Dual-axis controller for minimally invasive surgical tools, camera for minimally invasive surgical training, and system for minimally invasive surgical training

Abstract

The invention provides a dual axis controller for minimally invasive surgical tools, a camera for minimally invasive surgical training, and a system for minimally invasive surgical training. All aspects of the invention can be applied during training of a surgeon for minimally invasive surgery. The dual axis controller for minimally invasive surgical tools comprises a control device, a computer connector, at least one tool connector, a first bearing coupled with a first arm coupled with a second bearing coupled with a second arm in which a trocar is positioned. A minimally invasive surgical tool comprising a sleeve and a handle is housed in the trocar. The camera for minimally invasive surgical training comprises a sleeve, a handle, at least one sensor for measuring the position of a minimally invasive surgical tool, and a vision sensor positioned at the end of the sleeve, wherein the handle comprises a focus adjustment knob and a sensor for rotation of the focus adjustment knob, wherein preferably the focus adjustment knob is seated on a third bearing positioned on the sleeve, and more preferably the third bearing is a ball bearing. The system for minimally invasive surgical training comprises a housing, at least one tool socket, and a workbench, and in the at least one tool socket a dual axis controller is positioned.

Description

Technical Field

[0001] This invention provides a dual-axis controller for minimally invasive surgical tools, a camera for minimally invasive surgical training, and a training system for minimally invasive surgery. All aspects of this invention are applicable to training surgeons to perform minimally invasive surgical procedures. Background Technology

[0002] According to existing technological solutions, minimally invasive surgery training can be conducted in two different environments: on physical objects or under virtual reality conditions. Each of the mentioned concepts has its advantages and disadvantages. This invention provides a complete solution that allows for the combination of the two mentioned 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 developing proficient manual skills. For example, sewing skills should be learned on real training objects. Virtual reality, on the other hand, facilitates surgical procedures. The simulated environment closely reflects surgical anatomy and progressively teaches users the correct surgical techniques for each type of surgery. Furthermore, under virtual reality conditions, users can learn electrosurgery safely.

[0003] Document CN 2751372 Y discloses a training table with laparoscopic simulation, which includes a container for abdominal casting, a camera, and a monitor. The abdominal casting chamber simulates the artificial condition of abdominal gas accumulation during laparoscopic surgery. The camera is positioned inside the container in the abdomen and connected to the monitor. The surface of the box-shaped component is provided with a connection opening in which laparoscopic operating instruments are placed. A simulated human body portion is positioned within the container.

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

[0005] Document PL 424841 A1 discloses an operating / measuring component of a laparoscopic training device capable of both manual and virtual laparoscopic training. A gripper houses a sensor with an opening for an operating tip gripper. A reflective planar reflector is centrally fixed below the gripper along the sleeve axis. The cannula has a funnel-shaped body closed by a top cover, and within the cannula are a guide channel for axial positioning of the operating tool and sensors for determining desired parameters characterizing the movement of the operating tool. Summary of the Invention

[0006] This invention provides a dual-axis controller for a minimally invasive surgical tool, comprising: a control unit; a computer connector; and at least one tool connector for receiving signals from the minimally invasive surgical tool. A first bearing engages with a first arm, which in turn engages with a second bearing. The second bearing engages with a second arm having an opening. A cannula with a through-hole is disposed in the opening, and the minimally invasive surgical tool is positioned therein. The minimally invasive surgical tool includes a sleeve and a handle, and the dual-axis controller further includes a first sensor for determining the rotation angle of the first bearing, a second sensor for determining the rotation angle of the second bearing, and at least one sensor for measuring the position of the minimally invasive surgical tool. The axes of the first and second bearings intersect on the axis of the opening.

[0007] Preferably, the dual-axis controller is characterized in that the first sensor is a magnetic sensor and a first magnet is provided in the first arm.

[0008] Preferably, the dual-axis controller is characterized in that the second sensor is a magnetic sensor and a second magnet is provided on the second arm.

[0009] Preferably, the dual-axis controller is characterized in that the first bearing is a ball bearing.

[0010] Preferably, the dual-axis controller is characterized in that the second bearing is a ball bearing.

[0011] Preferably, the dual-axis controller is characterized in that it includes a cannula connector for receiving signals from the cannula.

[0012] Preferably, the dual-axis controller is characterized in that the computer connector is a USB connector.

[0013] Preferably, the dual-axis controller is characterized in that it includes at least one sensor for determining the depth of insertion of a minimally invasive surgical instrument.

[0014] Preferably, the dual-axis controller is characterized in that the sensors used to determine the depth of insertion of the minimally invasive surgical instrument are a reflective sensor and a reflector.

[0015] Preferably, the dual-axis controller is characterized in that the reflection sensor is an ultrasonic sensor.

[0016] Preferably, the dual-axis controller is characterized in that the reflection sensor is an optical sensor.

[0017] Preferably, the dual-axis controller is characterized in that the reflective sensor is positioned on the cannula and the reflector is positioned on the minimally invasive surgical instrument.

[0018] Preferably, the dual-axis controller is characterized in that the reflective sensor is positioned on the minimally invasive surgical instrument, and the reflector is positioned on the cannula.

[0019] Preferably, the dual-axis controller is characterized in that the sensor used to determine the depth of insertion of the minimally invasive surgical instrument is a photosensitive matrix, which is positioned in the cannula such that it faces the sleeve.

[0020] Preferably, the dual-axis controller is characterized by including a position indicating device.

[0021] Preferably, the dual-axis controller is characterized in that the position indicating device is a position connector.

[0022] Preferably, the position connector is connected to at least one passive component, preferably a resistor, or the position connector is connected to at least one semiconductor component, preferably an integrated circuit.

[0023] Preferably, the position connector has a device for reading position data.

[0024] Preferably, the dual-axis controller is characterized in that the sensor used for measuring the rotation of the minimally invasive surgical tool is an accelerometer.

[0025] Preferably, the dual-axis controller is characterized in that the axes of the first bearing and the second bearing intersect on the axis of the opening.

[0026] Preferably, the dual-axis controller is characterized in that the minimally invasive surgical tool is a motion controller including grippers.

[0027] Preferably, the dual-axis controller is characterized in that the gripper includes a movable gripper portion and a non-movable gripper portion.

[0028] Preferably, the dual-axis controller is characterized in that the gripper comprises two movable gripper portions.

[0029] Preferably, the dual-axis controller is characterized in that the motion controller includes non-volatile memory.

[0030] Preferably, the dual-axis controller is characterized in that it includes a movable handle portion.

[0031] Preferably, the dual-axis controller is characterized in that it includes a handle opening sensor.

[0032] Preferably, the dual-axis controller is characterized in that the handle opening sensor is a reflective sensor.

[0033] Preferably, the dual-axis controller is characterized in that the handle opening sensor is an ultrasonic sensor.

[0034] Preferably, the dual-axis controller is characterized in that the handle opening sensor is an optical sensor.

[0035] Another invention is a camera for training in minimally invasive surgery, the camera comprising: a sleeve; a handle; and at least a sensor for measuring rotation of the minimally invasive surgical instrument; and a vision sensor positioned at the end of the sleeve. The handle includes a focus adjustment knob seated in a third bearing positioned on the sleeve, more preferably, the third bearing being a ball bearing.

[0036] Preferably, the camera is characterized in that the sensor of the focus adjustment knob is a magnetic sensor.

[0037] Preferably, the camera is characterized in that the handle includes a connecting element and a sensor for rotation of the visual path. The sleeve is composed of a first sleeve portion and a second sleeve portion. The connecting element is seated in a fourth bearing, preferably a ball bearing. The fourth bearing is positioned on the first sleeve portion, and the second sleeve portion is connected to the connecting element. The second sleeve portion includes the visual sensor. Preferably, the connecting element includes a guide opening.

[0038] Preferably, the camera is characterized in that the sensor used for visual path rotation is a magnetic sensor.

[0039] Preferably, the camera is characterized in that the handle includes at least one button.

[0040] Preferably, the camera is characterized in that it includes an illumination device at the visual sensor.

[0041] Preferably, the camera is characterized in that it includes an objective lens within the optical path.

[0042] Preferably, the camera is characterized in that it includes an electrically controlled lens within the optical path of the vision sensor.

[0043] Preferably, the camera is characterized in that the visual sensor is positioned on a base arranged on a movable extension arm.

[0044] Preferably, the camera is characterized in that a vision sensor is positioned on a base connected to the extension arm. The extension arm is engaged with the motor rotation axis by means of a transmission device.

[0045] Preferably, the camera is characterized in that a vision sensor is positioned on a base that is rotatably connected to both the immovable arm and the movable arm. The movable arm is connected to an extension arm, which engages with the rotation axis of a motor having a drive mechanism.

[0046] Preferably, the camera is characterized in that a vision sensor is positioned on a base that is rotatably connected to both the immovable arm and the movable arm. The movable arm is connected to an extension arm, which engages with the forward axis of a motor having a drive mechanism.

[0047] Preferably, the camera is characterized in that the sensor used for measuring the rotation of the minimally invasive surgical instruments is an accelerometer.

[0048] Preferably, the camera is characterized in that it is a minimally invasive surgical tool in a dual-axis controller.

[0049] Another invention is a system for training in minimally invasive surgery, comprising: a housing; at least one tool socket, and preferably including a position connector, more preferably, the position connector being connected to at least one passive or semiconductor element. A dual-axis controller is positioned in at least one tool socket. The system also includes a worktable housed within the housing.

[0050] Preferably, the system is characterized in that the housing includes at least one operating port, and preferably three operating ports. The worktable is attached to at least one operating port.

[0051] Preferably, the system is characterized in that it includes eight tool sockets.

[0052] Preferably, the system is characterized in that each of these tool sockets has a position connector.

[0053] The purpose of this invention is to provide a tool for training in minimally invasive surgery that combines the advantages of training in virtual reality and training on physical objects. Attached Figure Description

[0054] The invention is illustrated in the figures below, in which:

[0055] [ Figure 1 This illustrates an implementation of a dual-axis controller.

[0056] [ Figure 2 An exemplary minimally invasive surgical tool attached to a dual-axis controller is shown.

[0057] [ Figure 3 ]to Figure 4 An embodiment of a camera handle for training in minimally invasive surgery is shown.

[0058] [ Figure 5 ]to Figure 7 An implementation of a movable vision sensor in a camera for training in minimally invasive surgery is shown.

[0059] [ Figure 8 The image shows a top view of a system used for training in minimally invasive surgery.

[0060] [ Figure 9 This illustrates an implementation of a workbench in a system for training in minimally invasive surgery. Detailed Implementation

[0061] [ Figure 1 A dual-axis controller 1 for a minimally invasive surgical tool is shown. The dual-axis controller 1 includes a control device 3 that analyzes the operation of the device and reads data from sensors. Furthermore, the dual-axis controller 1 also includes: a computer connector 5 for communication with a computer, preferably a USB connector; and at least one tool connector 7 for receiving signals from the minimally invasive surgical tool 26. A first bearing 11a is directly or indirectly attached to the housing of the device, engaging with a first arm 11b, which in turn engages with a second bearing 11c. The second bearing 11c engages with a second arm 11d, which has an opening 12 positioned therein. A cannula 13 is positioned within the opening 12, and the cannula 13 includes a through-hole in which the minimally invasive surgical tool 26 is positioned. An exemplary embodiment of the minimally invasive surgical tool 26 is described in […]. Figure 2 As shown in the diagram. This connection of the movable elements allows the minimally invasive surgical tool 26 to rotate, for example, during surgery—the rotation point is fixed in the dual-axis controller 1, and the dual-axis controller 1 simulates the position where the minimally invasive surgical tool 26 is introduced into the patient's body. The tool 26 itself includes a sleeve 17 and a handle 20, the end of which may be provided with different tips, such as claws or cameras. The dual-axis controller 1 also includes a first sensor 9a for determining the rotation angle of the first bearing 11a and a second sensor 9b for determining the rotation angle of the second bearing 11c, as well as at least one sensor for measuring the position of the minimally invasive surgical tool 26. Furthermore, the axes of the first bearing 11a and the second bearing 12c intersect on the axis of the opening 12, preferably the first bearing 11a and the second bearing 12c intersect on the axis of the opening 12.

[0062] In a preferred embodiment, the first sensor 9a is a magnetic sensor, and a first magnet 10a is arranged in the first arm 11b. Alternatively, the second sensor 9b may also be a magnetic sensor, and a second magnet 10b may be arranged in the second arm 11d.

[0063] In another embodiment, the first bearing 11a is a ball bearing. The second bearing 11c is a ball bearing.

[0064] In another embodiment, the dual-axis controller 1 includes a cannula connector 6 for receiving signals from a cannula 13, and more precisely, for receiving information from a sensor disposed in the cannula 13.

[0065] In another embodiment, the dual-axis controller 1 includes at least one sensor for determining the depth of insertion of the minimally invasive surgical tool 26, said at least one sensor being an exemplary sensor for measuring the position of the minimally invasive surgical tool 26. This sensor is capable of accurately determining the position of the device and simulating operation in virtual reality. The depth sensor may be, for example, a reflective sensor 15 that cooperates with reflector 16. One of these elements is positioned in the cannula 13, while the other is positioned in the handle 20. The reflective sensor 15 may be, for example, an ultrasonic sensor or an optical sensor. Another solution is to use a photosensitive matrix 14, which is positioned in the cannula 13 such that it faces the cannula 17. The photosensitive matrix 14 takes a picture of the surface of the cannula 17 and compares the changes in subsequent pictures, allowing the determination of the advance position of the cannula and its axial rotational changes. In a preferred embodiment, two sensors are provided, namely the reflective sensor 15 and the photosensitive matrix 14. In this configuration, the device can quickly determine the depth of insertion of the tool 26 by means of the photosensitive matrix 14, and these changes are absolutely defined by the reflective sensor 15. It should be noted that alternative solutions capable of achieving precise positional changes, such as linear encoders, can be used, as this will be obvious to those skilled in the art.

[0066] like[ Figure 8 As shown in the diagram, the dual-axis controller 1 mates with the housing 52 of a system for training in minimally invasive surgery. In a preferred embodiment, the dual-axis controller 1 has a position indicator, i.e., a device for transmitting information to a computer about which port 53 the dual-axis controller 1 is installed in. The absence of such a device means the user is obligated to manually input the corresponding data into the computer. In a preferred embodiment, the position indicator is a position connector 4. The position connector 4 may include at least one passive element, preferably a resistor, or at least one semiconductor element, preferably an integrated circuit. It should be noted that any combination of passive and active elements is permissible, and specific solutions will be apparent to those skilled in the art. In another variation, the position connector 4 has a device for reading position data—this device allows determination of which tool port 53 the dual-axis controller is connected to. Depending on the components (resistors, integrated circuits, etc.) used in the tool port 53, the data readout and the device used for data readout will differ, but those skilled in the art will be able to select appropriate devices to detect the position of the dual-axis controller.

[0067] In another embodiment of the dual-axis controller 1, the sensor 26 used for rotation measurement is an accelerometer 24. The accelerometer is primarily used to determine the absolute rotation angle of the tool 26, but those skilled in the art will be able to obtain information about changes in the position of the tool 26 when needed.

[0068] In another embodiment, the minimally invasive surgical tool 26 is a motion controller including grippers. The grippers may include movable gripper portions 19 and non-movable gripper portions 18, but may also include two movable gripper portions 19. Preferably, the dual-axis controller 1 may also include a movable portion 21 of the handle 20, and the dual-axis controller 1 may also include a sensor 22 for handle opening. The handle opening sensor 22 may be a reflective sensor, such as an ultrasonic sensor or an optical sensor. This solution enables combined training, where a portion of the training is computer-simulated, and the user can train on real objects, such as suturing or knotting. This physical interaction between objects better reproduces the real conditions of the computer simulation, and enables better training results.

[0069] Preferably, the dual-axis controller 1 includes a non-volatile memory 25.

[0070] Figures 3 to 7 An embodiment of a camera for training in minimally invasive surgery is shown. The camera includes a sleeve 17, a handle 20, at least one sensor 26 for measuring the rotation of a minimally invasive surgical tool 26, and a vision sensor 44 positioned at the end of the sleeve 17. The handle includes a knob 31 for focus adjustment and a sensor 33 for rotation of the focus adjustment knob 31, and preferably also includes at least one button 29. Preferably, the focus adjustment knob 31 is seated in a third bearing 32 positioned on the sleeve 17, and more preferably, the third bearing 32 is a ball bearing. Preferably, the sensor 33 for rotation of the focus adjustment knob 31 is a magnetic sensor. This configuration allows for the reproduction of work on real tools to be used in surgery, while the cost and requirements of the camera used for training are lower than those associated with the optical paths used during actual surgery.

[0071] In a preferred embodiment, the handle 20 includes a connecting element 36 and a sensor 38 for rotation of the visual path. The sleeve 17 in this embodiment is composed of a first portion 30 and a second portion 35. The connecting element 36 is seated on a fourth bearing 37, preferably a ball bearing positioned on the first portion 30 of the sleeve 17, while the second portion 35 of the sleeve 17 is connected to the connecting element 36. The second portion 35 of the sleeve 17 includes a visual sensor 44. Preferably, the connecting element 36 includes a guide hole 40.

[0072] The camera may be equipped with additional devices to enhance video reception; for example, the camera may include an illumination device 43 at the vision sensor 44, an objective lens 45 in the optical path of the vision sensor 44, and an electrically controlled lens 46 within the optical path of the vision sensor 44. Those skilled in the art will recognize which of these elements is necessary for carrying out the invention in a particular situation.

[0073] Preferably, the vision sensor 44 can be positioned at different angles, enabling the reproduction of the actual visual path during surgical procedures. The camera can achieve this via various mechanisms, such as positioning the vision sensor 44 on a base 42 that is positioned on a movable extension arm 47, or positioning the vision sensor 44 on a base 42 engaged with an extension arm 47, which is engaged with the rotation axis 48 of a motor 41 with a drive mechanism. Alternatively, the vision sensor 44 can be positioned on a base 42 that is rotatably coupled to a fixed arm 49 and a movable arm 50, with the movable arm 50 coupled to an extension arm 47, which is engaged with the rotation axis 48 of a motor 41 with a drive mechanism. In another example, the vision sensor 44 is positioned on a base 42 that is rotatably coupled to a fixed arm 49 and a movable arm 50, with the movable arm 50 engaged to an extension arm 47, which is engaged with the forward axis 51 of a motor 41 with a drive mechanism.

[0074] In a preferred embodiment, the camera is equipped with an accelerometer 28, which may be positioned, for example, in a handle 20 or a connecting element 36. More preferably, the camera may be positioned in a dual-axis controller 1, in which the camera functions as a minimally invasive surgical tool 26.

[0075] It should be pointed out that, in Figures 5 to 7 In this case, for the proposed variation, the second sleeve portion 35 can be replaced by the sleeve 17.

[0076] Figures 8 to 9A system for training in minimally invasive surgery is shown, comprising a housing 52 and at least one tool socket 53, preferably eight tool sockets 53. The tool sockets 53 may include position connectors 4. For example, the position connectors 4 are connected to at least one passive or semiconductor element, enabling the identification of a dual-axis controller inserted into the socket. It should be emphasized that a variation is also envisioned in which the system reads the position of the dual-axis controller. A dual-axis controller 1, such as those described above, is provided in at least one tool socket 53. Additionally, the system has a worktable 54. The system provides a mounting point for a tool 26 fixed in the dual-axis controller 1, enabling the simulation of a standard position for the tool 26. Furthermore, the worktable 54 allows for the provision of physical objects. In such a prepared system, surgical procedures are virtually simulated, where suturing is performed through physical actions on the object.

[0077] In a preferred embodiment, the system includes at least one operating port 55, and preferably the system includes three operating ports 55. The operating ports 55 allow the worktable 54 to be moved, and this enables […]. Figure 9 More repetitions can be scheduled on the same workstation shown in the diagram. The operating port 55 is located within the housing 52.

[0078] In a preferred embodiment, each tool socket 53 has a position connector 4 that mates with the position connector 4 in the dual-axis controller 1.

[0079] It should be noted that all connectors refer to devices used for transmitting or receiving signals. This can be achieved in both wired and wireless ways.

[0080] 1. Dual-axis controller

[0081] 3. Control device

[0082] 4 Position Connector

[0083] 5 Computer Connectors

[0084] 6-pin connector

[0085] 7 Tool Connectors

[0086] 9a First Sensor

[0087] 9b Second Sensor

[0088] 10a First Magnet

[0089] 10b Second Magnet

[0090] 11a First Bearing

[0091] 11b First Arm

[0092] 11c Second Bearing

[0093] 11d Second Arm

[0094] 12 openings

[0095] 13 cannula

[0096] 14 Photosensitive Matrix

[0097] 15 Reflection Sensor

[0098] 16 Reflectors

[0099] 17 Sleeve

[0100] 18. Non-movable gripper parts

[0101] 19. Movable gripper section

[0102] 20 handles

[0103] 21. Movable handle section.

[0104] 22 Handle opening sensor

[0105] 24, 28 accelerometers

[0106] 25. Non-volatile memory

[0107] 26 Minimally Invasive Surgical Tools

[0108] 29 buttons

[0109] 30 First sleeve section

[0110] 31 Focus adjustment knob

[0111] 32 Third Bearing

[0112] 33 Focus adjustment knob sensor

[0113] 35 Second sleeve section

[0114] 36 Connecting elements

[0115] 37 Fourth Bearing

[0116] 38 Sensors for rotation of the visual path

[0117] 40 guide holes

[0118] 41. Motor with transmission device

[0119] 42 Base

[0120] 43 lighting fixtures

[0121] 44 Vision Sensors

[0122] 45 Objective lens

[0123] 46. ​​Movable lens

[0124] 47 Extending Arm

[0125] 48. Axis of rotation

[0126] 49. Immovable arm

[0127] 50 movable arms

[0128] 51 Forward Axis

[0129] 52. Housing

[0130] 53 Tool socket

[0131] 54 workbenches

[0132] 55 Operating Socket

Claims

1. A training device comprising a dual-axis controller for a minimally invasive surgical tool, the dual-axis controller being adapted for manual surgical training and simulating the position of the minimally invasive surgical tool being introduced into a patient's body, the dual-axis controller comprising: A control device (3) configured to determine the rotation angle and position of the minimally invasive surgical tool (26) by reading data output from a sensor; and a computer connector (5) configured for communication with the control device (3). At least one tool connector (7) having a computer arranged for computer simulation of surgical training, the at least one tool connector (7) being used to receive signals from the sensors associated with the minimally invasive surgical tool (26); and a first bearing (11a) engaging with a first arm (11b), the first arm (11b) engaging with a second bearing (11c), the second bearing (11c) engaging with a second arm (11d), the second arm (11d) having an opening arranged therein. (12), a cannula (13) is positioned in the opening (12), the cannula (13) includes a through hole, the minimally invasive surgical tool (26) is arranged in the through hole, the minimally invasive surgical tool (26) includes a sleeve (17) and a handle (20), and the dual-axis controller further includes a first sensor (9a) for determining the rotation angle of the first bearing (11a) and a second sensor (9b) for determining the rotation angle of the second bearing (11c), and at least one sensor for measuring the position of the minimally invasive surgical tool (26). The axes of the first bearing (11a) and the second bearing (11c) intersect at a point of rotation located on the axis of the opening (12). The position of this point of rotation is fixed in the dual-axis controller, thereby simulating the position where the minimally invasive surgical tool (26) is introduced into the patient's body. The opening (12) is configured to change its orientation in response to the movement of the minimally invasive surgical tool (26), such that the force generated by the movement is transmitted to the second arm (11d), the second bearing (11c), the first arm (11b), and the first bearing (11a), while keeping the rotation point of the minimally invasive surgical tool (26) unchanged. The at least one sensor used to measure the position of the minimally invasive surgical tool (26) is at least one sensor used to determine the insertion depth of the minimally invasive surgical tool (26). The feature is that the sensor used to determine the insertion depth of the minimally invasive surgical tool (26) is a photosensitive matrix (14) and a reflection sensor (15), the photosensitive matrix (14) is positioned in the cannula (13) such that the photosensitive matrix (14) faces the sleeve (17), and the reflection sensor (15) is positioned in the cannula (13) of the minimally invasive surgical tool (26) such that the reflection sensor (15) faces the handle (20).

2. The training device according to claim 1, characterized in that, The first sensor (9a) is a magnetic sensor, and a first magnet (10a) is arranged in the first arm (11b).

3. The training device according to claim 1 or 2, characterized in that, The second sensor (9b) is a magnetic sensor, and a second magnet (10b) is arranged in the second arm (11d).

4. The training device according to claim 1 or 2, characterized in that, The first bearing (11a) is a ball bearing.

5. The training device according to claim 1 or 2, characterized in that, The second bearing (11c) is a ball bearing.

6. The training device according to claim 1 or 2, characterized in that, The dual-axis controller includes a cannula connector (6) for receiving signals from the cannula (13).

7. The training device according to claim 1 or 2, characterized in that, The computer connector (5) is a USB connector.

8. The training device according to claim 1 or 2, characterized in that, The dual-axis controller includes a position indicator configured to transmit information to the computer about which port (53) the dual-axis controller (1) is installed in.

9. The training device according to claim 8, characterized in that, The position indicator is a position connector (4) configured to read position data.

10. The training device according to claim 9, characterized in that, The position connector (4) is connected to at least one passive element, or the position connector (4) is connected to at least one semiconductor element.

11. The training device according to claim 10, characterized in that, The passive component is a resistor.

12. The training device according to claim 10, characterized in that, The semiconductor element is an integrated circuit.

13. The training apparatus according to any one of claims 9 to 12, characterized in that, The position connector (4) has a device for reading position data.

14. The training device according to claim 1 or 2, characterized in that, The training device also includes accelerometers (24, 28) for measuring the rotation of the minimally invasive surgical tool (26).

Images