Single-port surgery training device and surgery training method thereof

Abstract

A single-port surgery 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 in the forceps and / or the incision tool so as to generate position information and orientation information of the forceps and / or the incision tool; a simulation module including a housing and a single port, which is provided at one side of the housing so that the forceps and the incision tool are inserted therein; and a host computer communicatively connected to the surgical tool and the simulation module, wherein the host computer can generate a virtual surgical environment.

Description

Single-port surgical training device and surgical training method thereof

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

[0002]

[0003] Transanal surgery, a type of minimally invasive surgery, involves inserting a cylindrical instrument through the anus without making an abdominal incision, and performing local resections while viewing the area on a monitor connected to a camera. Another type of minimally invasive surgery, laparoscopic surgery, involves making a small incision in the abdomen, inserting a laparoscope with a special camera attached, and using specialized instruments such as lasers or special surgical techniques. These minimally invasive surgeries were developed to overcome the shortcomings of conventional open surgery, which involves making large incisions, causing significant scarring, bleeding, and prolonged recovery times.

[0004] These minimally invasive surgeries offer advantages such as smaller incisions, less scarring and bleeding, a much shorter recovery time compared to open surgery, and significantly less postoperative pain. Currently, they are used for nearly all conditions requiring open surgery. However, the long-term training required to master the techniques through extensive hands-on experience makes acquiring minimally invasive surgery a challenge.

[0005] In response to this, various types of surgical training simulators have been developed, but conventional minimally invasive surgical training simulators are implemented with monotonous devices such as dolls, and thus have the disadvantage of being one-time use or lacking realism.

[0006]

[0007] According to various embodiments of the present disclosure, a 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, a technical problem is to provide a training device and method capable of producing educational 3D content for single-port surgery (or minimally invasive surgery), such as transanal, thoracoscopic, and laparoscopic surgery.

[0009] However, the problems to be solved by the present disclosure are not limited to those mentioned above, and may include purposes that are not mentioned but can be clearly understood by a person having ordinary skill in the technical field to which the present disclosure belongs from the description below.

[0010]

[0011] Hereinafter, specific means for achieving the purpose of the present disclosure will be described.

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

[0013] According to one embodiment, the at least one first sensor may include a first sensor provided on a handle portion of the forceps; and a first sensor provided on a handle portion of the cutting tool, wherein the first sensor may be configured to detect position information and posture information of the forceps and transmit the same to the host computer, and the first sensor may be configured to detect position information and posture information of the cutting tool and transmit the same to the host computer.

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

[0015] In one embodiment, the single port comprises at least two inlets, through which the forceps and the cutting tool can be inserted, respectively, each of the at least two inlets.

[0016] In one embodiment, the surgical tool further comprises an endoscopic camera, wherein the at least two injection ports include 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.

[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 is 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 formed of a flexible material and having a hole through which the surgical tool can be inserted.

[0020] According to one embodiment, the host computer may include a communication module communicatively connected to the surgical tool and the simulation module; a display; a 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 cutting 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 endoscopic camera, and the virtual reality image can be displayed as a first-person view based on the endoscopic camera.

[0023] In one embodiment, the forceps include a first button, the cutting tool includes a second button, and the processor controls the virtual forceps to perform a grasping motion in the virtual surgical environment in response to receiving a user input of pressing the first button, and controls the virtual cutting tool to perform a cutting motion in the virtual surgical environment in response to receiving a user input of pressing the second button.

[0024] In one embodiment of the present disclosure, a surgical training method performed on a single-port surgical training device, the single-port surgical training device comprises: a surgical tool including forceps, a cutting tool, and at least one first sensor provided on at least one of the forceps and the cutting tool and configured to generate position information and posture information of at least one of the forceps and the cutting 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 cutting tool; and a host computer communicatively connected to the surgical tool and the simulation module, wherein the surgical training method may include a step of confirming position information and posture information of at least one of the forceps and the cutting tool based on sensing information received from the at least one first sensor; and a step of generating a virtual surgical environment including a virtual forceps and a virtual cutting tool corresponding to the position information and posture information of at least one of the forceps and the cutting tool.

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

[0026] In one embodiment, the single port comprises at least two inlets, through which the forceps and the cutting tool can be inserted, respectively, each of the at least two inlets.

[0027] In one embodiment, 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 a step of determining whether the surgical tool is 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 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 formed of a flexible material and having a hole through which the surgical tool can be inserted.

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

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

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

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

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

[0034]

[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 educational 3D content for single-port surgery can be provided, and as a result, highly skilled medical staff can be efficiently trained for single-port surgery.

[0037]

[0038] FIG. 1 is an exemplary diagram of a single port surgical training device according to the present disclosure.

[0039] FIG. 2 is an example diagram of a simulation module for single port surgical training according to the present disclosure.

[0040] Figure 3 is a configuration diagram of a single port surgical training device according to the present disclosure.

[0041] Figure 4 is a flowchart showing a single port surgical training method according to the present disclosure.

[0042] FIG. 5 is an example of a virtual surgical environment for single port surgery according to the present disclosure.

[0043] FIG. 6 is an example of a virtual surgical environment for single port surgery according to the present disclosure.

[0044]

[0045] The various embodiments described in this specification are exemplified for the purpose of clearly explaining the technical concept of the present disclosure and are not intended to be limited to specific embodiments. The technical concept of the present disclosure includes various modifications, equivalents, alternatives, and embodiments selectively combined from all or part of the embodiments described herein. Furthermore, the scope of the technical concept of the present disclosure is not limited to the various embodiments presented below or the specific descriptions thereof.

[0046] Terms used herein, including technical or scientific terms, unless otherwise defined, may have the meaning commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0047] As used herein, expressions such as "includes," "may include," "comprises," "may have," "have," and "may have" indicate the presence of a target feature (e.g., a function, operation, or component), but do not exclude the presence of other additional features. In other words, such expressions should be understood as open-ended terms that imply the possibility of including a second embodiment.

[0048] In this specification, singular expressions include plural expressions unless the context clearly indicates otherwise. Furthermore, plural expressions include singular expressions unless the context clearly indicates otherwise. When a part of the specification is said to include a component, this does not exclude other components, but rather implies that other components may be included, unless otherwise specifically stated.

[0049] Also, the term 'module' or 'part' used in the specification means a software or hardware component, and the 'module' or 'part' performs certain roles. However, the 'module' or 'part' is not limited to software or hardware. The 'module' or 'part' may be configured to reside on an addressable storage medium and may be configured to execute one or more processors. Thus, as an example, the 'module' or 'part' may include at least one of components such as software components, object-oriented software components, class components, and task components, processes, functions, attributes, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, or variables. The functionality provided within the components and 'modules' or 'parts' may be combined into a smaller number of components and 'modules' or 'parts', or further separated into additional components and 'modules' or 'parts'.

[0050] According to one embodiment of the present disclosure, a 'module' or 'unit' may be implemented as a processor and a memory. 'Processor' should be broadly construed 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, and the like. In some circumstances, a 'processor' may also refer to an application-specific integrated circuit (ASIC), a programmable logic device (PLD), a field-programmable gate array (FPGA), and the like. A '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 in conjunction with a DSP core, or any other such combination of configurations. In addition, 'memory' should be broadly construed 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, registers, etc. Memory is said to be in electronic communication with the processor if the processor can read information from, and / or write information to, the memory. Memory integrated in a processor is in electronic communication with the processor.

[0051] As used herein, the expressions “first,” “second,” or “first,” “second,” etc., unless the context indicates otherwise, are used to refer to multiple similar objects and to distinguish one object from another, and do not limit the order or importance among the objects.

[0052] As used herein, the expressions "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," and the like can mean each listed item or all possible combinations of the listed items. For example, "at least one selected from A and B" can 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) both A and B.

[0053] The expression "based on" as used herein is used to describe one or more factors that influence a decision, act of judgment, or action described in a phrase or sentence containing the expression, and this expression does not exclude additional factors that influence the decision, act of judgment, or action.

[0054] As used herein, the expression that a component (e.g., a first component) is “connected” or “connected” to another component (e.g., a second component) may mean that the component is directly connected or connected to the other component, as well as connected or connected via a new other component (e.g., a third component).

[0055] The expression "configured to" used herein may have the meanings of "set to", "having the ability to", "modified to", "made to", "capable of", etc., depending on the context. The 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 that can perform the specific operation by executing software.

[0056] Hereinafter, various embodiments of the present disclosure will be described with reference to the attached drawings. In the attached drawings and the description of the drawings, identical or substantially equivalent components may be assigned the same reference numerals. Furthermore, in the description of various embodiments below, duplicate descriptions of identical or corresponding components may be omitted, but this does not mean that the corresponding components are not included in the embodiments.

[0057] FIG. 1 is an exemplary diagram of a single port surgical training device (100) according to the present disclosure, and FIG. 2 is an exemplary diagram of a simulation module and surgical tool for single port surgical training according to the present disclosure.

[0058] The surgical training device (100) according to the present disclosure is a single-port based surgical training device consisting 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 utilized for the purpose of allowing medical staff to gain experience and train while practicing single-port surgery (or minimally invasive surgery), such as transanal surgery, thoracoscopic surgery, and laparoscopic surgery, for example.

[0059] Single-port surgery has the advantage of being more stable than multi-port surgery and of not requiring an incision. However, single-port surgery has the disadvantage of being more difficult than multi-port surgery because multiple surgical instruments are inserted into a single port, and two or more surgical instruments must not overlap each other. Furthermore, even experienced surgeons sometimes find 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 similar to that of a real surgical environment.

[0060] A surgical instrument according to one embodiment may include forceps, a cutting tool, and at least one first sensor. The forceps may be a type of forceps, a type of surgical instrument or device used in a surgical field, such as a surgical instrument or device, and may be a type of surgical instrument having a scissor-shaped, bifurcated end and a handle connected thereto. The cutting tool may be a type of surgical instrument capable of making incisions. The at least one first sensor may be a sensor configured to generate positional information and posture information of at least one of the forceps and the cutting tool.

[0061] 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. The simulation module (110) is provided with a single port (120) (hereinafter, referred to as a single port). A user (e.g., a doctor or medical student) may hold and manipulate surgical tools. For example, the user may hold forceps (130) and a cutting tool (140) in both hands and insert them into the interior of the simulation module through the single port (120).

[0062] In one embodiment, the single port (120) may be formed with at least two injection ports, each capable of inserting a plurality of surgical instruments. For example, as illustrated in FIG. 2 , first to third injection ports (122, 124, 126) may be formed in the single port (120), and forceps (130) and a cutting tool (140) may be inserted into the first and second injection ports (122, 124), respectively. Additionally, an endoscopic camera or additional forceps (e.g., counter forceps) may be inserted into the third injection port (126).

[0063] 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 may be inserted therein. 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 touch the inner surface of the cannula (128), and a user using the single-port surgical training device (100) may feel as if it is touching an actual human organ.

[0064] A target (220) that mimics a specific part of an object (e.g., a human body) may be placed within the simulation module (110). The target (220) may correspond to a specific part, such as a tumor to be removed during a surgical procedure. The user may use a surgical tool to grasp and incise the target (220).

[0065] 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) may detect surgical tools inserted into the interior of the simulation module (110). The plurality of second sensors (210) may track the surgical tools inserted into the interior of the simulation module (110), thereby measuring the position and posture of the surgical tools. In addition, the plurality of second sensors (210) may also measure the relative position of the surgical tools with respect to the target (220), whether there is contact, whether there is an incision, etc. For example, the plurality of sensors (210) may be arranged 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 it may be used together with a vision device.

[0066] The host computer according to the present disclosure can process information received from the simulation module (110) and / or the surgical tool to generate virtual reality information. The host computer can receive information on the position and posture of the surgical tool received from the simulation module, information on the relative position of the surgical tool with respect to the target (220), whether contact has been made, whether incision has been made, etc., and can receive information on the position of the forceps (130) and the incision tool (140) and / or the relative position information between the two surgical tools from the surgical tool. The host computer can process this information to generate virtual reality information by visualizing the surgical tool approaching a specific organ in an actual object and a specific part (e.g., a tumor) in the specific organ. The virtual reality information can be output through the display (150) of the host computer or the display of a separate VR device, and the user can perform surgical training while viewing the virtual reality information output on the display (150).

[0067] Although FIG. 1 illustrates one embodiment of outputting virtual reality information through a display, the present disclosure is not limited thereto. In one embodiment, virtual reality information may also be output through a display of a VR device (not shown) worn by a user. In this case, the virtual reality information may be displayed from the perspective of the user wearing the VR device (or from the camera view of the VR device). This embodiment has the advantage of improving training efficiency because the user can experience the perspective of an actual surgeon.

[0068] The single-port surgical training device (100) according to the present disclosure can enhance the user's sense of reality by providing a training environment for single-port surgery to users, such as medical staff. In particular, since multiple surgical tools must be inserted through a single port (120) to perform movements such as grasping or cutting a target (220), friction or collisions between the multiple surgical tools can frequently occur. The device can be trained on how to deal with such situations or how to prevent such situations from occurring.

[0069] Figure 3 is a configuration diagram of a single port surgical training device (100) according to the present disclosure.

[0070] 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).

[0071] A surgical tool (320) according to one embodiment may include forceps (130), a cutting tool (140), and at least one first sensor (322). The forceps may be configured in one or two pieces. When the forceps (130) is configured in one piece, the forceps may be used to grasp and pull a target (220) fixed within a simulation module (110). When the forceps are configured in two pieces, the two forceps may be used to grasp and pull a target (220) located within the simulation module (110) from both sides. A gripper capable of grasping the target (220) may be formed at one end of the forceps (130). A handle portion that can be gripped by a user may be formed at the other end of the forceps (130). The handle portion of the forceps (130) may be configured to open or close the gripper by a user's manipulation.

[0072] The cutting tool (140) may be a surgical knife (die-sector), an electrosurgical device, or a similar device. A cutting portion capable of cutting a target (220) may be formed at one end of the cutting tool (140). A handle portion that can be held by a user may be formed at the other end of the cutting tool (140). For example, the cutting portion may include a knife or an electrode. The handle portion of the cutting tool (140) may be configured to allow the cutting portion to be operated by a user's manipulation, or may include a button or the like.

[0073] At least one first sensor (322) is provided on at least one of the forceps (130) and the cutting tool (140) to measure the position of at least one of the forceps (130) and the cutting tool (140). When at least one first sensor (322) is attached to both sides of the forceps (130) and the cutting tool (140), the relative position between the forceps (130) and the cutting tool (140) can also be measured.

[0074] At least one first sensor (322) may include a first-first sensor provided on the handle of the forceps (130) and a first-second sensor provided on the handle of the cutting tool (140). The first-first sensor may detect position information and posture information of the forceps (130) and transmit them to the host computer (310). The first-second sensor may detect position information and posture information of the cutting tool (140) and transmit them to the host computer (310).

[0075] At least one first sensor (322) may be, for example, an electro-magnetic (EM) sensor. Information measured by the at least one first sensor (322) may be transmitted to the host computer (310) and / or the simulation module (110). The at least one first sensor (322) may be an EM sensor including a six-axis gyro sensor. The 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).

[0076] The surgical tool (320) according to one embodiment may further include an endoscopic camera (324). The endoscopic camera (324) may be a miniature camera used to observe or photograph the inside of an object.

[0077] A host computer (310) according to one embodiment may include a communication module (312), a processor (314), a memory (316), and a display (150). The communication module (312) of the 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 may 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.

[0078] 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 perform various data processing or calculations. As at least part of the data processing or calculations, the processor (314) may load instructions or data received from other components into the memory (316), process the instructions or data stored in the memory (316), and store the resulting data in the non-volatile memory (316). The memory (316) of the processor (314) may store information related to the above-described method or store a program in which the above-described method is implemented. The memory (316) may be a volatile memory or a non-volatile memory.

[0079] A processor (314) according to one embodiment can execute a program. The code of the program executed by the processor (314) can be stored in the memory (316). The processor (314) can be operatively connected to components of the host computer (310). The processor (314) can load commands or data received from other components of the host computer (310) into the memory (316), process the commands or data stored in the memory (316), and store the resulting data.

[0080] The processor (314) according to the present disclosure can generate virtual reality information. The virtual reality information can include image information visualized in three dimensions. In addition, the virtual reality information can include image information of the inside of the object and image information of a surgical tool (320) overlapping therewith. The virtual reality information can be updated in real time by movement or control of the surgical tool (320), movement of the viewpoint (camera), etc.

[0081] The processor (314) according to the present disclosure can provide various surgical simulation environments. For example, it can provide specific image information selected based on parameters such as surgical difficulty, surgical site, tumor location, patient condition, and special features from among various image information of the inside of the object stored in the memory (316). In addition, the processor (314) according to the present disclosure can provide feedback on the surgical process performed by the user. For example, the processor can generate feedback information by comprehensively determining whether the user properly removed the target (e.g., tumor), whether the surgical time was appropriate, whether the surgical process was appropriate, and whether the surgical tool (320) did not damage other parts. In addition, the processor (314) according to the present disclosure can produce training results and generate educational content based on the results. For example, the processor (314) can store training results according to the user over time, select specific cases, edit a video including the training process, and generate educational content.

[0082] 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. A user may practice single-port surgery in various ways, such as manipulating a surgical tool (320), while viewing the virtual reality information output on the display (150).

[0083] According to one embodiment, the host computer (310) may further include an input device (318). The input device (318) may receive commands or data from an external source to be used in components of the host computer (310). The input device (318) may include, for example, a microphone, a mouse, or a keyboard.

[0084] 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 forceps (130) and a cutting tool (140) to be inserted, 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) is inserted into the single port (120) of the simulation module (110). The at least one second sensor (210) may track location information of the surgical tool (320) inserted into the single port (120). The at least one second sensor (210) may be positioned at a location where the single port (120) is clearly visible.

[0085] 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 to the marker and receive light reflected from the marker, thereby confirming position information and posture information of the forceps (130). Similarly, 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 position information and posture information of the cutting tool (140) or the endoscope camera (324).

[0086] In the same manner 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).

[0087] FIG. 4 is a flowchart illustrating a surgical training method according to one embodiment of the present disclosure. For surgical training, a user may hold a surgical tool (320) in his or her hand and insert the surgical tool (320) into the simulation module through the single port (120) of the simulation module. For example, the user may hold the handle of a forceps (130) in his or her left hand and the handle of a cutting tool (140) in his or her right hand, and inject the gripper of the forceps (130) into the first injection port of the single port (120) and inject the cutting portion of the cutting tool (140) into the second injection port of the single port (120).

[0088] Referring to flowchart 400, the processor (314) of the host computer (310) according to one embodiment may determine, in step S410, whether a surgical tool (320) is inserted into the single port (120) of the simulation module based on sensing information received from at least one second sensor (210). First, the processor (314) of the host computer (310) may receive sensing information from at least one second sensor (210) provided inside the housing of the simulation module. The processor (314) may receive sensing information indicating whether a surgical tool (320) is inserted into the single port (120) of the simulation module from the at least one second sensor (210). The processor (314) may determine, based on the sensing information received from the at least one second sensor (210), whether a surgical tool (320) is inserted into the single port (120) of the simulation module.

[0089] According to one embodiment, the processor (314) of the host computer (310) may, in step S420, if it is determined that a surgical tool (320) is inserted into the single port (120), determine 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). If it is determined that a surgical tool (320) is inserted into the single port (120), the processor (314) may 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-first sensor provided in a handle portion of the forceps (130) and a first-second sensor provided in a handle portion of the cutting tool (140). The first sensor (1-1) can detect position information and posture information of the forceps (130), and the first sensor (1-2) can detect position information and posture information of the cutting tool (140). At least one first sensor (322) may be an electromagnetic (EM) sensor including a 6-axis gyro sensor.

[0090] 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 preceded. The memory of the host computer (310) may store in advance information about the shape of the forceps (130), the shape of the cutting tool (140), the position at which the first-first sensor is provided on the forceps (130), and the position at which the first-second sensor is provided on the cutting tool (140). Based on the information stored in the above-described memory and the information received from at least one first sensor (322), the position information of the surgical tool (320) may be aligned to the fixed coordinate system. For accurate alignment, the processor (314) can receive position information about a surgical tool (320) detected by at least one second sensor (210) from at least one second sensor (210), and can use the received position information about the surgical tool (320) in the alignment process.

[0091] According to one embodiment, the processor (314) of the host computer (310) may, in step S430, generate a virtual surgical environment including virtual forceps and virtual cutting tools corresponding to position information and posture information of at least one of the forceps (130) and the cutting tool (140). The processor (314) may output the virtual surgical environment including the virtual forceps and the virtual cutting tool through the display (150). The virtual surgical environment may include a virtual reality image imitating an organ inside a target 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 endoscopic camera (324) of the surgical tool (320). The virtual reality image will be described in detail with reference to FIGS. 5 and 6.

[0092] FIGS. 5 and 6 are examples of a virtual surgical environment (500) for a single port surgery (e.g., transanal surgery) according to one embodiment of the present disclosure.

[0093] As shown in FIG. 5, a virtual surgical environment (500) output through the display (150) of the host computer (310) may include an image imitating an organ inside the object and an image of a virtual surgical tool (320) corresponding to the surgical tool (320). With respect to the organ inside the object, the internal tissue (510) of the object (e.g., large intestine) corresponding to the single port (120) may appear in the virtual reality image. A virtual surgical tool (520), including a virtual forceps and a virtual cutting tool, may appear in the virtual reality image by a user's manipulation. 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 endoscopic camera (324). According to one embodiment, the processor (314) may also change the viewpoint of the virtual reality image according to a user's input received through the input device (318).

[0094] 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 motion 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., a tumor or polyp) in the virtual surgical environment.

[0095] If the user selects the second button of the incision tool (140), the processor (314) can control the virtual incision tool to perform an incision operation in a virtual surgical environment. For example, if the user selects the second button, the processor (314) can control the virtual incision tool to incise a virtual object in a virtual surgical environment.

[0096] 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 cutting tool (140) of the surgical tool (320) in real time based on the 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 cutting tool in the virtual surgical environment so as to correspond to the position information and posture information of the forceps (130) and the cutting tool (140).

[0097] In another embodiment, the single-port surgical training device (100) may provide feedback regarding the user's training. For example, if the user fails to grasp the target (220) placed within the simulation module (110) with the forceps (130) for a predetermined time (e.g., 1 minute), the processor (314) may display a warning message (e.g., "Failed to grasp target") via the display (150). For example, if the user fails to incise the target (220) placed within the simulation module (110) with the incision tool (140) for a predetermined time (e.g., 5 minutes), the processor (314) may display a warning message via the display (150).

[0098] As illustrated 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 a target for resection. The virtual tumor (610) may be a stalk tumor. In embodiments, the virtual surgical environment (600) may further include at least one of a protruded tumor (620 and 640) and a bowl tumor (630).

[0099] In another embodiment, the virtual reality image may be displayed from the perspective of a user wearing a VR device (not shown) (or from the camera view of the VR device). The virtual reality image may be implemented similarly to the perspective of a surgeon performing surgery in an actual operating room. For example, the virtual reality image may include a subject lying on an operating room bed and a monitor displaying internal organs of the subject. The user can experience the perspective of an actual surgeon by viewing the virtual reality image output through the display of the VR device.

[0100] Through various embodiments of the present disclosure, a user can perform single-port surgical training while observing a virtual surgical environment displayed via a display (150). This allows the user to practice surgical procedures while experiencing an experience similar to an actual surgery.

[0101] It is obvious that each step or operation of the method according to the embodiments of the present disclosure can be performed by a computer including one or more processors according to the execution of a computer program stored in a computer-readable recording medium.

[0102] The computer-executable instructions stored in 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 in 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, the non-transitory readable medium means a medium that semi-permanently stores data and can be read by a device, rather than a medium that stores data for a short period of time, such as a register, a cache, or a memory. Specifically, the programs for performing the various methods described above can be stored and provided in a non-transitory readable medium, such as semiconductor memory devices such as erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), and flash memory devices, magnetic disks such as internal hard disks and removable disks, optical-magnetic disks, and non-volatile memories including CD-ROMs and DVD-ROM disks.

[0103] The methods according to various examples disclosed in this document may be provided as a computer program product. The computer program product may be distributed in the form of a machine-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 generated in a storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

[0104] As described above, those skilled in the art will appreciate that the present disclosure can be implemented in other specific forms without altering the technical spirit or essential characteristics thereof. Therefore, the above-described embodiments should be understood as illustrative in all respects and not restrictive. The scope of the present disclosure is defined by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and equivalent concepts should be construed as being included within the scope of the present disclosure.

[0105] The features and advantages described in this specification are not exhaustive, and many additional features and advantages will become apparent to those skilled in the art upon review of the drawings, specification, and claims. Furthermore, it should be noted that the language used in this specification has been primarily selected for readability and instructional purposes, and may not be intended to delineate or circumscribe the subject matter of the present disclosure.

[0106] The above description of the embodiments of the present disclosure has been presented for illustrative purposes. It is not intended to limit the disclosure to the precise form disclosed, nor to omit anything. Those skilled in the art will appreciate that numerous modifications and variations are possible in light of the above disclosure.

[0107] Therefore, the scope of this disclosure is not limited by the detailed description, but is defined by any claims of the application based on this description. Accordingly, the disclosure of embodiments of this disclosure is illustrative and does not limit the scope of this disclosure, which is set forth in the following claims.

Claims

1. In a single port surgical training device, A surgical tool comprising forceps, a cutting tool, and at least one first sensor provided on at least one of the forceps and the cutting tool and configured to generate position information and posture information of at least one of the forceps and the cutting tool; A simulation module comprising a housing and a single port provided on one side of the housing and configured to insert the forceps and the cutting tool; and Including a host computer communicating with the above surgical tool and the above simulation module, The above host computer, Confirming position information and posture information of at least one of the forceps and the cutting tool based on sensing information received from at least one first sensor, A single port surgical training device configured to generate a virtual surgical environment including a virtual forceps and a virtual cutting tool corresponding to position information and posture information of at least one of the forceps and the cutting tool.

2. In paragraph 1, At least one first sensor, The first sensor provided on the handle of the above tongs; and Including the first and second sensors provided on the handle of the above cutting tool, The above 1-1 sensor is configured to detect position information and posture information of the gripper and transmit them to the host computer, A single port surgical training device, wherein the first and second sensors are configured to detect position information and posture information of the cutting tool and transmit them to the host computer.

3. In paragraph 1, A single port surgical training device, wherein at least one of the first sensors is an electro-magnetic sensor including a six-axis gyro sensor.

4. In paragraph 1, The single port comprises at least two inlets, A single port surgical training device, wherein the forceps and the cutting tool are each inserted through each of the at least two injection ports.

5. In paragraph 4, The above surgical tool further includes an endoscopic camera, The at least two inlets include a first inlet, a second inlet and a third inlet, A single port surgical training device, 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.

6. In paragraph 1, The above simulation module further comprises at least one second sensor configured to detect the surgical tool inserted into the single port, The above host computer, A single port surgical training device further configured to determine whether the surgical tool is inserted into the single port of the simulation module based on sensing information received from at least one second sensor.

7. In paragraph 6, A single port surgical training device, wherein the at least one second sensor comprises at least one of a vision sensor, an optical sensor, or a camera sensor.

8. In paragraph 1, The above single port is, A single port surgical training device comprising a cannula made of an elastic material and having a hole formed into which the above surgical tool can be inserted.

9. In paragraph 1, The above host computer, A communication module connected to the above surgical tool and the above simulation module; display; memory; and Contains a processor, The above processor, A single port surgical training device configured to output a virtual surgical environment including the virtual forceps and the virtual cutting tool through the display.

10. In paragraph 9, The above virtual surgical environment includes a virtual reality image that mimics the internal organs of the subject, A single port surgical training device in which the above virtual reality image is displayed as a first-person view based on the above surgical tool.

11. In paragraph 10, The above surgical tool further includes an endoscopic camera, A single port surgical training device in which the above virtual reality image is displayed as a first-person view based on the above endoscope camera.

12. In paragraph 10, The above forceps include a first button, and the above cutting tool includes a second button, The above processor, In response to receiving a user input of pressing the first button, control the virtual forceps to perform a grasping motion in the virtual surgical environment; A single port surgical training device, which controls the virtual cutting tool to perform a cutting motion in the virtual surgical environment in response to receiving a user input of pressing the second button.

13. In a surgical training method performed on a single port surgical training device, The above single port surgical training device, A surgical tool comprising forceps, a cutting tool, and at least one first sensor provided on at least one of the forceps and the cutting tool and configured to generate position information and posture information of at least one of the forceps and the cutting tool; A simulation module comprising a housing and a single port provided on one side of the housing and configured to insert the forceps and the cutting tool; and Including a host computer communicating with the above surgical tool and the above simulation module, The above surgical training method is, A step of confirming position information and posture information of at least one of the forceps and the cutting tool based on sensing information received from at least one first sensor; and A surgical training method comprising the step of creating a virtual surgical environment including a virtual forceps and a virtual cutting tool corresponding to position information and posture information of at least one of the forceps and the cutting tool.

14. In paragraph 13, A surgical training method, wherein the at least one first sensor is an electro-magnetic sensor including a 6-axis gyro sensor.

15. In paragraph 13, The single port comprises at least two inlets, A surgical training method, wherein the forceps and the cutting tool are each inserted through each of the at least two injection ports.

16. In paragraph 13, The above simulation module further comprises at least one second sensor configured to detect the surgical tool inserted into the single port, The above surgical training method is, Further comprising a step of determining whether the surgical tool is inserted into the single port of the simulation module based on sensing information received from at least one second sensor; A surgical training method, wherein the at least one second sensor comprises at least one of a vision sensor, an optical sensor, or a camera sensor.

17. In paragraph 13, The above single port is, A surgical training method comprising a cannula made of an elastic material and having a hole formed into which the above surgical tool can be inserted.

18. In paragraph 13, A surgical training method further comprising the step of outputting a virtual surgical environment including the virtual forceps and the virtual cutting tool through a display of the host computer.

19. In paragraph 13, The above forceps include a first button, and the above cutting tool includes a second button, In response to receiving a user input of pressing the first button, a step of controlling the virtual forceps to perform a grasping motion in the virtual surgical environment; and A surgical training method further comprising the step of controlling the virtual cutting tool to perform a cutting motion in the virtual surgical environment in response to receiving a user input of pressing the second button.

20. A non-transitory computer-readable recording medium having recorded thereon a program for executing the surgical training method of Article 13 on a computer.

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