Plug-and-play connection

Abstract

A surgical training platform (10) configured to connect a haptic controller (18) and a surgical simulation tool (36) through an interface.

Description

[Technical field]

[0001] FIELD OF THEINVENTION The present invention relates to a system for connecting a surgical simulation tool to a haptic controller in a surgical training platform. The present invention therefore belongs to the field of educational and classroom tools, methods and devices. More specifically, the present invention relates to a connection system for a surgical training kit intended to train surgeons. [Background technology]

[0002] To date, most surgical training is performed in real-life conditions on patients through surgical mentorship programs, an approach that requires significant human resources, has high hardware constraints, and can cause significant stress for students who have difficulty concentrating and / or remembering.

[0003] Alternatives exist, such as the Pelvitrainer EoSim SurgTrac® or specific classroom hours on animals. However, these training hours / methods are only available to a small number of surgical interns and have certain self-evident limitations: the Pelvitrainer is a simple box with inserted trocars and a camera that allows practicing suturing in an inert material such as foam. Animal models have obvious problems in terms of training quality due to their limited anatomical similarity / correlation with humans. Animal models also raise ethical issues.

[0004] Accordingly, an object of the present invention is to provide a safe, practical, accurate, realistic, easy-to-use, and easily accessible training device that enables all surgical students to have the opportunity to train in a safe environment without any risk of harming themselves, patients, or animals. Furthermore, the user should be able to easily connect a surgical simulation tool to the platform and operate the latter without fear of pulling it out during the simulation. In addition, the user should be able to smoothly and without hindrance exchange tools that are compatible with the simulation as desired.

Summary of the Invention

[0005] Accordingly, the present invention is a surgical training platform configured to interface a haptic controller and a surgical simulation tool, - a control system, - at least one surgical simulation tool having at least one free end extending along a first axis A 1 - at least one haptic controller including a connection system configured to mechanically and electrically, reversibly connect at least one surgical simulation, The control system is configured to obtain recognition information specific to the surgical simulation connected to the haptic controller, and further includes a system for recognizing each surgical simulation tool configured to transmit specific information to the control system so that the control system recognizes each surgical simulation tool connected to the haptic controller. It relates to a surgical training platform. The present invention is such that the connection system has a second axis A 2 2At least one connector extending along, at least one connector including a first coupling element complementary to a corresponding coupling element at the free end of each surgical simulation tool, the connector, and the coupling element at the free end of each surgical simulation, the connection between the haptic controller and each surgical simulation tool is performed axially, and when interconnected, the respective movements of the surgical simulation tools induce corresponding movements of the movable haptic controller, axis A 1 and A 2 are configured to cooperate coaxially by alignment of.

[0006] Accordingly, this solution makes it possible to achieve the above object. In particular, the platform according to the invention enables a strong mechanical and electrical connection between the tool and the haptic controller, while at the same time enabling the user to exchange the tool without exiting the simulation.

[0007] The platform according to the invention may include one or more of the following features, considered separately from each other or in combination with each other: - The connection system of the haptic controller enables the connection of at least two different surgical simulation tools, - At least one connector is configured to cooperate with the free end of the surgical simulation tool, - At least one connector is a key-lock type locking connector configured to cooperate with the free end of the surgical simulation tool, - The connection between the haptic controller and the free end of at least one surgical simulation tool ensures a collinearity constraint along a first axis A 1 of at least one connector, - The connection system includes a first connector attached to the haptic controller and a second connector attached to the free end of the surgical simulation tool, and the two connectors are configured to cooperate with each other. - The haptic controller includes a movable arm, and the movable arm has a free end intended to cooperate with a connection system. - The connection system enables an electric current to pass between the haptic controller and a surgical simulation tool connected to the haptic controller so as to supply power to the surgical simulation tool. - The connection system enables an electric current to pass between the control system and a surgical simulation tool connected to the control system so as to supply power to the surgical simulation tool. - Each connector includes a magnet such that the connection part is magnetized. The present invention will be better understood, and other objects, details, features and advantages will become more apparent by interpreting the following detailed description of embodiments of the present invention provided by way of non-limiting examples for illustrative purposes only with reference to the accompanying drawings.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4A

Figure 4B

Figure 5

Figure 6

Figure 7

Figure 8A

Figure 8B

Figure 9A

Figure 9B

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

Mode for Carrying Out the Invention

[0009] Explanation of an example of a surgical simulation platform For clarity, in order to recognize the connection according to the present invention in a technical context, an example of a surgical simulation platform will be detailed below.

[0010] As can be understood from FIGS. 5 and 6, the present invention relates to a surgical training platform (for example, a module) 10 configured to interface with a virtual environment 100 including 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. Therefore, a user operating the module platform 10 interacts with the virtual environment 100 in which all types of surgical operations are possible.

[0011] As can be seen from FIG. 1, the module platform 10 according to the present invention includes the following: - A virtual reality display device 12 configured to show / display a virtual environment 100 to a user, - A calibration module 14 connected to the virtual display device 12, - At least one training module 16, each including a haptic controller 18, - Optionally, another optional module (not shown) to ensure auxiliary functions during simulation, - A control system 20.

[0012] Within the scope of the present invention, the display device 12 forms a link between the various training modules 16 and the virtual environment 100. For simplicity, in this description, only two types of modules, the training module 16 and the calibration module 14, are considered. However, all of these can be replaced by other functional modules. In this simplified example, the training module 16 is the only element that the user operates, and the rendering of this operation can only be seen in the virtual environment 100. Each training module is an autonomous entity including a plurality of plastic parts assembled with each other. These parts can be 3D printed. All of these parts are described throughout this description. Accordingly, each movable virtual surgical element 102 existing within the virtual environment 100 and each virtual operation of these movable virtual surgical elements 102 become visible to the user via the display device 12.

[0013] More specifically, the display device 12 (which can be seen in FIGS. 5 and 6) can be an element fixed in space (such as a screen) or an element movable in space (for example, an element configured to be carried by a user during a surgical operation). The display device 12 includes a plurality of display devices and can enable a plurality of users to view the virtual environment 100. The various display devices can be movable or fixed. More precisely, as can be understood from FIGS. 5 and 6, the display system 12 can be a screen installed on a nearby surface or at a location away from the various modules 14, 16. In another embodiment, the display device 12 can be a virtual reality headset that can be adjusted for the user and can provide audio feedback. More specifically, it can be an HP reverb (registered trademark) headset with two screens having a resolution of 2160x2160 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 or HDMI cable).

[0014] In a manner known per se, the display device 12 is associated with a movable calibration tool 22 (see FIG. 8B). The movable calibration tool 22 can take the shape of a conventional controller as shown, for example, in FIG. 8B, but can take a different shape.

[0015] The calibration module 14 is a separate component, as shown in FIG. 8A. As shown in FIG. 8B, the calibration module 14 includes an installation occupancy location 24 that is complementary to the movable calibration tool 22. Thus, the calibration module 14 enables the movable calibration tool 22 associated with the display device 12 to be positioned at a known fixed distance from the training module 16, particularly the latter's haptic controller 18 (see FIG. 4A). The calibration module 14 is preferably made of plastic. Preferably, it is 3D printed. Similar to the training module 16, the calibration module 14 may include magnets, as will be described in detail below. The calibration module 14 is also provided with an electrical connector for connecting an electronic circuit for the control system 20 to recognize the calibration module 14. 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.

[0016] The haptic controller 18 enables the position and relative orientation of an object attached thereto to be known (see below), so the position and orientation of this object are acquired relative to the movable calibration tool 22. If the display device 12 is a movable device configured to be carried by the user, the calibration module 14 makes it further possible to specify the user's position relative to the training module 16. In fact, since the position of the movable calibration tool 22 relative to the display device 12 is known, the position and orientation of the object connected to the haptic controller 18 relative to the user carrying the display device 12 can be known (see FIGS. 5 and 6).

[0017] Similarly, various training modules 16 connected to each other or to the calibration module 14 can have their placement and position identified by the display device 12 (see FIGS. 4A and 4B), taking into account that when the various modules 14, 16 are connected to each other, they are all at a known distance from the calibration module 14 and thus from the movable calibration tool 22. The recognition of the various modules 16 via an electronic system (see below) enables this distance to be known in a "plug and play" manner. Thus, the movable calibration tool 22 associated with the display device 12 functions as a calibration reference for each training module, and thus for each haptic controller 18, and thus for each physical element manipulated by the user of the platform 10.

[0018] In the present application, the concept of "plug and play" represents a simple operation that means a limited number of operations, preferably only one operation. Thus, a "plug and play" connection represents a connection that is performed with only one operation.

[0019] Due to an impact (e.g., a sudden movement of the user or an operation error), the training module 16, and thus the calibration module 14 connected thereto, may accidentally shift relative to the display system 12. This may interrupt the calibration between the virtual environment 100 and the user's position. This can be avoided by using an electronic system that includes an accelerometer, which on the one hand detects this type of unexpected movement and on the other hand can adapt the digital alignment of the virtual environment 100 to the new position of the calibration module 14 equipped with the movable calibration tool 22.

[0020] The various training modules 16 can be connected to each other to form a control console 26 (see FIG. 4B). Thus, the control console 26 includes at least one training module 16 (see FIG. 2). More specifically, all modules 14, 16 are configured to be reversibly attached to each other in a known configuration (see FIGS. 4A and 4B). This enables a modular system for the platform 10 according to the invention.

[0021] The training module 16 forming the control console 26 can be directly connected to each other or connected to each other via the spacer module 28 (see FIGS. 4A and 4B). The spacer module 28 is preferably made of plastic and is manufactured by 3D printing, layer deposition, or sintering. In other embodiments, they can be manufactured by molding or other methods following it. The spacer module 28 is a connecting component for creating a known spacer (and thus positioning) between the various modules 14, 16 of the platform 10.

[0022] For this purpose, each calibration module 14 or training module 16 comprises a base 30 of a specific shape (see FIG. 7). The shapes of the various bases 30 of the various modules 14, 16 are complementary to each other so that the various modules 14, 16, 28 are stably and properly connected to each other. Due to the known features of the bases 30 of the various modules 14, 16, 28, the relative positions of the modules 14, 16, 28 in space can be easily determined. Preferably, the calibration module 14 and the training module 16 are connected to each other by the spacer module 28, and the stability of the entire control console and the platform 10 is improved when the latter is assembled.

[0023] In the embodiments shown in FIGS. 1, 2, 7, and 8A, the physical connection between the various modules 14, 16, 28 is performed by a magnetic coupling system for easily connecting the various modules 14, 16, 28 to each other. More precisely, each base 30 of each module 14, 16, 28 includes at least one magnet 32 intended to cooperate with the corresponding magnet 32 of the complementary module 14, 16, 28 base 30 to form a magnetic connection point. The magnets 32 are preferably grouped in threes at each magnetic connection point. In the scenario where the module of the control console 26 and the calibration module are connected to each other by the spacer module 28, the polarity of the magnet 32 is selected such that the spacer module 28 and the other modules (calibration module 14 and training module 16) are attracted to each other. The presence of the magnetic coupling system stabilizes the connection between the various modules 14, 16, 28 and can limit the accidental disconnection in the case of user clumsiness or an unintended impact.

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

[0025] Optionally, when the calibration module 14 and the training module 16 are connected to each other by the spacer module 28, each spacer module 28 can receive, at each magnetic connection point, an electronic connector 34 intended to cooperate with the electronic connector of the base 30 of the calibration module and / or the training module 16. Thus, the electronic communication between the various modules 14, 16, 28 is ensured that the calibration module 14 and the training module 16 are directly connected to each other by the spacer module 28.

[0026] Each electronic connector 34 can be connected to a cable for connecting the electronic connectors of the corresponding connected module. These electronic connectors 34 can take the form of, for example, pin connectors on retractable springs / pins. In certain embodiments, each electronic connector 34 associated with the training module 16 includes, for example, a voltage divider bridge that generates a voltage unique to each training module 16. Thus, the training module 16 can be recognized by reading the voltage generated by the voltage divider bridge. In other embodiments, the electronic connector 34 forms part of a more complex electronic circuit capable of performing digital communication (e.g., meeting the "UART" standard).

[0027] There are numerous techniques for using electronics to recognize physical connection modules, but they are not used in virtual reality situations for surgical education.

[0028] In summary, this electronic connection enables the following: - The control system 20 recognizes the modules 14, 16, and / or - Transmits displacement information of the haptic controller 18 (see below).

[0029] Description of the connection to the surgical simulation tool The control system 20 itself includes a microcontroller electrically connected to the calibration module 14 and the training module 16 via the connector 34 and, optionally, the spacer module 28. This connection will be described in detail below.

[0030] In the first embodiment / operation, a voltage division system is incorporated into various calibration modules 14 and / or training modules 16. The microcontroller then reads the voltage and can recognize the modules 14, 16 that satisfy this voltage. In another alternative embodiment / operation, the calibration module 14 and / or the training module 16 each include an electronic card 42 for digital communication with the microcontroller of the training module 16. These can recognize each other and not only exchange information regarding the user's operation but also provide feedback to the user of the control system 20 (for example, a module that lights up red when an error occurs during operation is assumed).

[0031] As described above and as shown in FIGS. 1, 2, and 3, each training module 16 includes a haptic controller 18.

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

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

[0034] To enhance the immersion and realism of the virtual reality surgical learning device proposed by the platform 10 according to the present invention, it is interesting that the user can operate a physical tool to control the simulation displayed on the display system 12. By a method known per se, the closer these physical tools are to the original surgical tools, the more immersive the simulation becomes.

[0035] For this reason, the present invention operates as a kit comprising a series of surgical simulation tools 36 (see Figure 2). Thus, the surgical training kit thus formed (see Figures 5 and 6) comprises the modular surgical training platform 16 described by way of example herein and at least one surgical simulation tool 36 configured to be connected to the haptic controller 18 of said platform 10. The kit according to the invention may comprise the following three types of surgical simulation tools 36: - So-called "simple" tools shown to the user in virtual reality 100, - So-called "complex" tools shown to the user in virtual reality 100, and - Tools not shown to the user in virtual reality 100.

[0036] The complex surgical simulation tool 36 is a complex electronic tool incorporating a microcontroller capable of direct communication with the control system 20.

[0037] The surgical training tools 36 shown to the user are either modified surgical tools or copies of the latter, whether simple or complex. By means of the simulation made possible by the platform 10 according to the invention, all or part of the physical movements received by these objects will be made to coincide with the movements of the virtual twins within the virtual environment 100 displayed by the display device 12 (see Figures 5 and 6). Tools not shown make it possible, for example, to simulate the sensation of palpating a patient's organ.

[0038] Each surgical simulation tool 36 has at least one free end extending along a first axis A 1 thereof.

[0039] As can be seen from the embodiments shown in Figures 2 and 3, the haptic controller 18 of each training module 16 comprises a pivoting arm robot having a free end intended to cooperate with the connection system 35.

[0040] As shown in FIG. 14, the haptic controller 18 is movable according to at least six degrees of freedom obtained by various elbow and rotating parts that cooperate with each other to form joints J1, J2, J3, J4, J5, and J6. More precisely, as shown in FIG. 6, the first three joints (distal joints) can be actuated by the user, while the last three joints (proximal joints) are passive.

[0041] To maximize the realism of the simulation, when the surgical simulation tool 36 is connected to the haptic controller 18, its tip (or free end) needs to be placed at the location where actual tactile feedback occurs, i.e., the tactile point of the tactile arm. This tactile point is indicated as "HIP" in FIG. 14. The haptic controller 18 simulates force feedback related to collisions or interactions in the virtual world at the tip (or end) of the surgical simulation tool 36 that is operated by elements of the virtual environment 100. This is the point at which interactions and collisions are calculated to enable the simulation of interactions and collisions without causing uncomfortable and disturbing shifts or tactile inconsistencies for the user. Considering this tactile point HIP, it becomes possible to simulate the puncture of the patient's body, for example, the insertion of a syringe needle, and to simulate the constraints exerted by the patient's body on the needle. Therefore, it is very important that the surgical simulation tool 36 and the haptic controller 18 are accurately and robustly connected.

[0042] The connection system 35 of the haptic controller 18 is versatile in the sense that it can connect at least two different surgical training tools 36 (see FIG. 2).

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

[0044] More precisely, the connection system 35 comprises at least one key-lock type locking connector 35a, which is configured to be attached to the haptic controller 18 and any surgical training tool 36 so as to ensure a removable connection (see FIGS. 3, 9A, and 9B).

[0045] The coupling elements 44a, 44b at the free ends of the connector 35a and each surgical simulation tool 36 are configured to cooperate coaxially by alignment of axes A 1 and A 2 so that the connection 35 between the haptic controller 18 and each surgical simulation tool 36 is made axially.

[0046] When interconnected, each displacement of the surgical simulation tool 36 induces a corresponding movement of the movable haptic controller 18. Thus, the connectors 35a, 35b also make it possible to transmit rotation along the axis from the end of the haptic controller 18 to the training module 16.

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

[0048] In the embodiments shown in FIGS. 3, 4A and 4B, the connection system 35 includes two connectors 35a, 35b, in particular two lock connectors 35a, 35b of the key-lock type, the first connector 35a being attached to the haptic controller 18 and configured to removably cooperate with a corresponding second connector 35b attached to the surgical training tool 36. The two connectors 35a, 35b are reversibly attached 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 the lock) of the haptic controller 18, and FIG. 9B shows the second connector 35b (here the key) intended to cooperate with the surgical training tool 36. The attachment of the first connector 35a to the haptic controller 18 can be done in several ways. In the case of FIG. 9A, a jack interface already originally present in the haptic controller 18 was used to attach it. In other embodiments, it is envisioned that the first connector 35a is adhered or adapted to another haptic controller 18 to create a form of interface connection specific to the latter. To attach the second connector 35b to the surgical training tool 36, it is preferred to adhere it. This mainly relates to the adhesion at the distal rod of the surgical training tool 36. The 3D model of the second connector 35b is adapted by placing a drill hole corresponding to the end of the distal rod 360 of the surgical training tool 36 on a surface 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 way to be implemented. In an alternative embodiment, it may also be envisioned to 3D print a replica of the surgical training tool 36 that includes the second connector 35b in the model.

[0049] Axis A 1 and A 2The key-lock type connection 35 by alignment ensures the collinearity constraint along the axis X 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 further constrained in all directions.

[0050] To stabilize the reversible connection between the haptic controller 18 and the surgical training tool 36, the connection system 35 may include at least one magnet 38 on each side of the "key-lock" system (see FIGS. 9A, 9B). The magnet 38 used is preferably a cube magnet with a magnetization force of 1.1 kg. The magnet 38 used is preferably a neodymium (cube) magnet. In an alternative embodiment, an annular magnet 38 is used. The latter can pass a stainless steel rod inside, avoid the influence of shear force, and enhance the stability of the connection 35. Due to this usefulness, both the robustness of the attachment of the surgical training tool 36 and easy removal are possible from the desirable perspective of creating a "plug and play" interface. In fact, the magnet 38 ensures the contact stress between the two connectors 35a, 35b.

[0051] When the connection part 35 is aligned so as to be perpendicular to the pivot of the haptic controller 18, it is further provided with screws configured to cooperate along an axis perpendicular to the axes A 1 and A 2 (see FIG. 13). In an alternative embodiment, the connection part 35 may be locked so that the coupling elements 44a, 44b do not rotate relative to each other. Thereby, a strong link between the connection part 35 and the haptic controller 18 can be ensured.

[0052] Furthermore, to strengthen the connection part 35, in a specific embodiment, the coupling elements 44a, 44b of the connector 35a and the coupling elements 44a, 44b at the free end of each surgical simulation tool 36 include a combination of holes intended to cooperate with rods protruding into the tool to avoid the influence of shear forces that would lead to accidental cutting of the coupling elements 44a, 44b.

[0053] Thus, the two connectors 35a, 35b are completely constrained in all directions except the collinear direction with the axis A at the end of the haptic controller 18. 2 By magnetization, the connection part 35 can also be constrained / maintained in this axial direction along A 1 and A 2 However, since the force of the magnet 38 is not so large, the breaking force of this constraint (thus, the breaking of the "key lock" connection part 35) becomes low along the axis A 1 -A 2 As a result, by pulling the surgical training tool 36 stronger than the force required to move the haptic controller 18, the two connectors 35a, 35b are separated. Therefore, it is necessary to maintain the haptic controller 18 in order to successfully disconnect the connection of the surgical training tool 36. 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 operation ("plug and play" type) without screws or slides, and the user approaches the surgical training tool 36 of the haptic controller 18 and connects only the haptic controller 18 by the action of the magnet 38.

[0054] The key lock type connection system 35 according to the present invention has the following three distinct complementary functions: - Use the magnet 38 to easily attach the surgical training tool 36 and enable "plug and play". - Enable the transmission of rotational motion along the central axis to the haptic controller 18. - In some cases, enable the electrical connection of the surgical training tool 36 to the training module 16.

[0055] Accordingly, the connection system 35 includes electronic components. Each of the connectors 35a, 35b includes an opening, groove, or recess 37 for inserting an electrical connector (not shown in FIGS. 9A, 9B). In a preferred embodiment, this electrical connector is a JST electrical connector having pins (either retractable or non-retractable), although other types of electrical connectors can also be used. Preferably, the male part of the electrical connector is inserted into the opening 37 of the first connector 35a attached to the end of the haptic controller 18 arm. 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. In another embodiment (FIGS. 12-13), this relates to "pogo pins" on a spring arranged circularly around axes A 1 and A 2 . The coupling elements 44a, 44b at the free ends of the connector 35a and each surgical simulation tool 36 are aligned using polarization elements (e.g., the locking protrusions of the tool and the openings / holes of the key). The locked connection 35 enables alignment of the electrical pins and prevents unwanted contact between incompatible pins. In a particular embodiment, a spring is incorporated. This is because using pins on a spring results in perfect contact between all pins and almost zero friction. Using magnets 38 ensures strong contact between all pins.

[0056] As shown in FIGS. 2 and 3, the cable 39 connects the pins of the electrical connector to the control system 20. This cable 39 is preferably connected to the control module 16. In a preferred embodiment, as shown in FIG. 12, the cable 39 can be removed from the control module 16. This connection between the cable 39 and the control module 16 is preferably made by a "plug and play" or "snap fit" magnetic connection.

[0057] Another advantage of the connection system 35 according to the present invention is that it is easy to change the surgical simulation tool 36 to the haptic controller 18. This simple and quick change is necessary to prevent the learning of complex operations. Therefore, it is necessary to propose a "plug and play" device like the present invention.

[0058] Furthermore, each haptic controller 18 is configured to measure each movement within the space of the surgical training tool 36 when the surgical training tool 36 is connected to the haptic controller 18. Therefore, each haptic controller 18 is provided with at least one external rotation or translation sensor 19 attached to various movable elements of the haptic controller 18 so as to acquire the position and three-dimensional orientation of any object connected to the haptic controller 18 of the training module 16 (see FIG. 1).

[0059] The following two categories of operations can be distinguished: - Operations that are common to all surgical training tools 36 and are regarded as external corresponding to the position and three-dimensional orientation within the space of the surgical training tool, and - Operations that are regarded as internal specific to a so-called complex surgical training tool 36. There are an idle state and at least one active state such as pressing a trigger and rotating an element, and an embedded electronic card is included.

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

[0061] The haptic controller 18 according to the present invention enables the measurement of the external operation (spatial operation) of each connected surgical simulation tool 36.

[0062] In the case of the complex surgical simulation tool 36 and the so-called simple surgical simulation tool 36, the connection system 35 can also serve one or more roles other than the recognition of the surgical training tool 36 connected to the haptic controller 18. - For example, it enables the acquisition of information regarding the displacement of elements specific to the tool, such as the movement of a trigger. Further, and / or - It becomes possible to supply power to the internal electronics of the surgical training tool 36 connected to the haptic controller 18. - It enables electronic communication between the surgical training tool 36 and the training module 16.

[0063] However, as described above, the complex surgical simulation tool 36 has a microcontroller that can communicate directly with the control system 20, so this communication means is preferred. In this case, the connection to the haptic controller 18 via the connection system 35 is physically and mechanically useful above all. The advantage that this connection system 35 has for complex tools is that by connecting the tool, it can detect whether the tool is plugged in.

[0064] Regarding the power supply of the connected tool 36, in some embodiments, the connection system 35 enables current to flow directly between the haptic controller 18 or the control system 20 and the connected surgical simulation tool 36 so as to supply power to it. In a second embodiment, the haptic controller 18 is bypassed (with respect to the power supply), and the power supply does not pass through the haptic controller 18.

[0065] Due to the modularity of the platform 10 according to the example detailed above, it is possible to connect a plurality of training modules 16 to each other and to the calibration module 14 and the control system 20, and the platform 10 can determine the positions of a plurality of surgical training tools 36 within the space connected to various haptic controllers 18. When a plurality of training modules 16 are included in the control console 26, the platform 10 can simultaneously determine the positions of the plurality of surgical training tools 36 as soon as the plurality of surgical training tools 36 are connected to the haptic controller 18.

[0066] The control system 20 of the platform 10 according to the present invention further includes a system 40 for recognizing each surgical simulation tool 36. More precisely, the recognition system 40 of the control system 20 is configured to obtain recognition information unique to each surgical simulation tool 36 connected to the haptic controller 18. The recognition system 40 is configured to transmit identification information to the control system 20 so that the control system 20 can recognize each surgical simulation tool 36 connected to the haptic controller 18.

[0067] The recognition system 40 of the surgical training tool 36 is thus configured to perform the following operations: - Read the voltage from a voltage division bridge unique to each surgical training tool 36, - Communicate with the control system 20 so that the control system 20 can recognize each surgical training tool 36 connected to the haptic controller 18.

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

[0069] In fact, in order for the control system 20 to be able to generate corresponding movable virtual surgical elements 102 in the virtual space 100 when applicable, it is necessary to identify each surgical simulation tool 36 connected to the haptic controller 18. In any case, identification is necessary so that the control system 20 can adapt the tactile response to the tools it uses.

[0070] However, if the control system executes highly directive software that instructs the user which surgical simulation tool to use, the simulation only operates with one predetermined tool or a plurality of tools 36 in a predetermined order, so this identification is not necessary.

[0071] Depending on the surgical training tool 36 under consideration, the platform 10 identifies the connected surgical tool using a wireless connection and / or an electrical connection (see Figure 3).

[0072] For a simple surgical simulation tool 36, the recognition system 40 preferably includes a microcontroller 42 disposed on the base 30 of the training module 16, as shown in FIG. 7. The microcontroller 42 is connected to the surgical simulation tool 36 by a cable 39 using a connection system 35. For 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 tool 36.

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

[0074] The control system 20 of the platform 10 is configured to perform the following operations: · Identify various interconnected modules 14, 16, 28, ·Receive and analyze data related to the operation of each surgical training tool 36 connected to the haptic controller 18. ·Generate a virtual environment 100. ·When applicable, associate each movable virtual surgical element 102 in the virtual environment 100 with the corresponding actual element. ·Generate specific tactile feedback related to the connected tools, the user's actions (and thus the actions of the haptic controller 18), and virtual reality 100.

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

[0076] As already described above, the virtual environment 100 also includes decorative elements 106 that cannot be moved and / or manipulated. This can relate to, for example, an endoscope screen 108, or a lamp that can be virtually operated by the user, such as by clicking a button to turn it on. There are no corresponding actual elements for these decorative elements 106.

[0077] The control system 20 is configured to convert / reproduce each movement within the space of each surgical simulation tool 36 connected to the haptic controller 18 on the control console 26 into the corresponding virtual movement of its 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.

[0078] In a specific case of connection with a simple surgical simulation tool 36, the control system 20 includes the following: - A measurement unit (or microcontroller 42) configured as follows: · Identify the connected tool 36 and / or modules 14, 16. · Collect specific movement (or internal movement) data of the connected surgical training tool 36. -A central processing unit configured as follows: ·Generate a virtual environment 100, ·Receive and analyze data related to the operation of each connected surgical simulation tool 36, ·Associate each virtual surgical tool 102 of each virtual surgical tool in the virtual environment 100 with a corresponding real element.

[0079] In this particular case, as shown in FIGS. 1 and 7, the measurement unit (or microcontroller 42) forms part of the training module 16.

[0080] The control system 20 is further configured to generate a feedback signal (or tactile signal) as described above, whereby, depending on what happens in the virtual environment 100, the haptic controller 18 can then generate a corresponding tactile signal. Thus, the control system 20 induces the haptic controller 18 to generate a specific tactile feedback when the virtual tool 102 corresponding to the surgical training tool 36 operated by the user contacts another virtual element such as another virtual tool 102 or a decorative element 106 in the virtual environment 100. This can enhance the immersion of the simulation and give a greater sense of reality. The interactions seen in the virtual environment 100 can also be felt by the user.

[0081] In the present application, the concept of "tactile signal" is understood as a signal actively generated by the platform 10 according to the present invention. This should be distinguished from the concept of "tactile feedback", which is a simple passive feedback automatically generated by the human body in response to the operation of a biological or inanimate object.

[0082] For example, among the complex surgical simulation tools 36 as shown in FIG. 10, some have a rotary distal rod 360. Accordingly, these tools 36 are provided with a wheel for rotating the distal rod 360, and thus the axis of the distal rod 360 also rotates. 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 simulation tool 36 and a specific rotation of the distal rod 360. In fact, the general rotation of the surgical simulation tool 36 needs to be transmitted based on the axis of the haptic controller 18, so that the virtual twin (virtual tool 102) can be similarly oriented within the virtual environment 100 without losing the specific rotation of the distal rod 360 induced by the operation of the surgical simulation tool 36.

[0083] To solve this problem, the connection system 35 has a specific embodiment with an arch portion 45. As shown in FIG. 10, the arch portion 45 allows the wheel for orienting the rod on the surgical training tool 36 to rotate freely without losing information about the direction of the tool 36 itself to the same extent. The arch portion 45 is attached on one hand to the grip 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 portion below the arch portion 45 can rotate freely without affecting the rotation of the key-lock mechanism of the connection system 35 at the end of the haptic controller 18.

[0084] The arch portion 45 is preferably printed using a layer deposition 3D printer, but any other plastic manufacturing method such as laser sintering may be used, for example. The arch portion 45 is preferably designed in two parts so that it can be easily removed, and the two parts are assembled by screws.

[0085] Accordingly, it is observed that the platform 10 according to the present invention is constructed around the training module 16. Thus, each training module 16 is a central element where various elements of the platform 10 according to the present invention converge and exist. Each training module 16 is configured around a base 30 to which the various elements described below can be attached, as already mentioned: - A microcontroller 42 for the connection system 35 intended to connect the surgical training tool 36 to the control system 20, and its connection cable 39, - A haptic controller 18 including a robot for acquiring three-dimensional motion in a polar coordinate system, - Magnets 34, 38, and, if possible - One or more electrical connectors (e.g., a retractable pin connector as described above).

[0086] By combining these various elements, when connected to the virtual reality display device 12 by the calibration module 14, it becomes possible to connect the operation of physical surgical objects to the virtual twin within the virtual reality simulation within the context of a surgical procedure simulation. The platform 10 enables a simple yet mechanically and electrically robust connection, allowing the user to use the platform 10 completely safely and with confidence, without having to worry about how to operate the surgical simulation tool 36 or feeling inconvenienced by a heavy and / or cumbersome connection system.

Claims

1. A surgical training platform (10) configured to interface a haptic controller (18) and a surgical simulation tool (36), - a control system (20), - The first axis A １ At least one surgical simulation tool (36) having at least one free end extending along - at least one haptic controller (18) including a connection system (35) configured to mechanically and electrically reversibly connect at least one surgical simulation tool (36), comprising: The control system further includes a system for recognizing each surgical simulation tool (36) configured to obtain identification information unique to the surgical simulation tool (36) connected to the haptic controller (18) and transmit the identification information to the control system (20) so that the control system (20) recognizes each surgical simulation tool (36) connected to the haptic controller (18). A surgical training platform (10), - The connection system (35) is the second axis A ２ including at least one connector (35a) extending along, and the at least one connector (35a) has a first coupling element (44a) complementary to the corresponding coupling element (44b) at the free end of each surgical simulation tool (36). - The coupling elements (44a, 44b) at the free ends of the connector (35a) and each surgical simulation tool (36) are aligned with the axes A １ and A ２ so as to cooperate coaxially by alignment, such that the connection (35) between the haptic controller (18) and each surgical simulation tool (36) is carried out axially. - When connected to each other, each displacement of the surgical simulation tool (36) causes a corresponding operation of the movable haptic controller (18). The surgical training platform (10) is characterized in that.

2. The surgical training platform (10) according to the preceding claim, characterized in that the connection system (35) of the haptic controller (18) enables at least two different surgical simulation tools (36) to be connected.

3. The surgical training platform (10) according to any one of the preceding claims, characterized in that the at least one connector (35a) is configured to cooperate with the free end of the surgical simulation tool (36).

4. The surgical training platform (10) according to the preceding claim, characterized in that the at least one connector (35a) is a key-lock type locking connector configured to cooperate with the free end of the surgical simulation tool (36).

5. The connection (35) between the haptic controller (18) and the free end of at least one surgical simulation tool (36) ensures collinearity constraints according to at least a first axis A of one connector (35a). １ The surgical training platform (10) according to any one of the preceding claims, characterized in that collinearity constraints are ensured according to １ .

6. The connection system (35) comprises a first connector (35a) attached to the haptic controller (18) and a second connector (35b) attached to the free end of the surgical simulation tool (36), the two connectors (35a, 35b) being configured to cooperate with each other, the surgical training platform (10) according to any one of the preceding claims. Claim 7 The haptic controller (18) comprises a movable arm, the movable arm having a free end intended to cooperate with the connection system (35), the surgical training platform (10) according to any one of the preceding claims. Claim 8 The connection system (35) enables a current to flow between the haptic controller (18) and the surgical simulation tool (36) connected thereto so as to supply power to the surgical simulation tool (36), the surgical training platform (10) according to any one of the preceding claims. Claim 9 The connection system (35) enables a current to flow between the control system (20) and the surgical simulation tool (36) connected thereto so as to supply power to the surgical simulation tool (36), the surgical training platform (10) according to any one of claims 1 to 7. Claim 10 Each connector (35a, 35b) comprises a magnet (38) such that the connection part (35) is magnetized, the surgical training platform (10) according to any one of the preceding claims.

Images