Foreign-object forceps simulation device

Abstract

The present specification discloses a foreign-object forceps simulation device. The foreign-object forceps simulation device according to the present specification comprises: a memory unit for storing data on virtual foreign-object forceps modeled into a plurality of portions; a virtual-space provision unit for providing a virtual space in which the virtual foreign-object forceps are arranged; a movement control unit, which receives an external input signal so as to implement the movement of the virtual foreign-object forceps or the movement of each portion thereof in the virtual space; actual foreign-object forceps having a plurality of tracking markers; and a tracking sensor for tracking the tracking markers and outputting a corresponding tracking signal to the movement control unit.

Description

Foreign body forceps simulation device

[0001] The present invention relates to a foreign body forceps simulation device.

[0002] This application claims priority to Korean Patent Application No. 10-2023-0176176, filed on December 7, 2023, the entire disclosure of which is incorporated herein by reference.

[0003] The material described in this section merely provides background information on the embodiments described herein and does not necessarily constitute prior art.

[0004] With the advancement of virtual environment technology, medical surgery simulation technology in a virtual environment is being developed to enhance the surgical skills of doctors with limited clinical experience. To enhance the trainee's immersion in these medical surgery simulations, it is necessary to realistically replicate the physical phenomena occurring during actual surgery in a virtual environment. Furthermore, by utilizing the tools used in actual surgery, the trainee's adaptability to the surgical tools can be improved.

[0005] The purpose of this specification is to provide a foreign body forceps simulation device.

[0006] This specification is not limited to the above-mentioned tasks, and other tasks not mentioned will be clearly understood by those skilled in the art from the description below.

[0007] A virtual forceps simulation device according to the present specification for solving the above-described problem may include a memory unit storing data on a virtual forceps modeled as a plurality of parts; a virtual space providing unit providing a virtual space in which the virtual forceps are placed; a movement control unit receiving an external input signal and implementing movement of the virtual forceps or each part within the virtual space; an actual forceps having a plurality of tracking markers; and a tracking sensor for tracking the tracking markers and outputting a corresponding tracking signal to the movement control unit.

[0008] According to one embodiment of the present specification, the actual foreign body forceps may include: a fixed handle including a horizontal support; a rotating handle connected to the fixed handle via a rotating shaft; a latch positioned on the upper portion of the horizontal support; and forceps positioned at the ends of the horizontal support and the latch; and the virtual foreign body forceps may be characterized in that they are modeled with the same parts as the actual foreign body forceps.

[0009] According to one embodiment of the present disclosure, the actual foreign body forceps may include at least three fixed handle tracking markers connected to the fixed handle; and at least three rotating handle tracking markers connected to the rotating handle.

[0010] According to one embodiment of the present specification, the at least three fixed handle tracking markers may be characterized in that they are connected such that a rotation axis connecting the fixed handle and the rotary handle becomes a central region, and the at least three rotary handle tracking markers may be characterized in that they are connected such that a finger ring of the rotary handle becomes a central region.

[0011] According to one embodiment of the present specification, the motion control unit may move the latch rearward in proportion to an angle at which the rotary handle rotates away from the fixed handle, and may rotate the gripper to open in proportion to an extent to which the latch moves rearward.

[0012] According to one embodiment of the present specification, the tracking marker may be an optical tracking marker, either a reflective marker or an LED marker, and the tracking sensor may be an optical sensor.

[0013] The foreign body forceps simulation device according to the present specification may be a component of a foreign body forceps simulation system including a virtual space provided by a virtual space providing unit of the foreign body forceps simulation device and a display device displaying the virtual foreign body forceps.

[0014] According to one embodiment of the present specification, the display device may be characterized as a display of a predetermined shape mounted on a user's head.

[0015] Other specific details of the present invention are included in the detailed description and drawings.

[0016] According to one aspect of the present specification, the trainee's adaptability to surgical tools can be relatively improved through simulation using actual foreign body forceps compared to before simulation.

[0017] The effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

[0018] FIG. 1 is a block diagram of a foreign body forceps simulation device according to one embodiment of the present specification.

[0019] FIG. 2 is an image of an actual foreign body forceps and a virtual foreign body forceps according to one embodiment of the present specification.

[0020] Figure 3 is an example image of the linkage between actual foreign body forceps and virtual foreign body forceps.

[0021] FIG. 4 is a block diagram of a foreign body forceps simulation system according to one embodiment of the present specification.

[0022] The advantages and features of the invention disclosed in this specification, and the methods for achieving them, will become clearer with reference to the embodiments described in detail below together with the accompanying drawings. However, this specification is not limited to the embodiments disclosed below and may be implemented in various different forms. These embodiments are provided only to ensure that the disclosure of this specification is complete and to fully inform those of ordinary skill in the art (hereinafter referred to as "skilled workers") of the scope of this specification, and the scope of rights of this specification is defined only by the scope of the claims.

[0023] The terminology used herein is for the purpose of describing embodiments and is not intended to limit the scope of the present disclosure. In this specification, singular forms also include plural forms, unless specifically stated otherwise. As used herein, the terms "comprises" and / or "comprising" do not exclude the presence or addition of one or more other components in addition to the components mentioned.

[0024] Throughout the specification, the same reference numerals refer to the same elements, and the term "and / or" includes each and every combination of the elements mentioned. Although terms such as "first," "second," etc. are used to describe various elements, these elements are not limited by these terms. These terms are used only to distinguish one element from another. Therefore, it should be understood that a first element mentioned below may also be a second element within the technical scope of the present invention.

[0025] Unless otherwise defined, all terms (including technical and scientific terms) used herein may be used in their common sense to those skilled in the art to which this specification pertains. Furthermore, terms defined in commonly used dictionaries are not to be interpreted ideally or excessively unless explicitly and specifically defined otherwise.

[0026] Spatially relative terms such as "below," "beneath," "lower," "above," and "upper" can be used to easily describe the relationship between one component and other components as depicted in the drawings. Spatially relative terms should be understood to include different orientations of the components during use or operation in addition to the orientations depicted in the drawings. For example, if a component depicted in the drawings were flipped over, a component described as "below" or "beneath" another component could instead be "above" the other component. Thus, the exemplary term "below" can include both the above and below orientations. Components can also be oriented in other directions, and thus spatially relative terms can be interpreted accordingly.

[0027] Hereinafter, embodiments of the present invention will be described in detail with reference to the attached drawings.

[0028] FIG. 1 is a block diagram of a foreign body forceps simulation device according to one embodiment of the present specification.

[0029] Referring to FIG. 1, a foreign body forceps simulation device (100) according to one embodiment of the present specification may include a memory unit (1000), a virtual space providing unit (1100), a movement control unit (1200), an actual foreign body forceps (1300), and a tracking sensor (1400).

[0030] The above memory unit (1000) can store data on a virtual foreign body forceps modeled into multiple parts.

[0031] The virtual space providing unit (1100) can provide a virtual space in which the virtual foreign body forceps are placed. Modeling data for the virtual space can be stored in the memory unit (1000). The virtual space providing unit (1100) can retrieve the modeling data for the virtual space from the memory unit (1000). The virtual space providing unit (1000) can render the virtual space using the modeling data.

[0032] The above movement control unit (1200) can receive an external input signal and implement movement of the virtual foreign body forceps and / or movement of each part within the virtual space.

[0033] The above actual foreign body forceps (1300) may include a plurality of tracking markers.

[0034] The above tracking sensor (1400) can track the tracking marker and output the corresponding tracking signal to the movement control unit (1200).

[0035] FIG. 2 is an image of an actual foreign body forceps and a virtual foreign body forceps according to one embodiment of the present specification.

[0036] Referring to FIG. 2, the actual foreign body forceps (1300) may include a fixed handle (1310), a rotating handle (1320), a latch (1330), and a forceps (1340). The fixed handle (1310) may include a horizontal support (1311). The rotating handle (1320) may be connected to the fixed handle (1310) via a rotating shaft (1321). The latch (1330) may be located on the upper portion of the horizontal support (1311). The forceps (1340) may be located at the end of the horizontal support (1311) and the latch (1330).

[0037] The above virtual foreign body forceps (1300') can be modeled with the same parts as the above actual foreign body forceps (1300). This may mean that the above virtual foreign body forceps (1300') is modeled with the same structure as the above actual foreign body forceps (1300).

[0038] The above virtual foreign body forceps (1300') may include a fixed handle (1310'), a rotating handle (1320'), a latch (1330'), and a forceps (1340'). The fixed handle (1310') may include a horizontal support (1311'). The rotating handle (1320') may be connected to the fixed handle (1310') via a rotating shaft (1321'). The latch (1330') may be positioned above the horizontal support (1311'). The forceps (1340') may be positioned at the ends of the horizontal support (1311') and the latch (1330').

[0039] At least three fixed handle tracking markers (1350 to 1352) may be connected to the fixed handle (1310). At least three rotary handle tracking markers (1360 to 1362) may be connected to the rotary handle (1320).

[0040] The above fixed handle tracking markers (1350 to 1352) may be connected to the fixed handle (1310) so that the rotation axis (1321) becomes the center area. Preferably, each of the fixed handle tracking markers (1350 to 1352) connected to the fixed handle (1310) may be positioned at an equal distance from the center of the rotation axis (1321). Alternatively, it may mean that each of the fixed handle tracking markers (1350 to 1352) connected to the fixed handle (1310) is positioned within a predetermined distance range from the center of the rotation axis (1321).

[0041] The above-described rotary handle tracking markers (1360 to 1362) may be connected to the rotary handle (1320) so that the finger loop into which the user's finger is inserted becomes the central region. Preferably, each of the rotary handle tracking markers (1360 to 1362) connected to the rotary handle (1320) may be positioned at an equal distance from the center of the finger loop. Alternatively, it may mean that each of the rotary handle tracking markers (1360 to 1362) connected to the rotary handle (1310) is located within a predetermined distance range from the center of the finger loop.

[0042] It is preferable that the above markers be attached on the same plane. As illustrated in Fig. 2, when the foreign body forceps are placed on a flat surface, the side with the largest area is placed parallel to the floor surface. At this time, the markers may be attached so as to be placed on an imaginary plane parallel to the side or floor surface of the foreign body forceps.

[0043] Figure 3 is an example image of the linkage between actual foreign body forceps and virtual foreign body forceps.

[0044] Referring to FIG. 3, the tracking sensor (1400) can output a signal that tracks the fixed handle tracking markers (1350 to 1352) and the rotating handle tracking markers (1360 to 1362) to the movement control unit (1200). The movement control unit (1200) can convert the signal into motion data for the virtual space. The movement control unit (1200) can control the movement of the virtual forceps (1300') using the motion data. The motion data can mean coordinate data of the fixed handle tracking markers (1350' to 1352') and the rotating handle tracking markers (1360' to 1362') implemented in the virtual space. In addition, the motion data can further include time data when the signal is input. This is an example and is not limited by specific data information. In addition, since marker tracking technology and technology for displaying it in a virtual space are known technologies in the technical field to which this specification pertains, a detailed description thereof will be omitted.

[0045] The above-mentioned rotary handle (1320) can be rotated in a direction away from the fixed handle (1310) or closer to the fixed handle (1310) around the above-mentioned rotary axis (1321).

[0046] Figure 3 (b) is an example image of the rotation handle (1320) in Figure 3 (a) being rotated in a direction away from the fixed handle (1310). In this case, the movement control unit (1200) can rotate the rotation handle (1320') of the virtual foreign body forceps (1300') in a direction away from the fixed handle (1310') around a virtual rotation axis (1321').

[0047] Figure 3 (c) is an example image of the rotation handle (1320) in Figure 3 (b) being rotated in a direction closer to the fixed handle (1310). In this case, the movement control unit (1200) can rotate the rotation handle (1320') of the virtual foreign body forceps (1300') in a direction closer to the fixed handle (1310') around a virtual rotation axis (1321').

[0048] The above motion control unit (1200) can calculate the angle at which the rotation handle (1320') of the virtual foreign body forceps (1300') rotates away from the fixed handle (1310') from the motion data. The motion control unit (1200) can move the latch (1330') backward in proportion to the angle.

[0049] For example, the virtual foreign body forceps (1300') may be implemented in the virtual space in an initial state. The initial state may be a state in which no manipulation is applied to the actual foreign body forceps (1300). Thereafter, the rotation handle (1320) of the actual foreign body forceps (1300) may be rotated 5° in a direction away from the fixed handle (1310). The movement control unit (1200) may rotate the rotation handle (1320') of the virtual foreign body forceps (1300') 5° in the above direction. In addition, the rotation handle (1320) of the actual foreign body forceps (1300) may be rotated 10° in the above direction in the initial state. The movement control unit (1200) may rotate the rotation handle (1320') of the virtual foreign body forceps (1300') 10° in the above direction in the initial state. The above movement control unit (1200) can move the latch (1330') relatively farther rearward when the rotation handle (1320') is rotated 10° in the above direction. The rearward direction may mean a direction away from the tongs (1340').

[0050] The above movement control unit (1200) can rotate the tongs (1340') so that the tongs (1340') open in proportion to the degree to which the latch (1330') moves rearward. The movement control unit (1200) can fix the rear of the tongs (1340') and lift and rotate the front. The movement control unit (1200) can move the latch (1330') relatively farther rearward when the rotation handle (1320') is rotated 10° in the above direction. When the rotation handle (1320') is rotated 10° in the above direction, the movement control unit (1200) can rotate the tongs (1340') at a relatively larger angle.

[0051] The above motion control unit (1200) can rotate the gripper (1340') so that the gripper (1340') opens within a preset angle range. For example, the maximum value of the preset angle can be set to 45°. This is an example and is not limited by a specific angle.

[0052] When the rotation handle (1320) of the actual foreign body forceps (1300) rotates in a direction closer to the fixed handle (1310), the movement control unit (1200) can move the latch (1330') forward in proportion to the angle at which the rotation handle (1320') of the virtual foreign body forceps (1300') rotates. The movement control unit (1200) can rotate the forceps (1340') so that the forceps (1340') close in proportion to the degree to which the latch (1330') moves.

[0053] The above movement control unit (1200) can move the position of the virtual foreign body forceps (1300') within the virtual space based on the motion data of the fixed handle tracking markers (1350 to 1352) and the rotating handle tracking markers (1360 to 1362).

[0054] According to one embodiment of the present specification, the fixed handle tracking markers (1350 to 1352) and the rotating handle tracking markers (1360 to 1362) may be optical tracking markers. The tracking sensor (1400) may be an optical sensor. The optical tracking marker may be a reflective marker that reflects infrared light. Alternatively, the optical tracking marker may be an infrared light emitting diode (LED). The tracking sensor (1400) may correspond to an infrared camera that detects infrared light. This is an example and is not limited by a specific type of marker or sensor.

[0055] The above-described foreign body forceps simulation device (100) may further include a feedback generation unit (not shown) that outputs a haptic signal. The actual foreign body forceps (1300) may further include a haptic provision unit (not shown) that receives a haptic signal from the feedback generation unit and provides a haptic response to the user.

[0056] When the fixed handle (1310) and the rotating handle (1320) of the above-described actual foreign body forceps (1300) are closest, the handle angle, which is the angle between the fixed handle (1310) and the rotating handle (1320), may have a minimum value. At this time, the forceps (1340) may not be in a spread state.

[0057] When the above-mentioned rotary handle (1320) rotates away from the above-mentioned fixed handle (1310), the angle of the handle may increase. At this time, the tongs (1340) may spread apart.

[0058] The range of the above handle angle can be determined in advance according to the design of the actual foreign body forceps (1300). The actual foreign body forceps (1300) opens the forceps (1340) according to the movement of the rotating handle (1320), and therefore, the range of the forceps angle, which is the angle at which the forceps (1340) open, can also be determined in advance according to the design of the actual foreign body forceps (1300).

[0059] The range of the handle angle and the range of the gripper angle may be the same or different. For example, the range of the handle angle may be 0° to 38.64°, and the range of the gripper angle may be 0° to 20.25°, which are examples and are not limited by the above values.

[0060] When the rotary handle (1320) of the above-described actual foreign body forceps (1300) rotates, the handle angle and the forceps angle can change at the same ratio within each angle range.

[0061] For example, when the range of the handle angle is 0° to 38.64° and the range of the gripper angle is 0° to 20.25°, the rotary handle (1320) can be rotated such that the handle angle starts from 0° and becomes 19.32°. This may mean that the rotary handle (1320) has rotated by 50% of the handle angle range. At this time, the gripper (1340) can be rotated such that it opens by 10.125° starting from 0°. This may mean that the gripper (1340) has rotated by 50% of the range of the gripper angle.

[0062] The above movement control unit (1200) can implement the movement of the actual foreign body forceps (1300) in a virtual space by using the distance between the fixed handle (1310') and the rotating handle (1320') of the virtual foreign body forceps (1300'). Since the range of the handle angle of the actual foreign body forceps (1300) has a preset range, the virtual handle distance, which is the distance between the fixed handle (1310') and the rotating handle (1320') of the virtual foreign body forceps (1300') in the virtual space, can have a value within the preset range.

[0063] The above movement control unit (1200) can calculate the virtual handle distance using coordinate data acquired through the fixed handle tracking markers (1350 to 1352) and the rotating handle tracking markers (1360 to 1362). The above movement control unit (1200) can calculate the virtual handle distance using coordinate data acquired through any one of the plurality of fixed handle tracking markers (1350 to 1352) and any one of the plurality of rotating handle tracking markers (1360 to 1361).

[0064] For example, referring back to FIG. 2, the movement control unit (1200) may calculate the virtual handle distance using a first coordinate value obtained through a first fixed handle tracking marker (1350) attached to a portion adjacent to a finger ring in a fixed handle (1310) of the actual foreign body forceps (1300) and a second coordinate value obtained through a first rotating handle tracking marker (1360) or a second rotating handle tracking marker (1361) attached to a portion adjacent to a finger ring in a rotating handle (1310). This is merely an example, and various embodiments may be created depending on the number and positions of tracking markers attached to the actual foreign body forceps.

[0065] When the handle angle in the above-described actual forceps (1300) has a maximum value, the virtual handle distance may have a maximum value. When the handle angle in the above-described actual forceps (1300) has a minimum value, the virtual handle distance may have a minimum value.

[0066] When the virtual handle distance has a minimum value, the movement control unit (1200) can control the forceps (1340') of the virtual foreign body forceps (1300') to not open. At this time, the forceps (1340') can have a minimum rotation angle.

[0067] When the virtual handle distance increases, the motion control unit (1200) can rotate the gripper (1340') so that it opens. When the virtual handle distance reaches its maximum value, the motion control unit (1200) can control the gripper (1340') so that it opens to its maximum extent. At this time, the gripper (1340') can be rotated by the maximum rotation angle.

[0068] The movement control unit (1200) can control the rotation of the gripper (1340') using the minimum rotation angle, maximum rotation angle, and the virtual handle distance of the gripper (1340'). In addition, the movement control unit (1200) can control the movement of the gripper (1340') using coordinate information of an arbitrary reference point forming the gripper (1340') and the virtual handle distance. The coordinate information of the arbitrary reference point can include a start coordinate, which is the coordinate of the reference point when the gripper (1340') is not opened, and an end coordinate, which is the coordinate of the reference point when the gripper (1340') is opened to the maximum. The arbitrary reference point can mean a point that is not located on the rotation axis among a plurality of points (vertices) forming the gripper (1340').

[0069] According to one embodiment of the present specification, the movement control unit (1200) can calculate the degree to which the gripper (1340') opens using linear interpolation.

[0070] The above movement control unit (1200) can calculate an interpolation ratio defined by [Mathematical Formula 1] using the virtual handle distance.

[0071]

[0072] - : Virtual handle distance

[0073] - : Maximum virtual handle distance

[0074] - : Minimum virtual handle distance

[0075] The above movement control unit (1200) can control the rotation angle of the gripper (1340') to have any value in the range of the minimum rotation angle to the maximum rotation angle according to the interpolation ratio. When the virtual handle distance has a minimum value, the interpolation ratio can be 0. At this time, the movement control unit (1200) can control the gripper (1340') to be in a state where it does not open. When the virtual handle distance has a maximum value, the interpolation ratio can be 1. At this time, the movement control unit (1200) can control the gripper (1340') to be in a state where it is opened to the maximum. When the virtual handle distance has a value that is half of the maximum value, the interpolation ratio can be 0.5. At this time, the movement control unit (1200) can control the gripper (1340') to be opened to half of the maximum rotation angle.

[0076] The above movement control unit (1200) can control the position of the reference point of the gripper (1340') according to the interpolation ratio. At this time, the movement control unit (1200) can control the reference point to be located at any point on a virtual arc connecting the start coordinate and the end coordinate of the reference point. When the interpolation ratio is 0, the movement control unit (1200) can control the reference point to be located at the start coordinate. When the interpolation ratio is 1, the movement control unit (1200) can control the reference point to be located at the end coordinate. When the interpolation ratio is 0.5, the movement control unit (1200) can control the reference point to be located at the center of the virtual arc.

[0077] The source code controlling the above virtual foreign body forceps (1300') can be written using a Unity C# script, which is an example and is not limited thereto.

[0078] FIG. 4 is a block diagram of a foreign body forceps simulation system according to one embodiment of the present specification.

[0079] Referring to FIG. 4, a foreign body forceps simulation system (1) according to one embodiment of the present specification may include a foreign body forceps simulation device (100) and a display device (10). The display device (10) may display a virtual space provided by the virtual space providing unit (1100) and the virtual foreign body forceps (1300'). The display device (10) may be a display of a predetermined form mounted on a user's head. For example, the display device may correspond to smart glasses, smart goggles, a head mounted display, or a helmet mounted display of a virtual reality (VR) device and / or an augmented reality (AR) device. This is an example, and the display device (10) may be various, such as a CRT (Cathode-Ray Tube), a PDP (Plasma Display Panel), an LCD (Light Crystal Display), an LED (Light Emitting Diode), or an OLED (Organic Light Emitting Diode), and is not limited by a specific display device.

[0080] The above memory unit (1000), virtual space providing unit (1100), and movement control unit (1200) may include a processor, application-specific integrated circuit (ASIC), other chipset, logic circuit, register, communication modem, data processing device, etc. known in the technical field to which the present invention pertains in order to execute calculations and various control logics. In addition, when the above-described control logic is implemented as software, the memory unit (1000), virtual space providing unit (1100), and movement control unit (1200) may be implemented as a set of program modules. In this case, the program modules may be stored in the memory device and executed by the processor.

[0081] While the embodiments of this specification have been described with reference to the attached drawings, those skilled in the art will appreciate that the present invention can be implemented in other specific forms without altering the technical spirit or essential features thereof. Therefore, the embodiments described above should be understood to be illustrative in all respects and not restrictive.

[0082] [Explanation of symbols]

[0083] 1: Foreign body forceps simulation system

[0084] 10: Display device

[0085] 100: Foreign body forceps simulation device

[0086] 1000: Memory section

[0087] 1100: Virtual Space Provider

[0088] 1200: Motion Control Unit

[0089] 1300: Actual foreign body forceps

[0090] 1400: Tracking Sensor

Claims

1. A memory section storing data on a virtual foreign body forceps modeled as multiple parts; A virtual space providing unit that provides a virtual space in which the above virtual foreign body forceps is placed; A movement control unit that receives an external input signal and implements movement of the virtual foreign body forceps or movement of each part within the virtual space; A real foreign body forceps with multiple tracking markers; and A foreign body forceps simulation device, comprising: a tracking sensor that tracks the above tracking marker and outputs a corresponding tracking signal to the movement control unit.

2. In claim 1, The above actual foreign body forceps are, Fixed handle including horizontal support; A rotating handle connected through the above fixed handle and the rotating shaft; a latch located on the upper portion of the horizontal support; and A forceps positioned at the end of the horizontal support and latch; A foreign body forceps simulation device, characterized in that the virtual foreign body forceps are modeled with the same parts as the actual foreign body forceps.

3. In claim 2, The above actual foreign body forceps are, At least three fixed handle tracking markers connected to said fixed handle; and A foreign body forceps simulation device comprising at least three or more rotating handle tracking markers connected to the rotating handle.

4. In claim 3, At least three fixed handle tracking markers as described above, It is characterized in that the rotation axis to which the fixed handle and the rotation handle are connected is connected so as to form a central area. At least three of the above rotary handle tracking markers, A foreign body forceps simulation device characterized in that the finger ring of the above-mentioned rotating handle is connected so as to form a central area.

5. In claim 2, The above motion control unit, The latch moves rearward in proportion to the angle at which the rotating handle rotates away from the fixed handle, A foreign body forceps simulation device that rotates the forceps so that they open in proportion to the degree to which the clasp moves rearward.

6. In claim 1, A foreign body forceps simulation device, wherein the above tracking marker is an optical tracking marker, either a reflective marker or an LED marker, and the tracking sensor is an optical sensor.

7. A foreign body forceps simulation device according to any one of claims 1 to 6; and A foreign body forceps simulation system, comprising a virtual space provided by a virtual space providing unit of the foreign body forceps simulation device and a display device displaying the virtual foreign body forceps.

8. In claim 7, The above display device, A foreign body forceps simulation system characterized by a display of a predetermined form mounted on the user's head.

Images