Restricted surgical training console

Abstract

A surgical training console (10) comprises a base (12), a constraint module (16) having an opening (28) for allowing at least a portion of at least one surgical simulation tool (100) to pass through for user operation, and a haptic arm (14) mounted on the base (12) having a free end (26) configured to connect the surgical simulation tool. The haptic arm is movable and allows defining a working space (T) that includes all possible positions of the free end. The base and constraint module (16) are configured to demarcate an open space that defines an operating space (M), the operating space (M) being less than or equal to the working space (T), and the constraint module allows restricting the possible positions of the free end of the haptic arm to positions located within this operating space.

Description

Technical Field

[0001] The present invention relates to the field of training future surgeons. Accordingly, the present invention relates to the field of instruments, methods, and materials for education and instruction, particularly in the field of surgical training consoles.

Background Art

[0002] To date, most surgical training has been carried out in actual medical settings by following a supervisor while treating patients. This method requires a large number of human resources, has significant physical constraints, and may also impose a great deal of stress on students, potentially leading to a decline in concentration and / or memory.

[0003] Alternative means exist, such as the Pelvitrainer EoSim SurgTrac (registered trademark) or specific sessions using animals. However, these training / methods are only available to a limited number of trainees and have several obvious limitations. The Pelvitrainer is a simple box for inserting trocars and cameras and can only perform suturing on an inert material such as foam. Animal models have obvious problems regarding the quality of training due to limited anatomical similarities and correspondences with humans. Also, animal models are raising more and more problems from an ethical perspective.

[0004] In addition, the Pelvitrainer has ergonomic problems because it cannot simulate the off-body movements performed by a surgeon during a surgical intervention. For example, it cannot reproduce palpating the patient before inserting a surgical tool into the body, placing a hand outside the patient's body to stabilize the intervention area, or visually checking the intervention area from the outside before the operation, or simply placing a hand outside the intervention area to improve operability.

[0005] Therefore, the object of the present invention is to provide a safe, practical, accurate, realistic, user-friendly, and readily available training device that improves realism and ergonomic characteristics during use by enabling the user to operate the device with both hands, with or without tools. The realism of surgical simulations largely depends on whether realistic constraints can be imposed on the movement of the operating tools held by the user. Therefore, applying these constraints is a technical challenge. [Overview of the project]

[0006] Therefore, the present invention relates to a surgical training console (10). The surgical training console (10) is • Bass and, A constraint module positioned at a distance from the base along the position axis X, having at least one opening that allows the passage of at least a portion of at least one surgical simulation tool intended to be manipulated by a user, A haptic arm fixed to a base, having a free end configured to connect at least one surgical simulation tool, being movable, and enabling the definition of a workspace including a set of positions that the free end may occupy, A control unit connected to a haptic arm, configured to generate virtual reality and define its parameters, thereby providing the user with a simulation of surgical intervention. A display device connected to the control unit, configured to show the user the operation of surgical simulation tools in a virtual reality generated by the control unit, It is equipped with.

[0007] The present invention is characterized in that parameters for controlling the mobility of a haptic arm are included in virtual reality parameters, the base and constraint modules are arranged to demarcate an empty space that defines the operating space (M), the operating space is less than or equal to the workspace, and the constraint modules can restrict the positions that the free end of the haptic arm can occupy to positions located within the operating space.

[0008] Therefore, the solution according to the present invention makes it possible to achieve the above-mentioned objectives. In particular, the presence of the constraint module makes it possible to technically impose constraints on the degrees of freedom of the final stage of the haptic arm, especially those located far from the base. These degrees of freedom cannot be easily motorized without significantly increasing the weight of the haptic arm.

[0009] The console according to the present invention may be equipped with one or more of the following features, either independently or in combination with each other. • The constraint module forms the top panel. The base and constraint modules are offset laterally along the placement axis X, which allows the console to have a stepped shape. • The distance between the base and the constraint module is variable. • The constraint module is tilted relative to the base. This slope is variable. The base features an inclined base designed to accommodate a robot equipped with a haptic arm. The base and constraint modules are detachably secured to each other. • At least one opening (28) has a movable edge and a variable diameter. The display device is associated with a movable calibration tool, and the console features a calibration module with recesses intended to work in conjunction with the movable calibration tool. The calibration module can be detachably mounted to the base. The display device is a virtual reality headset. The haptic arm has a standby position where its free end is positioned to face the opening of the constraint module.

[0010] Furthermore, the present invention relates to a surgical training kit. The surgical training kit is characterized by comprising a surgical training console as described above and at least one surgical simulation tool.

[0011] This surgical training kit may be characterized by the fact that a virtual twin of surgical simulation tools connected to a haptic arm is displayed to the user via a display device. [Brief explanation of the drawing]

[0012] The present invention will be better understood, and other purposes, details, characteristics, and advantages will become clearer, by referring to the accompanying drawings and reading the following detailed description relating to exemplary and non-limiting embodiments. [Figure 1] This is a perspective view of a surgical training console according to the present invention, which is equipped with surgical simulation tools. [Figure 2a] Figure 1 is an exploded view of a surgical training console according to an embodiment of the device shown. [Figure 2b] This is a detailed diagram of the calibration module. [Figure 3] This is a perspective view showing a user operating the console according to the present invention using surgical simulation tools that are not displayed on the display device. [Figure 4] This is a top view of the console according to the present invention. [Figure 5a] This is a perspective view showing a user operating the console according to the present invention using a surgical simulation tool displayed on a display device. [Figure 5b] This is a perspective view showing a user operating the console according to the present invention using a surgical simulation tool displayed on a display device. [Figure 6] It is a diagram schematically showing the degrees of freedom of the haptic arm of the console according to the present invention.

Embodiment for Carrying Out the Invention

[0013] As shown in FIG. 1, the surgical training console 10 according to the present invention includes · a base 12, · a haptic arm 14 fixed on the base 12, · a constraint module 16 disposed at a distance from the base 12 along the arrangement axis X, · a control unit 18 connected to the haptic arm 14, which is configured to generate virtual reality and define its parameters, and to provide a simulation of surgical intervention to the user, the control unit 18, · a display device (not shown) connected to the control unit 18, and comprises.

[0014] The surgical training console 10 according to the present invention is used as a kit including at least one surgical simulation tool 100 intended to be connected to the haptic arm 14 (see below).

[0015] The display device is configured to display to the user the operation of the surgical simulation tool 100 in the virtual reality generated by the control unit 18. Preferably, it is a virtual reality headset.

[0016] As shown in FIG. 2a, the base 12 has a cavity forming an inclined base intended to receive the body of the robot 20 with the haptic arm 14. According to the embodiment shown in FIGS. 1 and 2a, the base 12 has a substantially rectangular shape. This shape facilitates storage. Preferably, the dimensions of the base 12 of the console 10 are 300 mm to 500 mm in length and 200 mm to 500 mm in width. The thickness of the base 12 is 150 mm to 300 mm.

[0017] In certain embodiments, the base 12 has at least one socket 21 connected to the control unit 18 by an electrical circuit. This socket 21 allows for the electrical connection of a surgical simulation tool 100, which is mechanically connected to the haptic arm 14, to the control unit 14.

[0018] As shown in Figures 1 and 2a, the base has legs that extend along the alignment axis X. These legs are height-adjustable, allowing the user to adjust the height of the base 12 to their preference for optimal comfort. The length of the legs may preferably vary in the range of 100 mm to 500 mm.

[0019] As shown in Figure 2b, the base 12 has at least one connection recess intended to work with the calibration module 22. This allows the calibration module 22 to be detachably connected to the console 10. In the embodiment shown in Figure 2a, the base 12 has connection recesses on each of its faces. This allows the calibration module 22 to be connected in different positions depending on the space required by the user to perform the simulation, and in some cases, several calibration modules 22 can be connected to the base 12.

[0020] The calibration module 22 is connected to the display device and is configured to align the physical reality and virtual reality of the user operating the console 10 according to the present invention. The display device is associated with a movable calibration tool 24 (see Figure 2b) by known means. The movable calibration tool 24 may take the form of a conventional controller, for example, as shown in Figure 2b, but is not limited to this, and may take different forms. The calibration module 22 includes a recess corresponding to the movable calibration tool 24. This allows the calibration module 22 to position the movable calibration tool 24 associated with the display device in a known fixed position relative to the base 12, more specifically the haptic arm 14.

[0021] The haptic arm 14 is able to determine the position and relative orientation of an object attached to it (as described later), so the position and orientation of this object relative to the movable calibration tool 24 are obtained. If the display device is a mobile device configured to be worn by a user, the calibration module 22 is able to further determine the user's position relative to the base of the console 10. Furthermore, since the position of the movable calibration tool 24 relative to the display device is known, the position and orientation of the object attached to the haptic arm 14 relative to the user wearing the display device are determined.

[0022] As described above, the haptic arm 14 is connected to the base 12 by the body of the robot 20, which is fixed to the base 12 as described above. As shown in Figure 2a, the haptic arm 14 has a free end 26 on the opposite side of the body of the robot 20, which is configured to connect to at least one surgical simulation tool 100.

[0023] The haptic arm 14 has a standby position when the surgical simulation tool 100 is not connected to the free end 26. In this standby position, the free end 26 is housed in a cavity or hole located on the body of the robot 20, preferably on its front surface. In an alternative embodiment, the standby position of the haptic arm 14 may be positioned so that the free end faces an opening 28 in the constraint module 16.

[0024] The haptic arm 14 is movable according to at least six degrees of freedom obtained by various elbows and rotating parts that cooperate with each other to form joints J1, J2, J3, J4, J5, and J6. More precisely, as shown in Figure 6, the first three joints (distal joints) are actuated by the user, and the last three joints (proximal joints) are passive.

[0025] To maximize the realism of the simulation, when the surgical simulation tool 100 is connected to the haptic arm 14, its tip (or free end) must be positioned at the haptic point of the haptic arm 14 where haptic feedback actually occurs. This haptic point is indicated as "HIP" in Figure 6. The haptic arm 14 simulates force feedback related to the interaction or collision of the tip (or end) of the surgical simulation tool 100 with elements of the virtual environment. By calculating the interaction and collision here, they can be simulated without causing haptic delays or inconsistencies that would cause discomfort or unnaturalness to the user. By considering this haptic point HIP, it becomes possible to simulate, for example, the penetration of a syringe needle into a patient's body by simulating the stress exerted by the patient's body on the syringe needle.

[0026] All joints are tracked by position sensors to determine their respective angular position and rotation, but not all joints benefit from haptic feedback. In Figure 6, the joints that do not receive haptic feedback are indicated as J4, J5, and J6. The three distal joints are larger in size, making it possible and easy to equip them with motors that can limit their mobility as needed.

[0027] This mobility of the haptic arm 14 defines a workspace T that includes all positions that the free end 26 of the haptic arm 14 can occupy. The mobility of the haptic arm 14 refers to the speed and ease with which a user can move the free end 26 of the haptic arm 14 from one position to another within the workspace T. This mobility is controlled by the control unit 18. Therefore, the mobility of the haptic arm 14 is part of the virtual reality parameters generated by the control unit 18. Thus, the virtual reality parameters include all or part of the parameters for controlling the mobility of the haptic arm 14. Therefore, this mobility can be adapted to a variety of surgical simulations.

[0028] Depending on what the virtual reality generated by the control unit is intended to represent to the user, the mobility parameters of the haptic arm 14 change, and the haptic signals generated by the control unit and transmitted to the user via the haptic arm 14 also change.

[0029] In this application, the concept of "haptic signal" is understood as a signal actively generated by the console 10 according to the present invention. This is distinct from the concept of "tactile feedback," which is simple, passive feedback automatically generated when the human body reacts to manipulating a living or non-living object.

[0030] The constraint module 16 is a physical constraint module. The constraint module 16 may have a general tabletop shape, as shown in the figure. Depending on the simulation selected by the user, the constraint module 16 can have a different shape, closer to a realistic anatomical shape.

[0031] Regardless of its shape, the constraint module 16 has an opening 28 that allows at least a portion of at least one surgical simulation tool 100 to pass through.

[0032] In some embodiments, the haptic arm 14 has a standby position in which the free end 26 is positioned inside the opening of the cover.

[0033] The opening 28 can be an opening with a fixed edge or an opening with a movable edge. Therefore, its diameter can be fixed or variable. Specifically, the opening 28 is an effective solution to the lack of haptic feedback that cannot be obtained from the last three degrees of freedom of the haptic arm 14. The opening 28 allows for better simulation of surgery, for example, by helping the user feel the walls of an opening formed inside the patient's body during a surgical intervention. In some embodiments shown in Figure 3, the user can pass their entire hand through the opening 28, thereby enabling, for example, a palpation simulation inside the patient's body. In other embodiments shown in Figures 5a and 5b, the opening 28 does not allow the user's hand to pass through, but only the end of a surgical simulation tool 100 that the user manipulates.

[0034] Preferably, the inner edge of the opening 28 is covered with silicone for practical purposes. In other embodiments, the opening 28 may be directly connected to the control unit 18 to improve the accuracy of the simulation.

[0035] The constraint module 16 is removably secured to the base 12 by at least one spacer 30, preferably four spacers 30. Depending on the length of the spacers 30, the constraint module 16 can be positioned at a distance of 200 mm to 400 mm from the base 12. Each spacer 30 preferably has a rod shape and has fixing legs 30a at both ends. Each fixing leg 30a may be designed to cooperate with at least one clamp knob. This allows for a strong physical connection to be maintained between the constraint module 16 and the base 12. More precisely, the presence of magnets forms a magnetic lock key type connection, eliminating the possibility of the constraint module 16 being detached by shear forces when using the console 10.

[0036] The fixation between each fixed leg 30a of each spacer 30 and the base 12 and / or constraint module 16 can be reinforced by the presence of magnets. This allows the set of spacers 30 to be easily assembled / disassembled and stored in a suitcase, for example. This detachable arrangement of the base 12 and constraint module 16 allows them to be reused independently in other projects or other simulations.

[0037] Therefore, by placing at least one spacer 30 between the base 12 and the constraint module 16, it becomes possible to position the base 12 and the constraint module 16 so as to divide the empty space that defines the operating space M.

[0038] In this application, the term "empty" is understood to mean the absence of physical obstacles. An empty space in this application is a space in which a person can move their hand freely across the entire volume of that space without being obstructed by any element or object.

[0039] When positioned, the constraint module 16 allows for the restriction of the positions that the free end 26 of the haptic arm 14 can occupy. Its position relative to the base 12 directly or indirectly restricts the mobility of the haptic arm 14. This mobility can be directly restricted if the constraint module 16 is positioned close enough to the base 12 to physically prevent the free end 26 of the haptic arm from occupying any position in the workspace T. This mobility can be indirectly restricted if the constraint module 16 is positioned to restrict the user's movement. This prevents the user from positioning the free end 26 of the haptic arm 14 at any position in the workspace T.

[0040] This constrained space is the operating space M. In the context of the present invention, the operating space M is encompassed within the workspace T. Therefore, the operating space M is less than or equal to the workspace T. In this way, the constraint module 16 makes it possible to restrict the positions that the free end 26 of the haptic arm 14 can occupy to those located within this operating space M.

[0041] According to the embodiment shown in Figure 1, the base 12 and the constraint module 16 are offset laterally along the placement axis X. This gives the console 10 a stepped shape (see Figure 5). This offset optimizes the ergonomic characteristics of the console 10 and provides greater comfort to the user. This offset also allows for better adaptation to the specific anatomical structure of the virtual patient on whom the surgical simulation is performed. Similarly, the placement distance between the base 12 and the constraint module 16 is variable. Furthermore, according to certain embodiments, the constraint module 16 is inclined relative to the base 12. This inclination can be variable.

[0042] Beyond ergonomic reasons, the inclination of the base, intended to accommodate the body of the robot 20 with the haptic arm 14, and the offset of the constraint module 16 and base 12, make it possible to create a larger workspace T, which in turn optimizes the simulation experience.

[0043] As stated at the beginning of this specification, the console 10 according to this application is used in kit form. More specifically, this is, • The surgical training console 10 according to the present invention, • At least one surgical simulation tool 100, This is a surgical training kit equipped with [features / equipment].

[0044] The simulation operates when the user manipulates the haptic arm 14 via a surgical simulation tool 100. In some simulations, a virtual twin of the surgical simulation tool 100 used by the user (and connected to the haptic arm 14) is displayed to the user by a display device. This could be, for example, a tool simulating a catheter or scissors (see Figures 5a and 5b). In other cases, the surgical simulation tool 100 is not visible to the user via a display device. This case is shown in Figure 3. In this particular case, the surgical simulation tool helps to give the user the illusion that their hand is surrounded by organs and soft tissues (not to mention that the working space is empty). Thus, the tool allows the user to directly use their own hand to receive haptic feedback (or signals) provided by the haptic arm 14. In the particular case of the surgical simulation tool 100 shown in Figure 3, once the surgical simulation tool 100 is connected to the free end 26 of the haptic arm 14, the user inserts their hand into it. The polyurethane foam prevents hand injury, and the spring ensures that the hand is sufficiently clamped so that the surgical simulation tool 100 is held in place despite movement within the working space.

[0045] Regardless of their shape and simulated function, all surgical simulation tools 100 are connected to the free end 26 of the haptic arm 14 by plug-and-play connections. In this application, the concept of “plug-and-play” means a simple operation involving only a limited number of actions, preferably a single action. “Plug-and-play connection” means a connection made by a single action.

[0046] The console 10 according to this invention makes it possible to address this problem of haptic feedback and restrictions on the last three degrees of freedom, i.e., the proximal degrees of freedom. This is achieved without using motorization, which would make the haptic arm 14 heavy and difficult to operate, and as a result greatly reducing the realism of the simulation. The constraint module 16 restricts the last degree of freedom directly or indirectly, simply and effectively, without causing danger or discomfort to the user.

Claims

1. A surgical training console (10), Bass (12) and, A constraint module (16) positioned at a distance from the base (12) along the arrangement axis X, the constraint module (16) having at least one opening (28) that allows at least a portion of at least one surgical simulation tool (100) intended to be operated by a user to pass through, A haptic arm (14) fixed to the base (12), having a free end (26) configured to connect to at least one surgical simulation tool (100), and being movable, enabling the definition of a workspace (T) including a set of positions that the free end (26) may occupy, A control unit (18) connected to the haptic arm (14) is configured to generate a virtual reality and define its parameters, thereby providing the user with a simulation of a surgical intervention. A display device connected to the control unit (18) is configured to display to the user the operation of the at least one surgical simulation tool (100) in the virtual reality generated by the control unit (18), Equipped with, The parameters of the virtual reality include parameters for controlling the mobility of the haptic arm (14), The base (12) and the constraint module (16) are arranged to demarcate the empty space that defines the operating space (M), and the operating space (M) is less than or equal to the work space (T). The constraint module (16) is characterized in that it can restrict the position that the free end (26) of the haptic arm (14) can occupy to a position located within the operating space (M). Console (10).

2. The console (10) according to claim 1, characterized in that the constraint module (16) forms a top plate.

3. The console (10) according to claim 2, characterized in that the base (12) and the constraint module (16) are offset laterally along the arrangement axis X, and the console has a stepped shape.

4. The console (10) according to any one of claims 1 to 3, characterized in that the distance between the base and the constraint module (16) is variable.

5. The console (10) according to any one of claims 1 to 4, characterized in that the constraint module (16) is inclined with respect to the base (12).

6. The console (10) according to claim 5, characterized in that the tilt is variable.

7. The console (10) according to any one of claims 1 to 6, characterized in that the base (12) comprises an inclined base intended to receive a robot (20) equipped with the haptic arm (14).

8. The console (10) according to any one of claims 1 to 7, characterized in that the base (12) and the constraint module (16) are detachably fixed to each other.

9. The console (10) according to any one of claims 1 to 8, characterized in that the at least one opening (28) has a movable edge and a variable diameter.

10. The console (10) according to any one of claims 1 to 9, characterized in that the display device is associated with a movable calibration tool (24), and the console (10) comprises a calibration module (22) having a recess intended to cooperate with the movable calibration tool (24).

11. The console (10) according to claim 10, characterized in that the calibration module (24) is detachably attached to the base (12).

12. The console (10) according to any one of claims 1 to 11, characterized in that the display device is a virtual reality headset.

13. The console (10) according to any one of claims 1 to 12, characterized in that the haptic arm (14) has a standby position in which the free end (26) is positioned to face the opening of the constraint module (16).

14. A surgical training kit comprising a console (10) according to any one of claims 1 to 13, and at least one surgical simulation tool (100).

15. The kit according to claim 14, characterized in that a virtual twin of the at least one surgical simulation tool (100) connected to the haptic arm (14) is displayed to the user by the display device.

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