surgical training model. Specifically, the various tissues and / or organs of the surgical training model can be extracted from the medical imaging data, and then the extracted multiple tissues and / or organs are fused to obtain the three-dimensional digital model of the surgical training model.

[0110] For example, taking a three-dimensional digital model of a heart as an example, the method includes:

[0111] Establish a myocardial solid model based on the outer contour of the myocardium;

[0112] Based on the outer contours of the left atrium, left ventricle, right atrium and right ventricle, a left atrium solid model, a left ventricle solid model, a right atrium solid model and a right ventricle solid model are respectively established;

[0113] Establish a three-dimensional digital model of the blood vessel based on its outer contour;

[0114] Subtracting the left atrium entity, the left ventricle entity, the right atrium entity, the right ventricle entity, and the blood vessel entity from the myocardium entity through Boolean operations, thereby forming the left atrium, the left ventricle, the right atrium, the right ventricle, and a cavity allowing blood vessels to be distributed inside the myocardium in the myocardium entity to obtain an actual three-dimensional model of the myocardium, and performing a hollowing process on the blood vessel entity to form a blood vessel cavity inside the blood vessel entity to obtain an actual three-dimensional model of the blood vessel;

[0115] By fusing the actual three-dimensional model of the myocardium and the actual three-dimensional model of the blood vessels, a three-dimensional digital model of the surgical training model can be obtained.

[0116] In one embodiment, the surgical information includes the location information of the intended resection site and / or the intended preservation site. Furthermore, the surgical information may also include patient information, such as the patient's gender and age, without limitation. It is understood that the added surgical information can facilitate the physician's simulation of the surgical environment.

[0117] Step S02 includes:

[0118] Step S021: segment the intended resection portion from the 3D digital model based on the position information of the intended resection portion and / or the intended retention portion. It is understood that the segmented intended resection portion and the intended retention portion are relatively independent, and printing properties can be set for each of the intended resection portion and the intended retention portion.

[0119] Step S022: Add preset indicative information to the three-dimensional digital model so that the doctor can understand the patient's condition during the simulated operation.

[0120] In step S03, different printing attributes are set for different areas of the 3D digital model, resulting in different printing attributes for the intended resection area and the intended retention area. The intended resection area and the intended retention area can each be independently printed with different colors. Alternatively, the contact area between the intended resection area and the intended retention area can be colored differently. This allows the surgeon to quickly identify the desired area during the simulated surgery, thereby enhancing surgical accuracy.

[0121] In one embodiment, the printing attributes include at least color. For example, the intended resection portion can be set to a first color, and the intended retained portion can be set to a second color. Alternatively, a portion of the outer surface of the intended resection portion that is a certain thickness inward can be set to the first color, while the rest of the intended resection portion can be set to transparent. Furthermore, when the intended resection portion is located within the intended retained portion, the intended retained portion can be rendered transparent to ensure that the intended resection portion can be observed from the outside.

[0122] During the printing process, the colors of different parts can be obtained by printing with a material of the same color, or by printing with materials of different colors mixed in a preset ratio. Mixed printing in a preset ratio means printing materials of different colors separately in a preset ratio to a specific area to form the area. Specifically, within a specific area, a single voxel can be formed by a material of one color, and voxels of different colors can be mixed in a preset ratio. Alternatively, within a specific area, a single voxel can be formed by a mixture of materials of multiple different colors in a preset ratio. This application does not impose any specific restrictions on the specific method of forming the colors of each area, as long as the area to be removed and the area to be retained can have different colors at least in the contact area.

[0123] In other embodiments, the printing attributes of the three-dimensional digital model can also be set in other ways. Specifically, the user can set it according to actual needs and the material configuration of the printing device, and this application does not limit this.

[0124] Furthermore, the printing properties may also include tensile strength, tear strength or Shore hardness, etc. For example, the intended resection portion and the intended retention portion may have the same or different tensile strength, or the same or different tear resistance, or the same or different Shore hardness, etc.

[0125] Specifically, step S04 includes:

[0126] Step S041 , slicing the three-dimensional digital model after setting the printing attributes, and performing halftone processing on each slice layer image data to obtain processed multiple slice layer image data;

[0127] Step S042 : generating printing data based on the plurality of slice layer image data.

[0128] It can be understood that halftone refers to the gradation of the picture in which the tonal value is expressed by the size or density of the dots, thereby ensuring the smooth transition of colors during the printing process.

[0129] The following describes this solution in detail based on a specific embodiment of a surgical training model for hypertrophic heart disease.

[0130] The following is based on Figure 5-9c The following is a detailed introduction to the surgical training model for hypertrophic heart disease printed by the above printing system:

[0131] Figure 5 This is a structural diagram of a hypertrophic heart disease surgery training model provided in an embodiment of the present application. Figure 6 This is a cross-sectional view of a hypertrophic heart disease surgical training model provided in an embodiment of the present application. Figure 5 and Figure 6 As shown, the hypertrophic heart disease surgery training model includes a planned resection site 1 and a planned retention site 2, wherein the color of the planned resection site 1 is different from the color of the planned retention site 2.

[0132] The surgical training model's printing materials include a first material and a second material, each of which has a different color. In this embodiment, the first material is used to print the intended resection area 1, and the second material is used to print the intended preservation area 2. Because the intended resection area 1 is located within the intended preservation area 2, the second material is transparent to facilitate external observation of the positional relationship between the intended resection area 1 and the intended preservation area 2.

[0133] Specifically, 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 can be a colored transparent material or a colorless transparent material.

[0134] Furthermore, during the actual printing process, the cuttability of the first and / or second materials will vary with the print thickness. That is, the thicker the printed object, the more difficult it is to cut, making it difficult to reasonably control the cuttability of different intended resection sites 1. Furthermore, for surgical training models, the size and location of the intended resection site 1 vary from person to person, further increasing the difficulty of controlling the cuttability of the intended resection site 1 for different surgical training models. To facilitate cutting on surgical training models and simulate real-life surgical scenarios, the intended resection site 1 needs to be easily cuttable.

[0135] Figure 7 This is a schematic diagram of the structure of the planned resection site of a hypertrophic heart disease surgery training model provided in the embodiment of this application. Figure 7 As shown, in this embodiment, the intended resection site 1 includes an external structure 11 and an internal structure 12 located inside the external structure 11 .

[0136] Specifically, the printing material further includes a third material, the material strength of the third material is less than the material strength of the first material and the second material, and further, the tear resistance of the third material is less than the tear resistance of the first material and the second material.

[0137] In this embodiment, the first material is used to print the external structure 11 of the portion to be resected, and the third material is used to print the internal structure 12 of the portion to be resected.

[0138] In one embodiment, the thickness of the outer structure 11 is controlled to be 0.5-5 mm by controlling the thickness of the material layer formed by the first material, thereby avoiding the area to be resected 1 being too thick and difficult to cut, thereby ensuring its cuttability.

[0139] Among them, the thickness of the external structure 11 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 when the Shore hardness of the first material when solidified is 20A, or when the tear strength of the first material is 2.5 Kg / cm, the thickness of the external structure 11 can be set to 4 mm.

[0140] Figure 8 A cross-sectional view of the planned resection site of a hypertrophic heart disease surgical training model provided in an embodiment of the present application, such as Figure 8As shown, in order to make the cutting performance of the surgical training model closer to the cutting performance of real human tissue, the internal structure 12 includes a plurality of grid units connected to each other, that is, a plurality of grid units similar to the human tissue structure are formed in the internal structure 12 of the intended resection site 1, so that the doctor can obtain a more realistic cutting feel when performing simulated surgery.

[0141] The grid unit includes a frame portion 121 and a filling portion 122. In this embodiment, in order to ensure that the intended resection portion 1 and the intended retention portion 2 have different colors at least in the contact portion, the first material is used to print the external structure 11 of the intended resection portion, and the second material is used to print the intended retention portion 2; the frame portion 121 does not contact the intended retention portion 2, so its color can be arbitrary. In order to make the cuttability of the surgical training model closer to the cuttability of real human tissue, the first material and / or the second material are used to print the frame portion 121 of the grid unit, and the third material is used to print the filling portion 122 of the grid unit. That is, the third material is used to reduce the tear strength of the internal structure 12, and the first material and / or the second material are used to ensure that the internal structure 12 has a certain strength.

[0142] Figure 9a-9c The structural diagrams of three different grid units are shown respectively, such as Figure 9a-9c As shown, the shapes of the frame portions 121 of the three types of grid units are all linear. In other embodiments, the grid units can also be configured as other regular polyhedral structures or irregular structures, and the shape of the frame portion 121 can also be curved, spiral, etc., which are not listed here one by one. In addition, the grid units can have different sizes and / or shapes at different positions in the three-dimensional space of the internal structure 12, and the grid units can also be distributed in a gradient, uniformly distributed, or irregularly distributed in the three-dimensional space of the internal structure 12. Therefore, the cuttability of the internal structure 12 can be adjusted according to the actual tissue structure of the intended resection site 1 by controlling the size, shape, and distribution of the grid units in the three-dimensional space to simulate a more realistic cutting feel.

[0143] Furthermore, in order to make the surgical training model have a more realistic feel, the intended retention area 2 may also be divided into a second external structure and a second internal structure located inside the second external structure.

[0144] The second material is used to print the second external structure of the portion 2 to be retained, and the second material and the third material are used to print the second internal structure of the portion 2 to be retained.

[0145] Specifically, the second internal structure includes a plurality of interconnected grid structures, each grid structure including a second frame portion and a second filling portion. The second material is used to form the second frame portion of the grid structure, and the third material is used to form the filling portion of the grid structure.

[0146] By controlling the size, shape and distribution of the grid cells in three-dimensional space, the softness, stretchability, feel and mechanical strength of the intended retained portion 2 can be adjusted to be similar to real human tissue.

[0147] Furthermore, if Figure 5 As shown, the surgical training model may further include a blood vessel portion 3, the color of which is different from the color of the intended resection portion 1 and the intended preservation portion 2. This facilitates identification of the positional relationship between the intended resection portion 1 and the blood vessel portion 3, thereby better planning the surgical path.

[0148] Specifically, the blood vessel part 3 can be formed by printing a mixture 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, and other properties of the first material and the second material can be arbitrary.

[0149] In another embodiment, the printed material includes a first material and a second material, the first material and the second material having different colors. To ensure that the intended resection site 1 and the intended retained site 2 have different colors at least at the contact area, the first material and the second material are printed at a preset first ratio on the intended resection site 1 to form the intended resection site 1, and the first material and the second material are printed at a preset second ratio on the intended retained site 2 to form the intended retained site 2. To ensure that the vascular site 3 has different colors from the intended resection site 1 and the intended retained site 2, the first material and the second material are printed at a preset third ratio on the vascular site 3 to form the vascular site 3. Similarly, when the intended resection site 1 is located within the intended retained site 2, to enable external observation of the intended resection site 1, both the first material and the second material are transparent. Of course, the intended resection site 1, the intended retention site 2 and the vascular site 3 can also be formed in other ways, and this embodiment does not limit this, as long as the intended resection site 1 and the intended retention site 2 can have different colors at least in the contact site. For example, the first material and the second material are printed on the external structure 11 of the intended resection site 1 in a preset first ratio to form the external structure 11 of the intended resection site 1, and the first material and the second material are printed on the second external structure of the intended retention site 2 in a preset second ratio to form the second external structure of the intended retention site 2.

[0150] Furthermore, the surgical training model also includes a support structure, which is used to provide support for the surgical training model during the printing process. To facilitate removal of the support structure after printing, the support material used for the support structure generally has low tensile strength, low tear strength, and low Shore hardness after curing.

[0151] To simulate the real feel of the human body, the first and second materials used to create the hypertrophic heart disease surgical training model are soft materials. The soft materials have a tensile strength of less than 5 MPa, a tear strength of less than 10 kg / cm, and a Shore hardness of less than 70A after curing.

[0152] Specifically, when the surgical training model requires a harder material than the soft material, the printed material also includes a hard material, which is used in combination with the first and / or second materials. For example, the hard material and the soft material are mixed in a preset ratio to adjust the hardness of each area. Mixing in a preset ratio means printing the soft material and the hard material separately in a preset ratio within a specific area to form areas of a certain hardness. The color of the hard material can be transparent, the same color as any of the soft materials, or a different color from the soft materials.

[0153] In one embodiment, the first material and the second material may be soft materials that differ only in color, and the soft material includes, by weight percentage, 10-75% soft monomer, 10-75% hard monomer, 5-20% cross-linking agent, 5-20% non-reactive soft resin, 0.5-10% photoinitiator, 0-0.5% colorant, and 0.05-8% auxiliary agent.

[0154] The soft monomer is a monofunctional soft monomer characterized by containing a (meth)acryloyloxy group in the molecule and having a glass transition temperature of less than 0°C. Specifically, the soft monomer can be one or more of alkyl (meth)acrylates, hydroxyalkyl (meth)acrylates, alkoxylated (meth)acrylates, (meth)acrylates with a cyclic structure, and (meth)acrylates with a carbamate group.

[0155] The hard monomer is a monofunctional hard monomer characterized by containing a (meth)acryloyloxy group in the molecule and having a glass transition temperature higher than 25°C. Specifically, the hard monomer can be one or more of cycloalkyl (meth)acrylates, heterocyclic (meth)acrylates, and (meth)acrylates with a benzene ring structure.

[0156] The cross-linking agent may be one or more of a bifunctional soft monomer and a bifunctional soft resin.

[0157] The non-reactive soft resin does not contain radiation-curable groups in its molecules and has a glass transition temperature of less than 0° C. In one embodiment, the non-reactive soft resin is a non-reactive soft resin having good compatibility with an acrylic system and strong intermolecular forces.

[0158] The photoinitiator is a free radical photoinitiator. Specifically, the free radical photoinitiator can be benzoin ethyl ether, benzoin α, α-dimethylbenzil ketal, α, α-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-morpholinoacetone-1], [2-benzyl-2-dimethylamino-1-(4-morpholinophenyl) butanone-1], benzoylformate, 2,4,6-trimethylphenylacyl-ethoxy-phenylphosphine oxide, 2,4,6-trimethylphenylacyl-diphenylphosphine oxide, bis(2,4,6-trimethylphenylacyl)phenylphosphine oxide, 4-p-toluenemercaptobenzophenone, and the like.

[0159] The soft material may or may not contain a colorant. When the soft material does not contain a colorant, the soft material is transparent. When the soft material contains a colorant, the colorant may be a pigment or a dye. It is understood that the colorant may be used to make the first material and the second material have different colors.

[0160] The auxiliary agent is selected from one or more of a leveling agent, a defoaming agent and a stabilizer.

[0161] In this embodiment, a red soft material is provided, and its material composition is shown in Table 1 below:

[0162] Table 1. Red soft material composition ratio

[0163]

[0164] In this example, the properties of the red soft material were tested. The tensile strength test was conducted according to the national standard GB / T 528; the hardness test was conducted according to the national standard GB / T 529; and the tear strength test was conducted according to the national standard GB / T 531.1. The test results are shown in Table 2.

[0165] Table 2. Performance test results of red soft materials

[0166] Performance parameters Test results Tensile strength (unit: MPa) 0.5-1.0 Hardness (unit: A) 10-15 Tear strength (unit: Kg / cm) 1.5-20

[0167] As can be seen from the above table, the tensile strength, tear strength and hardness of the soft material after curing can all meet the cuttability requirements of the surgical training model.

[0168] In one embodiment, the hard material comprises, by weight percentage, 5-50% of vinyl oligomer, 50-95% of vinyl monomer, 0.5-10% of photoinitiator, 0-0.5% of colorant, and 0.05-8% of auxiliary agent.

[0169] The vinyl oligomer is selected from one or more of polyurethane acrylate, polyester acrylate, polyether acrylate and epoxy acrylate.

[0170] The vinyl monomer is selected from one or more of monofunctional acrylates, difunctional acrylates, multifunctional acrylates, acrylamide monomers, and vinyl ether monomers. Specifically, the monofunctional acrylate can be alkyl (meth)acrylate, hydroxyalkyl (meth)acrylate, alkoxylated (meth)acrylate, (meth)acrylate with a carbamate group, cycloalkyl (meth)acrylate, heterocyclic (meth)acrylate, (meth)acrylate with a benzene ring structure, etc.; the difunctional acrylate can be an acrylate with a chain structure and an acrylate with a 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, etc.; the vinyl ether monomer can be 4-hydroxybutyl vinyl ether, triethylene glycol divinyl ether (DVE-3), etc.

[0171] The photoinitiator is a free radical photoinitiator. Specifically, the free radical photoinitiator can be benzoin ethyl ether, benzoin α, α-dimethylbenzil ketal, α, α-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-morpholinoacetone-1], [2-benzyl-2-dimethylamino-1-(4-morpholinophenyl) butanone-1], benzoyl formate, 2,4,6-trimethylphenylacyl-ethoxy-phenylphosphine oxide, 2,4,6-trimethylphenylacyl-diphenylphosphine oxide, bis(2,4,6-trimethylphenylacyl)phenylphosphine oxide, 4-p-tolylmercaptobenzophenone, etc.

[0172] The auxiliary agent is selected from one or more of a toughening agent, a defoaming agent, a leveling agent and a stabilizer.

[0173] The colorant is selected from self-dispersing nano-scale pigment paste, specifically self-dispersing nano-scale inorganic pigment paste or self-dispersing nano-scale organic pigment paste, wherein the self-dispersing nano-scale inorganic pigment paste can be a white pigment paste, specifically titanium dioxide, zinc oxide, zinc lithopone, lead white, etc., and can be a black pigment paste, specifically carbon black, graphite, iron oxide black, aniline black, carbon black, etc.; the self-dispersing nano-scale organic pigment paste can be a color pigment paste, specifically golden red (PR21), Lithol red (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), indigo anthrone (PB60), etc.

[0174] In this embodiment, a hard material is provided, and its material composition is shown in Table 3 below:

[0175] Table 3. A hard material composition ratio

[0176]

[0177]

[0178] In this embodiment, the properties of the hard material were measured, wherein the tensile strength test was conducted in accordance with the national standard GB / T1040.3, and the hardness test was conducted in accordance with the national standard GB / T2411. The test results are shown in Table 4.

[0179] Table 4. Performance test results of hard materials

[0180] Performance parameters Test results Tensile strength (unit: MPa) 45-55 Hardness (unit: D) 70-80

[0181] In one embodiment, the support material may be a water-soluble support material, comprising the following components by weight: 55-98% of a monofunctional monomer, 1-50% of a linear nonionic water-soluble polymer, 0-20% of a polar organic solvent, 0.1-5% of a photoinitiator, and 0.5-10% of an auxiliary agent.

[0182] The monofunctional monomer is selected from one or more of a monofunctional acrylate monomer, a monofunctional acrylamide derivative monomer and a monofunctional vinyl monomer.

[0183] The linear nonionic water-soluble polymer is selected from one or more of polyvinyl alcohol, polyethylene glycol, polyacrylamide, polyvinyl pyrrolidone and polyacryloylmorpholine.

[0184] The polar organic solvent has a boiling point of above 120° C. and is water-soluble. Specifically, one or more alcohol and ester solvents commonly used in existing photocuring reactions can be selected.

[0185] The auxiliary agent is selected from one or more of polymerization inhibitors, defoamers, and leveling agents, which are all commonly used auxiliary agents in existing photocuring reactions.

[0186] In this embodiment, a water-soluble support material is provided, and its material composition is shown in Table 5 below:

[0187] Table 5. Component ratio of water-soluble support materials

[0188]

[0189]

[0190] In another embodiment, the support material may also be an alkali-soluble support material. Specifically, the alkali-soluble support material comprises the following components by weight: 18-40% of a photocurable main material, 2-30% of a functional reaction-promoting material, 48-78% of a non-curable water-miscible material, 1-5% of a photoinitiator, and 0.4-5% of an auxiliary agent.

[0191] The photocurable main material is selected from at least one of (meth)acrylate compounds and (meth)acrylamide compounds.

[0192] The functional reaction promoting material contains carboxyl groups and active hydrogen in its molecular structure. The active hydrogen can react with peroxide free radicals to increase the double bond conversion rate of the photocurable main material.

[0193] The non-curable water-miscible material is selected from at least one of the 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.

[0194] 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.

[0195] In this embodiment, an alkali-soluble support material is provided, and its material composition is shown in Table 6 below:

[0196] Table 6 Alkali-soluble support material composition ratio

[0197]

[0198] Due to the low tensile strength, tear strength and hardness of the support material after curing, it is difficult to test their specific values.

[0199] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A method for printing a surgical training model, characterized in that: The method comprises: Obtaining a three-dimensional digital model of a surgical training model to be printed, wherein the surgical training model includes a planned resection site and a planned retention site; adding surgical information to the three-dimensional digital model, wherein the surgical information includes position information of the intended resection site and / or the intended retention site; setting printing properties of the three-dimensional digital model according to the surgical information, so that the intended resection portion and the intended preservation portion have different colors at least at a contact portion, the intended resection portion includes an external structure and an internal structure located inside the external structure, and a material strength of the internal structure is less than a material strength of the external structure; Generate printing data according to the three-dimensional digital model after setting printing properties; Printing is performed based on preset printing materials and the printing data to obtain a surgical training model; The internal structure includes a plurality of grid units connected to each other.

2. The printing method according to claim 1, wherein: The printing material includes a first material and a second material. The first material and the second material have different colors. The first material is at least used to print the area to be removed, and the second material is at least used to print the area to be retained.

3. The printing method according to claim 2, wherein: The printing material includes a first material and a third material. The first material is used to print the external structure of the part to be resected, and the third material is used to print the internal structure of the part to be resected. The material strength of the third material is less than that of the first material and the second material.

4. The printing method according to claim 3, wherein: The tearing strength of the third material is smaller than the tearing strength of the first material and the second material.

5. The printing method according to claim 2, wherein: The second material is a transparent material.

6. The printing method according to claim 2, wherein: The first material and the second material are printed at the intended resection site at a preset first ratio to form at least a portion of the intended resection site, and the first material and the second material are printed at the intended retention site at a preset second ratio to form at least a portion of the intended retention site.

7. The printing method according to claim 3, wherein: The thickness of the outer structure is 0.5 to 5 mm.

8. The printing method according to claim 2, wherein: The surgical training model further includes a blood vessel portion, and the color of the blood vessel portion is different from the color of the intended resection portion and the intended retention portion.

9. The printing method according to claim 3, wherein: The printing material further includes a supporting material, wherein the supporting material is used for printing to form a supporting structure, and the supporting structure is used for providing support to the surgical training model during the printing process.

10. The printing method according to claim 9, wherein: The third material is the supporting material.

11. The printing method according to claim 2, wherein: The first material and the second material are soft materials.

12. The printing method according to claim 11, wherein: The printing material further includes a hard material, and the hard material is used in combination with the first material and / or the second material.

13. A printing system for surgical training models, characterized in that: The printing system includes a data processing device and a printing device; The data processing device includes a data acquisition module, an information adding module, an attribute definition module and a print data generation module; The data acquisition module is used to obtain a three-dimensional digital model of a surgical training model to be printed, wherein the surgical training model includes a planned resection site and a planned retention site; The information adding module is used to add surgical information to the three-dimensional digital model, wherein the surgical information includes position information of the intended resection site and / or the intended retention site; The attribute definition module is configured to set printing attributes of the three-dimensional digital model according to the surgical information, so that the intended resection portion and the intended retention portion have different colors at least at a contact portion, the intended resection portion includes an external structure and an internal structure located inside the external structure, and the material strength of the internal structure is less than the material strength of the external structure; The printing data generating module is used to generate printing data according to the three-dimensional digital model after the printing attributes are set; The printing device is used to print based on the preset printing material and the printing data to obtain a surgical training model; The internal structure includes a plurality of grid units connected to each other.

14. The printing system according to claim 13, wherein: The printing material includes a first material and a second material. The first material and the second material have different colors. The first material is at least used to print the area to be removed, and the second material is at least used to print the area to be retained.

15. The printing system according to claim 14, wherein: The printing material includes a first material and a third material. The first material is used to print the external structure of the part to be resected, and the third material is used to print the internal structure of the part to be resected. The material strength of the third material is less than that of the first material and the second material.

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