Minimally invasive surgery training system

Abstract

The present invention provides a system for training in minimally invasive surgery. It is an object of the present invention to provide a system for training in minimally invasive surgery that allows for placing objects in different locations in the workspace. It is a further object of the present invention to provide a system in which the objects can be set at different angles. A system for minimally invasive surgical training comprising a housing (1), at least one minimally invasive surgical tool (2) and a workspace (3), characterized in that it comprises at least one moving mechanism having at least two actuators, the workspace (3) being connected to the moving mechanism, the moving mechanism being connected to the housing (1).

Description

Technical Field

[0001] The present invention provides a system for minimally invasive surgery training.

Background Art

[0002] According to the solutions of the prior art, minimally invasive surgery training can be carried out in two different environments, either on a physical object or under virtual reality conditions. Each of the above concepts has its own advantages and disadvantages. The present invention provides a complete solution that enables the combination of the above two environments. With this idea, it becomes possible to fully acquire the skills of surgeons under optimal conditions. This hybrid solution maximizes the advantages of the two solutions and eliminates their disadvantages. A physical trainer simulator is necessary for mastering manual skills. For example, the learning of suturing skills should be carried out on a real training object. On the other hand, virtual reality is useful for surgical operations. The simulated environment reflects the anatomical structure of the surgery very precisely and guides the user to gradually use appropriate surgical operation techniques for each type of procedure. Furthermore, under virtual reality conditions, the user can learn electro-surgery under safe conditions.

[0003] Document CN2751372Y discloses a training table equipped with a laparoscope simulation including a casting container for the abdomen, a camera, and a monitor. The casting chamber of the abdomen simulates an artificial state of abdominal emphysema in laparoscopic surgery. The camera is arranged inside the container for the abdomen and is connected to the monitor. A connection opening for arranging laparoscopic operation instruments is provided on the surface of the box. A simulated part of the human body is arranged inside the container.

[0004] Reference CN203038553U discloses a training device for laparoscopic simulation. This training device effectively integrates a body surface panel, support panel, operating table, base plate, and side panels by hinges, and can simulate the human body surface and penetrations within human body cavities. Simulation instruments may be incorporated into the training device to perform training in suturing techniques, ligation, and separation used for the purpose of simulating surgical procedure areas.

[0005] Reference PL424841A1 discloses handling / measuring components for a laparoscopic training device that enables manual and virtual laparoscopic training. The operating and measuring elements are a working tool and a trocar. The grip houses a sensor for the opening of the operating tip jaw. Below the grip, on the sleeve axis, a flat light-reflecting reflector is fixed in the center. The trocar has a funnel-shaped body closed with an upper cover, which contains axially positioned guide channels for the operating tool and sensors for determining parameters intended to characterize the operation of the operating tool.

[0006] The present invention provides a system for minimally invasive surgical training, comprising a housing, at least one minimally invasive surgical tool, and a workspace. The system is further characterized by comprising at least one movable mechanism having at least two actuators. The workspace is connected to the movable mechanism, and the movable mechanism is connected to the housing.

[0007] Preferably, the actuator is an electric motor.

[0008] Preferably, the movable mechanism includes an electric motor transmission.

[0009] Preferably, the movable mechanism includes at least one encoder.

[0010] Preferably, it includes a control device, and preferably the control device includes a controller and an electric motor controller.

[0011] Preferably, it includes at least two terminal switches.

[0012] Preferably, the operating mechanism is a guide, each having two screws connected to the shaft of an electric motor. Each screw is connected to a different carriage of the guide. One of the guide carriages is connected to the carriage with at least one guide arm, and the other guide carriage is connected to the carriage with at least two guide arms, preferably this carriage is the workspace.

[0013] Preferably, the operating mechanism is a guide including a first linear guide on which a guide carriage is movably mounted. A second linear guide is mounted on the guide carriage. The first linear guide is rotated 90 degrees relative to the second linear guide. The guide carriage comprises a first pulley, a second pulley, a third pulley, and a fourth pulley. The carriage is attached to the second linear guide. A belt fixing means is provided at one end of the second linear guide, and a fifth pulley and a sixth pulley are located at the other end of the second linear guide. A first drive pulley is located at one end on the extension of the first linear guide, preferably connected to the shaft of an electric motor, and a second drive pulley is located at the other end on the extension of the first guide, preferably connected to the shaft of an electric motor. The belt is fixed to a belt fixing means and spans between the first pulley, the first drive pulley, the third pulley, the fifth pulley, the sixth pulley, the fourth pulley, the second drive pulley, the second pulley, and the belt fixing means. Preferably, the carriage is the workspace.

[0014] Preferably, the movable mechanism is a carriage connected to the workspace along with at least one arm. At least one arm is connected to the shaft of an electric motor, and more preferably, the carriage is connected to a guide.

[0015] Preferably, each of the first arms is connected to the carriage and workspace, and more preferably, each of the first arms is connected to the shaft of an electric motor.

[0016] Preferably, the first electric motor is connected to the carriage 13. At least one arm is connected to one end of the shaft of the first electric motor. The other end of the at least one arm is connected to the shaft of a second electric motor 8, which is connected to the workspace.

[0017] Preferably, each of the second arms is connected to one of the third arms. Each of the second arms is coupled to the carriage. Each of the third arms is coupled to the workspace, and more preferably, each of the second arms is coupled to the shaft of an electric motor.

[0018] Preferably, each of the fourth arms is connected to one of the fifth arms. Each of the fourth arms is coupled to the carriage. Each of the fifth arms is coupled to the workspace, and more preferably, each of the fourth arms is coupled to the shaft of an electric motor.

[0019] Preferably, the movable mechanism is a carriage. Each of the first arms is connected to the carriage, preferably to the shaft of an electric motor. Each of the second arms is connected to the workspace, and each of the second arms is connected to a different first arm. Each of the third arms is connected to the carriage, preferably to the shaft of an electric motor. Each of the fourth arms is connected to a different fifth arm at one end and to a different third arm at the other end. Each of the fifth arms is connected to the workspace. Each of the second arms is connected to a different fourth arm.

[0020] The object of the present invention is to provide a system for training in minimally invasive surgery and to provide the possibility of arranging objects in different locations within the training space. Furthermore, the object of the present invention is to provide a system that allows objects to be set at different angles.

[0021] The present invention will be described with reference to the following drawings.

[0022] Figure 1 shows an overall diagram of the system for training in minimally invasive surgery.

[0023] Figure 2 shows an illustrative diagram of the interconnection of the system's elements.

[0024] Figure 3 shows a first embodiment of a movable mechanism for positioning an object in the xy-plane.

[0025] Figure 4 shows a second embodiment of a movable mechanism for positioning an object in the xy-plane.

[0026] Figures 5 to 9 show one embodiment of a movable mechanism for raising and tilting an object.

[0027] Figure 1 shows a training system for minimally invasive surgery, along with its most relevant elements. The training system for minimally invasive surgery according to the present invention comprises a housing 1, at least one minimally invasive surgical tool 2, and a workspace 3. The minimally invasive surgical tool 2 may be a camera, manipulator, claws, scissors, or any other tool (or its training equivalent) applicable during a minimally invasive surgical procedure (laparoscopy). The housing 1 defines a training space for simulating movements inside a patient's body. The workspace 3 is where the objects used for training are placed.

[0028] This system comprises at least one movable mechanism and at least two actuators, preferably in the form of a pneumatic actuator, a hydraulic actuator, or an electric motor 8, together with a transmission, although those skilled in the art should note that other types of actuators can also be proposed. The movable mechanism enables the positioning of an object for training purposes. The most advantageous solution is to provide the ability to move in the x-y plane, raise and lower the object, and tilt the object. However, it should be pointed out that in some solutions, only one or some of the aforementioned functions of object positioning are sufficient.

[0029] The workspace 3 is, in one embodiment, connected to the movable mechanism and may form part of the movable mechanism. The movable mechanism is further connected to the housing 1.

[0030] To provide accurate positioning of the workspace 3, it is possible to determine the position by means of an encoder 7a. This may be, for example, an encoder 7a that calculates the rotation of the electric motor 8, or a linear encoder 7a that determines the position of the workspace 3.

[0031] In a preferred embodiment, the system comprises a control arrangement for controlling the movable mechanism. It should be emphasized that one embodiment of the present invention contemplates supplying control signals from an external control device to the actuators of the movable mechanism. In a preferred embodiment, the control arrangement comprises a controller 5, which may be, for example, a microcontroller or a computer, and a controller 6 for the electric motor 8.

[0032] In another embodiment, the system comprises at least two end switches 7b to enable the detection of the end positions of the workspace 3.

[0033] Figure 2 shows a preferred embodiment in which two movable mechanisms, a guide 4 and a carriage 13, are provided. In this embodiment, information regarding the position of an object is transmitted from the computer to the controller 5 of the guide 4, and then to the controller 5 of the carriage 13. The signal may also be transmitted directly from the computer to both controllers 5. From each controller 5, the signal is further transmitted to the controller 6 of the electric motor 8, which controls the electric motor 8. The controllers 5 receive feedback from the terminal switch 7b. In this embodiment, the carriage 13 is also provided with an encoder 7a that transmits a signal to the controller 5 of the carriage 13.

[0034] Figure 3 shows an embodiment in which the movable mechanism is a guide 4. The guide 4 comprises two screws 9, each screw preferably connected to the shaft of an electric motor 8. Each screw 9 is connected to a different carriage 10 of the guide. One of the carriages 10 of the guide is connected to a carriage 13 with at least one guide arm 11, and the carriages 10 of the guide are connected to a carriage 13 with at least two guide arms 11, preferably the carriage 13 is a workspace 3.

[0035] Figure 4 shows a second embodiment of guide 4. In this embodiment, guide 4 comprises a first linear guide 12a on which a guide carriage 10 is movably mounted. A second linear guide 12b is also movably mounted on the guide carriage 10. The first linear guide 12a is rotated 90 degrees relative to the second linear guide 12b. The guide carriage 10 comprises a first pulley 14a, a second pulley 14b, a third pulley 14c, and a fourth pulley 14d. A carriage 13 is mounted on the second linear guide 12b. One end of the second linear guide 12b is provided with belt fixing means 16 for a belt 17, and the other end of the second linear guide 12b is provided with a fifth pulley 14e and a sixth pulley 14f. A first drive pulley 15a is located at one end on the extension of the first linear guide 12a. A second drive pulley 15b is located at the other end of the extension of the first linear guide 12a. In a preferred embodiment, at least one pulley, more preferably two, are connected to the shaft of the electric motor 8. The belt 17 is secured to a belt fixing means 16 for the belt 17, and the belt 16 spans between the first pulley 14a, the first drive pulley 15a, the third pulley 14c, the fifth pulley 14e, the sixth pulley 14f, the fourth pulley 14d, the second drive pulley 15b, the second drive pulley 14b, and the belt fixing means 16 for the belt 17, preferably the carriage 13 is workspace 3.

[0036] Guide 4 allows the workspace 3 to be moved in the xy-plane, as shown in Figures 3 and 4.

[0037] In another embodiment, the movable mechanism is a carriage 13 connected to the workspace 3 along with at least one arm 18a. At least one arm 18a is connected to the shaft of an electric motor. In a preferred modification, the carriage 13 is connected to a guide 4. In another modification, each of the first arms 18a is connected to the shaft of an electric motor 8. Figure 5 shows one embodiment in which a first electric motor 8 is connected to the carriage 13, and at least one arm 18a is connected at one end to the shaft of the first electric motor 8 and at the other end to the shaft of a second electric motor 8 connected to the workspace 3. In yet another embodiment of the system with the carriage 13, each of the first arms 18a is connected to the carriage 13 and the workspace 3. In a preferred embodiment, each of the first arms 18a is connected to the shaft of an electric motor 8. This example is shown in Figure 6.

[0038] In a further embodiment of the system with carriage 13, each of the second arms 18b is connected to one of the third arms 18c. Each of the second arms 18b is coupled to carriage 13, and each of the third arms 18c is coupled to workspace 3. In a preferred modification, each of the second arms 18b is coupled to the shaft of an electric motor 8. This example is shown in Figure 7.

[0039] In a further embodiment of the system with carriage 13, each of the fourth arms 18d is connected to one of the fifth arms 18e. Each of the fourth arms 18d is coupled to carriage 13, and each of the fifth arms 18e is coupled to workspace 3. In a preferred embodiment, each of the fourth arms 18d is coupled to the shaft of an electric motor 8. This example is shown in Figure 8.

[0040] In yet another embodiment of the carriage 13, as shown in Figure 9, each of the first arms 18a is connected to the carriage 13, preferably the first arms 18a are connected to the shaft of the electric motor 8. Each of the second arms 18b is connected to the workspace 3, and each of the second arms 18b is connected to a different first arm 18a. Each of the third arms 18c is connected to the carriage 13, preferably the third arms 18c are connected to the shaft of the electric motor 8. Each of the fourth arms 18d is connected at one end to a different fifth arm 18e and at the other end to a different third arm 18c. Each of the fifth arms 18e is coupled to the workspace 3, and each of the second arms 18b is coupled to a different fourth arm 18d.

[0041] It should be noted that the term “connected” as used throughout this specification may refer to both rigid, immovable connections and movable connections of elements, particularly in the context of arm connections. Those skilled in the art will have no doubt as to which elements are movablely connected for the purposes of the present invention. It should also be emphasized that, as shown in Figures 7, 8, and 9, arm connections can be implemented via a common axis connecting all arms of the same type.

[0042] According to the present invention, the system may consist of the guide 4 and the carriage 13 independently, or it may include a guide for moving the carriage 13. For convenience, the carriage 13 may be an element of the guide 4, or it may be an adjustment mechanism responsible for raising and tilting the workspace. Note that in this modification, if the workspace 3 moves only in the xy plane, the carriage 13 functions as the workspace.

[0043] 1: Housing

[0044] 2: Minimally Invasive Surgical Tools

[0045] 3: Workspace

[0046] 4: Guide

[0047] 5: Controller

[0048] 6: Electric motor controller

[0049] 7a: Encoder

[0050] 7b: Terminal switch

[0051] 8: Electric motor

[0052] 9: Screw

[0053] 10: Guide Carriage

[0054] 11: Guide Arm

[0055] 12a: First linear guide

[0056] 12b: Second linear guide

[0057] 13: Carriage

[0058] 14a: First pulley

[0059] 14b: Second pulley

[0060] 14c: Third pulley

[0061] 14d: Fourth pulley

[0062] 14e: The fifth pulley

[0063] 14f: The 6th pulley

[0064] 15a: First drive pulley

[0065] 15b: Second drive pulley

[0066] 16: Belt fastening means

[0067] 17: Belt

[0068] 18a: First arm

[0069] 18b: Second arm

[0070] 18c: Third Arm

[0071] 18d: Fourth Arm

[0072] 18e: The fifth arm

Claims

1. A system for training in minimally invasive surgery, comprising a housing (1), at least one minimally invasive surgical tool (2), a workspace (3), and at least one movable mechanism equipped with at least three electric motors (8), The workspace (3) is connected to the movable mechanism, and the movable mechanism is connected to the housing (1). The movable mechanism consists of two guides (4), each equipped with a screw (9), each of which is connected to the shaft of an electric motor (8), each of which is connected to a different carriage (10) of the guide, one of the carriages (10) of the guide is connected to at least one guide arm (11) together with a carriage (13), and the second carriage (10) of the guide is connected to at least two guide arms (11) together with a carriage (13). The movable mechanism is a carriage (13) connected to a workspace (3) together with at least one arm (18a), and the system is characterized in that at least one arm (18a) is connected to the shaft of the electric motor (8).

2. The system according to claim 1, characterized in that the movable mechanism includes a transmission for the electric motor (8).

3. The system according to claim 1 or 2, characterized in that the movable mechanism comprises at least one encoder (7a).

4. The system according to any one of claims 1 to 3, characterized in that it comprises a control device, the control device comprising a controller (5) and a controller (6) for the electric motor (8).

5. The system according to any one of claims 1 to 4, characterized by comprising at least two terminal switches (7b).

6. The movable mechanism is a guide (4) having a first linear guide (12a) to which the carriage (10) of the guide is movably connected, a second linear guide (12b) is movably connected to the carriage (10) of the guide, the first linear guide (12a) is rotated at an angle of 90 degrees with respect to the second linear guide (12b), the carriage (10) of the guide comprises a first pulley (14a), a second pulley (14b), a third pulley (14c), and a fourth pulley (14d), the second linear guide (12b) has a carriage (13) mounted on it, one end of the second linear guide (12b) is provided with belt fixing means (16) for a belt (17), and the other end of the second linear guide (12b) is provided with a fifth pulley (14e) and a sixth pulley (14f), and the A first drive pulley (15a) is positioned at one end of the extension of a first linear guide (12a) and connected to the shaft of an electric motor (8); a second drive pulley (15b) is positioned at the other end of the extension of the first guide and connected to the shaft of an electric motor (8); the belt (17) is mounted on the belt fixing means (16) for the belt (17); the belt (16) spans between the first pulley (14a), the first drive pulley (15a), the third pulley (14c), the fifth pulley (14e), the sixth pulley (14f), the fourth pulley (14d), the second drive pulley (15b), the second pulley (14b), and the belt fixing means (16) for the belt (17); and the carriage (13) is the workspace (3), according to any one of claims 1 to 5.

7. The system according to claim 1, wherein each of the first arms (18a) is connected to the carriage (13) and the workspace (3), and each of the first arms (18a) is connected to the shaft of the electric motor (8).

8. The system according to claim 7, wherein the first electric motor (8) is connected to a carriage (13), and at one end of the shaft of the first electric motor (8) is connected to the shaft of a second electric motor (8) connected to the workspace (3), the other end of which is connected to the shaft of a second electric motor (8).

9. The system according to any one of claims 1 to 8, wherein each of the second arms (18b) is connected to one of the third arms (18c), each of the second arms (18b) is coupled to the carriage (13), each of the third arms (18c) is coupled to the workspace (3), and each of the second arms (18b) is coupled to the shaft of the electric motor (8).

10. The system according to claim 9, wherein each of the fourth arms (18d) is connected to one of the fifth arms (18e), each of the fourth arms (18d) is coupled to the carriage (13), each of the fifth arms (18e) is coupled to the workspace (3), and each of the fourth arms (18d) is coupled to the shaft of the electric motor (8).

11. The movable mechanism is a carriage (13), each of the first arms (18a) is connected to the carriage (13), each of the first arms (18a) is connected to the shaft of an electric motor (8), each of the second arms (18b) is connected to the workspace (3), each of the second arms (18b) is connected to a different first arm (18a), and each of the third arms (18c) is connected to the carriage (13). The system according to any one of claims 1 to 10, wherein the third arm (18c) is connected to the shaft of the electric motor (8), each of the fourth arms (18d) is connected at one end to a different fifth arm (18e) and at the other end to a different third arm (18c), each of the fifth arms (18e) is coupled to the workspace (3), and each of the second arms (18b) is coupled to a different fourth arm (18d).

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