A high-precision processing method for human blood vessel models

Abstract

The present invention relates to the field of body membrane processing and manufacturing technology, and specifically to a high-precision processing method for a human blood vessel model, which specifically includes the following steps: obtaining original data of medical angiography blood vessels; drawing a parametric surface model of the inner wall of the blood vessel; designing and processing a cavity mold; designing and processing an outer frame mold; processing a perfusion mold; using a lost mold; designing and processing a blood vessel stent; surface treatment of the lost mold; coating of blood vessel silicone; finished product output; and assembly of a hollow silicone blood vessel with a pulsation device. In the technical solution of the present invention, the raw materials are easy to purchase and have low cost; the dissolution process can be unmanned and there is no environmental pollution problem; through the action of a rotary molding machine and a circulating water demoulding machine, the blood vessel wall thickness can be ensured to be uniform, large-volume blood vessel models can be formed in one piece, and the yield rate is high. Mass production can be achieved, and the blood vessel model pulsation data can be adjusted according to the human blood pressure values ​​during surgical robot development or preoperative simulation by medical personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of body membrane processing and manufacturing, and in particular to a high-precision processing method for a human blood vessel model. Background Art

[0002] Currently, there are many methods for processing and manufacturing human blood vessel models:

[0003] First, the hollow solid model is split into piece-like models that can be spliced ​​and assembled, and then 3D printed. After the 3D printed mold is spliced ​​and assembled, the model is sealed with heat shrink tubing or plastic film. Molten casting wax is injected to obtain a solid casting wax vascular model. After silicone is coated on the surface of the static casting wax vascular model and solidified, the casting wax is melted to obtain hollow vascular silicone.

[0004] Second, a hollow blood vessel model is 3D printed using a soluble material to obtain a hollow blood vessel mold. Silicone is attached to the surface of the blood vessel mold using a uniaxial rotary spraying or coating method. After the silicone is solidified, the spraying or coating operation is repeated to form a silicone blood vessel model of a certain thickness. The 3D printed hollow blood vessel mold is then dissolved by changing the water 16 times over 48 hours to obtain a hollow silicone blood vessel model. Alternatively, the 3D printed hollow blood vessel mold is dissolved using a strong acid or strong base solution to obtain a hollow silicone blood vessel model.

[0005] Third, larger silicone blood vessels are produced in sections, and the finished vascular silicones are connected using plastic connectors to produce large-volume vascular silicone models through splicing.

[0006] In method one, the splicing, assembly, and sealing process of the sheet model requires a certain level of familiarity on the part of the operator, and the process is complex and has low production capacity. Casting wax is generally blue or green, and its color does not change after melting, and a large amount of gas is released. The inner surface of the vascular silicone is easily stained by the casting wax color, resulting in a decrease in the transparency of the vascular silicone.

[0007] In the second method, the silicone is applied statically, and the silicone flows during the process of changing from liquid to solid, resulting in uneven thickness of the silicone wall of the produced blood vessel.

[0008] Soluble materials for 3D printing have low applicability to 3D printers and are expensive to purchase. Soluble materials take a long time to dissolve and require constant manpower to replace the solution during the process. Strong acid or strong base solutions pose a certain risk to operators and may pollute the environment.

[0009] Spraying or coating silicone on a 3D-printed blood vessel mold requires fine grinding of the surface patterns of the mold. However, the shape of the blood vessels themselves is complex and curved, and there are areas with smaller bends that cannot be properly polished. As a result, the inner surface of the finished product will have the patterns of the 3D-printed blood vessel mold, resulting in an uneven inner surface.

[0010] In method three: large-volume vascular silicone cannot be molded in one go and needs to be produced in segments. The segmented finished silicone products are connected using plastic joints, which affects the actual operation or rehearsal process of medical personnel.

[0011] Therefore, those skilled in the art provide a high-precision processing method for a human blood vessel model to solve the problems raised in the above background technology. Summary of the Invention

[0012] To solve the above technical problems, the present invention provides a high-precision processing method for a human blood vessel model, the specific steps of which are as follows:

[0013] 1) Data processing

[0014] Step (1), obtaining original data of medical angiography blood vessels;

[0015] 1.1. Extract vascular scan data from DR angiography equipment;

[0016] 1.2. Use Geomagic to optimize the original data;

[0017] Step (2), using SolidWorks design software to draw a parametric surface model of the inner wall of the blood vessel;

[0018] 2) Mold design and processing

[0019] Step (3), designing and processing the cavity mold;

[0020] 3.1. Design a cavity mold with a wall thickness of 0.6mm-1.5mm according to the shape of the blood vessel;

[0021] 3.2. Use 3D printing technology to produce cavity molds;

[0022] Step (4), design and processing of outer frame mold;

[0023] 4.1. Design the outer frame mold based on the cavity model obtained in step 3.1;

[0024] 4.2. Use 3D printing technology to produce the outer frame mold;

[0025] Step (5), processing the pouring mold;

[0026] 5.1. Assemble the obtained cavity mold and outer frame mold to obtain a combined mold 1;

[0027] 5.2. Mix the mold silicone according to the ratio of A:B = 0.3-0.2:1 and perform degassing treatment;

[0028] 5.3. Pour into the silicone injection port of the mold assembly mold 1;

[0029] 5.4. After the mold silicone is cured, remove the outer frame mold;

[0030] 5.5. Cut the 40HA perfusion mold into sections according to the shape of the blood vessels and remove the internal cavity mold;

[0031] Step (6), disappearing mold;

[0032] 6.1. The casting mold is assembled;

[0033] 6.2. Assemble the injection mold and the outer frame mold to obtain a second combined mold;

[0034] 6.3. Use a wax injection machine to melt the water-soluble wax and inject it into the vascular silicone injection port of the second assembly mold;

[0035] 6.4. After the water-soluble wax cools and solidifies, remove the outer frame mold;

[0036] 6.5. Split the casting mold along the dividing line in 5.5 to obtain the lost mold;

[0037] Step (7), designing and processing the vascular stent;

[0038] 7.1. Design the corresponding vascular stent model according to the cavity model obtained in 3.1;

[0039] 7.2. Use 3D printing technology to produce the outer frame mold;

[0040] Step (8), surface treatment of the lost mold;

[0041] 8.1. Remove the tapered objects on the surface of the lost mold, weld the lost mold, and grind and polish it;

[0042] 8.2. Apply a layer of light-curing resin with a thickness of 0.05-0.12mm and completely cure it under ultraviolet light with a wavelength of 405-410nm until the surface finish of the vanishing mold reaches Ra0.1 / μm-Ra3.2 / μm, and then clean the surface;

[0043] 8.3. Assemble the lost mold and the vascular stent to obtain a third assembly mold;

[0044] 3) Finished product processing

[0045] Step (9), coating the blood vessel with silicone;

[0046] 9.1. Assemble the three combined molds onto the rotating fixed seat of the rotary molding machine;

[0047] 9.2. Mix and degas the vascular silicone rubber according to the ratio of A:B = 1:1;

[0048] 9.3. Adjust the motion parameters of the rotary molding machine and start the equipment;

[0049] 9.4. Open the dustproof and heat-insulating cover of the rotary molding machine and evenly apply the vascular silicone to the three surfaces of the combined mold;

[0050] 9.5. Start the PTC constant temperature heating plate and cover the rotary molding machine with a dustproof and heat-insulating cover;

[0051] 9.6. Repeat steps 9.4 and 9.5 until the thickness of the vascular silicone reaches 1-2 mm;

[0052] Step (10), finished product output;

[0053] 10.1. Remove the third assembly mold from the rotary fixing seat of the rotomolding machine to obtain the fourth assembly mold containing the silicone blood vessel and the third assembly mold;

[0054] 10.2. Place the assembled mold 4 in a circulating water demoulding machine. The circulating water in the machine is an edible weak acidic PH5-7 solution. Adjust the water supply pipe to align with the disappearing mold. Wait for 2-3 hours for the disappearing mold to completely dissolve.

[0055] 10.3. Apply pressure to break the light-cured resin coating on the inner wall of the vessel into fragments with the longest side ranging from 2-5 mm. Then, use water or plastic tweezers to completely remove the fragments from the vessel cavity and cut the ports of the hollow silicone vessel flat.

[0056] 10.4. Obtain hollow silicone blood vessels;

[0057] Step (11), assembling the hollow silicone blood vessel and the pulsation device;

[0058] 11.1. Design and customize the acrylic box according to the location and size of the hollow silicone blood vessel port;

[0059] 11.2. Design the vascular port connector according to the dimensions of the hollow silicone vascular port and produce it using 3D printing technology;

[0060] 11.3. Assemble the hollow silicone blood vessels and blood vessel port connectors. After assembly, place them together in an acrylic box and install the corresponding connectors on the outer frame of the box.

[0061] 11.4. Connect the pulsating pump mechanism hose to the connector;

[0062] 11.5. Adjust the motion parameters of the pulsating pump control box and start the equipment according to the corresponding surgical robot development or the human blood pressure values ​​during the medical staff's preoperative simulation process;

[0063] 11.6. Obtain a pulsating human blood vessel model.

[0064] In addition, the present invention also provides a rotary molding machine, comprising an outer frame, wherein translucent side panels are installed on both left and right sides of the outer frame, a back panel is installed on the rear side thereof, an electric control component is arranged on the bottom of the front side, and a translucent double-leaf door is installed above the electric control component;

[0065] The bottom of the outer frame is installed with a steel base plate, and the four corners of the bottom of the outer frame are installed with adjustable feet;

[0066] A steel top plate is mounted on top of the outer frame;

[0067] A PCT heater is installed on the front end surface of the back plate, and a filter is also provided on the back plate below the PCT heater. A protective cover is installed on the filter, and a rotating mechanism is installed in front of the PCT heater on the back plate.

[0068] Preferably: a detachable top cover is provided in the middle of the steel top plate, a plurality of DC fans are installed on both sides of the front and rear of the detachable top cover at the lower end of the steel top plate, and a plurality of LED lamps are installed on both sides of the left and right of the detachable top cover at the lower end of the steel top plate.

[0069] Preferably, the rotating mechanism includes a main boom, which is fixedly mounted on the side wall of the back plate. A driver bottom cover is provided on the top front side of the main boom, and a motor driver and a DC power supply are provided on the upper end of the driver bottom cover.

[0070] Preferably: a side bearing assembly is installed at the front end of the main boom, a transmission gear 2 is fixedly installed at the front end of the side bearing assembly, a cantilever frame is fixedly installed at the front end of the transmission gear 2, and a transmission assembly 2 is also fixedly installed on the main boom, one end of the transmission assembly 2 passes through the main boom and engages with the transmission gear 2, and a conductive slip ring is also installed on the main boom below the transmission assembly 2.

[0071] Preferably, a second photoelectric switch is installed on the main boom above the side bearing assembly, and a second switch baffle is provided on the cantilever frame. When the cantilever frame rotates, the second switch baffle rotates and passes through the second photoelectric switch.

[0072] Preferably: the cantilever frame is an inverted U-shaped structure when viewed from the side, and inner frame rotating plates are provided at both upper and lower ends thereof, and inner frame profiles are provided on the left and right sides between the upper and lower inner frame rotating plates, the bottom of the lower inner frame rotating plate is rotatably connected to the cantilever frame through a lower bearing assembly, and a fixed transmission gear 1 is installed on the top of the upper inner frame rotating plate, and an upper bearing assembly is provided in the inner sleeve of the transmission gear 1, and the upper bearing assembly is connected to the top of the cantilever frame, and a transmission assembly 1 is provided at the position of the upper part of the cantilever frame corresponding to the transmission gear 1, and the transmission assembly 1 meshes with the transmission gear 1, and the transmission assembly 1 and the transmission assembly 2 have the same structure.

[0073] Preferably: a switch baffle 1 is provided on the outer side of the transmission gear 1 on the upper surface of the inner frame rotating plate, and a photoelectric switch 1 is installed on the top of the cantilever frame. When the inner frame rotating plate on the upper side rotates, the switch baffle 1 passes through the photoelectric switch 1.

[0074] Furthermore, the present invention provides a circulating water demoulding machine, comprising a housing and a water tank, wherein a door panel is installed at the front end of the housing;

[0075] The rear end of the shell is equipped with a rear side plate, and the bottom of the shell is provided with a filtering mechanism;

[0076] The bottom of the water tank is connected to the filtering mechanism through a return pipe;

[0077] A box bottom plate is provided above the filter mechanism in the housing, and an LED light column is installed on the rear side of the lower end of the box bottom plate;

[0078] The body power supply is installed on the right side of the upper end of the box bottom plate, and a power switch is fixed on the side wall of the shell. The power switch is electrically connected to the body power supply, and a socket is installed on the power switch;

[0079] A water pump is installed on the left side of the upper end of the box bottom plate. The water inlet of the water pump is connected to the water tank through a pumping pipe. A water supply pipe is installed at the outlet of the water pump. A throttle valve is installed at the front end of the water supply pipe. A water supply hose is installed at the outlet of the throttle valve.

[0080] A manifold is installed on the rear side of the upper end of the box bottom plate, and a number of pipeline-type manual valves are installed on the upper end of the front side. The inlets of the multiple pipeline-type manual valves are connected to a number of adapters provided on the manifold through connecting hoses, and the manifold is connected to the water supply hose. A drainage hose is provided at the outlet of the pipeline-type manual valve. The drainage hose is distributed on the left and right sides of the box bottom plate and passes through the box bottom plate and is located above the filter mechanism;

[0081] A panel is installed at the front end of the shell above the door panel. A timer and a button switch are respectively provided on the right side of the panel. Through holes are provided at the positions corresponding to the throttle valve and multiple pipeline-type manual valves on the panel.

[0082] Preferably, the filtering mechanism comprises a filtering water tank which is fixed at the bottom of the housing and has multiple layers of filter screens arranged therein. A tray is also installed above the multiple layers of filter screens and has water leakage holes on the tray.

[0083] Technical effects and advantages of the present invention:

[0084] In the technical solution of the present invention, the raw materials are easy to purchase and the cost is low; the dissolution process can be unmanned and there is no environmental pollution problem; through the action of the rotational molding machine and the circulating water demolding machine, the uniform thickness of the blood vessel wall can be ensured, large-volume blood vessel models can be formed in one piece, the yield is high, mass production can be achieved, and the blood vessel model pulsation data can be adjusted according to the human blood pressure values ​​in the development of surgical robots or the preoperative simulation process of medical personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Figure 1 This is a diagram of DR angiography scan data provided in Example 1 of the present application;

[0086] Figure 2 This is provided in Example 1 of the present application Figure 1 The original data graph obtained after optimization by Geomagic;

[0087] Figure 3 This is a diagram of the parameterized surface model of the inner wall of a blood vessel provided in Example 1 of the present application;

[0088] Figure 4 This is a schematic diagram of the cavity mold structure provided in Example 1 of the present application;

[0089] Figure 5 This is a schematic diagram of the outer frame mold structure provided in Example 1 of the present application;

[0090] Figure 6 This is a schematic diagram of the assembly of the combined mold 1 provided in Example 1 of the present application;

[0091] Figure 7 This is a structural diagram of the combined mold 1 provided in Example 1 of the present application;

[0092] Figure 8 This is provided in Example 1 of the present application Figure 7 Schematic diagram of the process of removing the middle and outer frame molds

[0093] Figure 9 This is a schematic diagram of the structure of the cavity mold segmentation provided in Example 1 of the present application;

[0094] Figure 10 Schematic diagram of the structure of the injection mold provided in Example 1 of the present application;

[0095] Figure 11 This is a schematic diagram of the assembly of the second assembly mold provided in Example 1 of the present application;

[0096] Figure 12 This is a structural diagram of the second assembly mold provided in Example 1 of the present application;

[0097] Figure 13 This is a schematic diagram of removing the outer frame mold in the second combined mold provided in Example 1 of the present application;

[0098] Figure 14 This is a schematic structural diagram of the lost mold provided in Example 1 of the present application;

[0099] Figure 15 is a structural diagram of the vascular stent model provided in Example 1 of the present application;

[0100] Figure 16 This is a structural diagram of a third assembly mold obtained by assembling the lost mold and the vascular stent provided in Example 1 of the present application;

[0101] Figure 17 This is a structural diagram of the assembly mold 3 provided in Example 1 of the present application assembled on a rotational molding machine;

[0102] Figure 18 This is a schematic structural diagram of the assembly mold 4 provided in Example 1 of the present application;

[0103] Figure 19 This is a schematic structural diagram of the combined mold 4 provided in Example 1 of the present application when demoulding by a circulating water demoulding machine;

[0104] Figure 20 This is a schematic structural diagram of the hollow silicone blood vessel provided in Example 1 of the present application;

[0105] Figure 21 This is a schematic structural diagram of the acrylic box provided in Example 1 of the present application;

[0106] Figure 22 This is a schematic structural diagram of the vascular port connector provided in Example 1 of the present application;

[0107] Figure 23 This is a schematic diagram of the structure of the hollow silicone blood vessel, blood vessel port connector, and outer frame connector provided in Example 1 of the present application after they are assembled;

[0108] Figure 24 This is a schematic structural diagram of the connection between the pulsating pump mechanism, the pulsating pump control box, and the outer frame joint provided in Example 1 of the present application;

[0109] Figure 25 It is the three-dimensional embodiment of the present application 2 Figure 1 ;

[0110] Figure 26 It is the three-dimensional embodiment of the present application 2 Figure 2 ;

[0111] Figure 27 This is the internal structure of Example 2 of this application Figure 1 ;

[0112] Figure 28 This is the internal structure of Example 2 of this application Figure 2 ;

[0113] Figure 29 is a bottom view of the steel top plate in Example 2 of the present application;

[0114] Figure 30 This is a schematic diagram of the structure of the rotating mechanism in Example 2 of this application Figure 1 ;

[0115] Figure 31 In Example 2 of this application Figure 30 Enlarged view of point A in the middle;

[0116] Figure 32 This is a schematic diagram of the structure of the rotating mechanism in Example 2 of this application Figure 2 ;

[0117] Figure 33 In Example 2 of this application Figure 32 Enlarged view of point B in the middle;

[0118] Figure 34 This is a schematic diagram of the structure of the rotating mechanism in Example 2 of this application Figure 3 ;

[0119] Figure 35 This is a side view of the rotating mechanism in Example 2 of the present application;

[0120] Figure 36 This is Example 2 of the present application Figure 35 Enlarged view of point C in the middle;

[0121] Figure 37 This is Example 2 of the present application Figure 35 Enlarged view of point D in the middle;

[0122] Figure 38 It is the three-dimensional embodiment of the present application 3 Figure 1 ;

[0123] Figure 39 It is the three-dimensional embodiment of the present application 3 Figure 2 ;

[0124] Figure 40 It is the three-dimensional embodiment of the present application 3 Figure 3 ;

[0125] Figure 41 is an exploded view of Example 3 of the present application;

[0126] Figure 42 In Example 3 of this application Figure 41 A magnified view of the local structure;

[0127] Figure 43 This is a schematic diagram of the decomposition of the filtering mechanism in Example 3 of the present application.

[0128] In the picture:

[0129] 001, DR angiography blood vessel scan data; 002, original data; 003, blood vessel surface model; 004, cavity model; 005, outer frame mold A; 006, outer frame mold B; 007, outer frame mold C1; 008, outer frame mold C2; 009, assembly mold 1; 010, mold silicone injection port; 011, injection mold; 012, assembly mold 2; 013, blood vessel silicone injection port; 014, lost mold; 015, blood vessel stent; 016, assembly mold 3; 018, cutting line; 019, hollow silicone blood vessel; 020, assembly mold 4; 021, acrylic box; 022, blood vessel port connector; 023, outer frame connector; 024, pulsating pump mechanism; 025, hose; 026, pulsating pump control box;

[0130] 100. Outer frame; 101. Translucent double doors; 102. Electronic control components; 103. Translucent side panels; 104. Back panel; 105. Steel bottom panel; 106. Steel top panel; 107. Rotating mechanism;

[0131] 1021. Electric control box; 1022. PLC controller; 1023. Temperature setter; 1024. Control switch; 1025. Emergency stop switch; 1026. Power switch; 1061. LED light tube; 1062. Removable top cover; 1063. DC fan;

[0132] 108. Main boom; 109. Driver bottom cover; 110. DC power supply; 111. Motor driver; 112. Cantilever frame; 113. Inner frame rotating plate; 114. Inner frame profile; 115. Lower bearing assembly; 116. Upper bearing assembly; 117. Transmission gear 1; 118. Transmission assembly 1; 119. Photoelectric switch 1; 120. Switch baffle 1; 121. Side bearing assembly; 122. Transmission gear 2; 123. Transmission assembly 2; 124. Photoelectric switch 2; 125. Switch baffle 2; 126. Conductive slip ring; 127. PCT heater; 128. Filter;

[0133] 200. Housing; 201. Rear side panel; 202. Door panel; 203. Door panel bottom frame; 204. Rotating shaft; 205. Water tank; 206. Filter mechanism; 207. Return pipe; 208. Tank bottom plate; 209. LED lamp post; 210. Body power supply; 211. Power switch; 212. Water pump; 213. Suction pipe; 214. Water supply pipe; 215. Throttle valve; 216. Water supply hose; 217. Manifold; 218. Connecting hose; 219. Pipe-type manual valve; 220. Drain hose; 221. Timer; 222. Push button switch; 2061. Filter water tank; 2062. Multi-layer filter; 2063. Tray. DETAILED DESCRIPTION

[0134] The present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for purposes of illustration and description and are not intended to be exhaustive or to limit the invention to the disclosed forms. Many modifications and variations will be apparent to those skilled in the art. The embodiments are chosen and described to better illustrate the principles of the invention and its practical application, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for specific applications.

[0135] Example 1

[0136] In this embodiment, a high-precision processing method for a human blood vessel model is provided. The specific steps are as follows:

[0137] 1) Data processing

[0138] Step (1), obtaining original data of medical angiography blood vessels;

[0139] 1.1、Extract blood vessel scanning data from DR angiography equipment (see Appendix Figure 1 );

[0140] 1.2、Use Geomagic to optimize the original data (see attached Figure 2 );

[0141] Step (2) Use SolidWorks design software to draw the parametric surface model of the inner wall of the blood vessel (see attached Figure 3 );

[0142] 2) Mold design and processing

[0143] Step (3), designing and processing the cavity mold;

[0144] 3.1. Design the cavity mold 004 with a wall thickness of 0.6mm-1.5mm according to the shape of the blood vessel (see attached Figure 4 );

[0145] 3.2. Use 3D printing technology to produce cavity mold 004;

[0146] Step (4), design and processing of outer frame mold;

[0147] 4.1. Design the outer frame mold according to the cavity model obtained in step 3.1 (see attached Figure 5 );

[0148] 4.2. Use 3D printing technology to produce the outer frame mold;

[0149] Step (5), processing the pouring mold 011;

[0150] 5.1. Assemble the obtained cavity mold 004 and the outer frame mold (see attached Figure 6 ) obtain a combined mold 009;

[0151] 5.2. Mix the mold silicone according to the ratio of A:B = 0.3-0.2:1 and perform degassing treatment;

[0152] 5.3. Pour into the silicone injection port 010 of the combined mold 009 (see attached Figure 7 );

[0153] 5.4. After the mold silicone is solidified, remove the outer frame mold (see attached Figure 8 );

[0154] 5.5. Cut the 40HA injection mold 011 into sections according to the shape of blood vessels and remove the internal cavity mold 004 (attached Figure 9 );

[0155] Step (6), disappearing mold 014;

[0156] 6.1, the injection mold 011 is assembled (see attached Figure 10 );

[0157] 6.2. Assemble the injection mold 011 and the outer frame mold to obtain the combined mold 2 012 (see attached Figure 11 );

[0158] 6.3. Use a wax injection machine to melt the water-soluble wax and inject it into the vascular silicone injection port 013 of the second assembly mold 012 (see attached Figure 12 );

[0159] 6.4. After the water-soluble wax cools and solidifies, remove the outer frame mold (see attached Figure 13 );

[0160] 6.5. Split the injection mold 011 along the dividing line 018 in 5.5 to obtain the lost mold 014 (see attached Figure 14 );

[0161] Step (7), designing and processing the vascular stent;

[0162] 7.1. Design the corresponding vascular stent 015 model according to the cavity model obtained in 3.1 (see attached Figure 15 );

[0163] 7.2. Use 3D printing technology to produce the outer frame mold;

[0164] Step (8), surface treatment of the lost mold 014;

[0165] 8.1. According to the actual situation, remove the cones on the surface of the lost mold 014, weld the lost mold 014, and grind and polish it;

[0166] 8.2. Apply a layer of light-curing resin with a thickness of 0.05-0.12mm and completely cure it under ultraviolet light with a wavelength of 405-410nm until the surface finish of the vanishing mold 014 reaches Ra0.1 / μm-Ra3.2 / μm, and then clean the surface; the light-curing resin used for coating will not produce adverse reactions with vascular silicone.

[0167] 8.3. Assemble the lost mold 014 and the vascular stent 015 to obtain the combined mold 3 016 (see attached Figure 16 );

[0168] 3) Finished product processing

[0169] Step (9), coating the blood vessel with silicone;

[0170] 9.1. Assemble the combination mold 3016 to the rotating fixed seat of the rotary molding machine (see attached Figure 17 );

[0171] 9.2. Mix and degas the vascular silicone rubber according to the ratio of A:B = 1:1;

[0172] 9.3. Adjust the motion parameters of the rotary molding machine and start the equipment;

[0173] 9.4. Open the dustproof and heat-insulating cover of the rotary molding machine and evenly apply the vascular silicone to the surface of the combined mold 3016;

[0174] 9.5. Start the PTC constant temperature heating plate and cover the rotary molding machine with a dustproof and heat-insulating cover;

[0175] 9.6. Repeat steps 9.4 and 9.5 until the thickness of the vascular silicone reaches 1-2 mm;

[0176] Step (10), finished product output;

[0177] 10.1. Take out the combination mold 3 016 from the rotational fixed seat of the rotational molding machine to obtain the combination mold 4 020 containing the silicone blood vessel and the combination mold 3 016 (see attached Figure 18 );

[0178] 10.2. Place the combined mold 4 020 in a circulating water demoulding machine. The circulating water in the machine is an edible weak acidic PH5-7 solution. Adjust the water supply pipe to align with the disappearing mold 014. After 2-3 hours, the disappearing mold 014 will be completely dissolved (see attached Figure 19 );

[0179] 10.3. Apply pressure to break the light-cured resin coating on the inner wall of the blood vessel into fragments with the longest side ranging from 2-5 mm. Then, use water or plastic tweezers to completely remove the fragments from the blood vessel cavity and cut each end of the hollow silicone blood vessel 019 flat.

[0180] 10.4. Obtain hollow silicone blood vessel 019 (see attached Figure 20 );

[0181] Step (11), assembling the hollow silicone blood vessel 019 and the pulsation device;

[0182] 11.1. Design and customize the acrylic box 021 according to the port position and size of the hollow silicone blood vessel 019 (see attached Figure 21 );

[0183] 11.2. Design the vascular port connector 022 according to the port size of the hollow silicone blood vessel 019 and produce it using 3D printing technology such as fused deposition model, light curing or laser sintering (see attached Figure 22 );

[0184] 11.3. Assemble the hollow silicone blood vessel 019 and the blood vessel port connector 022. After assembly, install them together in the acrylic box 021. Install the corresponding outer frame connector 023 on the outer frame of the acrylic box 021 (see attached). Figure 23 );

[0185] 11.4. The pulsating pump mechanism 024 is connected to the outer frame joint 023 through the hose 025 (see attached Figure 24 );

[0186] 11.5. Adjust the motion parameters of the pulsating pump control box 026 according to the corresponding surgical robot development or the human blood pressure values ​​of medical personnel during preoperative simulation and start the equipment;

[0187] 11.6. Obtain a pulsating human blood vessel model.

[0188] In the above method, the raw materials are easy to purchase and the cost is low; the dissolution process can be operated unmanned and there is no environmental pollution problem;

[0189] Furthermore, through the functions of the rotational molding machine and the circulating water demoulding machine, the uniform thickness of the blood vessel wall can be ensured, large-volume blood vessel models can be molded in one piece, the yield rate is high, mass production can be achieved, and the vascular model pulsation data can be adjusted according to the human blood pressure values ​​in the development of surgical robots or the preoperative simulation process of medical personnel.

[0190] Example 2

[0191] See also Figures 25 to 37In this embodiment, a rotary molding machine is provided, including an outer frame 100. Translucent side panels 103 are installed on both the left and right sides of the outer frame 100. A back panel 104 is installed on the rear side of the outer frame 100. An electric control component 102 is provided at the bottom of the front side. A translucent double-leaf door 101 is installed above the electric control component 102. The translucent side panels 103 and the translucent double-leaf door 101 are configured as transparent structures, so that the internal working state of the rotary molding machine can be observed, which is beneficial for processing objects.

[0192] Moreover, a handle is installed at the front end of the translucent door 101, which is conducive to opening the translucent door 101, and the translucent door 101 is connected to the outer frame 100 through a plurality of hinges;

[0193] The electric control component 102 is used to control the operation of the entire rotary molding machine, which includes an electric control box 1021. An emergency stop switch 1025 and a power switch 1026 are provided on one side of the electric control box 1021. The emergency stop switch 1025 is used to control the rotary molding machine to stop working in an emergency to avoid accidents. The power switch 1026 is used to start and shut down the rotary molding machine. In addition, a PLC controller 1022, a temperature setter 1023 and a control switch 1024 are provided in sequence on the other side of the electric control box 1021. The PLC controller 1022 can set the working profile of the rotary molding machine, the temperature setter 1023 can set the working temperature of the rotary molding machine, and the control switch 1024 can adjust the working conditions of the rotary molding machine.

[0194] A steel base plate 105 is installed at the bottom of the outer frame 100, and adjustable feet are installed at the four corners of the bottom of the outer frame 100. The feet can be finely adjusted according to the position of the rotary molding machine to keep it level and stable. At the same time, the feet also have a buffering effect, reducing the noise and vibration of the rotary molding machine during operation, maintaining a better working environment.

[0195] A steel top plate 106 is installed on the top of the outer frame 100, and a removable top cover 1062 is provided in the middle of the steel top plate 106. The removable structure can facilitate the maintenance of the components on the top of the rotary molding machine after it is removed. In addition, a plurality of DC fans 1063 are installed on the front and rear sides of the removable top cover 1062 at the lower end of the steel top plate 106. A plurality of LED light tubes 1061 are installed on the left and right sides of the removable top cover 1062 at the lower end of the steel top plate 106. The LED light tubes 1061 can illuminate the interior of the rotary molding machine, making it convenient to take in and check items.

[0196] A PCT heater 127 is mounted on the front end of the back plate 104. A filter 128 is also provided below the PCT heater 127 on the back plate 104. A protective cover is mounted on the filter 128 to protect the filter 128. A rotating mechanism 107 is mounted in front of the PCT heater 127 on the back plate 104. The items to be processed are placed on the rotating mechanism 107, and the PCT heater 127 heats the items.

[0197] The rotating mechanism 107 includes a main boom 108, which is fixedly mounted on the side wall of the back plate 104. A driver bottom cover 109 is provided on the top front side of the main boom 108. A motor driver 111 and a DC power supply 110 are provided on the upper end of the driver bottom cover 109. A DC fan 1063 dissipates heat for the DC power supply 110 and the motor driver 111.

[0198] A side bearing assembly 121 is mounted on the front end of the main boom 108. A second transmission gear 122 is mounted and fixed on the front end of the side bearing assembly 121. The front end of the second transmission gear 122 is fixedly mounted on the cantilever frame 112. A second transmission assembly 123 is also mounted and fixed on the main boom 108. One end of the second transmission assembly 123 passes through the main boom 108 and engages with the second transmission gear 122. That is, the second transmission assembly 123 drives the second transmission gear 122 to rotate on the side bearing assembly 121. Since the cantilever frame 112 is fixed to the second transmission gear 122, the cantilever frame 112 also rotates with the second transmission gear 122, and thus the objects placed in the rotating mechanism 107 can be rotated in the vertical plane.

[0199] A second photoelectric switch 124 is mounted on the main boom 108 above the side bearing assembly 121, and a second switch block 125 is mounted on the cantilever frame 112. As the cantilever frame 112 rotates, the second switch block 125 rotates with it, passing through the second photoelectric switch 124, triggering the second photoelectric switch 124 once for recording.

[0200] The cantilever frame 112 is an inverted U-shaped structure when viewed from the side, with inner frame rotating plates 113 provided at both ends, and inner frame profiles 114 provided on both sides between the upper and lower inner frame rotating plates 113. The bottom of the lower inner frame rotating plate 113 is rotatably connected to the cantilever frame 112 through a lower bearing assembly 115, and a fixed transmission gear 117 is installed on the top of the upper inner frame rotating plate 113. An upper bearing assembly 116 is provided inside the transmission gear 117. The upper bearing assembly 116 is connected to the top of the cantilever frame 112, thereby 16 and the lower bearing assembly 115, so that the inner frame rotating plate 113 and the inner frame profile 114 can be rotatably connected with the cantilever frame 112. A transmission assembly 118 is provided at the position corresponding to the transmission gear 117 on the upper part of the cantilever frame 112. The transmission assembly 118 engages with the transmission gear 117, so that the transmission assembly 118 drives the transmission gear 117 to rotate, thereby causing the inner frame rotating plate 113 and the inner frame profile 114 to rotate horizontally within the cantilever frame 112, thereby achieving the effect that the rotating mechanism 107 can rotate both horizontally and vertically.

[0201] A switch block 120 is provided on the upper surface of the upper inner frame rotating plate 113, outside the transmission gear 117, and a photoelectric switch 119 is installed on the top of the cantilever frame 112. When the upper inner frame rotating plate 113 rotates, the switch block 120 passes over the photoelectric switch 119.

[0202] It should be noted that the transmission assembly 1 118 and the transmission assembly 2 123 have the same structure, and both include a stepper motor, a rotating shaft is mounted on the stepper motor, and a small gear is provided on the rotating shaft to achieve meshing, and the motor driver 111 controls and drives the stepper motor to work;

[0203] A conductive slip ring 126 is also installed on the rear side of the main boom 108, and the conductive slip ring 126 supplies power to the stepper motors in the transmission component 1 118 and the transmission component 2 123.

[0204] Example 3

[0205] See also Figures 38 to 43In this embodiment, a circulating water demoulding machine is provided, including a shell 200 and a water tank 205. A door panel 202 is installed at the front end of the shell, and the bottom of the door panel 202 is fixed in the door panel bottom frame 203. A rotating shaft 204 is provided in the door panel bottom frame 203. The door panel bottom frame 203 is rotatably connected to the side wall of the shell 200 through the rotating shaft 204. A handle is also installed on the door panel 202, so that after pulling the handle, it can drive the door panel 202 to rotate around the rotating shaft 204 as the axis, thereby opening the demoulding machine and placing the items in the demoulding machine (the items here refer to the combination mold 2020). The rear end of the shell 200 is installed with a rear side plate 201, and a filtering mechanism 206 is provided at the bottom of the shell 201. Through the arrangement of the rear side plate 201, the filtering mechanism 206 and the door panel 202, the demoulding machine is formed into a sealed structure, and the combination mold 2020 is placed on the filtering mechanism 206 during demoulding.

[0206] The bottom of the water tank 205 is connected to the filter mechanism 206 through the return pipe 207. When the demoulding machine is working, the water first flows to the filter mechanism 206, and then after being filtered by it, the water enters the water tank 205 through the return pipe 207, so as to be recycled.

[0207] The filtering mechanism 206 includes a filtering water tank 2061, which is fixed to the bottom of the housing 200 and has a multi-layer filter screen 2062 disposed therein. A tray 2063 is also mounted above the multi-layer filter screen 2062. The tray 2063 has a water leakage hole. The assembled mold 2020 is placed on the tray 2063. Water passing through the tray 2063 falls through the water leakage hole, passes through the multi-layer filter screen 2062, and then enters the filtering water tank 2061. The filtering water tank 2061 is connected to the water tank 205 via a return pipe 207. The used water can then be returned to the water tank 205 for reuse.

[0208] A bottom plate 208 is provided above the filter mechanism 206 in the housing 200. An LED lamp post 209 is installed on the rear side of the lower end of the bottom plate 208. The LED lamp post 209 is used to illuminate the interior of the demoulding machine and provide a better field of view.

[0209] A body power supply 210 is installed on the right side of the upper end of the box bottom plate 208. The body power supply 210 supplies power to the demoulding machine, and a power switch 211 is fixed on the side wall of the shell 200. The power switch 211 is electrically connected to the body power supply 210. A socket is installed on the power switch 211, which can charge the body power supply 210.

[0210] A water pump 212 is installed on the left side of the upper end of the tank bottom plate 208. The water inlet of the water pump 212 is connected to the water tank 205 through a water pumping pipe 213. A water supply pipe 214 is installed at the outlet of the water pump 212. A throttle valve 215 is installed at the front end of the water supply pipe 214. A water supply hose 216 is installed at the outlet of the throttle valve 215. When the water pump 212 is working, it draws water from the water tank 205 through the water pumping pipe 213, and then delivers the water through the water supply pipe 214 and through the throttle valve 215 to the water supply hose 216.

[0211] A manifold 217 is mounted on the rear upper end of the bottom plate 208, and several pipeline-type manual valves 219 are mounted on the upper front end thereof. The inlets of the multiple pipeline-type manual valves 219 are connected to several adapters provided on the manifold 217 via connecting hoses 218. The manifold 217 is in communication with the water supply hose 216. A drainage hose 220 is mounted at the outlet of the pipeline-type manual valve 219. The drainage hoses 220 are distributed on the left and right sides of the bottom plate 208 and pass through the bottom plate 208 to be located above the filter mechanism 206.

[0212] After passing through the throttle valve 215, the water enters the manifold 217 through the water supply hose 216. The water in the manifold 217 enters the corresponding connecting hose 218 through the adapter and then flows through the pipeline-type manual valve 219. After the pipeline-type manual valve 219 is opened, the water flows into the drainage hose 220 and falls to the bottom of the box bottom plate 208, and is then collected and filtered by the filter mechanism 206 for secondary use.

[0213] A panel is also installed at the front end of the housing 200 above the door panel 202. A timer 221 and a button switch 222 are respectively provided on the right side of the panel. The timer 221 can set the working time of the demoulding machine. When the button switch 222 is turned on, the demoulding machine starts working.

[0214] Moreover, through holes are provided at positions corresponding to the throttle valve 215 and multiple pipeline-type manual valves 219 on the panel, so that the adjustment buttons and switches on the throttle valve 215 and the pipeline-type manual valve 219 are extended out of the panel for easy adjustment.

[0215] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without making creative efforts should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention shall be implemented in accordance with conventional means in the field unless otherwise specified or limited.

Claims

1. A high-precision processing method for a human blood vessel model, characterized by the following specific steps: 1) Data processing Step (1), obtaining original data of medical angiography blood vessels; 1.

1. Extract vascular scan data from DR angiography equipment; 1.

2. Use Geomagic to optimize the original data; Step (2), using SolidWorks design software to draw a parametric surface model of the inner wall of the blood vessel; 2) Mold design and processing Step (3), designing and processing the cavity mold; 3.

1. Design a cavity mold with a wall thickness of 0.6mm-1.5mm according to the shape of the blood vessel; 3.

2. Use 3D printing technology to produce cavity molds; Step (4), design and processing of outer frame mold; 4.

1. Design the outer frame mold based on the cavity model obtained in step 3.1; 4.

2. Use 3D printing technology to produce the outer frame mold; Step (5), processing the pouring mold; 5.

1. Assemble the obtained cavity mold and outer frame mold to obtain a combined mold 1; 5.

2. Mix the mold silicone according to the ratio of A:B=0.3-0.2:1 and degas. 5.

3. Pour into the silicone injection port of the mold assembly mold 1; 5.

4. After the mold silicone is cured, remove the outer frame mold; 5.

5. Cut the 40HA perfusion mold into sections according to the shape of the blood vessels and remove the internal cavity mold; Step (6), disappearing mold; 6.

1. The casting mold is assembled; 6.

2. Assemble the injection mold and the outer frame mold to obtain a second combined mold; 6.

3. Use a wax injection machine to melt the water-soluble wax and inject it into the vascular silicone injection port of the second assembly mold; 6.

4. After the water-soluble wax cools and solidifies, remove the outer frame mold; 6.

5. Split the casting mold along the dividing line in step 5.5 to obtain the lost mold; Step (7), vascular stent design and processing; 7.

1. Design the corresponding vascular stent model according to the cavity model obtained in step 3.1; 7.

2. Use 3D printing technology to produce vascular stent models; Step (8), surface treatment of the lost mold; 8.

1. Remove the tapered objects on the surface of the lost mold, weld the lost mold, and grind and polish it; 8.

2. Apply a layer of light-curing resin with a thickness of 0.05-0.12mm and completely cure it under ultraviolet light with a wavelength of 405-410nm until the surface finish of the vanishing mold reaches Ra0.1 / μm-Ra3.2 / μm, and then clean the surface; 8.

3. Assemble the lost mold and the vascular stent to obtain a third assembly mold; 3) Finished product processing Step (9), coating the vascular silicone; 9.

1. Assemble the three combined molds onto the rotating fixed seat of the rotary molding machine; 9.

2. Mix and degas the vascular silicone rubber according to the ratio of A:B=1:1; 9.

3. Adjust the motion parameters of the rotary molding machine and start the equipment; 9.

4. Open the dustproof and heat-insulating cover of the rotary molding machine and evenly apply the vascular silicone to the three surfaces of the combined mold; 9.

5. Start the PTC constant temperature heating plate and cover the rotary molding machine with a dustproof and heat-insulating cover; 9.

6. Repeat steps 9.4 and 9.5 until the thickness of the vascular silicone reaches 1-2 mm; Step (10), finished product output; 10.

1. Remove the third assembly mold from the rotary fixing seat of the rotomolding machine to obtain the fourth assembly mold containing the silicone blood vessel and the third assembly mold; 10.

2. Place the assembled mold 4 in a circulating water demoulding machine. The circulating water in the machine is an edible weak acidic PH5-7 solution. Adjust the water supply pipe to align with the disappearing mold. Wait for 2-3 hours for the disappearing mold to completely dissolve. 10.

3. Apply pressure to break the light-cured resin coating on the inner wall of the vessel into fragments with the longest side ranging from 2-5 mm. Then, use water or plastic tweezers to completely remove the fragments from the vessel cavity and cut the ports of the hollow silicone vessel flat. 10.

4. Obtain hollow silicone blood vessels; Step (11), assembling the hollow silicone blood vessel and the pulsation device; 11.

1. Design and customize the acrylic box according to the location and size of the hollow silicone blood vessel port; 11.

2. Design the vascular port connector according to the dimensions of the hollow silicone vascular port and produce it using 3D printing technology; 11.

3. Assemble the hollow silicone blood vessels and blood vessel port connectors. After assembly, place them together in an acrylic box and install the corresponding connectors on the outer frame of the box. 11.

4. Connect the pulsating pump mechanism hose to the connector; 11.

5. Adjust the motion parameters of the pulsating pump control box and start the equipment according to the corresponding surgical robot development or the human blood pressure values ​​during the medical staff's preoperative simulation process; 11.

6. Obtain a pulsating human blood vessel model.

2. A rotational molding machine for the method of processing a human blood vessel model according to claim 1, characterized in that: The outer frame comprises an outer frame, with translucent side panels installed on both sides of the outer frame, a back panel installed on the rear side, an electric control component installed on the front bottom, and a translucent double-leaf door installed above the electric control component; The bottom of the outer frame is installed with a steel base plate, and the four corners of the bottom of the outer frame are installed with adjustable feet; A steel top plate is mounted on top of the outer frame; A PCT heater is installed on the front surface of the back plate, and a filter is also provided on the back plate below the PCT heater. A protective cover is installed on the filter. A rotating mechanism is installed on the back plate in front of the PCT heater. A removable top cover is provided in the middle of the steel top plate, a plurality of DC fans are installed on both sides of the front and rear of the removable top cover at the lower end of the steel top plate, and a plurality of LED light tubes are installed on both sides of the left and right of the removable top cover at the lower end of the steel top plate; The rotating mechanism includes a main boom, which is fixedly mounted on the side wall of the back plate. A driver bottom cover is provided on the top front side of the main boom, and a motor driver and a DC power supply are provided on the upper end of the driver bottom cover. The front end of the main boom is equipped with a side bearing assembly, the front end of the side bearing assembly is fixedly mounted with a second transmission gear, the front end of the second transmission gear is fixedly mounted on the cantilever frame, and the main boom is also equipped with a second transmission assembly, one end of the second transmission assembly passes through the main boom and engages with the second transmission gear, and the main boom is also equipped with a conductive slip ring below the second transmission assembly; A second photoelectric switch is installed on the main boom above the side bearing assembly, and a second switch baffle is provided on the cantilever frame. When the cantilever frame rotates, the second switch baffle rotates with it so that it passes through the second photoelectric switch. The cantilever frame is an inverted U-shaped structure when viewed from the side, with inner frame rotating plates provided at both upper and lower ends thereof, and inner frame profiles provided on both left and right sides between the upper and lower inner frame rotating plates. The bottom of the lower inner frame rotating plate is rotatably connected to the cantilever frame through a lower bearing assembly, and a fixed transmission gear 1 is installed on the top of the upper inner frame rotating plate. An upper bearing assembly is provided in the inner sleeve of the transmission gear 1, and the upper bearing assembly is connected to the top of the cantilever frame. A transmission assembly 1 is provided at the position of the upper part of the cantilever frame corresponding to the transmission gear 1, and the transmission assembly 1 meshes with the transmission gear 1. The transmission assembly 1 and the transmission assembly 2 have the same structure. A switch baffle 1 is provided on the upper surface of the inner frame rotating plate on the outside of the transmission gear 1, and a photoelectric switch 1 is installed on the top of the cantilever frame. When the inner frame rotating plate on the upper side rotates, the switch baffle 1 passes the photoelectric switch 1.

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