Training platform

Abstract

The present invention relates to a surgical training platform including a display device for displaying a virtual environment, a calibration module (14) connected to the display device, a training module (16) equipped with a haptic controller (18), a control system configured to identify different modules, analyze data related to the operation of each tool connected to the haptic controller, generate a virtual environment, and interface each virtual surgical element with a corresponding real element. All modules are configured to be reversibly connected to each other in a known configuration, each haptic controller includes a connection system configured to reversibly and mechanically connect a surgical training tool, and each haptic controller is further configured to measure each movement within the space of the surgical training tool when the surgical training tool is connected to the haptic controller. The control system further includes a system for recognizing the tool.

Description

Technical Field

[0001] Field of the Invention The present invention relates to a modular surgical training platform. Accordingly, the present invention relates to the fields of educational and teaching tools, methods, and devices. More specifically, the present invention relates to a training device for surgical operations intended for training surgeons.

Background Art

[0002] To date, most surgical training has been carried out by surgical assistants on patients in a real - life situation. This method requires a significant amount of human resources, has major hardware constraints, and can impose considerable stress on students that may lead to a decline in concentration and / or memory.

[0003] As alternatives, for example, there are the Pelvitrainer EoSim SurgTrac (registered trademark) or some teaching hours on animals. However, these training / methods can only be used by a small number of surgical trainees and have obvious limitations. For example, the Pelvitrainer is a simple box for inserting only trocars and cameras, and suturing can be practiced with inert substances such as foam. Animal models have obvious problems in terms of the quality of training because of the limited anatomical similarity / correlation with humans. Animal models also raise ethical issues.

[0004] Accordingly, the present invention aims to provide a safe, practical, accurate, realistic, easy - to - use, and accessible training device that gives surgical students the opportunity to train in a safe environment without the risk of injuring themselves, patients, or animals.

Summary of the Invention

[0005] Accordingly, the present invention relates to a modular surgical training platform configured to interface with a virtual environment including at least one virtual surgical element, the training platform including a virtual reality display device configured to display the virtual environment to a user, a calibration module connected to the virtual reality display device, at least one training module, each training module including a haptic controller, a control system configured to identify different modules connected to each other, generate the virtual environment, and interface each movable virtual surgical element of the virtual environment with a corresponding real element. The present invention is characterized in that all modules are configured to be reversibly connected to each other in a known configuration. The present invention also includes a connection system configured such that each haptic controller reversibly and mechanically connects a surgical training tool, and each haptic controller is further configured to measure each movement of the surgical training tool within the space of the surgical training tool when the surgical training tool is connected to the haptic controller. The present invention also further includes a system for recognizing a surgical training tool configured such that the control system acquires identification information unique to the connected surgical training tool and transmits the identification information to the control system, whereby the control system recognizes each surgical training tool connected to the haptic controller. The present invention also features that the control system generates a virtual image of each surgical training tool connected to the haptic controller. The present invention also features that the control system is configured to receive and analyze data regarding the movement of each surgical training tool connected to the haptic controller, and reproduce each movement of the surgical training tool connected to the haptic controller as a corresponding virtual movement of its virtual image in the virtual environment. Finally, the present invention is characterized in that each virtual movement is made visible to the user by the display device.

[0006] Therefore, with this solution, the aforementioned objectives can be achieved. In particular, since the platform according to the present invention is modular, the various modules constituting the haptic control platform for virtual surgical elements can be easily interfaced and connected to each other. This modularity also makes it possible to adapt the platform to the various surgical practices proposed, and the latter elements can be added or removed. It also becomes possible to adapt the platform to the user's preferences. For example, if the user is left-handed, the calibration module can be placed on the right side so as not to interfere with the user's movements. The degree of freedom in the placement of surgical tools also further corresponds to the reality of surgical practice. In fact, in a real situation, the surgeon can place his tools as he likes to facilitate his work.

[0007] Physical connection enables the identification of various modules and / or the transmission of information regarding the operation of haptic elements.

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

[0009] The platform according to the present invention may include one or more of the following features, considered individually or in combination with each other: - The control system may include the following: ○ A measurement unit configured to: · Identify the connected surgical training tool and / or module, · Collect the operation data of the connected surgical training tool, ○ A central unit configured to: · Generate a virtual environment, · Receive and analyze data related to the operation of each connected surgical training tool, · Interface each movable virtual surgical element of the virtual environment with the corresponding surgical training tool - The measurement unit may be part of the training module. - Each module includes a base with a specific shape, and the shapes of the bases of different modules are complementary to each other, enabling a stable and fitting connection of different modules. - At least two different surgical training tools can be connected by the connection system of the haptic controller. - The connection system may include at least one key-lock type locking connector fixed to the haptic controller and any surgical training tool to ensure their removable connection. - The connection system may include a first connector configured to removably cooperate with a corresponding second connector fixed to the surgical training tool and fixed to the haptic controller. - The haptic controller of the training module may include a pivoting arm robot having a free end designed to cooperate with the connection system. - The control system may be further configured to generate a feedback signal that enables the haptic controller to generate haptic feedback when at least two virtual elements interact within the virtual environment.

[0010] Another object of the present invention is a modular surgical training platform according to any one of the technical features listed above, and a surgical training kit including at least one surgical training tool configured to be connected to the haptic controller of the platform. Reading the following detailed description of the embodiments of the present invention shown by way of example, merely illustrative and non-limiting examples, with reference to the accompanying drawings, the present invention will be better understood, and other objects, details, features and advantages of the present invention will become clearer.

Brief Description of the Drawings

[0011]

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Best Mode for Carrying Out the Invention

[0012] As shown in FIGS. 5 and 6, the present invention relates to a modular surgical training platform 10 configured to interface with a virtual environment 100 that includes at least one movable virtual surgical element 102 (see FIG. 11). This virtual environment also includes a virtual patient 104 and various decorative elements 106. Thus, a user operating the modular platform 10 interacts with a virtual environment 100 in which any type of surgical procedure is possible.

[0013] In particular, as shown in FIGS. 1 and 5, the modular platform 10 according to the present invention comprises the following: - A virtual reality display device 12 configured to show / display the virtual environment 100 to the user, - A calibration module 14 connected to the virtual display device 12 and configured to align the virtual environment 100 with the physical reality of the user operating the platform 10 in accordance with the present invention, - At least one training module 16, each including a haptic controller 18, - A control system 20.

[0014] In some embodiments, the modular platform 10 may further comprise one or more optional modules 21, 23, 25 as shown below: - At least one anatomical module 21 (see FIG. 12), - At least one complementary tool module 23 (see FIGS. 14A and 14B), - At least one storage module 25 (see FIG. 13).

[0015] In the case of the present invention, the display device 12 creates a link between different training modules 16, possible anatomical modules 21, complementary tools 23, a storage module 25 (optional modules 21, 23, 25) and the virtual environment 100. In fact, the training modules 16 and the optional modules 21, 23, 25 are the only elements handled by the user, and the rendering of these handling operations is only displayed in the virtual environment 100.

[0016] Generally, in the present application, the concept of a module means an independent functional element that forms a clearly delimited and defined object, is separable from other independent functional elements, and each independent functional element, in turn, forms an object that is clearly delimited and defined. Therefore, each module can be regarded as an independent entity from a functional perspective, that is, each module ensures a specific function and is designed to ensure that function as soon as it is directly or indirectly connected to the training module 16. Therefore, each module needs to be supplied with current to be made usable, and even if the modules function only when connected together, each module is mechanically dependent on itself to perform the designed function. Each of the modules 14, 16, 21, 23, 25 is composed of various parts or elements, such as plastic parts, assembled together to form this independent unit.

[0017] In some embodiments of the training platform 10, two or more training modules 16 can be provided, and each of these training modules 16 can operate without other modules. This also applies to the possible anatomical modules 21, the complementary tool module 23, and the storage module 25.

[0018] Therefore, each training module 16 is an independent entity formed by combining a plurality of parts or elements made of plastic (or other materials). These parts may be by 3D printing. All of these parts and elements are described throughout this specification in relation to the various functions and technical features of the console 10 according to the present invention.

[0019] The calibration module 14 will be described in detail later in this specification.

[0020] At least one anatomical module 21 is a stand-alone entity that represents and / or renders all or part of a patient's anatomical part in 3D according to the above definition. Each anatomical module 21 is designed to enable tactile feedback, and in some embodiments haptic feedback, when the user interacts with the anatomical module. Each anatomical module 21 may include, for example, one or more silicon-based elements. Each anatomical module 21 can give the user the impression of interacting with an external or internal anatomical part of the patient. For example, in the case of a simulation of a plastic surgery at the level of the patient's lips, it may be interesting that the user can also interact with a replica of the patient's nose. Thereby, the user can find a better way for himself on the simulation of the face of the patient undergoing the surgery. In other embodiments, at least one anatomical module 21 can embody organs close to the surgical target area.

[0021] In some embodiments, at least one anatomical module 21 may be arranged to change, limit, or interfere with the user's movements when the user interacts with the haptic controller 18 of the training module 16. This inconvenience can enhance the sense of reality during the use of the console 10. At least one anatomical module 21 is arranged on the training module 16 and can also simulate the patient's skin.

[0022] At least one complementary tool module 23 can include all or part of the tools that may be present in the operating room, or all or part of the surgical tools that are required during a particular surgery but do not directly intervene in the simulated patient's body. For example, - the adjustment knob of the gas injector during the verification after laparoscopic intervention, or - Syringes and the like used to inject liquid into a patient's body through a catheter (see FIGS. 14A and 14B).

[0023] Regarding at least one storage module 25, it will be described in detail later.

[0024] Therefore, each movable virtual surgical element 102 existing in the virtual environment 100 and each virtual operation of these movable virtual surgical elements 102 are made visible to the user by the display device 12.

[0025] More specifically, the display device 12 (shown in FIGS. 5 and 6) may be an element fixed in space (such as a screen), or may be an element movable within a space configured to be carried by the user during surgery, for example. The display device 12 may include a plurality of display devices so that a plurality of users can view the virtual environment 100. Different display devices may be movable or fixed. More specifically, as shown in FIGS. 5 and 6, the display system 12 may be a screen disposed on a surface close to or away from different modules 14, 16, 21, 23, 25. In another embodiment, the display device 12 may be a virtual reality headset that is adjustable according to the user and can provide audio feedback. More specifically, the display device 12 may be composed of an HP reverb (registered trademark) headset having two screens with a resolution of 2,160 x 2,160 pixels. The display frequency of each screen is 90 Hz. The display device 12 is preferably connected to the control system 20 by a cable (such as a DisplayPort cable or an HDMI cable).

[0026] In a method known per se, the display device 12 is associated with a portable calibration tool 22 (see FIG. 8B). The portable calibration tool 22 may be in the form of a conventional joystick, for example, as shown in FIG. 8B, but may have a different form.

[0027] Similar to all other modules of the present invention, the calibration module 14 is an independent component shown in FIG. 8A. As shown in FIG. 8B, the calibration module 14 includes an engraving 24 that is complementary to the portable calibration tool 22. Thus, by using the calibration module 14, the portable calibration tool 22 associated with the display device 12 can be placed at a known fixed distance from the training module 16, particularly the haptic controller 18 of the latter (see FIG. 4A). The calibration module 14 is preferably made of plastic. Preferably, it is by 3D printing. Similar to the training module 16, the calibration module 14 includes a magnet, which will be described in detail below. In some cases, the calibration module 14 is provided with an electrical connector to which an electronic circuit for identifying the calibration module 14 by the control system 20 can be connected. For this purpose, a device including the same voltage division bridge as that used for the key lock connector of the haptic controller 18 described below is used. The identification of various modules will be described in detail later.

[0028] The haptic controller 18 can determine the position and relative orientation of an object connected thereto (see below), and the position and orientation of this object are obtained with reference to the portable calibration tool 22. When the display device 12 is a portable device configured to be portable by the user, the calibration module 14 can also identify the position of the user with reference to the training module 16 and the possible anatomical module 21, the complementary tool 23, and the storage module 25. Further, since the position of the portable calibration tool 22 relative to the display device 12 is known, the position and orientation of the object connected to the haptic controller 18 can be determined with reference to the user carrying the display device 12 (see FIGS. 5 and 6).

[0029] Similarly, the various training modules 16 interconnected with or connected to the calibration module 14 and the possible option modules 21, 23, 25 can have their placement and position specified by the display device 12. This is because when the various modules 14, 16, 21, 23, 25 are interconnected, they are all at a fixed known distance from the calibration module 14 and thus from the portable calibration tool 22 (see FIGS. 4A and 4B). When the various modules 16, 21, 23, 25 can be identified in an electronic system or a computer system (see below), this distance can be determined in a "plug and play" manner. Thus, the portable calibration tool 22 associated with the display device 12 functions as a calibration reference for each training module, thus for each haptic controller 18, and thus for each physical element operated by the user of the platform 10.

[0030] In this application, the concept of "plug and play" represents a simple action involving a limited number of gestures, preferably only one. Thus, a "plug and play" connection represents a connection performed with one gesture.

[0031] Due to an impact (e.g., a sudden movement or handling mistake by the user), the training module 16 (or option modules 21, 23, 25) may move inadvertently, and the calibration module 14 connected thereto may also move inadvertently with respect to the display system 12. This can distort the calibration between the virtual environment 100 and the user's position. By using an electronic system including an accelerometer, on the one hand, such inadvertent movements can be detected, and on the other hand, by using the portable calibration tool 22 to adapt the digital position of the virtual environment 100 to the new position of the calibration module 14, this can be avoided.

[0032] The different training modules 16 can be connected to each other to form the control console 26 (see FIG. 4B). Thus, the control console 26 includes at least one training module 16 (see FIG. 2). The control console 26 can also include one or more of the optional modules 21, 23, 25. The different modules 16, 21, 23, 25 of the control console 26 are connected to each other directly or indirectly. More specifically, all the modules 14, 16, 21, 23, 25 are configured to be reversibly connected to each other in a known configuration (see FIGS. 4A and 4B). This enables the modularization of the platform 10 according to the present invention.

[0033] The training modules 16 (and possible optional modules 21, 23, 25) forming the control console 26 can be directly connected or connected to each other by the spacer module 28 (see FIGS. 4A and 4B). The spacer module 28 is preferably made of plastic and is preferably manufactured by 3D printing, layer deposition, or sintering. In other embodiments, the spacer module may be manufactured by subsequent molding or another method. The spacer module 28 is composed of a connecting component that enables a known spacing (and thus positioning) to be created between the different modules 14, 16, 21, 23, 25 of the platform 10. Each spacer module 28 within the control console 26 has a specific shape, and the shape may be unique or similar to another spacer module 28 of the control console 26.

[0034] For this reason, each calibration 14 or training 16 or option 21, 23, 25 or spacer 28 module comprises a base 30 of a specific shape (see FIG. 7). The shapes of the different bases 30 of the different modules 14, 16, 21, 23, 25, 28 are complementary to each other, and a stable and fitting connection of the different modules 14, 16, 21, 23, 25, 28 is obtained. Due to the known features of the bases 30 of the different modules 14, 16, 21, 23, 25, 28, the relative positions of the modules 14, 16, 21, 23, 25, 28 in space can be easily determined. In some embodiments, the spacer module 28 can be used to arrange the different modules 16, 21, 23, 25 of the control console 26 at different heights. More specifically, at least one spacer module 28 is configured to arrange two modules 16, 21, 23, 25 in different horizontal planes. Thereby, a control console 26 that expands according to the three dimensions of the space can be created. Preferably, the calibration 14, training 16, and option 21, 23, 25 modules are connected to each other by the spacer module 28, and the stability of the entire control console 26 and platform 10 is improved when assembling the platform 10.

[0035] In the embodiments shown in FIGS. 1, 2, 7, 8A, and in the embodiments shown in FIGS. 12, 13, 14B, the mutual physical connection of the different modules 14, 16, 21, 23, 25, 28 is achieved by a magnetic connection system that enables easy connection of the different modules 14, 16, 21, 23, 25, 28. More specifically, each base 30 of each module 14, 16, 21, 23, 25, 28 includes at least one magnet 32 designed to cooperate with a corresponding magnet 32 of the base 30 of the complementary module 14, 16, 21, 23, 25, 28 to form a magnetic connection point. Preferably, the magnets 32 are grouped in threes at each magnetic connection point. When the modules 16, 21, 23, 25 of the control console 26 and the calibration module 14 are connected by the spacer module 28, the polarities of the magnets 32 are selected such that the spacer module 28 and the other modules (calibration module 14, training module 16, and optional modules 21, 23, 25) are attracted to each other. The presence of the magnetic connection system stabilizes the connection between the different modules 14, 16, 21, 23, 25, 28 and limits the accidental disconnection in the event of user inattention or unintentional vibration.

[0036] Physical connections may further include an electronic connector 34 that enables electronic communication between the various modules 14, 16, 21, 23, 25, 28 and the control system 20 (see FIGS. 1, 2, 7, 8A, and 12, 13, 14B). Optionally, if the calibration module 14 and the training module 16 and the optional 21, 23, 25 modules are connected by a spacer module 28, each spacer module 28 may also house an electronic connector 34 designed to cooperate with the electronic connectors of the base 30 of the calibration module 14 and / or the training module 16 and / or the optional 21, 23, 25 modules at the level of each magnetic connection point. Thus, electronic communication between the different modules 14, 16, 21, 23, 25, 28 is ensured regardless of whether the calibration 14 and training 16 and the optional 21, 23, 25 modules are directly connected or connected via a spacer module 28. Electronic communication between the different modules 14, 16, 21, 23, 25, 28 is ensured even if the control console 26 is extended in 3D and not all of its modules 16, 21, 23, 25 are arranged in the same plane. In particular, this electronic communication enables the passage of current.

[0037] Each electronic connector 34 can be connected to a cable for connecting the electronic connectors of the corresponding connection module. For example, these electronic connectors 34 may be in the form of connectors with pin-on draw springs / pins. In some embodiments, each electronic connector 34 associated with the training module 16 (or optional modules 21, 23, 25) includes, for example, a voltage divider bridge that generates a voltage unique to each training module 16 (and each optional module 21, 23, 25). Thus, when this identification is performed electronically, each training module 16 and each optional module 21, 23, 25 can be identified by reading the voltage generated by the voltage divider bridge. In other embodiments, the electronic connector 34 is part of a more complex electronic circuit that can perform digital communication (e.g., compliant with the "UART" standard).

[0038] There are many techniques that can identify connected physical modules using electronic means, yet they are not used in the virtual reality situation of surgical education.

[0039] In summary, this electronic connection enables the control system 20 to: - identify the modules 14, 16, 21, 23, 25 by the control system 20, and / or - transmit the operation information of the haptic controller 18 (see below).

[0040] In some embodiments, this electronic connection may include a USB cable connecting the haptic controller 18 to the control system 20. This cable may be external to the training module 16.

[0041] The identification of the various modules 14, 16, 21, 23, 25, 28 by the control system 20 can be carried out in two modes: the so-called "electronic" ("hardware + software") mode or the so-called "software" ("software + guidelines") mode. The so-called "electronic" mode will be described in detail below with some examples. The so-called "software" mode for identifying the modules 14, 16, 21, 23, 25, 28 is based on pre-programming the software of the control system 20 and guiding the user during the installation of the control console 26, for example, using an installation manual that assigns specific locations to each module within the control console 26. Thereby, when the user installs the control console 26, each module will be arranged at a position that matches the pre-programmed software. The software contains all the connection information and arrangement information between the various modules 14, 16, 21, 23, 25, 28, which enables mapping the control console 26, correctly decoding the collected information, and sending the correct information to the correct location.

[0042] In both cases, the electronic connection enables the control system 20 to identify the different modules 14, 16, 21, 23, 25, 28 of the control console 26, either simply by enabling the connection of different modules and the passage of current, or also by enabling the transfer of information.

[0043] In the case of so-called "electronic" channel identification, the control system 20 includes the microcontroller itself electrically connected to the calibration module 14, the training module 16, and the optional modules 21, 23, 25 via the connector 34 and, in some cases, the spacer module 28. In the first embodiment / operating mode, a voltage division system is incorporated into the various calibration modules 14 and / or training modules 16 and / or optional modules 21, 23, 25. Next, the microcontroller reads the voltage and can identify the modules 14, 16, 21, 23, 25 that respond to this voltage. In another embodiment / operating mode, each of the calibration 14 and / or training 16 and / or optional 21, 23, 25 modules includes an electronic board 42 that enables digital communication with the microcontroller of the training module 16. These can identify each other and exchange not only information regarding the user's actions but also feedback from the control system 20 to the user (for example, it is conceivable that a module lights up red in case of a handling error).

[0044] As described above and as shown in FIGS. 1, 2, and 3, each training module 16 includes a haptic controller 18.

[0045] As shown in FIGS. 2 and 3, each haptic controller 18 includes a connection system 35 configured to mechanically and reversibly connect the surgical training tool 36.

[0046] For the virtual reality surgical training device proposed by the platform 10 according to the present invention to be more immersive and realistic, it is important that the user can operate a physical tool to control the simulation displayed on the display system 12. As is well known per se, the closer these physical tools are to the original surgical tools, the more immersive the simulation is.

[0047] It is common to need to use various surgical tools during a surgical operation. Accordingly, the control console 26 may comprise at least one storage module 25. The storage module 25 has markings 360 for one or more surgical training tools 36 so that the corresponding surgical training tools 36 can be stored therein. Thus, all the surgical training tools 36 required for the user to complete the surgical simulation are stored nearby. A connection system is provided that is designed to interact with the corresponding surgical training tool 36, and when the surgical training tool 36 is stored, each marking 360 enables the control system 20 to identify the position of the surgical training tool 36.

[0048] For this purpose, the present invention operates with a kit comprising a series of surgical training tools 36 (see Figure 2). Thus, the surgical training kit thus formed (see Figures 5 and 6) comprises the modular surgical training platform 16 according to the present invention and at least one surgical training tool 36 configured to be connected to the haptic controller 18 of the platform 10. The kit according to the present invention may include two types of surgical training tools, so-called "simple" tools and so-called "complex" tools. The complex tool is a complex electronic tool incorporating a microcontroller capable of communicating directly with the control system 20.

[0049] These simple or complex surgical training tools 36 are modified surgical tools or copies thereof. Thus, in the simulation enabled by the platform 10 of the present invention, all or part of the physical movements received by these objects correspond to the movements of the virtual twins within the virtual environment 100 displayed by the display device 12 (see FIGS. 5 and 6).

[0050] As shown in the embodiments of FIGS. 2 and 3, the haptic controller 18 of each training module 16 comprises a pivoting arm robot having a free end designed to cooperate with the connection system 35.

[0051] The connection system 35 of the haptic controller 18 is versatile, meaning that at least two different surgical training tools 36 can be connected (see FIG. 2).

[0052] More specifically, the connection system 35 includes at least one key-lock type locking connector 35a that is fixed to the haptic controller 18 and any surgical training tool 36 and is configured to ensure their removable connection (see FIGS. 3, 9A, and 9B). Connectors 35a, 35b are also capable of transmitting rotation along the axis of the end of the haptic controller 18 towards the training module 16. As shown in FIGS. 3, 4A, and 4B, the connection system 35 according to this embodiment includes two key-lock type locking connectors 35a, 35b, where the first connector 35a is fixed to the haptic controller 18 and is configured to cooperate in a removable manner with a corresponding second connector 35b fixed to the surgical training tool 36. Both connectors 35a, 35b can be reversibly fixed to either the haptic controller 18 or the surgical training tool 36. The two connectors 35a, 35b are obtained by 3D printing, layer deposition, or sintering. In the example of FIGS. 9A and 9B, FIG. 9A shows the first connector 35a (here a lock) of the haptic controller 18, and FIG. 9B shows the second connector 35b (here a key) designed to cooperate with the surgical training tool 36. The fixing of the first connector 35a to the haptic controller 18 can be done in several ways. In the case of FIG. 9A, the jack interface already present in the haptic controller 18 is used for fixing. In other embodiments, when adapting the first connector 35a to another haptic controller 18, it can be considered to adhere the first connector 35a by creating an interface shape specific to the latter. Preferably, the fixing of the second connector 35b to the surgical training tool 36 is done by adhesion. This is mainly based on adhering at the level of the distal rod of the surgical training tool 36. The 3D model of the second connector 35b is adapted by providing holes corresponding to the ends of the distal rod 360 of the surgical training tool 36 on the surfaces not visible in FIG. 9B. Next, the distal rod is adhered to the second connector 35b, for example, by epoxy. This manufacturing method is not the only implementable method.In an alternative embodiment, it is also contemplated to 3D print a replica of the surgical training tool 36 that includes the second connector 35b in the model.

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

[0054] To stabilize the reversible connection between the haptic controller 18 and the surgical training tool 36, the connection system 35 may incorporate at least one magnet 38 on each side of the "key lock" system (see FIGS. 9A, 9B). The magnet 38 used is preferably composed of a cubic magnet with a magnetization force of 1.1 kg. This value not only ensures the firmness of the attachment but also enables easy removal of the surgical training tool 36, and preferably a "plug and play" interface can be created. In fact, the magnet 38 ensures the contact restraint between the two connectors 35a, 35b. As described above, the two connectors 35a, 35b are completely restrained in all directions except the direction collinear with the axis at the end of the haptic controller 18. Therefore, magnetization can also restrain / hold the connection in this direction. Nevertheless, the breaking force of this stress (and thus the breaking of the "key lock" connection) is low along the axis X because the force of the magnet 38 is not very large. Therefore, the resulting result is that the two connectors 35a, 35b are separated by pulling the surgical training tool 36 stronger than the force required to train the operation of the haptic controller 18. Therefore, to remove the surgical training tool 36, it is necessary to hold the haptic controller 18. The presence of the magnet 38 facilitates the connection and disconnection between the surgical training tool and the haptic controller 18. In fact, the magnet 38 enables a simple connection / disconnection gesture (a "plug and play" type) without screws or slides. That is, the user approaches the surgical training tool 36 of the haptic controller 18, and the haptic controller 18 is connected alone by the action of the magnet 38.

[0055] Therefore, the key lock type connection system 35 of the present invention has the following three different complementary functions: - The surgical training tool 36 can be easily attached in a "plug and play" manner using the magnet 38, - The rotational movement along the central axis can be transmitted to the haptic controller 18, - In some cases, the surgical training tool 36 can also be electrically connected to the training module 16.

[0056] Therefore, the connection system 35 is provided with electronic components. Accordingly, each connector 35a, 35b includes an opening, groove, or recess 37 for inserting an electrical connector (not shown in FIGS. 9A and 9B). In a preferred embodiment, this electrical connector is a JST electrical connector, but other types of electrical connectors may be used. Preferably, the male part of the electrical connector is inserted into the opening 37 of the first connector 35a fixed to the end of the haptic controller arm 18. In this embodiment, the female part of the electrical connector is inserted into the opening 37 of the second connector 35b of the surgical training tool 36. Then, as shown in FIGS. 2 and 3, the cable 39 connects the pins of the electrical connector to the control system 20. Another advantage of the connection system 35 according to the present invention is that the surgical training tool 36 can be easily changed to the haptic controller 18. This change must be simple and quick so as not to confuse learning with complex handling operations. Therefore, it is necessary to provide a "plug and play" device such as the present invention.

[0057] Each haptic controller 18 is further configured to measure each movement of the surgical training tool 36 within the space when the surgical training tool 36 is connected to the haptic controller 18. Accordingly, each haptic controller 18 is provided with at least one external movement or rotation sensor 19 fixed to various movable elements of the haptic controller 18 (see FIG. 1), and the three-dimensional position and orientation of any object connected to the haptic controller 18 of the training module 16 can be obtained.

[0058] Movements are distinguished into the following two classifications: - Those called external, which are common to all surgical training tools 36 and correspond to the three-dimensional position and orientation of the surgical training tool in space, and - Something called "internal", which is specific to the so-called complex systems of some surgical training tools 36, has a standby state and at least one active state such as pulling a trigger or rotating an element, and includes an on-board electronic board.

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

[0060] The haptic controller 18 according to the present invention enables measurement of the external movement (spatial movement) of each connected surgical training tool 36.

[0061] In the case of a complex surgical training tool 36, the connection system 35 may also have one or more of the following roles other than identifying the surgical training tool 36 connected to the haptic controller 18: - Enabling recovery of information regarding the movement of elements specific to the tool, such as the movement of a trigger, and / or - Enabling power supply to the internal electronics of the surgical training tool 36 connected to the haptic controller 18, - Enabling electronic communication between the surgical training tool 36 and the training module 16.

[0062] Due to the modularity of the platform 10 according to the present invention, a plurality of training modules 16 can be connected together to the calibration module 14 and the control system 20, so the platform 10 can determine the positions in space of a plurality of surgical training tools 36 connected to different haptic controllers 18. If the control console 26 includes a plurality of training modules 16, the platform 10 enables simultaneous determination of their positions as soon as the plurality of surgical training tools 36 are connected to the haptic controller 18.

[0063] The control system 20 of the platform 10 according to the present invention further includes a system 40 for recognizing each surgical training tool 36. The recognition system 40 of the surgical training tool 36 is configured as follows: - Reading the voltage obtained from a voltage division bridge specific to each surgical training tool 36, - Communicating with the control system 20 to cause the control system 20 to recognize each surgical training tool 36 connected to the haptic controller 18.

[0064] In fact, in order for the control system 20 to be able to generate a corresponding movable virtual surgical element 102 in the virtual space 100, it is necessary to identify the surgical training tool 36 connected to the haptic controller 18.

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

[0066] In the case of a simple surgical training tool 36, the recognition system 40 includes a microcontroller 42 that is preferably arranged within the base 30 of the training module 16, as shown in Figure 7. The microcontroller 42 is connected to the surgical training tool 36 by a cable 39 via a connection system 35. In the case of a simple surgical training tool, the recognition system 40 further includes an electronic device such as a voltage division bridge in the connection system 35 between the tool 36 and the haptic controller 18 to enable recognition of the surgical training tool 36.

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

[0068] The control system 20 of the platform 10 is configured as follows: ○ Identifying different modules 14, 16, 21, 23, 25, 28 connected to each other via a so-called electronic channel or a so-called software channel (detailed above), ○ Receiving and analyzing data related to the operation of each surgical training tool 36 connected to the haptic controller 18, ○ Generating a virtual environment 100, ○ Interfacing each movable virtual surgical element 102 in the virtual environment 100 with a corresponding real-world element.

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

[0070] As already described above, the virtual environment 100 also includes decorative elements 106 that cannot be moved or manipulated. For example, there are an endoscope screen 108 and a lamp, etc., and the user can virtually operate these decorative elements, for example, click a button to turn on the light. There are no corresponding real-world elements for these decorative elements 106.

[0071] The control system 20 is configured to convert / reproduce each movement within the space of each surgical training tool 36 connected to the haptic controller 18 of the control console 26 into a corresponding virtual movement of the virtual image 102 within the virtual environment 100 based on the information received from the recognition system 40 and the information collected by the haptic controller 18.

[0072] In a specific case of connection with a simple surgical training tool 36, the control system includes the following: - A measurement unit (or microcontroller 42) configured as follows: ○ Identifying the connected tool 36 and / or modules 14, 16, 21, 23, 25, ○ Collecting data on the unique operation (or internal operation) of the connected surgical training tool 36, - A central unit configured as follows: ○Generate a virtual environment 100, ○Receive and analyze data related to the operation of each connected surgical training tool, ○Interface and connect each virtual surgical tool 102 in the virtual environment 100 to corresponding real-world elements, ○Identify the connected modules 14, 16, 21, 23, 25.

[0073] In this particular case, as shown in FIGS. 1 and 7, the measurement unit (or microcontroller 42) is part of the training module.

[0074] The control system 20 is further configured to generate a feedback signal such that, in response to an event occurring in the virtual environment 100, the haptic controller 18 can then generate a corresponding tactile signal.

[0075] In the present application, the concept of "tactile signal" should be understood as a signal actively generated by the platform 10 according to the present invention. It should be distinguished from the concept of "tactile feedback", which is merely passive feedback automatically generated by the human body in response to the handling of biological or inanimate objects.

[0076] Accordingly, the control system 20 causes the haptic controller 18 to generate specific haptic feedback when the virtual tool 102 corresponding to the surgical training tool 36 operated by the user contacts another virtual tool 102 in the virtual environment 100 or another virtual element such as a decorative element 106. Thereby, the immersion of the simulation can be emphasized and the sense of reality can be enhanced, and the interactions displayed in the virtual environment 100 can also be felt by the user.

[0077] In some embodiments, some technical elements of some of the complementary tool modules 23 or some of the anatomical modules 21 may also be configured to generate tactile signals in response to some stimuli or situations. In other words, some of the anatomical modules 21 and some of the complementary tool modules 23 are configured to generate tactile signals in response to stimuli of the control system 20 or the actions of the user.

[0078] As already mentioned above, the present invention also includes a kit composed of the platform 10 according to the present invention and the surgical training tool 36. Some of these complex surgical training tools 36, such as those shown in FIG. 10, include a rotary distal rod 360. Therefore, these tools 36 have a knob that can rotate the distal rod 360 to rotate the shaft. When this distal rod 360 is connected to the connection system 35, it becomes impossible for the control system 20 to measure / determine both the spatial position of the surgical training tool 36 and a specific rotation of the distal rod 360. In fact, the general rotation of the surgical training tool 36 with respect to the axis of the haptic controller 18 needs to be transmitted so that its virtual twin (virtual tool 102) is similarly oriented within the virtual environment 100 without losing the specific rotation of the distal rod 360 induced by the operation of the surgical training tool 36.

[0079] To solve this problem, the connection system 35 has a special embodiment with an arcuate portion 45. As shown in FIG. 10, the arcuate portion 45 allows free rotation of the rod-direction wheel on the surgical training tool 36 without losing information regarding the orientation of the tool 36 itself. The arcuate portion 45 is fixed on one hand to the grippable body of the tool 36 and on the other hand to the distal rod 360 fixed to the second connector 35b. The distal rod 360 is cut so that the lower part under the arcuate portion 45 can rotate freely without affecting the rotation at the level of the key-lock mechanism of the connection system 35 at the end of the haptic controller 18.

[0080] Preferably, the arcuate portion 45 is printed using a laminated 3D printer, but other plastic manufacturing methods such as laser sintering may also be used. Preferably, the arcuate portion 45 is designed in two parts so that it can be easily removed, and the two parts are assembled with screws.

[0081] Thus, it can be seen that the platform 10 according to the present invention is constructed around the training module 16. Therefore, each training module 16 is a central element where various elements of the platform 10 according to the present invention converge. As already described, each training module 16 is configured around a base 30 that can fix the following various elements: - A microcontroller 42 and a connection cable 39 to a connection system 35 designed to connect the surgical training tool 36 to the control system 20, - A haptic controller 18 including a robot for acquiring three-dimensional motion by polar coordinate reference, - Magnets 34, 38, and perhaps - One or more electrical connectors (e.g., a connector with a retractable pin as described above).

[0082] When connected to the virtual reality display device 12 by the calibration module 14, these various coupling elements can associate the handling of physical surgical objects with the virtual twin within the virtual reality simulation in a surgical simulation situation. With the platform 10, since these objects can be placed in space and the actions received by the physical objects can be identified, the user can obtain the sensations caused by the surgery to the maximum extent without being exposed to inevitable stress or danger.

Claims

1. A modular surgical training platform (10) configured to interface with a virtual environment (100) including at least one movable virtual surgical element (102), the training platform (10) comprising: - A virtual reality display device (12) configured to display the virtual environment (100) to a user; - A calibration module (14) connected to the virtual reality display device (12); - At least one training module (16), each training module (16) including a haptic controller (18); - A control system (20) configured to: ○ Identify different modules (14, 16) connected to each other; ○ Generate the virtual environment (100); ○ Interface each movable virtual surgical element (102) of the virtual environment (100) with a corresponding real element; The control system (20) is configured as such. The surgical training platform (10) includes: All modules (14, 16) are configured to be reversibly connected to each other in a known configuration. Each haptic controller (18) includes a connection system (35) configured to reversibly and mechanically connect a surgical training tool (36). Each haptic controller (18) is further configured to measure each movement in the space of the surgical training tool (36) when the surgical training tool (36) is connected to the haptic controller (18). The control system (20) further includes a system (40) configured to recognize each surgical training tool (36) and obtain identification information unique to the connected surgical training tool (36), and transmit the identification information to the control system (20), whereby the control system (20) recognizes each surgical training tool (36) connected to the haptic controller (18). The control system (20) generates a virtual image of each surgical training tool (36) connected to the haptic controller (18). The control system (20) is configured to receive and analyze data regarding the operation of each surgical training tool (36) connected to the haptic controller (18), and reproduce each operation of the surgical training tool (36) connected to the haptic controller (18) as a corresponding virtual operation of a virtual image within the virtual environment (100). Each virtual operation is made visible to the user by the display device (12). A surgical training platform (10), characterized by the above.

2. The control system (20) includes - a measurement unit (42) configured to ○ identify the connected surgical training tool (36) and / or module (14, 16), ○ collect operation data of the connected surgical training tool (36), a measurement unit (42). - a central unit configured to ○ generate the virtual environment (100), ○ receive and analyze data related to the operation of each connected surgical training tool (36), ○ interface each movable virtual surgical element (102) of the virtual environment (100) with the corresponding surgical training tool (36), a central unit. The surgical training platform (10) according to the preceding claim, including the above.

3. The measurement unit (42) is part of the training module (16) in the surgical training platform (10) according to the preceding claim.

4. The control system (20) is further configured to generate a feedback signal that enables the haptic controller (18) to generate a tactile signal when at least two virtual elements (102, 104, 106) interact within the virtual environment (100), in any one of the preceding claims. The surgical training platform (10) described.

5. The surgical training platform (10) according to any one of the preceding claims, further comprising at least one anatomical module (21) configured to represent or reproduce all or part of an anatomical part of the human body.

6. The anatomical module (21) is configured to generate a tactile signal in response to a stimulus of the control system (20) or an operation of the user, in the surgical training platform (10) according to the preceding claim.

7. The surgical training platform (10) according to any one of the preceding claims, further comprising at least one complementary tool module (23) configured to represent or reproduce all or part of the tools that may be present in the operating room, or all or part of the surgical tools that are necessary during a surgical operation but do not directly intervene in the patient's body.

8. The surgical training platform (10) according to the preceding claim, wherein the complementary tool module (23) is configured to generate a tactile signal in response to a stimulus of the control system (20) or an action of the user.

9. The surgical training platform (10) according to any one of the preceding claims, further comprising a storage module (25) configured to store one or more surgical training tools (36).

10. The surgical training platform (10) according to any one of the preceding claims, further comprising at least one spacer module (28) configured to indirectly connect two modules (16, 21, 23, 25).

11. The surgical training platform (10) according to the preceding claim, wherein the at least one spacer module (28) is configured to arrange two modules (16, 21, 23, 25) on different horizontal planes.

12. Each module (14, 16, 21, 23, 25, 28) comprises a base (30) having a specific shape, and the shapes of the different bases (30) of the different modules (14, 16, 21, 23, 25, 28) are complementary to each other so as to obtain a stable and adapted connection of the different modules (14, 16, 21, 23, 25, 28). The surgical training platform (10) according to any one of the preceding claims.

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

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

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

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