Endoscope surgery training device

Abstract

To provide an endoscope surgery training device that can realize a specific part of an organ in the same manner as an actual organ.SOLUTION: A surgery training device can include: a training space that is formed inside the device to allow a user to conduct training for surgery; a housing that includes a support plate forming a bottom face of the training space; a holder for fixing a training target member; a driving unit that includes a holder support member to which the holder is coupled, and changes the position of the holder coupled to the holder support member in the training space through at least one or more degree of freedom motions, so that the training target member fixed to the holder to be changed to a specific copy position of an organ for training in the training space; a channel forming unit that is formed in the housing so that an approach route for an endoscope device entering the training space from the outside can be formed; and a control unit for controlling the driving unit.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an endoscopic surgery training device. [Background technology]

[0002] An endoscopic device is a device designed to insert a machine into the body to check for lesions in organs.

[0003] Since endoscopic surgery or procedures using such an endoscopic device are performed inside the human body, which is a small space, extensive training and experience are required to improve the level of skill.

[0004] However, conventional surgical training devices for endoscopic surgery only provide a model of the part of the body into which the endoscope is inserted, allowing training in observing and examining lesions inside the body, but are unable to provide training in actual surgery. Summary of the Invention [Problem to be solved by the invention]

[0005] The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide an endoscopic surgery training device that can embody a specific part of a target organ in the same manner as a real organ.

[0006] The objects of the present invention are not limited to those mentioned above, and other objects not mentioned will be clearly understood by those skilled in the art to which the present invention pertains from the following description. [Means for solving the problem]

[0007] According to one aspect of the present invention, there is provided an endoscopic surgery training device including: a housing including a training space formed therein for surgical training and a support plate forming the bottom of the training space; a holder for fixing a training object; a drive unit including a holder support member to which the holder is connected, for changing the position of the holder connected to the holder support member within the training space through movement of at least one degree of freedom so that the training object fixed to the holder can be moved to a specific position that replicates an organ for training within the training space; a channel forming unit formed in the housing for forming an entry path for an endoscopic device that enters the training space from the outside; and a control unit for controlling the drive unit.

[0008] At this time, the driving unit can change the position of the holder coupled to the holder support member within the training space through four degrees of freedom movement including a first linear movement, a first rotation, a second rotation, and a second linear movement.

[0009] In this case, the driving unit may include a first linear driving unit for linearly moving the holder support member along the X-axis direction, a first rotation driving unit for rotating the holder support member around a first rotation axis, a second rotation driving unit for rotating the holder support member around a second rotation axis, and a second linear driving unit for linearly moving the holder support member in a direction perpendicular to the second rotation axis, and a first portion of the holder support member to which the holder is coupled may be disposed to be parallel to the second rotation axis and spaced a predetermined distance from the second rotation axis.

[0010] In this case, when the holder support member is positioned at an initial position by the driving unit with the holder coupled to the first part, the center of the holder may be positioned in a straight line with the first rotation axis, which is the central axis for the first rotation of the holder support member.

[0011] Meanwhile, the holder may include a holder body including an attachment portion detachably coupled to one side of the driving unit and a plurality of leg portions extending from the attachment portion, and a plurality of tweezers members detachably coupled to the plurality of leg portions so as to grasp the training target member.

[0012] In this case, the holder includes a plurality of first magnet members provided on each of the plurality of leg portions and a plurality of second magnet members provided on each of the plurality of tweezers members so as to correspond to the plurality of first magnet members, and each of the plurality of tweezers members may be detachably coupled to the holder body through the corresponding first and second magnet members.

[0013] Meanwhile, the driving unit may include a first linear driving unit including a moving member that is driven by a first driving motor and linearly moves back and forth along the X-axis direction relative to the support plate; a second driving motor fixedly coupled to the moving member; a first rotary driving unit including a first rotary shaft that rotates around a Z-axis perpendicular to the X-axis relative to the moving member through driving force of the second driving motor; and a first mounting unit fixedly coupled to the first rotary shaft; a third driving motor fixedly coupled to the first mounting unit; a second rotary driving unit including a second rotary shaft that rotates around an axis parallel to the XY plane and perpendicular to the Z-axis relative to the first mounting unit through driving force of the third driving motor; and a second linear driving unit including a fourth driving motor fixedly coupled to the second mounting unit and providing driving force for linearly moving the holder support member back and forth along a direction perpendicular to an axis parallel to the XY plane and perpendicular to the Z-axis relative to the second mounting unit.

[0014] In this case, the endoscopic surgery training device may further include a third magnet member provided on the holder support member and a fourth magnet member provided on the holder corresponding to the third magnet member, and the holder may be detachably coupled to the holder support member via the third and fourth magnet members.

[0015] Meanwhile, the first linear driving unit further includes a first guide rail fixed to the support plate, a first slider movably coupled to the first guide rail so as to linearly move in the X-axis direction along the first guide rail, a first rack gear fixedly coupled to one side of the moving member so as to be parallel to a longitudinal direction of the first guide rail, and a first pinion gear axially coupled to the first driving motor so as to be rotated by the first driving motor and meshing with the first rack gear, and the moving member can linearly move back and forth in the X-axis direction relative to the support plate via the first slider fixed to one side.

[0016] Meanwhile, the first rotation driving unit further includes a first driving gear axially connected to the second driving motor, and a first driven gear axially connected to the first rotation shaft and meshing with the first driving gear, and the first mounting table can rotate about a Z axis perpendicular to the X axis with respect to the moving member through rotation of the first rotation shaft.

[0017] Meanwhile, the second rotation driving unit further includes a second driving gear axially connected to the third driving motor, and a second driven gear axially connected to the second rotation shaft and meshing with the second driving gear, and the second mounting base can rotate around an axis perpendicular to the Z-axis relative to the first mounting base through rotation of the second rotation shaft.

[0018] Meanwhile, the second linear driving unit further includes a second guide rail fixed to the second mounting base, a second slider movably coupled to the second guide rail so as to linearly reciprocate along the second guide rail, a second rack gear fixedly coupled to one side of the holder support member so as to be parallel to the longitudinal direction of the second guide rail, and a second pinion gear axially coupled to the fourth driving motor so as to be rotated by the fourth driving motor and meshing with the second rack gear, and the holder support member can linearly reciprocate along the second guide rail relative to the second mounting base via the second slider fixed to one side.

[0019] Meanwhile, when the training target member is changed to a specific imitation position of an organ for training through driving of the driving unit, the control unit can drive the driving unit so that movement of the holder support member can occur.

[0020] Meanwhile, the channel forming unit includes a channel case coupled to the housing, a path portion formed by drawing in from one side of the channel case to form an entry path for the endoscopic device, and a path maintaining member formed hollow to allow the endoscopic device to pass through and detachably coupled to the path portion, wherein the path portion includes a first path forming portion having one end communicating with the training space and formed to have a certain length, and a second path forming portion and a third path forming portion extending from the first path forming portion so as to branch in different directions from the other end of the first path forming portion, respectively, and the path maintaining member may be attached to the path portion to be positioned at the first path forming portion and the second path forming portion to form a first entry path, or may be attached to the path portion to be positioned at the first path forming portion and the third path forming portion to form a second entry path.

[0021] In this case, the path maintenance member may include a hollow connecting pipe having a predetermined length, a first coupling provided at one end of the connecting pipe so as to be detachably coupled to one end of the first path forming portion, and a second coupling provided at the other end of the connecting pipe so as to be detachably coupled to one end of the second path forming portion or one end of the third path forming portion.

[0022] Meanwhile, when the holder is changed to a specific replica position of the organ through the driving unit, the training object member attached to the holder embodies the inner wall of the organ, and the endoscope device that enters the training space through the channel forming unit can be positioned so that its tip faces one side of the training object member.

[0023] Meanwhile, the endoscopic surgery training device may further include an auxiliary support portion located below the channel forming portion to support a portion of the endoscopic device inserted into the training space through the channel forming portion.

[0024] In this case, the auxiliary support unit includes an auxiliary support base for supporting a part of the endoscopic device that has entered the training space, and an auxiliary driving unit for changing the position of the auxiliary support base within the training space through a fifth driving motor, and the control unit can drive the auxiliary driving unit to move the auxiliary support base toward the training object member when the training object member is changed to a specific replica position that has been input in advance.

[0025] Meanwhile, the auxiliary driving unit further includes a third slider fixed to a connecting base connected to the support plate; a third guide rail movably connected to the third slider so as to be linearly movable in the X-axis direction and having the auxiliary support base fixedly connected to one side thereof; a third rack gear formed along the X-axis direction on one side of the third guide rail; and a third pinion gear axially connected to the fifth drive motor so as to be rotated by the fifth drive motor and meshing with the third rack gear, and the auxiliary support base can move toward the training object member through the linear movement of the third guide rail.

[0026] Meanwhile, the endoscopic surgery training device further includes an operating unit for user operation, and the operating unit can generate an input signal from the user to change the training target member to a specific replica position of an organ.

[0027] Meanwhile, the endoscopic surgery training device may further include a connector provided on one side of the housing to be electrically connected to the holder support member, a portion of which is exposed to the outside of the housing and connected to a terminal of a cable electrically connected to a cautery device, and the holder connected to the holder support member may be electrically connected to the connector. [Effects of the Invention]

[0028] With the above-described configuration, the endoscopic surgery training device according to the present invention can embody a specific part of an organ as a training target member in the same manner as a real organ, thereby enabling users to perform surgical training in an environment similar to the real environment, thereby improving their proficiency.

[0029] The effects of the present invention are not limited to the effects described above, but should be understood to include all effects that can be inferred from the configuration of the invention described in the detailed description of the present invention or the claims. [Brief explanation of the drawings]

[0030] [Figure 1] 1 is a diagram illustrating an endoscopic surgery training device according to an embodiment of the present invention. [Figure 2] 2 is a view showing a state in which the door in FIG. 1 is opened and the channel case is pulled out. [Figure 3] 2 is a diagram schematically illustrating the interior of FIG. 1. [Figure 4] 2 is a diagram illustrating a schematic arrangement of a driving unit, an auxiliary driving unit, and a channel forming unit disposed inside the housing in FIG. 1; [Figure 5] 1 is a block diagram showing the main components controlled by a control unit in an endoscopic surgery training device according to an embodiment of the present invention; [Figure 6] 1 is a view showing a holder that can be applied to an endoscopic surgery training device according to an embodiment of the present invention. [Figure 7] 1 is a view showing a state in which a holder and a holder support member are separated from each other in an endoscopic surgery training device according to an embodiment of the present invention; [Figure 8] 2 is a diagram illustrating a support plate, a driving unit, and an auxiliary driving unit in an endoscopic surgery training device according to an embodiment of the present invention. [Figure 9] 1 is a partially separated view of a driving unit and a holder in an endoscopic surgery training device according to an embodiment of the present invention; [Figure 10]1 is a view showing a lower portion of a moving member in an endoscopic surgery training device according to an embodiment of the present invention; [Figure 11] 1 is a view showing a connection relationship of a first rotation driving unit in an endoscopic surgery training device according to an embodiment of the present invention. [Figure 12] 10 is a view showing a connection relationship of a second rotation driving unit in an endoscopic surgery training device according to an embodiment of the present invention. [Figure 13] 13 is a view of FIG. 12 viewed from another direction, showing a state in which the second mounting base has been removed. [Figure 14] 10 is a view showing a connection relationship of a second linear driving unit in an endoscopic surgery training device according to an embodiment of the present invention. [Figure 15] 10 is a view showing a state in which a holder support member is linearly moved by a second linear driving unit in an endoscopic surgery training device according to an embodiment of the present invention. [Figure 16] FIG. 10 is a view showing a channel forming part that can be applied to an endoscopic surgery training device according to one embodiment of the present invention, showing a state in which path maintaining members are attached so as to be positioned in a first path forming portion and a second path forming portion. [Figure 17] FIG. 10 is a view showing a channel forming part that can be applied to an endoscopic surgery training device according to one embodiment of the present invention, showing a state in which path maintaining members are attached so as to be positioned in a first path forming portion and a third path forming portion. [Figure 18] 1 is a diagram illustrating an auxiliary driving unit that can be applied to an endoscopic surgery training device according to an embodiment of the present invention. [Figure 19] 18 seen from another direction. [Figure 20] 1 is a diagram showing a state in which an endoscopic surgery training device according to an embodiment of the present invention is in use, in which a holder and a training target member are arranged to be located at specific positions. [Figure 21] FIG. 10 is a diagram showing a state in which the endoscopic surgery training device according to one embodiment of the present invention is in use, in which the holder and the training target member are arranged to be located at other specific positions. [Figure 22] FIG. 10 is a diagram showing a state in which the endoscopic surgery training device according to one embodiment of the present invention is in use, in which the holder and the training target member are arranged to be positioned at still another specific position. DETAILED DESCRIPTION OF THE INVENTION

[0031] Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. The present invention may be embodied in various different forms and is not limited to the embodiments described herein. In order to clearly explain the present invention, parts not related to the description will be omitted in the drawings, and the same reference numerals will be used throughout the specification to refer to the same or similar components.

[0032] The words and terms used in this specification and claims should not be interpreted in a limited manner based on their ordinary or dictionary meanings, but should be interpreted in a manner that is consistent with the technical idea of ​​the present invention, in accordance with the principle that the inventor can define the terms and concepts in order to best describe his or her invention.

[0033] Furthermore, the X-axis, Y-axis, and Z-axis used in this specification and claims may be three axes that are perpendicular to each other, and an axis perpendicular to the Z-axis may be any straight line disposed perpendicular to the Z-axis on the XY plane.

[0034] FIG. 1 is a diagram showing an endoscopic surgery training device according to one embodiment of the present invention, FIG. 2 is a diagram showing the state in which the door in FIG. 1 is opened and the channel case is pulled out, FIG. 3 is a diagram showing a schematic view of the interior of FIG. 1, FIG. 4 is a diagram showing a schematic view of the arrangement of the driving unit, auxiliary driving unit, and channel forming unit arranged inside the housing in FIG. 1, FIG. 5 is a block diagram showing the main components controlled by the control unit in an endoscopic surgery training device according to one embodiment of the present invention, FIG. 6 is a diagram showing a holder that can be applied to an endoscopic surgery training device according to one embodiment of the present invention, and FIG. 7 is a diagram showing the state in which the holder and holder support member are separated in an endoscopic surgery training device according to one embodiment of the present invention.

[0035] 1 to 7, an endoscopic surgery training device 1000 according to an embodiment of the present invention can enhance the surgical proficiency of a user such as a doctor by implementing an environment similar to that of an actual surgery.

[0036] That is, the endoscopic surgery training device 1000 according to one embodiment of the present invention can embody a specific part of an organ to improve surgical proficiency by changing the training target member 10 for simulating an organ such as the stomach or large intestine to a specific position.

[0037] As an example, the endoscopic surgery training device 1000 according to one embodiment of the present invention can improve proficiency in endoscopic surgery on specific parts of the stomach or large intestine by changing the position of the training target member 10 to embody specific parts of the stomach or large intestine.

[0038] The term "training subject member" can be used interchangeably with the term "training subject model."

[0039] The training target member 10 may be formed so that the surface facing the tip of the endoscope device 20 is made up of a combination of curved and flat surfaces, or made up of only curved surfaces, or made up of only flat surfaces.

[0040] In the present invention, the training object member 10 can be fixed using a holder 200 described later, and when the training object member 10 is moved to a specific position, one side of the training object member 10 facing the tip of the endoscope device 20 can embody the inner wall of an organ such as the stomach or large intestine.

[0041] Here, the endoscopic device 20 may include not only a conventional endoscopic device including a camera and lens module for observing lesions inside the body, but also surgical tools such as surgical tweezers, surgical scissors, a surgical knife, and a surgical robot arm capable of grasping and rotating body tissues, which are used in endoscopic surgery or procedures.

[0042] Accordingly, the user can improve his / her surgical proficiency for a specific part of an organ requiring training by changing the position of the holder 200 to which the training object member 10 is fixed so that the training object member 10 embodies the specific part of the organ to be trained.

[0043] Furthermore, the endoscopic surgery training device 1000 according to an embodiment of the present invention is embodied in a portable size, so that it can be used in various places without being restricted by location.

[0044] To this end, an endoscopic surgery training device 1000 according to one embodiment of the present invention may include a housing 100, a holder 200, a driving unit 300, a channel forming unit 400, and a control unit 500, as shown in FIGS. 1 to 5.

[0045] The housing 100 may form the overall outer shape. The housing 100 may include a training space S1 formed therein.

[0046] In this case, the holder 200 and the drive unit 300 may be disposed in the training space S1, and the training target member 10 may be fixed to the holder 200.

[0047] In addition, the distal end of the endoscope device 20 can enter the training space S1 through the channel forming part 400.

[0048] Accordingly, the user can change the position of the training object member 10 fixed to the holder 200 through the driving unit 300 in the training space S1, thereby training a specific part of an organ that needs training.

[0049] In this case, the housing 100 may include a door 130 formed in a region corresponding to the training space S1.

[0050] As an example, the housing 100 may include a box-shaped first housing 110 in which a training space S1 is formed, a second housing 120 coupled to the first housing 110 so as to cover the training space S1, and a door 130 coupled to the second housing 120 so as to be openable and closable and positioned above the training space S1.

[0051] Accordingly, as shown in FIG. 2, a user can open and close the door 130 to open the training space S1.

[0052] The holder 200 can fix the training target member 10 and can be coupled to one side of the driving unit 300 .

[0053] For example, the holder 200 may be coupled to a holder support member 342 of the driving unit 300 .

[0054] Here, as shown in FIG. 7, the holder support member 342 may include a second part 342-1 to which a second slider 344 and a second rack gear 345 (described later) are fixed, and a first part 342-2 to which the holder 200 is detachably coupled.

[0055] In this case, as shown in FIG. 6, the holder 200 may include a holder body 210 detachably coupled to the first part 342-2, and a plurality of tweezers members 220 coupled to the holder body 210 so as to grasp the training target member 10.

[0056] In addition, the plurality of tweezers members 220 may be arranged on one side of the holder body 210 at intervals from each other, and each can grip a part of the training target member 10 .

[0057] Here, the holder body 210 may include a mounting portion 212 coupled to the first portion 342-2 and a plurality of leg portions 214 extending from the mounting portion 212, and the plurality of leg portions 214 may extend from the edge of the mounting portion 212 to be spaced apart from one another along the edge of the mounting portion 212. Also, the plurality of tweezers members 220 may be coupled to the plurality of leg portions 214 in a one-to-one correspondence.

[0058] Accordingly, when each of the plurality of tweezers members 220 is coupled to the plurality of leg portions 214 while gripping the training object member 10, the training object member 10 can be fixed to the holder 200 while maintaining a predetermined shape.

[0059] Accordingly, when the position of the first part 342-2 is changed through the driving unit 300, the holder 200 connected to the first part 342-2 can be changed in position together with the first part 342-2, and the training target member 10 fixed to the holder 200 can also be changed in position together with the holder 200.

[0060] Through this, the user can change the position of the training object member 10 fixed to the holder 200 within the training space S1 so that the training object member 10 embodies a specific part of the target organ, thereby improving surgical proficiency for a specific part of the organ that requires training.

[0061] At this time, the plurality of tweezers members 220 may be detachably coupled to the plurality of leg portions 214, respectively.

[0062] As an example, each of the plurality of tweezer members 220 may be removably coupled to the plurality of leg portions 214 using magnetic force.

[0063] For this purpose, as shown in FIG. 6, the holder 200 may include a plurality of first magnet members 230 provided on the plurality of leg portions 214, respectively, and a plurality of second magnet members 240 provided on the plurality of tweezers members 220, respectively.

[0064] Here, each of the first magnet member 230 and the second magnet member 240 may be a permanent magnet.

[0065] Accordingly, each of the plurality of tweezers members 220 can be detachably coupled to each of the plurality of leg portions 214 through the corresponding first and second magnet members 230 and 240 .

[0066] Through this, the user can use the corresponding first and second magnet members 230 and 240 to fix the training target member 10 to the holder 200, or easily remove the training target member 10 fixed to the holder 200 from the holder 200.

[0067] At this time, the holder 200 can be detachably coupled to one side of the driving part 300 using magnetic force, similar to the plurality of tweezers members 220.

[0068] To this end, the endoscopic surgery training device 1000 according to one embodiment of the present invention may include a third magnet member 360 provided on one side of the driving unit 300, and a fourth magnet member 250 provided on the holder 200 to correspond to the third magnet member 360.

[0069] For example, as shown in FIG. 7, the third magnet member 360 may be provided on the first portion 342-2 of the holder support member 342, and the fourth magnet member 250 may be provided on the mounting portion 212.

[0070] Here, the third magnet member 360 and the fourth magnet member 250 may each be a permanent magnet.

[0071] Accordingly, the mounting portion 212 of the holder 200 can be detachably coupled to the first portion 342-2 of the holder support member 342 through the corresponding third and fourth magnet members 360 and 250.

[0072] Through this, the user can use the corresponding third magnet member 360 and fourth magnet member 250 to fix the holder 200 to the first part 342-2 of the holder support member 342, or easily separate the holder 200 fixed to the first part 342-2 from the first part 342-2.

[0073] In the present invention, the holder 200 may be provided to have an appropriate shape depending on the type of the training target member 10 or the organ to be embodied.

[0074] Therefore, the user can appropriately change the holder 200 depending on the type and shape of the training object 10, and can perform training using various training objects 10.

[0075] At this time, as shown in FIG. 7, the holder 200 may include a protrusion 215 protruding from one side of the mounting portion 212, and the holder support member 342 may include a mounting groove 342a formed at a position corresponding to the protrusion 215 so that the protrusion 215 can be received.

[0076] For example, the mounting groove 342a may be recessed to a certain depth on one surface of the first portion 342-2.

[0077] Accordingly, when the holder 200 is coupled to the first portion 342-2 of the holder support member 342, the protrusion 215 can be inserted into the mounting groove 342a.

[0078] Therefore, when the holder 200 is coupled to the first portion 342-2, the holder 200 can be prevented from moving on the first portion 342-2 through the mutual coupling of the mounting groove 342a and the protrusion 215.

[0079] Thus, even if the position of the first portion 342-2 is variously changed by the driving unit 300, the holder 200 can maintain the initial coupling position with the first portion 342-2.

[0080] Accordingly, when the holder 200 to which the training target member 10 is fixed is connected to the first part 342-2 and the position of the first part 342-2 is changed through the driving unit 300, the training target member 10 fixed to the holder 200 can be accurately changed to the desired position by changing the position of the first part 342-2.

[0081] The driving unit 300 may be disposed to be located within the training space S1, and may change the position of the holder support member 342 in the training space S1.

[0082] Accordingly, the position of the holder 200 coupled to the holder support member 342 can be changed by driving the driving unit 300 .

[0083] Thereby, the driving unit 300 can change the training target member 10 fixed to the holder 200 to a specific imitation position of an organ for training within the training space S1.

[0084] That is, the driving unit 300 can change the position of the holder 200 coupled to the holder support member 342 to change the position of the training target member 10 fixed to the holder 200, and by changing the position of the training target member 10, a specific part of an organ can be embodied by the training target member 10.

[0085] Accordingly, the user can change the position of the training target member 10 fixed to the holder 200 through the driving unit 300 while the holder 200 is connected to the holder support member 342, so that the training target member 10 embodies a specific part of the target organ.

[0086] At this time, the endoscopic surgery training device 1000 according to an embodiment of the present invention can embody all the various parts of an organ regardless of the shape of the organ.

[0087] To this end, the driving unit 300 can variably change the position of the holder 200 coupled to the holder support member 342 within the training space S1 through four degrees of freedom movement including a first linear movement, a first rotation, a second rotation, and a second linear movement.

[0088] That is, in the endoscopic surgery training device 1000 according to one embodiment of the present invention, the holder support member 342 can perform first and second linear movements through the driving unit 300, and can also perform first and second rotations around different axes.

[0089] As a result, the endoscopic surgery training device 1000 according to one embodiment of the present invention can variably change the position of the holder 200 coupled to the holder support member 342 through a combination of the first linear movement, second linear movement, first rotation, and second rotation of the holder support member 342 via the driving unit 300.

[0090] At this time, the first part 342-2 of the holder support member 342 to which the holder 200 is coupled can be parallel to the second rotation axis 332, which is the central axis for the second rotation of the holder support member 342, as shown in Figure 9, while maintaining a certain distance d from the second rotation axis 332.

[0091] In addition, the first part 342-2 can move linearly along the X-axis direction together with the first rotation axis 322 and the second rotation axis 332 through a first linear movement, and the separation distance between the first part 342-2 and the second rotation axis 332, which is the central axis of the second rotation, can be adjusted through a second linear movement.

[0092] Accordingly, the rotation radius of the first part 342-2 around the second rotation axis 332 can be adjusted through a second linear movement of the first part 342-2, and when the first part 342-2 is rotated a certain angle around the second rotation axis 332, the rotation radius of the first part 342-2 around the first rotation axis 322 can be adjusted by the separation distance between the first part 342-2 and the second rotation axis 332.

[0093] As a result, when the holder 200 is connected to the first part 342-2 of the holder support member 342 and the position of the first part 342-2 is changed by the driving unit 300, the training target member 10 fixed to the holder 200 can embody all the various parts of the organ regardless of the shape of the organ, and the user can embody a specific part of the target organ as if it were in a real environment by changing the position of the training target member 10 connected to the holder 200.

[0094] Furthermore, when the holder 200 is coupled to the holder support member 342 and the holder support member 342 is positioned at its initial position by the driving unit 300, as shown in FIG. 11, the center of the holder 200 may be positioned in a straight line with the first rotation axis 322, which is the central axis for the first rotation of the holder support member 342.

[0095] Here, the center of the holder 200 may be the center point of the mounting portion 212 or the center point of the protrusion 215 .

[0096] Accordingly, when embodying various parts of an organ by changing the position of the training target member 10 fixed to the holder 200, the position of the holder 200 for embodying a specific part of the target organ can be easily calculated, and the first part 342-2 to which the training target member 10 is fixed can be rotated around two rotation axes 322 and 332, respectively, to embody the overall shape of the target organ.

[0097] Thus, the user can change the position of the training object member 10 connected to the holder 200 to embody a position corresponding to a specific part of the overall shape of the target organ in the same way as in the actual environment.

[0098] As a non-limiting example, the driving unit 300 may include a first linear driving unit 310 for a first linear movement of the holder support member 342, a first rotation driving unit 320 for a first rotation of the holder support member 342, a second rotation driving unit 330 for a second rotation of the holder support member 342, and a second linear driving unit 340 for a second linear movement of the holder support member 342, as shown in Figures 8 to 14.

[0099] 8 is a drawing showing the support plate, drive unit, and auxiliary drive unit of an endoscopic surgery training device according to one embodiment of the present invention, FIG. 9 is a drawing showing the drive unit and holder of an endoscopic surgery training device according to one embodiment of the present invention, with some of the components separated, FIG. 10 is a drawing showing the lower part of a moving member of an endoscopic surgery training device according to one embodiment of the present invention, FIG. 11 is a drawing showing the connection relationship of a first rotation drive unit of an endoscopic surgery training device according to one embodiment of the present invention, FIG. 12 is a drawing showing the connection relationship of a second rotation drive unit of an endoscopic surgery training device according to one embodiment of the present invention, FIG. 13 is a drawing of FIG. 12 viewed from another direction, showing the state in which the second mounting base has been removed, and FIG. 14 is a drawing showing the connection relationship of a second linear drive unit of an endoscopic surgery training device according to one embodiment of the present invention.

[0100] Specifically, as shown in FIGS. 10 and 11, the first linear driving unit 310 may include a moving member 312 that moves linearly back and forth along the X-axis direction relative to the support plate 140 via a first driving motor 311.

[0101] Here, the support plate 140 may be a plate-shaped member that forms the bottom surface of the training space S1. Also, the support plate 140 may be provided as a separate member from the first housing 110, or may be formed integrally with the first housing 110.

[0102] In this case, the first linear driving unit 310 may further include a first guide rail 313 arranged along the X-axis direction, and a first slider 314 movably coupled to the first guide rail 313 so as to move linearly along the first guide rail 313.

[0103] In addition, the first linear driving unit 310 may further include a first rack gear 315 and a first pinion gear 316 that is axially coupled to the rotation shaft of the first driving motor 311 and engages with the first rack gear 315 so as to be rotated by the first driving motor 311.

[0104] In this case, the first guide rail 313 may be fixed to one side of the support plate 140 so as to be arranged parallel to the X-axis direction, the first slider 314 may be coupled to the first guide rail 313 so as to be able to move linearly along the first guide rail 313, and the first drive motor 311 may be fixedly coupled to the moving member 312.

[0105] Similarly to the first guide rail 313, the first rack gear 315 may be fixedly coupled to one side of the moving member 312 so as to be arranged parallel to the X-axis direction.

[0106] Accordingly, when the first driving motor 311 rotates through the driving of the control unit 500, the first pinion gear 316 can transmit driving force to the first rack gear 315 through rotation, and the first rack gear 315 can convert the rotational force of the first pinion gear 316 into driving force for linear motion.

[0107] That is, the first rack gear 315 can switch the rotational force of the first pinion gear 316 to a direction parallel to the X-axis.

[0108] Here, the control unit 500 may be an MCU or a processor, and may control the overall operation of the device, and may further include a memory unit (not shown) for storing previously input information.

[0109] Thus, the first slider 314 can move linearly back and forth along the first guide rail 313 by the driving force provided by the first rack gear 315 .

[0110] As a result, the moving member 312, to which the first slider 314 is fixed at one side, can move linearly along the X-axis direction relative to the support plate 140. That is, the first linear driving unit 310 can realize the first linear movement of the moving member 312.

[0111] Referring again to Figures 10 and 11, the first rotation driver 320 may include a second drive motor 321, a first rotation shaft 322 that rotates by receiving the rotational force of the second drive motor 321, and a first mounting base 323 fixedly coupled to one end side of the first rotation shaft 322.

[0112] In addition, the first rotation driver 320 may further include a first driving gear 324 axially connected to the rotation shaft of the second driving motor 321, and a first driven gear 325 axially connected to the first rotation shaft 322 and meshing with the first driving gear 324.

[0113] In this case, the second driving motor 321 may be fixedly coupled to the moving member 312, and the first rotation shaft 322 may be disposed so as to be parallel to a Z axis perpendicular to the X axis relative to the moving member 312.

[0114] In addition, the first rotation axis 322 may be arranged to be parallel to the Z axis so that the center of the holder 200 can be positioned in a straight line when the holder support member 342 is positioned in its initial position with the holder 200 coupled to the holder support member 342.

[0115] In addition, the first driving gear 324 and the first driven gear 325 may be arranged to be located on the lower side of the movable member 312, and the first mounting base 323 fixed to one end side of the first rotating shaft 322 may be arranged to be located on the upper side of the movable member 312.

[0116] Accordingly, when the second driving motor 321 rotates through the driving of the control unit 500, the first driving gear 324 can rotate the first driven gear 325, and the first rotating shaft 322 can rotate together with the first driven gear 325.

[0117] That is, the first rotation shaft 322 can rotate around the Z axis perpendicular to the X axis relative to the moving member 312, and the first mounting base 323 fixed to the end side of the first rotation shaft 322 can rotate in the same direction as the first rotation shaft 322.

[0118] Thus, the first mounting base 323 can rotate about the Z axis perpendicular to the X axis relative to the moving member 312 through the rotation of the first rotation shaft 322. That is, the first mounting base 323 can rotate about the first rotation shaft 322 disposed parallel to the Z axis, and the first rotation driver 320 can implement the first rotation of the first mounting base 323 about the first rotation shaft 322.

[0119] Here, the endoscopic surgery training device 1000 according to one embodiment of the present invention may further include a cover member 350 coupled to the movable member 312, and the cover member 350 may be coupled to the movable member 312 so as to cover the first drive motor 311, the second drive motor 321 and the first rotation shaft 322 arranged on the upper surface of the movable member 312.

[0120] In this case, the first rotation shaft 322 may be disposed to pass through the cover member 350, and the first mounting base 323 may be coupled to the first rotation shaft 322 to be exposed to the outside from the upper side of the cover member 350. Accordingly, the first mounting base 323 can freely rotate through the rotation of the first rotation shaft 322.

[0121] Referring again to Figures 12 and 13, the second rotation driving unit 330 may include the third driving motor 331, a second rotating shaft 332 that rotates by receiving the rotational force of the third driving motor 331, and a second mounting base 333 that is fixedly connected to the second rotating shaft 332.

[0122] In addition, the second rotation driving unit 330 may further include a second driving gear 334 axially connected to the rotation shaft of the third driving motor 331, and a second driven gear 335 axially connected to the second rotation shaft 332 and meshing with the second driving gear 334.

[0123] In this case, the third driving motor 331 may be fixedly coupled to the first mounting base 323, and the second rotation shaft 332 may be disposed parallel to the XY plane perpendicular to the Z axis and perpendicular to the Z axis.

[0124] In addition, one end of the second rotating shaft 332 may be rotatably coupled to the first mounting base 323 , and the other end of the second rotating shaft 332 may be fixed to the second mounting base 333 .

[0125] Here, the first mounting base 323 may include a 1-1 mounting base 323-1 to which an end of the first rotating shaft 322 is fixed and a 1-2 mounting base 323-2 to which an end of the second rotating shaft 332 is rotatably connected.

[0126] In this case, the portion of the 1-1 mounting base 323-1 to which the end of the first rotating shaft 322 is fixed may be a portion parallel to the XY plane and perpendicular to the Z axis, and the portion of the 1-2 mounting base 323-2 to which the end of the second rotating shaft 332 is coupled may be a portion arranged to be parallel to the Z axis.

[0127] Also, the second mounting stand 333 may be disposed parallel to the first-second mounting stand 323-2 at a distance from it, and the third driving motor 331 may be fixed to the first-second mounting stand 323-2.

[0128] Accordingly, both ends of the second rotation shaft 332 may be coupled to the second mounting stand 333 and the first-second mounting stand 323-2, respectively, so as to be parallel to the XY plane and perpendicular to the Z axis.

[0129] Also, the first-first mounting stand 323-1 may be parallel to the second rotation shaft 332 and may be spaced apart from it by a predetermined distance along the Z-axis direction.

[0130] Thus, when the third driving motor 331 rotates through the driving of the control unit 500, the second driving gear 334 can rotate the second driven gear 335, and the second rotating shaft 332 can rotate together with the second driven gear 335.

[0131] That is, the second rotation shaft 332 can rotate relative to the first-second mounting base 323-2 around an axis parallel to the XY plane and perpendicular to the Z axis, and the second mounting base 333 fixed to the second rotation shaft 332 can rotate in the same direction as the second rotation shaft 332.

[0132] Therefore, the second mounting base 333 can rotate about an axis that is parallel to the XY plane and perpendicular to the Z axis through rotation of the second rotation shaft 332. That is, the second mounting base 333 can rotate about the second rotation shaft 332 that is parallel to the XY plane and perpendicular to the Z axis, and the second rotation driver 330 can implement the second rotation of the second mounting base 333 about the second rotation shaft 332.

[0133] In other words, the second mounting stand 333 can rotate about the second rotation axis 332 disposed perpendicular to the first-second mounting stand 323-2.

[0134] Referring again to FIG. 14, the second linear driving unit 340 may include a fourth driving motor 341 and a holder support member 342 that moves linearly back and forth relative to the second mounting table 333 via the fourth driving motor 341 .

[0135] In addition, the second linear driving unit 340 may further include a second guide rail 343 and a second slider 344 movably coupled to the second guide rail 343 so as to be able to linearly move back and forth along the second guide rail 343.

[0136] In this case, the second guide rail 343 may be arranged to be parallel to the XY plane and perpendicular to the second rotation axis 332 which is arranged perpendicular to the Z axis.

[0137] In addition, the second linear driving unit 340 may further include a second rack gear 345 arranged parallel to the longitudinal direction of the second guide rail 343, and a second pinion gear 346 that is axially coupled to the rotation shaft of the fourth driving motor 341 and engages with the second rack gear 345 so that it can be rotated by the fourth driving motor 341.

[0138] In this case, the fourth driving motor 341 may be fixedly coupled to the second mounting base 333, and the second guide rail 343 may be fixed to one side of the second mounting base 333 so as to be disposed perpendicular to the second rotation shaft 332.

[0139] In addition, the second slider 344 may be fixed to one side of the holder support member 342, and the second slider 344 may be coupled to the second guide rail 343 so as to be able to move linearly along the second guide rail 343, and the second rack gear 345 may be arranged parallel to the longitudinal direction of the second guide rail 343 and coupled to one side of the holder support member 342 so as to engage with the second pinion gear 346.

[0140] Here, the holder support member 342 may include a second portion 342-1 to which the second slider 344 and the second rack gear 345 are fixed, as described above, and a first portion 342-2 to which the holder 200 is detachably coupled.

[0141] Furthermore, as shown in Figures 12 and 13, the second part 342-1 may be arranged so that one side faces the second mounting base 333, and the first part 342-2 may extend a certain length from the end of the second part 342-1 along a direction parallel to the axial direction of the second rotation shaft 332.

[0142] That is, the second portion 342-1 and the first portion 342-2 may be arranged to be perpendicular to each other, and the first portion 342-2 may be arranged to be parallel to the second rotation axis 332. In such a case, the third magnet member 360 may be provided in the first portion 342-2.

[0143] Accordingly, as shown in FIG. 8, when the holder support member 342 is positioned at the initial position by the driving unit 300, the first part 342-2 can be positioned above the movable member 312 and above the 1-1 mounting stand 323-1 and can be positioned parallel to both the movable member 312 and the 1-1 mounting stand 323-1.

[0144] Similarly, as shown in FIG. 8, when the holder support member 342 is positioned at the initial position through the driving unit 300, the mounting portion 212 of the holder 200 coupled to the first portion 342-2 can also be positioned above the movable member 312 and above the 1-1 mounting stand 323-1, and can be positioned so as to be parallel to both the movable member 312 and the 1-1 mounting stand 323-1.

[0145] Accordingly, as shown in FIG. 9, the first portion 342-2 may be disposed parallel to the second rotation shaft 332 and spaced apart from the second rotation shaft 332 by a predetermined distance d.

[0146] As a result, when the fourth driving motor 341 rotates through the drive of the control unit 500, the second pinion gear 346 can transmit driving force to the second rack gear 345 through rotation, and the second rack gear 345 can convert the rotational force of the second pinion gear 346 into driving force for linear motion.

[0147] That is, the second rack gear 345 can switch the rotational force of the second pinion gear 346 to a direction parallel to the longitudinal direction of the second guide rail 343 .

[0148] Thus, the second slider 344 can move linearly back and forth along the second guide rail 343 by the driving force provided by the second rack gear 345. That is, the second slider 344 can move linearly back and forth along the second guide rail 343 in a direction perpendicular to the second rotation shaft 332.

[0149] As a result, the holder support member 342, to which the second slider 344 is fixed at one side, can move linearly back and forth along the second guide rail 343 relative to the second mounting table 333, as shown in Fig. 15. Fig. 15 is a view showing the linear movement of the holder support member through the second linear driver in the endoscopic surgery training device according to one embodiment of the present invention.

[0150] In other words, the holder support member 342 can move back and forth linearly along a direction parallel to the XY plane and perpendicular to the Z axis. That is, the holder support member 342 can move back and forth linearly along the second guide rail 343 via the second slider 344 in a direction perpendicular to the second rotation shaft 332.

[0151] Accordingly, the holder support member 342 can always move linearly along a direction perpendicular to the second rotation shaft 332 regardless of the rotation of the second mount 333 .

[0152] That is, the second linear driving part 340 may implement the second linear movement of the holder support member 342 .

[0153] Through this, the holder 200 connected to the holder support member 342 and the training object member 10 attached to the holder 200 can always move linearly along a direction perpendicular to the second rotation axis 332 together with the holder support member 342 regardless of the rotation of the second mounting table 333.

[0154] In other words, the first part 342-2 to which the holder 200 is coupled can always move linearly along a direction perpendicular to the second rotation axis 332 together with the second part 342-1 regardless of the rotation of the second mounting base 333.

[0155] Accordingly, the second linear driving unit 340 can adjust the distance between the second rotation shaft 332 and the first portion 342-2 while maintaining the first portion 342-2 and the second rotation shaft 332 parallel to each other regardless of the rotation of the second mounting stand 333 around the second rotation shaft 332.

[0156] Thus, the second linear driving unit 340 can adjust the rotation radius of the first portion 342-2 around the second rotation axis 332 through the second linear movement of the first portion 342-2.

[0157] As described above, in the endoscopic surgery training device 1000 according to one embodiment of the present invention, the driving unit 300 may be connected so that the first linear driving unit 310, the first rotational driving unit 320, the second rotational driving unit 330 and the second linear driving unit 340 are linked to one another, and the holder 200 may be mounted on the holder support member 342 constituting the second linear driving unit 340.

[0158] Accordingly, the holder 200 can move together with the holder support member 342 through the driving of the driving unit 300 .

[0159] Thus, when the moving member 312 moves linearly along the X-axis direction relative to the support plate 140 together with the first slider 314 when the first linear driving unit 310 is driven, the holder 200 mounted on the holder support member 342 can move linearly along the X-axis direction relative to the support plate 140 together with the holder support member 342. That is, the holder 200 mounted on the holder support member 342 can achieve a first linear movement through the linear movement of the moving member 312 by the first linear driving unit 310.

[0160] In addition, when the first rotation driver 320 is driven, the first mounting base 323 rotates relative to the moving member 312 around the first rotation shaft 322, and the holder 200 mounted on the holder support member 342 can rotate together with the first mounting base 323 around the first rotation shaft 322. That is, the holder 200 mounted on the holder support member 342 can realize a first rotation through the rotation of the first mounting base 323 by the first rotation driver 320.

[0161] In addition, when the second rotary driver 330 is driven, the second mount 333 rotates relative to the first mount 323 around the second rotation shaft 332, and the holder 200 mounted on the holder support member 342 can rotate together with the second mount 333 around the second rotation shaft 332. That is, the holder 200 mounted on the holder support member 342 can realize a second rotation through the rotation of the second mount 333 by the second rotary driver 330.

[0162] In addition, when the second linear driving unit 340 is driven, the holder support member 342 moves linearly together with the second slider 344 in a direction perpendicular to the second rotation shaft 332, and the holder 200 coupled to the holder support member 342 can move linearly together with the holder support member 342 in a direction perpendicular to the second rotation shaft 332. That is, the holder 200 mounted on the holder support member 342 can realize a second linear motion through the linear movement of the holder support member 342 by the second linear driving unit 340.

[0163] Thus, in the endoscopic surgery training device 1000 according to an embodiment of the present invention, the holder 200 mounted on the holder support member 342 can be driven by the driving unit 300 to realize four-degree-of-freedom movement.

[0164] That is, in the endoscopic surgery training device 1000 according to one embodiment of the present invention, the holder 200 mounted on the holder support member 342 can perform a first linear movement via the first linear driving unit 310, a first rotation via the first rotation driving unit 320, a second rotation via the second rotation driving unit 330, and a second linear movement via the second linear driving unit 340.

[0165] Also, as described above, when the holder support member 342 is positioned in the initial position through the driving unit 300, the center of the holder 200 can be positioned in a straight line with the first rotation axis 322, which is the central axis for the first rotation of the holder support member 342.

[0166] In addition, the first part 342-2 of the holder support member 342 to which the holder 200 is coupled can be adjusted in distance from the second rotation axis 332, which is the central axis for the second rotation of the holder support member 342, while maintaining a spaced state so as to be parallel to the second rotation axis 332.

[0167] As a result, the endoscopic surgery training device 1000 according to one embodiment of the present invention can realize all four degrees of freedom of movement of the holder 200 attached to the holder support member 342, and can variably change the position of the holder 200 attached to the holder support member 342 through a combination of a first linear movement of the holder support member 342 by the first linear driving unit 310, a second linear movement of the holder support member 342 by the second linear driving unit 340, a first rotation of the holder support member 342 by the first rotation driving unit 320, and a second rotation of the holder support member 342 through the second rotation driving unit 330.

[0168] As a result, when the holder 200 is connected to the first part 342-2 of the holder support member 342 and the position of the first part 342-2 is changed by the driving unit 300, the training target member 10 fixed to the holder 200 can embody all the various parts of the organ regardless of the shape of the organ, and the user can embody a specific part of the target organ as if it were in a real environment by changing the position of the training target member 10 connected to the holder 200.

[0169] In other words, in the endoscopic surgery training device 1000 according to one embodiment of the present invention, the training object member 10 fixed to the holder 200 can embody all the various parts of an organ regardless of the shape of the organ, and the user can embody a specific part of the target organ through the training object member 10 in the same way as in the actual environment.

[0170] As an example, as shown in Figures 8 and 11, the holder 200 may be attached to the holder support member 342 of the driving unit 300, and the holder support member 342 may be arranged to be positioned in an initial position through the driving unit 300.

[0171] Here, when the holder support member 342 is positioned to be in its initial position, the first slider 314 may be moved to the leftmost position along the first guide rail 313, the rotation angle of the first mounting base 323 and the rotation angle of the second mounting base 333 may be 0 degrees, and the second slider 344 may be farthest from the second rotation axis 332 along the second guide rail 343.

[0172] In addition, the training target member 10 for embodying the stomach and intestines may be attached to the holder 200 .

[0173] Next, with the training target member 10 attached to the holder 200, the first mounting base 323 can be rotated 105 degrees clockwise around the first rotation axis 322 through the first rotation drive unit 320, and the second mounting base 333 can be rotated 21 degrees clockwise around the second rotation axis 332 through the second rotation drive unit 330.

[0174] Thereafter, the holder support member 342 can be linearly moved by 36 mm in a direction approaching the second rotation shaft 332 through the second linear driving part 340 .

[0175] As a result, the holder 200 attached to the holder support member 342 can be rotated 105 degrees clockwise around the first rotation shaft 322, as shown in FIG. 20, rotated 21 degrees clockwise around the second rotation shaft 332, and then moved linearly 36 mm toward the second rotation shaft 332.

[0176] Incidentally, FIG. 20 is a diagram showing the state in which an endoscopic surgery training device according to one embodiment of the present invention is in use, in which the holder and training target member are arranged to be located at specific positions.

[0177] As a result, the holder 200 attached to the holder support member 342 can be changed to a first imitation position corresponding to the GC (Greater Curvature) part of the gastrointestinal antrum in the training space S1, and the training target member 10 attached to the holder 200 changed to the first imitation position in the training space S1 can embody the inner wall of the GC part of the gastrointestinal antrum.

[0178] That is, the endoscopic surgery training device 1000 according to one embodiment of the present invention can change the holder 200 attached to the holder support member 342 to the first simulation position to embody the GC (Greater Curvature) part of the gastrointestinal antrum in the training space S1, and the training target member 10 attached to the holder 200 can embody the inner wall of the GC part of the gastrointestinal antrum at the first simulation position.

[0179] As another example, as shown in Figures 8 and 11, the holder 200 may be attached to the holder support member 342 of the driving unit 300, the holder support member 342 may be positioned to be located in the initial position described above, and the training target member 10 for embodying the stomach and intestines may be attached to the holder 200.

[0180] Next, the first mounting base 323 can be rotated 75 degrees counterclockwise around the first rotation shaft 322 through the first rotation driver 320, and the second mounting base 333 can be rotated 133 degrees clockwise around the second rotation shaft 332 through the second rotation driver 330.

[0181] Thereafter, the holder support member 342 can be linearly moved by 28.5 mm in a direction approaching the second rotation shaft 332 through the second linear driving unit 340 .

[0182] As a result, the holder 200 attached to the holder support member 342 can be rotated 75 degrees clockwise around the first rotation shaft 322, rotated 133 degrees counterclockwise around the second rotation shaft 332, and then moved linearly 28.5 mm toward the second rotation shaft 332, as shown in FIG. 21.

[0183] As a result, the holder 200 attached to the holder support member 342 can be changed to a second imitation position corresponding to the LC (Lesser Curvature) portion of the gastrointestinal antrum in the training space S1, and the training target member 10 attached to the holder 200 changed to the second imitation position in the training space S1 can embody the inner wall of the LC portion of the gastrointestinal antrum.

[0184] That is, the endoscopic surgery training device 1000 according to one embodiment of the present invention can change the holder 200 attached to the holder support member 342 to the second simulation position to embody the LC (Lesser Curvature) part of the gastrointestinal antrum in the training space S1, and the training target member 10 attached to the holder 200 can embody the inner wall of the LC part of the gastrointestinal antrum at the second simulation position.

[0185] As yet another example, as shown in FIGS. 8 and 11, the holder 200 may be attached to the holder support member 342 of the driving unit 300, the holder support member 342 may be arranged to be located in the initial position described above, and the training target member 10 for embodying the colon may be attached to the holder 200.

[0186] Next, the moving member 312 can be moved 61 mm along the X-axis direction through the first linear driving unit 310, and the first mounting table 323 can be rotated 15 degrees clockwise around the first rotation axis 322 through the first rotation driving unit 320.

[0187] Thereafter, the second mounting table 333 can be rotated 10 degrees clockwise around the second rotation shaft 332 through the second rotation driving unit 330, and the holder support member 342 can be moved linearly 15 mm in a direction approaching the second rotation shaft 332 through the second linear driving unit 340.

[0188] As a result, the holder 200 attached to the holder support member 342 can move linearly 61 mm along the X-axis direction, as shown in FIG. 22, rotate 15 degrees clockwise around the first rotation axis 322, rotate 10 degrees clockwise around the second rotation axis 332, and then move linearly 15 mm toward the second rotation axis 332.

[0189] As a result, the holder 200 attached to the holder support member 342 can be changed to a third simulating position corresponding to the downstream portion of the colon in the training space S1, and the training target member 10 attached to the holder 200 can embody the inner wall of the downstream portion of the colon.

[0190] That is, the endoscopic surgery training device 1000 according to one embodiment of the present invention can change the holder 200 attached to the holder support member 342 to the third simulation position to embody the downstream portion of the colon in the training space S1, and the training target member 10 attached to the holder 200 can embody the inner wall of the downstream portion of the colon at the third simulation position.

[0191] In this way, the endoscopic surgery training device 1000 according to one embodiment of the present invention can embody a specific part of the target organ in the training space S1 in the same way as in reality by changing the training target member 10 fixed to the holder 200 and the replica position of the holder 200 through the driving unit 300.

[0192] Thus, the user can train to improve his / her skill by using the training object member 10 embodied in the training space S1 so as to imitate a specific part of the target organ.

[0193] At this time, the control unit 500 can drive the driving unit 300 so that movement of the holder support member 342 can occur while the training target member 10 attached to the holder 200 is changed to a specific simulating position of an organ for training in the training space S1 (for example, any one of the first simulating position, the second simulating position, and the third simulating position).

[0194] In other words, the control unit 500 can control the driving unit 300 to perform a replicating operation that replicates the movements of organs that may occur during endoscopic surgery when the training object member 10 is changed to a specific replica position of an organ for training in the training space S1.

[0195] The organ movements that can occur during an actual endoscopic surgery are as follows:

[0196] For example, when air is injected into an organ during an actual endoscopic surgery, the organ expands and the tip of the endoscope device and the inner wall of the organ may move away from each other.

[0197] For example, when air is sucked into an organ during an actual endoscopic surgery, the organ may contract and move so that the tip of the endoscope device approaches the inner wall of the organ.

[0198] For example, during an actual endoscopic surgery, the patient's breathing can cause organs to move.

[0199] For example, during an actual endoscopic surgery, organs may move due to events such as vomiting or sneezing of the patient.

[0200] The control unit 500 can control at least one of the first linear driving unit 310, the first rotation driving unit 320, the second linear driving unit 340, and the second rotation driving unit 330 so that the training target member 10 performs a replicating movement that replicates the movement of organs that may occur during the above-mentioned endoscopic surgery process.

[0201] As an example, the control unit 500 can drive the second linear driving unit 340 so that the holder support member 342 moves linearly along a direction perpendicular to the second rotation axis 332 when the training target member 10 attached to the holder 200 is changed to a specific simulating position of an organ for training in the training space S1 (for example, any one of the first simulating position, the second simulating position, and the third simulating position).

[0202] Accordingly, the training object member 10 attached to the holder 200 can perform a replicating action of moving linearly along a direction perpendicular to the second rotation axis 332 together with the holder support member 342 through the movement of the holder support member 342 .

[0203] As a result, as shown in Figures 20 to 22, when the tip of the endoscopic device 20 is placed on one side of the training object member 10, the training object member 10 can move toward or away from the tip of the endoscopic device 20.

[0204] Incidentally, Figure 21 is a diagram showing the state in which an endoscopic surgery training device according to one embodiment of the present invention is used, in which the holder and training object member are arranged so as to be located at another specific position, and Figure 22 is a diagram showing the state in which an endoscopic surgery training device according to one embodiment of the present invention is used, in which the holder and training object member are arranged so as to be located at yet another specific position.

[0205] The linear movement of the training object member 10 in the direction approaching the tip of the endoscopic device 20 imitates the movement that occurs during actual endoscopic surgery when air is injected into the inside of an organ to expand it, causing the tip of the endoscopic device to approach the inner wall of the organ.

[0206] The movement of the training object member 10 in a straight line moving away from the tip of the endoscopic device 20 imitates the movement of the tip of the endoscopic device and the inner wall of the organ moving away from each other during actual endoscopic surgery by inhaling air inside the organ and causing the organ to contract.

[0207] Therefore, in the endoscopic surgery training device 1000 according to one embodiment of the present invention, the training object member 10 mounted on the holder 200 can be moved linearly through the second linear driving unit 340 in a state where the training object member 10 is changed to a specific imitation position of an organ for training in the training space S1, thereby embodying the same air-inflation / deflation situation in which air is injected into the inside of an organ to expand or contract the organ in an actual endoscopic procedure.

[0208] In this case, the control unit 500 may control the driving unit 300 so that, when the training target member 10 attached to the holder 200 is changed to a specific imitation position of an organ for training in the training space S1, at least one of the first linear movement by the first linear driving unit 310, the first rotation by the first rotation driving unit 320, and the second rotation by the second rotation driving unit 330 can be performed together with the second linear movement by the second linear driving unit 340.

[0209] Accordingly, the training object member 10 mounted on the holder 200 can be moved not only in a straight line but also in a normal direction or in a twisted direction through the driving unit 300 while being changed to a specific position that replicates the organ for training in the training space S1, thereby realizing more diverse air-inflation / deflation situations.

[0210] As another example, in the endoscopic surgery training device 1000 according to one embodiment of the present invention, the control unit 500 can control the driving unit 300 so that the holder support member 342 can perform at least one of a first linear movement by the first linear driving unit 310, a first rotation by the first rotation driving unit 320, a second rotation by the second rotation driving unit 330, and a second linear movement by the second linear driving unit 340 when the training target member 10 attached to the holder 200 is changed to a specific simulating position of an organ for training in the training space S1.

[0211] Accordingly, the training object 10 attached to the holder 200 can perform a replica movement together with the holder support member 342 through the movement of the holder support member 342 .

[0212] In this case, with the tip of the endoscopic device 20 placed on one side of the training target member 10, the training target member 10 can perform an operation that imitates the movement of organs due to the patient's breathing or events (e.g., coughing, sneezing) during an actual endoscopic surgery process through the control unit 500.

[0213] Therefore, the endoscopic surgery training device 1000 according to one embodiment of the present invention can embody, through the control unit 500, the movements of organs that occur in various situations such as breathing, vomiting, and sneezing that may occur during endoscopic surgery, when the training target member 10 attached to the holder 200 is changed to a specific imitation position of an organ for training in the training space S1.

[0214] In the present invention, when the training object member 10 mounted on the holder 200 is changed to a specific position that replicates an organ for training in the training space S1, the movement of the training object member 10 through the driving unit 300 may be performed by the control unit 500 controlling the driving unit 300 upon operation by the user, or may be performed by the control unit 500 automatically controlling the driving unit 300 based on pre-input data.

[0215] The channel forming part 400 may form an entrance path for the endoscope device 20 entering the training space S1 from the outside.

[0216] That is, as shown in Figures 20 to 22, the tip of the endoscopic device 20 can pass through the channel forming portion 400 and then enter the training space S1, and can move toward the training target member 10 fixed to the holder 200 in the training space S1.

[0217] Accordingly, the endoscope device 20 that enters the training space S1 through the channel forming portion 400 can be positioned so that its tip faces one side of the training target member 10, which has been changed to a specific imitation position of an organ for training in the training space S1.

[0218] Through this, the user can practice endoscopic surgery in the training space S1 by bringing the tip of the endoscopic device 20 close to the training target member 10, which has been changed to a specific replica position of an organ for training in the training space S1.

[0219] At this time, the channel forming part 400 can form at least two entrance paths.

[0220] For example, the channel forming portion 400 can form a first entry path that replicates the path through which the endoscopic device 20 enters during gastroscopy and a second entry path that replicates the path through which the endoscopic device 20 enters during colonoscopy.

[0221] To this end, as shown in Figures 1 to 4, 16 and 17, the channel forming part 400 may include a channel case 410 coupled to the housing 100, a path part 420 formed by recessing from one side of the channel case 410 to form an entry path for the endoscope device 20, and a path maintaining member 430 formed hollow to allow the tip of the endoscope device 20 to pass through.

[0222] Incidentally, FIG. 16 is a diagram showing a channel forming section that can be applied to an endoscopic surgery training device according to one embodiment of the present invention, in which the path maintaining members are attached so as to be positioned at the first path forming portion and the second path forming portion, and FIG. 17 is a diagram showing a channel forming section that can be applied to an endoscopic surgery training device according to one embodiment of the present invention, in which the path maintaining members are attached so as to be positioned at the first path forming portion and the third path forming portion.

[0223] In this case, the path section 420 may include a first path forming portion 421 having one end connected to the training space S1 and formed to have a certain length, and a second path forming portion 422 and a third path forming portion 423 each extending from the first path forming portion 421 so as to branch off in different directions from the other end of the first path forming portion 421.

[0224] In addition, the channel forming portion 400 may include an outlet forming member 440 that is coupled to the channel case 410 so as to be connected to an end of the first path forming portion 421, and the end of the second path forming portion 422 may be formed to be exposed to the outside to form a first entrance 424 through which the endoscopic device 20 enters, and the end of the third path forming portion 423 may also be formed to be exposed to the outside to form a second entrance 425 through which the endoscopic device 20 enters.

[0225] Here, the channel case 410 may include a first side 411 in which the first inlet 424 is formed, a second side 412 in which the second inlet 425 is formed, and a third side 413 to which the outlet forming member 440 is coupled.

[0226] Furthermore, the first path forming portion 421 and the second path forming portion 422 may be arranged at a predetermined angle so as to imitate a path similar to the path connecting the throat and esophagus through which the tip of the endoscopic device 20 enters during gastroscopy, and the first path forming portion 421 and the third path forming portion 423 may be arranged to form an approximately straight line so as to imitate a path similar to the path connecting the anus and rectum through which the tip of the endoscopic device 20 enters during colonoscopy.

[0227] Accordingly, as shown in FIG. 16, when the path maintaining member 430 is arranged in the path portion 420 so as to be positioned at the first path forming portion 421 and the second path forming portion 422, the channel forming portion 400 can form a first entry path that replicates the path along which the endoscopic device 20 enters during gastroscopy.

[0228] Through this, when the tip of the endoscopic device 20 is inserted into the first entrance 424, the tip of the endoscopic device 20 moves along the path maintaining member 430 that forms the first entry path, and then can enter the training space S1 through the exit forming member 440.

[0229] As a result, the operator can enter the endoscopic device 20 into the training space S1 through the channel forming portion 400 along a path similar to the path that the endoscopic device 20 enters during actual gastroscopy, thereby performing training in an environment similar to that of an actual gastroscopy.

[0230] On the other hand, as shown in FIG. 17, when the path maintaining member 430 is disposed in the path portion 420 so as to be positioned at the first path forming portion 421 and the third path forming portion 423, the channel forming portion 400 can form a second entry path that replicates the path through which the endoscopic device 20 enters during colonoscopy.

[0231] Through this, when the tip of the endoscopic device 20 is inserted into the second entrance 425, the tip of the endoscopic device 20 moves along the path maintaining member 430 that forms the second entry path, and then can enter the training space S1 through the exit forming member 440.

[0232] As a result, the operator can enter the endoscopic device 20 into the training space S1 through the channel forming unit 400 along a path similar to the path that the endoscopic device 20 would take during actual colonoscopy, thereby performing training in an environment similar to that of an actual colonoscopy.

[0233] In this case, the path maintaining member 430 may be detachably connected to the path portion 420, and the channel forming portion 400 may be provided in a drawer type in which the channel case 410 is slidably connected to the housing 100 along the rail 180.

[0234] Through this, a user can pull out the channel case 410 from the housing 100 to change the position of the path maintaining member 430 coupled to the path portion 420 in a state where the path portion 420 is exposed to the outside.

[0235] This allows the user to easily change the entry path of the endoscope device 20 entering the training space S1 from the outside.

[0236] That is, the user can pull out the channel case 410 from the housing 100 and attach the path maintaining member 430 to the path portion 420 so that the path maintaining member 430 is positioned at the first path forming portion 421 and the second path forming portion 422 with the path portion 420 exposed to the outside, or attach the path maintaining member 430 to the path portion 420 so that the path maintaining member 430 is positioned at the first path forming portion 421 and the third path forming portion 423.

[0237] Thus, the approach path of the endoscope device 20 formed through the path maintaining member 430 can be easily changed.

[0238] Next, when the user changes the position of the path maintaining member 430 coupled to the path portion 420 and inserts the channel case 410 into the housing 100, the path maintaining member 430 can selectively connect the first inlet 424 to the outlet forming member 440 or the second inlet 425 to the outlet forming member 440.

[0239] To this end, the channel forming portion 400 may be slidably connected to the channel case 410 in the storage space S2 of the housing 100, and the path maintaining member 430 may be detachably connected to the path portion 420 through a first coupling 431 and a second coupling 432 provided at both end sides, respectively.

[0240] As an example, the housing 100 may include a storage space S2 formed to be positioned adjacent to the training space S1, and the storage space S2 may be defined by a space forming member 151 having a substantially "⊂" shaped cross section with three open sides, and a finishing plate 152 covering one side of the space forming member 151, as shown in Figures 2, 15, and 16. In addition, the outlet forming member 440 may be coupled to the space forming member 151 so as to communicate with the storage space S2.

[0241] Thus, the receiving space S2 may be formed in the housing 100 such that two sides thereof are open.

[0242] That is, the storage space S2 may be formed such that a first corresponding side surface corresponding to the first side surface 411 and a second corresponding side surface corresponding to the second side surface 412 are open when the channel case 410 is inserted into the storage space S2.

[0243] Accordingly, even when the channel case 410 is inserted into the storage space S2, the first entrance 424 and the second entrance 425 can remain exposed to the outside through the first corresponding side and the second corresponding side of the storage space S2, respectively.

[0244] As a result, the endoscope device 20 can enter the training space S1 through the first entrance 424 or the second entrance 425, and the channel case 410 can be inserted into or pulled out from the storage space S2 through the first corresponding side.

[0245] In this case, the channel case 410 may be guided to slide along a rail 180. For example, the rail 180 may be formed to correspond to one surface of the channel case 410 and one surface of the space forming member 151, which face each other.

[0246] In addition, the path maintenance member 430 may include a hollow connecting pipe 433 having a predetermined length, a first coupling member 431 provided at one end of the connecting pipe 433 so as to be detachably coupled to one end of the first path forming portion 421, and a second coupling member 432 provided at the other end of the connecting pipe 433 so as to be detachably coupled to one end of the second path forming portion 422 or one end of the third path forming portion 423, and the connecting pipe 433 may be made of a material whose shape can be easily changed by external force.

[0247] In this case, the channel case 410 may include a first coupling groove 414 located at the end side of the first path forming portion 421 and formed to have a shape corresponding to the first coupling device 431, a second coupling groove 415 located at the end side of the second path forming portion 422 and formed to have a shape corresponding to the second coupling device 432, and a third coupling groove 416 located at the end side of the third path forming portion 423 and formed to have a shape corresponding to the second coupling device 432.

[0248] Accordingly, the first coupling member 431 can be detachably coupled to the first coupling groove 414, and when the first coupling member 431 is coupled to the first coupling groove 414, the connecting pipe 433 can communicate with the outlet forming member 440.

[0249] In addition, the second coupling device 432 may be detachably coupled to the second coupling groove 415 or the third coupling groove 416, and when the second coupling device 432 is coupled to the second coupling groove 415, one end of the connecting pipe 433 may be connected to the first inlet 424, and when the second coupling device 432 is coupled to the third coupling groove 416, one end of the connecting pipe 433 may be connected to the second inlet 425.

[0250] Therefore, when the first coupling member 431 is coupled to the first coupling groove 414 and the second coupling member 432 is selectively coupled to either the second coupling groove 415 or the third coupling groove 416, the path maintaining member 430 can form the first entrance path or the second entrance path.

[0251] Meanwhile, the endoscopic surgery training device 1000 according to one embodiment of the present invention may further include an auxiliary support part 600 for supporting a part of the endoscopic device 20 inserted into the training space S1 through the channel forming part 400.

[0252] Such an auxiliary support unit 600 may include an auxiliary support base 610 for supporting a portion of the endoscopic device 20, and may be disposed to be located below the channel forming unit 400, and the auxiliary support base 610 may move linearly toward the holder 200 along the X-axis direction as needed.

[0253] In other words, the auxiliary support stand 610 can move linearly toward the holder 200 while positioned below the channel forming unit 400 only when it is necessary to support a portion of the endoscopic device 20 that has entered the training space S1 from the channel forming unit 400.

[0254] For example, during actual endoscopic surgery, when the endoscopic device 20 enters the inside of an organ, a portion (e.g., the curved portion excluding the tip) can maintain contact with the inner wall of the organ depending on a specific part of the organ.

[0255] That is, when the tip of the endoscope device 20 approaches a specific part of an organ, a part of the overall length can be kept bent, and the bent part can be kept in contact with the inner wall of the organ.

[0256] In the present invention, by supporting a portion of the endoscopic device 20 that has entered the training space S1 through the auxiliary support stand 610, it is possible to emulate a state in which a portion of the endoscopic device 20 that has entered the inside of an organ comes into contact with the inner wall of the organ during actual endoscopic surgery.

[0257] For example, as shown in FIG. 21, when the training target member 10 attached to the holder 200 embodies the inner wall of the LC (Lesser Curvature) part of the antrum of the stomach in the training space S1, the auxiliary support stand 610 can be driven by the control unit 500 to move linearly 190 mm along the X-axis direction toward the holder 200 while positioned below the channel forming unit 400.

[0258] Accordingly, the auxiliary support stand 610 supports the curved portion of the endoscopic device 20 that has entered the training space S1 through the channel forming part 400, thereby embodying a state in which the curved portion of the endoscopic device 20 that has entered the inside of the stomach and intestines contacts the inner wall of the GC (Greater Curvature) part of the antrum of the stomach and intestines during actual gastrointestinal endoscopy.

[0259] On the other hand, as shown in FIG. 20, when the training target member 10 attached to the holder 200 embodies the inner wall of the GC part of the gastrointestinal antrum in the training space S1, the auxiliary support stand 610 can maintain its initial state located below the channel forming part 400 without entering the training space S1 through the drive of the control part 500.

[0260] Thereby, the auxiliary support stand 610 can be moved to the training space S1 through the control unit 500 only when necessary according to a specific part of an organ embodied in the training target member 10 in the training space S1.

[0261] To this end, the auxiliary support unit 600 may include an auxiliary support table 610 for supporting a portion of the endoscopic device 20 that has entered the training space S1, and an auxiliary driving unit 620 for changing the position of the auxiliary support table 610 within the training space S1 through a fifth driving motor 621.

[0262] In this case, when the training object member 10 is changed to a specific replica position of an organ that has been input in advance in the training space S1, the control unit 500 can drive the auxiliary driving unit 620 to move the auxiliary support stand 610 toward the training object member 10.

[0263] As a specific example, as shown in Figures 18 and 19, the auxiliary driving unit 620 may include a third slider 622 fixed to the coupling table 170, and a third guide rail 623 movably connected to the third slider 622 so as to be linearly movable in the X-axis direction, and to one side of which the auxiliary support table 610 is fixedly connected.

[0264] Incidentally, FIG. 18 is a diagram illustrating an auxiliary drive unit that can be applied to an endoscopic surgery training device according to one embodiment of the present invention, and FIG. 19 is a diagram of FIG. 18 viewed from another direction.

[0265] The coupling stand 170 may be coupled to the support plate 140 and may space the auxiliary driving unit 620 at a predetermined height from the support plate 140 so that the auxiliary driving unit 620 can operate smoothly.

[0266] In addition, the auxiliary driving unit 620 may further include a third rack gear 624 formed along the X-axis direction on one side of the third guide rail 623, and a third pinion gear 625 that is axially connected to the rotation shaft of the fifth driving motor 621 and engages with the third rack gear 624 so as to be rotated by the fifth driving motor 621, and the fifth driving motor 621 may be fixedly connected to the coupling table 170.

[0267] In addition, the auxiliary driving unit 620 may further include a guide roller 626 for guiding the sliding movement of the third guide rail 623, and the guide roller 626 may be located on the opposite side of the third rack gear 624 and connected to the connecting base 170 so as to contact one side of the third guide rail 623.

[0268] Accordingly, when the fifth driving motor 621 rotates through the driving of the control unit 500, the third pinion gear 625 can transmit driving force to the third rack gear 624 through rotation, and the third rack gear 624 can convert the rotational force of the third pinion gear 625 into driving force for linear motion.

[0269] That is, the third rack gear 624 can switch the rotational force of the third pinion gear 625 to a direction parallel to the X-axis.

[0270] Thus, the third guide rail 623 can move linearly back and forth along the X-axis direction through the third slider 622 by the driving force provided by the third rack gear 624, and the third guide rail 623 can move linearly smoothly through the guide roller 626.

[0271] As a result, the auxiliary support stand 610 fixed to one side of the third guide rail 623 can move linearly along the X-axis direction to enter the training space S1 and move toward the training target member 10, or maintain its initial state located below the channel forming part 400.

[0272] Here, the housing 100 may further include an arrangement space S3 in which the auxiliary support part 600 is arranged, and the arrangement space S3 may be separated from the training space S1 by a partition wall 160.

[0273] In addition, the placement space S3 may be formed inside the housing 100 to be adjacent to the training space S1 along the X-axis direction and positioned below the channel forming part 400.

[0274] Through this, when the training target member 10 fixed to the holder 200 is changed to a specific replication position (for example, the second replication position) where the auxiliary support stand 610 is required among the specific replication positions of the organ input in advance, the control unit 500 can drive the auxiliary driving unit 620 to move the auxiliary support stand 610 linearly toward the training target member 10 arranged in the training space S1 in the arrangement space S3.

[0275] On the other hand, when the training target member 10 fixed to the holder 200 is changed to a specific replication position (for example, the first replication position or the third replication position) among the specific replication positions of the organ input in advance, where the auxiliary support stand 610 is not required, the control unit 500 can maintain the auxiliary support stand 610 in its initial state of being arranged on the arrangement space S3 side.

[0276] Meanwhile, the control unit 500 can control at least one of the first linear driving unit 310, the first rotation driving unit 320, the second linear driving unit 340, the second rotation driving unit 330 and the auxiliary driving unit 620 so that the training target member 10 performs a replicating action that replicates the movements of organs that may occur in various situations such as breathing, vomiting and sneezing during an endoscopic surgery.

[0277] Meanwhile, the endoscopic surgery training device 1000 according to an embodiment of the present invention may further include an operation unit 700 for user operation.

[0278] The operating unit 700 can generate an input signal from the user to change the training target member 10 to a specific position that replicates an organ.

[0279] For example, the operation unit 700 may be a known touch screen panel. In this case, the operation unit 700 may be provided on one side of the housing 100 as shown in Fig. 1. Alternatively, the operation unit 700 may be separated from the housing 100 and communicate with the control unit 500 in a wired or wireless manner, although this is not shown.

[0280] As another example, the operation unit 700 may be a known terminal capable of wired / wireless communication, such as a smartphone or a tablet PC.

[0281] A user can transmit an input signal to the control unit 500 through the operation unit 700, and the control unit 500 can control the overall operation including the driving unit 300 and the auxiliary driving unit 620 based on the input signal transmitted from the operation unit 700.

[0282] As a non-limiting example, the user can select one of various replication positions of various specific organs previously input through the operation unit 700, and the control unit 500 can drive the driving unit 300 and the auxiliary driving unit 620 to embody the replication position of the specific organ selected by the user in the training space S1 using the training target member 10.

[0283] Also, the user may directly operate the driving unit 300 through the operating unit 700 to finely adjust the position of the holder 200 .

[0284] Thus, when the training object member 10 is embodied in the training space S1 at a position that replicates a specific organ, the user can finely change the position of the training object member 10 by operating the operating unit 700, thereby allowing the user to more accurately change the training object member 10 to the desired replication position.

[0285] 4, the endoscopic surgery training device 1000 according to an embodiment of the present invention may further include a connector 103 provided on one side of the housing 100. The connector 103 is electrically connected to the holder support member 342 by an electric wire (not shown). The electric wire (not shown) may be extended inside the housing 100 so as not to interfere with other components.

[0286] The holder 200 coupled to the holder support member 342 may be electrically connected to the connector 103. At this time, the contact portions of the holder support member 342 and the holder 200 may be electrically connected through conductivity. At this time, the training target member 10 coupled to the holder 200 may be electrically connected to the connector 103.

[0287] A portion of the connector 103 is exposed to the outside of the housing 100 and is connected to a terminal (not shown) of a cable (not shown) electrically connected to a cautery device (not shown). When the terminal (not shown) of the cable (not shown) is connected to the connector 103, the cautery device can be electrically connected to the training target member 10 connected to the holder 200 via the holder support member 342 and the holder 200.

[0288] Although an embodiment of the present invention has been described, the concept of the present invention is not limited to the embodiment presented in this specification, and a person skilled in the art who understands the concept of the present invention may easily propose other embodiments by adding, changing, deleting, or adding components within the scope of the same concept, which may also fall within the scope of the concept of the present invention. [Explanation of symbols]

[0289] 10: Training materials 20: Endoscopic device 1000: Endoscopic surgery training device 100: Housing 103: Connector 110: 1st Housing 120: Second Housing 130: Door 140: Support plate 151: Space forming member 152: Finishing board 160: Bulkhead 170: Joining table 180: Rail S1: Training space S2: Storage space S3: Placement space 200: Holder 210: Holder body 212: Mounting part 214: Leg part 215:Protrusion 220: Tweezers member 230: First magnet member 240: second magnet member 250: Fourth magnet member 300: Drive unit 310: First linear drive unit 311: First drive motor 312: Moving parts 313: First guide rail 314: First slider 315: 1st rack gear 316: 1st pinion gear 320: First rotary drive unit 321: Second drive motor 322: First rotation axis 323: First mounting stand 323-1: 1-1 mounting stand 323-2: 1st and 2nd mounting stand 324: 1st drive gear 325: 1st driven gear 330: Second rotary drive unit 331: Third drive motor 332: Second rotation axis 333: Second mounting stand 334: Second drive gear 335: Second driven gear 340: Second linear drive unit 341: 4th drive motor 342: Holder support member 342-1: Second part 342-2: Part 1 342a: Mounting groove 343: Second guide rail 344: Second slider 345: Second rack gear 346: 2nd pinion gear 350: Cover member 360: Third magnet member 400: Channel forming section 410: Channel case 411:1st side 412:Second side 413:Third side 414: 1st coupling groove 415:Second coupling groove 416:Third coupling groove 420: Path section 421: Pathway 1 formation part 422: Alternative pathway forming part 423: Third pathway forming part 424: First entrance 425: Second Entrance 430: Path maintenance component 431: First coupling 432: Second coupling 433: Connecting pipe 440: Outlet forming member 500: Control unit 600: Auxiliary support part 610: Auxiliary support stand 620: Auxiliary drive unit 621: 5th drive motor 622: Third slider 623: Third guide rail 624: 3rd rack gear 625: 3rd pinion gear 626: Guide roller 700:Operation unit

Claims

1. a housing including a training space formed therein for surgical training, and a support plate forming a bottom surface of the training space; a holder for fixing the training target member; a drive unit including a holder support member to which the holder is coupled, for changing the position of the holder coupled to the holder support member within the training space through movement of at least one degree of freedom so that the training target member fixed to the holder can be changed to a specific position that replicates an organ for training within the training space; a channel forming portion formed in the housing so as to form an entry path for an endoscope device that enters the training space from the outside; and a control unit for controlling the drive unit.

2. The drive unit is 2. The endoscopic surgery training device according to claim 1, wherein the position of the holder coupled to the holder support member is changed within the training space through four degrees of freedom movement including a first linear movement, a first rotation, a second rotation, and a second linear movement.

3. the drive unit includes a first linear drive unit for linearly moving the holder support member along the X-axis direction, a first rotation drive unit for rotating the holder support member around a first rotation axis, a second rotation drive unit for rotating the holder support member around a second rotation axis, and a second linear drive unit for linearly moving the holder support member in a direction perpendicular to the second rotation axis, 3. The endoscopic surgery training device of claim 2, wherein the first portion of the holder support member to which the holder is coupled is positioned to be parallel to the second rotation axis and spaced a predetermined distance from the second rotation axis.

4. 4. The endoscopic surgery training device according to claim 3, wherein when the holder support member is placed in an initial position by the drive unit with the holder coupled to the first portion, the center of the holder is positioned in a straight line with the first rotation axis, which is a central axis for a first rotation of the holder support member.

5. 3. The endoscopic surgery training device of claim 2, wherein the holder comprises: a holder body including an attachment portion detachably coupled to one side of the driving unit and a plurality of leg portions extending from the attachment portion; and a plurality of tweezers members detachably coupled to the plurality of leg portions so as to grasp the training object.

6. the holder includes a plurality of first magnet members respectively provided on the plurality of leg portions, and a plurality of second magnet members respectively provided on the plurality of tweezers members so as to correspond to the plurality of first magnet members; 6. The endoscopic surgery training device according to claim 5, wherein each of the plurality of tweezers members is detachably coupled to the holder body through the corresponding first and second magnet members.

7. The drive unit is a first linear driving unit including a moving member that moves linearly back and forth along the X-axis direction relative to the support plate through a first driving motor; a first rotation driving unit including a second driving motor fixedly coupled to the moving member, a first rotation shaft that rotates around a Z axis perpendicular to the X axis with respect to the moving member by a driving force of the second driving motor, and a first mounting base fixedly coupled to the first rotation shaft; a second rotation drive unit including a third drive motor fixedly coupled to the first mount; a second rotation shaft that rotates about an axis parallel to the XY plane and perpendicular to the Z axis relative to the first mount by the driving force of the third drive motor; and a second mount fixedly coupled to the second rotation shaft; 3. The endoscopic surgery training device according to claim 2, further comprising a second linear drive unit including a fourth drive motor fixedly coupled to the second mounting base and providing a driving force for linearly moving the holder support member back and forth relative to the second mounting base along a direction parallel to the XY plane and perpendicular to the Z axis.

8. The endoscopic surgery training device includes: The holder further includes a third magnet member provided on the holder support member, and a fourth magnet member provided on the holder to correspond to the third magnet member, 8. The endoscopic surgery training device according to claim 7, wherein the holder is detachably coupled to the holder support member via the third and fourth magnet members.

9. The first linear drive unit is a first slider movably coupled to the first guide rail so as to be linearly movable in the X-axis direction along the first guide rail; a first rack gear fixedly coupled to one side of the moving member so as to be parallel to a longitudinal direction of the first guide rail; and a first pinion gear axially coupled to the first driving motor so as to be rotated by the first driving motor and meshing with the first rack gear, 8. The endoscopic surgery training device according to claim 7, wherein the moving member moves linearly back and forth along the X-axis direction relative to the support plate via the first slider fixed to one side.

10. The first rotation drive unit is a first driving gear axially connected to the second driving motor; and a first driven gear axially connected to the first rotating shaft and meshing with the first driving gear, 8. The endoscopic surgery training device according to claim 7, wherein the first mounting base rotates about a Z-axis perpendicular to the X-axis relative to the moving member through rotation of the first rotation shaft.

11. The second rotation drive unit is a second driving gear axially connected to the third driving motor; and a second driven gear axially connected to the second rotating shaft and meshing with the second driving gear, 8. The endoscopic surgery training device according to claim 7, wherein the second mounting base rotates about an axis perpendicular to the Z-axis relative to the first mounting base through rotation of the second rotation shaft.

12. The second linear drive unit is a second guide rail fixed to the second mounting table; a second slider movably coupled to the second guide rail so as to be able to linearly reciprocate along the second guide rail; a second rack gear fixedly coupled to one side of the holder support member so as to be parallel to a longitudinal direction of the second guide rail; and a second pinion gear axially coupled to the fourth driving motor so as to be rotated by the fourth driving motor and meshing with the second rack gear, 8. The endoscopic surgery training device according to claim 7, wherein the holder support member moves linearly back and forth along the second guide rail relative to the second mounting base via the second slider fixed to one side thereof.

13. 2. The endoscopic surgery training device of claim 1, wherein the control unit drives the drive unit so that movement of the holder support member occurs when the training target member is changed to a specific replica position of an organ for training through driving of the drive unit.

14. The channel forming portion is a channel case coupled to the housing; a path portion formed by drawing in from one surface of the channel case to form an entry path for the endoscope device; and a path maintaining member formed hollow to allow the endoscope device to pass through and detachably coupled to the path portion, the path portion includes a first path forming portion having one end communicating with the training space and formed to have a certain length, and a second path forming portion and a third path forming portion extending from the first path forming portion so as to branch off in different directions from the other end of the first path forming portion, 2. The endoscopic surgery training device according to claim 1, wherein the path maintaining member is attached to the path portion so as to be positioned at the first path forming portion and the second path forming portion to form a first approach path, or is attached to the path portion so as to be positioned at the first path forming portion and the third path forming portion to form a second approach path.

15. 15. The endoscopic surgery training device of claim 14, wherein the path maintaining member includes: a hollow connecting tube having a predetermined length; a first coupling provided at one end of the connecting tube so as to be detachably coupled to one end of the first path forming portion; and a second coupling provided at the other end of the connecting tube so as to be detachably coupled to one end of the second path forming portion or one end of the third path forming portion.

16. When the holder is changed to a specific replica position of the organ by the driving unit, the training target member attached to the holder embodies the inner wall of the organ, The endoscopic surgery training device according to claim 1 , wherein the endoscope device that has entered the training space through the channel forming portion is positioned so that a tip thereof faces one surface of the training target member.

17. The endoscopic surgery training device includes: The endoscopic surgery training device of claim 3 , further comprising an auxiliary support portion located below the channel forming portion to support a portion of the endoscopic device inserted into the training space through the channel forming portion.

18. the auxiliary support unit includes an auxiliary support base for supporting a portion of the endoscope device that has entered the training space, and an auxiliary drive unit for changing the position of the auxiliary support base within the training space by a fifth drive motor, 18. The endoscopic surgery training device of claim 17, wherein the control unit drives the auxiliary driving unit to move the auxiliary support table toward the training object when the training object is changed to a specific replica position input in advance.

19. The auxiliary drive unit is a third slider fixed to a coupling base coupled to the support plate; a third guide rail movably coupled to the third slider so as to be linearly movable in the X-axis direction and having the auxiliary support base fixedly coupled to one side thereof; a third rack gear formed on one side of the third guide rail along the X-axis direction; and a third pinion gear axially coupled to the fifth driving motor so as to be rotated by the fifth driving motor and meshing with the third rack gear, The endoscopic surgery training device according to claim 18, wherein the auxiliary support base moves toward the training target member through linear movement of the third guide rail.

20. The endoscopic surgery training device includes: further comprising an operation unit for user operation, 2. The endoscopic surgery training device according to claim 1, wherein the operation unit generates an input signal from the user for changing the training target member to a specific replica position of an organ.

21. the endoscopic surgery training device further includes a connector provided on one side of the housing to be electrically connected to the holder support member, a portion of which is exposed to the outside of the housing and is coupled to a terminal of a cable electrically connected to a cautery device, The endoscopic surgery training device according to claim 1 , wherein the holder coupled to the holder support member is electrically connected to the connector.

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