Plug and play connection

Abstract

Surgical training platform (10) configured to interface a haptic controller (18) with a surgical simulation tool (36).

Description

PLUG'N PLAY CONNECTION FIELD OF INVENTION

[0001] The present invention relates to a system for connecting a surgical simulation tool to a haptic controller within a surgical training platform. The invention therefore falls within the field of educational tools, methods, and materials. More specifically, the invention relates to a connection system for a surgical procedure training kit intended for the training of surgeons. STATE OF THE ART

[0002] Currently, most surgical training is conducted in real-world conditions, on patients, through surgical mentorship. This method requires significant human resources, presents considerable material constraints, and can generate significant stress for the student, potentially leading to difficulties with concentration and / or memory.

[0003] Alternatives exist, such as the Pelvitrainer EoSim SurgTrac® or certain animal training sessions. However, these training programs / methods are only accessible to a small number of surgical residents and have several obvious limitations: the Pelvitrainer is simply a box into which trocars and a camera are inserted, allowing for suturing on inert materials like foam. The animal model presents clear problems in terms of training quality because the anatomical similarities / correlations with humans are limited. The animal model also raises ethical issues.

[0004] The aim of the present invention is therefore to provide a safe, practical, accurate, realistic, easy-to-use, and readily available training device, giving any surgical student a chance to train in a safe environment without any risk of injury to themselves, a patient, or an animal. The user must, in Furthermore, the user must be able to easily connect a surgical simulation tool to the platform and manipulate it without fear of accidentally detaching it during the simulation. Additionally, the user must be able to switch between compatible simulation tools at will, smoothly and without difficulty. SUMMARY

[0005] This invention therefore relates to a surgical training platform configured to interface a haptic controller with a surgical simulation tool comprising: - a control system, - at least one surgical simulation tool having at least one free end extending along a first axis Ai, at least one haptic controller comprising a connection system configured to mechanically and electrically connect, reversibly, the at least one surgical simulation tool, the control system further including a recognition system for each surgical simulation tool configured to obtain identification information specific to the surgical simulation tool connected to the haptic controller, and to communicate the identification information to the control system so that the control system recognizes each surgical simulation tool connected to the haptic controller. The invention is characterized in that the connection system comprises at least one connector extending along a second axis A2, the at least one connector comprising a first coupling element complementary to a corresponding coupling element of the free end of each surgical simulation tool, the coupling elements of the connector and the free end of each surgical simulation tool are configured to cooperate coaxially by alignment of the axes Ai and A2, so that the connection between the haptic controller and each surgical simulation tool is axial, once connected to each other, each movement of the surgical simulation tool induces a corresponding movement of the mobile haptic controller.

[0006] Thus, the solution makes it possible to achieve the aforementioned objective. In particular, the platform according to the present invention allows a robust mechanical and electrical connection between the tool and the haptic controller, while allowing the user to change tools without exiting their simulation.

[0007] The platform according to the invention may comprise one or more of the following features, taken separately or in combination: - The haptic controller's connection system allows for the connection of at least two different surgical simulation tools; at least one connector is configured to cooperate with the free end of the surgical simulation tool. - at least one connector is a key-lock type connector configured to cooperate with the free end of the surgical simulation tool, - the connection between the haptic controller and the free end of at least one surgical simulation tool ensures a collinearity constraint along the first axis Ai of at least one connector, the connection system includes a first connector fixed to the haptic controller and a second connector fixed to the free end of the surgical simulation tool, the two connectors being configured to cooperate with each other, the haptic controller includes a movable arm, the movable arm having a free end intended to cooperate with the connection system, - The connection system allows the passage of electrical current between the haptic controller and the connected surgical simulation tool, so as to power the surgical simulation tool with current, the connection system allows the passage of electrical current between the control system and the connected surgical simulation tool, so as to power the surgical simulation tool with current, each connector includes a magnet so that the connection is magnetized. BRIEF DESCRIPTION OF THE FIGURES

[0008] The invention will be better understood, and other objects, details, features and advantages thereof will become more apparent upon reading the detailed explanatory description that follows, embodiments of the invention given by way of illustration, purely illustrative and non-limiting examples, with reference to the attached 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 training tools, each of which can be connected to the platform, Figure 3 is a view similar to Figure 2 but from a different angle. Figure 4A is a perspective view of a training platform mounted according to the invention, connected to a surgical training tool, comprising a single training 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, handled 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 control 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 training 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. Figures 12 and 13 are detailed views of a connection between a surgical simulation tool and the platform according to two different embodiments. Figure 14 is a perspective view of a haptic controller according to the invention, with all the joints. DETAILED DESCRIPTION Description of an example of a surgical simulation platform

[0009] For the sake of clarity, an example of a surgical simulation platform is detailed below, in order to place the connection according to the present invention in a technical context.

[0010] [As can be seen in Figures 5 and 6, the present invention relates to a surgical training platform (e.g., modular) 10 configured to interface with a virtual environment 100 comprising at least one mobile virtual surgical element 102 (see Figure 11). This virtual environment also includes a virtual patient 104 and various set 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.]

[0011] As shown in Figure 1, the modular platform 10 according to the present invention comprises: - a virtual reality display device 12 configured to show / display the virtual environment 100 to the user, - a calibration module 14 connected to the virtual display device 12, at least one training module 16, each training module comprising a haptic controller 18, possibly another optional module (not shown) that can perform an auxiliary function during the simulation, - a control system 20.

[0012] Within the framework of the present invention, the display device 12 links the various training modules 16 to the virtual environment 100. For the sake of simplicity, only two types of modules will be considered in this description: the training module 16 and the calibration module 14. However, everything translates to other functional modules. In this simplified example, the training module(s) 16 is / are the only element(s) manipulated by the user, and the rendering of these manipulations is visible only in the virtual environment 100. Each training module is a self-contained unit comprising several assembled plastic parts. These parts can be 3D printed. All of these parts will be described as the present description progresses.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.

[0013] More specifically, the display device 12 (visible in Figures 5 and 6) can 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 surgery. The display device 12 can include several displays, allowing multiple users to view the virtual environment 100. The different displays can be mobile or fixed. More precisely, as seen in Figures 5 and 6, the display system 12 can be a screen placed on a surface near or at a distance from the various modules 14, 16. In another embodiment, the display device 12 can be a virtual reality headset, adjustable to the user and capable of providing audio feedback. More specifically, it can be an HP Reverb® headset with two screens having a resolution of 2160x2160 pixels. Each screen has a refresh rate 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).

[0014] As is known, the display device 12 is associated with a mobile calibration tool 22 (see Figure 8B). The mobile calibration tool 22 can take the form of a conventional joystick, as illustrated in Figure 8B, but it can also take a different form.

[0015] The calibration module 14 is a separate component shown in Figure 8A. As seen in Figure 8B, the calibration module 14 has a recess 24 that complements the mobile calibration tool 22. Thus, the calibration module 14 allows the mobile calibration tool 22, associated with the display device 12, to be positioned at a known and fixed distance from the drive module 16, in particular from its haptic controller 18 (see Figure 4A). The calibration module 14 is preferably made of plastic and is preferably 3D printed. As with the drive modules 16, the calibration module 14 may include magnets, as will be explained in detail below. The calibration module 14 may also be equipped with an electrical connector allowing the control system 20 to connect an electronic circuit for identifying the calibration module 14.For this, we use the same device with a voltage divider bridge as that used for the key-lock connector of the haptic controller 18, which will be described a little later.

[0016] The haptic controller 18 allows us to know the position and relative orientation of an object attached to it (see below), thus obtaining the position and orientation of this object with respect to the mobile calibration tool 22. In the case where the display device 12 is a mobile device configured to be worn by the user, the calibration module 14 also allows us to locate the user with respect to the training module 16. Indeed, since the position of the mobile calibration tool 22 with respect to the display device 12 is known, we can then know the position and orientation of the object connected to the haptic controller 18 with respect to the user wearing the display device 12 (see figures 5 and 6).

[0017] Similarly, the various training modules 16 connected to each other or to the calibration module 14 can be positioned and located by the display device 12, since once the various modules 14 and 16 are connected, 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 various modules 16 through an electronic system (see below) allows this distance to be determined 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 module training, therefore of each haptic controller 18 and therefore of each of the physical elements manipulated by the user of the platform 10.]

[0018] In this application, the term "plug and play" describes a simple action involving only a limited number of steps, preferably just one. A "plug and play" connection thus describes a connection that is made with a single step.

[0019] A shock (such as a sudden movement by the user or a handling error) can cause the training module(s) 16, and therefore the connected calibration module 14, to shift unexpectedly relative to the display system 12. This can lead to a calibration failure between the virtual environment 100 and the user's position. This can be prevented by using an electronic system with an accelerometer that detects such unexpected movements and, using the mobile calibration tool 22, adapts the digital positioning of the virtual environment 100 to the new position of the calibration module 14.

[0020] The various training modules 16 can be connected together to form a control console 26 (see Figure 4B). The control console 26 thus comprises at least one training module 16 (see Figure 2). More specifically, all the modules 14, 16 are configured to be reversibly attached to one another in a known configuration (see Figures 4A and 4B). This enables the modularity of the platform 10 according to the invention.

[0021] The drive module(s) 16 forming the control console 26 can be either directly connected to each other or connected to each other by means of spacer modules 28 (see Figures 4A and 4B). The spacer modules 28 are made of plastic and are preferably produced by 3D printing, deposition modeling, or sintering. In other embodiments, they can be manufactured by molding or another process. The spacer modules 28 are connecting pieces that allow for the creation of a known spacing (and therefore a known positioning) between the different modules 14, 16 of the platform 10.

[0022] Each calibration module 14 or training module 16 includes, for this purpose, a base 30 with a specific shape (see Figure 7). The shapes of the different bases 30 of the different modules 14, 16 are complementary to each other, so as to obtain a stable and suitable interlocking of the different modules 14, 16, 28. The known appearance of the bases 30 of the different modules 14, 16, 28 makes it easy to determine the relative position of the modules 14, 16, 28 in space. Preferably, the calibration modules 14 and training modules 16 are connected to each other by means of the spacer modules 28 in order to increase the stability of the control console and the platform 10 as a whole when assembled.

[0023] According to the embodiment shown in Figures 1, 2, 7, and 8A, the physical connection of the various modules 14, 16, and 28 is achieved by means of a magnetic interlocking system that allows for the easy interlocking of different modules 14, 16, and 28. More specifically, each base 30 of each module 14, 16, and 28 has at least one magnet 32 ​​designed to cooperate with a corresponding magnet 32 ​​of a base 30 of a complementary module 14, 16, and 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 control console modules 26 and the calibration module 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 and drive modules 16) attract each other.The presence of a magnetic interlocking system helps to stabilize the interlocking between the different modules 14, 16, 28 and to limit untimely disengagements in case of user clumsiness or unintentional shaking.

[0024] The physical connection may, in addition, include an electronic connector 34 enabling electronic communication between the various modules 14, 16, 28 and the control system 20 (see figures 1, 2, 7 and 8A).

[0025] Optionally, if the calibration modules 14 and the training modules 16 are connected to each other by means of spacer modules 28, each spacer module 28 may also accommodate, at each magnetic connection point, an electronic connector 34 for cooperation with a connector electronics of the base 30 of the calibration and / or training modules 16. Electronic communication between the different modules 14, 16, 28 is therefore ensured, whether the calibration module 14 and training module 16 are connected to each other directly by means of a spacing module 28.

[0026] Each electronic connector 34 can be connected to a cable to link to the corresponding electronic connector of the connected module. These electronic connectors 34 can, for example, take the form of spring-loaded / retractable pin connectors. In some embodiments, each electronic connector 34 associated with a drive module 16 includes, for example, a voltage divider that generates a voltage specific to each drive module 16. This allows the drive module 16 to be identified by reading the voltage generated by the voltage divider. In other embodiments, the electronic connector 34 is part of a more complex electronic circuit capable of engaging in digital communication (for example, conforming to the "UART" standard).

[0027] Numerous technologies exist that allow the identification of physical modules for connection using electronic technologies, but they are not used in a virtual reality setting for surgical education.

[0028] In summary, this electronic connection allows: - the identification of modules 14, 16 by control system 20, and / or - the transmission of movement information from the haptic controller 18 (see below). Description of the connection with the surgical simulation tool

[0029] The control system 20 includes a microcontroller itself electrically connected, through connectors 34 and potentially spacer modules 28, to calibration modules 14 and drive modules 16. This connection will be detailed below.

[0030] In a first embodiment / operation, the various calibration modules 14 and / or training modules 16 incorporate a voltage divider system. The microcontroller then reads the voltage and is able to identify the module(s) 14, 16 that respond with this voltage. In an alternative embodiment / operation, the calibration module 14 and / or training module 16 each include an electronic board 42 enabling digital communication with the microcontroller of the training module 16. They identify each other and are able to exchange information concerning a user action as well as feedback to the user from the control system 20 (one can imagine, for example, a module that lights up red if an error is made in the operation).

[0031] As mentioned above and as seen in figures 1, 2 and 3, each training module 16 includes a haptic controller 18.

[0032] As seen in Figures 2 and 3. Each haptic controller 18 includes a connection system 35 configured to mechanically and reversibly connect a surgical training tool or a surgical simulation tool 36.

[0033] More specifically, the surgical training platform according to the present invention is specifically configured to interface the haptic controller 18 with at least one surgical simulation tool 36.

[0034] To make the virtual reality surgical learning device offered by platform 10 according to the present invention more immersive and realistic, it is advantageous for the user to be able to manipulate physical tools to control the simulation displayed in the display system 12. As is well known, the closer these physical tools are to the original surgical tool, the more immersive the simulation.

[0035] Therefore, the present invention operates as a kit with a series of surgical simulation tools 36 (see Figure 2). The surgical training kit thus formed (see Figures 5 and 6) comprises a modular surgical training platform 16, an example of which is described herein, and at least one surgical simulation tool 36 configured to be connected to the haptic controller 18 of said platform 10. The kit according to the present invention may include three types of surgical simulation tools 36: the tools presented to the user in virtual reality 100 are called "simple", the tools presented to the user in virtual reality 100 are called "complex", and - tools not shown to the user in virtual reality 100.

[0036] The 36 complex surgical simulation tools are complex electronic tools that integrate a microcontroller capable of communicating directly with the control system 20.

[0037] The surgical training tools 36 shown to the user, whether 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 the behavior of virtual twins in the virtual environment 100 displayed by the display device 12 (see Figures 5 and 6). The tools not shown allow for the simulation of sensations, for example, during the palpation of organ(s) inside a patient.

[0038] Each surgical simulation tool 36 having at least one free end extending along a first axis Ai.

[0039] As seen in the embodiment illustrated in Figures 2 and 3, the haptic controller 18 of each drive module 16 includes a swiveling arm robot, the swiveling arm robot having a free end intended to cooperate with the connection system 35.

[0040] As shown in Figure 14, the haptic controller 18 is mobile through at least six degrees of freedom achieved by means of various elbows and rotating parts cooperating with each other to form joints Ji, J2, J3, J4, J5, Jé. More specifically, and as can be seen in Figure 6, the first three joints (distal joints) are actuable by the user, while the last three joints (proximal joints) are passive.

[0041] To maximize the realism of the simulation, the surgical simulation tool 36, once connected to the haptic controller 18, must have its tip (or end) free) positioned where haptic feedback would occur in reality, that is, at the haptic point of the haptic arm. This haptic point is designated as "HIP" in Figure 14. The haptic controller 18 simulates force feedback related to collisions or interactions in the virtual world of the tip (or end) of the surgical simulation tool 36 manipulated with an element of the virtual environment 100. This is the point at which interactions and collisions are calculated so that they can be simulated without creating an uncomfortable and disruptive haptic lag or inconsistency for the user. Taking this HIP into account makes it possible to simulate the penetration of a patient's body, for example by a syringe needle, by simulating the force exerted by the patient's body on the needle. It is therefore very important that the surgical simulation tool 36 and the haptic controller 18 are connected precisely and robustly.

[0042] The connection system 35 of the haptic controller 18 is universal, in the sense that it allows the connection of at least two different surgical training tools 36 (see figure 2).

[0043] The connection system 35 includes at least one connector 35a extending along a second axis A2. This connector 35a includes a first coupling element 44a complementary to a corresponding coupling element 44b of the free end of each surgical simulation tool 36

[0044] More specifically, the connection system 35 includes at least one key-lock type locking connector 35a 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).

[0045] The coupling elements 44a, 44b of the connector 35a and the free end of each surgical simulation tool 36 are configured to cooperate coaxially by aligning the axes Ai and A2, so that the connection 35 between the haptic controller 18 and each surgical simulation tool 36 is axial.

[0046] Once connected to each other, each movement of the surgical simulation tool 36 induces a corresponding movement of the mobile haptic controller 18. Thus, connectors 35a, 35b also allow transmission of rotation along the axis from the end of the haptic controller 18 to the drive module 16.

[0047] In one embodiment shown in Figure 13, at least one connector 35a is configured to cooperate with the free end of the surgical simulation tool 36.

[0048] In the embodiment shown in Figures 3, 4A, and 4B, the connection system 35 comprises two connectors 35a, 35b, specifically two key-lock type connectors 35a, 35b: a first connector 35a fixed to the haptic controller 18 and configured to cooperate removably with a corresponding second connector 35b fixed to the training surgical tool 36. Both connectors 35a, 35b can be reversibly fixed to either the haptic controller 18 or the training surgical tool 36. The two connectors 35a, 35b are produced by 3D printing, either by layer deposition or by sintering. In the example of Figures 9A and 9B, Figure 9A 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 first connector 35a can be attached to the haptic controller 18 in several ways. In illustration 9A, a jack interface already present on the haptic controller 18 was used for attachment. In other embodiments, the first connector 35a could be glued or adapted to a different haptic controller 18 by creating a specific interface. The second connector 35b is preferably attached to the surgical training tool 36 by gluing. This mainly involves gluing at the distal stem of the surgical training tool 36. The 3D model of the second connector 35b is adapted by providing, on the face not visible in figure 9B, a hole corresponding to the end of the distal stem 360 of the surgical training tool 36. Then the distal stem is glued into the second connector 35b using, for example, epoxy.This manufacturing process is not the only one being used. Alternative methods could also be used to imagine 3D printing one. reproduction of a surgical training tool 36 whose model would contain the second connector 35b.

[0049] The key-lock type connection 35, by alignment of the Ai and A2 axes, 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 thus completely constrained in all directions.

[0050] To stabilize the reversible connection between the haptic controller 18 and the surgical training tool 36, the connection system 35 may include, on each side of the "key-lock" system, at least one magnet 38 (see Figure 9A, 9B). Preferably, the magnets 38 used are cubic magnets with a magnetic force of 1.1 kg. Preferably, the magnets 38 used are neodymium (cubic) magnets. In an alternative embodiment, ring magnets 38 are used. These allow a stainless steel rod to pass through them and prevent any impact of shear forces, increasing the stability of the connection 35. This value allows both a secure connection and easy disconnection of the surgical training tool 36, with the desired aim of creating a "plug and play" interface. Indeed, the magnets 38 ensure a contact constraint between the two connectors 35a, 35b.

[0051] The connection 35 may further include a screw configured to cooperate along an axis normal to the axes Ai and A2 once aligned, so as to be normal to the pivot of the haptic controller 18 (see Figure 13). In an alternative embodiment, the connection 35 may be keyed to prevent the coupling elements 44a, 44b from rotating relative to each other. This ensures a firm connection between the connection 35 and the haptic controller 18.

[0052] With the aim of further strengthening the connection 35, in certain embodiments, the coupling elements 44a, 44b of the connector 35a and the free end of each surgical simulation tool 36 include a combination of a hole intended to cooperate with a protruding rod in the tool to avoid any effect of forces shear stress which would lead to an untimely disconnection of the coupling elements 44a, 44b

[0053] The two connectors 35a, 35b are thus completely constrained in all directions, except the direction collinear with the axis A2 of the end of the haptic controller 18. The magnetization makes it possible to constrain / maintain the connection 35 also in this axial direction along Ai and A2. However, the breaking force of this constraint (and therefore of breaking the "key-lock" connection 35) is lower along the axis A1-A2 because the force of the magnets 38 is not very large. The result is that the two connectors 35a, 35b separate when the training surgical tool 36 is pulled more strongly than is required to drive the movement of the haptic controller 18. Therefore, the haptic controller 18 must be held in place to disconnect the training surgical tool 36. The presence of magnets 38 facilitates the connection and disconnection between the training surgical 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 itself by the action of the magnets 38.

[0054] The key-lock type connection system 35 according to the present invention has three distinct and complementary functionalities: - it allows easy and "plug and play" attachment of the surgical training tool 36 using magnets 38, it allows the transmission of rotational movement along a central axis to the haptic controller 18, - it allows, in some cases, to electrically connect a surgical training tool 36 training module 16.

[0055] The connection system 35 thus has an electronic component. Each of the connectors 35a, 35b has a slot, groove, or recess 37 for the insertion of an electrical connector (not shown in Figures 9A, 9B). In a preferred embodiment, this electrical connector is a JST connector with pins, retractable or not, but other types of connectors are also possible. Electrical connectors can be used. Preferably, the male part of the electrical connector is inserted into the slot 37 of the first connector 35a, which is attached to the end of the haptic controller arm 18. In this embodiment, the female part of the electrical connector is inserted into the slot 37 of the second connector 35b of the training surgical tool 36. In another embodiment (Figure 12-13), spring-loaded "pogo pins" are arranged circularly around the alignment axes Ai and A2. The coupling elements 44a, 44b of the connector 35a and the free end of each surgical simulation tool 36 are aligned using a keying feature (e.g., a protrusion on the lock and slots / holes on the tool's key). A keyed connection 35 allows for the alignment of the electrical pins and prevents unintentional contact between incompatible pins.Some embodiments incorporate a spring because the use of spring-loaded pins ensures perfect contact between all the pins and virtually eliminates friction. The use of magnets 38 ensures strong contact between all the pins.

[0056] As seen in Figures 2 and 3, a cable 39 connects the pins of the electrical connector to the control system 20. Preferably, this cable 39 is connected to the control module 16. According to a preferred embodiment, the cable 39 can be disconnected from the control module 16, as seen in Figure 12. This connection between the cable 39 and the control module 16 is preferably made using a magnetic "plug and play" or "snap fit" connector.

[0057] Another advantage of the connection system 35 according to the present invention is the ease with which the surgical simulation tool 36 can be switched to the haptic controller 18. This simple and quick switchover is essential to avoid complicating the learning process with complex manipulations. Therefore, a "plug and play" device, as provided by the present invention, is necessary.

[0058] Each haptic controller 18 is further configured to measure each movement in space of the training surgical tool 36 once it is connected to the haptic controller 18. Each haptic controller 18 is thus equipped with at least one external translation or rotation sensor 19 fixed to the various moving 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.

[0059] 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 which could be described as internal, specific to certain surgical training tools 36 called complex, presenting a resting state and at least one activation state, such as the depressing of a trigger or the rotation of an element and including an embedded electronic card.

[0060] These categories correspond to the three types of surgical simulation tools 36 included in the surgical training kit according to the present invention.

[0061] The haptic controller 18 according to the present invention allows the external movements (movements in space) of each connected surgical simulation tool 36 to be measured.

[0062] In the case of complex surgical simulation tools 36 and certain so-called simple surgical simulation tools 36, the connection system 35 can also play one or more roles other than identifying the surgical training tool 36 connected to the haptic controller 18: - It can enable the retrieval of information on the movement of the tool's own elements, such as the action of a trigger, for example. Furthermore, and / or it can enable the power supply to the internal electronics of the surgical training tool 36 connected to the haptic controller 18, it can enable electronic communication between the surgical training tool 36 and the training module 16.

[0063] However, as mentioned above, the 36 complex surgical simulation tools have a microcontroller capable of communicating directly with the control system 20, and this is therefore the preferred means of communication. In this case, the connection to the haptic controller 18 via the connection system 35 is especially useful physically and mechanically. The advantage of this 35 connection system for complex tools is that, by connecting the tool, it is possible to detect whether the tool is plugged in or not.

[0064] Regarding the power supply to the connected tool 36, depending on the embodiment, the connection system 35 allows the passage of electrical current directly between the haptic controller 18 or the control system 20 and the connected surgical simulation tool 36, thus supplying it with power. In the second embodiment, the haptic controller 18 is bypassed (with regard to the power supply) and the power supply does not pass through it.

[0065] As the modularity of the platform 10, according to the detailed example above, allows several training modules 16 to be connected 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 training tools 36 connected to the different haptic controllers 18. If the control console 26 has several training modules 16, the platform 10 allows the positioning of several surgical training tools 36 to be determined simultaneously, as soon as they are connected to a haptic controller 18.

[0066] The control system 20 of the platform 10 according to the invention further comprises a recognition system 40 for each surgical simulation tool 36. More specifically, the recognition system 40 of the control system 20 is configured to obtain specific identification information for each surgical simulation tool 36 connected to the haptic controller 18. The recognition system 40 is configured to communicate the identification information to the control system 20 so that the control system 20 recognizes each surgical simulation tool 36 connected to the haptic controller 18.

[0067] The recognition system 40 of the surgical training tool 36 is configured as follows: - read the voltage from a voltage divider bridge specific to each surgical training tool 36, communicate with the control system 20, so that the control system 20 recognizes each surgical training tool 36 connected to the haptic controller 18.

[0068] In an alternative embodiment, the recognition system 40 of the surgical training tool 36 is thus configured to read an electronic identification chip located inside the surgical simulation tool 36, in particular so-called simple tools.

[0069] It is indeed necessary to identify each surgical simulation tool 36 which is connected to the haptic controller 18 in order to allow the control system 20 to generate, where appropriate, a corresponding mobile virtual surgical element 102 in the virtual space 100. In all cases, it is necessary to have an identification so that the control system 20 can adapt the haptic response to the tool used.

[0070] However, in the case where the control system runs highly directional software telling the user which surgical simulation tool to use, this identification is not necessary because the simulation only works with one predetermined tool or several tools 36 in a predetermined order.

[0071] 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).

[0072] In the case of a simple surgical simulation tool 36, the recognition system 40 includes a microcontroller 42 preferably located in the base 30 of the training module 16, as shown in Figure 7. The microcontroller 42 is connected to the surgical simulation tool 36 by means of the connection system 35, via the cable 39. The recognition system 40, in the case of a simple training surgical tool, further includes, at the connection system 35 between the tool 36 and the haptic controller 18, an electronic device such as a voltage divider bridge to enable the recognition of the tool 36.

[0073] In the case of a complex surgical training tool, the recognition system 40 of the control system 20 retrieves and analyzes information from the microcontroller of the complex surgical training tool 36. In this case, wireless communication is sufficient for identification.

[0074] The control system 20 of the platform 10 is configured to: o identify the different modules 14, 16, 28 connected to each other, 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, where appropriate, each mobile virtual surgical element 102 of the virtual environment 100 with a corresponding real element, o generate specific haptic feedback related to the connected tool, the movements of the user (therefore of the haptic controller 18) and the virtual reality 100.

[0075] The control system 20 thus generates, for the tools requiring it, a virtual image of each surgical simulation tool 36 connected to the haptic controller 18.

[0076] As mentioned above, the virtual environment 100 also includes set elements 106 that cannot be moved and / or manipulated. These might include, for example, an endoscopy screen 108 or a lamp that can be manipulated virtually by the user, for example, by clicking a button to turn them on. These set elements 106 do not have corresponding physical elements.

[0077] Based on the information received from the recognition system 40 and the information collected at the level of the haptic controller 18, the control system 20 is configured to transform / reproduce each movement in space of each surgical simulation 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.

[0078] In the specific case of a connection with a simple surgical simulation tool 36, the control system 20 comprises: - line measuring unit (or microcontroller 42) configured to: o identify the connected tools 36 and / or modules 14, 16, o collect the data of the clean 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 simulation tool 36, o interface each virtual surgical tool 102 of the virtual environment 100 with a corresponding real element.

[0079] In this particular case, as illustrated in figures 1 and 7, the measuring unit (or microcontroller 42) is part of the drive module 16.

[0080] The control system 20 is further configured, as mentioned above, to generate a feedback signal (or haptic signal) enabling the haptic controller 18 to in turn generate a corresponding haptic signal, depending on what is happening in the virtual environment 100. Thus, the control system 20 leads the haptic controller 18 to generate specific haptic feedback when the virtual tool 102, corresponding to the training surgical tool 36 manipulated by the user, comes into contact with another virtual tool 102 or another virtual element, such as a decorative element 106, in the virtual environment 100. This enhances the immersive aspect of the simulation and provides a greater sense of reality; the interactions visible in the virtual environment 100 are also felt by the user.

[0081] In this application, the term "haptic signal" is understood as a signal actively generated by the platform 10 according to the present invention. It is distinct from the concept of "tactile feedback," which is simply passive feedback, generated automatically by the human body in reaction to the manipulation of animate or inanimate objects.

[0082] Some of the complex surgical simulation tools 36, such as the one shown in Figure 10, feature a rotating distal stem 360. These tools 36 They 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 simulation tool 36 and the specific rotation of the distal rod 360: it is necessary to transmit the general rotation of the surgical simulation tool 36 with respect 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 simulation tool 36.

[0083] 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 training tool 36 without losing the orientation information of the tool 36 itself. The arch piece 45 is fixed to the gripping body of the tool 36 on one side and to the distal rod 360, which is integral with the second connector 35b, on the other. The distal rod 360 is cut so that the portion under the arch piece 45 can be freely rotated without affecting the rotation of the key-lock mechanism of the connection system 35, at the end of the haptic controller 18.

[0084] Arch part 45 is preferably printed using a 3D printer with layer deposition, but any other plastic manufacturing process can be used, such as laser sintering. Arch part 45 is preferably designed in two parts for easy disassembly; the two parts are assembled using screws.

[0085] It can thus be seen that the platform 10 according to the invention is built around the training module(s) 16. Each training module 16 is therefore a central element located at the convergence of the various elements of the platform 10 according to the present invention. Each training module 16 is organized, as already mentioned, around a base 30 which allows the various elements to be fixed: 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 three-dimensional motion acquisition robot using a polar coordinate system, magnets 34, 38, and, possibly - one or more electrical connectors (for example retractable pin connectors as seen above).

[0086] These various elements, when connected to the virtual reality display device 12 via the calibration module 14, allow for the linking, within a surgical simulation framework, of the manipulation of physical surgical instruments to their virtual twins in a virtual reality simulation. The platform 10 provides a simple yet mechanically and electrically robust connection, enabling a user to operate the platform 10 safely and confidently, without having to worry about how the surgical simulation tool 36 is being handled and without being hampered by a cumbersome and / or bulky connection system.

Claims

DEMANDS 1. Surgical training platform (10) configured to interface a haptic controller (18) with a surgical simulation tool (36) comprising: - a control system (20), at least one surgical simulation tool (36) having at least one free end extending along a first axis Ai, - at least one haptic controller (18) comprising a connection system (35) configured to mechanically and electrically connect, reversibly, at least one surgical simulation tool (36), the control system further including a recognition system for each surgical simulation tool (36) configured to obtain identification information specific to the surgical simulation tool (36) connected to the haptic controller (18), and to communicate the identification information to the control system (20) so that the control system (20) recognizes each surgical simulation tool (36) connected to the haptic controller (18), characterized in that - the connection system (35) includes at least one connector (35a) extending along a second axis A2, the at least one connector (35a) comprising a first coupling element (44a) complementary to a corresponding coupling element (44b) of the free end of each surgical simulation tool (36), - the coupling elements (44a, 44b) of the connector (35a) and the free end of each surgical simulation tool (36) are configured to cooperate coaxially by aligning the Ai and A2 axes, so that the connection (35) between the haptic controller (18) and each surgical simulation tool (36) is axial, - once connected to each other, each movement of the surgical simulation tool (36) induces a corresponding movement of the mobile haptic controller (18). A surgical training platform (10) according to the preceding claim, characterized in that the connection system (35) of the haptic controller (18) allows the connection of at least two different surgical simulation tools (36). A surgical training platform (10) according to any one of the preceding claims, characterized in that at least one connector (35a) is configured to cooperate with the free end of the surgical simulation tool (36). A surgical training platform (10) according to the preceding claim, characterized in that at least one connector (35a) is a key-lock type connector configured to cooperate with the free end of the surgical simulation tool (36).A surgical training platform (10) according to any one of the preceding claims, characterized in that the connection (35) between the haptic controller (18) and the free end of at least one surgical simulation tool (36) ensures collinearity along the first axis Ai of at least one connector (35a). A surgical training platform (10) according to any one of the preceding claims, characterized in that the connection system (35) comprises a first connector (35a) fixed to the haptic controller (18) and a second connector (35b) fixed to the free end of the surgical simulation tool (36), the two connectors (35a, 35b) being configured to cooperate with each other.Surgical training platform (10) according to any one of the preceding claims, characterized in that the haptic controller (18) comprises a movable arm, the movable arm having a free end for cooperating with the connection system (35). Surgical training platform (10) according to any one of the preceding claims, characterized in that the connection system (35). allows the passage of electrical current between the haptic controller (18) and the connected surgical simulation tool (36), so as to power the surgical simulation tool (36). Surgical training platform (10) according to any one of claims 1 to 7, characterized in that the connection system (35) allows the passage of electrical current between the control system (20) and the connected surgical simulation tool (36), so as to power the surgical simulation tool (36). Surgical training platform (10) according to any one of the preceding claims, characterized in that each connector (35a, 35b) comprises a magnet (38) so that the connection (35) is magnetized.

Images