Percutaneous nephroscope calculus removal virtual operation model and preparation method and application thereof

Abstract

The invention provides a percutaneous nephrolithotomy virtual operation model and a preparation method and application thereof, and relates to the technical field of operation teaching molds. The structure, the touch sense, the mechanical property and the like of the model are highly similar to those of real organs and tissues, perfect reproduction of patient conditions can be achieved, the training requirements of doctors and medical students are met, an accurate clinical operation scheme can be conveniently formulated in the actual treatment process, treatment of crisis conditions in the operation is simulated, and the operation efficiency is improved. Therefore, the improvement and development of auxiliary medical instruments are realized.

Description

Technical Field

[0001] This application relates to the technical field of surgical teaching molds, and particularly relates to a virtual percutaneous nephrolithotomy model, a preparation method thereof, and an application thereof. Background Art

[0002] Kidney stones can be classified by location into: renal pelvic stones, renal calyceal stones, and renal parenchymal stones. Renal pelvic stones are the most common, and renal parenchymal stones are rare. The symptoms of kidney stones depend on the size, shape, location, and the presence of complications such as infection and obstruction. Most patients with kidney stones have no symptoms, unless the kidney stone falls into the ureter and causes urine obstruction in the ureter. Common symptoms include colic in the waist and abdomen, nausea, vomiting, restlessness, abdominal distension, hematuria, etc. If combined with urinary tract infection, symptoms such as chills and fever may also occur. Acute renal colic often makes patients extremely painful. Surgical treatment measures include: ① extracorporeal shock wave lithotripsy (ESWL) treatment; ② placing a stent in the ureter, which can also be combined with ESWL treatment; ③ ureteroscopic lithotripsy and stone extraction; ④ percutaneous nephrolithotomy; ⑤ laparoscopic lithotomy.

[0003] The traditional method of "open surgery for stone removal" requires a large incision of about 20 cm in the waist, cutting through the waist muscles, separating the kidney, making a small incision in the renal pelvis or renal parenchyma, and removing the stone. This method has large trauma, more bleeding, severe pain, and slow recovery. Usually, patients need to be hospitalized for about 7 days after the operation. Because of the large surgical incision, not only is the skin unaesthetic, but also the patient's physical strength is affected significantly after the operation. The advantages of percutaneous nephrolithotomy (PCNL) are that, compared with the above open surgery, percutaneous nephrolithotomy has the advantages of less trauma, less pain, complete stone removal, and fast recovery. The incision in the waist is usually less than 1 cm. Since the muscles are not cut, it not only does not affect aesthetics, but also has almost no impact on the labor force after the operation. Patients usually leave the hospital 2 - 3 days after the operation. Compared with laparoscopic lithotomy, percutaneous nephrolithotomy has less impact on the kidney and surrounding structures and does not affect subsequent various kidney surgeries. Compared with extracorporeal lithotripsy, its treatment cycle is short, the effect is immediate, and the impact on renal function is also small.

[0004] In summary, percutaneous nephrolithotomy is considered the preferred treatment method for kidney stones > 2 cm. The EAU guidelines recommend PCNL for the treatment of kidney stones ≥ 2 cm and renal inferior pole stones ≥ 1.5 cm. The AUA guidelines recommend PCNL as the first-line treatment option for staghorn stones. Compared with other minimally invasive techniques such as shock wave lithotripsy and retrograde intrarenal surgery (RIRS), this treatment method can achieve the best stone-free rate (SFR).

[0005] Nevertheless, PCNL is associated with a variety of complications, and many population-based studies have evaluated the incidence and severity of complications after PCNL. Common complications include bleeding, urinary tract infection, fever, and sepsis. Factors that increase the risk of complications include advanced age, female gender, operative time, and concomitant diseases. In the United States, sepsis-related complications are increasing. The readmission rate after PCNL is as high as 15% in the United States, 12% in Canada, and 9% in the United Kingdom.

[0006] The above-mentioned various complications are mostly related to the quality of the surgery. Because PCNL is difficult to learn, its utilization rate is significantly affected by regional factors, availability, and expertise. Percutaneous nephrolithotomy itself is a highly technical operation. The kidney is an organ with very rich blood vessels, and renal blood flow accounts for 1 / 4 of the cardiac output. It is necessary to avoid bleeding as much as possible, strive to remove all stones, and protect renal function, which requires very delicate surgical techniques. This operation also requires individualized treatment, that is, to determine different channel positions, channel sizes, and corresponding lithotripsy tools according to the specific conditions of the patient's stone location, number, size, composition, etc. If the channel is not selected properly, it may increase the risks of bleeding, complications, and residual stones. This requires very standardized diagnostic and treatment procedures and delicate operation techniques.

[0007] Therefore, correctly understanding each step of the operation, available instruments, techniques, and related complications is crucial for providing high-quality treatment to patients. Summary of the Invention

[0008] The object of the present invention is to provide a surgical model related to percutaneous nephrolithotomy (PCNL) to meet the training requirements of doctors and medical students, facilitate the formulation of precise clinical surgical plans during actual treatment, and simulate the handling of crisis situations during the operation, thereby realizing the improvement and development of auxiliary medical devices.

[0009] On the one hand, the present application provides a virtual percutaneous nephrolithotomy surgical model, which includes: a stone model, a kidney model, a ureter model, and a blood vessel model; a groove for accommodating the stone model is provided inside the kidney model; the stone model is located at the groove, and the stone model is in the shape of a staghorn.

[0010] Preferably, the position of the stone model can be set according to the stone onset position of the patient.

[0011] In a preferred embodiment, the kidney model can be divided into a renal fat unit and a renal calyx unit. The renal fat unit and the renal calyx unit simulate the shapes of renal fat and renal calyces in a real kidney, and the stone model is located in the renal calyx unit of the kidney model, that is, at the position corresponding to the renal calyx in a real kidney.

[0012] Furthermore, the diameter of the stone model is greater than 2 cm.

[0013] Preferably, the diameter of the stone model is 2-5 cm.

[0014] Further, the ureter model is a hollow tubular structure.

[0015] Further, the blood vessel model includes a renal artery model and a renal vein model; preferably, the renal artery model and / or the renal vein model is a hollow tube with a dendritic structure, the bifurcated ends of the dendritic structure are closed, and an injection hole is provided at the converging end for perfusing artificial blood from the injection hole.

[0016] Inject artificial blood into the renal artery model and the renal vein model to simulate the form of blood in the kidney.

[0017] Further, the model further includes: a lumbar vertebra model, a rib model, a colon model, and / or a skin tissue model; preferably, the lumbar vertebra model includes the second lumbar vertebra model, the third lumbar vertebra model, and / or the fourth lumbar vertebra model; preferably, the rib model includes the eleventh rib model and / or the twelfth rib model.

[0018] In this application, the stone model, the kidney model, the ureter model, the blood vessel model, the lumbar vertebra model, the rib model, the colon model, and the skin tissue model can all be adjusted according to the human body image data to restore the human body structure and the patient's condition to the greatest extent, so as to reproduce the real surgical process as much as possible.

[0019] In a preferred embodiment,

[0020] The percutaneous nephrolithotomy virtual surgical model structure is replicated one-to-one according to the human body structure and assembled. Specifically, the lumbar vertebra model is located in the middle of the two kidney models, the rib model is located above the outer side of the kidney model, the left kidney model is located at the lower edge of the eleventh rib model and between the second lumbar vertebra model and the third lumbar vertebra model, the right kidney model is located at the intersection of the upper edge of the twelfth rib model and the third lumbar vertebra model, the colon model is located below the kidney model, and all the above structures are wrapped with a skin tissue model on the outside.

[0021] In a preferred embodiment, the stone model, the kidney model, the ureter model, the renal artery model, the renal vein model, the second lumbar vertebra model, the third lumbar vertebra model, the fourth lumbar vertebra model, the eleventh rib model, the twelfth rib model, the colon model, and the skin tissue model are all stained.

[0022] The staining color can be determined according to the color of real organs to be closer to the actual situation. The kidney model can also be made of a transparent material so as to see the specific positions of surgical instruments in the kidney model and its local tissues during the operation, which is convenient for photographing the operation process, thereby accurately positioning the relative positions of the surgical instruments and the calculus model. More preferably, the kidney model can be divided into a renal fat unit and a renal calyx unit, and the renal fat unit is made of a transparent material.

[0023] Preferably, the ureter model, blood vessel model, colon model and skin tissue model are made of TPE (thermoplastic elastomer).

[0024] Preferably, the lumbar vertebra model and rib model are made of polycarbonate-iso (PC-ISO).

[0025] Preferably, the kidney model can be made of a silicone material or a hydrogel material. The silicone materials include mercaptopropyl polydimethylsiloxane, mercaptomethylsiloxane-dimethylsiloxane copolymer, mercapto-terminated polydimethylsiloxane, double bond-terminated polydimethylsiloxane and double bond methylsiloxane-dimethylsiloxane copolymer, hydroxyl-terminated polydimethylsiloxane, hydroxyl polymethylsiloxane, double bond-terminated polyphenylsiloxane, double bond polyphenylsiloxane, double bond-terminated polydimethylphenylsiloxane, hydroxyl-terminated dimethylsiloxane-diphenylsiloxane, and dimethyl and phenyl siloxanes capped or substituted by other groups, etc.; the hydrogel materials include natural hydrogels or synthetic hydrogels. The natural hydrogels include agar, chitosan, fibrin, alginic acid, cellulose, hyaluronic acid, collagen, gelatin, etc., and the synthetic hydrogels include polyethylene glycol and its derivatives, acrylic acid and its derivatives (such as polyacrylic acid, polymethacrylic acid, polyacrylamide, poly-N-substituted acrylamide, etc.), polyvinyl alcohol, polyethoxy, etc.; more preferably, the kidney model is made of agar, mercaptopropyl polydimethylsiloxane and chitosan.

[0026] On the other hand, the present application also provides a preparation method of the model, and the method includes the following steps:

[0027] Step 1: Use a medical imaging device to photograph a sample organ, transmit all data to a 3D printer, and edit and set a modeling image file;

[0028] Step 2: Print the ureter model, blood vessel model, lumbar vertebra model, rib model, colon model and skin tissue model; preferably, the ureter model, blood vessel model, colon model and skin tissue model are printed with TPE (thermoplastic elastomer) materials; preferably, the lumbar vertebra model and rib model are printed with polycarbonate-iso (PC-ISO) materials;

[0029] Step 3: Mix hydroxyapatite, calcium carbonate, and sodium alginate, add ethanol, stir evenly, freeze-dry under vacuum, extrude the first linear material, and use the first linear material to print a calculus model;

[0030] Step 4: Print a kidney model mold using a silica material. After placing the above ureter model, blood vessel model, and calculus model in their corresponding positions, perform injection molding to obtain a kidney model; or, mix polytetrafluoroethylene, polyurethane rubber, and silica gel, add methanol, stir evenly, freeze-dry under vacuum, extrude the second linear material, and use the second linear material to print a kidney model;

[0031] Step 5: Assemble the calculus model, kidney model, ureter model, blood vessel model, lumbar vertebra model, rib model, colon model, and skin tissue model.

[0032] Further, the mass ratio of the hydroxyapatite, calcium carbonate, and sodium alginate is 1:(1 - 10):(1 - 5); preferably, 1:5:3.

[0033] Preferably, the material-liquid ratio of the hydroxyapatite, calcium carbonate, sodium alginate, and ethanol is 9 g:100 mL.

[0034] Further, the injection molding material is obtained by mixing agar, chitosan, and water with a mass ratio of 1:(1 - 5):(1 - 5) and heating to 80°C - 95°C, and cooling to 25°C - 40°C after perfusion; preferably, the injection molding material is obtained by mixing agar, chitosan, and water with a mass ratio of 1:1:1 and heating to 95°C, and cooling to 40°C after perfusion; preferably, the silica can be precipitated silica, fumed silica, or ultrafine silica; preferably, the mass ratio of the polytetrafluoroethylene, polyurethane rubber, and silica gel is 1:(1 - 5):(1 - 5); more preferably, 1:1:2.5.

[0035] Preferably, the material-liquid ratio of the polytetrafluoroethylene, polyurethane rubber, silica gel, and methanol is 9 g:150 mL.

[0036] In a preferred embodiment, the method for preparing the model includes:

[0037] Step 1: Use a medical imaging device to photograph a sample organ, transmit all data to a 3D printer, and edit and set the modeling image file;

[0038] Step 2: Print ureter models, blood vessel models, lumbar vertebra models, rib models, colon models, and skin tissue models with a volume ratio of 1:1; the ureter models, blood vessel models, colon models, and skin tissue models are printed using a TPE (thermoplastic elastomer) material; the lumbar vertebra models and rib models are printed using a polycarbonate-iso (PC-ISO) material;

[0039] Step 3: Mix hydroxyapatite, calcium carbonate, and sodium alginate in a mass ratio of 1:(1 - 10):(1 - 5), add ethanol, stir evenly, and vacuum freeze-dry. Extrude a first linear material with a diameter of 1 - 5 mm, and use the first linear material to print a calculus model at a volume ratio of 1:1.

[0040] Step 4: Print a kidney model mold using a precipitated silica material at a volume ratio of 1:1. Place the above ureter model, blood vessel model, and calculus model in their corresponding positions and then perform injection molding. The material for injection molding is obtained by mixing agar, chitosan, and water in a mass ratio of 1:(1 - 5):(1 - 5) and heating to 80°C - 95°C. After perfusion, cool to 25°C - 40°C to obtain a kidney model.

[0041] Step 5: Stain and assemble the calculus model, kidney model, ureter model, blood vessel model, lumbar vertebra model, rib model, colon model, and skin tissue model. Adjust the relative positions of the models based on human imaging data and simulate the trends of the ureter and blood vessels in the human body to install the ureter model and blood vessel model. After completion of assembly, inject a certain amount of artificial blood into the injection holes to simulate the situation where there is liquid in the blood vessels in the human body. And perfusion silicone in the gaps between the skin tissue model and other models to simulate other muscle structures in the human body.

[0042] In a preferred embodiment, the method for preparing the model includes:

[0043] Step 1: Use a medical imaging device to photograph a sample organ, transmit all data to a 3D printer, and perform editing and setting of the modeling image file;

[0044] Step 2: Print ureter models, blood vessel models, lumbar vertebra models, rib models, colon models, and skin tissue models at a volume ratio of 1:1; the ureter models, blood vessel models, colon models, and skin tissue models are printed using TPE (thermoplastic elastomer) materials; the lumbar vertebra models and rib models are printed using polycarbonate-iso (PC-ISO) materials;

[0045] Step 3: Mix hydroxyapatite, calcium carbonate, and sodium alginate in a mass ratio of 1:(1 - 10):(1 - 5), add ethanol, stir evenly, and vacuum freeze-dry. Extrude a first linear material with a diameter of 1 - 5 mm, and use the first linear material to print a calculus model at a volume ratio of 1:1.

[0046] Step 4: Mix polytetrafluoroethylene, polyurethane rubber, and silicone in a mass ratio of 1:(1-5):(1-5), add methanol, stir evenly, vacuum freeze-dry, and extrude into a second linear material with a diameter of 1-5 mm. Use the second linear material to print a kidney model in a volume ratio of 1:1.

[0047] Step 5: dye and assemble the stone model, kidney model, ureter model, blood vessel model, lumbar vertebra model, rib model, colon model and skin tissue model, adjust the relative position of the model based on the human body imaging data, simulate the ureter and blood vessel trends in the human body, install the ureter model and blood vessel model, and inject a certain amount of artificial urine into the water inlet and a certain amount of artificial blood into the injection hole after assembly to simulate the situation where the ureter and blood vessels in the human body contain liquid. Silica gel is injected into the gaps between the skin tissue model and other models to simulate other muscle structures of the human body.

[0048] On the other hand, the present application also provides a percutaneous nephrolithotomy virtual surgery system, which includes: the model, a support frame, a recording device, and a housing.

[0049] The video recording device can be arranged on a housing or a supporting frame.

[0050] In a preferred embodiment, the recording device may be a wide-angle camera, which is located below the virtual surgical model of percutaneous nephrolithotomy, wherein the lens of the wide-angle camera arranged at the bottom cooperates with the virtual surgical model of percutaneous nephrolithotomy located above it, which can effectively simulate the CT guidance in the real operation, effectively avoid occupancy and improve the accuracy of judging the real-time position of the operating needle, enhance the real-time feedback effect of training, and using a wide-angle camera as a recording device can also avoid the occupation of CT equipment resources and the potential radiation hazard of CT equipment to the operator.

[0051] In a preferred embodiment, the video recording device is electrically connected to a known control system, and an operator can transmit the image data captured by the video recording device to the control system for real-time viewing or storage and analysis.

[0052] Preferably, the system further comprises lighting equipment.

[0053] In a preferred embodiment, the lighting equipment is a shadowless lamp.

[0054] Furthermore, the model is located on a support frame, and the support frame is slidably connected to the shell.

[0055] The support frame can be a rectangular container or any shape that can accommodate or support the model, and the support frame is connected to the model to fix the model. The support frame is slidably connected to the shell to facilitate moving the model during operation.

[0056] In a preferred embodiment, the support frame is a drawer, the model is located in the drawer, and a handle is provided on the outer side of the drawer. The drawer is slidably connected to the housing, and the movement of the percutaneous nephrolithotomy virtual surgery model can be achieved by pulling the handle.

[0057] Preferably, a driver is provided at the sliding connection between the drawer and the housing. Those skilled in the art can achieve the sliding movement manually or control the movement of the drawer by connecting the driver through a known control system.

[0058] The present invention has the following beneficial effects:

[0059] The present invention provides a percutaneous nephrolithotomy virtual surgery model and a preparation method thereof. The structure, touch, mechanical properties, etc. of the model are highly similar to those of real organ tissues, and can perfectly reproduce the patient's situation to meet the training requirements of doctors and medical students, and facilitate the formulation of accurate clinical surgery plans and the simulation of the handling of intraoperative crisis situations during the actual treatment process, thereby realizing the improvement and development of auxiliary medical devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The exemplary embodiments and descriptions thereof of the present application are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0061] Figure 1 is a schematic structural diagram of an exemplary embodiment of a surgical model related to percutaneous nephrolithotomy (PCNL);

[0062] Figure 2 is a schematic structural diagram of an exemplary embodiment of a surgical model related to percutaneous nephrolithotomy (PCNL);

[0063] Figure 3 is a schematic structural diagram of a percutaneous nephrolithotomy virtual surgery system.

[0064] In the figure: 1, stone model; 2, kidney model; 3, ureter model; 4, renal artery model; 5, renal vein model; 6, second lumbar vertebra model; 7, third lumbar vertebra model; 8, fourth lumbar vertebra model; 9, eleventh rib model; 10, twelfth rib model; 11, colon model; 12, skin tissue model; 13, support frame; 14, imaging device; 15, housing. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0065] To more clearly illustrate the overall concept of this application, the following provides a detailed description by way of examples in conjunction with the accompanying drawings of the specification. In the following description, numerous specific details are given to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that the present invention may be practiced without one or more of these details. In other instances, to avoid confusion with the present invention, some well-known technical features are not described.

[0066] In addition, in the description of this application, it should be understood that the orientation or positional relationships indicated by terms such as "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationships shown in the drawings, and are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to this application.

[0067] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments.

[0068] Furthermore, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of this application, the meaning of "a plurality" is two or more, unless otherwise specifically defined.

[0069] In this application, unless otherwise clearly specified and defined, terms such as "install", "connect", "join", "fix", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or a communication connection; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0070] In this application, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0071] For those embodiments where specific conditions are not indicated, they are carried out according to conventional conditions or the conditions recommended by the manufacturer.

[0072] Unless otherwise specified, in the following embodiments, for the reagents or instruments whose manufacturers are not indicated, they are all conventional products that can be obtained by purchasing in the market.

[0073] Artificial blood was purchased from Zhaozhibo Industrial Products Franchise Store; the YZHV-1ZP automatic turret micro-Vickers hardness tester was purchased from Shanghai Yizong Precision Instrument Co., Ltd.

[0074] Example 1

[0075] An embodiment of the present invention provides a percutaneous nephrolithotomy virtual surgery model.

[0076] As Figure 1 shown, this model includes: a calculus model 1, a kidney model 2, a ureter model 3, and a blood vessel model; a groove for accommodating the calculus model 1 is provided inside the kidney model 2, and the kidney model 2 is also provided with a water injection port; the calculus model 1 is located at the groove, and the calculus model 1 is in the shape of a staghorn.

[0077] Furthermore, the diameter of the calculus model 1 is greater than 2 cm.

[0078] Preferably, the diameter of the calculus model 1 is 2 - 5 cm.

[0079] Preferably, the position of the calculus model 1 can be set by imitating the calculus onset position of the patient.

[0080] In a preferred embodiment, the kidney model 2 can be divided into a renal fat unit and a renal calyx unit. The renal fat unit and the renal calyx unit simulate the shapes of renal fat and renal calyces in a real kidney. The calculus model 1 is located in the renal calyx unit of the kidney model 2, that is, corresponding to the position of the renal calyx in a real kidney.

[0081] Please continue to refer to Figure 1 , furthermore, the ureter model 3 is a hollow tubular structure.

[0082] Please continue to refer to Figure 1 , furthermore, the blood vessel model includes a renal artery model 4 and a renal vein model 5; preferably, the renal artery model 4 and / or the renal vein model 5 is a hollow tube with a dendritic structure, the bifurcated ends of the dendritic structure are closed, and the converging ends are provided with injection holes for perfusing artificial blood from the injection holes.

[0083] Inject artificial blood into the renal artery model 4 and the renal vein model 5 to simulate the form of blood in the kidney.

[0084] In another embodiment of this embodiment, as Figure 2 shown, the model further includes: a lumbar vertebra model, a rib model, a colon model 11 and / or a skin tissue model 12; preferably, the lumbar vertebra model includes a second lumbar vertebra model 6, a third lumbar vertebra model 7 and / or a fourth lumbar vertebra model 8; preferably, the rib model includes an eleventh rib model 9 and / or a twelfth rib model 10.

[0085] In this embodiment, the stone model 1, the kidney model 2, the ureter model 3, the blood vessel model, the lumbar vertebra model, the rib model, the colon model 11 and the skin tissue model 12 can all be adjusted according to the human body imaging data to restore the human body structure and the patient's condition to the greatest extent, so as to reproduce the real surgical process as much as possible.

[0086] In a preferred embodiment,

[0087] The structure of the percutaneous nephrolithotomy virtual surgery model is replicated one-to-one according to the human body structure and assembled. Specifically, the lumbar vertebra model is located in the middle of the two kidney models 2, the rib model is located above the outer side of the kidney model 2, the left kidney model 2 is located at the lower edge of the eleventh rib model 9 and between the second lumbar vertebra model 6 and the third lumbar vertebra model 7, the right kidney model 2 is located at the intersection of the upper edge of the twelfth rib model 10 and the third lumbar vertebra model 7, the colon model 11 is located below the kidney model 2, and the skin tissue model 12 wraps the outside of all the above structures.

[0088] In a preferred embodiment, the stone model 1, the kidney model 2, the ureter model 3, the renal artery model 4, the renal vein model 5, the second lumbar vertebra model 6, the third lumbar vertebra model 7, the fourth lumbar vertebra model 8, the eleventh rib model 9, the twelfth rib model 10, the colon model 11 and the skin tissue model 12 are all stained.

[0089] The staining color can be determined according to the color of real organs to be closer to the real situation. The kidney model 2 can also be made of a transparent material so as to see the specific positions of surgical instruments in the kidney model 2 and its local tissues during the operation, which is convenient for shooting the operation process, thereby accurately positioning the relative positions of the surgical instruments and the calculus model 1. More preferably, the kidney model 2 can be divided into a renal fat unit and a renal calyx unit, wherein the renal fat unit is made of a transparent material.

[0090] In another embodiment of this embodiment, as Figure 3 shown, a percutaneous nephrolithotomy virtual surgery system is further provided, and the system includes: a model, a support frame 13, a video recording device 14, and a housing 15.

[0091] The video recording device 14 can be arranged on the housing 15 or the support frame 13.

[0092] In a preferred embodiment, the video recording device 14 can be a wide-angle camera, and the wide-angle camera is located below the percutaneous nephrolithotomy virtual surgery model. Among them, the lens of the wide-angle camera arranged at the bottom cooperates with the percutaneous nephrolithotomy virtual surgery model above it, which can effectively simulate CT guidance in real surgery, effectively avoid occlusion and improve the judgment accuracy of the real-time position of the operating needle, improve the real-time feedback effect of training, and using a wide-angle camera as the video recording device can also avoid occupying CT device resources and potential radiation hazards of the CT device to the operator.

[0093] In a preferred embodiment, the imaging device 14 is electrically connected to a known control system, and the operator can transmit the image data obtained by shooting with the video recording device 14 to the control system for real-time viewing or storage and analysis.

[0094] Preferably, the system further includes a lighting device.

[0095] In a preferred embodiment, the lighting device is a shadowless lamp.

[0096] Further, the model is located on the support frame 13, and the support frame 13 is slidably connected to the housing 15.

[0097] Among them, the support frame 13 can be a rectangular container or any shape that can accommodate or support the model. The support frame 13 is connected to the model to play a role in fixing the model. The support frame 13 is slidably connected to the housing 15, which is convenient for moving the model during the operation.

[0098] In a preferred embodiment, the support frame 13 is a drawer, the model is located in the drawer, and a handle is provided on the outer side of the drawer. The drawer is slidably connected to the housing 15, and the percutaneous nephrolithotomy virtual surgery model can be moved by pulling the handle.

[0099] Preferably, a driver is provided at the sliding connection between the drawer and the housing 15. Those skilled in the art can achieve the sliding movement manually or control the movement of the drawer by connecting the driver through a known control system.

[0100] The method for preparing a percutaneous nephrolithotomy virtual surgery model in this embodiment includes:

[0101] Step 1, Image data collection: Use a medical imaging device to photograph the human organs of the sample, transmit all the data to a 3D printer, and edit the imported sample imaging data through Mimics and AutoCAD to set the modeling image file;

[0102] Step 2, Print ureter models, blood vessel models, lumbar vertebra models, rib models, colon models, and skin tissue models with a volume ratio of 1:1 through a 3D printer. Among them, the ureter models, blood vessel models, colon models, and skin tissue models are printed with TPE (thermoplastic elastomer) materials. The lumbar vertebra models and rib models are printed with polycarbonate-iso (PC-ISO) materials.

[0103] Step 3, Mix 1 g of hydroxyapatite, 5 g of calcium carbonate, and 3 g of sodium alginate, add 100 mL of ethanol, stir evenly, freeze-dry under vacuum, and finally extrude into a uniform first linear material with a diameter of 2 mm for 3D printing using a single / double screw extruder. Use the first linear material to print a stone model with a volume ratio of 1:1.

[0104] Step 4, Print a kidney model mold with a volume ratio of 1:1 using precipitated silica material. After placing the above ureter models, blood vessel models, and stone models in their corresponding positions, perform injection molding. The material for injection molding is obtained by mixing agar, chitosan, and water with a mass ratio of 1:1:1 and heating to 95°C. After perfusion, cool to 40°C to obtain a kidney model.

[0105] Step 5, After printing, stain and assemble the stone model, kidney model, ureter model, blood vessel model, lumbar vertebra model, rib model, colon model, and skin tissue model. Adjust the relative positions of each part in the model based on the human body imaging data and simulate the trends of the ureter and blood vessels in the human body. After assembly, inject a certain amount of artificial blood through the injection hole to simulate the actual environment in the human body. And perfusion silicone between the skin tissue model and other models to simulate other muscle structures in the human body.

[0106] Example 2

[0107] The difference between this embodiment and Example 1 is only that the first linear material includes: 2 g of hydroxyapatite, 5 g of calcium carbonate, and 3 g of sodium alginate.

[0108] Example 3

[0109] The difference between this embodiment and Embodiment 1 is only that the first linear material includes: 1 g of hydroxyapatite and 5 g of calcium carbonate.

[0110] Embodiment 4

[0111] The difference between this embodiment and Embodiment 1 is only that the first linear material includes: 1 g of hydroxyapatite and 3 g of sodium alginate.

[0112] Embodiment 5

[0113] The difference between this embodiment and Embodiment 1 is only that the first linear material includes: 5 g of calcium carbonate and 3 g of sodium alginate.

[0114] Embodiment 6

[0115] The method for preparing a percutaneous nephrolithotomy virtual surgical model in this embodiment includes:

[0116] Step 1, image data collection: Use a medical imaging device to photograph the human organs of the sample, transmit all the data to a 3D printer, and edit the imported sample imaging data through Mimics and AutoCAD to set the modeling image file;

[0117] Step 2, print out a ureter model, a blood vessel model, a lumbar vertebra model, a rib model, a colon model, and a skin tissue model with a volume ratio of 1:1 through a 3D printer. Among them, the ureter model, the blood vessel model, the colon model, and the skin tissue model are printed with TPE (thermoplastic elastomer) material. The lumbar vertebra model and the rib model are printed with polycarbonate-iso (PC-ISO) material.

[0118] Step 3, mix 1 g of hydroxyapatite, 5 g of calcium carbonate, and 3 g of sodium alginate, add 100 mL of ethanol, stir evenly, vacuum freeze-dry, and finally extrude into a uniform first linear material with a diameter of 2 mm for 3D printing using a single / double screw extruder, and use the first linear material to print a stone model with a volume ratio of 1:1.

[0119] Step 4, mix 2 g of polytetrafluoroethylene, 2 g of polyurethane rubber, and 5 g of silica gel, add 150 mL of methanol, stir evenly, vacuum freeze-dry, and finally extrude into a uniform second linear material with a diameter of 2 mm for 3D printing using a single / double screw extruder, and use the second linear material to print a kidney model with a volume ratio of 1:1.

[0120] Step 5: After printing, dye and assemble the stone model, kidney model, ureter model, blood vessel model, lumbar vertebra model, rib model, colon model and skin tissue model. Adjust the relative positions of the parts in the model according to the human body imaging data and simulate the trends of the ureter and blood vessels in the human body. After assembly, inject a certain amount of artificial urine and artificial blood through the water injection port to simulate the actual environment in the human body. And perfusion silicone in the gap between the skin tissue model and other models to simulate other muscle structures in the human body.

[0121] Example 7

[0122] The difference between this example and Example 6 is only that the second linear material includes: 2 g of polyurethane rubber and 5 g of silicone.

[0123] Example 8

[0124] The difference between this example and Example 6 is only that the second linear material includes: 2 g of polytetrafluoroethylene and 5 g of silicone.

[0125] Example 9

[0126] The difference between this example and Example 6 is only that the second linear material includes: 2 g of polytetrafluoroethylene and 2 g of polyurethane rubber.

[0127] Example 10

[0128] The difference between this example and Example 6 is only that the second linear material includes: 1 g of polytetrafluoroethylene, 2 g of polyurethane rubber and 5 g of silicone.

[0129] Prepare the models by using the methods described in Examples 1-10 above. Prepare 10 models in each group and count the molding rate (if all partial models are successfully prepared and meet the use standards after assembly, it can be considered a finished model; if there are defects, cracks, inability to assemble, etc., it is identified as a defective product). The calculation formula of the molding rate is as follows.

[0130] Molding rate (%) = number of finished models / total number of samples made * 100

[0131] In addition, it is currently known that the general hardness of stones formed in the human body is about 400-420 on the Vickers Hardness Scale. Measure the specific hardness of the stone model by using a micro Vickers hardness tester.

[0132] The final model hardness test results and molding rate statistical results are shown in Table 1.

[0133] Table 1

[0134]

[0135]

[0136] It can be seen that the model forming rate prepared by the methods in Embodiment 1 and Embodiment 6 is relatively high, and the hardness of the calculus model is closer to the calculus situation in the actual human body, and it can accurately reproduce the surgical scenario.

[0137] The above are only the embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A percutaneous nephrolithotomy virtual surgical model, characterized in that, The model includes: a calculus model, a kidney model, a ureter model, and a blood vessel model; a groove for accommodating the calculus model is provided inside the kidney model; the calculus model is located at the groove, and the calculus model is of a staghorn type.

2. The model according to claim 1, wherein The diameter of the calculus model is greater than 2 cm.

3. The model according to claim 1, characterized in that The ureter model is a hollow tubular structure.

4. The model according to claim 1, characterized in that, The blood vessel model includes a renal artery model and a renal vein model; preferably, the renal artery model and / or the renal vein model is a hollow tube with a dendritic structure, the bifurcated ends of the dendritic structure are closed, and an injection hole is provided at the converging end for perfusing artificial blood from the injection hole.

5. The model according to claim 1, characterized in that, The model further includes: a lumbar vertebra model, a rib model, a colon model, and / or a skin tissue model; preferably, the lumbar vertebra model includes the second lumbar vertebra model, the third lumbar vertebra model, and / or the fourth lumbar vertebra model; preferably, the rib model includes the eleventh rib model and / or the twelfth rib model.

6. The preparation method of the model according to any one of claims 1-5, characterized in that The method includes the following steps: Step 1: Use a medical imaging device to photograph a sample organ, transmit all data to a 3D printer, and edit and set the modeling image file. Step 2: Print the ureter model, blood vessel model, lumbar vertebra model, rib model, colon model, and skin tissue model. Step 3: Mix hydroxyapatite, calcium carbonate, and sodium alginate, add ethanol, stir evenly, vacuum freeze-dry, extrude a first linear material, and use the first linear material to print the calculus model. Step 4: Print a kidney model mold with silica material, place the above ureter model, blood vessel model, and calculus model in the corresponding positions and then perform injection molding to obtain the kidney model; or, mix polytetrafluoroethylene, polyurethane rubber, and silica gel, add methanol, stir evenly, vacuum freeze-dry, extrude a second linear material, and use the second linear material to print the kidney model. Step 5: Assemble the calculus model, kidney model, ureter model, blood vessel model, lumbar vertebra model, rib model, colon model, and skin tissue model.

7. The method according to claim 6, wherein The mass ratio of the hydroxyapatite, calcium carbonate, and sodium alginate is 1:(1 - 10):(1 - 5); preferably, 1:5:

3.

8. The method according to claim 6, characterized in that, The material for injection molding is obtained by mixing agar, chitosan, and water with a mass ratio of 1:(1 - 5):(1 - 5) and heating to 80°C - 95°C, and cooling to 25°C - 40°C after perfusion; preferably, the material for injection molding is obtained by mixing agar, chitosan, and water with a mass ratio of 1:1:1 and heating to 95°C, and cooling to 40°C after perfusion; preferably, the silica can be precipitated silica, fumed silica, or ultrafine silica; preferably, the mass ratio of the polytetrafluoroethylene, polyurethane rubber, and silica gel is 1:(1 - 5):(1 - 5); more preferably, 1:1:2.

5.

9. A percutaneous nephrolithotomy virtual surgery system, characterized in that, The system includes: the model according to any one of claims 1 - 5, a support frame, a video recording device, and a housing.

10. The system according to claim 9, wherein The model is located on the support frame, and the support frame is slidably connected to the housing.

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