Training platform

Abstract

The present invention relates to a surgical training platform comprising a display unit for displaying the virtual environment, a calibration module (14) connected to the display unit, a training module (16) with a haptic controller (18), a control system configured to identify the different modules, analyze the data related to the movement(s) of each tool connected to the haptic controller, generate the virtual environment, and interface each virtual surgical element with a corresponding real element. The set of modules are configured to be reversibly attached to each other in a known configuration, each haptic controller including a connection system configured to reversibly mechanically connect a surgical training tool, each haptic controller being additionally configured to measure each movement in space of the surgical training tool once connected to the haptic controller. The control system further comprises a system for recognizing the tool.

Description

TRAINING PLATFORM FIELD OF THE INVENTION

[0001] The present invention relates to a modular surgical training platform. The present invention is therefore in the field of educational and teaching tools, methods and materials. More particularly, the invention relates to a surgical training device, intended for training surgeons. STATE OF THE ART

[0002] To date, most surgical training is conducted in real-life conditions, on patients, through surgical companionship. This method requires significant human resources, presents significant material constraints, and can generate significant stress for the student, which can lead to difficulties with concentration and / or memorization.

[0003] Alternatives exist, such as the EoSim SurgTrac® Pelvitrainer or some animal-based sessions. However, these training courses / methods are only accessible to a small number of surgical residents and have several obvious limitations: the Pelvitrainer is a simple box into which trocars and a camera are inserted, with the ability to perform sutures on inert materials such as foam. The animal model presents obvious problems in terms of training quality because the anatomical similarities / correlations with humans are limited. The animal model also poses ethical issues.

[0004] The purpose of the present invention is therefore to provide a safe, practical, accurate, realistic, easy to use and readily available training device, allowing any surgical student to have a chance to train in a safe environment without any risk of injury to themselves, a patient or an animal. SUMMARY

[0005] This invention therefore relates to a modular surgical training platform configured to interface a virtual environment comprising at least one virtual surgical element, the training platform comprising a virtual reality display device configured to display, to a user, the virtual environment, a calibration module connected to the virtual reality display device, at least one training module, each training module comprising a haptic controller, a control system configured to identify the different modules connected to each other, generate the virtual environment, interface each mobile virtual surgical element of the virtual environment with a corresponding real element. The invention is characterized in that all of the modules are configured to be fixed to each other in a reversible manner in a known configuration.The present invention is also characterized in that each haptic controller comprises a connection system configured to mechanically connect, in a reversible manner, a surgical training tool, each haptic controller being, in addition, configured to measure each movement in space of the surgical training tool once the latter is connected to the haptic controller. The present invention is also characterized in that the control system further comprises a system for recognizing the surgical training tool configured to obtain identification information specific to the connected surgical training tool, and communicate the identification information to the control system, so that the control system recognizes each surgical training tool connected to the haptic controller.The invention is also characterized in that the control system generates a virtual image of each surgical training tool connected to the haptic controller. The invention is also characterized in that the control system is configured to receive and analyze the data related to the movement(s) of each surgical training tool connected to the haptic controller, and reproduce each movement of the surgical training tool connected to the haptic controller in a corresponding virtual movement of its virtual image in the virtual environment. The invention is finally characterized in that each virtual movement is made visible to the user by the display device.

[0006] Thus, the solution makes it possible to achieve the aforementioned objective. In particular, since the platform according to the present invention is modular, the different modules composing the haptic control platform for the virtual surgery elements can be easily interfaced with each other. This modularity also makes it possible to adapt the platform to the different surgical exercises proposed, by adding and removing elements from it. It also makes it possible to adapt the platform to the user's preferences; for example, if the user is left-handed, the calibration module can be placed on the right so as not to hinder their movements. The freedom of arrangement of the surgical tools also corresponds more closely to the reality of the surgical exercise. Indeed, in real conditions, the practitioner can place their tools as they wish to facilitate their work.

[0007] The physical connection allows the identification of the different modules and / or the transmission of information on the movement of the haptic elements.

[0008] The specific identification information may be a voltage measured at a voltage divider bridge specific to the connected surgical tool. Alternatively, the specific identification information may be contained in an electronic component such as an electronic chip.

[0009] The platform according to the invention may comprise one or more of the following characteristics, taken separately from one another or combined with each other: the control system may comprise: o a measurement unit configured to: ■ identify surgical training tools and / or connected modules, ■ collect movement data from the connected surgical training tool, o a central unit configured to: ■ generate the virtual environment, ■ receive and analyze data related to the movement(s) of each connected surgical training tool, ■ interfacing each mobile virtual surgical element of the virtual environment with a corresponding surgical training tool, the measurement unit may be part of the training module, each module may comprise a base having a specific shape, the shapes of the different bases of the different modules being complementary to each other, so as to obtain a stable and suitable interlocking of the different modules with each other, the connection system of the haptic controller may allow at least two different surgical training tools to be connected, the connection system may comprise at least one key-lock type locking connector configured to be fixed to the haptic controller and to any surgical training tool so as to ensure their removable connection,the connection system may include a first connector attached to the haptic controller and configured to removably cooperate with a corresponding second connector attached to the surgical training tool, the haptic controller of the training module may include a pivoting arm robot, the pivoting arm robot having a free end intended to cooperate with the connection system, the control system may further be configured to generate a feedback signal allowing the haptic controller to generate haptic feedback when at least two virtual elements interact in the virtual environment.,

[0010] The present invention also relates to a surgical training kit comprising a modular surgical training platform according to any one of the technical characteristics listed above and at least one surgical training tool configured to be connected to the haptic controller of the platform. BRIEF DESCRIPTION OF THE FIGURES

[0011] The invention will be better understood, and other aims, details, characteristics and advantages thereof will appear more clearly on reading the detailed explanatory description which follows, of embodiments of the invention given by way of illustration, of purely illustrative and non-limiting examples, with reference to the appended drawings: Figure 1 is an overall perspective view of a disassembled platform according to the present invention, Figure 2 is an overall perspective view of a disassembled platform according to the present invention, shown with two different surgical drive tools each connectable to the platform, Figure 3 is a view similar to Figure 2 from a different angle, Figure 4A is a perspective view of a drive platform mounted according to the invention, connected to a surgical drive tool, comprising a single drive module, Figure 4B is a perspective view of a training platform mounted according to the invention, comprising two training modules, connected to two surgical training modules, Figure 5 is a perspective view of a kit according to the present invention, manipulated by a user according to a first embodiment, Figure 6 is a perspective view of a kit according to the present invention, manipulated by a user according to a second embodiment, Figure 7 is an exploded view of a drive module, Figure 8A is a perspective view of a calibration element associated with the display device according to the invention, - Figure 8B is a perspective view of the calibration module, Figure 9A is a perspective view of a haptic controller connector according to the invention, - Figure 9B is a perspective view of a surgical drive tool connector according to the invention, Figure 10 is a perspective view of a surgical training tool, Figure 11 is a perspective view of an example of a virtual environment according to the invention, Figure 12 is a perspective view of an example of an anatomical module according to the invention, Figure 13 is a perspective view of an example of a storage module according to the invention, Figures 14A and 14B are perspective views of an example of an additional tool module according to the invention. DETAILED DESCRIPTION

[0012] As seen in Figures 5 and 6, the present invention relates to a modular surgical training platform 10 configured to interface a virtual environment 100 comprising at least one mobile virtual surgical element 102 (see Figure 11). This virtual environment also comprises a virtual patient 104 and various scenery elements 106. Thus, a user manipulating the modular platform 10 interacts with the virtual environment 100 in which all kinds of surgical operations are possible.

[0013] As can be seen in particular in Figures 1 and 5, the modular platform 10 according to the present invention comprises: a virtual reality display device 12 configured to show / display, to the user, the virtual environment 100, a calibration module 14 connected to the virtual display device 12, configured to align the virtual environment 100 with the physical reality of a user manipulating the platform 10 according to the present invention, at least one training module 16, each training module comprising a haptic controller 18, a control system 20.

[0014] In some embodiments, the modular platform 10 may further comprise one or more optional modules 21, 23, 25: at least one anatomical module 21 (see Figure 12), at least one additional tool module 23 (see figures 14A and 14B), at least one storage module 25 (see figure 13).

[0015] In the context of the present invention, the display device 12 provides the link between the various training modules 16, the possible anatomical modules 21, additional tooling 23, storage 25 (optional modules 21, 32, 25) and the virtual environment 100. Indeed, the training module(s) 16 and the possible optional modules 21, 23, 25 is / are the only element(s) manipulated by the user and the rendering of these manipulations is only visible in the virtual environment 100.

[0016] Generally speaking, in the present application, the concept of module designates an independent functional element forming a clearly delimited and defined object, dissociable from the other independent functional elements which also each form a clearly delimited and defined object. Each module can thus be considered as an autonomous entity from a functional point of view, that is to say that each module ensures a specific functionality and is designed to ensure it directly when connected with the drive module 16 directly or indirectly. Each module is thus mechanically sufficient in itself to perform the function for which it is designed, even if each module needs to be supplied with current to be usable and the modules only operate once connected to each other.Each module 14, 16, 21, 23, 25 is composed of different parts or elements, for example made of plastic, assembled together, so as to constitute this autonomous unit.

[0017] In some embodiments of the training platform 10, two or more training modules 16 may be provided, and each of these training modules 16 may operate without the other. This is also true for any anatomical modules 21, additional tooling 23, or storage 25.

[0018] Each drive module 16 is thus a self-contained entity comprising several plastic (or other material) parts or elements assembled together. These parts can be 3D printed. All of these parts and elements will be described as this description progresses, in relation to the various functionalities and technical features of the console 10 according to the present invention.

[0019] The calibration module 14 will be detailed later in this description.

[0020] The at least one anatomical module 21 is an autonomous entity according to the definition above representing and / or reconstructing in 3D all or part of an anatomical part of a patient. Each anatomical module 21 is designed to allow tactile feedback and even, depending on the embodiments, haptic feedback, when the user interacts with it. Each anatomical module 21 may comprise one or more elements made of silicone, for example. Each anatomical module 21 makes it possible to give the user the illusion of interacting with an external or internal anatomical part of a patient. For example, it may be interesting, in the case of a simulation of cosmetic surgery on the lips of a patient, for the user to also be able to interact with a reproduction of the nose of said patient. This allows the user to better orient themselves on the simulation of the face of the operated patient.In other embodiments, the at least one anatomical module 21 makes it possible to materialize an organ close to the area to be operated on.

[0021] In some embodiments, the at least one anatomical module 21 may be positioned so as to alter, limit and / or hinder the movements of the user when the latter interacts with the haptic controller 18 of a training module 16. This hindrance makes it possible to enhance the realism when using the console 10. The at least one anatomical module 21 may also be positioned above a training module 16 and simulate the skin of a patient.

[0022] The at least one additional tool module 23 may comprise all or part of a tool likely to be present in an operating room or all or part of a surgical tool necessary during a specific surgical intervention but which does not intervene directly on the body of the patient of the simulation, such as for example: the regulation wheel of a gas injector during a post-laparoscopic intervention check, or the syringe used to inject a liquid by catheter into the body of a patient, etc. (see figures 14A and 14B)

[0023] The at least one storage module 25 will be detailed later.

[0024] Thus, each mobile virtual surgical element 102 and each virtual movement of each of these mobile virtual surgical elements 102 present in the virtual environment 100 is made visible to the user by the display device 12.

[0025] More particularly, the display device 12 (visible in FIGS. 5 and 6) may be a fixed element in space (such as a screen) or a mobile element in space, for example, configured to be worn by the user during the surgery operation. The display device 12 may comprise several displays, allowing several users to view the virtual environment 100. The different displays may be mobile or fixed. More specifically, as visible in FIGS. 5 and 6, the display system 12 may be a screen placed on a surface near or at a distance from the different modules 14, 16, 21, 23, 25. In another embodiment, the display device 12 may be a virtual reality headset, adjustable to the user and capable of providing audio feedback. More particularly, it may be an HP reverb® headset having two screens with a resolution of 2160x2160 pixels. Each screen has a display frequency of 90 Hz.The display device 12 is connected to the control system 20 preferably by a cable (for example a displayport or hdmi cable).

[0026] In a manner known per se, the display device 12 is associated with a mobile calibration tool 22 (see FIG. 8B). The mobile calibration tool 22 can take the form of a conventional controller as for example illustrated in FIG. 8B but it can also take a different form.

[0027] The calibration module 14 is, like all the other modules of this invention, an independent part shown in Figure 8A. As visible in Figure 8B, the calibration module 14 comprises a footprint 24 complementary to the mobile calibration tool 22. Thus, the calibration module 14 makes it possible to position the mobile calibration tool 22 associated with the display device 12 at a known and fixed distance from the drive module 16, in particular from the haptic controller 18 thereof (see Figure 4A). The calibration module 14 is preferably made of plastic. It is preferably 3D printed. As for the drive modules 16, the calibration module 14 may comprise magnets, as will be explained in detail. below. The calibration module 14 may also be provided with an electrical connector allowing the connection of an electronic circuit for identifying the calibration module 14 by the control system 20. For this, the same device comprising a voltage divider bridge is used as that used for the key-lock connector of the haptic controller 18, which will be described a little further down. The identification of the different modules will be detailed later.

[0028] The haptic controller 18 makes it possible to know the position and relative orientation of an object attached to it (see below), the position and orientation of this object relative to the mobile calibration tool 22 are then obtained. In the case where the display device 12 is a mobile device configured to be worn by the user, the calibration module 14 also makes it possible to locate the user relative to the training module 16 and to any anatomical modules 21, additional tooling 23, storage 25. Furthermore, since the position of the mobile calibration tool 22 relative to the display device 12 is known, the position and orientation of the object connected to the haptic controller 18 relative to the user who wears the display device 12 can then be known (see figures 5 and 6).

[0029] Likewise, the different training modules 16 connected to each other or to the calibration module 14 and any optional modules 21, 23, 25 can be positioned and located by the display device 12, given that once the different modules 14, 16, 21, 23, 25 are connected to each other, they are all at a fixed and known distance from the calibration module 14 and therefore from the mobile calibration tool 22 (see figures 4A and 4B). The possible identification of the different modules 16, 21, 23, 25 through an electronic or computer system (see below) can make it possible to know this distance in a “plug and play” manner. Thus, the mobile calibration tool 22 associated with the display device 12 serves as a calibration reference for each training module, therefore for each haptic controller 18 and therefore for each of the physical elements manipulated by the user of the platform 10.

[0030] In the present application, the notion of “plug and play” describes a simple action, involving only a limited number of gestures, preferably only one. A “plug and play” connection thus describes a connection which is made with a single gesture.

[0031] A shock (sudden movement of the user or a handling error, for example) can cause an untimely movement of the training module(s) 16 (or possible optional modules 21, 23, 25) and therefore of the calibration module 14 connected thereto, relative to the display system 12. This can lead to a calibration break between the virtual environment 100 and the position of the user. This can be avoided by the use of an electronic system comprising an accelerometer making it possible, on the one hand, to detect this type of untimely movement and, on the other hand, to adapt the digital positioning of the virtual environment 100 to the new position of the calibration module 14 with the mobile calibration tool 22.

[0032] The various drive modules 16 can be connected to each other, so as to form a control console 26 (see FIG. 4B). The control console 26 thus comprises at least one drive module 16 (see FIG. 2). The control console 26 can also comprise one or more of the optional modules 21, 23, 25. The various modules 16, 21, 23, 25 of the control console 26 are connected, directly or indirectly, to each other. More particularly, all of the modules 14, 16, 21, 23, 25 are configured to be fixed to each other in a reversible manner in a known configuration (see FIGS. 4A and 4B). This allows the modularity of the platform 10 according to the invention.

[0033] The drive module(s) 16 (and any optional modules 21, 23, 25) forming the control console 26 may be either directly connected to each other or connected to each other by means of spacer modules 28 (see FIGS. 4A and 4B). The spacer modules 28 are preferably made of plastic and are preferably produced by 3D printing, layer deposition or sintering. According to other embodiments, they may be manufactured by molding or other method subsequently. The spacer modules 28 are connection parts making it possible to create a known spacing (therefore a positioning) between the different modules 14, 16, 21, 23, 25 of the platform 10. Each spacer module 28 within the control console 26 has its own shape, which may be unique or similar to that of another spacer module 28 of the control console 26.

[0034] Each calibration module 14 or drive module 16 or optional module 21, 23, 25 or spacing module 28 comprises for this purpose, a base 30 having a specific shape (see figure 7). The shapes of the different bases 30 of the different modules 14, 16, 21, 23, 25, 28 are complementary to each other, so as to obtain a stable and suitable interlocking of the different modules 14, 16, 21, 23, 25, 28 between them. The known appearance of the bases 30 of the different modules 14, 16, 21, 23, 25, 28 makes it possible to easily determine the relative position of the modules 14, 16, 21, 23, 25, 28 in space. In some embodiments, a spacer module 28 allows different modules 16, 21, 23, 25 of the control console 26 to be positioned at different heights. More specifically, the at least one spacer module 28 is configured to arrange two modules 16, 21, 23, 25 on separate horizontal planes.This makes it possible to create a control console 26 extending in three dimensions in space. Preferably, the calibration 14, drive 16 and optional modules 21, 23, 25 are connected to each other by means of the spacer modules 28 in order to increase the stability of the control console 26 and the platform 10 as a whole when the latter is assembled.

[0035] According to the embodiment shown in Figures 1, 2, 7 and 8 A, and that shown in Figures 12, 13, 14B, the physical connection of the different modules 14, 16, 21, 23, 25, 28 between them is made by means of a magnetic interlocking system allowing the easy interlocking of different modules 14, 16, 21, 23, 25, 28 between them. More precisely, each base 30 of each module 14, 16, 21, 23, 25, 28 comprises at least one magnet 32 ​​intended to cooperate with a corresponding magnet 32 ​​of a base 30 of a complementary module 14, 16, 21, 23, 25, 28, thus forming a magnetic connection point. Preferably, the magnets 32 are grouped in threes at each magnetic connection point.In the case where the modules 16, 21, 23, 25 of the control console 26 and the calibration module 14 are connected to each other by spacer modules 28, the polarity of the magnets 32 is chosen so that the spacer modules 28 and the other modules (calibration modules 14, drive modules 16 and optional modules 21, 23, 25) attract each other. The presence of a magnetic interlocking system makes it possible to stabilize the interlocking between the different modules 14, 16, 21, 23, 25, 28 and to limit untimely uninterlocking in the event of user clumsiness or involuntary shaking.

[0036] The physical connection may further include an electronic connector 34 allowing electronic communication between the different modules 14, 16, 21, 23, 25, 28 and the control system 20 (see figures 1, 2, 7 and 8A and 12, 13, 14B). Optionally, in the case where the calibration modules 14 and the drive modules 16 and optional modules 21, 23, 25 are connected to each other by means of spacer modules 28, each spacer module 28 can accommodate at each magnetic connection point, in addition, an electronic connector 34 intended to cooperate with an electronic connector of the base 30 of the calibration modules 14 and / or drive modules 16 and / or optional modules 21, 23, 25. Electronic communication between the different modules 14, 16, 21, 23, 25, 28 is therefore ensured, whether the calibration modules 14 and drive modules 16 and any optional modules 21, 23, 25 are connected to each other directly or by means of a spacer module 28.Electronic communication is also ensured between the different modules 14, 16, 21, 23, 25, 28 in the case where the control console 26 extends in 3D and all its modules 16, 21, 23, 25 are not arranged on the same plane. This electronic communication allows, in particular, the passage of current.

[0037] Each electronic connector 34 may be connected to a cable to connect the electronic connector of the corresponding connected module. These electronic connectors 34 may, for example, take the form of spring-loaded pin / retractable pin connectors. In some embodiments, each electronic connector 34 associated with a drive module 16 (or an optional module 21, 23, 25) comprises, for example, a voltage divider bridge generating a voltage specific to each drive module 16 (and each possible optional module 21, 23, 25). This makes it possible to identify each drive module 16 and each possible optional module 21, 23, 25 by reading the voltage generated by the voltage divider bridge, in the case where this identification takes place electronically.In other embodiments, the electronic connector 34 is part of a more complex electronic circuit capable of engaging in digital communication (for example, meeting the “U ART” standard).

[0038] Many technologies exist to identify physical modules connected to each other using electronic means, but they are not used in a virtual reality setting for surgical education.

[0039] In summary, this electronic connection allows the control system 20: the identification of the modules 14, 16, 21, 23, 25 by the control system 20, and / or the transmission of movement information from the haptic controller 18 (see below).

[0040] According to the embodiments, this electronic connection may comprise a USB cable which connects the haptic controller 18 to the control system 20. This cable may be external to the drive module 16.

[0041] The identification of the different modules 14, 16, 21, 23, 25, 28 by the control system 20 can be done in two ways: by so-called "electronic" means ("hardware + software") or by so-called "software" means ("software + directives"). The so-called "electronic" means will be detailed below and some examples will be cited. The identification of the modules 14, 16, 21, 23, 25, 28 by so-called "software" means is based on the preprogramming of software of the control system 20 and the direction of the user during the assembly of the control console 26, for example by means of an assembly manual which assigns a precise place to each module in the control console 26. This allows the assembly of the control console 26 by the user to place each module in a position consistent with the preprogramming of the software.The software includes all the connection and arrangement information of the different modules 14, 16, 21, 23, 25, 28 between them, and thus makes it possible to map the control console 26 and correctly decipher the information collected and send the right information to the right place.

[0042] In both cases, the electronic connection, whether simply allowing the connection of the different modules and the passage of current or additionally allowing the transfer of information, allows the control system 20 to identify the different modules 14, 16, 21, 23, 25, 28 of the control console 26.

[0043] In the case of identification by so-called "electronic" means, the control system 20 comprises a microcontroller itself electrically connected, through the connectors 34 and potentially the spacing modules 28, to the calibration modules 14 and drive modules 16 and to any optional modules 21, 23, 25. In a first embodiment / operation, the various calibration modules 14 and / or drive modules 16 and / or optional modules 21, 23, 25 integrate a voltage divider system. The microcontroller then reads the voltage and is capable of identifying the module(s) 14, 16, 21, 23, 25 which respond(s) with this voltage. In an alternative embodiment / operation, the calibration modules 14 and / or training modules 16 and / or optional modules 21, 23, 25 each comprise an electronic card 42 allowing digital communication with the microcontroller of the training module 16.They identify themselves and are capable of exchanging information concerning a user action but also feedback to the user of the control system 20 (we can imagine, for example, a module which lights up red if an error is made in the manipulation).

[0044] As mentioned above and as seen in Figures 1, 2 and 3, each drive module 16 includes a haptic controller 18.

[0045] As seen in Figures 2 and 3, each haptic controller 18 includes a connection system 35 configured to mechanically connect, in a reversible manner, a surgical drive tool 36.

[0046] To make the virtual reality surgery learning device proposed by the platform 10 according to the present invention more immersive and more realistic, it is advantageous for the user to be able to manipulate physical tools to control the simulation which is displayed in the display system 12. In a manner well known per se, the closer these physical tools are to the original surgical tool, the more immersive the simulation is.

[0047] It is common, during a surgical intervention, to have to use different surgical tools. Thus the control console 26 can comprise at least one storage module 25. Each storage module 25 has a 360 footprint of one or several surgical training tools 36 in order to be able to store the corresponding surgical training tool(s) 36 therein. Thus, all of the surgical training tools 36 necessary for the user to complete the surgical simulation are stored nearby. Each footprint 360 may be provided with a connection system intended to interact with the corresponding surgical training tool 36 in order to allow the control system 20 to locate said surgical training tool 36 when it is stored.

[0048] This is why the present invention operates, as a kit, with a series of surgical training tools 36 (see Figure 2). The surgical training kit thus formed (see Figures 5 and 6), therefore comprises a modular surgical training platform 16 according to the present invention and at least one surgical training tool 36 configured to be connected to the haptic controller 18 of said platform 10. The kit according to the present invention may comprise two types of surgical training tools: so-called “simple” tools and so-called “complex” tools. The complex tools are complex electronic tools which integrate a microcontroller capable of communicating directly with the control system 20.

[0049] These surgical training tools 36, simple or complex, are modified surgical tools or copies thereof. The simulation enabled by the platform 10 according to the present invention thus matches all or part of the physical actions to which these objects are subjected with behaviors of the virtual twins in the virtual environment 100 displayed by the display device 12 (see Figures 5 and 6).

[0050] As seen in the embodiment illustrated in Figures 2 and 3, the haptic controller 18 of each drive module 16 comprises a pivoting arm robot, the pivoting arm robot having a free end intended to cooperate with the connection system 35.

[0051] The connection system 35 of the haptic controller 18 is universal, in the sense that it allows at least two different surgical training tools 36 to be connected (see figure 2).

[0052] More specifically, the connection system 35 comprises at least one locking connector 35a of the key-lock type configured to be attached to the haptic controller 18 and to any surgical training tool 36 so as to ensure their removable connection (see figures 3, 9A and 9B). The connectors 35a, 35b also allow transmission of rotation along the axis of the end of the haptic controller 18 to the drive module 16. As visible in FIGS. 3, 4A and 4B, the connection system 35 according to this embodiment comprises two locking connectors 35a, 35b of the key-lock type: a first connector 35a fixed to the haptic controller 18 and configured to cooperate in a removable manner with a corresponding second connector 35b fixed to the surgical drive tool 36. The two connectors 35a, 35b can both be fixed in a reversible manner, either to the haptic controller 18 or to the surgical drive tool 36.The two connectors 35a, 35b are obtained by 3D printing, either by layer deposition or by sintering. In the example of Figures 9 A and 9B, Figure 9 A represents the first connector 35a (here the lock) of the haptic controller 18 and Figure 9B represents the second connector 35b (here the key) intended to cooperate with the surgical training tool 36. The fixing of the first connector 35a on the haptic controller 18 can be done in several ways. In the case of illustration 9A, a jack interface already originally present on the haptic controller 18 was used to fix it. In other embodiments, it could be envisaged to glue the first connector 35a or to adapt to another haptic controller 18 by creating an interface shape specific to the latter. The second connector 35b is preferably attached to the surgical drive tool 36 by gluing.This mainly involves bonding at the distal rod of the surgical drive tool 36. The 3D model of the second connector 35b is adapted by providing, on the face not visible in FIG. 9B, a hole corresponding to the end of the distal rod 360 of the surgical drive tool 36. Then the distal rod is bonded into the second connector 35b using, for example, epoxy. This manufacturing method is not the only one implemented. According to alternative embodiments, one could also imagine 3D printing a reproduction of a surgical drive tool 36 whose model would contain the second connector 35b.

[0053] The connection 35, of the key-lock type, ensures a collinearity constraint along the X axis of the connector 35a of the free end of the haptic controller 18. The two connectors 35a, 35b (and therefore the surgical training tool 36 and the haptic controller 18) are therefore completely constrained in all directions.

[0054] In order to stabilize the reversible connection between the haptic controller 18 and the surgical drive tool 36, the connection system 35 may comprise, on each side of the “key-lock” system, at least one magnet 38 (see FIG. 9A, 9B). Preferably, the magnets 38 used are cubic magnets having a magnetic force of 1.1 kg. This value allows both a solid attachment and easy disconnection of the surgical drive tool 36, with the desired aim of creating a “plug and play” interface. Indeed, the magnets 38 provide a contact constraint between the two connectors 35a, 35b. As mentioned above, the two connectors 35a, 35b are completely constrained in all directions, except the direction collinear with the F axis of the end of the haptic controller 18. The magnetization therefore makes it possible to constrain / maintain the connection also in this direction.However, the breaking force of this constraint (and therefore of breaking the “key-lock” connection) is weaker along the X axis because the force of the magnets 38 is not very great. The result obtained is therefore that the two connectors 35a, 35b separate by pulling on the surgical training tool 36 more forcefully than is necessary to cause the movement of the haptic controller 18. Thus, it is necessary to hold the haptic controller 18 to disconnect the surgical training tool 36. The presence of magnets 38 facilitates the connection and disconnection between the surgical training tool and the haptic controller 18. Indeed, the magnets 38 allow a simple connection / disconnection gesture (of the “plug and play” type) without screws or slides: the user brings the surgical training tool 36 close to the haptic controller 18 and the latter connects alone by the action of the magnets 38.

[0055] The key-lock type connection system 35 according to the present invention thus has three distinct and complementary functionalities: it allows easy and “plug and play” attachment of the surgical drive tool 36 using magnets 38, it allows the rotational movement to be transmitted along a central axis to the haptic controller 18, it allows, in certain cases, the electrical connection of a surgical drive tool 36 to the drive module 16.

[0056] The connection system 35 thus has an electronic component. Each of the connectors 35a, 35b thus comprises a lumen, a groove or a hollow 37 intended for the insertion of an electrical connector (not shown in FIGS. 9A, 9B). In a preferred embodiment, this electrical connector is a JST electrical connector but other types of electrical connectors can be used. Preferably, the male part of the electrical connector is inserted into the lumen 37 of the first connector 35a fixed to the end of the haptic controller arm 18. In this embodiment, the female part of the electrical connector is inserted into the lumen 37 of the second connector 35b of the surgical training tool 36. Then, as visible in FIGS. 2 and 3, a cable 39 connects the pins of the electrical connector to the control system 20.Another advantage of the connection system 35 according to the present invention is the simplicity with which it is possible to change the surgical training tool 36 to the haptic controller 18. It is necessary that this change be simple and rapid so as not to encumber the learning of complex manipulations. It is therefore necessary to propose a “plug and play” device, as does the present invention.

[0057] Each haptic controller 18 is, furthermore, configured to measure each movement in space of the surgical training tool 36 once the latter is connected to the haptic controller 18. Each haptic controller 18 is thus provided with at least one external translation or rotation sensor 19 fixed to the various mobile elements of the haptic controller 18 (see figure 1), so as to capture the position and the three-dimensional orientation of any object connected to the haptic controller 18 of the training module 16.

[0058] Two categories of movement can be distinguished: those that could be described as external, common to all surgical training tools 36, and which correspond to the position and three-dimensional orientation of the surgical training tool in space, and those that could be described as internal, specific to certain so-called complex surgical training tools 36, having a rest state and at least one activation state, such as pressing a trigger or rotating an element and comprising an on-board electronic card.

[0059] These categories correspond to the two types of surgical training tools included in the surgical training kit according to the present invention.

[0060] The haptic controller 18 according to the present invention makes it possible to measure the external movements (movements in space) of each connected surgical drive tool 36.

[0061] In the case of complex surgical training tools 36, the connection system 35 can also play one or more roles other than the identification of the surgical training tool 36 connected to the haptic controller 18: it can allow the recovery of information on the movement of specific elements of the tool, such as the action of a trigger, for example. Furthermore, and / or it can allow the power supply of the internal electronics of the surgical training tool 36 connected to the haptic controller 18, it can allow electronic communication between the surgical training tool 36 and the training module 16.

[0062] Since the modularity of the platform 10 according to the invention makes it possible to connect several drive modules 16 to each other, to the calibration module 14 and to the control system 20, the platform 10 thus makes it possible to determine the positioning in space of several surgical drive tools 36 connected to the different haptic controllers 18. If the control console 26 comprises several drive modules 16, the platform 10 makes it possible to determine the positioning of several surgical drive tools 36 simultaneously, as soon as these are connected to a haptic controller 18.

[0063] The control system 20 of the platform 10 according to the invention further comprises a recognition system 40 for each surgical training tool 36. The recognition system 40 of the surgical drive tool 36 being configured to: read the voltage from a voltage divider bridge specific to each surgical drive tool 36, communicate with the control system 20, so that the control system 20 recognizes each surgical drive tool 36 connected to the haptic controller 18.

[0064] It is indeed necessary to identify the surgical training tool 36 which is connected to the haptic controller 18 to allow the control system 20 to generate the corresponding mobile virtual surgical element 102 in the virtual space 100.

[0065] Depending on the surgical training tool 36 considered, the platform 10 uses a wireless connection and / or an electrical connection to identify the connected surgical tool (see Figure 3).

[0066] In the case of a simple surgical training tool 36, the recognition system 40 comprises a microcontroller 42 preferably located in the base 30 of the training module 16, as visible in FIG. 7. The microcontroller 42 is connected to the surgical training tool 36 by means of the connection system 35, by the cable 39. The recognition system 40, in the case of a simple surgical training tool, further comprises, at the connection system 35 between the tool 36 and the haptic controller 18, an electronic device such as a voltage divider bridge in order to allow recognition of the surgical training tool 36.

[0067] In the case of a complex surgical training tool, the recognition system 40 of the control system 20 retrieves and analyzes the information from the microcontroller of the complex surgical training tool 36. In this case, wireless communication is sufficient for identification.

[0068] The control system 20 of the platform 10 is configured to: o identify the different modules 14, 16, 21, 23, 25, 28 connected to each other either electronically or software-wise (as detailed above), o receive and analyze the data related to the movement(s) of each surgical training tool 36 connected to a haptic controller 18, o generate the virtual environment 100, o interface each mobile virtual surgical element 102 of the virtual environment 100 with a corresponding real element.

[0069] The control system 20 thus generates a virtual image of each surgical training tool 36 connected to the haptic controller 18.

[0070] As already mentioned above, the virtual environment 100 also comprises non-movable and / or non-manipulable decorative elements 106. This may, for example, be an endoscopy screen 108 or a lamp which can be manipulated virtually by the user with, for example, a click on a button to turn them on. These decorative elements 106 do not have corresponding real elements.

[0071] Based on the information received from the recognition system 40 and the information collected at the haptic controller 18, the control system 20 is configured to transform / reproduce each movement in space of each surgical training tool 36 connected to a haptic controller 18 of the control console 26 into a corresponding virtual movement of its virtual image 102 in the virtual environment 100.

[0072] In the particular case of a connection with a simple surgical training tool 36, the control system comprises: a measurement unit (or microcontroller 42) configured to: o identify the tools 36 and / or the modules 14, 16, 21, 23, 25 connected, o collect the data of the specific movements (or internal movements) of the connected surgical training tool 36, a central unit configured to: o generate the virtual environment 100, o receive and analyze the data related to the movement(s) of each connected surgical training tool, o interface each virtual surgical tool 102 of the virtual environment 100 with a corresponding real element, and possibly o identify the connected modules 14, 16, 21, 23, 25.

[0073] In this particular case, as illustrated in Figures 1 and 7, the measuring unit (or microcontroller 42) is part of the drive module.

[0074] The control system 20 is further configured to generate a feedback signal allowing the haptic controller 18 to in turn generate a corresponding haptic signal, depending on what is happening in the virtual environment 100.

[0075] In the present application, the notion of “haptic signal” is understood as a signal actively generated by the platform 10 according to the present invention. It is to be distinguished from the notion of “tactile feedback” which is a simple passive feedback, generated automatically by the human body in reaction to the manipulation of animate or inanimate objects.

[0076] Thus, the control system 20 causes the haptic controller 18 to generate specific haptic feedback when the virtual tool 102 corresponding to the surgical training tool 36 manipulated by the user comes into contact with another virtual tool 102 or another virtual element such as a decorative element 106, of the virtual environment 100. This makes it possible to accentuate the immersive aspect of the simulation and to give an increased sense of reality; the interactions visible in the virtual environment 100 are also felt by the user.

[0077] In some embodiments, some technical elements of some complementary tool modules 23 or some anatomical modules 21 may also be configured to produce a haptic signal in response to certain stimuli or situations. In other words, some anatomical modules 21 and some complementary tool modules 23 are configured to generate a haptic signal in response to stimulation of the control system 20 or an action of the user.

[0078] As already mentioned above, the present invention also comprises a kit formed by the platform 10 according to the invention and a surgical training tool 36. Some of these complex surgical training tools 36, such as for example the one shown in FIG. 10, comprise a rotating distal rod 360. These tools 36 thus have a wheel allowing the rotation of the distal rod 360 and therefore of their axis. When this distal rod 360 is connected to the connection system 35, it is then impossible for the control system 20 to measure / determine both the position in space of the surgical training tool 36 and the specific rotation of the distal rod 360: it is indeed necessary to transmit the general rotation of the surgical training tool 36 relative to the axis of the haptic controller 18 so that its virtual twin (virtual tool 102) can be oriented similarly in the virtual environment 100 without losing the specific rotation of the distal rod 360 induced by the operation of the surgical training tool 36.

[0079] To solve this problem, the connection system 35 has a particular embodiment with an arch piece 45. The arch piece 45, as shown in Figure 10, allows the free rotation of a rod orientation wheel on the surgical drive tool 36 without losing the information on the orientation of the tool 36 itself. The arch piece 45 is fixed to the grippable body of the tool 36 on the one hand and to the distal rod 360 secured to the second connector 35b on the other hand. The distal rod 360 is cut so that the part under the arch piece 45 can be freely rotated without affecting the rotation at the key-lock mechanism of the connection system 35, at the end of the haptic controller 18.

[0080] The arch piece 45 is preferably printed using a 3D printer by layer deposition, but any other plastic manufacturing process can be used, such as laser sintering. The arch piece 45 is preferably designed in two parts so that it can be easily disassembled; the two parts are assembled using screws.

[0081] It can thus be seen that the platform 10 according to the invention is constructed around the drive module(s) 16. Each drive module 16 is thus a central element located at the convergence of the different elements of the platform 10 according to the present invention. Each drive module 16 is organized, as already mentioned, around a base 30 which makes it possible to fix the different elements: the microcontroller 42 and its connection cable 39 to a connection system 35 intended to connect the surgical training tool 36 to the control system 20, a haptic controller 18 comprising a robot for acquiring three-dimensional movement by polar reference, magnets 34, 38, and, possibly one or more electrical connectors (for example connectors with retractable pins as seen above).

[0082] These different elements together allow, once connected to the virtual reality display device 12, by means of the calibration module 14, to link, in a surgical intervention simulation framework, the manipulation of physical surgical objects to their virtual twins in a virtual reality simulation. The platform 10 allows a positioning of these objects in space and an identification of the movements to which the physical object is subjected, allowing a user to get as close as possible to the feelings induced by a surgical intervention without subjecting him to avoidable stress or danger.

Claims

DEMANDS 1. Modular surgical training platform (10) configured to interface with a virtual environment (100) comprising at least one mobile virtual surgical element (102), the training platform (10) comprising: a virtual reality display device (12) configured to display the virtual environment (100) to a user, a calibration module (14) connected to the virtual reality display device (12), at least one training module (16), each training module (16) having a haptic controller (18), a control system (20) configured to: o identify the different modules (14, 16) connected to each other, o generate the virtual environment (100), o interface each mobile virtual surgical element (102) of the virtual environment (100) with a corresponding real element, characterized in that all the modules (14, 16) are configured to be reversibly fixed to each other in a known configuration,in that each haptic controller (18) comprises a connection system (35) configured to mechanically and reversibly connect a training surgical tool (36), each haptic controller (18) being further configured to measure each movement in space of the training surgical tool (36) once it is connected to the haptic controller (18), in that the control system (20) further comprises a recognition system (40) for each training surgical tool (36) configured to obtain identification information specific to the connected training surgical tool (36), and to communicate the identification information to the control system (20), so that the control system (20) recognizes each training surgical tool (36) connected to the haptic controller (18),in that the control system (20) generates a virtual image of each surgical training tool (36) connected to the haptic controller (18), Tl in that the control system (20) is configured to receive and analyze the data related to the movement(s) of each surgical training tool (36) connected to the haptic controller (18), and reproduce each movement of the surgical training tool (36) connected to the haptic controller (18) in a corresponding virtual movement of its virtual image in the virtual environment (100), in that each virtual movement is made visible to the user by the display device (12).

2. Surgical training platform (10) according to the preceding claim, in which the control system (20) comprises: a measuring unit (42) configured to: o identify the connected surgical training tools (36) and / or modules (14, 16), o collect movement data from the connected surgical training tool (36), a central unit configured to: o generate the virtual environment (100), o receive and analyze the data related to the movement(s) of each connected surgical training tool (36), o interface each mobile virtual surgical element (102) of the virtual environment (100) with a corresponding surgical training tool (36).

3. Surgical training platform (10) according to the preceding claim, wherein the measuring unit (42) is part of the training module (16).

4. Surgical training platform (10) according to any one of the preceding claims, wherein the control system (20) is further configured to generate a feedback signal enabling the haptic controller (18) to generate a haptic signal when at least two virtual elements (102, 104, 106) interact in the virtual environment (100).

5. Surgical training platform (10) according to any one of the preceding claims, characterized in that it further comprises at least one anatomical module (21) configured to represent or reproduce all or part of a human anatomical part.

6. Surgical training platform (10) according to the preceding claim, wherein the anatomical module (21) is configured to generate a haptic signal in response to stimulation from the control system (20) or an action by the user.

7. Surgical training platform (10) according to any one of the preceding claims, characterized in that it further comprises at least one additional tooling module (23) configured to represent or reproduce all or part of a tool that may be present in an operating room or all or part of a surgical tool necessary during a surgical procedure but not directly intervening on the body of a patient.

8. Surgical training platform (10) according to the preceding claim, wherein the complementary tooling module (23) is configured to generate a haptic signal in response to stimulation from the control system (20) or an action by the user.

9. Surgical training platform (10) according to any one of the preceding claims, characterized in that it further comprises a storage module (25) configured to allow the storage of one or more surgical training tools (36).

10. Surgical training platform (10) according to any one of the preceding claims, characterized in that it further comprises at least one spacer module (28) configured to connect two modules (16, 21, 23, 25) to each other indirectly.

11. Surgical training platform (10) according to the preceding claim, characterized in that at least one spacer module (28) is configured to arrange two modules (16, 21, 23, 25) on separate horizontal planes.

12. Surgical training platform (10) according to any one of the preceding claims, wherein each module (14, 16, 21, 23, 25, 28) comprises a base (30) having a specific shape, the shapes of the different bases (30) of the different modules (14, 16, 21, 23, 25, 28) being complementary to each other, so as to obtain a stable and suitable interlocking of the different modules (14, 16, 21, 23, 25, 28) with each other.

13. Surgical training platform (10) according to any one of the preceding claims, wherein the connection system (35) of the haptic controller (18) allows connection of at least two different surgical training tools (36).

14. Surgical training platform (10) according to any one of the preceding claims, wherein the haptic controller (18) of the training module (16) comprises a swiveling arm robot, the swiveling arm robot having a free end intended to cooperate with the connection system (35).

15. Surgical training kit comprising a modular surgical training platform (10) according to any one of the preceding claims and at least one surgical training tool (36) configured to be connected to the haptic controller (18) of the platform (10).

Images