Input device and input assembly for providing user input for digital laparoscopic surgery training and a method and system for providing digital laparoscopic surgery training

Abstract

Electronic input device comprising: a handle comprising a body portion and a moveable control member that is configured to be movable with respect to the body portion; a communication circuit comprised in the body portion; a control module comprised in the body portion and operatively connected to the communication circuit; a rigid shaft connected to the body portion such that the shaft extends in a first direction away from the body portion; a plurality of input sensors comprising: an input control sensor; an accelerometer; a gyroscope; and, a distance sensor, wherein the control module is configured to connect to an external device via the communication circuit and to provide output data to the external device wherein the output data at least partly corresponds to the input data provided by the one or more sensors.

Description

[0001] INPUT DEVICE AND INPUT ASSEMBLY FOR PROVIDING USER INPUT FOR DIGITAL LAPAROSCOPIC SURGERY TRAINING AND A METHOD AND SYSTEM FOR PROVIDING DIGITAL LAPAROSCOPIC SURGERY TRAINING

[0002] The present disclosure relates to an input device. More in particular, the present disclosure relates to an electronic input device for providing user input for digital laparoscopic surgery training. The present disclosure further relates to an input assembly for providing user input for digital laparoscopic surgery training, a system for providing digital laparoscopic surgery training, and a method for providing digital laparoscopic surgery training.

[0003] Laparoscopic surgery is a minimally invasive surgical technique where small incisions are made in an abdomen of a patient to insert a laparoscope, a thin, flexible tube with a camera and light attached to it. The laparoscope allows a surgeon to view the internal organs on a monitor and perform the surgery using laparoscopic instruments, such as scissors, grippers, electrocautery devices, and more, by inserting these instruments through other small incisions. This technique reduces the size of incisions, minimizes scarring, and allows for a quicker recovery time compared to traditional open surgery. Laparoscopic instruments have an elongated form to enable a surgeon to reach the internal organs. However, this elongated form makes these instruments more awkward to use compared to standard medical instruments, which means that it takes more training for a healthcare professional to become proficient in instrument handling, spatial orientation, surgical dexterity, and the like. This is especially true as the incision in the abdominal wall of a patient through which the instrument is inserted acts like a fulcrum point (also referred to as a trocar point, incision point, insertion point or remote centre of motion), which means that when the handle of the instrument is moved in a first direction, the instrument pivots at the fulcrum point, which means that the working end of the instrument inside the abdomen of the patient moves in opposite direction to the handle. Additionally, because the surgeon observes the internal organs and the instruments using the laparoscope, they further need training in manipulating the instruments in a 3D space, while working from a 2D digital video feed. This means that, compared to other types of surgery, laparoscopic surgery requires more training for a healthcare professional to become sufficiently proficient. Training for laparoscopic surgery is often performed with simple physical exercises using real instruments in a physical environment. However, such exercises provide few mechanisms for automated assessment of performance, often limited to direct observation by a skilled practitioner. There is thus a need for a training environment which makes it possible for health professionals to train laparoscopic surgery more easily and effectively.

[0004] Currently, digital training solutions exist such as (mixed reality) laparoscopic surgery simulation systems. However, these solutions are limited by being technologically complex, requiring both expensive hardware to simulate the surgical instruments, capture data and interface with the software and require the use of high-cost high-powered computers to run the digital simulations.

[0005] The cost and complexity of these digital training solutions means that their use is not maintainable in low-resource settings and that these solutions are only available to well-funded medical institutions. This puts currently available training systems out of reach of trainees which institute does not offer such systems.

[0006] Additionally, even for trainees who have access to these training systems, as such systems are in general only available onside at medical institutions, they lack flexibility in training in terms of what is trained, at what moments there is training and at which location there is training. Another limitation of currently available training systems is that the controllers for these systems are costly, bulky, and fragile, which means that their ergonomics and handling does not correspond to the feel and handling of actual laparoscopic instruments.

[0007] The electronic input device, base station, and method according to the present disclosure obviates or at least reduces the abovementioned problems.

[0008] To that end, the present disclosure provides an electronic input device for tracking user movement mimicking laparoscopic instrument handling, the electronic input device comprising: a handle comprising a body portion and a control member that is configured to be movable with respect to the body portion; a communication module comprised in the handle; a control module comprised in the handle and operatively connected to the communication module; a rigid shaft connected at a first end to the handle such that the shaft extends in a first direction away from the body portion; a plurality of input sensors, wherein each of the input sensors is operatively connected to the control module and is configured to provide input data to the control module, the plurality of input sensors comprising: an input control sensor configured to measure a current movement and / or a current position of the control member relative to the body portion and to provide input data to the control module indicative of movement of the control member, an accelerometer configured to provide accelerometer data as input data indicative of a linear acceleration of the input device, a gyroscope configured to provide gyroscopic data as input data indicative of an angular velocity of the input device, and a distance sensor at least partly arranged in or on the body portion of the handle, wherein the distance sensor is configured to determine a distance to an externa object in a measuring direction that is about parallel to the first direction; and wherein the control module is configured to connect to an external device via the communication circuit and to provide output data to the external device wherein the output data at least partly corresponds to the input data provided by the one or more sensors.

[0009] By having an electronic input device that employs an accelerometer and a gyroscope it is possible to accurately track spatial movements of the electronic input device relative to an absolute reference point, while having a distance sensor configured to determine a distance between distance sensor and a surface of an external object provided with an opening or aperture in which the shaft of the electronic input device is inserted to provide a fulcrum point, it is possible to accurately track a motion (i.e. movement) of the electronic input device relative to the external object by combining the input data obtained from the accelerometer, the gyroscope and the distance sensor.

[0010] An advantage of the electronic input device according to the present disclosure is that it provides a way to reliably track laparoscopic movement of a user, while still keeping the electronic input device low-cost and relatively light-weight.

[0011] An additional advantage of the electronic input device according to the present disclosure is that the electronic input device is easily portable and that thus a user, for example a medical student is able to easily carry the electronic input device with them and perform digital laparoscopic training at any location they deem suitable.

[0012] A further advantage of having a distance sensor according to the present disclosure is that it is possible to accurately detect movement of the electronic input device relative to the external object without requiring an active connection between the electronic input device and the external object, therewith offering the same freedom of movement as real laparoscopic instruments, while keeping the electronic input device relatively light, thus providing a more realistic (and thus more effective) training experience in a cost-effective manner. In fact, any external object may be used as long as it has an aperture in which the shaft may be inserted that can act as a fulcrum point, which has as an additional advantage that the user is free to use any kind of external object they deem suitable, thus further reducing operational costs of using the electronic input device.

[0013] In an embodiment of the present disclosure, the accelerometer and the gyroscope are comprised in an inertial measurement unit, IMU.

[0014] An advantage of the electronic input device comprising an IMU, is that the accelerometer and the gyroscope are comprised in a single sensor, making the design of the electronic input device relatively simple.

[0015] Another advantage of having the IMU comprised in the body portion of the handle is that it is possible to capture motions performed by a user with the input device in at least six axis of movement, with a sensor that is relatively small and lightweight compared to using two separate sensors, which means that the weight of the handle is lower and the dimensions of the body portion of the handle may be made reduced, resulting in a handle which ergonomics and handling closer resemble the ergonomics and handling of actual laparoscopic instruments.

[0016] Preferably, the IMU is configured to capture motion in near real time, at a sample rate of between 150 and 360 samples per second, preferably about 200 samples per second.

[0017] An advantage of the IMU being configured to provide the input data in (near) real time, at a sample rate of between 150 and 250 samples per second, is that the latency of the movement tracking is relatively low, therewith enabling an external device to provide near real-time feedback to the user on their performance, therewith increasing the quality of the user experience.

[0018] In a further embodiment, the plurality of sensors further comprises a magnetometer configured to provide magnetic field data as input data, wherein the magnetic field data indicative of a strength and / or an orientation of the earth magnetic field, and wherein preferably the electronic device comprises the IMU and the magnetometer is comprised in the IMU. An advantage of the IMU sensor further comprising a magnetometer is that it is possible to capture motions performed by a user with the input device in at least nine axis, therewith further increasing the accuracy of the input device, while still keeping the input device relatively low-weight. An additional advantage is that it helps prevent drift compared to a predetermined reference point, therewith preventing the measurements to become less accurate over time. Without magnetometer, after a certain timeframe (minutes) integration errors in the gyroscope data may become sensitive to drift resulting in an ever increasingly less accurate orientation.

[0019] In an embodiment of the present disclosure, the distance sensor comprises one or more of: an ultrasonic distance sensor, an infrared reflection triangulation distance sensor, or a time-of- flight, ToF, sensor, wherein the distance sensor preferably comprises the ToF distance sensor, more preferably two laser ToF sensors. Two laser sensors may also be referred to a dual laser ToF sensor.

[0020] An advantage of the distance sensor comprising a ToF distance sensor is that it is possible to track actions from a user (i.e. motions made with the electronic input device) with high precision and low latency compared to other kind of distance sensors. An addition advantage of the dual ToF laser sensor is that it is possible to obtain more accurate measurements over a larger distance compared to a single ToF laser sensor.

[0021] In an embodiment of the present disclosure, the plurality of input sensors are solid-state electronical sensors.

[0022] An advantage of the input sensors being solid-state electronical sensors is that movement of the input device is not influenced by resistance in moving parts of the plurality of input sensors, such as drag or friction in mechanical joints, which further increases the accuracy of movement tracked using the input device. An additional advantage is that the ergonomics and feel of the input device more accurately corresponds to those of actual laparoscopic instruments. In contrast, existing solutions often employ ball joints, spring, or other physical connections for motion sensing.

[0023] In an embodiment of the present disclosure, wherein the input control sensor comprises a hall sensor. In an example, the input control sensor comprises at least one hall sensor, also known as a Hall effect sensor or Hall probe, with one or more magnets corresponding, wherein the at least one hall sensor is comprised in one of: the body portion or the control member, and wherein the corresponding one or more magnets are comprised in the other one of the body portion or the control member, and wherein the at least one hall sensor and the corresponding one or more magnets are positioned to face each other in correspondence with a movement direction of the control member.

[0024] An advantage of this embodiment is that, using a hall sensor provides a relatively cheap way to measure the movement of the control member relative to the body portion, while still providing accurate measurements.

[0025] An additional advantage is that hall sensors do not have any moving parts and are therefore less subjective to wear.

[0026] In a further example, the hall sensor is comprised in a hall sensor integrated circuit. In another example, the hall sensor is configured to switch between an on-state and an off-state, therewith providing a binary measurement on its activation. In other words, the hall sensor is configured to provide the control module with binary data as input data, wherein the binary data is indicative of an activation or deactivation of hall sensor.

[0027] In an embodiment in accordance with the present disclosure, the input control sensor comprises lever potentiometer.

[0028] An advantage of this embodiment is that using a lever potentiometer provides a relatively cheap way to measure the movement of the control member relative to the body portion, while still providing accurate measurements.

[0029] In an embodiment of the present disclosure, the electronic input device further comprising one or more auxiliary input controls, wherein the one or more auxiliary controls comprises one or more of: a rotational input control configured to be rotatable and configured to provide the control module with rotation position data as input data, wherein the rotation position data is indicative of a current rotation of the rotational input; at least one trigger switch comprising configured to provide the control module with switch activation signal as input data; one or more input buttons configured to provide the control module with button activation signal as input data. The rotational input control may also be referred to as rotation knob. An advantage of having a rotational input control is that it is possible to further train the use of a rotation knob that is present in some types of laparoscopic instruments, therewith increasing the number of different types of instruments which use can be trained in digital training using the input device and / or the number of actions performed during laparoscopic surgery that can be practiced in digital training. For example, some types of laparoscopic instruments have a rotation knob that may be used during laparoscopic surgery to adjust an angle of an actuator positioned at the end of the laparoscopic instrument. For example, a surgeon may use the rotation knob on a laparoscopic scissor to adjust a cutting angle of the scissors in accordance with a desired incision position on an internal organ. By having a rotational input control, it is possible to train the use of such a rotational knob.

[0030] In an additional embodiment in accordance with the present disclosure, the rotational input control comprises a conical sleeve rotatable disposed around the shaft and positioned to abut the distal surface of the body portion of the handle. Preferably, the conical sleeve comprises a magnet at each of the plurality of predetermined position and wherein the rotation position sensor comprises one or more hall sensors configured to determine the rotational input control based by determining a magnetic field of the plurality of magnets.

[0031] An advantage of the rotation input control comprising a conical sleeve is that the rotational input control closely resembles the standard location and feel of rotation knobs as found in most laparoscopic instruments.

[0032] In an embodiment in accordance with the present disclosure, the at least one trigger switch is moveable between a deactivated position and an activated position and wherein the corresponding switch activation data is indicative of a relative position of the corresponding trigger switch between the deactivated position and the activated position.

[0033] In an embodiment in accordance with the present disclosure, the handle comprises a biasing element and wherein the control member is biased to be in a predetermined position by the biasing element, wherein preferably the predetermined position an open position.

[0034] In a further embodiment in accordance with the present disclosure, the biasing element comprises a spring assembly, wherein the predetermined position is the open position and wherein the control member is biased to be in the open position by the spring assembly being configured to assert a predetermined force to the control member in an opening direction towards the open position.

[0035] In an embodiment in accordance with the present disclosure, the handle comprises a locking mechanism configured to lock the control member in a locking position.

[0036] An advantage of this embodiment is that it makes it possible to also mimic laparoscopic instruments provided with a locking mechanism, therewith increasing number of different laparoscopic instruments which use can be trained with the input device. In a further embodiment in accordance with the present disclosure, the locking mechanism is configured to lock the control member in reaction to the control member being moved to a predetermined locking position, wherein the predetermined locking position is preferably a closed position of the control member.

[0037] In an even further embodiment in accordance with the present disclosure, in the locked position, the control member is about parallel to and abuts the body portion such that the handle resembles a shaft handle.

[0038] In an embodiment in accordance with the present disclosure, the locking mechanism comprises a releasing member configured to be activated by a user, and wherein the locking member configured to release the control member from the locking position in reaction to activation of the releasing member.

[0039] In an example, the locking mechanism comprises one of: a ratchet pawl locking mechanism, an electromagnetic locking mechanism, a swivel locking mechanism, a sliding locking mechanism, preferably a rachet pawl locking mechanism.

[0040] In an embodiment in accordance with the present disclosure, the handle is configured to resemble a laparoscopic instrument handle. The handle may be configured to resemble a scissor grip handle, an axial handle, a ring handle, or a pistol grip handle, preferably a scissor grip handle or an axial handle

[0041] An advantage of this embodiment is that such a handle allows the input device to be held in a hammer grip, which increases the different types of laparoscopic movements that can be practiced using the input device.

[0042] In an example, the handle is configured to resemble a handle for a laparoscopic instrument, wherein the body portion is configured to extend from the proximal surface to the distal surface in a first longitudinal direction and a body portion angle is defined by an angle between the first direction and the first longitudinal direction, and wherein the control member extends from a first end of the control member to a second end of the control member in a second longitudinal direction and is rotatable connected with the body portion at a pivot point at or near the first end and an control angle is defined between an angle between the first direction and the second longitudinal direction.

[0043] In an additional example, the body portion is positioned relative to the shaft such that the first longitudinal direction is about in line with the first direction or is at is at a predetermined angle to the first direction, wherein the predetermined angle is in a range of 0 degrees to 15 degrees. In an alternative example, the body portion angle is configured to be in a range of 15 degrees to 90 degrees, preferably in the range of 70 degrees to 90 degrees.

[0044] In an example, the control member is configured to resemble a linear controller, wherein preferably the second longitudinal direction is about in line with the shaft in the closed position. Here, the control member angle is preferably between 0 degrees and 5 degrees when the control member is in the closed position, preferably about 0 degrees.

[0045] In an preferred embodiment, the handle comprises the locking mechanism in accordance with an embodiment of the present disclosure and the handle is further configured to resemble a shaft handle for a laparoscopic instrument when the control member is locked in the closed position

[0046] An advantage of this embodiment is that such a handle allows the input device to be held in a pencil grip when the control member is locked, which increases the different types of laparoscopic movements that can be practiced using the input device.

[0047] In an example in accordance with the present disclosure, the electronic input device comprises a power module comprised in the body portion configured to provide power to the control module, the communication circuit and the plurality of input sensor. , the power module comprises a battery comprised in the body portion and / or a power input connector positioned at a corresponding opening in the body portion, wherein the power input connector is configured to enable a user to connect the input device to an external power supply.

[0048] In an example in accordance with the present disclosure, the communication circuit comprises one or more wireless interfaces, such as a Bluetooth interface, an IR interface or a Wi-Fi interface, or any other suitable wireless interface and / or one or more wired interfaces, such as a USB interface or an ethernet interface, or any other suitable wired interface.

[0049] In an embodiment in accordance with the present disclosure, the electronic input device further comprises a haptic feedback module comprised in the handle and operatively connected to the control module, wherein the haptic feedback module is configured to provide haptic feedback to a user. In an example, the haptic feedback element comprises a vibration module configured to provide a vibration in the handle at a predetermined vibrating frequency over a predetermined duration. In an example, the control module is configured to remove a vibration pattern in the input signal caused by at least one of the plurality of sensors measuring the vibration of the haptic feedback element. In an even further embodiment, the vibration pattern is removed by applying a band pass filter configured to remove a signal component corresponding to the predetermined vibrating frequency. In an example, the predetermined vibrating frequency is in the range of 150 Hz to 350 Hz, preferably in the range of 200 Hz to 300 Hz, more preferably about 230 - 270 Hz, for example, about 238 Hz or about 250 Hz. An advantage of the predetermined vibrating frequency being in the range of 230 - 270 Hz is that in general, most humans are most sensitive to haptic vibrations with a frequency of around 250 Hz. It will be clear that the predetermined vibration frequency may be adjusted in accordance with motor characteristics of a motor comprised in a vibration module and / or vibrations frequencies said motor may be able to generate. In an embodiment in accordance with the present disclosure, the control module is further configured to generate one or more processed signals from the (raw) input data received from the plurality of input sensors, wherein the output signal comprises the one or more processed signals. The processed signals may also be revered to as synthetic signals or derived signals. The processed signals may be generated from the input data by applying one or more signal processing steps to the input data.

[0050] In an embodiment in accordance with the present disclosure, the control module is further configured to generate processed data by applying one or more pre-processing operations to the input data and wherein the output data comprises the processed data, wherein preferably the one or more pre-processing operations comprises one or more of:

[0051] - one or more noise reduction operations;

[0052] - one or more cross-correlation operations;

[0053] - one or more resampling operation;

[0054] - one or more quantisation operations;

[0055] - one or more compression operations; and

[0056] - one or more normalisation operations. The processed signals may also be revered to as synthetic signals or derived signals. The processed signals may be generated from the input data by applying one or more signal processing steps to the input data.

[0057] In an embodiment in accordance with the present disclosure, the one or more crosscorrelation operations comprise the accelerometer data, de gyroscopic data, and the distance data.

[0058] An advantage of the control module performing cross-correlation is that imprecisions and noise that is generally present in input data from sensors are greatly reduced or even practically removed, which means that the accuracy of the input data is further increased. As a result, noise and imprecisions in movements tracked with the input device are practically imperceivable during digital training of laparoscopic movements.

[0059] In an embodiment in accordance with the present disclosure, the control module and / or the IMU are configured to apply one or more preprocessing steps to the input signal before providing the user input data to the external device. The preprocessing steps may comprise signal processing steps.

[0060] In a further embodiment according to the present disclosure, the one or more preprocessing steps are one or more of: an amplifying step, a filtration function, a rectification function, a smoothing function, applying one or more filters, applying a statistic function relating to an amplitude and / or a power of the action potential signal, such as, an integrated absolute value function, a root mean square function, a waveform length function, applying a statistic function relating to a time series, such as, an autoregressive coefficient function, applying a signal decomposition function, such as, a discrete wavelet transform, or a Fourier transform (for example a fast Fourier transform or a Short-Time Fourier Transform), or any other suitable signal processing step.

[0061] According to the present disclosure one or more preprocessing steps may be comprised in one or more hardware filters, in one or more software filters, or in a combination of one or more hardware filters and one or more software filters.

[0062] It will be clear that the above list is non-exhaustive and that any other suitable preprocessing step may also be applied according to the present disclosure.

[0063] In a further embodiment, preprocessing step of applying one or more filters comprises applying one or more filters to one or more elements in the user input data and to provide filtered user input data to the external device, wherein the one or more filters are preferably linear continuous-time filters.

[0064] An advantage of the control module and / or the IMU being configured to one or more filters to the user input data is that it is possible to apply necessary filters to the input data, removing the need of the external device being able to filter the input data, thus making the input device suitable for use with a larger range of external devices.

[0065] In further embodiment, the one or more filters further comprises one or more of: a noise reduction filter, a Kalman filter, a low-pass filter, a high-pass filter, a band-pass filter, an interpolation filter, a complementary filter, a Butterworth filter.

[0066] It is noted that different filters in the one or more filters may be predetermined to be applied to parts of the input data in accordance with their respective corresponding input sensor, while some other filters may be applied to all parts of the input data. For example, input data from the gyroscope may be filtered using a first predetermined high pass filter configured to filter gyroscopic input data, while input data from the accelerometer is filtered using a first predetermined low pass filter configured to filter accelerometric input data and / or using a second predetermined high pass filter configured to filter accelerometric input data. In a further example, the input data from both the gyroscope and the accelerometer is filtered using a sample rate filter configured to resample the input data. In an example, the IMU is configured to apply the sample rate filter.

[0067] In an additional or alternative further embodiment, the one or more filters further comprises a dynamic sampling filter, wherein the dynamic sampling filter is configured to adjust a response time of the dynamic sampling filter such that the output rate is inversely proportional to a movement speed that is calculated based on the input data.

[0068] An advantage of having a dynamic sampling filter is that a lower output rate provides a more accurate tracking, but with a relatively higher latency \, by having a dynamic sampling filter, a lower latency is obtained during larger movements with a trade-off of having (relatively) lower accuracy, while an output with higher accuracy and more stability is obtained when making precise movements with the trade-off of having a higher latency.

[0069] In another additional or alternative further embodiment, the control module comprises a dedicated signal processing circuit for processing the input data from the plurality of sensors, wherein the dedicated signal processing circuit is configured to process the input data and to apply the one or more filters to the user input data. In another example, the IMU is configured to apply at least the one or more filters to at least a part of the user input data.

[0070] An advantage of having a dedicated signal processing circuit is that the one or more filters are applied in a computational effective manner.

[0071] In an example the dedicated control module comprises one or more microprocessors.

[0072] In an embodiment, the control module is configured to obtain one or more synthetic (time series) signals from the input data and wherein the output data comprises one or more of the synthetic signals, and optionally all or a subsection (e.g. subsequence) of the input data. For example, the control module may provide a synthetic tracking signal in the output signal, wherein the synthetic tracking signal is obtained by the control module by calculating a movement path of the input device in a 3D space relative to a predetermined point using the input data from two or more of: the accelerometer, the gyroscope, the magnetometer, and the distance sensor.

[0073] In an embodiment in accordance with the present disclosure, at least one of the one or more signal processing operations comprises applying one or more filters to the user input data, wherein the one or more filters correspond with the at least one of the one or more pre-processing operations, wherein preferably the one or more filters comprise a linear filter. Preferably, the one or more signal processing operations comprise a dynamic sampling operating comprising applying a dynamic sampling filter, wherein the dynamic sampling filter is configured to adjust an output rate of the input data such that the output rate is inversely proportional to a movement speed that is calculated based on the input data.

[0074] In an embodiment in accordance with the present disclosure, an outside surface of the rigid shaft is configured to be electrically conductive. In a further embodiment, the rigid shaft is electrically connected to the control module and wherein the control module is configured to determine whether the rigid shaft is electrically connected with an external electronic calibration element and to calibrate one or more of the plurality of sensors using a predetermined calibration position in reaction to the rigid shaft is electrically connected with the external electronic calibration element.

[0075] The present disclosure further relates to a base station for providing a fulcrum point for an electronic input device in accordance with any one of the previous claims, wherein the base station comprises a main body including one or more apertures that extend from a first side of the main body through the main body to a second side of the main body and wherein the one or more apertures are configured to receive the rigid shaft of the electronic input device.

[0076] In an embodiment in accordance with the present disclosure, the base station further comprises a stand connected with the main body and configured to support the main body when the base station is placed on a surface, such as a floor or a desk, wherein the stand preferably comprises a bifold structure configured to be movable between a storage position and a using position.

[0077] In an embodiment in accordance with the present disclosure, the apertures have a circular shape or an ellipsoid like shape and wherein at least one of the one or more apertures has an additional cut-out configured to receive the shaft of the electronic input device and wherein, when the rigid shaft of the electronic input device is positioned in the cut-out, the rigid shaft is in an orientation that corresponds to a predetermined orientation calibration position.

[0078] In an embodiment in accordance with the present disclosure, the cut-out comprises a calibration element.

[0079] In an embodiment in accordance with the present disclosure, the base station is passive.

[0080] In an embodiment in accordance with the present disclosure, the base station further comprises a processor and a communication circuit comprised in the main body, and wherein the processor is configured to connect to one or more electronic input devices in accordance the present disclosure via the communication circuit of the base station.

[0081] In a further embodiment in accordance with the present disclosure, the processor of the base station is further configured to be connectable to an external user device using the communication circuit comprised in the base station.

[0082] In an embodiment in accordance with the present disclosure, the base station is configured to obtain output data from the one or more electric input devices in a connected mode and to provide the external user device with tracking data from the one or more electronic input devices using the obtained output data.

[0083] In an embodiment in accordance with the present disclosure, the base station is further configured to determine whether an electronic input device in accordance the present disclosure is in the orientation calibration position by determining that the conductive shaft is electrically connected with the calibration element, and wherein the processor is configured to initiate a calibration process.

[0084] In an embodiment in accordance with the present disclosure, the base station comprises a calibration and / or

[0085] In an embodiment in accordance with the present disclosure, the base station comprises a port insertion sensor for each of the one or more apertures, wherein each port insertion sensor is operatively connected with the base station control module, wherein the base station control module is configured to determine whether an object is inserted in one of the one or more apertures using the corresponding port insertion sensor and to provide, in reaction to a determination that the object is inserted, provide a data element to an external device indicative of that the object is inserted in the corresponding aperture.

[0086] The present disclosure further relates to an assembly comprising one or more electronic input device in accordance the present disclosure and a base station in accordance with the present disclosure.

[0087] The assembly according to the present disclosure has all the effects and advantages as discloses in relation to the input device in accordance with the present disclosure.

[0088] The present disclosure further relates to a computer-implemented method for training laparoscopic surgery, the method comprising: obtaining one or more electronic input devices in accordance the present disclosure associating each of the one or more electronic input device with a distinct virtual element from a corresponding one or more virtual elements; displaying, on a monitor, a virtual three-dimensional environment including a graphical representation of each of the one or more virtual elements; obtaining output data from at least one of the one or more electronic input devices, wherein the output data is indicative of an action performed with the at least one electronic input device; displaying, on the monitor, a visualization of a corresponding action with the virtual element associated with the at least one device in the virtual three-dimensional environment by updating the virtual three-dimensional environment and / or the graphical representation.

[0089] In an embodiment in accordance with the present disclosure, the method further comprises: determining a performance score corresponding to the action, wherein the performance score is indicative of a degree of agreement between a predetermined desired action and the action performed by the user; provide feedback to the user in correspondence with the performance score

[0090] In an example of the present disclosure, the method comprising:

[0091] - displaying a virtual environment to a user, wherein the virtual environment comprises at least one interactive element;

[0092] - prompting the user to perform an exercise in the virtual environment, wherein the exercise requires the user to perform a desired action with the at least one interactive element;

[0093] - obtaining in real time output data from a first electronic input device in accordance with the present disclosure; - dynamically adapting the virtual environment in real time in accordance with the output data by moving the interactive element in the virtual environment in accordance with the output data;

[0094] - determining, using the output data, an action path of the first electronic input device corresponding to the user performing the exercise;

[0095] - determine a performance score corresponding to the action path by comparing the action path with a predetermined desired action path associated with the exercise, wherein the predetermined desired action path preferably comprises one or more desired actions and / or one or more desired events;

[0096] - provide feedback to the user in correspondence with the performance score.

[0097] In an example, the one or more desired events may be indicative of an event desired to occur in the virtual environment such as an object being dropped, an object being cut, an object colliding with another object, and / or other events that may occur in the virtual environment etc.

[0098] In an example, the one or more desired actions may comprise a desired motion, a desired precision, a desired actuation.

[0099] It will be understood that, for example, the desired action path may not be constrain the desired one or more desired events and / or one or more desired actions to a specific order and / or location. In other words, the desired action path may not be restricted to a specific motion but may indicative of a goal associated with the exercise but does not limit the user to a specific order and / or location of actions with which that goals must be obtained. The user may thus tackle the exercise in different ways.

[0100] In an embodiment of the method in accordance with the present disclosure, the predetermined desired action path comprises one or more actions that corresponds to an action performed by a surgeon during laparoscopic surgery.

[0101] In an embodiment of the method in accordance with the present disclosure, the virtual environment is visually different than a laparoscopic environment, while the desired action path associated with the exercise corresponds to one or more actions performed by a surgeon during laparoscopic surgery.

[0102] In an embodiment of the method in accordance with the present disclosure, the at least one interactive element is able to perform a virtual function in the virtual environment that correspond to a function that can be performed by a laparoscopic instrument.

[0103] In a further embodiment, the virtual function is one of: a scissor function, a gripper function.

[0104] In a further embodiment, at least a subsection of the desired actions correspond to an core skill necessary to perform laparoscopic surgery.

[0105] In a further embodiment, the exercise has an associated relative difficulty. In an embodiment, the method further comprises determining an exercise recommendation using the performance score associated with the first exercise and the relative difficulty associated with the exercise; selecting a second exercise in correspondence with the exercise recommendation and a relative difficulty associated with the second exercise; and prompting the user to perform the second exercise.

[0106] The present disclosure further relates to a computing device for executing a digital laparoscopic surgery simulation, wherein the computing device comprises a processor, a communication module operatively connected with the processor, a memory operatively connected with the processor, and a display, wherein the memory comprises instructions that, when executed by the processor, causes the processor to execute the method in accordance with the present disclosure.

[0107] In an embodiment in accordance with the present disclosure, the computing device is a personal computing device, a laptop, a tablet, a mobile device, a virtual reality device, a virtual reality headset.

[0108] The present disclosure further relates to a system comprising one or more electronic input device in accordance with the present disclosure and a computing device in accordance with the present disclosure.

[0109] In an embodiment in accordance with the present disclosure, the system further comprises the base station.

[0110] According to a further aspect of the present disclosure, there is provided a computer program comprising computer-executable instructions to perform the method, when the program is run on a computer, according to any one of the steps of any one of the embodiments disclosed above.

[0111] According to a further aspect of the present disclosure, there is provided a computer device or other hardware device programmed to perform one or more steps of any one of the embodiments of the method disclosed above.

[0112] According to another aspect of the present disclosure, there is provided a data storage device encoding a program in machine-readable and machine-executable form to perform one or more steps of any one of the embodiments of the method disclosed above. BRIEF DESCRIPTION OF FIGURES

[0113] The accompanying drawings are used to illustrate presently preferred non-limiting exemplary embodiments of devices of the present invention. The above and other advantages of the features and objects of the invention will become more apparent, and the invention will be better understood from the following detailed description when read in conjunction with the accompanying drawings, in which:

[0114] Figure 1 is a perspective view of an example of an input assemble according to the present disclosure.

[0115] Figure 2 provides a diagram of an example of electronic components of an electronic input device according to the present disclosure.

[0116] Figure 3 is a perspective view of an example of an electronic input device with an axial handle according to the present disclosure.

[0117] Figure 4 is a perspective view of the handle of the input device from figure 3.

[0118] Figure 5 is a side view of the handle of the input device from figure 3 showing the control member in different positions.

[0119] Figure 6 is an exploded view of of the input device from figure 3 according to the present disclosure.

[0120] Figure 7 is a sectional view of the input device from figure 3according to the present disclosure.

[0121] Figure 8 is a perspective view of an example of an electronic input device with a scissor grip handle according to the present disclosure.

[0122] Figure 9 is a perspective view of the handle of the input device from figure 8.

[0123] Figure 10 is an exploded view of of the input device from figure 8 according to the present disclosure.

[0124] Figure 11 and 12 provide sectional views of the electronic input device from figure 8 according to the present disclosure.

[0125] Figure 13 provides a perspective view of an example of a base station according to the present disclosure.

[0126] Figure 14 exploded view of an example of the base station of figure 13 in accordance view to the present disclosure.

[0127] Figure 15 is a sectional view showing an example of apertures shapes in the base station according to the present disclosure.

[0128] Figure 16 is a perspective view of an example showing the electronic input device positioned in the base station in a predetermined calibration position according to the present disclosure. Figure 17 is a perspective view of an example of an assembly with electronic device being in a calibration position according to the present disclosure.

[0129] Figure 18 is a perspective view of an example of a system according to the present disclosure.

[0130] Figure 19 is a flow diagram of data in a system according to the present disclosure. DESCRIPTION OF EMBODIMENTS

[0131] Figure 1 shows an example of assembly 2 (also referred to as input assembly) for providing user input during digital laparoscopic surgery training. More specifically, input assembly 2 enables the user to mimic movements that are typically made during laparoscopic surgery by using input assembly 2 during a digital laparoscopic surgery training, preferably during a digital simulation for laparoscopic surgery. Input assembly 2 includes electonic input devices 4 that may resemble laparoscopic instrument and base station 6 which may be considered as representing, during a laparoscopic surgery training simulation, a part of an abdomen of a patient having multiple incision points. It will be clear that assembly 2 may comprise a different number of electronic input devices 4. For example, assembly 2 may also comprise one electronic input device 4 or any other of electronic input devices depending on a preference of the user and / or a type of laparoscopic surgery that is simulated.

[0132] Each example of electronic input device 4 of input assembly 2 comprises handle 30 having body portion 32 and control member 34 (also referred to as actuator lever or actuator) which is moveable arranged with respect to body portion 32. Body portion 32 is configured to be gripped by a user during use of electronic input device such that the user can interact with control member 34. For example, body portion 32 may comprise (or resemble) a grip portion configured to be hold by a user. Control member 34 is movably arranged with respect to body portion 32. For example, pivot 36 may rotatable connect body portion 32 and control member 34. As a result, control member 34 is movable with respect to body portion 32 by rotating (i.e. pivoting) at pivot 36. Control member 34 may be positioned relative to body portion 32 such that, when the user grips electronic input device at body portion 32 in a working position, the user is able to control (e.g. actuate, move) control member 34 with one or more of their fingers of the hand with which they grip body portion 32. It will be clear that handle 30 may also resemble other type of handles used in laparoscopic instruments.

[0133] Optionally, electronic input device 2 also comprises one or more auxiliary actuators such as trigger switch 38 or a rotational input control comprising rotational knob 40 as further detailed below. Rotational knob 40 may also be referred to as a roll knob.

[0134] Rigid shaft 42 (which may also be referred to as a rod or shank) of electronic input device 4 is connected to handle 30 and extends away from handle 30. In the present example, rigid shaft 42 is connected to body portion 32 and thus rigid shaft 42 may also be regarded as extending away from body portion 32.

[0135] Base station 6 in assembly 2 comprises main body 10 having apertures 12 which extend through main body 10 and which are configured to receive rigid shaft 42 of electronic input device 4. E.g. rigid shaft 42 may be moved through base station 6 by inserting second end 42-b into one of apertures 12 such that a first portion of rigid shaft 42 is on a first side of base station 6 and a second portion of rigid shaft 42 is at a second side of base station 6 opposite to the first side. Preferably, a size of aperture 12 corresponds with a diameter of rigid shaft 42 such that when rigid shaft 42 is inserted in aperture 12, rigid shaft 42 may rotate and / or pivot at a (imaginary) fulcrum point provided by aperture 12. Electronic input device 4 may thus be rotated and / or pivoted with respect to base station 6.

[0136] In the present example main body 10 comprises five apertures 12 but it will be clear that base station 6 may also comprise a different number of apertures 12. It will also be clear that, when one electronic input device 4 is inserted in one of apertures 12, another electronic input device 4 may be inserted in another one of apertures 12. Base station 6 further comprises stand 14 such that base station 6 can be easily placed on a flat surface, wherein a space exist between main body and the flat surface, such that first portion of rigid shaft 42 inserted in base station 6 may move in said space without being obstructed by, for example, stand 14.

[0137] Various components of base station 6 and electronic input device 4 may be made from suitable materials such as plastic and / or metal. For example, main body 10 and handle 30 may comprise plastic material such as HDPE, PVC, Polypropylene, polycarbonates, or other suitable types of plastic. Rigid shaft 42 may be made from a metal material, although other types of rigid materials are also envisioned. In an example, rigid shaft 42 is configured to be conductive, e.g. by the outside surface of rigid shaft 42 comprising electric conductive material.

[0138] In this particular example of assembly 2, two types of electronic input devices 4 are shown that may be distinguished by their respective handles configured to resemble a different type of laparoscopic instrument handle. A first type of electronic input device 4 is electronic input device 4a, wherein handle 30 resembles an axial handle and wherein control element 32 resembles a linear control which may be used to practice movements of laparoscopic instruments with the so-called linear controller and a second type of electronic input device 4 is electronic input device 4b, wherein handle 30 resembles scissor grip control handle, also referred to as a scissor grip handle or pistol handle, which may be used to practice movements of laparoscopic instruments with such a so-called scissor grip handles. It will be clear that the one or more electronic input devices 4 comprised in assembly 2 may be any combination of electronic input device(s) 4a of the first type and electronic input device(s) 4b of the second type, including only electronic input device(s) 4a of the first type or only electronic input device(s) 4b of the second type. Further details and variants of electronic input device 4 and base station 6 are presented in the figures below. It is noted that throughout the different figures, corresponding elements of electronic input devices 4 are provided with corresponding reference signs. E.g. a component with reference sign Ixx corresponds to a component with reference signs 2xx.

[0139] Various electronic of electronic (figure 2) input device 4 may be housed in handle 30, preferably in body portion 32 including control module 50 that is operatively connected to communication module 52 and sensor module 56. Control module 50 may also be referred to as a control circuit. Control module 50 may comprise one or more processor. The one or more processors may be microprocessors. Communication module 52 may comprise one or more wireless communication interfaces (not shown) which may include wireless interfaces such as a Bluetooth, IR, Wi-Fi, and / or any other suitable wireless interface. Communication module may additionally or alternatively comprise one or more wired communication interfaces, such as USB, Ethernet, or any other suitable wired interface. Communication module 52 is configured to establish a data-connection with a corresponding communication interface of an external device and control module 50 may communicate with said external device via communication module 52. In an example, communication module may transmit data to the external device over the UART protocol.

[0140] Sensor module 56 may comprise a plurality of sensors which may obtain (e.g. measure) input data from the user during use of electronic input device 4. Preferably, one or more sensors from the plurality of sensors are solid-state electronical sensors. Sensor module 56 may be operatively connected to control module 50 to provide control module 50 with input data. It will be clear that the plurality of may also be comprised in electronic input device 4 without being comprised in sensor module 56. The plurality of sensor includes input control sensor 62, inertial measurement unit (IMU) 64 and distance sensor 72. Input control sensor may determine a movement of control member 34 relative to body portion 32 and provide input data to control module 50 that is indicative of said movement of control member 34. IMU 64 is configured to capture motion data indicative of motions made with handle 30 (and thus electronic input device 4). When the user moves electronic input device 4, these motions may be captured by IMU 64 and data indicative of these motions may be provided to control module 60. IMU 64 may provide include accelerometer 66 configured to capture accelerometer data indicative of a linear acceleration of handle 30 and gyroscope 68 configured to capture gyroscopic data indicative of an angular velocity of handle 30. Using accelerometer 66 and gyroscope 68, IMU 64 may provide movement data of motions in at least six axis of movement. IMU 64 may further comprise magnetometer 70 configured to provide magnetic field data as input data indicative of a strength and / or an orientation of the earth magnetic field. IMU 64 may be configured to provide movement data of motions in at least nine axis of movement by combining the magnetic field data of magnetometer 70, with the movement data obtained using accelerometer 66 and gyroscope 68, therewith further increasing the accuracy of electronic input device 4, while still keeping electronic input device 4 relatively low-weight. IMU 64 may capture motion in near real time, at a sample rate of between 150 and 500 samples per second, preferably about 360 samples per second. It will be clear that accelerometer 66, gyroscopic 68, and / or magnetometer 70 may be comprised in electronic input device 4 outside of IMU 64. Distance sensor 72 is configured to determine a distance in between a sensing side of distance sensor 72 and a surface of an external object. Sensor module 56 may further comprise one or more auxiliary input sensors 74 configured to obtain auxiliary input data from the user that extends the functionality of electronic input device 3. For example, one or more auxiliary input sensors 74 may comprise trigger switch 38 which may be configured to provide actuation data upon activation thereof. For example, during the digital laparoscopic simulation the activation of the trigger switch 38 may be associated with a specific function of the laparoscopic instrument that is represented by electronic input device 4. One or more auxiliary input sensors 74 may also comprise rotational knob 40 (further detailed below) and / or one or more input buttons 86 configured to provide auxiliary user input during use of electronic input device 4. For example, the one or more input buttons 86 may for example comprise a power button configured to switch electronic input device 4 between a powered on state and a powered off state. The one or more input buttons may for example comprise a paring button and activation of the which may be associated with communication module 52 initializing a pairing protocol to connected with an external device.

[0141] Electronic input device 4 may further include memory module 54, power module 58, and feedback module 60, which each may also be comprised in handle 30 or body portion 32 and which may also be operatively connected with control module 50. Memory module 54 may comprise read only memory (ROM) for storing software, random access memory (RAM), and / or non-volatile storage medium. Memory module 54 may store instructions that are executable by control module 50 and which, when executed, cause control module 50 to perform the operatives of electronic input device 4 as disclosed throughout the present application. Control module 50 may further be configured to, at least temporarily, store data obtained from sensor module 56 in memory module 54. Electronic input device 4 may further comprise power module 58 electronically connected to the different electronic components of electronic input device 4 and configured to power the various electronic components in electronic input device 4. Power module 58 may for example comprise a (preferably rechargeable) battery and / or a power supply connector configured to connect power module 58 to an external power supply. Power supply connector may also be comprised in one of the wired interfaces of communication module 52 such as a USB interface. In an example, power module 58 may comprises a battery comprised in the body portion and / or a power input connector positioned at a corresponding opening in the body portion, wherein the power input connector is configured to enable a user to connect the input device to an external power supply. Power module may be configured to provide power to the control module, the communication circuit and the plurality of input sensor (and possible other electronic components).

[0142] Electronic input device 4 may further comprise feedback module 60 configured to provide feedback to the user, wherein the feedback may be indicative of a state of electronic input device and / or may be indicative of a feedback event. For example, feedback module 60 may comprise haptic feedback element 78, for example a vibration module, configured to provide haptic feedback to the user by vibrating the handle when a predetermined event is triggered. The predetermined event may be triggered by the controller module (e.g. in reaction to a connection being established with an external device) or may be triggered by an external device (e.g. after a collision is detected between a virtual representation of electronic device 4 and a virtual object in a simulation executed by the external device). Feedback module may comprise light 80, for example a FED, wherein light 80 may provide the user with information indicative of a status of the device. The status may for example be a power status (e.g. light on indicating electronic input device 4 is powered on and light off indicates electronic input device 4 is powered off) and / or an connection status (e.g. a colour and / or flashing pattern of light 80 may indicate of an active connection existing between electronic input device 4 and an external device, electronic input device 4 being in pairing mode and / or no connection existing between electronic input device 4 and an external device.

[0143] Further examples of first type of electronic input device 4a are provided in figures 3 - 7.

[0144] Electronic input device 100 (figures 3 - 7) with axial handle 130 comprising body portion 132, and control member 134 rotatable connected with body portion 132 via pivot 136. In the present example, control member 134 is a linear control member. Distance sensor 172 is arranged in handle 130 such that it measures through opening 144 in measurement direction Ml.

[0145] Distance sensor 172 is configured to determine a distance in measuring direction Ml between sensing side 176 of distance sensor 172 and a surface of an external object. Measuring directing Ml is approximately parallel to rigid shaft 142. In the current example, distance sensor 172 is a dual Time of Flight, ToF, laser sensor (also known as a time-of-flight camera). However, other distances sensors such as ultrasonic distance sensors, infrared reflection triangulation distance sensors, or other time-of-flight, ToF, sensors are also envisioned. Distance sensor 172 (figure 8) measures a distance between distance sensor 172 and an object in front of distance sensor 172 by measuring a time-of-flight, round trip time, of an emitted signal, such as an artificial light emitted by a laser or a LED comprised in distance sensor 172, wherein the emitted signal, such as the emitted light is reflected by the object and detected by a receiving sensor, such as an image sensor, comprised in the distance sensor.

[0146] Electronic input device 100 is further provided with trigger switch 138 provided on control member 134 and auxiliary button 174 provided on body portion 132. Led 180 may be controlled by feedback module 60 or control module 50 in accordance with a current status of electronic input device 100. Trigger switch 138 may be configured move between a (fully) deactivated position and a (fully) activated position and wherein the corresponding switch activation data is indicative of a intermediate position of trigger switch 138 between the deactivated position and the activated position, including said positions (e.g. switch activation data may indicate a distance that trigger switch(138 has been pressed by the user) or wherein the activation data is indicative of an activation state (e.g. a binary state indicating whether trigger switch 138) is pressed (activated) or not pressed (deactivated)). Trigger switch 138 may be provided with a switch sensor configured to provide the control module with switch activation data as input data indicative of an activation or deactivation of the corresponding at least one trigger switch. It will be clear that the electronic input device may also contain none or more trigger switches. Electronic input device 100 further include trigger input button 186.

[0147] Control member 134 (figure 4) may further be provided with a biasing element, here embodied by spring 146 configured to assert a predetermined force to control member 134 in an opening direction X away from body portion 132 such that control member 134 is biased in an open position.

[0148] Figure 5 shows (linear) control member 134 in different stages of rotation relative to body 132. In figure 5 A, control member 134 is in an open position, when a user actuates control member 134 the spring bias of spring 146, causing control member 134 to move (figure 5b) towards body portion 132 by rotation in direction R1 until control member 132 is in a closing position (figure 5c). Likewise, when the user releases control member 132 from the closing position, control member 134 may move away from body portion 132 by rotating in direction R1 back towards the open position. Body portion 132 may include a first surface, e.g. distal surface 132- A, a second surface, e.g. proximal surface 132-B, and at least a third surface, e.g. side surface 132-C.

[0149] Rigid shaft 142 is connected to body portion 132 at distal-surface 132-A of body 132 about first end 142-a of rigid shaft 142 and extends away from body portion 132 in first direction Ml to second end 142-b of rigid shaft 142. Part of rigid shaft 142, including first end 142-a may be encased by handle 130 as to ensure a rigid connection thereto.

[0150] Body portion 132 may be considered to extend between proximal surface 132-B and distal surface 132-A in a first longitudinal direction LI and a body portion angle may be defined as an angle between first direction Ml and first longitudinal direction LI. Control member 134 extends between first end 134-a of control member 134 and second 134-b end of control member 134 in second longitudinal direction L2 and control angle may be defined as an angle between first direction and second longitudinal direction L2.

[0151] In the present example, handle 130 resembling an axial handle by body portion 132 being positioned relatively in line with rigid shaft 142 such that first longitudinal direction LI is about in line with the first direction or is at is at a predetermined angle to the first direction, wherein the predetermined angle (i.e. body angle) is in a range of 0 degrees to 15 degrees.

[0152] Control member angle A2 may be between 0 degrees and 5 degrees, preferably about 0 degrees, when control member 132 is in the closed position (figure 5c). Control member angle A2 may decrease when control member 132 is moved from the open position towards the closed position and control member angle A2 may increase when control member 132 moves from the closed position to the closed position.

[0153] Preferably, wherein in the locked position, the control member is about parallel to and abuts the body portion such that the handle resembles a shaft handle. In other words, handle 130 may resembles a handle of a laparoscopic element without control member when control member 134 is locked in the closed position.

[0154] Distance sensor 172 (figure 6) is arranged in body portion 132 such that sensing side 176 of distance sensor 172 is in front of opening 144 or protrudes through opening 144. Preferably, outside surface of sensing side 176 is covered by transparent cover 182 which protects sensing side 176. Preferably, transparent cover is positioned in opening 144. For example, the transparent cover may comprise optical grade PMME. The transparent cover may be coloured and the transparent cover may for example comprise optical grade black PMME.

[0155] Body portion body portion 132 and control member 134 are rotatable connected via pivot 136.

[0156] Input control sensor 162 (figure 7) comprises hall sensor 192 in body portion 132 and magnet 194 in control member 134, wherein hall sensor 192 may measure a voltage (or voltage change) induced by magnet 194 that is indicative of a relative distance and / or relative movement between control member 134 and body portion 124. It will be clear that the respective positions of hall sensor 192 and magnet 194 may also be reversed and that input control sensor may also comprise a plurality of hall sensors and / or a plurality of magnets. Preferably, magnet 194 and face hall sensor 192 are positioned to face each other in correspondence with a movement direction of control member 134.

[0157] Handle 130 may further comprise locking mechanism 148 configured to lock control member 132 in a current position, preferably when the current position is a predetermined position, more preferably when the current position is the closed position shown in figure 5c. Locking mechanism 148 may be provided by a ratchet pawl locking mechanism, an electromagnetic locking mechanism, a swivel locking mechanism, a sliding locking mechanism, preferably a rachet pawl locking mechanism. Locking mechanism 148 may comprise a releasing member (not shown) configured to be activated by a user, and wherein the locking mechanism 148 is configured to release control member 134 from the locking position in reaction to activation of the releasing member (e.g. a shank handle). Body portion 132 further includes haptic feedback module 198 comprising a vibration unit configured to provide haptic feedback by vibrating handle 130 and / or body portion 132.

[0158] Further examples of the second type of electronic input device 4 are provided in figures 8 - 12, showing electronic input device 200 having handle 230 that is configured to resemble a scissor grip handle or a pistol grip handle for a laparoscopic instrument. It is noted that various components shown in figures 8 - 12 correspond with the components shown in 1 - 7. These components are indicated using corresponding references signs and the above-discussed features, variants and effects of electronic input device 4 and electronic input device 100 are also applicable to electronic input device 200.

[0159] Electronic input device 200 (figure 8) has handle 230 with body portion 232 and control member 234 moveably connected with body portion 232 via pivot 236. Rigid shaft 242 is connected to body portion 232 and extends in first direction Ml. Body portion 232 and control member 234 may be provided with finger grips 284 and 288 respectively.

[0160] Handle 230 (figure 9) extends from proximal surface P to distal surface D in first longitudinal direction LI and body portion angle Al may be defined as an angle between the first direction Ml and first longitudinal direction LI. Control member 234 extends from first end 234-a of control member 234 to second 234-b end of control member 234 in second longitudinal direction L2 and control angle A2 is defined as an angle between first direction and second longitudinal direction L2. In the present example, control angle A2 may increases when moving from the closed position towards the open position and may decreases when moving from the open position towards the closed position. Electronic input device 200 is further equipped with trigger switch 238, rotational knob 240, and auxiliary button 274. Led 280 may be controlled by feedback module 60 or control module 50 in accordance with a current status of electronic input device 200.

[0161] In the present example, handle 230 resembling a scissor grip handle (also known as pistol grip). In the present example, body portion 232 being positioned relative to rigid shaft 242 such that first longitudinal direction LI is at a predetermined angle with the first direction, wherein the predetermined angle (i.e. body angle) is in a range of 15 degrees to 90 degrees, preferably in the range of 70 degrees to 90 degrees.

[0162] Input control sensor 262 (figure 11) comprises a lever potentiometer configured to determine a current position of control member 234 relative to body portion 232. Rotational knob 240 is configured to be rotatable around rigid shaft 242 and comprises two or more magnets 298. Electronic input device 200 further comprises two rotational knob hall sensors 296 (figure 12), preferably a 3D hall sensor(s), configured to determine a current rotation angle of rotational knob 240 by measuring a voltage (or voltage change) induced by magnets 298 when rotational knob 240 (and thus magnets 298) is rotated. Rotational knob 240, the rotational knob hall sensor and two or more magnets 298 may together form rotational input control. Base station 300 in figures 13 - 18 comprises main body 310 with apertures 312 and stand 314. Apertures 312 are configured to receive rigid shaft 42, 142, 242, of electronic device 4, 100, 200. Apertures 312 represent an incision point of a laparoscopic instrument during minimal invasive surgery. Aperture 312 may act as a fulcrum (e.g. fulcrum point) about which electronic input device 4, 100, 200 may be pivoted when shaft 42, 142, and 242 is inserted in aperture 321. Stand 314 (figure 14) comprises a bifold structure configured to move the stand from a storage position to a using position. However, other types of stands, such as a fixed stand, are also envisioned.

[0163] Apertures 312 may comprise port membrane 316, for example from a neoprene or rubber like material, configured to provide friction to rigid shaft 42 of electronic input device 4 when rigid shaft 42 is inserted in aperture 312. The friction provides a more realistic feedback and experience to the user compared to smoother apertures which provide less friction. Preferably, an amount of friction provided by membrane 316 corresponds with an amount of friction experienced by a surgeon when using a laparoscopic instrument during a surgery. Base station 300 may be provided as a passive base station, without any electronic components. Alternatively, base station 300 may be provided with base controller module 318, having internal device interface 320 and external device interface 322. Base station 300 may further be provided with power module 324 and / or buttons 326. Each aperture 312 may be provided with port insertion sensor 328 configured to detect whether rigid shaft 42 of electronic input device 4, 100, 200 is inserted in aperture 312. Base station control module 318 may comprise a processor module, such one or more processors, one or more microcontrollers, and / or a communication module. Base station control module 318 may be configured to establish a data connection with one or more electronic input devices 4, 100, 200 using internal device interface 320 and to establish a data connection with external computing device, such as a personal computer, laptop, mobile phone, tablet and the like. Power module 324 may provide power to the various components of base station 300 by being electronically connected with base controller module 318, one or more buttons 326. Buttons 326 may be configured to allow the user to control base station 300. Various electronic components of base station 300 may be provided on a PCB as illustrated in figure 14.

[0164] Base station 6, 300 may be provided with port insertion sensor (not shown) for each aperture 12, wherein each port insertion sensor is operatively connected with base station control module 18, 318. Base station control module 18, 318, may determine that an object is inserted in aperture 12 using port insertion sensor data, and is configured to detect rigid shaft an object being inserted in the corresponding aperture and to provide an external device with a data element indicative that an object is inserted in said aperture. Base station control module 18, 318 or the external device may be configured to associate the object with one of the one or more electronic input devices 4, 100, 200 by determining a correspondence between the detected insertion and movement data of one of the one or more electronic input devices 4, 100, 200. E.g., it may be determined which one of the electronic input devices is inserted in which aperture based on the movement of said electronic input device 4, 100, 200.

[0165] As illustrated in figure 15, aperture 312 may have circular shape 312-a or may an ellipsoid like shape (not shown). Apertures 312 may have additional cut-out 312-b configured to receive rigid shaft 42, 142, 242 of electronic input device 4, 100, 200. Preferably, additional cut-out 312-b has a triangular like shape, wherein the transition between the circular or ellipsoid like shape 3-12 and the triangular like shape is preferably curved. The size of additional cut-out 312-b preferably correspond with size (e.g. circumference) of rigid shaft 42, 142, 242 such that rigid shaft 42, 142, 242 snugly fits in cut-out 312-b. The position of additional cut-out 312-b corresponds with a predetermined orientation calibration position such that, when rigid shaft 42, 142, 242 is positioned against edged of additional cut-out 312-b, such as illustrated in figure 16, the position of electronic device 4, 100, 200 corresponds to said predetermined orientation calibration position. The predetermined orientation calibration position may correspond to a predetermined orientation of the electronic input device 4, 100, 200 relative to base station 300 as shown in figure 16.

[0166] Cut-out 312-b may comprise a calibration element (not shown). For example, when rigid shaft 42, 142, 242 is electrically conductive, calibration element may be provided as an electrically conductive part of aperture 312, while a remaining part of aperture 312 is not conductive and wherein electronic input device 4, 100, 200 and / or base station 300 comprise a calibration position sensor configured to determine that rigid shaft 42, 142, 242 contacts conductive part of aperture 312. E.g. The calibration position sensor may determine a status of an electronic calibration circuit, wherein the electronic calibration circuit that is open when the conductive shaft and the calibration element do not touch and is closed when the conductive shaft and the calibration element touch. The calibration position sensor may be a capacitance sensor configured to measure a change in capacitance in the electrically conductive part of aperture 312 or rigid shaft 42, 142, 242, wherein the change in capacitance is indicative of contact between the electrically conductive part of aperture 312 or rigid shaft 42, 142, 242.

[0167] Alternatively, the calibration element may comprise a pressure sensor configured to measure a change in pressure indicative of rigid shaft 42, 142, 242 contacting the calibration element.

[0168] Control module 50, 150, 250 of electronic device 4, 100, 200 and / or base station control module 18, 318 may be configured to initiate a calibration process. During the calibration process, a relative position between base station 6 and electronic input device 4, 100, 200 may be calibrated. For example, the calibration process may be initiated in reaction to the calibration position sensor determining that the electronic device is in the calibration position. In another example, the electronic input device and / or the base station may comprise a calibration button and the calibration process may be initiated in reaction to the calibration button being pressed. For example, buttons 326 of base station 6 may include a calibration button and the calibration process may be initiated in reaction to the calibration button being pressed. In another example, the calibration process may be initiated in reaction to an associated button of electronic input device 4, 8, 100, 200 being pressed, for example trigger button 186. In an example, the calibration process may be initiated in reaction to the associated button being pressed for a predetermined duration. For example, the calibration process may be initiated after trigger button 186 or trigger switch 238 are switched for at least 5 seconds.

[0169] Alternatively, or additionally, motion data indicative of motion of electronic input device 4, 8, 100, 200 may be calibrated. Additionally, or alternatively, control module 50, 150, 250 of electronic input device 4, 100, 200 and / or base station control module 18, 318 may provide calibration data indicative of the predetermined calibration position to an external device, such that the external device may calibrate a virtual position of a virtual representation of a laparoscopic instrument in accordance with the calibration data.

[0170] Figure 17 illustrates an additional example of an assembly in accordance with the present disclosure, with assembly 600 having base station 300, electronic input device 100 with axial handle and electronic input device 200 with scissor grip handle. Electronic input device 100 and electronic input device 200 are connected with base station 300 via wired connections 610 and 620 respectively. Base station 300 may further be connected with an external system, such as mobile device 640, via a wireless connection (e.g. Bluetooth) or via a wired connection, for example using USB port 630.

[0171] System 1000 (figure 18) comprises assembly 1002 with electronic input devices 1004 and base station 1006 and further comprises computing device 1100 having monitor 1150. In the present example, computing device 1100 is a laptop, but it will be clear that other computing devices may also be used instead. The computing device is preferably a consumer device such as a personal computing device, a laptop, a tablet, a mobile device, a virtual reality device, or a virtual reality headset.

[0172] During use of system 1000, electronic input device 1004, base station 1006 and computing device 1100 may be operatively connected via a wireless connection. Alternatively, a wired connection as shown in figure 17 may be employed instead. Electronic input devices 1004 and base station 1006 may both be connected with computing device 1100. Alternatively, electronic input devices 1004 are only connected with base station 1006 and base station 1006 is further connected with computing device 1100. Base station 1006 may be configured to receive input data from electronic input devices 1004 and to provide laptop 1100 with said input data. Input data may be (pre-)processed by base station module 1006 before being provided to laptop 1100.

[0173] Figure 19 provides a flow diagram relating to processing of data in system 1000 in an example of the present disclosure. In electronic input device 1004, input data may be obtained by accelerometer 1066, gyroscope 1068 and magnetometer 1070. It will be clear that the input data may be represented as time-series data and / or may be represented as a (semi-)continues bit-stream. This data may also be referred to as sensor data, sensor measurement, signal data or the like. Accelerometer 1066 may provide digital acceleration data as input data corresponding to a measurement of an acceleration magnitude and acceleration direction over three orthogonal axis, expressed in units of meters per second squared (m / s2). Gyroscope 1068 may provide digital gyroscopic data as input data corresponding to a measurement of an angular velocity over three orthogonal axis expressed in units of degrees per second (rad / s). Magnetometer 1070 may provide digital magnetic field data as input data corresponding to a measurement of a change in strength and orientation of the Earth magnetic field over three orthogonal axis expressed in units of microtesla (pT). The data of accelerometer 1066, gyroscope 1068, and magnetometer 1070 may be represented in a binary representation, for example using a signed integer with a predetermined bitdepth for each corresponding dimension. It is noted that the predetermined bit-depth may be different between different data elements and / or dimensions. E.g. accelerometer data may be represented in 3 dimensions with a bit-depth of 14, gyroscope data may be represented in 3 dimensions with a bit-depth of 16 and magnetometer data may be represented in 3 dimensions with a respective bit-depth of 13, 13, and 15. Accelerometer 1066, gyroscope 1068, and magnetometer 1070 may be comprised in IMU 1064.

[0174] In step S101 IMU 1064 may generate motion tracking data indicative of a position and orientation of electronic device 1004 in three-dimensions over time by combining data from accelerometer 1066, gyroscope 1068 and magnetometer 1070 may be combined by the IMU in motion tracking data indicative of a position and orientation of electronic device 1004 in three- dimensions over time. Generating of the motion tracking data may comprise: applying a predetermined calibrating off-set, applying a noise-correcting filter and / or cross-correlating the data from accelerometer 1066, gyroscope 1068 and magnetometer 1070. After step S101, IMU may provide the generation motion tracking data to control module 1050. Alternative or additional to step S101, IMU may provide the data from accelerometer 1066, gyroscope 1068 and magnetometer 1070 to control module 1050 as “raw” data without the data being combined and / or pre-processed. Alternatively, step S101 may be performed in control module 1050, base station control module 1018 or by a processor of computing device 109.

[0175] Control module 1050 may further be provided with input data by distance sensor 1072 indicative of a distance, in the measurement direction, between distance sensor 1072 and a surface of an external object (such as the main body of base station 1006) expressed in units of millimeter (mm). It is noted that as the measurement direction is known (and fixed) relative to electronic device 1004, it may be expressed in a binary representation in a single dimension, e.g. as a single unsigned integer with a predetermined bit-depth such as 8, 10 or 16 bits, preferably 8 or 10 bits. In the present example, distance sensor 1072 is a dual distance sensor with distance sensor 1072-1 and distance sensor 1072-2 which may separately provide input data to IMU indicative of a distance expressed in units of millimeter (mm) which may be separately represented using single unsigned integer with a predetermined bit-depth. It is noted that data from distance sensor 1072-1 and distance sensor 1072-2 may be represented in different bit-depths.

[0176] Control module 1050 may further be provided with input data by input control sensor 1062 indicative of a current actuation of control member 34. Input control sensor 1062 may embodied by hall sensor 1062-1 which may provide digital magnetic field data as input data to control module 1050 corresponding to a measurement of a change in strength and orientation of a corresponding magnet, such as magnet 194 in figure 7, corresponding to a measurement of a change in strength and / or orientation of the magnetic field of said magnet over three orthogonal axis expressed in units of micro-tesla (pT).

[0177] Input control sensor 1062 may also be embodied by potentiometer 1062-2 which may provide data that is indicative of a current position (or angle) of control member 34 relative to body portion 32 as input data to control module 1050. Although potentiometer 1062-2 may produce a variable voltage output signal, as the output voltage is proportional to the current position (or angle) of control member control member 34 relative to body portion 32, it may be represented it may be expressed in a binary representation as a unit-less value in a single dimension, e.g. as a single unsigned integer with a predetermined bit-depth such as 10 bits.

[0178] Control module 1050 may further be provided with input data from auxiliary input controls 1074, such input data from trigger switch 1074-1, rotational knob 1074-2, and / or input buttons (not shown). Input data from rotational knob 1074-2 may be represented similar to the input data of hall sensor 1062-1. Input data from trigger switch 1074-1 may be represented similar to the input data of hall sensor 1062-1 or potentiometer 1062-2.

[0179] In step SI 03 control module 1050 may generate processed output-data by apply one or more signal processing operations one or more components of the provided input data before providing the processed output-data to base control module 1018 of base station 1006. It is noted that an input data component may refer to input data associated with one of the plurality of sensors.

[0180] The one or more signal processing operations (which may also be referred to as preprocessing operations) applied by control module 1050 may comprise one or more of: one or more filter operations; one or more noise reduction operations; one or more cross-correlation operations; one or more resampling operation; one or more quantisation operations; one or more compression operations; and one or more normalisation operations. The one or more filter operations may for example comprise applying an adaptive moving average filter. Generating the processed outputdata may further comprise cross-correlation and maximum likelihood estimation of the input data from distance sensor 1062 and IMU 1064. Generating the processed out-put data may further comprise generating filtered orientation data indicative of a position and orientation of electronic device 1004 over time expressed in Quaternions with a digital representation of a floating point type in four dimensions with a bit-depth of 32 bits. Generating the processed out-put data may further comprise generating corrected distance data by cross-correlating distance data from distance sensor 1072-1 and 1072-2 and / or cross-correlating data from distance sensor 1072-1 and 1072-2 with the motion tracking data from IMU 1064. Generating corrected distance data may additionally or alternatively comprise determining a maximum likelihood estimation of distance using input data from distance sensor 1072-1 and 1072-2. Generating the processed out-put data may further comprise mapping input data from input control sensor 1062 to a grip closure level over time using a predetermined (unitless) mapping with a digital representation of a floating point type in a single dimension with a bit-depth of 32 bits. Generating the processed out-put data may further comprise mapping input data from rotational knob 1074-2 to a rotation expressed in radians with a digital representation of a floating point type in a single dimension with a bit-depth of 32 bits.

[0181] It will be clear that control module 1050 may also provide the processed output-data directly to computing device 1008 instead of base station 1006, for example, when electronic input control 1004 is not connected with base station 1006 but is connected to computing device 1008. It will further be clear that all or part of the “raw” input data as output data to base control module 1018. Alternatively, when control module step SI 03 may be performed by base station control module 1018 or by a processor of computing device 1008 instead of control module 1050.

[0182] After step SI 03, base station control module 1018 of base station 1006 may be provided with processed output data from control module 1050. Base station control module 1018 may obtain output data from one or more other electronic input devices in a similar manner.

[0183] Base station control module 1018 may in step SI 05 annotate the output-data with predetermined meta-data associated with electronic input control 1004 and provide processor 1092 of computing device 1008 with annotated out-put data. This enables base station 1006 and computing device 1008 to distinguish output-data obtained from different electronic input devices 1004.

[0184] Optionally, base station control module 1018 may further obtain insertion data from insertion sensor 1090 and determine that the rigid shaft of electronic input device 1004 is inserted into the aperture associated with insertion sensor 1090 and base station control module 1018 may further annotate the output-data with meta-data indicative of said aperture associated with insertion sensor 1090. This enables base station 1006 and computing device 1008 to distinguish in which aperture the rigid shaft electronic input devices 1004 is inserted.

[0185] After the annotated output data is provided (received) to processor 1092 of computing device 1008, processor 1092 may convert the annotated output data to simulation data in a virtualization layer by remapping the filtered orientation data and / or distance data to simulation data associated with (current) state of a virtual laparoscopic instrument in a predetermined virtual 3D environment associated with a virtual exercise working area of a digital laparoscopic training. The simulation data may comprise an instrument tip position corresponding to a current position 3D position of a tip of the virtual laparoscopic instrument in the virtual exercise working area expressed in mm with a digital representation of three (preferably 32 bit) floating points. The simulation data may comprise an instrument shaft roll corresponding to a current roll of a shaft of the virtual laparoscopic instrument in the virtual exercise working area expressed in radians with a digital representation of a single (preferably 32 bit) floating point. The simulation data may comprise an instrument tip rotation corresponding to a current rotation (orientation) of the tip of the virtual laparoscopic instrument in the virtual exercise working area expressed in radians with a digital representation of a single (preferably 32 bit) floating point. The simulation data may comprise an instrument jaw closure level corresponding to a current closure strength of a jaw of the virtual laparoscopic instrument in the virtual exercise working area expressed in radians with a digital representation of a single (preferably 32 bit) floating points.

[0186] Processor 1092 may further convert the simulation data to visualisation data in virtual world coordinates in a virtualization layer. Converting the simulation data to virtual world coordinates may further comprise shifting the virtual world coordinates in correspondence with the meta-data indicative of which aperture rigid shaft of electronic input device 1004 is inserted.

[0187] Processor 1092 may further control monitor 1094 in step SI 07 to display a graphical representation based on the visualisation data.

[0188] It will be understood that individual components or subcomponents from the electronic input device, input assembly, system and methods according to the present the present disclosure, may be applied, alone or in combination with other components, in systems and / or methods for medical training, such as digital surgical simulation training, and may also be applied in Minimally Invasive surgery, robotic surgery, and other medical applications

[0189] A person of skill in the art would readily recognize that steps of various above-described methods can be performed by programmed computers. Herein, some embodiments are also intended to cover program storage devices, e.g., digital data storage media, which are machine or computer readable and encode machine-executable or computer-executable programs of instructions, wherein said instructions perform some or all of the steps of said above-described methods. The program storage devices may be, e.g., digital memories, magnetic storage media such as a magnetic disks and magnetic tapes, hard drives, or optically readable digital data storage media. The embodiments are also intended to cover computers programmed to perform said steps of the above-described methods.

[0190] The functions of the various elements shown in the figures, including any functional blocks labelled as “processors” “circuits” or “modules”, may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which may be shared. Moreover, explicit use of the term “processor”, “circuit”, or “controller” should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read only memory (ROM) for storing software, random access memory (RAM), and non volatile storage. Other hardware, conventional and / or custom, may also be included. Similarly, any switches shown in the FIGS, are conceptual only. Their function may be carried out through the operation of program logic, through dedicated logic, through the interaction of program control and dedicated logic, or even manually, the particular technique being selectable by the implementer as more specifically understood from the context.

[0191] It should be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative circuitry embodying the principles of the invention. Similarly, it will be appreciated that any flow charts, flow diagrams, state transition diagrams, pseudo code, and the like represent various processes which may be substantially represented in computer readable medium and so executed by a computer or processor, whether or not such computer or processor is explicitly shown.

[0192] The term "approximately" is used herein as a synonym for the term "circa". To illustrate, the use of the term "approximately" denotes values that are slightly outside the listed values, i.e. plus or minus 10%. Such values therefore fall within the range of designations using the terms "approximately" and "circa".

[0193] It is clear that the term “real time” should not be construed as limiting, but rather as virtual real time, e.g., approximately real time, which may include delays caused by, for example, latency in sensor readings, processing power, wireless or wired communication, memory limitation and other various aspects of signal processing and computing systems that may cause latency.

[0194] It should be noted that the above-mentioned embodiments illustrate rather than limit the present disclosure and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word “comprising” does not exclude the presence of elements or steps not listed in a claim. The word “a” or “an” preceding an element does not exclude the presence of a plurality of such elements. The present disclosure can be implemented by means of hardware comprising several distinct elements and by means of a suitably programmed computer. In claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words “first”, “second”, “third”, etc. does not indicate any ordering or priority and does not indicate the absence of any further elements that are not explicitly numbered. These words are to be interpreted as names used for convenience.

[0195] The invention may further be described by the following numbered clauses.

[0196] Clause 1 : Electronic input device for tracking user movement mimicking laparoscopic instrument handling, the input device comprising: a handle comprising a body portion and a control member that is configured to be movable with respect to the body portion; a communication module comprised in the handle; a control module comprised in the handle and operatively connected to the communication module; a rigid shaft connected at a first end to the handle such that the shaft extends in a first direction away from the body portion; a plurality of input sensors, wherein each of the input sensors is operatively connected to the control module and is configured to provide input data to the control module, the plurality of input sensors comprising: an input control sensor configured to measure a current movement and / or a current position of the control member relative to the body portion and to provide input data to the control module indicative of movement of the control member, an accelerometer configured to provide accelerometer data as input data indicative of a linear acceleration of the input device, a gyroscope configured to provide gyroscopic data as input data indicative of an angular velocity of the input device, and a distance sensor at least partly arranged in or on the body portion of the handle, wherein the distance sensor is configured to determine a distance to an external object in a measuring direction that is about parallel to the first direction; and wherein the control module is configured to connect to an external device via the communication circuit and to provide output data to the external device wherein the output data at least partly corresponds to the input data provided by the one or more sensors.

[0197] Clause 2: Electronic input device according to claim 1, wherein the accelerometer and the gyroscope are comprised in an inertial measurement unit, IMU.

[0198] Clause 3: Electronic input device according to clause 1 or 2, wherein the plurality of sensors further comprises a magnetometer configured to provide magnetic field data as input data, wherein the magnetic field data indicative of a strength and / or an orientation of the earth magnetic field, and wherein preferably the electronic device comprises the IMU and the magnetometer is comprised in the IMU. Clause 4: Electronic input device according to any one of the previous clauses, wherein the distance sensor comprises one or more of: an ultrasonic distance sensor, an infrared reflection triangulation distance sensor, or a time-of-flight, ToF, sensor, wherein the distance sensor preferably comprises the ToF distance sensor, more preferably two laser ToF sensors.

[0199] Clause 5: Electronic input device according to any one of the previous claims, wherein the plurality of input sensors are solid-state electronical sensors.

[0200] Clause 6: Electronic input device in accordance with any of the previous clauses, wherein the input control sensor comprises a hall sensor or a lever potentiometer.

[0201] Clause 7 : Electronic input device according to any one of the previous clauses further comprising one or more auxiliary input controls, wherein the one or more auxiliary controls comprises one or more of: a rotational input control configured to be rotatable and configured to provide the control module with rotation position data as input data, wherein the rotation position data is indicative of a current rotation of the rotational input; at least one trigger switch comprising configured to provide the control module with switch activation signal as input data; one or more input buttons configured to provide the control module with button activation signal as input data.

[0202] Clause 8: Electronic input device in accordance with any one of the previous clauses, wherein the handle comprises a biasing element and wherein the control member is biased to be in a predetermined position by the biasing element, wherein preferably the predetermined position an open position.

[0203] Clause 9: Electronic input device in accordance with clause 8, wherein the biasing element comprises a spring assembly, wherein the predetermined position is the open position and wherein the control member is biased to be in the open position by the spring assembly being configured to assert a predetermined force to the control member in an opening direction towards the open position.

[0204] Clause 10: Electronic input device in accordance with any one of the previous clauses, wherein the handle comprises a locking mechanism configured to lock the control member in a locking position.

[0205] Clause 11: Electronic input device according to clause 10, wherein locking mechanism is configured to lock the control member in reaction to the control member being moved to a predetermined locking position, wherein the predetermined locking position is preferably a closed position of the control member. Clause 12: Electronic input device according to clause 11, wherein in the locked position, the control member is about parallel to and abuts the body portion such that the handle resembles a shaft handle.

[0206] Clause 13: Electronic input device according to any one of the previous clauses, wherein the handle is configured to resemble a laparoscopic instrument handle, preferably a scissor grip handle or an axial handle.

[0207] Clause 14: Electronic input device according to any of the previous clauses, wherein further comprising a haptic feedback module comprised in the handle and operatively connected to the control module, wherein the haptic feedback module is configured to provide haptic feedback to a user.

[0208] Clause 15: Electronic input device in accordance with any one of the previous clauses, wherein the control module is further configured to generate processed data by applying one or more pre-processing operations to the input data and wherein the output data comprises the processed data, wherein preferably the one or more pre-processing operations comprises one or more of:

[0209] - one or more noise reduction operations;

[0210] - one or more cross-correlation operations;

[0211] - one or more resampling operation;

[0212] - one or more quantisation operations;

[0213] - one or more compression operations; and

[0214] - one or more normalisation operations.

[0215] Clause 16: Electronic input device in accordance with clause 15, wherein the one or more cross-correlation operations comprise the accelerometer data, de gyroscopic data, and the distance data.

[0216] Clause 17: Electronic input device in accordance with clause 15 or 16, wherein at least one of the one or more signal processing operations comprises applying one or more filters to the user input data, wherein the one or more filters correspond with the at least one of the one or more preprocessing operations, wherein preferably the one or more filters comprise a linear filter.

[0217] Clause 18: Electronic input device in accordance with clause 17, wherein the one or more signal processing operations comprise a dynamic sampling operating comprising applying a dynamic sampling filter, wherein the dynamic sampling filter is configured to adjust a response time of the input data such that the output rate is inversely proportional to a movement speed that is calculated based on the input data.

[0218] Clause 19: Electronic input device in accordance with any one of the previous clauses, wherein an outside surface of the rigid shaft is configured to be electrically conductive. Clause 20: Electronic input device in accordance with clause 19, wherein the rigid shaft is electrically connected to the control module and wherein the control module is configured to determine whether the rigid shaft is electrically connected with an external electronic calibration element and to calibrate one or more of the plurality of sensors using a predetermined calibration position in reaction to the rigid shaft is electrically connected with the external electronic calibration element.

[0219] Clause 21: Base station for providing a fulcrum point for an electronic input device in accordance with any one of the previous clauses, wherein the base station comprises a main body including one or more apertures that extend from a first side of the main body through the main body to a second side of the main body and wherein the one or more apertures are configured to receive the rigid shaft of the electronic input device.

[0220] Clause 22: Base station in accordance with clause 21, wherein the base station further comprises a stand connected with the main body and configured to support the main body when the base station is placed on a surface, such as a floor or a desk, wherein the stand preferably comprises a bifold structure configured to be movable between a storage position and a using position.

[0221] Clause 23: Base station in accordance with any one of clause 21 or 22, wherein the apertures have a circular shape or an ellipsoid like shape and wherein at least one of the one or more apertures has an additional cut-out configured to receive the shaft of the electronic input device and wherein, when the rigid shaft of the electronic input device is positioned in the cut-out, the rigid shaft is in an orientation that corresponds to a predetermined orientation calibration position.

[0222] Clause 24: Base station in accordance with clause 23, wherein the cut-out comprises an calibration element.

[0223] Clause 25: Base station in accordance with any one of clauses 21 - 24, wherein the base station is passive.

[0224] Clause 26: Base station in accordance with any one of any one of clauses 21 - 25, wherein the base station further comprises a processor and a communication circuit comprised in the main body, and wherein the processor is configured to connect to one or more electronic input devices in accordance with any one of the clauses 1 - 20 via the communication circuit of the base station.

[0225] Clause 27. Base station in accordance with clause 26, wherein processor is further configured to be connectable to an external user device using the communication circuit comprised in the base station.

[0226] Clause 28: Base station in accordance with clause 27, wherein the base station is configured to obtain output data from the one or more electric input devices in a connected mode and to provide the external user device with tracking data from the one or more electronic input devices using the obtained output data.

[0227] Clause 29: Base station in accordance with clause 24 and clause 28, wherein the base station is further configured to determine whether an electronic input device in accordance with clause 19 or 20 is in the orientation calibration position by determining that the conductive shaft is electrically connected with the calibration element, and wherein the processor is configured to initiate a calibration process.

[0228] Clause 30: Base station in accordance with clause 28 or 29, wherein the base station comprises a port insertion sensor for each of the one or more apertures, wherein each port insertion sensor is operatively connected with the base station control module, wherein the base station control module is configured to determine whether an object is inserted in one of the one or more apertures using the corresponding port insertion sensor and to provide, in reaction to a determination that the object is inserted, provide a data element to an external device indicative of that the object is inserted in the corresponding aperture.

[0229] Clause 31 : Assembly comprising one or more electronic input device in accordance with any one of clauses 1 - 20 and a base station in accordance with any one of the clauses 21 - 30.

[0230] Clause 32: Computer-implemented method for training laparoscopic surgery, the method comprising: connecting with one or more electronic input devices in accordance with any one of clauses 1 - 20; associating each of the one or more electronic input device with a distinct virtual element from a corresponding one or more virtual elements; displaying, on a monitor, a virtual three-dimensional environment including a graphical representation of each of the one or more virtual elements; obtaining output data from at least one of the one or more electronic input devices, wherein the output data is indicative of an action performed with the at least one electronic input device; displaying, on the monitor, a visualization of a corresponding action with the virtual element associated with the at least one device in the virtual three-dimensional environment by updating the virtual three-dimensional environment and / or the graphical representation.

[0231] Clause 33: Computer-implemented method in accordance with clause 32, wherein the method further comprises: determining a performance score corresponding to the action, wherein the performance score is indicative of a degree of agreement between a predetermined desired action and the action performed by the user; provide feedback to the user in correspondence with the performance score Clause 34: Computing device for executing a digital laparoscopic surgery simulation, wherein the computing device comprises a processor, a communication module operatively connected with the processor, a memory operatively connected with the processor, and a display, wherein the memory comprises instructions that, when executed by the processor, causes the processor to execute the method in accordance with clause 32 or 33.

[0232] Clause 35: System comprising one or more electronic input device in accordance with any one of clauses 1 - 20 and a computing device in accordance with clause 34.

[0233] Clause 36: System in accordance with clause 35, wherein the system further comprises the base station in accordance with any one of clauses 21 - 30.

[0234] Clause 37: System in accordance with clause 35 or 36, wherein the computing device is a personal computing device, a laptop, a tablet, a mobile device, a virtual reality device, and / or a virtual reality headset.

[0235] Clause 38: System according to any one of clauses 35 - 37, wherein the system is a surgical simulator system configured to enable a user to train laparoscopic surgery in a virtual environment.

[0236] Clause 39: A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out a method in accordance with clause 32 or 33.

[0237] Clause 40: A data processing apparatus comprising a processor operatively connected to a memory, wherein the memory comprises instruction that, when executed by the processors, cause the processor to carry out the method of clause 32 or 33.

[0238] Clause 41: A computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method of clause 32 or 33.

[0239] Whilst the principles of the invention have been set out above in connection with specific embodiments, it is to be understood that this description is merely made by way of example and not as a limitation of the scope of protection which is determined by the appended claims.

Claims

1. CLAIMS1. Electronic input device for tracking user movement mimicking laparoscopic instrument handling, the input device comprising: a handle comprising a body portion and a control member that is configured to be movable with respect to the body portion; a communication module comprised in the handle; a control module comprised in the handle and operatively connected to the communication module; a rigid shaft connected at a first end to the handle such that the shaft extends in a first direction away from the body portion; a plurality of input sensors, wherein each of the input sensors is operatively connected to the control module and is configured to provide input data to the control module, the plurality of input sensors comprising: an input control sensor configured to measure a current movement and / or a current position of the control member relative to the body portion and to provide input data to the control module indicative of movement of the control member, an accelerometer configured to provide accelerometer data as input data indicative of a linear acceleration of the input device, a gyroscope configured to provide gyroscopic data as input data indicative of an angular velocity of the input device, and a distance sensor at least partly arranged in or on the body portion of the handle, wherein the distance sensor is configured to determine a distance to an external object in a measuring direction that is about parallel to the first direction; and wherein the control module is configured to connect to an external device via the communication circuit and to provide output data to the external device wherein the output data at least partly corresponds to the input data provided by the one or more sensors.

2. Electronic input device according to claim 1, wherein the accelerometer and the gyroscope are comprised in an inertial measurement unit, IMU; and / or wherein the plurality of sensors further comprises a magnetometer configured to provide magnetic field data as input data, wherein the magnetic field data indicative of a strength and / or an orientation of the earth magnetic field, wherein preferably the electronic device comprises the IMU and the magnetometer is comprised in the IMU.

3. Electronic input device according to any one of the previous claims, wherein the distance sensor comprises one or more of: an ultrasonic distance sensor, an infrared reflection triangulation distance sensor, or a time-of-flight, ToF, sensor, wherein the distance sensor preferably comprises the ToF distance sensor, more preferably two laser ToF sensors; and / or, wherein the plurality of input sensors are solid-state electronical sensors; and / or wherein the input control sensor comprises a hall sensor or a lever potentiometer.

4. Electronic input device according to any one of the previous claims further comprising one or more auxiliary input controls, wherein the one or more auxiliary controls comprises one or more of: a rotational input control configured to be rotatable and configured to provide the control module with rotation position data as input data, wherein the rotation position data is indicative of a current rotation of the rotational input; at least one trigger switch comprising configured to provide the control module with switch activation signal as input data; one or more input buttons configured to provide the control module with button activation signal as input data.

5. Electronic input device in accordance with any one of the previous claims, wherein the handle comprises a biasing element and wherein the control member is biased to be in a predetermined position by the biasing element, wherein preferably the predetermined position an open position, wherein optionally, the biasing element comprises a spring assembly, wherein the predetermined position is the open position and wherein the control member is biased to be in the open position by the spring assembly being configured to assert a predetermined force to the control member in an opening direction towards the open position.

6. Electronic input device in accordance with any one of the previous claims, wherein the handle comprises a locking mechanism configured to lock the control member in a locking position, wherein, optionally, the locking mechanism is configured to lock the control member in reaction to the control member being moved to a predetermined locking position, wherein the predetermined locking position is preferably a closed position of the control member; and / or wherein in the locked position, the control member is about parallel to and abuts the body portion such that the handle resembles a shaft handle.

7. Electronic input device according to any one of the previous claims, wherein the handle is configured to resemble a laparoscopic instrument handle, preferably a scissor grip handle or an axial handle; and / or wherein the electronic device further comprises a haptic feedback module comprised in the handle and operatively connected to the control module, wherein the haptic feedback module is configured to provide haptic feedback to a user.

8. Electronic input device in accordance with any one of the previous claims, wherein the control module is further configured to generate processed data by applying one or more preprocessing operations to the input data and wherein the output data comprises the processed data, wherein preferably the one or more pre-processing operations comprises one or more of:- one or more noise reduction operations;- one or more cross-correlation operations;- one or more resampling operation;- one or more quantisation operations;- one or more compression operations; and- one or more normalisation operations, wherein preferably: the one or more cross-correlation operations comprise the accelerometer data, de gyroscopic data, and the distance data, and / or wherein at least one of the one or more signal processing operations comprises applying one or more filters to the user input data, wherein the one or more filters correspond with the at least one of the one or more pre-processing operations, wherein more preferably: the one or more filters comprise a linear filter, and / or wherein the one or more signal processing operations comprise a dynamic sampling operating comprising applying a dynamic sampling filter, wherein the dynamic sampling filter is configured to adjust a response time of the input data such that the output rate is inversely proportional to a movement speed that is calculated based on the input data.

9. Electronic input device in accordance with any one of the previous claims, wherein an outside surface of the rigid shaft is configured to be electrically conductive, wherein preferably the rigid shaft is electrically connected to the control module and wherein the control module is configured to determine whether the rigid shaft is electrically connected with an external electronic calibration element and to calibrate one or more of the plurality of sensors using a predeterminedcalibration position in reaction to the rigid shaft is electrically connected with the external electronic calibration element.

10. Base station for providing a fulcrum point for an electronic input device in accordance with any one of the previous claims, wherein the base station comprises a main body including one or more apertures that extend from a first side of the main body through the main body to a second side of the main body and wherein the one or more apertures are configured to receive the rigid shaft of the electronic input device.

11. Base station in accordance with claim 10, wherein the base station further comprises a stand connected with the main body and configured to support the main body when the base station is placed on a surface, such as a floor or a desk, wherein the stand preferably comprises a bifold structure configured to be movable between a storage position and a using position; and / or wherein the apertures have a circular shape or an ellipsoid like shape and wherein at least one of the one or more apertures has an additional cut-out configured to receive the shaft of the electronic input device and wherein, when the rigid shaft of the electronic input device is positioned in the cut-out, the rigid shaft is in an orientation that corresponds to a predetermined orientation calibration position, wherein the cut-out preferably comprises a calibration element.

12. Base station in accordance with claim 10 or claim 11, wherein the base station is passive.

13. Base station in accordance with claim 10 or claim 11, wherein the base station further comprises a processor and a communication circuit comprised in the main body, and wherein the processor is configured to connect to one or more electronic input devices in accordance with any one of the claims 1 - 9 via the communication circuit of the base station, wherein the processor is preferably further configured to be connectable to an external user device using the communication circuit comprised in the base station, wherein even more preferably, the base station is configured to obtain output data from the one or more electric input devices in a connected mode and to provide the external user device with tracking data from the one or more electronic input devices using the obtained output data.

14. Base station in accordance with claim 13, wherein the base station comprises the calibration element in accordance with claim 11 and wherein the base station is further configured to determine whether an electronic input device in accordance with claim 9 is in the orientation calibration positionby determining that the conductive shaft is electrically connected with the calibration element, and wherein the processor is configured to initiate a calibration process; and / or wherein the base station comprises a port insertion sensor for each of the one or more apertures, wherein each port insertion sensor is operatively connected with the base station control module, wherein the base station control module is configured to determine whether an object is inserted in one of the one or more apertures using the corresponding port insertion sensor and to provide, in reaction to a determination that the object is inserted, provide a data element to an external device indicative of that the object is inserted in the corresponding aperture.

15. Assembly comprising one or more electronic input device in accordance with any one of claims 1 - 9 and a base station in accordance with any one of the claims 10 - 14.

16. Computer-implemented method for training laparoscopic surgery, the method comprising: connecting with one or more electronic input devices in accordance with any one of claims1 - 9; associating each of the one or more electronic input device with a distinct virtual element from a corresponding one or more virtual elements; displaying, on a monitor, a virtual three-dimensional environment including a graphical representation of each of the one or more virtual elements; obtaining output data from at least one of the one or more electronic input devices, wherein the output data is indicative of an action performed with the at least one electronic input device; displaying, on the monitor, a visualization of a corresponding action with the virtual element associated with the at least one device in the virtual three-dimensional environment by updating the virtual three-dimensional environment and / or the graphical representation, wherein the method preferably further comprises: determining a performance score corresponding to the action, wherein the performance score is indicative of a degree of agreement between a predetermined desired action and the action performed by the user; provide feedback to the user in correspondence with the performance score17. Computing device for executing a digital laparoscopic surgery simulation, wherein the computing device comprises a processor, a communication module operatively connected with the processor, a memory operatively connected with the processor, and a display, wherein the memory comprises instructions that, when executed by the processor, causes the processor to execute the method in accordance with claim 16, wherein preferably the computing device is a personalcomputing device, a laptop, a tablet, a mobile device, a virtual reality device, and / or a virtual reality headset.

18. System comprising one or more electronic input device in accordance with any one of claims 1 - 9 and a computing device in accordance with claim 17, wherein the system preferably further comprises the base station in accordance with any one of claims 10 - 14; and / or, wherein the system is a surgical simulator system configured to enable a user to train laparoscopic surgery in a virtual environment.

19. A computer program comprising instructions which, when the program is executed by a computer, cause the computer to carry out a method in accordance with claim 16.

20. A computer-readable medium comprising instructions which, when executed by a computer, cause the computer to carry out the method of claim 16.

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