Endoscopic surgery training device

Abstract

An endoscopic surgery training device is disclosed. A surgical training device according to one embodiment of the present invention may comprise: a housing including a training space formed inside the housing for performing surgical training, and a support plate forming the bottom of the training space; the support is used for fixing the training object component; and a drive unit which includes a holder support member coupled to the holder and which changes the position of the holder coupled to the holder support member in the training space by at least one degree of freedom movement. A position changing unit configured to change the training target member fixed to the support to a specific simulation position of an organ to be trained in the training space; a channel forming part which is formed in the housing so as to form an entry path for an endoscope device that enters the training space from the outside; and a control unit for controlling the drive unit.

Description

Technical Field

[0001] This invention relates to an endoscopic surgery training device. Background Technology

[0002] An endoscope is an instrument that uses instruments inserted into the body to identify organ lesions.

[0003] Endoscopic surgery or procedures using this type of endoscope are performed inside the confined space of the human body; therefore, a great deal of training and experience is required to improve proficiency.

[0004] However, existing surgical training devices for training endoscopic surgery have the following problems: they provide models of a part of the body that simulates the insertion of the endoscope, which can only train the behavior of observing and examining lesions inside the body, but cannot provide training for the surgery itself. Summary of the Invention

[0005] Technical issues

[0006] The present invention is intended to solve the problems described above. The purpose of the present invention is to provide an endoscopic surgery training device that can realize a specific part of the target organ in a manner similar to the actual organ.

[0007] The problems of this invention are not limited to those mentioned above. Those skilled in the art to which this invention pertains will clearly understand other problems not mentioned through the following description.

[0008] Technical solution

[0009] According to one aspect of the present invention, an endoscopic surgery training device is provided, comprising: a housing including a training space and a support plate, the training space being formed inside the housing for surgical training, the support plate forming the bottom of the training space; a support for fixing a training object component; a drive unit including a support member coupled to the support, and capable of changing the position of the support coupled to the support member within the training space by at least one degree of freedom of movement, so as to transform the training object component fixed to the support into a specific simulated position of an organ for training within the training space; a channel forming part formed in the housing to form an entry path for an endoscopic device to enter the training space from the outside; and a control unit for controlling the drive unit.

[0010] At this time, the drive unit can change the position of the support attached to the support member within the training space through four degrees of freedom of motion, including first linear movement, first rotation, second rotation and second linear movement.

[0011] At this time, the aforementioned driving unit includes: a first linear driving unit for causing the support member to move linearly along the X-axis; a first rotary driving unit for causing the support member to rotate about a first rotary axis; a second rotary driving unit for causing the support member to rotate about a second rotary axis; and a second linear driving unit for causing the support member to move linearly along a direction perpendicular to the second rotary axis, wherein the first part of the support member in which the support is attached is configured to be parallel to the second rotary axis and maintain a state that is spaced at a predetermined distance from the second rotary axis.

[0012] At this time, with the support engaged in the first part, and the support member positioned in the initial position by the drive unit, the center of the support can be arranged to be aligned with the first rotation axis, which is the central axis of the first rotation of the support member.

[0013] Additionally, the aforementioned support may include: a support body comprising a mounting portion and a plurality of leg portions, the mounting portion being detachably coupled to one side of the aforementioned drive portion, the plurality of leg portions extending from the aforementioned mounting portion; and a plurality of clamping components detachably coupled to the plurality of leg portions in a manner that grips the aforementioned training object component.

[0014] At this time, the support includes: a plurality of first magnet components, which are respectively disposed on the plurality of leg portions; a plurality of second magnet components, which are respectively disposed on the plurality of clamping components in a manner corresponding to the plurality of first magnet components, and the plurality of clamping components are detachably connected to the support body through the corresponding first magnet components and second magnet components.

[0015] Additionally, the aforementioned drive unit includes: a first linear drive unit, which includes a moving member that reciprocates linearly relative to the support plate along the X-axis direction via a first drive motor; a first rotary drive unit, which includes a second drive motor, a first rotary shaft, and a first mounting bracket, wherein the second drive motor is fixedly coupled to the moving member, and the first rotary shaft rotates relative to the moving member about a Z-axis perpendicular to the X-axis via the driving force of the second drive motor, and the first mounting bracket is fixedly coupled to the first rotary shaft; and a second rotary drive unit, which includes a third drive motor, a second rotary shaft, and a second mounting bracket. The first mounting bracket includes a third drive motor fixedly connected to the first mounting bracket. The second rotating shaft, driven by the third drive motor, rotates relative to the first mounting bracket, parallel to the XY plane and centered on an axis perpendicular to the Z-axis. The second mounting bracket is fixedly connected to the second rotating shaft. The second linear drive unit includes a fourth drive motor fixedly connected to the second mounting bracket, parallel to the XY plane relative to the second mounting bracket, and providing a driving force for reciprocating linear movement of the support member along a direction perpendicular to the Z-axis.

[0016] At this time, the endoscopic surgery training device further includes: a third magnet component disposed on the support component; and a fourth magnet component disposed on the support in a manner corresponding to the third magnet component, wherein the support can be detachably connected to the support component via the third magnet component and the fourth magnet component.

[0017] Furthermore, the aforementioned first linear drive unit includes: a first guide rail fixed to the aforementioned support plate; a first sliding part movably coupled to the aforementioned first guide rail so as to move linearly along the aforementioned first guide rail in the aforementioned X-axis direction; a first rack fixedly coupled to one side of the aforementioned moving member in a manner parallel to the length direction of the aforementioned first guide rail; and a first pinion coupled to the aforementioned first drive motor shaft in a manner that is rotated by the aforementioned first drive motor and meshes with the aforementioned first rack. The aforementioned moving member can reciprocate linearly relative to the aforementioned support plate in the X-axis direction via the aforementioned first sliding part fixed to one side.

[0018] In addition, the first rotary drive unit includes: a first drive gear that is coupled to the shaft of the second drive motor; and a first driven gear that is coupled to the shaft of the first rotary shaft and meshes with the first drive gear. The first mounting bracket can rotate relative to the moving member about the Z axis perpendicular to the X axis by rotating the first rotary shaft.

[0019] In addition, the second rotary drive unit also includes: a second drive gear, which is coupled to the shaft of the third drive motor; and a second driven gear, which is coupled to the shaft of the second rotary shaft and meshes with the second drive gear. The second mounting bracket can rotate relative to the first mounting bracket about an axis perpendicular to the Z-axis by rotating the second rotary shaft.

[0020] In addition, the second linear drive unit further includes: a second guide rail fixed to the second mounting bracket; a second sliding part movably coupled to the second guide rail for reciprocating linear movement along the second guide rail; a second rack fixedly coupled to one side of the support member in a manner parallel to the length direction of the second guide rail; and a second pinion coupled to the shaft of the fourth drive motor for rotation via the fourth drive motor and meshing with the second rack. The support member can reciprocate linearly along the second guide rail relative to the second mounting bracket via the second sliding part fixed to one side.

[0021] Furthermore, by driving the aforementioned drive unit, when the aforementioned training object component is in a specific simulated position of the organ used for training, the aforementioned control unit can drive the aforementioned drive unit to move the aforementioned support member.

[0022] Additionally, the aforementioned channel forming portion includes: a channel housing, which is attached to the aforementioned outer shell; a path portion, which is introduced and formed from one side of the aforementioned channel housing in a manner capable of forming an entry path for the aforementioned endoscope device; and a path maintaining member, which is hollow in a manner capable of allowing the aforementioned endoscope device to pass through, and is detachably attached to the aforementioned path portion. The aforementioned path portion includes: a first path forming portion, one end of which is connected to the aforementioned training space and is formed to have a predetermined length; and a second path forming portion and a third path forming portion, which extend from the aforementioned first path forming portion respectively in a manner that branches from the other end of the aforementioned first path forming portion in mutually different directions. The aforementioned path maintaining member can be installed on the aforementioned path portion in a manner located at the aforementioned first path forming portion and the second path forming portion to form a first entry path, or installed on the aforementioned path portion in a manner located at the aforementioned first path forming portion and the third path forming portion to form a second entry path.

[0023] At this time, the aforementioned path maintaining component may include: a connecting tube having a hollow shape having a predetermined length; a first coupling member disposed at one end of the connecting tube in such a way that it can be detachably coupled to one end of the first path forming portion; and a second coupling member disposed at the other end of the connecting tube in such a way that it can be detachably coupled to one end of the second path forming portion or one end of the third path forming portion.

[0024] Furthermore, when the support is transformed into a specific simulated position of the organ by the drive unit, the training object component installed on the support realizes the inner wall of the organ, and the endoscope device that enters the training space through the channel forming part is configured such that its front end faces one side of the training object component.

[0025] In addition, the aforementioned endoscopic surgery training device may also include an auxiliary support portion located at the lower part of the aforementioned channel forming portion to support a portion of the endoscopic device that enters the aforementioned training space through the aforementioned channel forming portion.

[0026] At this time, the auxiliary support unit includes: an auxiliary bracket for supporting a part of the endoscope device that enters the training space; and an auxiliary drive unit that changes the position of the auxiliary bracket in the training space by means of a fifth drive motor. When the training object component is changed to the input specific simulated position, the control unit can move the auxiliary bracket to the training object component side by driving the auxiliary drive unit.

[0027] In addition, the aforementioned auxiliary drive unit also includes: a third sliding part fixed to a connecting frame, the connecting frame being connected to the support plate; a third guide rail movably connected to the third sliding part for linear movement along the X-axis direction, and the auxiliary bracket being fixedly connected to one side; a third rack formed along the X-axis direction on one side of the third guide rail; and a third pinion gear connected to the shaft of the fifth drive motor in a manner rotatable by the fifth drive motor, and meshing with the third rack, the auxiliary bracket being able to move to the training object component side via the linear movement of the third guide rail.

[0028] In addition, the aforementioned endoscopic surgery training device also includes an operating unit for user operation, which can generate input signals for the user to transform the training object component into a specific simulated position of an organ.

[0029] In addition, the aforementioned endoscopic surgery training device also includes a connector disposed on one side of the housing in a manner electrically connected to the aforementioned support member, with a portion exposed outside the housing to connect with the end of a cable, the cable being electrically connected to the cauterizer, and the support member connected to the aforementioned support member being electrically connected to the aforementioned connector.

[0030] Invention Effects

[0031] Based on the above structure, the endoscopic surgery training device of the present invention can realize a specific part of the organ targeted by the training component to resemble the actual organ. Therefore, users can perform surgical training in an environment similar to the actual environment, thereby improving their proficiency.

[0032] The effects of this invention are not limited to those described above, but should be understood to include all effects inferred from the inventive features described in the detailed description or claims of this invention. Attached Figure Description

[0033] Figure 1 The figure illustrates an endoscopic surgery training device according to an embodiment of the present invention.

[0034] Figure 2 To show Figure 1 The diagram shows the door in the open state and the passage housing being pulled out.

[0035] Figure 3 For brevity Figure 1 The diagram inside.

[0036] Figure 4 For brevity Figure 1 A diagram showing the configuration relationship of the drive unit, auxiliary drive unit, and channel forming unit located inside the housing.

[0037] Figure 5 This is a block diagram illustrating the main structure controlled by the control unit in an endoscopic surgery training device according to an embodiment of the present invention.

[0038] Figure 6 A diagram illustrating a support for an endoscopic surgery training device applicable to an embodiment of the present invention.

[0039] Figure 7 This diagram illustrates the state of the support and support component separated from the endoscopic surgery training device according to an embodiment of the present invention.

[0040] Figure 8 The figure shows the support plate, drive unit and auxiliary drive unit selected from the endoscopic surgery training device according to an embodiment of the present invention.

[0041] Figure 9 The accompanying drawings show the separation of the drive unit and support structure from the endoscopic surgery training device according to an embodiment of the present invention.

[0042] Figure 10 This diagram illustrates the lower part of a movable component in an endoscopic surgery training device according to an embodiment of the present invention.

[0043] Figure 11 This diagram illustrates the connection relationship of the first rotary drive unit in an endoscopic surgery training device according to an embodiment of the present invention.

[0044] Figure 12 This diagram illustrates the connection relationship of the second rotary drive unit in an endoscopic surgery training device according to an embodiment of the present invention.

[0045] Figure 13 To observe from another direction Figure 12 The diagram shows the state after the second mounting bracket has been removed.

[0046] Figure 14 This diagram illustrates the connection relationship of the second linear drive unit in an endoscopic surgery training device according to an embodiment of the present invention.

[0047] Figure 15 This diagram illustrates the state in which the support member of the endoscopic surgery training device according to an embodiment of the present invention moves linearly via the second linear drive unit.

[0048] Figure 16 The diagram illustrating the channel forming portion of an endoscopic surgery training device applicable to an embodiment of the present invention shows a state in which the path maintaining member is installed in the first path forming portion and the second path forming portion.

[0049] Figure 17 The diagram illustrating the channel forming portion of the endoscopic surgery training apparatus applicable to an embodiment of the present invention shows a state in which the path maintaining member is installed in the first path forming portion and the third path forming portion.

[0050] Figure 18 The diagram shows the auxiliary drive section of an endoscopic surgery training device suitable for an embodiment of the present invention.

[0051] Figure 19 To observe from another direction Figure 18 The image.

[0052] Figure 20 This is a diagram showing the usage state of an endoscopic surgery training device according to an embodiment of the present invention, in which the support and the training object are arranged in a specific position.

[0053] Figure 21 This is a diagram showing the usage state of an endoscopic surgery training device according to an embodiment of the present invention, in which the support and the training object are arranged in a specific position.

[0054] Figure 22 This is a diagram showing the usage state of an endoscopic surgery training device according to an embodiment of the present invention, in which the support and the training object are arranged in another specific position.

[0055] Explanation of reference numerals in the attached figures

[0056] 10: Training subject component; 20: Endoscopic device

[0057] 1000: Endoscopic Surgery Training Device

[0058] 100: Housing; 103: Connector

[0059] 110: First outer shell; 120: Second outer shell

[0060] 130: Door 140: Support Plate

[0061] 151: Space-forming component; 152: Finishing plate

[0062] 160: Partition plate 170: Connecting frame

[0063] 180: Track S1: Training Space

[0064] S2: Containment Space; S3: Configuration Space

[0065] 200: Support; 210: Support body

[0066] 212: Installation section; 214: Outrigger section

[0067] 215: Protrusion 220: Fixture component

[0068] 230: First magnet component; 240: Second magnet component

[0069] 250: Fourth magnet component; 300: Drive unit

[0070] 310: First linear drive unit; 311: First drive motor

[0071] 312: Moving part; 313: First guide rail

[0072] 314: First sliding part; 315: First rack

[0073] 316: First pinion; 320: First rotary drive unit

[0074] 321: Second drive motor; 322: First rotating shaft

[0075] 323: Mounting rack 1; 323-1: Mounting rack 1-1

[0076] 323-2: Mounting bracket 1-2; 324: Drive gear 1

[0077] 325: First driven gear; 330: Second rotary drive unit

[0078] 331: Third drive motor; 332: Second rotating shaft

[0079] 333: Second mounting bracket; 334: Second drive gear

[0080] 335: Second driven gear; 340: Second linear drive unit

[0081] 341: Fourth drive motor; 342: Support component

[0082] 342-1: Part 2 342-2: Part 1

[0083] 342a: Placement slot; 343: Second guide rail

[0084] 344: Second sliding part; 345: Second rack

[0085] 346: Second pinion; 350: Cover component

[0086] 360: Third magnet component; 400: Channel forming section

[0087] 410: Channel housing 411: First side

[0088] 412: Second side view 413: Third side view

[0089] 414: First mating groove; 415: Second mating groove

[0090] 416: Third joint groove; 420: Path section

[0091] 421: First path formation part; 422: Second path formation part

[0092] 423: Path Formation Part 3; 424: Entrance 1

[0093] 425: Second entry point; 430: Path maintenance component

[0094] 431: First connecting member; 432: Second connecting member

[0095] 433: Connecting pipe; 440: Outlet forming component

[0096] 500: Control unit; 600: Auxiliary support unit

[0097] 610: Auxiliary bracket; 620: Auxiliary drive unit

[0098] 621: 5th drive motor; 622: 3rd sliding part

[0099] 623: Third guide rail; 624: Third rack

[0100] 625: 3rd pinion; 626: Guide roller

[0101] 700: Operations Department Detailed Implementation

[0102] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, so that those skilled in the art can readily implement the embodiments of the present invention. The present invention is not limited to the embodiments described herein and can be implemented in many different ways. For clarity, parts unrelated to the description have been omitted from the drawings, and throughout the specification, the same reference numerals are used for the same or similar structural elements.

[0103] The terms and words used in this specification and claims are not limited to their conventional or dictionary meanings, but should be interpreted in accordance with the principle that the inventor may define terms and concepts in order to best describe his invention, and are consistent with the technical ideas of the invention.

[0104] Furthermore, the X-axis, Y-axis, and Z-axis used in this specification and claims can be three mutually orthogonal axes, and the axis perpendicular to the Z-axis can be any straight line arranged in the XY plane in a manner perpendicular to the Z-axis.

[0105] Figure 1 The figure illustrates an endoscopic surgery training device according to an embodiment of the present invention. Figure 2 To show Figure 1 The diagram shows the door in the open position and the passageway housing pulled out. Figure 3 For brevity Figure 1 The internal diagram, Figure 4 For brevity Figure 1 A diagram showing the arrangement of the drive unit, auxiliary drive unit, and channel forming unit located inside the housing. Figure 5 This is a block diagram illustrating the main structure controlled by the control unit in an endoscopic surgery training device according to an embodiment of the present invention. Figure 6 A diagram illustrating a support suitable for an endoscopic surgery training device according to an embodiment of the present invention is provided. Figure 7 This diagram illustrates the state of the support and support component separated from the endoscopic surgery training device according to an embodiment of the present invention.

[0106] Reference Figures 1 to 7 An embodiment of the endoscopic surgery training device 1000 of the present invention provides an environment similar to actual surgery, thereby improving the surgical proficiency of doctors and other users.

[0107] That is, the endoscopic surgery training device 1000 of one embodiment of the present invention can achieve a specific part of the organ for improving surgical proficiency by changing the training object component 10 used to simulate organs such as the stomach or large intestine to a specific position.

[0108] For example, an endoscopic surgery training device 1000 of one embodiment of the present invention can improve proficiency in endoscopic surgery of specific parts such as the stomach or large intestine by changing the position of the training object component 10.

[0109] "Training object component" can be replaced with the term "training object model".

[0110] The training object component 10 may be formed such that the side facing the front end of the endoscope device 20 is formed by a combination of curved and flat surfaces, or by only curved surfaces.

[0111] In this invention, the training object component 10 can be fixed by the support 200 described later. When the training object component 10 is in a specific position, the side of the training object component 10 facing the front end of the endoscope device 20 can be used to examine the inner wall of organs such as the stomach or large intestine.

[0112] The aforementioned endoscope device 20 may include not only an endoscope device, which includes a camera and lens module for observing lesions inside the body, but also surgical tools such as surgical clamps, surgical scissors, surgical scalpels, and surgical robotic arms for holding body tissues or performing rotational operations, which are used together with conventional endoscope devices for endoscopic surgery or procedures.

[0113] Therefore, by changing the position of the support 200 on which the training object component 10 is fixed, the user can achieve the target part of the organ of the training object component 10, thereby improving the surgical proficiency of the specific part of the organ that needs to be trained.

[0114] Furthermore, the endoscopic surgery training device 1000 of one embodiment of the present invention is made in a portable size, thereby enabling it to be implemented in various locations without being limited by location.

[0115] Therefore, such as Figures 1 to 5 As shown, an endoscopic surgery training device 1000 according to an embodiment of the present invention may include a housing 100, a support 200, a drive unit 300, a channel forming unit 400, and a control unit 500.

[0116] The aforementioned outer casing 100 can form an integral shape. As described above, the outer casing 100 may include a training space S1 formed inside.

[0117] In the case described above, the support 200 and the drive unit 300 can be disposed in the training space S1, and the training object component 10 can be fixed to the support 200.

[0118] Furthermore, the tip of the endoscope device 20 can enter the training space S1 through the aforementioned channel forming section 400.

[0119] Therefore, within the training space S1, the user can change the position of the training object component 10 fixed to the support 200 by using the drive unit 300, thereby enabling training of specific parts of the organ that needs to be trained.

[0120] In the case described above, the outer casing 100 may include a door 130 formed in the region corresponding to the training space S1.

[0121] For example, the aforementioned housing 100 may include: a first housing 110 having a training space S1 in a box shape; a second housing 120 connected to the first housing 110 in a manner that can cover the training space S1; and a door 130 connected to the second housing 120 in an openable and closable manner, located on the upper part of the training space S1.

[0122] Therefore, as Figure 2 As shown, the user can open the training space S1 by opening and closing the door 130.

[0123] The support 200 can fix the training object component 10 and can be attached to one side of the drive unit 300.

[0124] For example, the support 200 can be attached to the support member 342 of the drive unit 300.

[0125] Among them, such as Figure 7 As shown, the support member 342 may include: a second part 342-1, which is fixed with the second sliding part 344 and the second rack 345 described later; and a first part 342-2, which is detachably coupled to the support 200.

[0126] In the case described above, such as Figure 6 As shown, the support 200 may include: a support body 210, which is detachably coupled to the first part 342-2; and a plurality of clamping components 220, which are coupled to the support body 210 in a manner that enables them to hold the training object component 10.

[0127] Furthermore, the aforementioned multiple clamping components 220 can be arranged on one side of the support body 210 in a spaced-apart manner, and can each hold a portion of the training object component 10.

[0128] The support body 210 may include: a mounting portion 212, which is attached to the first portion 342-2; and a plurality of leg portions 214 extending from the mounting portion 212, the leg portions 214 extending from the edge of the mounting portion 212 at intervals along the edge of the mounting portion 212. Furthermore, the plurality of clamping components 220 can be attached to the plurality of leg portions 214 in a one-to-one correspondence.

[0129] Therefore, if the training object component 10 is held by the multiple clamping components 220 and combined with the multiple support leg portions 214, the training object component 10 can be fixed to the support 200 in a state of maintaining a predetermined shape.

[0130] Therefore, if the position of the first part 342-2 is changed by the drive unit 300, the support 200 attached to the first part 342-2 can change position together with the first part 342-2, and the training object component 10 fixed to the support 200 can also change position together with the support 200.

[0131] Therefore, the user can change the position of the training object component 10 fixed to the support 200 within the training space S1 to achieve the target part of the organ of the training object component 10, thereby improving the surgical proficiency of the specific part of the organ that needs to be trained.

[0132] At this time, the aforementioned multiple clamping components 220 are detachably attached to the aforementioned multiple support leg portions 214.

[0133] For example, the aforementioned multiple clamping components 220 can be detachably attached to the aforementioned multiple leg portions 214 by means of magnetic force.

[0134] Therefore, such as Figure 6 As shown, the support 200 may include: a plurality of first magnet components 230, which are respectively disposed on the plurality of support leg portions 214; and a plurality of second magnet components 240, which are respectively disposed on the plurality of clamp components 220.

[0135] The first magnet component 230 and the second magnet component 240 can each be a permanent magnet.

[0136] Thus, the aforementioned multiple clamp components 220 can be detachably coupled to the aforementioned multiple support leg portions 214 via the corresponding first magnet component 230 and second magnet component 240.

[0137] Therefore, the user can use the corresponding first magnet component 230 and second magnet component 240 to fix the training object component 10 to the support 200, or the training object component 10 fixed to the support 200 can be easily removed from the support 200.

[0138] At this time, similar to the aforementioned multiple clamping components 220, the aforementioned support 200 can be detachably attached to one side of the aforementioned drive unit 300 by means of magnetic force.

[0139] Therefore, an endoscopic surgery training device 1000 according to an embodiment of the present invention may include: a third magnet component 360 disposed on one side of the drive unit 300; and a fourth magnet component 250 disposed on the support 200 in a manner corresponding to the third magnet component 360.

[0140] For example, such as Figure 7 As shown, the third magnet component 360 can be disposed in the first part 342-2 of the support component 342, and the fourth magnet component 250 can be disposed in the mounting part 212.

[0141] Among them, the third magnet component 360 and the fourth magnet component 250 can be permanent magnets.

[0142] Therefore, the mounting portion 212 of the support 200 can be detachably coupled to the first portion 342-2 of the support member 342 via the corresponding third magnet member 360 and fourth magnet member 250.

[0143] Therefore, the user can use the corresponding third magnet component 360 and fourth magnet component 250 to fix the support 200 to the first part 342-2 of the support support component 342, or the support 200 fixed to the first part 342-2 can be easily separated from the first part 342-2.

[0144] In this invention, the support 200 may be configured to have an appropriate shape according to the type of training object component 10 or the organ to be implemented.

[0145] Therefore, the user can appropriately replace the support 200 according to the type or shape of the training object component 10, thereby enabling training to be performed using a variety of training object components 10.

[0146] At this time, as Figure 7 As shown, the support 200 may include a protrusion 215 that protrudes from one side of the mounting portion 212, and the support member 342 may include a placement groove 342a that is formed at a position corresponding to the protrusion 215 in a manner that can accommodate the protrusion 215.

[0147] For example, the aforementioned placement groove 342a may be formed at a predetermined depth on one side of the aforementioned part 342-2.

[0148] Therefore, if the support 200 is attached to the first part 342-2 of the support member 342, the protrusion 215 can be inserted into the placement groove 342a.

[0149] Therefore, if the support 200 is attached to the first part 342-2, the support 200 can be prevented from moving on the first part 342-2 by the mutual attachment of the placement groove 342a and the protrusion 215.

[0150] Therefore, even if the position of the first part 342-2 is changed in various ways by the drive unit 300, the support 200 can maintain the initial engagement position of the first part 342-2.

[0151] Therefore, with the support 200, to which the training object component 10 is fixed, attached to the first part 342-2, if the position of the first part 342-2 is changed by the drive unit 300, the training object component 10 fixed to the support 200 can be accurately changed to the target position by changing the position of the first part 342-2.

[0152] The drive unit 300 can be configured to be located within the training space S1, and the position of the support member 342 can be changed within the training space S1.

[0153] Therefore, the support 200 attached to the support member 342 can change position by the drive of the drive unit 300.

[0154] Thus, the drive unit 300 can transform the training object component 10 fixed to the support 200 into a specific simulated position of the organ for training within the training space S1.

[0155] That is, the drive unit 300 can change the position of the training object component 10 fixed on the support 200 by changing the position of the support 200 attached to the support member 342, and the training object component 10 can achieve a specific part of the organ by changing the position of the training object component 10.

[0156] Therefore, with the support 200 engaged with the support member 342, the user can change the position of the training target member 10 fixed to the support 200 by the drive unit 300, thereby achieving the target of a specific part of the organ of the training target member 10.

[0157] At this point, the endoscopic surgery training device 1000 of one embodiment of the present invention can perform various parts of an organ regardless of its shape.

[0158] Therefore, the drive unit 300 can perform various changes to the position of the support 200 attached to the support member 342 within the training space S1 through four degrees of freedom of movement including first linear movement, first rotation, second rotation, and second linear movement.

[0159] That is, in the endoscopic surgery training device 1000 of an embodiment of the present invention, the support member 342 can realize the first linear movement and the second linear movement through the drive unit 300, and can also realize the first rotation and the second rotation centered on different axes.

[0160] Therefore, the endoscopic surgery training device 1000 of one embodiment of the present invention can make various changes to the position of the support 200 attached to the support member 342 by means of a combination of the first linear movement, the second linear movement, the first rotation and the second rotation of the support member 342 of the drive unit 300.

[0161] At this time, as Figure 9 As shown, the first part 342-2 of the support member 342, which is attached to the support 200, is parallel to the second rotation axis 332, which is the central axis of the second rotation of the support member 342, and can maintain a state that is spaced apart from the second rotation axis 332 by a predetermined interval d.

[0162] Furthermore, the first part 342-2 can move linearly along the X-axis direction together with the first rotation axis 322 and the second rotation axis 332 via the first linear movement, and the first part 342-2 can adjust the distance between itself and the second rotation axis 332, which serves as the central axis of the second rotation, via the second linear movement.

[0163] Therefore, the rotation radius of the first part 342-2 centered on the second rotation axis 332 can be adjusted by the second linear movement of the first part 342-2. When the first part 342-2 rotates at a predetermined angle centered on the second rotation axis 332, the rotation radius of the first part 342-2 centered on the first rotation axis 322 can be adjusted by the distance between the first part 342-2 and the second rotation axis 332.

[0164] Therefore, with the support 200 attached to the first part 342-2 of the support member 342, if the position of the first part 342-2 is changed by the drive unit 300, the training object member 10 fixed to the support 200 can realize various parts of the organ regardless of the shape of the organ. The user can realize a specific part of the target organ similar to the actual environment by changing the position of the training object member 10 attached to the support 200.

[0165] Furthermore, with the support 200 engaged with the support member 342, when the support member 342 is positioned in its initial position by the drive unit 300, as... Figure 11 As shown, the center of the support 200 can be configured to be in a straight line with the first rotation axis 322, which is the central axis of the first rotation of the support member 342.

[0166] The center of the support 200 can also be the center point of the mounting portion 212 or the center point of the protrusion 215.

[0167] Therefore, when various parts of an organ are realized by changing the position of the training object component 10 fixed to the support 200, the position of the support 200 used to realize a specific part of the target organ can be easily calculated, and the first part 342-2 to which the training object component 10 is fixed can be rotated about two rotation axes 322 and 332 respectively to realize the overall shape of the target organ.

[0168] Therefore, by changing the position of the training object component 10 attached to the support 200, the user can make the position of the target organ corresponding to a specific part in the overall shape similar to the actual environment.

[0169] For example, in a non-restrictive case, such as Figures 8 to 14 As shown, the drive unit 300 may include: a first linear drive unit 310 for a first linear movement of the support member 342; a first rotary drive unit 320 for a first rotation of the support member 342; a second rotary drive unit 330 for a second rotation of the support member 342; and a second linear drive unit 340 for a second linear movement of the support member 342.

[0170] For reference Figure 8 The figures shown are of a support plate, a drive unit, and an auxiliary drive unit selected from an endoscopic surgery training device according to an embodiment of the present invention. Figure 9 The accompanying drawings show a partial structure of the drive unit and support selected from the accompanying drawings of an endoscopic surgery training device according to an embodiment of the present invention. Figure 10 This is a diagram showing the lower part of the moving part in an endoscopic surgery training device according to an embodiment of the present invention. Figure 11 This diagram illustrates the connection relationship of the first rotary drive unit in an endoscopic surgery training device according to an embodiment of the present invention. Figure 12 This diagram illustrates the connection relationship of the second rotary drive unit in an endoscopic surgery training device according to an embodiment of the present invention. Figure 13 To observe from another direction Figure 12 The diagram shows the state after the second mounting bracket has been removed. Figure 14 This diagram illustrates the connection relationship of the second linear drive unit in an endoscopic surgery training device according to an embodiment of the present invention.

[0171] Specifically, such as Figure 10 and Figure 11 As shown, the first linear drive unit 310 may include a moving member 312, which moves back and forth in a linear direction along the X-axis relative to the support plate 140 via the first drive motor 311.

[0172] The support plate 140 may be a plate-shaped component forming the bottom surface of the training space S1. Alternatively, the support plate 140 may be a component different from the first outer shell 110, or it may be integrally formed with the first outer shell 110.

[0173] At this time, the first linear drive unit 310 may further include: a first guide rail 313, which is arranged along the X-axis direction; and a first sliding unit 314, which is movably coupled to the first guide rail 313 to move linearly along the first guide rail 313.

[0174] In addition, the first linear drive unit 310 may also include: a first rack 315; a first pinion 316, which is rotatable by the first drive motor 311 and is engaged with the rotation shaft of the first drive motor 311 and meshes with the first rack 315.

[0175] In the case described above, the first guide rail 313 can be fixed to one side of the support plate 140 in a manner parallel to the X-axis direction, the first sliding part 314 can be coupled to the first guide rail 313 in a manner that allows it to move linearly along the first guide rail 313, and the first drive motor 311 can be fixedly coupled to the moving part 312.

[0176] Furthermore, similar to the first guide rail 313, the first rack 315 can be fixedly coupled to one side of the moving member 312 in a manner parallel to the X-axis direction.

[0177] Therefore, if the first drive motor 311 is rotated by the control unit 500, the first pinion 316 can transmit driving force to the first rack 315 through rotation, and the first rack 315 can convert the rotational force of the first pinion 316 into a driving force for linear motion.

[0178] That is, the first rack 315 can convert the rotational force of the first pinion 316 into a direction parallel to the X-axis.

[0179] The control unit 500 described above can perform the function of controlling the overall drive, and can be an MCU or a processor. In addition, the control unit 500 may also include a storage unit (not shown) for storing the input information.

[0180] Therefore, by means of the driving force provided by the first rack 315, the first sliding part 314 can move back and forth in a straight line along the first guide rail 313.

[0181] Therefore, the moving member 312, which has the first sliding part 314 fixed on one side, can move linearly along the X-axis relative to the support plate 140. That is, the first linear drive part 310 can realize the first linear movement of the moving member 312.

[0182] Refer again Figure 10 and Figure 11 The first rotary drive unit 320 may include: a second drive motor 321; a first rotary shaft 322, which receives the rotational force of the second drive motor 321 to rotate; and a first mounting bracket 323, which is fixedly connected to one end of the first rotary shaft 322.

[0183] In addition, the first rotary drive unit 320 may also include: a first drive gear 324, which is coupled to the rotary shaft of the second drive motor 321; and a first driven gear 325, which is coupled to the first rotary shaft 322 and meshes with the first drive gear 324.

[0184] In the case described above, the second drive motor 321 can be fixedly coupled to the moving part 312, and the first rotation axis 322 can be configured in a manner parallel to the Z axis perpendicular to the X axis relative to the moving part 312.

[0185] Furthermore, with the support 200 attached to the support member 342, when the support member 342 is positioned in the initial position, the first rotation axis 322 can be arranged parallel to the Z-axis so that it is aligned with the center of the support 200.

[0186] Furthermore, the first drive gear 324 and the first driven gear 325 can be arranged in a manner located on the lower side of the moving member 312, and the first mounting bracket 323 fixed to one end of the first rotating shaft 322 can be arranged in a manner located on the upper side of the moving member 312.

[0187] Therefore, if the second drive motor 321 is rotated by the control unit 500, the first drive gear 324 can cause the first driven gear 325 to rotate, and the first rotating shaft 322 can rotate together with the first driven gear 325.

[0188] That is, the first rotating shaft 322 can rotate relative to the moving member 312 with the Z axis perpendicular to the X axis as the center, and the first mounting bracket 323 fixed to the end side of the first rotating shaft 322 can rotate in the same direction as the first rotating shaft 322.

[0189] Therefore, the first mounting bracket 323 can rotate relative to the moving member 312 around the Z-axis, which is perpendicular to the X-axis, by rotating the first rotating shaft 322. That is, the first mounting bracket 323 can rotate around the first rotating shaft 322, which is parallel to the Z-axis, and the first rotation drive unit 320 can realize the first rotation of the first mounting bracket 323 around the first rotating shaft 322.

[0190] In one embodiment of the present invention, the endoscopic surgery training device 1000 may further include a covering member 350 that is combined with the moving member 312. The covering member 350 is combined with the moving member 312 in such a way that it can cover the first drive motor 311, the second drive motor 321 and the first rotation shaft 322 disposed on the upper surface of the moving member 312.

[0191] In the configuration described above, the first rotating shaft 322 is arranged to pass through the cover member 350, and the first mounting bracket 323 is attached to the first rotating shaft 322 such that it is exposed to the outside from the upper side of the cover member 350. Therefore, the first mounting bracket 323 can rotate freely with the rotation of the first rotating shaft 322.

[0192] Refer again Figure 12 and Figure 13 The second rotary drive unit 330 may include: the third drive motor 331; a second rotary shaft 332 that receives the rotational force of the third drive motor 331 to rotate; and a second mounting bracket 333 that is fixedly connected to the second rotary shaft 332.

[0193] In addition, the second rotary drive unit 330 may also include: a second drive gear 334, which is coupled to the rotary shaft of the third drive motor 331; and a second driven gear 335, which is coupled to the second rotary shaft 332 and meshes with the second drive gear 334.

[0194] In the case described above, the third drive motor 331 can be fixedly connected to the first mounting bracket 323, and the second rotation shaft 332 can be parallel to the XY plane perpendicular to the Z-axis and configured in a manner perpendicular to the Z-axis.

[0195] Furthermore, one end of the second rotating shaft 332 is rotatably connected to the first mounting bracket 323, and the other end of the second rotating shaft 332 can be fixed to the second mounting bracket 333.

[0196] The first mounting bracket 323 may include: a first-1 mounting bracket 323-1, which has the end of the first rotating shaft 322 fixed thereon; and a first-2 mounting bracket 323-2, which has the end of the second rotating shaft 332 rotatably attached thereon.

[0197] In the case described above, the portion of the first mounting bracket 323-1 to which the end of the first rotating shaft 322 is fixed may be a portion arranged in a manner parallel to the XY plane and perpendicular to the Z axis, and the portion of the first mounting bracket 323-2 to which the end of the second rotating shaft 332 is attached may be a portion arranged in a manner parallel to the Z axis.

[0198] Furthermore, the second mounting bracket 333 can be arranged parallel to the first-second mounting bracket 323-2 with a gap, and the third drive motor 331 can be fixed to the first-second mounting bracket 323-2.

[0199] Therefore, the two ends of the second rotating shaft 332 can be respectively attached to the second mounting bracket 333 and the first-second mounting bracket 323-2, so as to be arranged in a manner parallel to the XY plane and perpendicular to the Z axis.

[0200] Furthermore, the aforementioned first-1 mounting bracket 323-1 can be kept parallel to the aforementioned second rotation axis 332 and spaced apart by a predetermined interval along the Z-axis direction.

[0201] Therefore, if the third drive motor 331 is rotated by the control unit 500, the second drive gear 334 can cause the second driven gear 335 to rotate, and the second rotating shaft 332 can rotate together with the second driven gear 335.

[0202] That is, the second rotating shaft 332 can be parallel to the XY plane and rotate relative to the first-second mounting bracket 323-2 with the axis perpendicular to the Z axis as the center. The second mounting bracket 333 fixed to the second rotating shaft 332 can rotate in the same direction as the second rotating shaft 332.

[0203] Therefore, the second mounting bracket 333 can rotate parallel to the XY plane and about an axis perpendicular to the Z-axis by rotating the second rotation axis 332. That is, the second mounting bracket 333 can rotate about a second rotation axis 332 that is parallel to the XY plane and perpendicular to the Z-axis, and the second rotation drive unit 330 can realize a second rotation of the second mounting bracket 333 about the second rotation axis 332.

[0204] In other words, the second mounting bracket 333 can rotate around the second rotation axis 332, which is arranged perpendicularly to the first-second mounting bracket 323-2.

[0205] Refer again Figure 14 The second linear drive unit 340 may include: a fourth drive motor 341; and a support member 342, which moves back and forth linearly relative to the second mounting bracket 333 via the fourth drive motor 341.

[0206] In addition, the second linear drive unit 340 may also include: a second guide rail 343; and a second sliding unit 344, which is movably coupled to the second guide rail 343 to perform reciprocating linear movement along the second guide rail 343.

[0207] In the case described above, the second guide rail 343 can be configured to be parallel to the XY plane and perpendicular to the second rotation axis 332, which is configured perpendicular to the Z-axis.

[0208] In addition, the second linear drive unit 340 may also include: a second rack 345, which is arranged parallel to the length direction of the second guide rail 343; and a second pinion 346, which is coupled to the rotation shaft of the fourth drive motor 341 by rotating through the fourth drive motor 341 and meshes with the second rack 345.

[0209] In the case described above, the fourth drive motor 341 can be fixedly coupled to the second mounting bracket 333, and the second guide rail 343 can be fixed to one side of the second mounting bracket 333 in a manner that is perpendicular to the second rotation axis 332.

[0210] Furthermore, the second sliding part 344 can be fixed to one side of the support member 342. The second sliding part 344 can be coupled to the second guide rail 343 in a linear manner, and the second rack 345 is arranged parallel to the length direction of the second guide rail 343 and is coupled to one side of the support member 342 in a manner that meshes with the second pinion 346.

[0211] As described above, the support member 342 may include: a second part 342-1, which is fixed with the second sliding part 344 and the second rack 345; and a first part 342-2, which is detachably connected to the support 200.

[0212] In addition, such as Figure 12 and Figure 13 As shown, the second part 342-1 can be configured with one side facing the second mounting bracket 333, and the first part 342-2 can extend a predetermined length from the end of the second part 342-1 in a direction parallel to the axial direction of the second rotation axis 332.

[0213] That is, the second part 342-1 and the first part 342-2 can be arranged perpendicular to each other, and the first part 342-2 can be arranged parallel to the second rotation axis 332. In the case described above, the third magnet component 360 can be provided in the first part 342-2.

[0214] Therefore, as Figure 8 As shown, when the support member 342 is positioned in the initial position by the drive unit 300, the first part 342-2 is located above the moving member 312 and above the first mounting bracket 323-1, and is arranged in a manner parallel to both the moving member 312 and the first mounting bracket 323-1.

[0215] Correspondingly, such as Figure 8 As shown, when the support member 342 is positioned in the initial position by the drive unit 300, the mounting portion 212 of the support 200 attached to the first part 342-2 is also located on the upper part of the moving member 312 and the upper part of the first-1 mounting bracket 323-1, and is arranged in a manner parallel to both the moving member 312 and the first-1 mounting bracket 323-1.

[0216] Therefore, as Figure 9 As shown, the first part 342-2 can be configured to be parallel to the second rotation axis 332 and separated from the second rotation axis 332 by a predetermined distance d.

[0217] Therefore, if the fourth drive motor 341 is rotated by the control unit 500, the second pinion 346 can transmit driving force to the second rack 345 through rotation, and the second rack 345 can convert the rotational force of the second pinion 346 into a driving force for linear motion.

[0218] That is, the second rack 345 can convert the rotational force of the second pinion 346 into a direction parallel to the length direction of the second guide rail 343.

[0219] Therefore, the second sliding part 344 can be driven by the second rack 345 to move back and forth in a straight line along the second guide rail 343. That is, the second sliding part 344 can move back and forth in a straight line along the second guide rail 343 in a direction perpendicular to the second rotation axis 332.

[0220] Therefore, as Figure 15 As shown, the support member 342, to which the second sliding part 344 is fixed on one side, can reciprocate linearly along the second guide rail 343 relative to the second mounting bracket 333. For reference, Figure 15 This diagram illustrates the state in which the support member of the endoscopic surgery training device according to an embodiment of the present invention moves linearly via the second linear drive unit.

[0221] In other words, the aforementioned support member 342 can move back and forth in a straight line parallel to the XY plane and along an axis perpendicular to the Z-axis. That is, the aforementioned support member 342 can move back and forth in a straight line along the aforementioned second guide rail 343 in a direction perpendicular to the aforementioned second rotation axis 332 via the aforementioned second sliding part 344.

[0222] Therefore, the support member 342 moves linearly along a direction perpendicular to the second rotation axis 332, regardless of the rotation of the second mounting bracket 333.

[0223] That is, the second linear drive unit 340 can realize the second linear movement of the support member 342.

[0224] Therefore, the support 200 attached to the support member 342 and the training object member 10 mounted on the support 200 can move linearly along the direction perpendicular to the second rotation axis 332 together with the support member 342, regardless of the rotation of the second mounting bracket 333.

[0225] In other words, the first part 342-2, which is combined with the support 200, can move linearly along the direction perpendicular to the second rotation axis 332 together with the second part 342-1, regardless of the rotation of the second mounting bracket 333.

[0226] Therefore, the second linear drive unit 340 maintains the first part 342-2 and the second rotating shaft 332 in a parallel state, regardless of the rotation of the second mounting bracket 333 centered on the second rotating shaft 332, and the interval between the second rotating shaft 332 and the first part 342-2 can be adjusted.

[0227] Therefore, the second linear drive unit 340 can adjust the rotation radius of the first part 342-2 centered on the second rotation axis 332 by moving the first part 342-2 in a second linear motion.

[0228] As described above, in the endoscopic surgery training device 1000 of an embodiment of the present invention, the drive unit 300 can be connected in such a way that the first linear drive unit 310, the first rotary drive unit 320, the second rotary drive unit 330 and the second linear drive unit 340 are interconnected, and the support 200 can be installed on the support member 342 constituting the second linear drive unit 340.

[0229] Therefore, the support 200 can move in the same way as the support member 342 through the drive of the drive unit 300.

[0230] Therefore, when the first linear drive unit 310 is driven, if the moving member 312 and the first sliding member 314 move linearly relative to the support plate 140 along the X-axis, the support 200 mounted on the support member 342 can also move linearly relative to the support plate 140 along the X-axis, together with the support member 342. That is, the support 200 mounted on the support member 342 can achieve a first linear movement by means of the linear movement of the moving member 312 of the first linear drive unit 310.

[0231] Furthermore, when the first rotary drive unit 320 is driven, if the first mounting bracket 323 rotates relative to the moving member 312 about the first rotation axis 322, the support 200 mounted on the support member 342 can rotate together with the first mounting bracket 323 about the first rotation axis 322. That is, the support 200 mounted on the support member 342 can achieve a first rotation by means of the rotation of the first mounting bracket 323 of the first rotary drive unit 320.

[0232] Furthermore, when the second rotary drive unit 330 is driven, if the second mounting bracket 333 rotates relative to the first mounting bracket 323 around the second rotation axis 332, the support 200 mounted on the support member 342 can rotate together with the second mounting bracket 333 around the second rotation axis 332. That is, the support 200 mounted on the support member 342 can achieve a second rotation by means of the rotation of the second mounting bracket 333 of the second rotary drive unit 330.

[0233] Furthermore, when the second linear drive unit 340 is driven, if the support member 342 and the second sliding member 344 move linearly together in a direction perpendicular to the second rotation axis 332, then the support 200 attached to the support member 342 can also move linearly together with the support member 342 in a direction perpendicular to the second rotation axis 332. That is, the support 200 mounted on the support member 342 can achieve a second linear movement by means of the linear movement of the support member 342 of the second linear drive unit 340.

[0234] Therefore, in the endoscopic surgery training device 1000 of an embodiment of the present invention, the support 200 installed on the support member 342 can achieve 4-degree-of-freedom movement through the drive of the drive unit 300.

[0235] That is, in the endoscopic surgery training device 1000 of the present invention, the support 200 installed on the support member 342 can realize the first linear movement through the first linear drive unit 310, the first rotation through the first rotation drive unit 320, the second rotation through the second rotation drive unit 330, and the second linear movement through the second linear drive unit 340.

[0236] Furthermore, as described above, when the support member 342 is positioned in the initial position by the drive unit 300, the center of the support 200 can be configured to be aligned with the first rotation axis 322, which is the central axis of the first rotation relative to the support member 342.

[0237] Furthermore, the first part 342-2 of the support member 342, which is attached to the support 200, is kept parallel to and spaced apart from the second rotation axis 332, and the distance between the second rotation axis 332 and the second rotation axis 332 is adjusted. The second rotation axis 332 is the central axis of the second rotation relative to the support member 342.

[0238] Therefore, the endoscopic surgery training device 1000 of one embodiment of the present invention can realize four degrees of freedom movement of the support 200 installed on the support member 342. Thus, by combining the first linear movement of the support member 342 by the first linear drive unit 310, the second linear movement of the support member 342 by the second linear drive unit 340, the first rotation of the support member 342 by the first rotation drive unit 320, and the second rotation of the support member 342 by the second rotation drive unit 330, the position of the support 200 installed on the support member 342 can be changed in various ways.

[0239] Therefore, with the support 200 attached to the first part 342-2 of the support member 342, if the position of the first part 342-2 is changed by the drive unit 300, the training object member 10 fixed to the support 200 can realize various parts of the organ regardless of the shape of the organ. The user can realize a specific part of the target organ similar to the actual environment by changing the position of the training object member 10 attached to the support 200.

[0240] That is, in the endoscopic surgery training device 1000 of an embodiment of the present invention, regardless of the shape of the organ, the training object component 10 fixed to the support 200 can realize various parts of the organ, and the user can realize a specific part of the target organ in a way that is similar to the actual environment through the training object component 10.

[0241] For example, such as Figure 8 and Figure 11 As shown, the support 200 can be in the state of being installed on the support member 342 of the drive unit 300, and the support member 342 can be in the state of being configured in the initial position by the drive unit 300.

[0242] When the support member 342 is configured in its initial position, the first sliding part 314 can be in a state where it has moved to the leftmost position along the first guide rail 313, the rotation angle of the first mounting bracket 323 and the rotation angle of the second mounting bracket 333 can be 0 degrees, and the second sliding part 344 can be in a state where it is furthest from the second rotation axis 332 along the second guide rail 343.

[0243] Meanwhile, the training object component 10 for realizing the gastrointestinal tract can be mounted on the support 200.

[0244] Next, with the training object component 10 installed on the support 200, the first mounting bracket 323 can be rotated 105 degrees clockwise around the first rotation axis 322 via the first rotation drive unit 320, and the second mounting bracket 333 can be rotated 21 degrees clockwise around the second rotation axis 332 via the second rotation drive unit 330.

[0245] Subsequently, the aforementioned support member 342 can move linearly by 36 mm along a direction close to the aforementioned second rotation axis 332 via the aforementioned second linear drive unit 340.

[0246] Therefore, as Figure 20 As shown, the support 200 installed on the support member 342 can move 36mm in a straight line along the direction close to the second rotation axis 332 after rotating 105 degrees clockwise around the first rotation axis 322 and then rotating 21 degrees clockwise around the second rotation axis 332.

[0247] For reference Figure 20 This is a diagram showing the usage state of an endoscopic surgery training device according to an embodiment of the present invention, in which the support and the training object are arranged in a specific position.

[0248] Therefore, the support 200 installed on the support member 342 can be transformed into a first simulated position in the training space S1 corresponding to the greater curvature (GC) of the anus of the stomach and intestine, and the training object member 10 installed on the support 200 in the training space S1 in the first simulated position can realize the inner wall of the GC of the anus of the stomach and intestine.

[0249] That is, the endoscopic surgery training device 1000 of one embodiment of the present invention can change the support 200 installed on the support member 342 to a first simulated position to realize the GC part in the antrum of the stomach in the training space S1, and the training object member 10 installed on the support 200 can realize the inner wall of the GC part in the antrum of the stomach in the first simulated position.

[0250] For example, such as Figure 8 and Figure 11 As shown, the support 200 can be in the state of being mounted on the support member 342 of the drive unit 300, and the support member 342 is in the state of being configured in the initial position. The training object member 10 for realizing the gastrointestinal tract can be in the state of being mounted on the support 200.

[0251] Next, the first mounting bracket 323 can be rotated 75 degrees counterclockwise around the first rotation axis 322 via the first rotation drive unit 320, and the second mounting bracket 333 can be rotated 133 degrees clockwise around the second rotation axis 332 via the second rotation drive unit 330.

[0252] Subsequently, the aforementioned support member 342 can move linearly by 28.5 mm along a direction close to the aforementioned second rotation axis 332 via the aforementioned second linear drive unit 340.

[0253] Therefore, as Figure 21 As shown, the support 200 installed on the support member 342 can move 28.5 mm in a straight line along the direction close to the second rotation axis 332 after rotating 75 degrees clockwise around the first rotation axis 322 and then rotating 133 degrees counterclockwise around the second rotation axis 332.

[0254] Therefore, the support 200 installed on the support member 342 can be transformed into a second simulated position in the training space S1 corresponding to the lesser curvature (LC) of the gastrointestinal tract, and the training object member 10 installed on the support 200 in the training space S1 in the second simulated position can realize the inner wall of the LC part of the gastrointestinal tract.

[0255] That is, the endoscopic surgery training device 1000 of one embodiment of the present invention can change the support 200 installed on the support member 342 to a second simulated position to realize the LC part of the gastrointestinal antrum in the training space S1, and the training object member 10 installed on the support 200 can realize the inner wall of the LC part of the gastrointestinal antrum in the second simulated position.

[0256] For example, such as Figure 8 and Figure 11 As shown, the support 200 can be in the state of being mounted on the support member 342 of the drive unit 300, and the support member 342 can be in the state of being configured in the initial position. The training object member 10 for colon can be mounted on the support 200.

[0257] Next, the moving part 312 can be moved 61mm along the X-axis direction by the first linear drive unit 310, and the first mounting bracket 323 can be rotated 15 degrees clockwise around the first rotation axis 322 by the first rotation drive unit 320.

[0258] Subsequently, the second mounting bracket 333 can be rotated 10 degrees clockwise around the second rotation axis 332 via the second rotation drive unit 330, and the support member 342 can be moved linearly 15mm in a direction close to the second rotation axis 332 via the second linear drive unit 340.

[0259] Therefore, as Figure 22 As shown, when the support 200 installed on the support member 342 moves 61mm in a straight line along the X-axis, it can move 15mm in a straight line along the direction close to the second rotation axis 332 after rotating 15 degrees clockwise around the first rotation axis 322 and 10 degrees clockwise around the second rotation axis 332.

[0260] Therefore, the support 200 installed on the support member 342 can be transformed into a third simulated position corresponding to the lower side of the colon in the training space S1, and the training object member 10 installed on the support 200 can realize the inner wall of the lower side of the colon.

[0261] That is, the endoscopic surgery training device 1000 of one embodiment of the present invention can change the support 200 installed on the support member 342 to a third simulated position to realize the lower part of the colon in the training space S1. The training object member 10 installed on the support 200 can realize the inner wall of the lower part of the colon in the third simulated position.

[0262] As described above, the endoscopic surgery training device 1000 of an embodiment of the present invention can simulate the position change of the support 200 by the training object component 10 fixed to the support 200 and the drive unit 300, so as to realize a specific part of the target organ in the training space S1 in a manner similar to the actual position.

[0263] Therefore, users can use the training object component 10 implemented in the training space S1 to simulate a specific part of the target organ to improve their proficiency.

[0264] At this time, when the training object component 10 installed on the support 200 is in a specific simulated position (such as one of the first, second and third simulated positions) of the organ for training in the training space S1, the control unit 500 can drive the drive unit 300 in a manner that moves the support member 342.

[0265] In other words, when the training object component 10 is in a specific simulated position for training within the training space S1, the control unit 500 can control the drive unit 300 in a manner that simulates the movement of the organ that may occur during a simulated endoscopic surgery.

[0266] The following are some of the organ movements that may occur during actual endoscopic surgery.

[0267] For example, during actual endoscopic surgery, when air is injected into the organ, the organ can expand to move the tip of the endoscope away from the inner wall of the organ.

[0268] For example, during actual endoscopic surgery, if air is drawn into the organ, the organ can contract to move in a way that brings the tip of the endoscope closer to the inner wall of the organ.

[0269] For example, during actual endoscopic surgery, organs can be moved by the patient's breathing.

[0270] For example, during actual endoscopic surgery, organs can be moved by events such as vomiting or sneezing.

[0271] The control unit 500 can control at least one of the first linear drive unit 310, the first rotary drive unit 320, the second linear drive unit 340, and the second rotary drive unit 330 in a manner that causes the training object component 10 to perform simulated actions of organ movement that may occur during simulated endoscopic surgery.

[0272] For example, when the training object component 10 installed on the support 200 is in a specific simulated position for training organs within the training space S1 (for example, one of the first, second, and third simulated positions), the control unit 500 can drive the second linear drive unit 340 to move the support member 342 linearly in a direction perpendicular to the second rotation axis 332.

[0273] Therefore, the training object component 10 installed on the support 200 can perform a simulated linear movement along the direction perpendicular to the second rotation axis 332 together with the support support component 342 through the movement of the support support component 342.

[0274] Therefore, as Figures 20 to 22 As shown, when the front end of the endoscope device 20 is disposed on one side of the training object component 10, the training object component 10 can move along the direction of approaching or moving away from the front end of the endoscope device 20.

[0275] For reference Figure 21 This diagram illustrates the usage state of an endoscopic surgery training device according to an embodiment of the present invention, showing the support and training object components arranged in a specific position. Figure 22 This is a diagram showing the usage state of an endoscopic surgery training device according to an embodiment of the present invention, in which the support and the training object are arranged in another specific position.

[0276] The aforementioned training object component 10 moves in a straight line along the direction of approaching the front end of the endoscope device 20 as follows: during actual endoscopic surgery, air is injected into the organ to inflate it, and the movement of the front end of the endoscope device approaching the inner wall of the organ is simulated.

[0277] Furthermore, the aforementioned training object component 10 moves in a straight line along the direction away from the front end of the endoscope device 20 as follows: during actual endoscopic surgery, it draws in air from inside the organ to cause the organ to contract, and simulates the movement of the front end of the endoscope device away from the inner wall of the organ.

[0278] Therefore, in the endoscopic surgery training device 1000 of an embodiment of the present invention, when the training object component 10 installed on the support 200 is in a specific simulated position of the organ for training in the training space S1, the training object component 10 can be linearly moved by the second linear drive unit 340. Thus, in the actual endoscopy process, air is injected into the inside of the organ to achieve the same air-inflation / deflation situation of expanding or contracting the organ.

[0279] In the case described above, when the training object component 10 installed on the support 200 is in a specific simulated position of the organ for training within the training space S1, the control unit 500 can also control the drive unit 300 in a manner that, together with the second linear movement of the second linear drive unit 340, it performs at least one of the first linear movement of the first linear drive unit 310, the first rotation of the first rotation drive unit 320, and the second rotation of the second rotation drive unit 330.

[0280] Therefore, when the training object component 10 installed on the support 200 is in a specific simulated position for training organs within the training space S1, the drive unit 300 can not only move in a straight line, but also move in the normal direction or along the bending direction, thereby enabling inflation / deflation in a variety of ways.

[0281] As another example, in an endoscopic surgery training device 1000 according to an embodiment of the present invention, when the training object component 10 installed on the support 200 is in a specific simulated position of the organ for training in the training space S1, the control unit 500 can control the drive unit 300 by the support member 342 performing at least one of the following movements: a first linear movement by the first linear drive unit 310, a first rotation by the first rotation drive unit 320, a second rotation by the second rotation drive unit 330, and a second linear movement by the second linear drive unit 340.

[0282] Therefore, the training object component 10 installed on the support 200 can perform simulated actions together with the support support component 342 through the movement of the support support component 342.

[0283] In this case, with the endoscope device 20 front end positioned on one side of the training subject component 10, the training subject component 10 can perform actions that simulate organ movement caused by a patient's breathing or an event (e.g., coughing or sneezing) during actual endoscopic surgery via the control unit 500.

[0284] Therefore, in the endoscopic surgery training device 1000 of an embodiment of the present invention, when the training object component 10 installed on the support 200 is in a specific simulated position for training organs in the training space S1, the movement of organs that may occur during endoscopic surgery, such as breathing, vomiting, sneezing, etc., is similarly realized by the control unit 500.

[0285] In this invention, when the training object component 10 installed on the support 200 is in a specific simulated position of the organ for training within the training space S1, the movement of the training object component 10 by the drive unit 300 can be achieved by the control unit 500 controlling the drive unit 300 when the user performs the operation. Alternatively, the control unit 500 can automatically control the drive unit 300 to perform the operation based on the input data.

[0286] The aforementioned channel forming section 400 can form an entry path for the endoscope device 20 to enter the training space S1 from the outside.

[0287] That is, such as Figures 20 to 22 As shown, the front end of the endoscope device 20 can enter the training space S1 after passing through the channel forming part 400, and can move to the training object component 10 fixed to the support 200 within the training space S1.

[0288] Therefore, the endoscope device 20 that enters the training space S1 through the channel forming part 400 can be configured such that its front end faces one side of the training object component 10, which is transformed into a specific simulated position of the organ for training in the training space S1.

[0289] Thus, the user brings the tip of the endoscope device 20 close to a specific simulated position of the organ to be used for training within the training space S1, so that endoscopic surgery training can be performed in the training space S1.

[0290] At this time, the aforementioned channel forming section 400 can form at least two entry paths.

[0291] For example, the channel forming section 400 described above can form a first entry path for the endoscope device 20 to enter when simulating gastroscopy and a second entry path for the endoscope device 20 to enter when simulating colonoscopy.

[0292] Therefore, such as Figures 1 to 4 , Figure 16 and Figure 17 As shown, the channel forming portion 400 may include: a channel housing 410, which is attached to the outer shell 100; a path portion 420, which is introduced from one side of the channel housing 410 in a manner that forms an entry path for the endoscope device 20; and a path maintaining member 430, which is hollow in a manner that allows the front end of the endoscope device 20 to pass through.

[0293] For reference Figure 16 The diagram illustrating the channel forming portion of an endoscopic surgery training apparatus applicable to an embodiment of the present invention shows a configuration in which the path maintaining member is positioned in the first path forming portion and the second path forming portion. Figure 17 The diagram illustrating the channel forming portion of the endoscopic surgery training apparatus applicable to an embodiment of the present invention shows a state in which the path maintaining member is installed in the first path forming portion and the third path forming portion.

[0294] In the case described above, the path portion 420 may include: a first path forming portion 421, one end of which is connected to the training space S1 and is formed in a manner having a predetermined length; and a second path forming portion 422 and a third path forming portion 423, which extend from the first path forming portion 421 respectively in a manner that branches from the other end of the first path forming portion 421 in mutually different directions.

[0295] Furthermore, the aforementioned channel forming portion 400 may include an outlet forming member 440 connected to the end of the aforementioned first path forming portion 421 in a manner that is connected to the end of the aforementioned channel housing 410. The end of the aforementioned second path forming portion 422 may be exposed to the outside to form a first inlet 424 for the aforementioned endoscope device 20 to enter. The end of the aforementioned third path forming portion 423 may also be exposed to the outside to form a second inlet 425 for the aforementioned endoscope device 20 to enter.

[0296] The aforementioned channel housing 410 may include a first side 411 having the aforementioned first inlet 424, a second side 412 having the aforementioned second inlet 425, and a third side 413 having the aforementioned outlet forming member 440.

[0297] Furthermore, the first path forming portion 421 and the second path forming portion 422 can be configured at a predetermined angle to simulate a path similar to the path connecting the throat and esophagus used to allow the tip of the endoscope device 20 to enter during gastroscopy, and the first path forming portion 421 and the third path forming portion 423 can be configured in a generally straight line to simulate a path similar to the path connecting the anus and rectum used to allow the tip of the endoscope device 20 to enter during colonoscopy.

[0298] Therefore, as Figure 16 As shown, if the path maintaining member 430 is disposed on the path portion 420 in such a way that it is located in the first path forming portion 421 and the second path forming portion 422, the channel forming portion 400 can form a first entry path that simulates the path for the endoscope device 20 to enter when performing gastroscopy.

[0299] Therefore, if the tip of the endoscope device 20 enters the first inlet 424, the tip of the endoscope device 20 can enter the training space S1 through the outlet forming member 440 after moving along the path maintaining member 430 that forms the first entry path.

[0300] Therefore, the operator can use the channel forming section 400 to guide the endoscope device 20 into the training space S1 along a path similar to that used when performing an actual gastroscopy, thereby enabling training in an environment similar to that of an actual gastroscopy.

[0301] On the contrary, such as Figure 17 As shown, if the path maintaining member 430 is disposed on the path portion 420 in such a way that it is located in the first path forming portion 421 and the third path forming portion 423, the channel forming portion 400 can form a second entry path that simulates the path for the endoscope device 20 to enter when performing colonoscopy.

[0302] Therefore, if the tip of the endoscope device 20 enters the second inlet 425, the tip of the endoscope device 20 can enter the training space S1 through the outlet forming member 440 after moving along the path maintaining member 430 that forms the second entry path.

[0303] Therefore, the operator can use the channel forming section 400 to guide the endoscope device 20 into the training space S1 along a path similar to that used when performing an actual colonoscopy, thereby enabling training in an environment similar to that of an actual colonoscopy.

[0304] At this time, the path maintaining member 430 is detachably coupled to the path portion 420, and the channel forming portion 400 can be configured in a drawer-like manner to allow the channel housing 410 to slide along the track 180 on the outer casing 100 and be coupled to the outer casing 100.

[0305] Thus, the user can extend the channel housing 410 from the outer casing 100 and change the position of the path maintaining member 430 attached to the path portion 420 while the path portion 420 is exposed to the outside.

[0306] Therefore, the user can easily change the entry path of the endoscope device 20 that enters the training space S1 from the outside.

[0307] That is, when the user pulls out the channel housing 410 from the outer casing 100, and the path portion 420 is exposed to the outside, the path maintaining member 430 is installed in the path portion 420 such that it is located in the first path forming portion 421 and the second path forming portion 422, or the path maintaining member 430 is installed in the path portion 420 such that it is located in the first path forming portion 421 and the third path forming portion 423.

[0308] Therefore, the entry path of the endoscope device 20 formed by the aforementioned path-maintaining component 430 can be easily changed.

[0309] Subsequently, if the user changes the position of the path maintaining member 430 attached to the path section 420, and the channel housing 410 is inserted into the outer casing 100, the path maintaining member 430 can connect the first inlet 424 to the outlet forming member 440, or can selectively connect the second inlet 425 to the outlet forming member 440.

[0310] Therefore, the above-described channel forming portion 400 can be combined in such a manner that the above-described channel housing 410 slides in the accommodation space S2 of the above-described outer housing 100, and the above-described path maintaining member 430 can be detachably combined to the above-described path portion 420 through the first coupling member 431 and the second coupling member 432 respectively provided on both end sides.

[0311] As an example, the above-described outer housing 100 may include an accommodation space S2 formed adjacent to the above-described training space S1, as Figure 2 , Figure 15 and Figure 16 shown, the above-described accommodation space S2 can be defined by a space forming member 151 having a substantially "C" - shaped cross - sectional shape with three open sides and a closing plate 152 covering one side of the above-described space forming member 151. In addition, the above-described outlet forming member 440 is combined to the above-described space forming member 151 in such a manner as to be communicable with the above-described accommodation space S2.

[0312] Thus, the above-described accommodation space S2 can be formed in the above-described outer housing 100 in such a manner that two sides are open.

[0313] That is, the above-described accommodation space S2 can be formed in such a manner that in a state where the above-described channel housing 410 is inserted into the above-described accommodation space S2, the first corresponding side corresponding to the above-described first side 411 and the second corresponding side corresponding to the above-described second side 412 are open.

[0314] Thus, even when the above-described channel housing 410 is inserted into the above-described accommodation space S2, the above-described first inlet 424 and the above-described second inlet 425 can maintain a state of being respectively exposed to the outside through the first corresponding side and the second corresponding side of the above-described accommodation space S2.

[0315] Thus, the above-described endoscope device 20 can enter the above-described training space S1 through the above-described first inlet 424 or the second inlet 425, and the above-described channel housing 410 can be inserted into or withdrawn from the above-described accommodation space S2 through the above-described first corresponding side.

[0316] In the above - described case, the above-described channel housing 410 can be guided to slide by the rail 180. As an example, the above-described rail 180 can be formed in such a manner as to correspond to one side of the above-described channel housing 410 facing each other and one side of the above-described space forming member 151.

[0317] Furthermore, the aforementioned path maintaining component 430 may include: a connecting tube 433 having a predetermined length and being hollow; a first coupling 431 disposed at one end of the connecting tube 433 to be detachably coupled to one end of the first path forming portion 421; and a second coupling 432 disposed at the other end of the connecting tube 433 to be detachably coupled to one end of the second path forming portion 422 or one end of the third path forming portion 423. The connecting tube 433 may be made of a material that is easily deformed by external force.

[0318] In the case described above, the channel housing 410 may include: a first coupling groove 414, which is formed at the end of the first path forming portion 421 and has a shape corresponding to the first coupling member 431; a second coupling groove 415, which is formed at the end of the second path forming portion 422 and has a shape corresponding to the second coupling member 432; and a third coupling groove 416, which is formed at the end of the third path forming portion 423 and has a shape corresponding to the second coupling member 432.

[0319] Thus, the first coupling member 431 is detachably coupled to the first coupling groove 414. If the first coupling member 431 is coupled to the first coupling groove 414, the connecting pipe 433 can communicate with the outlet forming member 440.

[0320] Furthermore, the second coupling member 432 is detachably coupled to the second coupling groove 415 or the third coupling groove 416. If the second coupling member 432 is coupled to the second coupling groove 415, one end of the connecting pipe 433 can be connected to the first inlet 424. If the second coupling member 432 is coupled to the third coupling groove 416, one end of the connecting pipe 433 can be connected to the second inlet 425.

[0321] Therefore, when the first coupling member 431 is coupled to the first coupling groove 414, if the second coupling member 432 is selectively coupled to one of the second coupling groove 415 and the third coupling groove 416, the path maintaining member 430 can form a first entry path or a second entry path.

[0322] In addition, the endoscopic surgery training device 1000 of one embodiment of the present invention may also include an auxiliary support 600 for supporting a portion of the endoscopic device 20 that enters the training space S1 through the channel forming portion 400.

[0323] The auxiliary support 600 described above may include an auxiliary bracket 610 for supporting a part of the endoscope device 20, which can be configured to be located at the lower part of the channel forming part 400. If necessary, the auxiliary bracket 610 can be linearly moved along the X-axis toward the support 200.

[0324] That is, the auxiliary support 610 moves linearly toward the support 200 when it is located at the lower part of the channel forming part 400, only when it is necessary to support a part of the endoscope device 20 that enters the training space S1 from the channel forming part 400.

[0325] For example, when performing an actual endoscopic surgery, the endoscope device 20 that enters the organ can maintain contact with the inner wall of the organ along a specific part of the organ (e.g., the part that curves in addition to the front end).

[0326] That is, when the tip of the endoscope device 20 is close to a specific part of the organ, it can maintain a curved state along a portion of its length and maintain the curved portion in contact with the inner wall of the organ.

[0327] In this invention, the auxiliary support 610 supports a portion of the endoscope device 20 that enters the training space S1, thereby similarly achieving the state in which a portion of the endoscope device 20 that enters the organ during actual endoscopic surgery contacts the inner wall of the organ.

[0328] For example, such as Figure 21 As shown, when the training object component 10 installed on the support 200 is located on the inner wall of the LC portion of the gastrointestinal tract in the training space S1, the auxiliary support 610 can move linearly 190mm toward the support 200 side along the X-axis direction when it is located below the channel forming part 400 under the drive of the control unit 500.

[0329] Thus, the aforementioned auxiliary support 610 supports the curved portion of the endoscope device 20 that enters the training space S1 through the aforementioned channel forming part 400, thereby enabling the curved portion of the endoscope device 20 that enters the stomach and intestines during actual gastroscopy to contact the inner wall of the GC (Greater curvature) region of the stomach and intestines.

[0330] On the contrary, such as Figure 20 As shown, when the training object component 10 installed on the support 200 is located on the inner wall of the GC portion of the gastrointestinal tract in the training space S1, the auxiliary support 610, driven by the control unit 500, does not enter the training space S1 side and maintains its initial state located below the channel forming part 400.

[0331] Therefore, the aforementioned auxiliary support 610 can be moved to the aforementioned training space S1 via the aforementioned control unit 500 only when necessary, depending on the specific part of the organ that is realized in the aforementioned training space S1 by the aforementioned training object component 10.

[0332] Therefore, the aforementioned auxiliary support 600 may include: an auxiliary bracket 610 for supporting a portion of the endoscope device 20 that enters the training space S1; and an auxiliary drive unit 620 that changes the position of the auxiliary bracket 610 within the training space S1 via a fifth drive motor 621.

[0333] In the case described above, when the training object component 10 becomes a specific simulated position of the input organ within the training space S1, the control unit 500 can move the auxiliary support 610 to the training object component 10 side by driving the auxiliary drive unit 620.

[0334] For example, such as Figure 18 and Figure 19 The aforementioned auxiliary drive unit 620 may include: a third sliding part 622, which is fixed to the connecting frame 170; and a third guide rail 623, which is movably connected to the third sliding part 622 to move linearly along the X-axis direction, and is fixedly connected to the auxiliary bracket 610 on one side.

[0335] For reference Figure 18 The figure is selected for the auxiliary drive section of the endoscopic surgery training device applicable to an embodiment of the present invention. Figure 19 To observe from another direction Figure 18 The image.

[0336] The aforementioned connecting frame 170 can be connected to the aforementioned support plate 140, and the aforementioned auxiliary drive unit 620 is separated from the aforementioned support plate 140 at a predetermined height in a manner that enables the aforementioned auxiliary drive unit 620 to work smoothly.

[0337] In addition, the auxiliary drive unit 620 may also include: a third rack 624, which is formed on one side of the third guide rail 623 along the X-axis direction; and a third pinion 625, which is coupled to the rotation shaft of the fifth drive motor 621 by means of rotation of the fifth drive motor 621 and meshes with the third rack 624, wherein the fifth drive motor 621 can be fixedly coupled to the coupling frame 170.

[0338] In addition, the auxiliary drive unit 620 may also include a guide roller 626 for guiding the sliding of the third guide rail 623. The guide roller 626 is located on the opposite side of the third rack 624 and can be coupled to the connecting frame 170 in a manner that contacts one side of the third guide rail 623.

[0339] Therefore, if the fifth drive motor 621 is rotated by the control unit 500, the third pinion 625 can transmit driving force to the third rack 624 through rotation, and the third rack 624 can convert the rotational force of the third pinion 625 into a driving force for linear motion.

[0340] That is, the third rack 624 can convert the rotational force of the third pinion 625 into a direction parallel to the X-axis.

[0341] Therefore, by the driving force provided by the third rack 624, the third guide rail 623 can move back and forth in a straight line along the X-axis direction via the third sliding part 622, and the third guide rail 623 can move smoothly in a straight line via the guide roller 626.

[0342] Therefore, the auxiliary support 610 fixed on one side of the third guide rail 623 moves linearly along the X-axis to enter the training space S1, thereby moving to the training object component 10 side, or maintaining the initial state located at the lower part of the channel forming section 400.

[0343] The outer shell 100 may also include a configuration space S3 in which the auxiliary support 600 is configured, and the configuration space S3 may be distinguished from the training space S1 by a partition 160.

[0344] Furthermore, the aforementioned configuration space S3 can be formed inside the aforementioned housing 100 in such a manner that it is adjacent to the aforementioned training space S1 along the X-axis direction and located at the lower part of the aforementioned channel forming portion 400.

[0345] Therefore, when the training object component 10 fixed to the support 200 becomes a specific simulated position of the input organ and requires a specific simulated position of the auxiliary support 610 (such as the second simulated position mentioned above), the control unit 500 can drive the auxiliary drive unit 620 to move the auxiliary support 610 linearly from the configuration space S3 to the training object component 10 configured in the training space S1.

[0346] Conversely, when the training object component 10 fixed to the support 200 becomes a specific simulated position of the input organ and does not require a specific simulated position of the auxiliary support 610 (such as the first simulated position or the third simulated position), the control unit 500 can maintain the auxiliary support 610 in its initial state configured on the configuration space S3 side.

[0347] In addition, the control unit 500 can control one of the first linear drive unit 310, the first rotary drive unit 320, the second linear drive unit 340, the second rotary drive unit 330 and the auxiliary drive unit 620 in a manner that simulates the movement of organs that may occur during a simulated endoscopic surgery, such as breathing, vomiting, sneezing and other situations that may occur during the training object component 10.

[0348] In addition, the endoscopic surgery training device 1000 of one embodiment of the present invention may also include an operation unit 700 for user operation.

[0349] The operation unit 700 described above can generate an input signal for a user to transform the training object component 10 into a specific simulated position of an organ.

[0350] For example, the aforementioned operation unit 700 can be a known touchscreen panel. In this case, such as... Figure 1 The aforementioned operation unit 700 may be disposed on one side of the aforementioned housing 100. Alternatively, although not shown, the aforementioned operation unit 700 may be detached from the aforementioned housing 100 to communicate with the control unit 500 via wired or wireless means.

[0351] As another example, the aforementioned operating unit 700 can be a known terminal that can communicate via wired or wireless means, such as a smartphone or tablet computer.

[0352] The user can transmit input signals to the control unit 500 through the operation unit 700. The control unit 500 can control the overall operation of the drive unit 300 and the auxiliary drive unit 620 based on the input signals transmitted from the operation unit 700.

[0353] As a non-limiting example, the user can select one of the various simulated positions of a particular organ that has been input through the operation unit 700. The control unit 500 can drive the drive unit 300 and the auxiliary drive unit 620, and use the training object component 10 to realize the simulated position of the particular organ selected by the user in the training space S1.

[0354] In addition, the user can also directly operate the drive unit 300 through the operation unit 700 to finely adjust the position of the support 200.

[0355] Therefore, when the training object component 10 is implemented in the training space S1 in a simulated position of a specific organ, the user can finely change the position of the training object component 10 by operating the operation unit 700, so that the user can more accurately change the training object component 10 into the target simulated position.

[0356] Additionally, refer to Figure 4 An embodiment of the endoscopic surgery training device 1000 of the present invention may further include a connector 103 disposed on one side of the housing 100. The connector 103 may be electrically connected to the support member 342 via a wire (not shown). The wire (not shown) may extend into the interior of the housing 100 in a manner that does not interfere with other components.

[0357] The support 200, which is attached to the support member 342, can be electrically connected to the connector 103. At this time, the contact portion between the support member 342 and the support 200 can be electrically connected. At this time, the training object member 10, which is attached to the support 200, can be electrically connected to the connector 103.

[0358] A portion of connector 103 may be exposed outside housing 100 to connect with the end (not shown) of a cable (not shown) that is electrically connected to cauterizer (not shown). If the end (not shown) of the cable (not shown) is connected to connector 103, cauterizer may be electrically connected to training subject component 10 attached to support 200 via support member 342 and support 200.

[0359] An embodiment of the present invention has been described, but the concept of the present invention is not limited to the embodiment disclosed in this specification. Those skilled in the art who understand the concept of the present invention can easily propose another embodiment by adding, changing, deleting, or adding components within the same conceptual scope, and such embodiment is also included within the conceptual scope of the present invention.

Claims

1. An endoscopic surgery training device, characterized in that, include: The outer shell includes a training space and a support plate, wherein the training space is formed inside the outer shell for surgical training, and the support plate forms the bottom of the training space; Support, used to fix the training object component; The drive unit includes a support member that is coupled to the support, and changes the position of the support coupled to the support member in the training space by at least one degree of freedom of movement, so as to transform the training object component fixed to the support into a specific simulated position of an organ for training in the training space. A channel forming section is formed in the aforementioned housing to form an entry path for the endoscope device to enter the aforementioned training space from the outside; as well as The control unit is used to control the aforementioned drive unit.

2. The endoscopic surgery training device according to claim 1, characterized in that, The aforementioned drive unit changes the position of the support attached to the aforementioned support member within the aforementioned training space through a 4-degree-of-freedom motion including a first linear movement, a first rotation, a second rotation, and a second linear movement.

3. The endoscopic surgery training device according to claim 2, characterized in that, The aforementioned drive unit includes: a first linear drive unit for causing the support member to move linearly along the X-axis; a first rotary drive unit for causing the support member to rotate about a first rotation axis; a second rotary drive unit for causing the support member to rotate about a second rotation axis; and a second linear drive unit for causing the support member to move linearly along a direction perpendicular to the second rotation axis. The first part of the support component, which incorporates the support, is configured to be parallel to the second rotation axis and to maintain a predetermined distance from the second rotation axis.

4. The endoscopic surgery training device according to claim 3, characterized in that, With the support engaged in the first part, and with the support member positioned in the initial position by the drive unit, the center of the support is aligned with the first rotation axis, which is the central axis of the first rotation of the support member.

5. The endoscopic surgery training device according to claim 2, characterized in that, The aforementioned support includes: a support body comprising a mounting portion and a plurality of leg portions, the mounting portion being detachably coupled to one side of the drive portion, and the plurality of leg portions extending from the mounting portion; and a plurality of clamping components detachably coupled to the plurality of leg portions in a manner that grips the training object component. The aforementioned support includes: a plurality of first magnet components, each disposed on one of the plurality of support leg portions; and a plurality of second magnet components, each disposed on one of the plurality of clamping components in a manner corresponding to the plurality of first magnet components. The aforementioned multiple clamping components are detachably connected to the aforementioned support body via the corresponding first magnet component and second magnet component.

6. The endoscopic surgery training device according to claim 2, characterized in that, The aforementioned drive unit includes: The first linear drive unit includes a moving component that moves back and forth linearly relative to the support plate along the X-axis direction via a first drive motor. The first rotary drive unit includes a second drive motor, a first rotary shaft, and a first mounting bracket. The second drive motor is fixedly connected to the moving component. The first rotary shaft rotates relative to the moving component about a Z-axis perpendicular to the X-axis by the driving force of the second drive motor. The first mounting bracket is fixedly connected to the first rotary shaft. The second rotary drive unit includes a third drive motor, a second rotary shaft, and a second mounting bracket. The third drive motor is fixedly connected to the first mounting bracket. The second rotary shaft, driven by the third drive motor, rotates relative to the first mounting bracket, parallel to the XY plane, and around an axis perpendicular to the Z-axis. The second mounting bracket is fixedly connected to the second rotary shaft. The second linear drive unit includes a fourth drive motor, which is fixedly coupled to the second mounting bracket. The fourth drive motor is parallel to the XY plane relative to the second mounting bracket and provides a driving force for reciprocating linear movement of the support member along an axis perpendicular to the Z-axis.

7. The endoscopic surgery training device according to claim 6, characterized in that, The aforementioned endoscopic surgery training device further includes: a third magnet component disposed on the aforementioned support member; and a fourth magnet component disposed on the aforementioned support in a manner corresponding to the aforementioned third magnet component. The aforementioned support is detachably connected to the aforementioned support support member via the aforementioned third magnet component and the fourth magnet component.

8. The endoscopic surgery training device according to claim 6, characterized in that, The first linear drive unit includes: a first guide rail fixed to the support plate; a first sliding part movably coupled to the first guide rail for linear movement along the first guide rail in the X-axis direction; a first rack fixedly coupled to one side of the moving member parallel to the length direction of the first guide rail; and a first pinion coupled to the shaft of the first drive motor and meshing with the first rack, in a manner that allows rotation via the first drive motor. The aforementioned moving component, via the first sliding part fixed to one side, reciprocates linearly along the X-axis relative to the support plate. The aforementioned first rotary drive unit further includes: a first drive gear, which is coupled to the aforementioned second drive motor shaft; and a first driven gear, which is coupled to the aforementioned first rotary shaft and meshes with the aforementioned first drive gear. The first mounting bracket, through the rotation of the first rotating axis, rotates relative to the moving component around a Z-axis perpendicular to the X-axis. The second rotary drive unit further includes: a second drive gear, which engages with the shaft of the third drive motor; and a second driven gear, which engages with the second rotary shaft and meshes with the second drive gear. The second mounting bracket, through the rotation of the second rotating axis, rotates relative to the first mounting bracket about an axis perpendicular to the Z-axis. The second linear drive unit further includes: a second guide rail fixed to the second mounting bracket; a second sliding part movably coupled to the second guide rail for reciprocating linear movement along the second guide rail; a second rack fixedly coupled to one side of the support member parallel to the length direction of the second guide rail; and a second pinion coupled to the shaft of the fourth drive motor and meshing with the second rack, in a manner that allows rotation via the fourth drive motor. The aforementioned support component moves back and forth along the aforementioned second guide rail relative to the aforementioned second mounting bracket via the aforementioned second sliding part fixed to one side.

9. The endoscopic surgery training device according to claim 1, characterized in that, Driven by the aforementioned drive unit, when the aforementioned training object component is in a specific simulated position for training organs, the aforementioned control unit drives the aforementioned drive unit to move the aforementioned support member.

10. The endoscopic surgery training device according to claim 1, characterized in that, The aforementioned channel forming portion includes: a channel housing, which is coupled to the aforementioned outer shell; a path portion, which is introduced and formed from one side of the channel housing in a manner capable of forming an entry path for the aforementioned endoscope device; and a path maintaining member, which is hollow in form to allow the aforementioned endoscope device to pass through, and is detachably coupled to the aforementioned path portion. The aforementioned path portion includes: a first path forming portion, one end of which is connected to the aforementioned training space and is formed to have a predetermined length; and a second path forming portion and a third path forming portion, which extend from the first path forming portion respectively in different directions from the other end of the first path forming portion. The aforementioned path maintaining member can be installed on the path portion in a manner that places it on both the first path forming portion and the second path forming portion to form a first entry path, or it can be installed on the path portion in a manner that places it on both the first path forming portion and the third path forming portion to form a second entry path. The aforementioned path maintaining component includes: a connecting tube having a hollow shape having a predetermined length; a first coupling member disposed at one end of the connecting tube in such a way that it can be detachably coupled to one end of the first path forming portion; and a second coupling member disposed at the other end of the connecting tube in such a way that it can be detachably coupled to one end of the second path forming portion or one end of the third path forming portion.

11. The endoscopic surgery training device according to claim 3, characterized in that, The aforementioned endoscopic surgery training device also includes an auxiliary support located at the lower part of the aforementioned channel forming part to support a portion of the endoscopic device that enters the aforementioned training space through the aforementioned channel forming part.

12. The endoscopic surgery training device according to claim 11, characterized in that, The aforementioned auxiliary support unit includes: an auxiliary bracket for supporting a portion of the endoscope device that enters the training space; and an auxiliary drive unit that, within the training space, changes the position of the auxiliary bracket via a fifth drive motor. When the training object component is changed to the input specific simulated position, the control unit moves the auxiliary support to the training object component side by driving the auxiliary drive unit.

13. The endoscopic surgery training device according to claim 12, characterized in that, The aforementioned auxiliary drive unit further includes: a third sliding part fixed to a connecting frame, the connecting frame being connected to the support plate; a third guide rail movably connected to the third sliding part for linear movement along the X-axis direction, and the auxiliary bracket fixedly connected to one side; a third rack formed along the X-axis direction on one side of the third guide rail; and a third pinion gear connected to the shaft of the fifth drive motor in a manner rotatable by the fifth drive motor, and meshing with the third rack. The aforementioned auxiliary support can be moved to the training object component side via the linear movement of the aforementioned third guide rail.

14. The endoscopic surgery training device according to claim 1, characterized in that, The aforementioned endoscopic surgery training device also includes an operating unit for user operation. The aforementioned operating unit generates an input signal for the user to transform the aforementioned training object component into a specific simulated location of an organ.

15. The endoscopic surgery training device according to claim 1, characterized in that, The aforementioned endoscopic surgery training device also includes a connector disposed on one side of the housing for electrical connection with the aforementioned support member, with a portion exposed outside the housing to connect with the end of a cable electrically connected to the cauterizer. The support in the aforementioned support member is electrically connected to the aforementioned connector.

Images