Laparoscopic surgery training device

Abstract

To reduce time until a surgical trainee completes a specific procedure in a dry box during training of surgical techniques in laparoscopic surgery.SOLUTION: The laparoscopic surgery training device includes: a first housing unit in which a first biological model can be accommodated; a pair of left and right first parallel link units disposed in the first housing unit, the first parallel link unit allowing an operation on the first biological model; a second housing unit in which a second biological model can be accommodated; a pair of left and right second parallel link units disposed in the second housing unit, the second parallel link units allowing an operation on the second biological model; and a control unit for controlling operations of the pair of left and right second parallel link units so that the operations respectively become equivalent to operations of the pair of left and right first parallel link units.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a laparoscopic surgery training device used to train surgeons in surgical techniques in laparoscopic surgery. [Background technology]

[0002] The number of laparoscopic surgeries is increasing in the medical field. Laparoscopic surgery involves inserting forceps into the abdominal cavity under the visual field of an endoscope via a narrow access port in the patient's abdominal wall, and performing surgical procedures such as suturing and incision by combining the insertion, traction, and rotational movements of the forceps with both hands. Due to the recent increase in the number of laparoscopic surgeries, there is an increasing need for methods to effectively acquire and train surgical skills for surgical trainees.

[0003] Traditionally, training in surgical techniques for laparoscopic surgery has been carried out by using a laparoscopic simulator called a dry box, which contains a medical biological model, and trainees simulate surgical procedures on the biological model using forceps (for example, Patent Document 1, Non-Patent Document 1). In the conventional method, when trainees learned a new surgical procedure, they would visually obtain information on moving images of the procedure performed by an experienced doctor using a video or the like, and then repeat the simulation using the dry box. [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] Limbs and Things, "Deliberate Practice with the Surgical Female Pelvic Trainer for Gaining and Maintaining Competence in OB / GYN Laparoscopic Surgery," [online], [Retrieved February 16, 2024], Internet <URL: https: / / limbsandthings.com / us / news / 37763 / deliberate-practice-with-the-surgical-female-pelvic-trainer-for-gaining-and-maintaining-competence-in-obgyn-laparoscopic-surgery> [Patent documents]

[0005] [Patent Document 1] JP 2021-43443 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, when simulating surgical procedures using a dry box, trainee surgeons must move the tip of the forceps to the desired position in space while looking at a two-dimensional image of the endoscope displayed on a screen, and this requires the skill of manipulating the forceps' complex movements in space on a two-dimensional screen that does not allow for a three-dimensional view.

[0007] Furthermore, with the recent expansion of laparoscopic surgical procedures, there is a demand for improved quality in training using dry boxes, but the only viable method for learning these procedures is to imitate and reproduce them by watching a sample video. Furthermore, it is inherently difficult to reproduce the complex movements of a new procedure in space based on two-dimensional moving images obtained visually from a video or other video by an experienced surgeon. Therefore, it takes a considerable amount of time for trainees to be able to properly reproduce a new procedure.

[0008] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a laparoscopic surgery training device that helps reduce the time it takes for a trainee surgeon to complete a specific procedure inside a dry box during training in surgical procedures for laparoscopic surgery. [Means for solving the problem]

[0009] In order to achieve the above object, a laparoscopic surgery training device according to one embodiment of the present disclosure is characterized by comprising a first housing unit capable of housing a first biological model, a pair of left and right first parallel link units arranged in the first housing unit and capable of operating the first biological model, a second housing unit capable of housing a second biological model, a pair of left and right second parallel link units arranged in the second housing unit and capable of operating the second biological model, and a control unit that controls the operation of the pair of left and right second parallel link units so that they are equivalent to the operation of the corresponding pair of left and right first parallel link units. [Effects of the Invention]

[0010] According to one aspect of the present disclosure, a laparoscopic surgery training device can be provided that helps reduce the time it takes for a trainee surgeon to complete a specific procedure inside a dry box during training in surgical procedures for laparoscopic surgery. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a schematic plan view of a teacher side device 1E(1) and a training side device 1E(2) that constitute a laparoscopic surgery training apparatus 1 according to an embodiment. [Figure 2] FIG. 1 is a perspective view of either a teacher device 1E(1) or a training device 1E(2) that constitutes the laparoscopic surgery training apparatus 1, viewed from the upper left. [Figure 3] 3 is a view of parallel link units 10L and 10R of the laparoscopic surgery training device 1 as seen from the arrow A1 in FIG. 2. [Figure 4] FIG. 2 is a perspective view schematically showing the configuration of a parallel link unit 10L. [Figure 5] 1A is a schematic right side view of the parallel link unit 10L, and FIG. 1B is a left side view thereof. [Figure 6] 4A is a view of the parallel link unit 10L taken along the arrow A2 in FIG. 4, and FIG. 4B is a cross-sectional view of the surgical tool holding portion 11 of the parallel link unit 10L taken along the line B1-B1 in FIG. 4A. [Figure 7] 10(a) and 10(b) are diagrams illustrating an outline of the angle change operation at the base 14 of the parallel link unit 10L. [Figure 8] 10(a) and 10(b) are diagrams for explaining an outline of the operation of the second robot arm 13 of the parallel link unit 10L. [Figure 9] 10(a) and 10(b) are diagrams for explaining an outline of the angle changing operation of the surgical tool holding portion 11 of the parallel link unit 10L. [Figure 10] 1(a) is a schematic diagram showing one aspect of the circuit configuration of the control means in the laparoscopic surgery training device 1, FIG. 1(b) is a schematic diagram showing another aspect of the circuit configuration of the control means 4, and FIG. 1(c) is a functional block diagram showing the functional configuration of the control unit 41. DETAILED DESCRIPTION OF THE INVENTION

[0012] <<Outline of the mode for carrying out the present invention>> A laparoscopic surgery training device according to an embodiment of the present disclosure is characterized by comprising a first housing unit capable of housing a first biological model, a pair of left and right first parallel link units arranged in the first housing unit and capable of operating the first biological model, a second housing unit capable of housing a second biological model, a pair of left and right second parallel link units arranged in the second housing unit and capable of operating the second biological model, and a control unit that controls the operation of the pair of left and right second parallel link units so that they are equivalent to the operation of the corresponding pair of left and right first parallel link units.

[0013] With this configuration, for example, an experienced surgeon can input data into the first parallel link unit, and the second parallel link unit can reproduce the same movement as the first parallel link unit in real time. This allows a trainee to experience the exemplary procedure of an experienced surgeon through the movement of the second parallel link unit, thereby accelerating their mastery. This reduces the time it takes for a trainee surgeon to complete a specific procedure inside a dry box during training in laparoscopic surgical procedures.

[0014] In another aspect, in any of the above aspects, the pair of left and right first parallel link units each have a pair of left and right first robot hands capable of holding a first surgical tool that can be operated on the first biological model, and a pair of left and right detection means that detect the position and angle of the pair of left and right first robot hands in three-dimensional space, respectively, and the pair of left and right second parallel link units each have a pair of left and right second robot hands capable of holding a second surgical tool that can be operated on the second biological model, and a pair of left and right drive means that control the position and angle of the pair of left and right second robot hands in three-dimensional space, respectively, and the control unit may be configured to control each of the corresponding pair of left and right drive means based on outputs from each of the pair of left and right detection means so that the position and angle of the second robot hand are equivalent to the position and angle of the first robot hand, respectively.

[0015] With this configuration, the surgical tool holding portion of the second parallel link unit can reproduce the position and orientation in the XYZ directions in three-dimensional space of the surgical tool holding portion of the first parallel link unit.

[0016] In another aspect, any of the above aspects may further include a data storage unit capable of storing information, and the control unit may be configured to control the driving means based on the information stored in the data storage unit.

[0017] With this configuration, for example, by saving and storing the movements of an experienced doctor, trainees can train by repeatedly playing back the exemplary procedures of the experienced doctor on the second parallel link unit at the required timing, thereby accelerating their learning.

[0018] In another aspect, in any of the above aspects, the control unit may be configured to store information indicating the position and angle of the first robot hand output from the detection means in the data storage unit, and control the drive means based on the information.

[0019] With this configuration, by saving the movements of the first parallel link unit performed by an experienced doctor, a trainee can repeatedly play back the exemplary procedures of the experienced doctor using the second parallel link unit for training. Also, by saving the movements of the first parallel link unit related to the trainee's own operation, it becomes possible to objectively measure the trainee's proficiency.

[0020] In another aspect, in any of the above aspects, the pair of left and right first parallel link units each have a pair of left and right first robot arms that are connected to the first housing unit, are respectively arranged on a pair of left and right first bases that are spaced a predetermined distance apart, and support the pair of left and right first robot hands, respectively; the pair of left and right second parallel link units each have a pair of left and right second robot arms that are respectively connected to the second housing unit, are respectively arranged on a pair of left and right second bases that are spaced a predetermined distance apart, and support the pair of left and right second robot hands, respectively; the pair of left and right detection means each detects the angle of the pair of left and right first robot arms relative to the first bases; and the pair of left and right drive means each drive the pair of left and right first robot arms. and controls angles of the pair of corresponding left and right second robot arms relative to the second base based on information indicating an angle of the arm, and when the pair of left and right first bases is viewed in a plane, the pair of left and right multiple first robot arms extend from the first base such that, of multiple central angles between adjacent first robot arms, a central angle on a side facing either of the first robot arms on the opposite side of the pair is larger than a central angle on a side that does not face each other, and when the pair of left and right second bases is viewed in a plane, the pair of left and right multiple second robot arms extend from the second base such that, of multiple central angles between adjacent second robot arms, a central angle on a side facing either of the second robot arms on the opposite side of the pair is larger than a central angle on a side that does not face each other.

[0021] With this configuration, the robot arms extending from the opposing first and second parallel link units do not interfere with each other, and the operator can perform training operations smoothly without interference between the laparoscope operations of both hands.

[0022] <Embodiment> The laparoscopic surgery training device 1 according to the present embodiment will be described with reference to the drawings. Note that the drawings are schematic diagrams, and the scale may differ from the actual scale. Furthermore, the following description is an example for explaining the configuration, operation, and effect of one embodiment of the present disclosure, and the essential parts of the present disclosure are not limited to the following embodiment. Furthermore, in this specification and claims, including the following description, up and down indicate relative positional relationships, with the upper direction on the paper in the drawings being the "up" direction and the lower direction on the paper being the "down" direction. Furthermore, the direction in front of the operator of the laparoscopic surgery training device 1 is the "forward" direction, and the direction behind is the "rear" direction. However, this does not necessarily correspond to an absolute (vertical) positional relationship between up and down. Furthermore, in this specification and claims, the symbol "~" used to indicate a numerical range includes both ends of the range.

[0023] <Overall configuration of laparoscopic surgery training device 1> The laparoscopic surgery training device 1 (hereinafter referred to as "device 1") is a device used by surgical trainees and others to acquire and train surgical techniques for laparoscopic surgery.When trainees use forceps to train surgical techniques on a biological model using a dry box containing a medical biological model, the trainee's forceps movements follow those of an experienced surgeon, allowing the trainee to perform the same techniques as the experienced surgeon, making it easier for the trainee to understand and master exemplary techniques and improving the efficiency of training.

[0024] <Overall structure> Fig. 1 is a schematic plan view of a teacher-side device 1E(1) and a training-side device 1E(2) that constitute an apparatus 1 according to an embodiment. Fig. 2 is a perspective view of either the teacher-side device 1E(1) or the training-side device 1E(2) viewed from the upper left. As shown in Figs. 1 and 2, the apparatus 1 is composed of a pair of teacher-side device 1E(1) and training-side device 1E(2) that have similar configurations and are used by an experienced doctor and a trainee, respectively, and control means 4.

[0025] The teacher device 1E(1) is a teacher's device into which an experienced doctor inputs exemplary surgical techniques. The teacher device 1E(1) includes a first housing 2(1) capable of housing a first biological model FM(1) that mimics biological tissue, and a first parallel link unit 10(1) that functions as a leader robot that can operate the first biological model FM(1) using a surgical tool SI(1), such as forceps. The teacher device 1E(1) may further include an imaging means 3(1) that is housed in an endoscope and captures an image of the first biological model FM(1), and a display unit 5(1) such as a display device that displays the image.

[0026] The first parallel link unit 10(1) has a pair of left and right parallel link units 10(1)L having similar configurations, one for the left hand corresponding to the surgical instrument SI(1) in the left hand, and the other for the right hand corresponding to the surgical instrument SI(1) in the right hand.

[0027] The training side device 1E(2) is a training device that allows a trainee to imitate exemplary procedures performed by an experienced doctor. The training side device 1E(2) includes a second housing 2(2) that can house a second biological model FM(2) and a second parallel link unit 10(2) that functions as a follower robot that can be operated with a surgical tool SI(2) relative to the second biological model FM(2). The training side device 1E(2) may further include an imaging means 3(2) that is housed in the endoscope and captures an image of the second biological model FM(2), and a display unit 5(2) such as a display device that displays the image.

[0028] The second parallel link unit 10(2) also has a pair of similar configurations, a left-hand parallel link unit 10(2)L corresponding to the left-hand surgical instrument SI(2) and a right-hand parallel link unit 10(2)L corresponding to the right-hand surgical instrument SI(2).

[0029] In this specification, the teacher-side device 1E(1) and the training-side device 1E(2) may be collectively referred to as device 1E. The first housing unit 2(1) belonging to the teacher-side device 1E(1) and the second housing unit 2(2) belonging to the training-side device 1E(2) may be collectively referred to as housing unit 2. Similarly, the first parallel link unit 10(1) and the second parallel link unit 10(2) may be collectively referred to as parallel link unit 10 (hereinafter, sometimes referred to as "unit 10").

[0030] Furthermore, when there is no need to distinguish between the left-hand parallel link unit 10L (hereinafter sometimes referred to as "unit 10L") and the right-hand parallel link unit 10R (hereinafter sometimes referred to as "unit 10R"), the letters "L" and "R" are omitted. Similarly, the first biological model FM(1) and the second biological model FM(2), the surgical tools SI(1) and (2), the imaging means 3(1) and (2), and the display units 5(1) and (2) may be collectively referred to as the biological model FM, the imaging means 3, and the display unit 5, respectively.

[0031] The imaging means 3 is installed inside the endoscope and is configured by a camera using, for example, a CCD (Charge Coupled Device) image sensor, which captures moving images of the biological model FM.

[0032] The control means 4 is electrically connected to the other elements and outputs control signals to control the operation of each unit. For example, the main function of the control means 4 is to detect the movement of the unit 10(1)L and the unit 10(1)R, and based on the results, control the unit 10(2)L and the unit 10(2)R so that the movement of the pair of left and right units 10(2)L and 10(2)R is equivalent to the movement of the corresponding pair of left and right units 10(1)L and 10(1)R.

[0033] The device 1 may also include an operation input unit 6, such as a keyboard, a mouse, or a touch panel, that receives operation input from an operator.

[0034] <Configuration and operation of each part> Next, the configuration of each part of the device 1 will be described.

[0035] (Housing part 2) The housing unit 2 is a box or part of a box, called a black box, on whose bottom surface, for example, a biological model FM simulating the shape of a patient's surgical site can be placed. The first housing unit 2(1) belonging to the teacher-side device 1E(1) and the second housing unit 2(2) belonging to the training-side device 1E(2) may be different boxes, or may be different parts of the same box. The housing unit 2 has left and right openings 2a on the top surface, through which left-handed and right-handed surgical tools SI are inserted, and a central hole 2b through which an endoscope equipped with imaging means 3 is inserted. In addition, left-handed and right-handed units 10 are fixed to the left and right sides of the top surface, respectively.

[0036] (Parallel link unit 10) The unit 10 is a parallel link type robot mechanism that is arranged on the top surface of the housing 2 and performs operations on the biological model FM using surgical tools SI, simulating surgical operations.

[0037] FIG. 3 is a view of the units 10L and 10R included in the teacher-side device 1E(1) or the training-side device 1E(2) as seen from the arrow A1 in FIG. 2, and FIG. 4 is a perspective view schematically illustrating the configuration of the unit 10L. Also, FIG. 5(a) is a schematic right side view of the unit 10L, and FIG. 5(b) is a left side view. Also, FIG. 6(a) is a view of the unit 10L as seen from the arrow A2 in FIG. 4, and FIG. 6(b) is a cross-sectional view of the surgical tool holding portion 11 of the unit 10L taken along line B1-B1 in FIG. 4, 5(a)(b), and 6(a)(b), and therefore the unit 10R has the same configuration as the unit 10L, and is therefore not shown. In the following description, the units 10R and 10L will be collectively referred to as unit 10.

[0038] The configuration of each part of the unit 10 will be outlined below. Unit 10 is a robot equipped with a parallel link robot arm mechanism that holds a surgical tool SI, such as forceps, for performing surgical operations on the biological model FM, moves the part holding the surgical tool SI to a predetermined position in space, and functions as a manipulator that controls the orientation of the surgical tool SI. Unit 10 has a pair of surgical tool holders 11, robot hands 12, robot arms 13, and a base 14. Furthermore, unit 10(1) has a pair of detection means 15, and unit 10(2) has a pair of drive means 16, both on the left and right.

[0039] In this specification, when distinguishing between the surgical tool holding unit 11, robot hand 12, robot arm 13, and base 14 belonging to unit 10(1) or unit 10(2), they will be referred to as surgical tool holding unit 11(1) or 11(2), robot hand 12(1) or 12(2), robot arm 13(1) or 13(2), and base 14(1) or 14(2), respectively.

[0040] [Surgical tool holder 11, robot hand 12] The surgical tool holding portion 11 is a workpiece holding portion that holds a surgical tool SI by passing the shaft of the surgical tool SI through a hole 11a formed in the upper surface.

[0041] The robot hand 12 is a robot hand that is rotatably supported at the tip of each of a plurality of robot arms 13 and thereby holds the surgical tool holding part 11. As shown in Fig. 6(b), the surgical tool holding part 11 is rotatably supported by the robot hand 12 via a ball joint 111, and is configured so that the angle of the surgical tool SI inserted into the hole 11a on the top surface can be changed by the operator.

[0042] [Robot Arm 13] The robot arm 13 is a so-called parallel link type robot arm, and multiple (three in this example) robot arms 131, 132, 133 are arranged side by side, each having two upper and lower links 13a, 13b connected in series, and extend from a base 14 in different directions on the XY plane.

[0043] [Base 14] The base 14 is a base that supports the robot arm 13 and also a fastener for connecting the robot arm 13 to the housing 2. The pair of left and right bases 14 are attached to the housing 2 with a predetermined distance L0 between them. The bases 14 have an annular movable part 142 that supports the unit 10 and a fixed part 141 that is attached to the housing 2. Here, the predetermined distance L0 between the pair of left and right bases 14 is, for example, a distance such that the minimum distance between the rotation fulcrums of the links 13b of the pair of opposing left and right robot arms 13 is not more than 1.5 times the length of the links 13b of the robot arms 13, more preferably not more than the length of the links 13b.

[0044] The annular movable part 142 is a ring-shaped member that surrounds an opening 142a for passing a surgical tool SI through during training. In the unit 10(1), a plurality of detection means 15 are erected at predetermined positions on the circumference of the ring-shaped annular part of the annular movable part 142, and the base ends (lower ends) of the links 13b of the robot arms 131, 132, and 133 are rotatably connected to the rotation shafts of the plurality of detection means 15, respectively. Similarly, in the unit 10(2), a plurality of drive means 16 are erected at predetermined positions on the circumference of the annular part of the annular movable part 142, and the base ends (lower ends) of the links 13b of the robot arms 131, 132, and 133 are rotatably connected to the rotation shafts of the plurality of drive means 16, respectively.

[0045] The fixing portion 141 is a member for attaching the unit 10 to the housing 2. As shown in Fig. 5 , the fixing portion 141 has a slit 141a in the horizontal direction, and the unit 10 is attached to the housing 2 by sandwiching the outer edge of the upper surface of the housing 2 in this slit 141a.

[0046] In addition, fixed portion 141 has a hinge portion 14a on its upper surface for supporting annular movable portion 142, and a portion of the annular portion of annular movable portion 142 is rotatably attached to fixed portion 141 by hinge portion 14a, and annular movable portion 142 is configured to be able to change the angle of annular movable portion 142 relative to fixed portion 141 by rotating around the axis of hinge portion 14a within a predetermined angle range.

[0047] Here, as shown in FIG. 4, when the opening 142a of the annular movable part 142 is viewed from above, the robot arms 131, 132, and 133 extending from the annular movable part 142 have a central angle φ between adjacent robot arms (131-132, 132-133, and 133-131). 1-2 , φ 2-3 , φ 3-1 The central angle φ between the robot arms (133-131) on the side where the unit 10(1) and the unit 10(2) face each other 3-1 However, the central angle φ between the other robot arms (131-132, 132-133) on the opposite sides 1-2 , φ 2-3 For example, the number of robot arms 13 on each side is three, and the central angle φ between the units 10(1) and 10(2) is larger than 3-1 is between 150° and 180°, and other central angles φ 1-2 , φ 2-3 In this example, the central angle φ between the unit 10(1) and the unit 10(2) facing each other may be set to 90° or more and 105° or less. 3-1 is configured to be 180°, and other central angles φ 1-2 , φ 2-3 is configured at 90°.

[0048] Specifically, as shown in FIG. 4, when the direction of the hinge portion 14a on the circumference of the annular portion of the annular movable portion 142 is the 6 o'clock direction, in unit 10(1), the robot arms 131, 132, 133 may be arranged to extend in the directions of 0 o'clock, 3 o'clock, and 6 o'clock, respectively, and in unit 10(2), the robot arms 131, 132, 133 may be arranged to extend in the directions of 0 o'clock, 9 o'clock, and 6 o'clock, respectively.

[0049] This prevents the robot arms 131, 132, and 133 extending from the opposing units 10(1) and 10(2) from interfering with each other, allowing the operator to smoothly perform training operations without interference between the laparoscope operations of both hands.

[0050] [Detection means 15] The detection means 15 is an angle detection means that is erected at a predetermined position on the circumference of the annular portion of the annular movable portion 142 of the unit 10(1), rotatably supports the base ends of the links 13b of the robot arms 131, 132, and 133, and detects the rotation angles of the links 13b. For example, a potentiometer, an encoder, or the like can be used as the detection means 15. In the unit 10(1) of this example, the detection means 15 is configured by a potentiometer, and the control means 4 detects resistance values ​​corresponding to angle signals (e.g., θ(1)1, θ(1)2, θ(1)3) emitted from the detection means 15 for each of the robot arms 131, 132, and 133, and outputs the resistance values ​​to the control means 4.

[0051] [Drive means 16] The driving means 16 is erected at a predetermined position on the circumference of the annular portion of the annular movable portion 142 of the unit 10(2), rotatably supports the base ends of the links 13b of the robot arms 131, 132, and 133, and changes the rotation angle of the links 13b. For example, a digital servo motor, a stepping motor, or the like can be used as the driving means 16. In the unit 10(2) of this example, the driving means 16 is configured by a digital servo motor, and controls the rotation of the driving means for each robot arm 13 based on a PWM (Pulse Width Modulation) signal generated by the control means 4, thereby changing the angles (e.g., θ(2)1, θ(2)2, and θ(2)3) of each robot arm 131, 132, and 133 around the fulcrum at the base 14. This changes the position of the robot hand 12 in the X, Y, and Z directions in three-dimensional space, and moves the surgical tool holding portion 11 of the robot hand 12 to a target position in three-dimensional space.

[0052] [About the movement of the parallel link unit 10] Next, the main operation of the unit 10 will be explained with reference to the drawings. Figures 7(a) and (b) are diagrams explaining an overview of the angle change operation at the base 14 of unit 10L, Figures 8(a) and (b) are diagrams explaining an overview of the operation of the second robot arm 13 of unit 10L, and Figures 9(a) and (b) are diagrams explaining an overview of the angle change operation at the surgical tool holding portion 11 of the parallel link unit 10L.

[0053] 7(a) and 7(b), the annular movable part 142 can be rotated (R1) around the axis of the hinge part 14a within a predetermined angle range to change the angle of the annular movable part 142 relative to the fixed part 141. With this configuration, the operator can change the angle of the entire unit 10 during training to change the angle of the surgical tool SI relative to the biological model FM.

[0054] 8(a) and 8(b), the robot arm 13 supports the surgical tool holding part 11 via the robot hand 12, and can move (M1) the surgical tool holding part 11 to a predetermined position in three-dimensional space and change the orientation of the surgical tool holding part 11. This makes it possible to change the position and angle of the surgical tool SI relative to the living body FM.

[0055] In addition, the surgical tool holding part 11 that holds the surgical tool SI is supported by the robot hand 12 via a ball joint 111 so that it can rotate freely (R2), as shown in Figures 9(a) and (b), thereby allowing the angle of the surgical tool SI relative to the biological model FM to be changed.

[0056] (Control means 4) The configuration of the control means 4 of the device 1 will be described below with reference to the drawings. Fig. 10(a) is a schematic diagram showing one embodiment of the circuit configuration of the control means 4 in the device 1, and (b) is a schematic diagram showing another embodiment of the circuit configuration of the control means 4. As shown in Fig. 10(a), the control means 4 includes a control unit 41, a data storage unit 42, a sensor I / F 43, and a drive circuit 44. In another embodiment, the control means 4 may include an image acquisition circuit 45, as shown in Fig. 10(b).

[0057] The control unit 41 is realized as a computer including, for example, a general CPU (Central Processing Unit), RAM (Random Access Memory), ROM (Read Only Memory), and programs executed by these. The CPU reads and executes the programs (not shown) stored in the ROM, thereby realizing each function of the device 1.

[0058] Fig. 10(c) is a functional block diagram showing the functional configuration of the control unit 41. As shown in Fig. 10(b), the control unit 41 includes a detection information input / output unit 411, an image information input / output unit 412, and a training movement control unit 413.

[0059] The detection information input / output unit 411 is a processing unit that acquires detection information received from the detection means 15 via the sensor I / F 43, and generates a control signal for driving the drive means 16 of the unit 10(2) based on the acquired information and outputs it to the drive circuit 44.

[0060] In another embodiment shown in Figure 10(b), the image information input / output unit 412 is a processing unit that acquires images received from the imaging means 3 via the image acquisition circuit 45 and stores them in the data storage unit 42, and also reads out the images from the data storage unit 42 and outputs them to the display unit 5 for display.

[0061] The training action control unit 413 is a processing unit that controls the training action of the device 1 based on an operation input from the operation input unit 6 and a program.

[0062] The data storage unit 42 functions as a temporary storage area for temporarily storing images and the like output from the image acquisition circuit 43. For example, the data storage unit 42 includes a nonvolatile memory such as an SSD (Solid State Drive) or a hard disk.

[0063] The sensor I / F 43 is a sensor IF that receives an electrical signal from the detection means 15 and converts it from analog to digital into angle information.

[0064] The drive circuit 44 is a drive circuit including a motor driver for driving the motor that constitutes the drive means 16 .

[0065] The image acquisition circuit 45 is a circuit that acquires an endoscopic image from the imaging means 3 and outputs it to a subsequent stage, and can use, for example, an image capture board or other means for importing image data into a processing device such as a computer.

[0066] <Operation of Device 1> Next, the operation of the device 1 realized by the control unit 41 will be described.

[0067] The control unit 41 realizes a training motion by the training motion control unit 413 based on the operation input from the operation input unit 6 and on the control program of the device 1 .

[0068] For example, as one operating mode, the control unit 41 may operate the detection information input / output unit 411 via the training operation control unit 413 to control the unit 10(2) based on the movement of the unit 10(1), so that the movements of the pair of left and right units 10(2) are equivalent to the movements of the corresponding pair of left and right units 10(1).

[0069] At this time, in unit 10, the control unit 41 receives angle signals emitted from a plurality of detection means 15 corresponding to each of the robot arms 13 of unit 10(1) and detects the angle of each robot arm 13 in unit 10(1) about the fulcrum at the base 14. The received angle signal is then converted into a control signal for each of the corresponding robot arms 13 of unit 10(2) and output, thereby rotationally driving the drive means 16. This controls the angle of each robot arm 13 in unit 10(2) about the fulcrum at the base 14 to be equivalent to the angle of each corresponding robot arm 13 in unit 10(1) about the fulcrum at the base 14. As a result, the position and orientation in the X, Y, and Z directions in three-dimensional space of the surgical tool holding unit 11(1) of unit 10(1) can be reproduced in the surgical tool holding unit 11(2) of unit 10(2).

[0070] In this case, in the embodiment shown in Figure 10(a), the operator may display the endoscopic image captured by the imaging means 3 of the endoscope on the display unit 5 of each device 1E that they are using.

[0071] This allows, for example, an experienced doctor to input an exemplary procedure into unit 10(1) by operating the first biological model FM(1) with the surgical tool SI(1), and then the same movements as those of unit 10(1) are reproduced in real time in unit 10(2). As a result, when a trainee operates the second biological model FM(2) with the surgical tool SI(2), the trainee can experience the exemplary procedure of the experienced doctor through the movements of unit 10(2), thereby accelerating their mastery.

[0072] In another mode of operation, the control unit 41 may operate the detection information input / output unit 411 via the training operation control unit 413 to store the detection information received from the detection means 15 in the data storage unit 42, and control the drive means 16 based on the information recorded and stored in the data storage unit 42, so that the operation of the unit 10(2) reproduces the operation previously input by the unit 10(1).

[0073] By saving and accumulating the movements of the unit 10(1), the trainee can repeatedly play back and train the necessary procedures on the unit 10(2), which will speed up the trainee's proficiency. Also, by saving the movements of the unit 10(1) related to the trainee's own operation, it becomes possible to objectively measure the trainee's proficiency.

[0074] 10(b), the training movement control unit 413 may operate the image information input / output unit 412 in synchronization with the operation of the detection information input / output unit 411, and store the image information received from the imaging means 3 in the data storage unit 42. Also, the training movement control unit 413 may control the display unit 5 to display the image information recorded and stored in the data storage unit 42 in synchronization with the reproduction of the movement in the unit 10(2), and may control the display unit 5(2) of the device 1(2) to display an endoscopic image of the movement input by the unit 10(1).

[0075] This allows Unit 10(2) to reproduce in real time the same movements as those performed by an experienced physician in Unit 10(1) and the corresponding endoscopic images, allowing trainees to visually experience the exemplary techniques of an experienced physician, resulting in more effective training.

[0076] Furthermore, as another mode of operation, the training operation control unit 413 may operate the detection information input / output unit 411 to control the driving means 16 based on information recorded and stored as a library in the data storage unit 42, and control the operation of the unit 10(2) to reproduce the specified operation that has been stored.

[0077] In another embodiment shown in FIG. 10(b), the display unit 5(2) of the device 1(2) may be controlled to display an endoscopic image corresponding to the action in synchronization with the reproduction of the action.

[0078] This allows trainees to practice the required procedures by repeatedly playing back the exemplary procedures of the skilled doctor on Unit 10(2) at the required timing, by saving and accumulating endoscopic images that correspond to the same movements made by the skilled doctor on Unit 10(1), thereby accelerating their learning.

[0079] <Summary> As described above, the laparoscopic surgery training device 1 according to the embodiment is characterized by comprising a first housing unit 2(1) capable of housing a first biological model FM(1), a pair of left and right first parallel link units 10(1) arranged in the first housing unit 2(1) and operable to operate the first biological model FM(1), a second housing unit 2(2) capable of housing a second biological model FM(2), a pair of left and right second parallel link units 10(2) arranged in the second housing unit 2(2) and operable to operate the second biological model FM(2), and a control unit 41 that controls the operation of the pair of left and right second parallel link units 10(2) so that it is equivalent to the operation of the corresponding pair of left and right first parallel link units 10(1).

[0080] Previously, simulations of surgical procedures using dry boxes required surgeons to move the tip of the forceps to the desired position in space while looking at a two-dimensional image of the endoscope displayed on a screen. This required surgical trainees to have the skill to manipulate the forceps' complex movements in space on a two-dimensional screen that did not allow them to see them in three dimensions.

[0081] However, when training surgical techniques in laparoscopic surgery, it is inherently difficult for an experienced surgeon to reproduce the complex movements of a new procedure in space based on two-dimensional moving images obtained visually from a video or other source, and trainees have to spend a considerable amount of time training before they can properly reproduce the new procedure.

[0082] In contrast, with the device 1 according to the embodiment, for example, an experienced surgeon can input an exemplary procedure into unit 10(1) by operating a first biological model FM(1) with a surgical instrument SI(1), and unit 10(2) can reproduce the same movements as those of unit 10(1) in real time. Therefore, when a trainee operates a second biological model FM(2) with a surgical instrument SI(2), he or she can experience the exemplary procedure of the experienced surgeon through the movements of unit 10(2), thereby accelerating his or her mastery. As a result, in training surgical procedures for laparoscopic surgery, the time it takes for a trainee surgeon to complete a specific procedure inside a dry box can be reduced.

[0083] Furthermore, the pair of left and right first parallel link units 10(1) each have a pair of left and right first robot hands 12(1) capable of holding a first surgical tool SI(1) that can be operated on the first biological model FM(1), and a pair of left and right detection means 15 that detect the position and angle of the pair of left and right first robot hands 12(1) in three-dimensional space, respectively; the pair of left and right second parallel link units 10(2) each have a pair of left and right second robot hands 12(2) capable of holding a second surgical tool SI(2) that can be operated on the second biological model FM(2), and a pair of left and right drive means 16 that control the position and angle of the pair of left and right second robot hands 12(2) in three-dimensional space, respectively; and the control unit 41 may be configured to control the corresponding pair of left and right drive means 16 based on the output from each of the pair of left and right detection means 15 so that the position and angle of the second robot hand 12(2) are equivalent to the position and angle of the first robot hand 12(1), respectively.

[0084] With this configuration, the surgical tool holding portion 11(2) of the unit 10(2) can reproduce the position and orientation in the XYZ directions in three-dimensional space of the surgical tool holding portion 11(1) of the unit 10(1).

[0085] Furthermore, the device may further include a data storage unit 42 capable of storing information, and the control unit 41 may be configured to control the driving means 16 based on the information stored in the data storage unit 42.

[0086] With this configuration, for example, by saving and storing the movements of an experienced doctor using unit 10(1), trainees can train by repeatedly playing back the exemplary procedures of the experienced doctor on unit 10(2) at the required timing, thereby accelerating their learning.

[0087] The control unit 41 may also be configured to store information indicating the position and angle of the first robot hand 12(1) output from the detection means 15 in the data storage unit 42, and control the drive means 16 based on this information.

[0088] With this configuration, by saving the movements of the unit 10(1) performed by an experienced doctor, the trainee can repeatedly play back the exemplary procedures of the experienced doctor on the unit 10(2) for training. Also, by saving the movements of the unit 10(1) related to the trainee's own operation, it becomes possible to objectively measure the trainee's proficiency.

[0089] Furthermore, the pair of left and right first parallel link units 10(1) are each connected to the first housing 2(1), and are disposed on a pair of left and right first bases 14(1) spaced a predetermined distance L0 apart, and each have a pair of left and right first robot arms 13(1) of three or more, which support a pair of left and right first robot hands, respectively. The pair of left and right second parallel link units 10(2) are each connected to the second housing 2(2), and are disposed on a pair of left and right second bases 14(2) spaced a predetermined distance L0 apart, and each have a pair of left and right second robot arms 13(1) of three or more, which support a pair of left and right second robot hands 12(2). The pair of left and right detection means 15 each detects the angle of the pair of left and right first robot arms 13(1) relative to the first base 14(1), and the pair of left and right drive means 16 controls the angle of the pair of left and right corresponding second robot arms 13(2) relative to the second base 14(2) based on information indicating the angle of the pair of left and right first robot arms 13(1), and when the annular movable part 142 of the pair of left and right first bases 14(1) is viewed in a plan view, the pair of left and right multiple first robot arms 13(1) are oriented such that multiple central angles φ between adjacent first robot arms (131-132, 132-133, 133-131) are 1-2 , φ 2-3 , φ 3-1 The central angle φ between the first robot arm (133-131) on the opposite side of the pair of left and right first robot arms 3-1 The central angle φ between the first robot arms (131-132, 132-133) on the opposite side 1-2 , φ 2-3When the annular movable parts 142 of the pair of left and right second base parts 14(2) are viewed in plan, the pair of left and right multiple second robot arms 13(2) are arranged such that the central angle φ between adjacent second robot arms 131-132, 132-133, 133-131) is larger than 1-2 , φ 2-3 , φ 3-1 The central angle φ between the second robot arm (133-131) on the opposite side of the pair of second robot arms 3-1 The central angle φ between the second robot arm (131-132, 132-133) on the opposite side 1-2 , φ 2-3 Alternatively, the second base portion 14(2) may extend from the second base portion 14(2) so that the length of the second base portion 14(2) is larger than the length of the first base portion 14(2).

[0090] With this configuration, the robot arms 131, 132, and 133 extending from the opposing units 10(1) and 10(2) do not interfere with each other, and the operator can smoothly perform training operations without interference between the laparoscope operations of both hands.

[0091] <<Variations>> While the specific configuration of the present disclosure has been described above using the embodiments as examples, the present disclosure is not limited to the above embodiments except for the essential characteristic components thereof. For example, the present disclosure also includes forms obtained by various modifications to the embodiments and forms realized by arbitrarily combining the components and functions of each embodiment within the scope of the present invention. Below, a modified example will be described as an example of such a configuration.

[0092] <Variation 1> In the device 1 according to the embodiment, as shown in Figures 7(a) and (b), the annular movable part 142 of the base 14 that supports the unit 10 is configured to be rotatable around the axis of the hinge part 14a within a predetermined angle range, and by changing the angle of the annular movable part 142 relative to the fixed part 141 through the operator's own operation, the angle of the entire unit 10 can be changed, thereby changing the angle of the surgical instrument SI relative to the biological model SI.

[0093] In contrast, the laparoscopic surgery training device according to Modification 1 may be configured such that the base 14 in the unit 10(1) has a second detection means at the hinge 14a that can measure the angle of the annular movable part 142 relative to the fixed part 141, and the base 14 in the unit 10(2) has a second drive means at the hinge 14a that can change the angle of the annular movable part 142 relative to the fixed part 141. The control unit 41 may then receive an angle signal emitted from the second detection means of the base 14 of the unit 10(1) and use the received angle signal to rotationally drive the second drive means of the base 14 in the unit 10(2).

[0094] With this configuration, the laparoscopic surgery training device according to Modification 1 can control the angle of the annular movable part 142 of the base 14(2) supporting the unit 10(2) relative to the fixed part 141 so as to be equivalent to the angle of the annular movable part 142 of the base 14(1) of the unit 10(1) relative to the fixed part 141. As a result, the movement of the unit 10(1) can be reproduced more faithfully in the unit 10(2), thereby realizing an even more convenient training device.

[0095] <Variation 2> In the device 1 according to the embodiment, as shown in Figures 9(a) and (b), the surgical tool holding section 11 that holds the surgical tool SI is rotatably supported by the robot hand 12 via a ball joint 111, and is configured so that the angle of the surgical tool SI inserted into the hole 11a on the top surface by the operator can be changed relative to the biological model FM.

[0096] In contrast, in the laparoscopic surgery training device according to Modification 2, the robot hand 12 in the unit 10(1) may be configured to have a third detection means capable of measuring the vertical and horizontal rotation angles of the ball joint 111 provided with the surgical tool holding unit 11 relative to the robot hand 12, and further, the robot hand 12 in the unit 10(2) may be configured to have a third drive means capable of changing the vertical and horizontal angles of the ball joint 111 relative to a predetermined portion of the robot hand 12. The control unit 41 may then receive an angle signal emitted from the third detection means of the robot hand 12 in the unit 10(1) and use the received angle signal to rotationally drive the third drive means of the robot hand 12 in the unit 10(2).

[0097] In this case, the third detection means may be, for example, an optical sensor or encoder that counts the vertical and horizontal rotational movement of the surface of ball joint 111, and the third drive means may be, for example, two orthogonal motors or a linear motor with orthogonal movement directions that move the surface of ball joint 111 vertically and horizontally.

[0098] With this configuration, the laparoscopic surgery training device according to Modification 2 can control the angle of the surgical tool holding section 11(2) that holds the surgical tool SI relative to the robot hand 12(2) in the unit 10(2) so that it is equivalent to the angle of the surgical tool holding section 11(1) relative to the robot hand 12(1) in the unit 10(1). As a result, the movement of the surgical tool SI of the unit 10(1) can be more faithfully reproduced in the unit 10(2), thereby realizing an even more convenient training device.

[0099] <Other variations> One aspect of the present disclosure is not limited to the above-described embodiment, and the following cases are also included in one aspect of the present disclosure. For example, one aspect of the present disclosure also includes a case where all or part of the control unit of a laparoscopic surgery training device is configured as a computer system including a microprocessor, recording media such as ROM and RAM, a hard disk unit, etc. The laparoscopic surgery training device achieves its functions by the microprocessor operating in accordance with the computer program.

[0100] Furthermore, some or all of the functions of the laparoscopic surgery training device according to the embodiments may be realized by a processor such as a CPU executing a program. The program may also be a non-transitory computer-readable recording medium on which a program for operating the laparoscopic surgery training device is recorded. It goes without saying that the program can be distributed via a transmission medium such as the Internet.

[0101] The division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as a single functional block, one functional block may be divided into multiple blocks, or some functions may be moved to another functional block.Furthermore, the functions of multiple functional blocks having similar functions may be processed in parallel or time-shared by a single piece of hardware or software.

[0102] The order in which the steps are performed is merely an example for specifically explaining the present invention, and other orders may be used. Some of the steps may be performed simultaneously (in parallel) with other steps.

[0103] <<Additional Information>> The embodiments described above each illustrate a preferred specific example of the present invention. The numerical values, shapes, materials, components, component placement and connection configurations, steps, and step sequences shown in the embodiments are merely examples and are not intended to limit the present invention. Furthermore, among the components in the embodiments, those not described in the independent claims that represent the highest concept of the present invention are described as optional components that constitute more preferred embodiments.

[0104] The order in which the above methods are performed is merely an example for specifically explaining the present invention, and other orders may be used. Also, some of the above methods may be performed simultaneously (in parallel) with other methods.

[0105] In order to facilitate understanding of the invention, the scale of the components in the drawings of the above embodiments may differ from the actual scale. Furthermore, the present invention is not limited to the description of the above embodiments, and can be modified as appropriate within the scope of the gist of the present invention. Furthermore, at least some of the functions of the embodiments and their modifications may be combined. [Industrial Applicability]

[0106] A laparoscopic surgery training device according to one aspect of the present disclosure can be widely used as a means for training surgeons in surgical techniques in laparoscopic surgery. [Explanation of symbols]

[0107] 1 Laparoscopic surgery training device 1E(1) Teacher device and 1E(2) Training device 10, 10L, 10R parallel link unit 10(1), 10(1)L, 10(1)R First parallel link unit 10(2), 10(2)L, 10(2)R Second parallel link unit 11 Surgical instrument holding part 111 Ball Joint 12 Robot Hand 12(1) First Robot Hand 12(2) Second Robot Hand 13, 131, 132, 133 Robot Arm 13(1) First Robot Arm 13(2) Second Robot Arm 13a, 13b Links 14 Base 14(1) First base 14(2) Second base 141 Fixed part 142 Annular moving part 15. Detection Methods 16 Driving means 2 Housing 2(1) First housing part 2(2) Second housing part 3 Endoscope (imaging means) 3(1) Endoscopy 3(2) Endoscopy 4. Control Measures 41 Control Unit 411 Angle information input / output unit 412 Image information input / output unit 413 Training motion control unit 42 Data storage unit 43 Image acquisition circuit 44 Sensor I / F 45 Drive circuit 5 Display section 5(1) First display unit 5(2) Second display unit 6 Operation input section FM Biological Model FM(1) First Biological Model FM(2) Second Biological Model SI surgical tools SI(1) First surgical tool SI(2) Second Instrument

Claims

1. A laparoscopic surgery training device, comprising: a first housing capable of housing a first biological model; a pair of left and right first parallel link units arranged in the first housing and operable to operate the first biological model; a second housing capable of housing a second biological model; a pair of left and right second parallel link units disposed in the second housing and operable to operate the second biological model; a control unit that controls the pair of left and right second parallel link units so that the operations of the pair of left and right first parallel link units are equivalent to the operations of the corresponding pair of left and right first parallel link units, Laparoscopic surgery training device.

2. the pair of left and right first parallel link units each having a pair of left and right first robot hands capable of holding a first surgical tool operable to operate on the first biological model, and a pair of left and right detection means configured to detect the positions and angles of the pair of left and right first robot hands in three-dimensional space, the pair of left and right second parallel link units each having a pair of left and right second robot hands capable of holding a second surgical tool operable to operate on the second biological model, and a pair of left and right drive means each controlling the position and angle of the pair of left and right second robot hands in three-dimensional space; The control unit controls the pair of left and right driving means based on outputs from the pair of left and right detecting means so that the position and angle of the second robot hand are equivalent to the position and angle of the first robot hand, respectively.

2. The laparoscopic surgery training device according to claim 1.

3. Further, the device has a data storage unit capable of storing information, The control unit controls the driving means based on the information stored in the data storage unit.

3. The laparoscopic surgery training device according to claim 2.

4. the control unit stores information indicating the position and angle of the first robot hand output from the detection means in the data storage unit; The driving means is controlled based on the information.

4. The laparoscopic surgery training device according to claim 3.

5. the pair of left and right first parallel link units are each connected to the first housing portion, are respectively disposed on a pair of left and right first bases spaced a predetermined distance apart, and each have a pair of left and right first robot arms, each of which has three or more, and which respectively support the pair of left and right first robot hands; the pair of left and right second parallel link units are each connected to the second housing portion, are respectively disposed on a pair of left and right second bases spaced a predetermined distance apart, and each have a pair of left and right second robot arms, each of which has three or more, and which respectively support the pair of left and right second robot hands; the pair of left and right detection means respectively detect angles of the pair of left and right first robot arms relative to the first base portion; the pair of left and right drive means respectively control angles of the pair of left and right corresponding second robot arms relative to the second base portion based on information indicating angles of the pair of left and right first robot arms; When the pair of left and right first base portions is viewed in a plan view, the pair of left and right multiple first robot arms extend from the first base portion such that, among a plurality of central angles between adjacent first robot arms, a central angle on a side facing one of the first robot arms on the opposite side of the pair of left and right is larger than a central angle on a side not facing the first robot arm, When the pair of left and right second base portions is viewed in a plan view, the pair of left and right multiple second robot arms are extended from the second base portion such that, among the central angles between adjacent second robot arms, the central angle on the side facing one of the second robot arms on the opposite side of the pair of left and right is larger than the central angle on the side not facing the other.

3. The laparoscopic surgery training device according to claim 2.

Images