Single port surgery training device and surgery training method thereof

Abstract

A single-port surgical training device according to one embodiment of the present disclosure comprises: a surgical tool including forceps, an incision tool, and at least one first sensor provided on at least one of the forceps and the incision tool and configured to generate position information and posture information of at least one of the forceps and the incision tool; a simulation module including a housing and a single port provided on one side of the housing and configured to insert the forceps and the incision tool; and a host computer connected via communication with the surgical tool and the simulation module, wherein the host computer is configured to identify position information and posture information of at least one of the forceps and the incision tool based on sensing information received from the at least one first sensor, and to generate a virtual surgical environment including a virtual forceps and a virtual incision tool corresponding to the position information and posture information of at least one of the forceps and the incision tool.

Description

Technology Field

[0001] The present disclosure relates to a single-port surgical training device and a surgical training method thereof. Background Technology

[0003] Transanal surgery, a type of minimally invasive surgery, refers to a procedure performed without making an incision in the abdomen. It involves inserting a cylindrical instrument through the anus to perform localized resection while viewing a monitor connected to a camera. Laparoscopic surgery, another type of minimally invasive surgery, refers to a procedure performed without an incision in the abdomen. Instead, a laparoscope equipped with a specialized camera is inserted through small incisions, allowing for the use of specialized instruments such as lasers or advanced surgical techniques. These minimally invasive surgeries were developed to overcome the disadvantages of traditional open surgery, which involves making a large incision in the abdomen with a scalpel, resulting in large scars, significant bleeding, and long recovery times.

[0004] These minimally invasive surgeries offer advantages such as smaller incisions, reduced scarring and bleeding, significantly shorter recovery times compared to open surgery, and much less postoperative pain. Although currently applied to almost all diseases requiring open surgery, there is a problem in that mastering the skills of minimally invasive surgery is difficult, as it necessitates a long training process and time to internalize the technique through extensive direct experience.

[0005] In response to this, various types of surgical training simulators have been developed; however, conventional minimally invasive surgery training simulators are implemented using monotonous devices such as mannequins, which results in disadvantages such as being limited to one-time use or lacking realism. The problem to be solved

[0007] According to various embodiments of the present disclosure, the technical problem is to provide a surgical training device and method capable of simulating single-port surgery (or minimally invasive surgery), such as transanal, thoracoscopic, and laparoscopic surgery, using virtual reality information.

[0008] According to various embodiments of the present disclosure, the technical problem is to provide a training device and method capable of producing three-dimensional educational content for single-port surgery (or minimally invasive surgery), such as transanal, thoracoscopic, and laparoscopic surgery.

[0009] However, the problems that the present disclosure aims to solve are not limited to those mentioned above, and may include purposes that are not mentioned but can be clearly understood by those skilled in the art to which the present disclosure belongs from the description below. means of solving the problem

[0011] Specific means for achieving the purpose of the present disclosure will be described below.

[0012] A single-port surgical training device according to one embodiment of the present disclosure comprises: a surgical tool including forceps, an incision tool, and at least one first sensor provided on at least one of the forceps and the incision tool and configured to generate position information and posture information of at least one of the forceps and the incision tool; a simulation module including a housing and a single port provided on one side of the housing and configured to insert the forceps and the incision tool; and a host computer connected via communication with the surgical tool and the simulation module, wherein the host computer is configured to identify position information and posture information of at least one of the forceps and the incision tool based on sensing information received from the at least one first sensor, and to generate a virtual surgical environment including a virtual forceps and a virtual incision tool corresponding to the position information and posture information of at least one of the forceps and the incision tool.

[0013] According to one embodiment, the at least one first sensor comprises a first-1 sensor provided in the handle portion of the clamp; and a first-2 sensor provided in the handle portion of the cutting tool, wherein the first-1 sensor is configured to detect position information and posture information of the clamp and transmit it to the host computer, and the first-2 sensor is configured to detect position information and posture information of the cutting tool and transmit it to the host computer.

[0014] According to one embodiment, the at least one first sensor may be an electro-magnetic sensor including a 6-axis gyroscope sensor.

[0015] According to one embodiment, the single port includes at least two injection ports, and the forceps and the cutting tool can be inserted through each of the at least two injection ports.

[0016] According to one embodiment, the surgical tool further includes an endoscope camera, and the at least two injection ports include a first injection port, a second injection port, and a third injection port, and the forceps are inserted into the first injection port, the cutting tool is inserted into the second injection port, and the endoscope camera can be inserted into the third injection port.

[0017] According to one embodiment, the simulation module further includes at least one second sensor configured to detect the surgical tool inserted into the single port, and the host computer may be further configured to determine whether the surgical tool has been inserted into the single port of the simulation module based on sensing information received from the at least one second sensor.

[0018] According to one embodiment, the at least one second sensor may include at least one of a vision sensor, an optical sensor, or a camera sensor.

[0019] According to one embodiment, the single port may include a cannula made of an elastic material having a hole formed therein into which the surgical tool can be inserted.

[0020] According to one embodiment, the host computer may include a communication module connected to the surgical tool and the simulation module; a display; memory; and a processor. According to one embodiment, the processor may be configured to output a virtual surgical environment including the virtual forceps and the virtual incision tool through the display.

[0021] According to one embodiment, the virtual surgical environment includes a virtual reality image that mimics an organ inside a subject, and the virtual reality image can be displayed as a first-person view based on the surgical tool.

[0022] According to one embodiment, the surgical tool further includes an endoscope camera, and the virtual reality image may be displayed as a first-person view based on the endoscope camera.

[0023] According to one embodiment, the forceps includes a first button, and the cutting tool includes a second button. The processor can control the virtual forceps to perform a grasping operation in the virtual surgical environment in response to receiving user input pressing the first button, and control the virtual cutting tool to perform a cutting operation in the virtual surgical environment in response to receiving user input pressing the second button.

[0024] A surgical training method performed on a single-port surgical training device according to one embodiment of the present disclosure, wherein the single-port surgical training device comprises: a surgical tool including forceps, an incision tool, and at least one first sensor provided on at least one of the forceps and the incision tool and configured to generate position information and posture information of at least one of the forceps and the incision tool; a simulation module including a housing and a single port provided on one side of the housing and configured to insert the forceps and the incision tool; and a host computer connected via communication with the surgical tool and the simulation module, and the surgical training method may include: a step of confirming position information and posture information of at least one of the forceps and the incision tool based on sensing information received from the at least one first sensor; and a step of creating a virtual surgical environment including a virtual forceps and a virtual incision tool corresponding to the position information and posture information of at least one of the forceps and the incision tool.

[0025] According to one embodiment, the at least one first sensor may be an electro-magnetic sensor including a 6-axis gyroscope sensor.

[0026] According to one embodiment, the single port includes at least two injection ports, and the forceps and the cutting tool can be inserted through each of the at least two injection ports.

[0027] According to one embodiment, the simulation module further includes at least one second sensor configured to detect the surgical tool inserted into the single port, and the surgical training method further includes the step of determining whether the surgical tool has been inserted into the single port of the simulation module based on sensing information received from the at least one second sensor, and the at least one second sensor may include at least one of a vision sensor, an optical sensor, or a camera sensor.

[0028] According to one embodiment, the single port may include a cannula made of an elastic material having a hole formed therein into which the surgical tool can be inserted.

[0029] A surgical training method according to one embodiment may further include the step of outputting a virtual surgical environment, including the virtual forceps and the virtual incision tool, through a display of the host computer.

[0030] According to one embodiment, the forceps include a first button, and the incision tool includes a second button, and the surgical training method may further include the step of controlling the virtual forceps to perform a grasping action in the virtual surgical environment in response to receiving user input pressing the first button; and the step of controlling the virtual incision tool to perform an incision action in the virtual surgical environment in response to receiving user input pressing the second button.

[0031] A computer-readable non-transient recording medium according to one embodiment of the present disclosure can record a program for executing the surgical training method described above on a computer.

[0032] In addition to this, a method for implementing the present disclosure, a computer, and a computer program stored on a recording medium may be further provided.

[0033] In addition, a computer-readable recording medium for recording a computer program for executing a method for implementing the present disclosure may be further provided. Effects of the invention

[0035] According to various embodiments of the present disclosure, a surgical training device and method capable of simulating single-port surgery using virtual reality information can be provided.

[0036] According to various embodiments of the present disclosure, a training device and method capable of producing three-dimensional educational content for single-port surgery can be provided, and as a result, highly skilled medical personnel in single-port surgery can be efficiently trained. Brief explanation of the drawing

[0038] FIG. 1 is an exemplary diagram of a single-port surgical training device according to the present disclosure. FIG. 2 is an example diagram of a simulation module for single-port surgery training according to the present disclosure. FIG. 3 is a configuration diagram of a single-port surgical training device according to the present disclosure. FIG. 4 is a flowchart illustrating a single-port surgery training method according to the present disclosure. FIG. 5 is an example of a hypothetical surgical environment for single-port surgery according to the present disclosure. FIG. 6 is an example of a hypothetical surgical environment for single-port surgery according to the present disclosure. Specific details for implementing the invention

[0039] The various embodiments described in this specification are illustrative for the purpose of clearly explaining the technical concept of this disclosure and are not intended to limit it to specific embodiments. The technical concept of this disclosure includes various modifications, equivalents, alternatives, and embodiments optionally combined from all or part of each embodiment described in this specification. Furthermore, the scope of the technical concept of this disclosure is not limited to the various embodiments presented below or the specific descriptions thereof.

[0040] Terms used in this specification, including technical or scientific terms, may have the meaning generally understood by those skilled in the art to which this disclosure pertains, unless otherwise defined.

[0041] Expressions used herein such as “comprising,” “may compose,” “possessing,” “possessing,” “having,” and “possessing” imply the existence of the subject feature (e.g., function, operation, or component, etc.) and do not exclude the existence of other additional features. That is, such expressions should be understood as open-ended terms implying the possibility of including a second embodiment.

[0042] In this specification, singular expressions include plural expressions unless the context clearly specifies them as singular. Additionally, plural expressions include singular expressions unless the context clearly specifies them as plural. Throughout the specification, when a part is described as including a certain component, this means that, unless specifically stated otherwise, it does not exclude other components but may include additional components.

[0043] Additionally, the terms 'module' or 'part' as used in the specification refer to software or hardware components, and the 'module' or 'part' performs certain roles. However, the meaning of 'module' or 'part' is not limited to software or hardware. The 'module' or 'part' may be configured to reside in an addressable storage medium or configured to run on one or more processors. Thus, as an example, the 'module' or 'part' may include components such as software components, object-oriented software components, class components, and task components, and at least one of processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, or variables. The components and the functions provided within the 'module' or 'part' may be combined into a smaller number of components and 'modules' or 'parts', or further separated into additional components and 'modules' or 'parts'.

[0044] According to one embodiment of the present disclosure, a ‘module’ or ‘part’ may be implemented as a processor and memory. The term ‘processor’ should be broadly interpreted to include a general-purpose processor, a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a controller, a microcontroller, a state machine, etc. In some environments, the term ‘processor’ may refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field programmable gate array (FPGA), etc. The term ‘processor’ may also refer to a combination of processing devices, such as, for example, a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors combined with a DSP core, or any other combination of such configurations. Additionally, the term ‘memory’ should be broadly interpreted to include any electronic component capable of storing electronic information. 'Memory' may refer to various types of processor-readable media, such as Random Access Memory (RAM), Read-Only Memory (ROM), Non-Volatile Random Access Memory (NVRAM), Programmable Read-Only Memory (PROM), Erasable-Programmable Read-Only Memory (EPROM), Electrically Erasable PROM (EEPROM), Flash Memory, Magnetic or Optical Data Storage Devices, Registers, etc. If a processor can read information from memory and / or write information to memory, the memory is said to be in an electronic communication state with the processor. Memory integrated into a processor is in an electronic communication state with the processor.

[0045] Expressions such as "first," "second," or "first," "second" as used in this specification are used to distinguish one object from another when referring to a plurality of objects of the same kind, unless otherwise indicated by the context, and do not limit the order or importance of said objects.

[0046] Expressions used herein such as “A, B, and C,” “A, B, or C,” “A, B, and / or C,” or “at least one of A, B, and C,” “at least one of A, B, or C,” “at least one of A, B, and / or C,” “at least one selected from A, B, and C,” “at least one selected from A, B, or C,” “at least one selected from A, B, and / or C,” etc., may mean each of the listed items or all possible combinations of the listed items. For example, “at least one selected from A and B” may refer to (1) A, (2) at least one of A, (3) B, (4) at least one of B, (5) at least one of A and at least one of B, (6) at least one of A and B, (7) at least one of B and A, and (8) all of A and B.

[0047] As used herein, the expression “based on” is used to describe one or more factors affecting an act or action of a decision or judgment described in the phrase or sentence containing such expression, and such expression does not exclude additional factors affecting said act or action of a decision or judgment.

[0048] As used in this specification, the expression that a certain component (e.g., a first component) is "connected" or "connected" to another component (e.g., a second component) may mean that the said certain component is not only directly connected or connected to the said other component, but is also connected or connected through a new other component (e.g., a third component).

[0049] As used herein, the expression "configured to" may have meanings such as "set to," "capable of," "modified to," "made to," or "capable of." Such expression is not limited to the meaning of "specifically designed in hardware," and, for example, a processor configured to perform a specific operation may mean a generic-purpose processor capable of performing that specific operation by executing software.

[0050] Various embodiments of the present disclosure will be described below with reference to the accompanying drawings. In the accompanying drawings and the description thereof, identical or substantially equivalent components may be given the same reference numerals. Furthermore, in the description of the various embodiments below, the description of identical or corresponding components may be omitted, but this does not mean that such components are not included in the embodiments.

[0051] FIG. 1 is an exemplary diagram of a single-port surgery training device (100) according to the present disclosure, and FIG. 2 is an exemplary diagram of a simulation module and a surgical tool for single-port surgery training according to the present disclosure.

[0052] The surgical training device (100) according to the present disclosure is a single-port based surgical training device composed of one port, and includes a surgical tool, a simulation module (110), and a host computer. The single-port surgical training device (100) can be used for medical personnel to gain experience and train while practicing single-port surgeries (or minimally invasive surgeries), such as transanal surgery, thoracoscopic surgery, and laparoscopic surgery.

[0053] In the case of single-port surgery, the advantages are that the surgery can proceed more stably compared to multi-port surgery and there is no need to open the abdomen. However, single-port surgery is designed so that multiple surgical instruments are inserted into a single port, and there is a difficulty in that the surgical difficulty is higher compared to multi-port surgery in that two or more surgical instruments must not overlap each other. In addition, there were cases where even doctors who had performed many surgical procedures found it difficult to perform single-port surgery. The single-port surgery training device (100) according to the present disclosure is a device for training single-port surgery and can simulate an actual surgical environment.

[0054] A surgical tool according to one embodiment may include forceps, an incision tool, and at least one first sensor. The forceps may be a type of machine or a tool used for surgery or treatment in a surgical field, and may be forceps that are scissor-shaped and consist of a bifurcated end and a handle attached thereto. The incision tool may be a type of surgical tool capable of making an incision. The at least one first sensor may be a sensor configured to generate position information and posture information of at least one of the forceps and the incision tool.

[0055] As illustrated in FIGS. 1 and 2, a single-port surgical training device (100) may include a simulation module (110) for simulating surgery on a subject. A single port (120) (hereinafter referred to as a single port) is formed in the simulation module (110). A user (e.g., a doctor, a medical student) can grasp and manipulate surgical tools. For example, the user may hold forceps (130) and an incision tool (140) in both hands and insert them into the interior of the simulation module through the single port (120).

[0056] According to one embodiment, at least two injection ports may be formed in the single port (120) to which a plurality of surgical tools can each be inserted. For example, as shown in FIG. 2, first to third injection ports (122, 124, 126) may be formed in the single port (120), and forceps (130) and an incision tool (140) may be inserted into the first and second injection ports (122, 124), respectively. Additionally, an endoscope camera or additional forceps (e.g., counter forceps) may be inserted into the third injection port (126).

[0057] As illustrated in FIGS. 1 and 2, a single port (120) may be formed to penetrate one side wall of the housing of the simulation module (110). A cannula (128) may be provided inside the single port (120) so that a surgical tool can be inserted. The cannula (128) may be made of a material having elasticity similar to that of a human organ (e.g., silicone). The surgical tool may come into contact with the inner surface of the cannula (128), and the user of the single port surgical training device (100) may feel the sensation of coming into contact with a real human organ.

[0058] A target (220) mimicking a specific part of an object (e.g., a human body) may be placed inside the simulation module (110). The target (220) may correspond to a specific part, such as a tumor, that needs to be removed in a surgical procedure. The user can grasp the target (220) and cut it using a surgical tool.

[0059] According to one embodiment, a plurality of second sensors (210) may be provided inside the simulation module (110). The plurality of second sensors (210) may be provided inside the housing of the simulation module (110). The plurality of second sensors (210) can detect a surgical tool inserted into the interior of the simulation module (110). By tracking the surgical tool inserted into the interior of the simulation module (110), the plurality of second sensors (210) can measure the position and orientation of the surgical tool. Additionally, the plurality of second sensors (210) can measure the relative position of the surgical tool with respect to the target (220), whether contact has been made, whether an incision has been made, etc. For example, the plurality of sensors (210) may be placed in the housing of the simulation module (110), the target (220), etc. Instead of the plurality of sensors, a vision device such as a camera (212) may be used, or may be used together with a vision device.

[0060] A host computer according to the present disclosure can generate virtual reality information by processing information received from a simulation module (110) and / or a surgical tool. The host computer receives position and posture information of the surgical tool received from the simulation module, and information regarding the relative position of the surgical tool with respect to a target (220), whether contact has been made, whether an incision has been made, etc., and can receive position information of the forceps (130) and the incision tool (140) from the surgical tool and / or relative position information between the two surgical tools. The host computer can generate virtual reality information by processing this information and visualizing a surgical tool approaching a specific organ within a real object and a specific part of the specific organ (e.g., a tumor). The virtual reality information can be output through a display (150) of the host computer or a display of a separate VR device, and the user can perform surgical training while viewing the virtual reality information output on the display (150).

[0061] According to one embodiment of FIG. 1, virtual reality information is displayed through a display, but the present disclosure is not limited thereto. According to one embodiment, virtual reality information may be displayed through a display of a VR device (not shown) worn by a user. In this case, the virtual reality information may be displayed as the user's viewpoint (or the camera view of the VR device) wearing the VR device. According to the embodiment, there is an advantage that training efficiency can be improved in that the user can experience the actual surgeon's viewpoint.

[0062] The single-port surgery training device (100) according to the present disclosure can enhance the user's practical sense by providing a training environment for single-port surgery to a user, such as a medical professional. In particular, since the user must perform actions such as inserting multiple surgical tools through a single port (120) to grasp or cut a target (220), friction or collision between multiple surgical tools may frequently occur, and the user can train methods to deal with such situations or methods to prevent such situations from occurring.

[0063] FIG. 3 is a configuration diagram of a single-port surgical training device (100) according to the present disclosure.

[0064] A single-port surgical training device (100) according to the present disclosure may include a surgical tool (320), a host computer (310), and a simulation module (110).

[0065] A surgical tool (320) according to one embodiment may include a forceps (130), an incision tool (140), and at least one first sensor (322). The forceps may be composed of one or two. If the forceps (130) are composed of one, the forceps may be used to grasp and pull a target (220) fixed within the simulation module (110). If the forceps are composed of two, the two forceps may be used to grasp and pull a target (220) located within the simulation module (110) on both sides. A gripper capable of grasping the target (220) may be formed at one end of the forceps (130). A handle portion capable of being grasped by a user may be formed at the other end of the forceps (130). The handle portion of the forceps (130) may be configured so that the gripper opens or closes by operation by the user.

[0066] The cutting tool (140) may be a surgical knife (disector), an electrosurgical device, or a similar device. An incision capable of cutting the target (220) may be formed at one end of the cutting tool (140). A handle that can be grasped by a user may be formed at the other end of the cutting tool (140). For example, the incision may include a knife or an electrode. The handle of the cutting tool (140) may be configured to allow the incision to operate by user manipulation or may include a button, etc.

[0067] At least one first sensor (322) is provided on at least one of the clamp (130) and the cutting tool (140) to measure the position of at least one of the clamp (130) and the cutting tool (140). If at least one first sensor (322) is attached to both sides of the clamp (130) and the cutting tool (140), the relative position between the clamp (130) and the cutting tool (140) can also be measured.

[0068] At least one first sensor (322) may include a first-1 sensor provided in the handle portion of the clamp (130) and a first-2 sensor provided in the handle portion of the cutting tool (140). The first-1 sensor may detect position information and posture information of the clamp (130) and transmit it to the host computer (310). The first-2 sensor may detect position information and posture information of the cutting tool (140) and transmit it to the host computer (310).

[0069] At least one first sensor (322) may be, for example, an electromagnetic (EM) sensor. Information measured by at least one first sensor (322) may be transmitted to a host computer (310) and / or a simulation module (110). At least one first sensor (322) may be an EM sensor including a 6-axis gyroscope sensor. At least one first sensor (322) may detect and generate position information and attitude information of at least one of the forceps (130) and the cutting tool (140).

[0070] A surgical tool (320) according to one embodiment may further include an endoscope camera (324). The endoscope camera (324) may be a miniature camera used to observe or photograph the interior of an object.

[0071] A host computer (310) according to one embodiment may include a communication module (312), a processor (314), memory (316), and a display (150). A communication module (312) of a host computer (310) according to one embodiment may establish a communication channel with an external device (e.g., at least one first sensor (322) of a surgical tool (320), at least one second sensor (210) of a simulation module (320)) and transmit and receive various data with the external device. According to various embodiments, the communication module (312) may include a cellular communication circuit and be configured to be connected to a cellular network (e.g., 3G, LTE, 5G, 6G, Wibro, or Wimax). According to various embodiments, the communication module (312) may include a short-range communication circuit and transmit and receive data with an external device using short-range communication (e.g., Wi-Fi, Bluetooth, Bluetooth Low Energy (BLE), UWB), but is not limited thereto.

[0072] The processor (314) may include at least one processor. The processor (314) may execute software (e.g., a program) to control at least one other component (e.g., a hardware component, a software component) connected to the processor and may perform various data processing or operations. As at least part of the data processing or operations, the processor (314) may load instructions or data received from other components into memory (316), process instructions or data stored in memory (316), and store result data in non-volatile memory (316). The memory (316) of the processor (314) may store information related to the method described above or store a program in which the method described above is implemented. The memory (316) may be volatile memory or non-volatile memory.

[0073] A processor (314) according to one embodiment may execute a program. The code of the program executed by the processor (314) may be stored in memory (316). The processor (314) may be operatively connected to components of the host computer (310). The processor (314) may load commands or data received from other components of the host computer (310) into memory (316), process commands or data stored in memory (316), and store result data.

[0074] A processor (314) according to the present disclosure can generate virtual reality information. The virtual reality information may include image information visualized in three dimensions. Additionally, the virtual reality information may include image information inside an object and image information of a surgical tool (320) that overlaps therewith. The virtual reality information may be updated in real time by the movement or control of the surgical tool (320), the movement of a viewpoint (camera), etc.

[0075] The processor (314) according to the present disclosure can provide various surgical simulation environments. For example, it can provide specific image information selected by parameters such as surgical difficulty, surgical site, location of tumor, patient condition, and specific details from among image information within various objects stored in memory (316). Additionally, the processor (314) according to the present disclosure can provide feedback on the surgical process performed by the user. For example, it can generate feedback information by comprehensively determining whether the user properly removed the target (e.g., tumor), whether the surgery time was appropriate, whether the surgical process was appropriate, and whether the surgical tool (320) did not damage other parts. Furthermore, the processor (314) according to the present disclosure can produce training results and generate educational content based thereon. For example, the processor (314) can save training results according to the user over time, select a specific case, and create educational content by editing a video containing the training process.

[0076] According to one embodiment, the host computer (310) may include a display (150). The display (150) may display various screens under the control of the processor (314). The display (150) according to the present disclosure may visualize and output virtual reality information. The user may practice single-port surgery in various ways, such as operating a surgical tool (320), while viewing the virtual reality information output on the display (150).

[0077] According to one embodiment, the host computer (310) may further include an input device (318). The input device (318) may receive commands or data to be used by components of the host computer (310) from an external source. The input device (318) may include, for example, a microphone, a mouse, or a keyboard.

[0078] A simulation module (110) according to one embodiment may include a housing (not shown), a single port (120) provided on one side of the housing and configured to allow the insertion of a forceps (130) and an incision tool (140), and at least one second sensor (210) provided inside the housing. The at least one second sensor (210) may include at least one of a vision sensor, an optical sensor, or a camera sensor. The at least one second sensor (210) may detect whether a surgical tool (320) has been inserted into the single port (120) of the simulation module (110). The at least one second sensor (210) may track position information of the surgical tool (320) inserted into the single port (120). The at least one second sensor (210) may be placed in a position where the single port (120) is clearly visible.

[0079] According to one embodiment, a marker for position tracking may be inserted into the surgical tool (320). For example, a marker implemented in a specific pattern may be inserted into the gripper of the forceps (130) of the surgical tool (320). At least one second sensor (210) may irradiate light onto the marker and receive light reflected from the marker to determine the position information and posture information of the forceps (130). In the same way, a marker may be formed on the cutting tool (140) or the endoscope camera (324) of the surgical tool (320), so that at least one second sensor (210) may track the position information and posture information of the cutting tool (140) or the endoscope camera (324).

[0080] In the same way as described above, at least one second sensor (210) can also track position information and attitude information of a target (220) placed within the simulation module (110).

[0081] FIG. 4 is a flowchart illustrating a surgical training method according to one embodiment of the present disclosure. For surgical training, a user can insert a surgical tool (320) into a simulation module through a single port (120) of a simulation module while holding the surgical tool (320) in their hand. For example, while holding the handle portion of a forceps (130) in their left hand and the handle portion of an incision tool (140) in their right hand, the user can insert the gripper of the forceps (130) into the first injection port of the single port (120) and insert the incision portion of the incision tool (140) into the second injection port of the single port (120).

[0082] Referring to flowchart 400, a processor (314) of a host computer (310) according to one embodiment can determine whether a surgical tool (320) has been inserted into a single port (120) of a simulation module based on sensing information received from at least one second sensor (210) in step S410. First, the processor (314) of the host computer (310) can receive sensing information from at least one second sensor (210) provided inside the housing of the simulation module. The processor (314) can receive sensing information from at least one second sensor (210) indicating whether a surgical tool (320) has been inserted into a single port (120) of the simulation module. Based on the sensing information received from at least one second sensor (210), the processor (314) can determine whether a surgical tool (320) has been inserted into a single port (120) of the simulation module.

[0083] In one embodiment, the processor (314) of the host computer (310) can determine, in step S420, that the surgical tool (320) has been inserted into the single port (120), the position information and posture information of at least one of the forceps (130) and the cutting tool (140) based on the sensing information received from at least one first sensor (322). When the processor (314) determines that the surgical tool (320) has been inserted into the single port (120), it can receive sensing information from at least one first sensor (322) of the surgical tool (320). The at least one first sensor (322) may include a first-1 sensor provided on the handle portion of the forceps (130) and a first-2 sensor provided on the handle portion of the cutting tool (140). The first-1 sensor can detect position information and orientation information of the clamp (130), and the first-2 sensor can detect position information and orientation information of the cutting tool (140). At least one first sensor (322) may be an electromagnetic induction (EM) sensor including a 6-axis gyroscope sensor.

[0084] Meanwhile, based on sensing information received from at least one first sensor (322), a process of aligning the position of the surgical tool (320) to a predetermined fixed coordinate system (e.g., an orthogonal coordinate system) based on position information and posture information of the forceps (130) and the cutting tool (140) may be performed first. The memory of the host computer (310) may store information regarding the shape of the forceps (130), the shape of the cutting tool (140), the position where the first-1 sensor is provided on the forceps (130), and the position where the first-2 sensor is provided on the cutting tool (140). Based on the information stored in the memory described above and the information received from at least one first sensor (322), the position information of the surgical tool (320) can be aligned to the fixed coordinate system. For accurate alignment, the processor (314) can receive location information regarding a surgical tool (320) detected by at least one second sensor (210) from at least one second sensor (210), and can use the received location information regarding the surgical tool (320) in the alignment process.

[0085] A processor (314) of a host computer (310) according to one embodiment may, in step S430, generate a virtual surgical environment including a virtual forceps and a virtual incision tool corresponding to position information and posture information of at least one of the forceps (130) and the incision tool (140). The processor (314) may output the virtual surgical environment including the virtual forceps and the virtual incision tool through a display (150). The virtual surgical environment may include a virtual reality image that mimics an organ inside an object (e.g., a human body). The virtual reality image may be displayed as a first-person view based on the surgical tool (320). For example, the virtual reality image may be displayed as a first-person view based on the endoscope camera (324) of the surgical tool (320). The virtual reality image will be described in detail through FIGS. 5 and 6.

[0086] FIGS. 5 and 6 are examples of a hypothetical surgical environment (500) for a single-port surgery (e.g., transanal surgery) according to one embodiment of the present disclosure.

[0087] As shown in FIG. 5, a virtual surgical environment (500) output through a display (150) of a host computer (310) may include an image mimicking an organ inside a subject and an image of a virtual surgical tool (320) corresponding to a surgical tool (320). In relation to the organ inside the subject, an internal tissue (510) of the subject (e.g., colon) corresponding to a single port (120) may appear in the virtual reality image. A virtual surgical tool (520), including a virtual forceps and a virtual incision tool, may appear in the virtual reality image by user operation. According to one embodiment, the processor (314) may change the viewpoint of the virtual reality image in real time based on the viewpoint of the endoscope camera (324). According to one embodiment, the processor (314) may also change the viewpoint of the virtual reality image according to user input received through an input device (318).

[0088] If the user selects the first button of the forceps (130), the processor (314) of the host computer (310) can control the virtual forceps to perform a grasping action in a virtual surgical environment. For example, if the user selects the first button, the processor (314) can control the virtual forceps to grasp or release a virtual object (e.g., tumor, polyp) in a virtual surgical environment.

[0089] If the user selects the second button of the cutting tool (140), the processor (314) can control the virtual cutting tool to perform a cutting operation in a virtual surgical environment. For example, if the user selects the second button, the processor (314) can control the virtual cutting tool to cut a virtual object in a virtual surgical environment.

[0090] According to another embodiment, the single-port surgical training device (100) can track the position information and posture information of the surgical tool (320) in real time. For example, the processor (314) of the host computer (310) can track the position information and posture information of the forceps (130) and the incision tool (140) of the surgical tool (320) in real time based on sensing information received from at least one first sensor (322) and / or at least one second sensor (210). In the above case, the processor (314) can change the position information and posture information of the virtual forceps and the virtual incision tool in a virtual surgical environment to correspond to the position information and posture information of the forceps (130) and the incision tool (140).

[0091] According to another embodiment, the single-port surgical training device (100) may provide feedback on the user's training. For example, if the user fails to grasp a target (220) placed within the simulation module (110) with forceps (130) for a predetermined time (e.g., 1 minute), the processor (314) may display a warning message (e.g., "Failed to grasp target") through the display (150). For example, if the user fails to incise a target (220) placed within the simulation module (110) with an incision tool (140) for a predetermined time (e.g., 5 minutes), the processor (314) may display a warning message through the display (150).

[0092] As shown in FIG. 6, the virtual surgical environment (600) may include a virtual reality image that mimics an internal organ of the subject. For example, the virtual reality image may include a virtual tumor (610) that is the target for incision.

[0093] According to another embodiment, the virtual reality image may be displayed as a user's viewpoint (or the camera view of the VR device) wearing a VR device (not shown). The virtual reality image may be implemented to resemble the viewpoint of a surgeon performing surgery in an actual operating room. For example, the virtual reality image may include a monitor displaying an object lying on an operating room bed and an organ inside the object. The user can experience the viewpoint of an actual surgeon while viewing the virtual reality image output through the display of the VR device.

[0094] Through various embodiments of the present disclosure, a user can perform single-port surgery training while observing a virtual surgical environment displayed through a display (150). This allows the user to practice the surgical process while having an experience similar to actual surgery.

[0095] It is obvious that each step or operation of the method according to the embodiments of the present disclosure may be performed by a computer comprising one or more processors in accordance with the execution of a computer program stored in a computer-readable recording medium.

[0096] The computer-executable instructions stored on the aforementioned recording medium can be implemented through a computer program programmed to perform each corresponding step, and such a computer program can be stored on a computer-readable recording medium and executed by a processor. The computer-readable recording medium may be a non-transitory readable medium. In this case, a non-transitory readable medium refers to a medium that stores data semi-permanently and is readable by a device, rather than a medium that stores data for a short moment, such as a register, cache, or memory. Specifically, programs for performing the various methods described above may be provided by being stored on a non-transitory readable medium, such as semiconductor memory devices including erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and flash memory devices; magnetic disks such as internal hard disks and removable disks; optical-magnetic disks; and non-volatile memory including CD-ROMs and DVD-ROMs.

[0097] Methods according to the various examples disclosed in this document may be provided by being included in a computer program product. The computer program product may be distributed in the form of a device-readable storage medium (e.g., compact disc read-only memory (CD-ROM)) or online through an application store (e.g., Play Store™). In the case of online distribution, at least a portion of the computer program product may be temporarily stored or temporarily created on a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0098] As explained above, a person skilled in the art to which this disclosure pertains will understand that this disclosure may be implemented in other specific forms without altering its technical concept or essential features. Therefore, the embodiments described above should be understood as illustrative in all respects and not restrictive. The scope of this disclosure is defined by the claims set forth below rather than by the detailed description, and all modifications or variations derived from the meaning and scope of the claims and equivalent concepts should be interpreted as being included within the scope of this disclosure.

[0099] The features and advantages described herein are not all included, and in particular, many additional features and advantages will become apparent to those skilled in the art by considering the drawings, the specification, and the claims. Furthermore, it should be noted that the language used in this specification has been chosen primarily for readability and instructional purposes and may not be chosen to describe or limit the subject matter of this disclosure.

[0100] The foregoing description of the embodiments of the present disclosure is provided for illustrative purposes only. It is not intended to limit the present disclosure to the exact form disclosed or to make it incomplete. Those skilled in the art will understand that many modifications and variations are possible in light of the foregoing disclosure.

[0101] Therefore, the scope of the present disclosure is not limited by the detailed description but by any of the claims of the application based thereon. Accordingly, the disclosure of embodiments of the present disclosure is illustrative and does not limit the scope of the present disclosure as set forth in the following claims.

Claims

Claim 1 A single-port surgical training device comprising: a surgical tool including forceps, an incision tool, and at least one first sensor provided on at least one of the forceps and the incision tool and configured to generate first position information and first posture information of at least one of the forceps and the incision tool; a simulation module including a housing, a single port provided on one side of the housing and configured to insert the forceps and the incision tool, and at least one second sensor configured to detect the surgical tool inserted into the single port and generate sensing information; Single-port surgical training, comprising a host computer connected via communication with the surgical tool and the simulation module, wherein the host computer determines whether the surgical tool is inserted into the single port of the simulation module based on the sensing information received from the at least one second sensor, and if the surgical tool is inserted, checks the first position information and first posture information of at least one of the forceps and the incision tool based on the information received from the at least one first sensor, and is configured to align the first position information and the first posture information to a predetermined fixed coordinate system based on (i) shape information of the forceps and shape information of the incision tool stored in memory, and (ii) mounting position information provided by the first sensor on at least one of the forceps and the incision tool, and generates second position information and second posture information by correcting the alignment based on the sensing information regarding the surgical tool detected by the at least one second sensor, and is configured to create a virtual surgical environment including a virtual forceps and a virtual incision tool corresponding to the second position information and the second posture information of at least one of the forceps and the incision tool. Device. Claim 2 A single-port surgical training device according to claim 1, wherein the at least one first sensor comprises: a first-1 sensor provided in the handle portion of the forceps; and a first-2 sensor provided in the handle portion of the incision tool, wherein the first-1 sensor is configured to detect position information and posture information of the forceps and transmit it to the host computer, and the first-2 sensor is configured to detect position information and posture information of the incision tool and transmit it to the host computer. Claim 3 A single-port surgical training device according to claim 1, wherein at least one first sensor is an electro-magnetic sensor including a 6-axis gyroscope sensor. Claim 4 A single-port surgical training device according to claim 1, wherein the single port comprises at least two injection ports, and the forceps and the cutting tool are respectively inserted through each of the at least two injection ports. Claim 5 A single-port surgical training device according to claim 4, wherein the surgical tool further comprises an endoscopic camera, and the at least two injection ports comprise a first injection port, a second injection port, and a third injection port, wherein the forceps are inserted into the first injection port, the cutting tool is inserted into the second injection port, and the endoscopic camera is inserted into the third injection port. Claim 6 A single-port surgery training device according to claim 1, wherein the simulation module further comprises at least one second sensor configured to detect the surgical tool inserted into the single port, and the host computer further configured to determine whether the surgical tool has been inserted into the single port of the simulation module based on sensing information received from the at least one second sensor. Claim 7 A single-port surgical training device according to claim 6, wherein the at least one second sensor comprises at least one of a vision sensor, an optical sensor, or a camera sensor. Claim 8 A single-port surgical training device according to claim 1, wherein the single port comprises a cannula made of an elastic material having a hole formed therein into which the surgical tool can be inserted. Claim 9 A single-port surgical training device according to claim 1, wherein the host computer comprises a communication module connected to the surgical tool and the simulation module; a display; memory; and a processor, and the processor is configured to output a virtual surgical environment including the virtual forceps and the virtual incision tool through the display. Claim 10 A single-port surgical training device according to claim 9, wherein the virtual surgical environment includes a virtual reality image mimicking an organ inside a subject, and the virtual reality image is displayed as a first-person view based on the surgical tool. Claim 11 A single-port surgical training device according to claim 10, wherein the surgical tool further comprises an endoscopic camera, and the virtual reality image is displayed as a first-person view based on the endoscopic camera. Claim 12 A single-port surgical training device according to claim 10, wherein the forceps includes a first button and the cutting tool includes a second button, and the processor controls the virtual forceps to perform a grasping action in the virtual surgical environment in response to receiving user input pressing the first button, and controls the virtual cutting tool to perform a cutting action in the virtual surgical environment in response to receiving user input pressing the second button. Claim 13 A surgical training method performed on a single-port surgical training device, wherein the single-port surgical training device comprises: a surgical tool including forceps, an incision tool, and at least one first sensor provided on at least one of the forceps and the incision tool and configured to generate first position information and first posture information of at least one of the forceps and the incision tool; a simulation module including a housing, a single port provided on one side of the housing and configured to insert the forceps and the incision tool, and at least one second sensor configured to detect the surgical tool inserted into the single port and generate sensing information. The surgical training method comprises a host computer connected to the surgical tool and the simulation module, and the surgical training method comprises: a step of determining whether the surgical tool is inserted into the single port of the simulation module based on the sensing information received from the at least one second sensor; a step of confirming the first position information and the first posture information of at least one of the forceps and the incision tool based on the information received from the at least one first sensor when the surgical tool is inserted; a step of aligning the first position information and the first posture information to a predetermined fixed coordinate system based on (i) shape information of the forceps and shape information of the incision tool stored in memory, and (ii) mounting position information provided by the first sensor on at least one of the forceps and the incision tool; and a step of generating the second position information and the second posture information by correcting the alignment based on the sensing information regarding the surgical tool detected by the at least one second sensor. A surgical training method comprising the step of creating a virtual surgical environment including a virtual forceps and a virtual incision tool corresponding to at least one of the forceps and the incision tool, the second position information and the second posture information. Claim 14 A surgical training method according to claim 13, wherein at least one first sensor is an electro-magnetic sensor including a 6-axis gyroscope sensor. Claim 15 A surgical training method according to claim 13, wherein the single port comprises at least two injection ports, and the forceps and the cutting tool are respectively inserted through each of the at least two injection ports. Claim 16 In claim 13, the simulation module further comprises at least one second sensor configured to detect the surgical tool inserted into the single port, and the surgical training method further comprises the step of determining whether the surgical tool has been inserted into the single port of the simulation module based on sensing information received from the at least one second sensor, wherein the at least one second sensor comprises at least one of a vision sensor, an optical sensor, or a camera sensor. Claim 17 In claim 13, the surgical training method comprises a single port comprising a cannula made of an elastic material having a hole formed therein into which the surgical instrument can be inserted. Claim 18 A surgical training method according to claim 13, further comprising the step of outputting a virtual surgical environment including the virtual forceps and the virtual incision tool through a display of the host computer. Claim 19 A surgical training method according to claim 13, wherein the forceps include a first button and the cutting tool includes a second button, and further comprising the step of controlling the virtual forceps to perform a grasping action in the virtual surgical environment in response to receiving user input pressing the first button; and the step of controlling the virtual cutting tool to perform a cutting action in the virtual surgical environment in response to receiving user input pressing the second button. Claim 20 A computer-readable, non-transient recording medium having a program for executing the surgical training method of paragraph 13 on a computer.

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