Auxiliary traction tool and molding method for coupled bionic endoscopic submucosal dissection based on 4D printing technology

Abstract

The present invention discloses an auxiliary traction tool and a molding method thereof for coupled bionic endoscopic submucosal dissection (ESD) based on 4D printing technology. It includes a frog tongue bionic hook made by 4D printing technology and a bionic cat tongue barb layer (coupled bionic) made by curing photosensitive resin. The straight bionic frog tongue structure traction tool is embedded with preset stress during the 4D printing molding process and is fixedly connected with the bionic barb structure. During the operation, the bionic hook is inserted into the stomach wall by the barb layer and is fixedly connected thereto. Under the stimulation of body temperature, the bionic frog tongue hook body slowly releases stress, curls and pulls the stomach wall at the lesion. Compared with traditional ESD traction tools, the present invention is easy to operate, has flexible traction angle and controllable traction force, is not easy to damage mucosal tissue, has a reliable working mechanism, a concise and independent working system, does not require external energy input, can be quickly customized according to the lesion situation, and has a small size, is easy to put into the body and take out, and is convenient for surgical operation.

Description

Technical Field

[0001] The present invention relates to the technical field of 4D printing, and in particular to an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology and a molding method thereof. Background Art

[0002] The most commonly used surgical method in clinical practice is laparoscopic ESD radical gastrectomy. This type of surgery is much less traumatic than open surgery. It is a minimally invasive surgery and has a faster recovery after surgery. However, the cost of the surgery is high. Currently, ESD traction methods are mainly divided into the following three types:

[0003] (1) Position change method: By changing the body position, the tumor is placed at a high position, and the tumor's own gravity is used to make ESD easier. Its advantages are that it does not require external auxiliary traction and is simple to operate. Its disadvantage is that it is troublesome to change the body position under anesthesia.

[0004] (2) Clip-with-line method: A thin wire fixed to one side arm of the metal clip is pulled outside the body to give tension to the submucosal layer, thereby exposing the ESD surgical field. Its advantages are easy operation, no need for special equipment, good traction effect, reduced injection volume, and saved operation time. The disadvantages are that the traction direction of the clip-with-line method is single, and the endoscope needs to be removed and installed before being inserted again, which is relatively complicated.

[0005] (3) Internal traction method: including plumb traction method, clip combined with spring traction method, metal clip combined with rubber ring or nylon rope traction method. The advantage is that it does not need to repeatedly advance and withdraw the scope, and can better expose the field of view. The disadvantage is that it is difficult to control and it is easy to damage a small amount of normal mucosa when peeling off the specimen.

[0006] 4D printing refers to the use of "programmable materials" and 3D printing technology to create three-dimensional objects that can self-transform physical properties (including shape, density, color, elasticity, conductivity, optical properties, electromagnetic properties, etc.) under predetermined stimulation (such as being placed in water, or heated, pressurized, powered, illuminated, etc.). Among them, "programmable materials" refer to materials that can programmatically change their appearance, density, conductivity, color, optical properties, electromagnetic properties, etc. The fourth dimension of 4D printing refers to the fact that after an object is manufactured, its shape or performance can self-transform.

[0007] Photosensitive resin, commonly known as UV curing glue, or UV resin (glue), is mainly composed of polymer monomers and prepolymers, to which light (ultraviolet light) initiators, or photosensitizers, are added. Under the irradiation of ultraviolet light of a certain wavelength, it will immediately cause a polymerization reaction and complete the solidification conversion. Photosensitive resin refers to the material used for photocuring rapid prototyping, which is a liquid photocurable resin, or liquid photosensitive resin, mainly composed of oligomers, photoinitiators, and diluents.

[0008] Bionics is a special structure developed from the special functions of organisms in nature. It imitates some excellent functions of organisms. Many bionic products have been used in the structures of various objects in life. At the same time, it has a wide range of applications in the fields of medical and military industries. The frog tongue completes the curling action through its own excitation, has efficient capture performance, and effectively saves the occupied space; the barbs distributed on the surface of the cat tongue can effectively fix food and has a good fixing function.

[0009] In summary, the existing ESD auxiliary traction tools have a rough working mechanism, are large in size, and have no customization function. In view of the above problems, the present invention adopts a 4D printing material that is intelligent, reliable, gentle on the human body, small in size, and highly customized, and couples the curling characteristics of the bionic frog tongue with the barbed structure of the cat tongue, which simplifies the surgical operation, improves the success rate of the operation, and reduces the cost of the operation. Summary of the invention

[0010] In order to overcome the shortcomings of the body position change method, such as the troublesome change of body position in the anesthesia state; to avoid the defects of the wire titanium clip method, such as the single traction direction and relatively complicated operation; to solve the problem that the internal traction method is difficult to control and a small amount of normal mucosa is easily damaged when the specimen is removed, the present invention proposes a method for forming an auxiliary traction tool for coupled bionic endoscopic submucosal dissection (ESD) based on 4D printing technology. The 4D printing technology and the photosensitive resin curing molding method are well utilized to solve the endoscopic submucosal dissection surgery and relieve the pain of patients, providing an effective method.

[0011] An auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology includes a frog tongue bionic hook, which is composed of a hook head 1 and a front end barb 2, wherein the hook head 1 and the front end barb 2 are positioned and installed through a groove;

[0012] The hook head 1 includes a hook carrier 101 and a barb storage groove 102. The barb storage groove 102 in the hook head 1 is matched and positioned with the front barb 2 to realize the assembly of the groove, which is convenient for loading and unloading.

[0013] The end barb 2 includes a barb-bearing body 201 and a barb working body 202. The barb-bearing body 201 can be stored in the barb storage groove 102 in the hook head 1 to achieve matching positioning;

[0014] An auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology includes a bionic cat tongue barb structure, which is composed of a barb carrier 3 and a barb working body 4; the barb carrier 3 and the barb working body 4 are positioned and matched and installed through a groove;

[0015] The barb carrier 3 includes a carrier body 301 and a barb bearing groove 302, wherein the barb bearing groove 302 is configured to store the barb working body 4, and the carrier body 301 can be directly matched with a gastroscope;

[0016] The barb working body 4 includes a barb supporting plate 401 and barbs 402. The barb supporting plate 401 is in direct contact with the barb bearing body 3. The barbs 402 play a key role in the operation process.

[0017] A molding method for an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology, wherein the specific molding steps are as follows:

[0018] Step 1: Select shape memory polyurethane material (PU) based on the determined temperature-induced deformation mechanism

[0019] Step 2: Prepare 4D printing materials. The ratio of the printing materials is 96-97 parts of polyurethane, 1-2 parts of stearylamine and 1-2 parts of polyacetic acid wax. First, dry the above material particles according to the proportion, then put them into a ball mill for mixing. After mixing, take out the mixture and use a twin-screw extruder to prepare 4D printing material filaments;

[0020] Step 3: Design the size parameters of the auxiliary traction tool for endoscopic submucosal dissection (ESD) based on 4D printing technology according to the patient's stomach shape and lesion characteristics;

[0021] Step 4: Create a 3D main body model of the frog tongue hook in the mechanical drawing-part design module of CATIA;

[0022] Step 5: Slice the constructed model and save it in STL format, input it into the fuse deposition printing system, program the selected shape memory material, and use the fuse deposition printing technology to form it. During the printing process, the spatial distribution of the programming sample printing temperature, printing speed, and printing layer thickness is preset to program the stress, so that the shape memory material PU can respond to specific temperature excitation;

[0023] Step 6: Start the fused filament deposition printing system, use the 4D printing material in S2 as the raw material, feed the filamentary printing material into the printer through the friction wheel, heat the printer nozzle to above the melting temperature of the material, extrude the melted material through the print head, and the printer nozzle extrude the material along the set route.

[0024] Step 7: The ideal curling angle of the hook claw during curling is δ, and the recovery time is Δt. After the hook claw contacts the inner and outer layers of the patient's stomach for Δt, the average curling deformation rate of the hook claw is v, and the corresponding deformation is:

[0025] δ=vΔt 1

[0026] Step 8: After completing one layer, the printer nozzle moves upward for a certain displacement to print the next layer until the final deposition forms a solid model. After the printed solid is cooled and hardened, it is removed from the platform;

[0027] Step 9: Determine the number, arrangement and size of the barbs according to the surgical site, and establish a three-dimensional model of the mold according to the determined number, arrangement and size of the barbs;

[0028] Step 10: The mold is manufactured by two-photon polymerization additive manufacturing technology;

[0029] Step 11: Pour the photosensitive resin into the mold, and after it stabilizes, combine it with the end of the hook main body structure, and cure it with ultraviolet light to combine the barb layer with the hook main body.

[0030] Furthermore, the shape memory material used is polyurethane (PU);

[0031] Furthermore, the excitation temperature parameter range is 37°C-48°C.

[0032] Further, the photosensitive resin curing forming method used, wherein the raw material is photosensitive resin, the photosensitive resin is cured by ultraviolet light beam with a wavelength range of 365-405nm, the irradiation time is 10-50s, the laser power used in the deformed part is 375W-395W, the scanning speed is 1300-1600mm / s, and the printing layer thickness is 30um; the laser power used in the non-deformed part is 335W-365W, the scanning speed is 800-1000mm / s, and the printing layer thickness is 60um;

[0033] Furthermore, the traction tool model is a bionic frog tongue and a bionic cat tongue barb.

[0034] Furthermore, different parameters can be set according to the condition of the lesion to achieve rapid personalized customization.

[0035] Furthermore, the auxiliary traction tool is mainly formed by 4D printing and photosensitive resin curing, and the programming sample printing temperature, printing speed, and printing layer thickness are different in different parts. In the deformed part of the auxiliary traction tool, the printing temperature and printing speed are greater than those in the non-deformed part, and the printing layer thickness is smaller than that in the non-deformed area.

[0036] Beneficial effects of the present invention:

[0037] The present invention is composed of a frog tongue bionic hook made by 4D printing technology and a bionic cat tongue barb layer made by curing photosensitive resin, which are fixedly connected. It is mainly formed by 4D printing technology and photosensitive resin curing method; the straight bionic frog tongue structure traction tool is embedded with preset stress during the 4D printing molding process and is fixedly connected with the bionic barb structure. During the operation, the bionic hook is inserted into the stomach wall by the barb layer and is fixedly connected thereto. Under the stimulation of body temperature, the bionic frog tongue hook body slowly releases stress, curls and pulls the stomach wall at the lesion; the traction angle is flexible and the traction force is controllable, and it is not easy to damage the mucosal tissue. The working mechanism is simple and reliable, the working system is simple and independent, no external energy input is required, and there are highly customized parameters such as shape, size, and stimulation temperature. The traction tool is small in size, easy to put into the body and take out, and convenient for surgical operation.

[0038] The working mechanism of the present invention is simple and reliable, the working system is simple and independent, and no external energy input is required. The present invention can customize the shape and size, excitation temperature and other performance parameters of the traction device according to the patient's physical condition and lesion conditions. The tool is small in size, easy to put into the body and take out, and convenient for surgical operation. The present invention obtains a bionic hook through 4D printing technology to replace the clip in the traditional ESD traction method, which greatly reduces the difficulty of laparoscopic surgery and effectively improves the fault tolerance and success rate of the surgery. The bionic hook based on 4D printing technology can autonomously hook the gastric wall tissue under the stimulation of the physical and chemical environment inside the patient's stomach, and can better protect the patient's gastric tissue compared to the traditional ESD traction method. The bionic hook based on 4D printing is more reliable and intelligent than the mechanical gastroscopic clip in the traditional ESD, and has a lower cost, which is more conducive to the popularization of laparoscopic surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0040] Figure 1 A schematic diagram of a frog tongue bionic hook provided by an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of the hook head of the frog tongue bionic hook provided in the embodiment of the present invention;

[0042] Figure 3 A schematic diagram of the front end barb in the frog tongue bionic hook provided by the embodiment of the present invention;

[0043] Figure 4 A schematic diagram of the frog tongue bionic claw structure corresponding to different numbers of lesions provided in an embodiment of the present invention;

[0044] Figure 5 A schematic diagram of the cat tongue barb structure provided by the present invention;

[0045] Figure 6 A schematic diagram of a barb carrier in the cat tongue barb structure provided by the present invention;

[0046] Figure 7 A schematic diagram of a barb working body in a cat tongue barb structure provided by the present invention;

[0047] Figure 8 A flow chart of a method for manufacturing an auxiliary traction tool provided in an embodiment of the present invention;

[0048] Fig. 9 A schematic diagram of the ratio of printing materials provided in the embodiment of the present invention;

[0049] Fig.10 The embodiment of the present invention provides a schematic diagram of the structure of the hook after deformation;

[0050] Fig.11 A schematic diagram of the excitation deformation temperature range provided by an embodiment of the present invention;

[0051] Fig.12 Provides a schematic diagram of the 4D printing technology principle for an embodiment of the present invention;

[0052] Fig.13 A schematic diagram of the principle of a 4D printing machine is provided for an embodiment of the present invention;

[0053] Fig.14 A schematic diagram of the photosensitive resin curing forming principle is provided for an embodiment of the present invention. DETAILED DESCRIPTION

[0054] See also Figures 1 to 14 As shown, an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology includes a frog tongue bionic hook claw, which is composed of a hook claw head 1 and a front end barb 2. The hook claw head 1 and the front end barb 2 are positioned and installed through a groove;

[0055] The hook head 1 includes a hook carrier 101 and a barb storage groove 102. The barb storage groove 102 in the hook head 1 is matched and positioned with the front barb 2 to realize the assembly of the groove, which is convenient for loading and unloading.

[0056] Specifically, the hook head 1 is the part that connects the auxiliary traction tool to the gastroscope, and enters the human abdominal cavity along with the gastroscope. When this part is stimulated by the human body temperature, it will bend and deform according to a preset program, and the preset stress will be slowly released. During the bending process, it will directly contact the stomach wall.

[0057] The end barb 2 includes a barb-bearing body 201 and a barb working body 202. The barb-bearing body 201 can be stored in the barb storage groove 102 in the hook head 1 to achieve matching positioning;

[0058] Specifically, the front end barb 2 refers to the barb structure embedded in the surface of the traction tool head 1 in the auxiliary traction tool, and enters the human abdominal cavity along with the traction tool head 1. When the traction tool head 1 contacts the stomach wall and is found to bend and deform, the barb layer on the front end barb 2 pierces the stomach wall and is fixedly connected to it, curling and traction of the stomach wall at the lesion, thereby achieving the peeling of the mucosa of the stomach wall diseased area.

[0059] Specifically, the frog tongue bionic claw enters the human abdominal cavity together with the gastroscope, and cooperates with the gastroscope to complete the operation. The entire tool is formed by additive manufacturing, and the material used is shape memory material PU.

[0060] An auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology includes a bionic cat tongue barb structure, which is composed of a barb carrier 3 and a barb working body 4; the barb carrier 3 and the barb working body 4 are positioned and matched and installed through a groove;

[0061] The barb carrier 3 includes a carrier body 301 and a barb bearing groove 302, wherein the barb bearing groove 302 is configured to store the barb working body 4, and the carrier body 301 can be directly matched with a gastroscope;

[0062] Specifically, the barb carrier 3 is the main part of the auxiliary traction tool, which is directly connected to the gastroscope and can enter the human abdominal cavity along with the gastroscope. When this part is stimulated by the human body temperature, the preset stress will be released, and at the same time as the stress is released, it will directly contact the stomach wall.

[0063] The barb working body 4 includes a barb supporting plate 401 and barbs 402. The barb supporting plate 401 is in direct contact with the barb bearing body 3. The barbs 402 play a key role in the operation process.

[0064] Specifically, the barb working body 4 is a barb structure embedded in the surface of the barb carrier 3 in the auxiliary traction tool, and enters the human abdominal cavity together with the barb carrier 3. When the barb carrier 3 contacts the stomach wall and slowly releases stress, the barb layer on the barb working body 3 pierces the stomach wall and is fixedly connected to it, curling and pulling the stomach wall at the lesion, thereby achieving the peeling of the mucosa of the stomach wall at the diseased part.

[0065] Specifically, the barbed structure of the bionic cat tongue enters the abdominal cavity of the human body together with the gastroscope, and cooperates with the gastroscope to complete the operation. The whole tool is formed by additive manufacturing, and the material used is shape memory material PU.

[0066] A molding method for an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology, wherein the specific molding steps are as follows:

[0067] Step 1: Select shape memory polyurethane material (PU) based on the determined temperature-induced deformation mechanism

[0068] Step 2: Prepare 4D printing materials. The ratio of the printing materials is 96-97 parts of polyurethane, 1-2 parts of stearylamine and 1-2 parts of polyacetic acid wax. First, dry the above material particles according to the proportion, then put them into a ball mill for mixing. After mixing, take out the mixture and use a twin-screw extruder to prepare 4D printing material filaments;

[0069] Step 3: Design the size parameters of the auxiliary traction tool for endoscopic submucosal dissection (ESD) based on 4D printing technology according to the patient's stomach shape and lesion characteristics;

[0070] Step 4: Create a 3D main body model of the frog tongue hook in the mechanical drawing-part design module of CATIA;

[0071] Step 5: Slice the constructed model and save it in STL format, input it into the fuse deposition printing system, program the selected shape memory material, and use the fuse deposition printing technology to form it. During the printing process, the spatial distribution of the programming sample printing temperature, printing speed, and printing layer thickness is preset to program the stress, so that the shape memory material PU can respond to specific temperature excitation;

[0072] Step 6: Start the fused filament deposition printing system, use the 4D printing material in S2 as the raw material, feed the filamentary printing material into the printer through the friction wheel, heat the printer nozzle to above the melting temperature of the material, extrude the melted material through the print head, and the printer nozzle extrude the material along the set route.

[0073] Step 7: The ideal curling angle of the hook claw during curling is δ, and the recovery time is Δt. After the hook claw contacts the inner and outer layers of the patient's stomach for Δt, the average curling deformation rate of the hook claw is v, and the corresponding deformation is:

[0074] δ=vΔt 1

[0075] Step 8: After completing one layer, the printer nozzle moves upward for a certain displacement to print the next layer until the final deposition forms a solid model. After the printed solid is cooled and hardened, it is removed from the platform;

[0076] Step 9: Determine the number, arrangement and size of the barbs according to the surgical site, and establish a three-dimensional model of the mold according to the determined number, arrangement and size of the barbs;

[0077] Step 10: The mold is manufactured by two-photon polymerization additive manufacturing technology;

[0078] Step 11: Pour the photosensitive resin into the mold, and after it stabilizes, combine it with the end of the hook main body structure, and cure it with ultraviolet light to combine the barb layer with the hook main body.

[0079] Specifically, CATIA modeling uses the mechanical drawing-part design module, and the dimensional parameters designed according to the patient's stomach shape and lesion characteristics are introduced during the modeling process. The three-dimensional modeling software can also use Solidworks, Pro / E and other three-dimensional software for modeling.

[0080] Furthermore, the shape memory material used is polyurethane (PU);

[0081] Specifically, the temperature-stimulated shape memory material may also include PLA, PCL and their composite materials.

[0082] Furthermore, the excitation temperature parameter range is 37°C-48°C.

[0083] Further, the photosensitive resin curing forming method used, wherein the raw material is photosensitive resin, the photosensitive resin is cured by ultraviolet light beam with a wavelength range of 365-405nm, the irradiation time is 10-50s, the laser power used in the deformed part is 375W-395W, the scanning speed is 1300-1600mm / s, and the printing layer thickness is 30um; the laser power used in the non-deformed part is 335W-365W, the scanning speed is 800-1000mm / s, and the printing layer thickness is 60um;

[0084] Specifically, the photosensitive resin material can be biocompatible photosensitive resins such as SimpNeed UV-Pure resin, Formlabs dental SG material, and Raydent photosensitive resin. The laser power used in the deformation part is high, the scanning speed is fast, and the printing layer thickness is small, which causes the material to have a thermal accumulation effect. Under external temperature stimulation, it can be deformed as expected.

[0085] Furthermore, the traction tool model is a bionic frog tongue and a bionic cat tongue barb.

[0086] Furthermore, different parameters can be set according to the condition of the lesion to achieve rapid personalized customization.

[0087] Furthermore, the auxiliary traction tool is mainly formed by 4D printing and photosensitive resin curing, and the programming sample printing temperature, printing speed, and printing layer thickness are different in different parts. In the deformed part of the auxiliary traction tool, the printing temperature and printing speed are greater than those in the non-deformed part, and the printing layer thickness is smaller than that in the non-deformed area.

[0088] Example

[0089] A molding method for an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology, wherein the specific molding steps are as follows:

[0090] S1, select shape memory polyurethane material.

[0091] In this embodiment, it is found through research that the selected shape memory material can realize 4D printing technology, specifically:

[0092] Among them, PLA, PCL and their composite materials can be selected, and the above materials have the ability to realize 4D printing technology.

[0093] S2, preparing 4D printing materials.

[0094] Among them, Figure 3 As shown, in one embodiment, the ratio of the optical printing material is 96-97 parts of polyurethane, 1-2 parts of stearylamine and 1-2 parts of polyacetic acid wax.

[0095] S3, according to the patient's stomach shape and lesion characteristics, design the size parameters of the auxiliary traction tool for endoscopic submucosal dissection (ESD) based on 4D printing technology;

[0096] The excitation deformation temperature should be designed according to the temperature of the patient's stomach surface tissue, and the temperature range is 37°C-48°C.

[0097] S4, building a three-dimensional main body model of the frog tongue hook;

[0098] Among them, the CATIA modeling uses a mechanical drawing-part design module, and the size parameters designed according to the patient's stomach shape and lesion characteristics are introduced during the modeling process. The three-dimensional modeling software can also use Solidworks, Pro / E and other three-dimensional software for modeling.

[0099] S5, the constructed model is sliced ​​and saved in STL format, and input into the fused filament deposition printing system.

[0100] Among them, the selected shape memory material is programmed and formed using fuse deposition printing technology. During the printing process, the spatial distribution of the programming sample printing temperature, printing speed, and printing layer thickness is programmed to perform preset stress programming, so that the shape memory material PU can respond to specific temperature excitations;

[0101] S6, starting the fused filament deposition printing system, using the 4D printing material in S2 as the raw material, feeding the filamentary printing material into the printer through the friction wheel, heating the printer nozzle to above the melting temperature of the material, so that the melted material is extruded through the print head, and the printer nozzle extrude the material according to the set route.

[0102] S7, the ideal curling angle of the hook claw during curling is δ, and the time required for recovery is Δt. After the hook claw contacts the inner and outer layers of the patient's stomach for Δt, the average rate of curling deformation of the hook claw is v.

[0103] The corresponding deformation is: δ = vΔt……(1)

[0104] S8, after completing one layer, the printer nozzle moves upward by a certain displacement to print the next layer, until the final deposition forms a solid model, and the printed solid is removed from the platform after cooling and hardening;

[0105] S9, determining the number, arrangement and size of the barbs according to the surgical site, and establishing a three-dimensional model of the mold according to the determined number, arrangement and size of the barbs;

[0106] Among them, the mold can be designed according to the actual situation of the patient, which can achieve efficient customization.

[0107] S10, the mold is manufactured by two-photon polymerization additive manufacturing technology;

[0108] Among them, the mold forming adopts SLA light curing technology.

[0109] S11, pouring photosensitive resin into the mold, and after it is stable, combining it with the end of the hook claw main structure, and curing it by ultraviolet irradiation, so that the barb layer is combined with the hook claw main body;

[0110] The photosensitive resin material may be a biocompatible photosensitive resin such as SimpNeed UV-Pure resin, Formlabs dental SG material, Raydent photosensitive resin, etc. The photosensitive resin is cured by ultraviolet light beams with a wavelength range of 365-405nm and an irradiation time of 10-50s;

[0111] In summary, the embodiment of the present invention discloses an auxiliary traction tool and a molding method for coupled bionic endoscopic submucosal dissection (ESD) based on 4D printing technology, which provides a method for making an auxiliary traction tool, which is formed by using 4D printing technology and a photosensitive resin curing method, and cleverly uses bionic means to solve practical problems. Compared with the prior art, this embodiment has the advantages of an auxiliary traction tool that can be quickly customized, easy to operate, flexible traction angle and controllable traction force, not easy to damage mucosal tissue, reliable working mechanism, and a simple and independent working system.

[0112] The embodiments described above are part of the embodiments of the present invention, rather than all of the embodiments. The detailed description of the embodiments of the present invention is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

Claims

1. A molding method for an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology, characterized in that: The auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology comprises a frog tongue bionic hook claw, the frog tongue bionic hook claw comprises a hook claw head (1) and a front end barb (2), the hook claw head (1) and the front end barb (2) are positioned and installed through a groove; The hook claw head (1) comprises a hook claw carrier (101) and a barb storage groove (102); the barb storage groove (102) in the hook claw head (1) is matched and positioned with the front barb (2) to achieve groove assembly, thereby facilitating loading and unloading; The front end barb (2) comprises a barb-bearing body (201) and a barb working body, and the barb-bearing body (201) can be stored in a barb storage groove (102) in the hook claw head (1) to achieve matching positioning; It comprises a bionic cat tongue barb structure, which is composed of a barb carrier (3) and a barb working body; the barb carrier (3) and the barb working body are positioned and matched with each other through a groove; The barb carrier (3) comprises a carrier body (301) and a barb carrier groove (302); the barb carrier groove (302) is configured to store a barb working body; and the carrier body (301) can be directly matched with a gastroscope; The barb working body comprises a barb supporting plate (401) and barbs (402); the barb supporting plate (401) is in direct contact with the barb bearing body (3); and the barbs (402) play a key role in the surgical procedure; The specific molding steps are: Step 1: Selecting a shape memory polyurethane material according to the determined temperature-induced deformation mechanism; Step 2: Prepare 4D printing materials. The printing material ratio is 96-97 parts of polyurethane, 1-2 parts of stearylamine and 1-2 parts of polyacetic acid wax. First, dry the above material particles according to the proportion, then put them into a ball mill for mixing. After mixing, take out the mixture and use a twin-screw extruder to prepare 4D printing material filaments; Step 3: According to the patient's stomach shape and lesion characteristics, design the size parameters of the auxiliary traction tool for endoscopic submucosal dissection based on 4D printing technology; Step 4: Create a 3D main body model of the frog tongue hook in the mechanical drawing-part design module of CATIA; Step 5: Slice the constructed model and save it in STL format, input it into the fuse deposition printing system, program the selected shape memory material, and use the fuse deposition printing technology to form it. During the printing process, the spatial distribution of the programming sample printing temperature, printing speed, and printing layer thickness is preset to program the stress, so that the shape memory material PU can respond to specific temperature excitation; Step 6: Start the fused filament deposition printing system, use the 4D printing material in S2 as the raw material, feed the filamentary printing material into the printer through the friction wheel, heat the printer nozzle to above the melting temperature of the material, extrude the melted material through the print head, and the printer nozzle extrude the material along the set route; Step 7: The ideal curling angle of the hook claw during curling is δ, and the recovery time is Δt. After the hook claw contacts the inner and outer layers of the patient's stomach for Δt, the average curling deformation rate of the hook claw is v, and the corresponding deformation is: δ = vΔt; Step 8: After completing one layer, the printer nozzle moves upward for a certain displacement to print the next layer until the final deposition forms a solid model. After the printed solid is cooled and hardened, it is removed from the platform; Step 9: Determine the number, arrangement and size of the barbs according to the surgical site, and establish a three-dimensional model of the mold according to the determined number, arrangement and size of the barbs; Step 10: The mold is manufactured by two-photon polymerization additive manufacturing technology; Step 11: Pour the photosensitive resin into the mold, and after it stabilizes, combine it with the end of the hook main body structure, and cure it with ultraviolet light to combine the barb layer with the hook main body.

2. The method for forming an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology according to claim 1, characterized in that: The shape memory material used is polyurethane.

3. The molding method of the auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology according to claim 1 is characterized in that: The excitation temperature parameter range is 37℃-48℃.

4. The molding method of the auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology according to claim 1 is characterized in that: The photosensitive resin curing forming method used, wherein the raw material is photosensitive resin, the photosensitive resin is cured using an ultraviolet light beam with a wavelength range of 365-405nm, the irradiation time is 10-50s, the laser power used in the deformed part is 375W-395W, the scanning speed is 1300-1600mm / s, and the printing layer thickness is 30um; the laser power used in the non-deformed part is 335W-365W, the scanning speed is 800-1000mm / s, and the printing layer thickness is 60um.

5. The method for forming an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology according to claim 1, characterized in that: The traction tool models are frog tongue bionic and cat tongue barbs.

6. The method for forming an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology according to claim 1, characterized in that: Different parameters can be set according to the condition of the lesion to achieve rapid personalized customization.

7. The method for forming an auxiliary traction tool for coupled bionic endoscopic submucosal dissection based on 4D printing technology according to claim 1, characterized in that: The auxiliary traction tool is mainly formed by 4D printing and photosensitive resin curing. The printing temperature, printing speed and printing layer thickness of the programming sample are different in different parts. In the deformed part of the auxiliary traction tool, the printing temperature and printing speed are greater than those in the non-deformed part, and the printing layer thickness is smaller than that in the non-deformed area.

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