System for minimally invasive surgical training

Abstract

The invention provides a system for minimally invasive surgery training. The object of the invention is to provide a system for minimally invasive surgery training, which enables the positioning of an object in different positions of a work area. Furthermore, the object of the invention is to provide a system, in which the object can be arranged at different angles. The system for minimally invasive surgery training, which comprises a housing (1), at least one minimally invasive surgery tool (2) and a work area (3), is characterized in that the system comprises at least one movable mechanism with at least two actuators, and the work area (3) is connected to the movable mechanism, which is connected to the housing (1).

Description

Technical Field

[0001] This invention provides a system for training in minimally invasive surgical procedures. Background Technology

[0002] According to existing technological solutions, minimally invasive surgical training can be conducted in two different environments: on a physical object or under virtual reality conditions. Each of the concepts mentioned has its advantages and disadvantages. This invention provides a complete solution that combines the two aforementioned environments. This idea enables the complete learning of surgical skills under the most suitable conditions. This hybrid solution maximizes the advantages of both solutions and eliminates their disadvantages. Physical training simulators are necessary for improving manual skills proficiency. For example, suturing skills should be learned on real training objects. Virtual reality, in turn, facilitates surgical procedures. The simulated environment closely reflects the anatomical structures being operated on and teaches users to use appropriate surgical techniques step-by-step for each type of surgery. Additionally, under virtual reality conditions, users can learn electrosurgery under safe conditions.

[0003] Document CN 2751372 Y discloses a training table with a laparoscopic simulation, which includes a mold box for the abdomen, a camera, and a monitor. The abdominal mold box simulates the artificial pneumoperitoneum state during laparoscopic surgery. The camera is positioned inside the container for the abdomen and connected to the monitor. The surface of the box is provided with connection openings for placing laparoscopic operating instruments. A simulated human body portion is positioned inside the container.

[0004] Document CN 203038553 U discloses a training device for laparoscopic simulation. This training device effectively connects the body surface panel, support panel, operating platform, base plate, and side panels via hinges, and is capable of simulating puncture channels on the human body surface and within body cavities. Simulation instruments can be incorporated into the training device for training in suturing techniques, ligation, and dissection, with the aim of simulating surgical areas.

[0005] Document PL 424841A1 discloses a processing / measuring component for a laparoscopic training device, enabling both manual and virtual laparoscopic training. The manipulation and measuring elements are a working tool and a cannula. A gripper houses a sensor with an opening for the manipulating tip clamp. From below the gripper, a flat reflector is centrally secured on the sleeve shaft. The cannula has a funnel-shaped body, closed at the top by a cap, and within the funnel-shaped body are guide channels for axial positioning of the manipulator and sensors for determining desired parameters characterizing the manipulator's movements. Summary of the Invention

[0006] This invention provides a system for training in minimally invasive surgery, comprising a housing, at least one minimally invasive surgical instrument, and a working area. The system is characterized in that it further includes at least one movable mechanism having at least two actuators. The working area is connected to the movable mechanism, which is connected to the housing.

[0007] Preferably, the actuator is an electric motor.

[0008] Preferably, the movable mechanism includes a transmission device for an electric motor.

[0009] Preferably, the movable mechanism includes at least one encoder.

[0010] Preferably, the system includes a control device, and more preferably, the control device includes a controller and an electric motor controller.

[0011] Preferably, the system includes at least two terminal switches.

[0012] Preferably, the operating mechanism is a guide comprising two screws, each screw preferably connected to the shaft of an electric motor. Each screw is connected to a different bracket of the guide. One bracket of the guide is connected to a support by at least one guide arm, and the other guide bracket is connected to a support by at least two guide arms. Preferably, the support is the working area.

[0013] Preferably, the operating mechanism is a guide member including a first linear guide member, and a guide member bracket is movably mounted to the first linear guide member. A second linear guide member is mounted to the guide member bracket. The first linear guide member rotates 90 degrees about the second linear guide member. The guide member bracket includes a first pulley, a second pulley, a third pulley, and a fourth pulley. The second linear guide member is mounted with the bracket. A belt fixing device is provided at a first end of the second linear guide member, and a fifth pulley and a sixth pulley are arranged at the other end of the second linear guide member. A first drive pulley is arranged at a first end on an extension of the first linear guide member, which is preferably connected to the shaft of an electric motor, and a second drive pulley is arranged at the other end on an extension of the first guide member, which is preferably connected to the shaft of an electric motor. A belt is fixed to the belt fixing device, and the belt spans between the first pulley, the first drive pulley, the third pulley, the fifth pulley, the sixth pulley, the fourth pulley, the second drive pulley, the second pulley, and the belt fixing device. Preferably, the bracket is the work area.

[0014] Preferably, the movable mechanism is a bracket connected to the work area by at least one arm. The at least one arm is connected to the shaft of an electric motor, and more preferably, the bracket is connected to a guide.

[0015] Preferably, each of the first arms is connected to the bracket and the working area, and more preferably, each of the first arms is connected to the shaft of the electric motor.

[0016] Preferably, the first electric motor is connected to the bracket 13. At least one arm is connected to the shaft of the first electric motor at a first end. At least one arm is connected to the shaft of the second electric motor 8, which is connected to the work area, at the other end.

[0017] Preferably, each of the second arms is connected to one of the third arms. Each second arm is connected to a bracket. Each third arm is connected to a working area, and more preferably, each second arm is connected to the shaft of an electric motor.

[0018] Preferably, each of the fourth arms is connected to one of the fifth arms. Each fourth arm is connected to a bracket. Each fifth arm is connected to a working area, and preferably, each fourth arm is connected to the shaft of an electric motor.

[0019] Preferably, the movable mechanism is a bracket. Each of the first arms is connected to the bracket, and preferably, the first arm is connected to the shaft of the electric motor. Each of the second arms is connected to the working area, and each of the second arms is connected to a different first arm. Each of the third arms is connected to the bracket, and preferably, the third arm is connected to the shaft of the electric motor. Each of the fourth arms is connected at one end to a different fifth arm and at the other end to a different third arm. Each of the fifth arms is connected to the working area. Each of the second arms is connected to a different fourth arm.

[0020] The object of this invention is to provide a system for training in minimally invasive surgery that offers the possibility of positioning an object in different locations within a training space. Furthermore, the object of this invention is to provide a system in which an object can be positioned at different angles. Attached Figure Description

[0021] The invention will be described with reference to the accompanying drawings, in which:

[0022] Figure 1 An overall view of the system for training in minimally invasive surgery is shown.

[0023] Figure 2 An exemplary diagram showing the interconnection of the system's components is provided.

[0024] Figure 3 A first embodiment of a movable mechanism for positioning an object in the xy plane is shown.

[0025] Figure 4 A second embodiment of a movable mechanism for positioning an object in the xy plane is shown.

[0026] Figures 5 to 9 An embodiment of a movable mechanism for lifting and tilting objects is shown. Detailed Implementation

[0027] exist Figure 1 The image illustrates a system for training in minimally invasive surgery and its most relevant components. The system for training in minimally invasive surgery according to the invention includes a housing 1, at least one minimally invasive surgical tool 2, and a work area 3. The minimally invasive surgical tool 2 may be a camera, manipulator, claw, scissors, or any other tool (or its training equivalent), which can be used during a minimally invasive surgical procedure (laparoscopy). The housing 1 defines a training space to simulate movements within a patient's body. The work area 3 is where the training object is positioned.

[0028] The system also includes at least one movable mechanism with at least two actuators, in the form of, for example, pneumatic actuators, hydraulic actuators, or electric motors, preferably with a transmission mechanism; however, it should be noted that those skilled in the art will be able to identify other types of actuators. The movable mechanism is capable of positioning the object for training purposes—the most advantageous solution is to provide the ability to move the object in the xy-plane, raise and lower the object, and tilt the object. However, it should be pointed out that in some solutions, only one or a few of the aforementioned object positioning capabilities may be sufficient.

[0029] In this embodiment, the working area 3 is connected to the movable mechanism, and the working area 3 may form part of the movable mechanism. The movable mechanism is also connected to the housing 1.

[0030] To provide precise positioning of the working area 3, the position can be determined by means of an encoder 7a, which may be, for example, an encoder 7a that calculates the rotation of the electric motor 8, or a linear encoder 7a that determines the position of the working area 3.

[0031] In a preferred embodiment, the system includes a control device to control the movable mechanism. It should be emphasized that embodiments of the invention are contemplated as providing control signals from an external control device to the actuator of the movable mechanism. In a preferred embodiment, the control device is a controller 5 and a controller 6 for the electric motor 8; the controller 5 may be, for example, a microcontroller or a computer.

[0032] In another embodiment, the system includes at least two terminal switches 7b to detect the terminal position of the work area 3.

[0033] Figure 2A preferred embodiment is shown, providing two movable mechanisms—guide 4 and bracket 13. In this embodiment, information relating to the position of the object is transmitted from a computer to a controller 5 of guide 4, and subsequently to a controller 5 of bracket 13. It should be noted that signals can be transmitted directly from the computer to both controllers 5. Signals from each controller 5 are further transmitted to a controller 6 of electric motor 8 to control electric motor 8. Controller 5 receives feedback from a terminal switch 7b. In this embodiment, bracket 13 is also equipped with an encoder 7a, which transmits signals to the controller 5 of bracket 13.

[0034] Figure 3 An embodiment of the movable mechanism is shown as guide 4. Guide 4 includes two screws 9, each preferably connected to the shaft of an electric motor 8. Each screw 9 is connected to a different bracket 10 of the guide. One bracket of the guide 10 is connected to a bracket 13 by at least one guide arm 11, and the bracket 10 of the guide is connected to the bracket 13 by at least two guide arms 11, the bracket 13 being preferably the working area 3.

[0035] Figure 4 A second embodiment of the guide member 4 is shown. In this example, the guide member 4 includes a first linear guide member 12a, to which a bracket 10 is movably mounted. A second linear guide member 12b is also movably mounted to the bracket 10. The first linear guide member 12a is rotated 90 degrees about the second linear guide member 12b. The bracket 10 includes a first pulley 14a, a second pulley 14b, a third pulley 14c, and a fourth pulley 14d. A bracket 13 is mounted to the second linear guide member 12b. A belt fixing device 16 for the belt 17 is provided at a first end of the second linear guide member 12b, and a fifth pulley 14e and a sixth pulley 14f are arranged at the other end of the second linear guide member 12b. A first drive pulley 15a is arranged at a first end on an extension of the first linear guide member 12a. On the extension of the first linear guide, at the other end, a second drive pulley 15b is arranged. In a preferred embodiment, at least one pulley, more preferably two pulleys, is connected to the shaft of the electric motor 8. The belt 17 is fixed to a belt fixing device 16 for the belt 17, and the belt 16 spans between the first pulley 14a, the first drive pulley 15a, the third pulley 14c, the fifth pulley 14e, the sixth pulley 14f, the fourth pulley 14d, the second drive pulley 15b, the second drive pulley 14b and the belt fixing device 16 for the belt 17, and preferably, the bracket 13 is the working area 3.

[0036] like Figure 3 and Figure 4As shown, the guide 4 enables the working area 3 to move in the xy plane.

[0037] In another embodiment, the movable mechanism is a bracket 13, which is connected to the working area 3 by at least one arm 18a. The at least one arm 18a is connected to the shaft of an electric motor. In a preferred variant, the bracket 13 is connected to a guide 4. In another variant, each of the first arms 18a is connected to the shaft of an electric motor 8. Figure 5 The image shows one embodiment in which a first electric motor 8 is connected to a bracket 13, and at least one arm 18a is connected at a first end to the shaft of the first electric motor 8, wherein at least one arm 18a is connected at the other end to the shaft of a second electric motor 8 connected to a working area 3. In another embodiment of the system having the bracket 13, each of the first arms 18a is connected to both the bracket 13 and the working area 3. In a preferred embodiment, each of the first arms 18a is connected to the shaft of the electric motor 8. This example is shown in... Figure 6 It is shown in the middle.

[0038] In another embodiment of the system having bracket 13, each of the second arms 18b is connected to one of the third arms 18c. Each second arm 18b is connected to bracket 13, and each third arm 18c is connected to work area 3. In a preferred variant, each second arm 18b is connected to the shaft of electric motor 8. This example is in Figure 7 It is shown in the middle.

[0039] In another embodiment of the system with bracket 13, each of the fourth arms 18d is connected to one of the fifth arms 18e. Each fourth arm 18d is connected to bracket 13, and each fifth arm 18e is connected to work area 3. In a preferred embodiment, each fourth arm 18d is connected to the shaft of electric motor 8. This example is in Figure 8 It is shown in the middle.

[0040] In another embodiment of bracket 13, such as Figure 9 As shown, each of the first arms 18a is connected to the bracket 13, and preferably, the first arm 18a is connected to the shaft of the electric motor 8. Each of the second arms 18b is connected to the working area 3, and each of the second arms 18b is connected to a different first arm 18a. Each of the third arms 18c is connected to the bracket 13, and preferably, the third arm 18c is connected to the shaft of the electric motor 8. Each of the fourth arms 18d is connected at one end to a different fifth arm 18e, and at the other end to a different third arm 18c. Each of the fifth arms 18e is connected to the working area 3, and each of the second arms 18b is connected to a different fourth arm 18d.

[0041] It should be noted that the term "connection," as used throughout this specification, can refer to both rigid, immovable connections of elements and movable connections of elements—particularly in the case of arm connections. Those skilled in the art will have no doubt regarding which elements are connected in a movable manner for the purposes of this invention. It should also be emphasized that arm connections can be achieved through a common axis that connects all arms of the same type, as in… Figure 7 , Figure 8 , Figure 9 As shown in the image.

[0042] According to the present invention, the system may consist independently of only the guide 4 and the bracket 13, or the system may also have a guide that moves the bracket 13. For convenience, the bracket 13 may be an element of the guide 4, or it may be a separate mechanism responsible for lifting and tilting the work area. It should be noted that in this variant, where the work area 3 moves only in the xy plane, the bracket 13 functions as the work area.

[0043] 1. Shell

[0044] 2. Minimally invasive surgical tools

[0045] 3 Work Area

[0046] 4. Guide components

[0047] 5 Controllers

[0048] 6. Electric motor controller

[0049] 7a encoder

[0050] 7b Terminal switch

[0051] 8 Electric motors

[0052] 9 screws

[0053] 10 Guide brackets

[0054] 11 Guide Arm

[0055] 12a First Linear Guide

[0056] 12b Second Linear Guide

[0057] 13 brackets

[0058] 14a First pulley

[0059] 14b Second pulley

[0060] 14c Third Pulley

[0061] 14d Fourth pulley

[0062] 14e Fifth Pulley

[0063] 14f Sixth Pulley

[0064] 15a First drive pulley

[0065] 15b Second drive pulley

[0066] 16 with fixing devices

[0067] 17 belts

[0068] 18a First Arm

[0069] 18b Second Arm

[0070] 18c Third Arm

[0071] 18d Fourth Arm

[0072] 18e Fifth Arm

Claims

1. A system for training in minimally invasive surgery, the system comprising a housing (1), at least one minimally invasive surgical tool (2), and a work area (3), characterized in that, The system also includes at least one movable mechanism having at least two electric motors (8), wherein the working area (3) is connected to the movable mechanism, and the movable mechanism is connected to the housing (1). The movable mechanism consists of two guide members (4), each guide member (4) includes a screw (9), and each screw (9) is connected to the shaft of the electric motor (8), and each screw (9) is connected to a different guide member bracket (10). In this configuration, one of the guide brackets (10) is connected together with the bracket (13) to at least one guide arm (11); and another guide bracket in the guide bracket (10) is connected together with the bracket (13) to at least two guide arms (11). The bracket (13) is connected to the working area (3) by at least one first arm (18a), wherein at least one first arm (18a) is connected to the shaft of the electric motor, and wherein the bracket (13) is connected to the guide (4).

2. The system according to claim 1, characterized in that, The movable mechanism includes the transmission device of the electric motor (8).

3. The system according to claim 1 or 2, characterized in that, The movable mechanism includes at least one encoder (7a).

4. The system according to claim 1 or 2, characterized in that, The system includes a control device.

5. The system according to claim 4, characterized in that, The control device includes a first controller (5) and a second controller (6) for the electric motor (8).

6. The system according to any one of claims 1, 2 and 5, characterized in that, The system includes at least two terminal switches (7b).

7. The system according to claim 1, characterized in that, Each of the first arms (18a) is connected to the bracket (13) and the work area (3).

8. The system according to claim 7, characterized in that, Each of the first arms (18a) is connected to the shaft of the electric motor (8).

9. The system according to claim 8, characterized in that, The first electric motor in the electric motor (8) is connected to the bracket (13), at least one first arm (18a) is connected to the shaft of the first electric motor at a first end, and at least one first arm (18a) is connected to the shaft of the second electric motor in the electric motor (8) connected to the working area (3) at the other end.

10. The system according to claim 1 or claim 7, characterized in that, Each of the second arms (18b) is connected to one of the third arms (18c), and each of the second arms (18b) is connected to the bracket (13), and each of the third arms (18c) is connected to the work area (3).

11. The system according to claim 10, characterized in that, Each second arm (18b) is connected to the shaft of the electric motor (8).

12. The system according to claim 10, characterized in that, Each of the fourth arms (18d) is connected to one of the fifth arms (18e), and each of the fourth arms (18d) is connected to the bracket (13), and each of the fifth arms (18e) is connected to the work area (3).

13. The system according to claim 12, characterized in that, Each fourth arm (18d) is connected to the shaft of the electric motor (8).

14. The system according to claim 12, characterized in that, Each of the first arms (18a) is connected to the bracket (13), each of the second arms (18b) is connected to the work area (3), and each of the second arms (18b) is connected to a different first arm (18a), each of the third arms (18c) is connected to the bracket (13), each of the fourth arms (18d) is connected at one end to a different fifth arm (18e) and at the other end to a different third arm (18c), and each of the fifth arms (18e) is connected to the work area (3), wherein each of the second arms (18b) is connected to a different fourth arm (18d).

15. The system according to claim 14, characterized in that, The first arm (18a) is connected to the shaft of the electric motor (8), and the third arm (18c) is connected to the shaft of the electric motor (8).

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