CN114495614A - Laparoscopic surgery multiaxis training system - Google Patents
Laparoscopic surgery multiaxis training system Download PDFInfo
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- CN114495614A CN114495614A CN202111597462.2A CN202111597462A CN114495614A CN 114495614 A CN114495614 A CN 114495614A CN 202111597462 A CN202111597462 A CN 202111597462A CN 114495614 A CN114495614 A CN 114495614A
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- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 16
- 210000000683 abdominal cavity Anatomy 0.000 claims description 6
- 239000010409 thin film Substances 0.000 claims description 4
- 230000003068 static effect Effects 0.000 abstract description 3
- 230000010485 coping Effects 0.000 abstract 1
- 238000009434 installation Methods 0.000 description 6
- 239000010408 film Substances 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 210000000936 intestine Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000002784 stomach Anatomy 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
Abstract
The invention discloses a laparoscopic surgery multi-axis training system which comprises laparoscopic forceps, a mounting frame, a training box and a display device, wherein the training box and the display device are installed on the mounting frame, the display device comprises a camera and a display screen which are connected with each other, the camera is installed in the training box, the display screen is installed above the training box, a jack for inserting the laparoscopic forceps is formed in the training box, a multi-axis motion platform is arranged at the bottom of the training box, and a training module is installed at the motion tail end of the multi-axis motion platform. The invention drives the training module to turn from static to moving through the multi-axis motion platform, thereby improving the training difficulty and the training interest of the trainee, and also improving the strain capacity of the trainee in operating the laparoscopic forceps, thereby being capable of easily coping with various emergency situations of the operation.
Description
Technical Field
The invention relates to the field of medical auxiliary devices, in particular to a laparoscopic surgery multi-axis training system.
Background
Laparoscopic surgery is a minimally invasive procedure that accomplishes surgical procedures through small incision channels and is an important means of modern surgical treatment. The technique has been successfully applied to a plurality of operation fields because of the advantages of small operation trauma, quick postoperative recovery, good beauty treatment effect and the like. However, laparoscopic surgery, especially single port laparoscopic surgery, is a complex surgical procedure that changes the traditional surgical procedure, which is more difficult and requires more skill, and therefore, a great deal of pre-operative training is essential.
At present, although the existing laparoscopic surgery training system on the market can complete a certain degree of training work, the following main problems still exist:
1. the targets of the laparoscope forceps are all in a static state, so that a doctor cannot be trained to clamp moving targets, unstable tissues flowing in a body, such as stomach, intestines, blood vessels and the like, cannot be clamped quickly, and the operation capacity of a trainer is difficult to further improve;
in addition, the laparoscopic surgery training system has the following problems:
1. the various training modules need to take longer time to prepare and install when being replaced, and the fixing force is usually not enough;
2. when a trainer uses the endoscope clamp to operate, the endoscope clamp is difficult to reflect the real contact position due to the single shooting direction of the camera equipment.
Disclosure of Invention
The invention aims to provide a laparoscopic surgery multi-axis training system, so as to solve the problem that dynamic clamping training cannot be realized.
In order to achieve the purpose, the invention discloses a laparoscopic surgery multi-axis training system which comprises laparoscopic forceps, a mounting frame, a training box and a display device, wherein the training box and the display device are installed on the mounting frame, the display device comprises a camera and a display screen which are connected with each other, the camera is installed in the training box, the display screen is installed above the training box, a jack for inserting the laparoscopic forceps is formed in the training box, a multi-axis motion platform is arranged at the bottom of the training box, and a training module is installed at the motion tail end of the multi-axis motion platform.
Further, the multi-axis motion platform comprises a horizontal motion platform used for driving the training module to move horizontally, the horizontal motion platform comprises a bottom frame, a horizontal support plate, a plurality of horizontal telescopic pieces and a plurality of support arms, the horizontal telescopic pieces are installed on the frame beams of the bottom frame, part of telescopic ends of the horizontal telescopic pieces are hinged with part of one ends of the support arms to drive part of one ends of the support arms to move horizontally and transversely, the other part of telescopic ends of the horizontal telescopic pieces are hinged with the other part of one ends of the support arms to drive the other part of one ends of the support arms to move horizontally and longitudinally, and the other ends of the support arms are hinged to the lower side of the horizontal support plate.
Furthermore, the multiaxis motion platform is still including installing vertical motion platform on the horizontal support board, vertical motion platform includes vertical extensible member, ball joint and vertical support board, the lower extreme that vertical extensible member slope set up pass through the ball joint with the upside of horizontal support board is articulated, the upper end pass through the ball joint with the downside of vertical support board is articulated, the training module is installed the upside of vertical support board.
Furthermore, the training box is internally provided with an installation base and a plurality of quick-release and quick-assembly training modules which can be quickly detached and assembled with the installation base.
Furthermore, be provided with a plurality of counter bores on the installation base, the bottom of counter bore is provided with counter bore magnet, the bottom of quick detach fast-assembling training module is provided with can insert the lug in the counter bore, the bottom of lug be provided with can with the adsorbed lug magnet of counter bore magnet.
Furthermore, be provided with alarm circuit on the quick detach fast-assembling training module, alarm circuit includes audible alarm ware, battery and a plurality of miniature switch that touches, and is a plurality of miniature switch that touches connects in parallel the back with audible alarm ware and battery series connection.
Further, the micro touch switches are arranged along the directions of the X axis, the Y axis and the Z axis of the space.
Furthermore, an alarm lamp is also connected in series on a circuit which is connected in series with the sound alarm and the battery after the plurality of micro touch switches are connected in parallel.
Furthermore, the surface of the quick-release and quick-assembly training module is covered with a plurality of film pressure sensors for detecting the clamping force at the front end of the laparoscopic forceps, and the surface of each film pressure sensor is provided with marks with the same color as different tissues in the abdominal cavity.
Further, the mounting bracket is formed by assembling sectional materials, and a lifting base used for adjusting the height is arranged at the bottom of the mounting bracket.
Compared with the prior art, the invention has the advantages that:
the training module is driven by the multi-axis motion platform to move from a static state to a turning state, so that the training difficulty and the training interest of a trainer are improved, the strain capacity of the trainer for operating the laparoscopic forceps is also improved, various emergency situations of an operation can be easily coped with, and meanwhile, unstable tissues flowing in a body can be conveniently clamped and taken in the training; furthermore, the quick-release quick-assembly training module is arranged, and the mounting base is fixed at the bottom of the training box when leaving factory, so that the quick-release quick-assembly training module can be quickly converted and fixed, the preparation time in the training process is reduced, and the training efficiency is improved; furthermore, the accurate positioning training of the target position can be realized through the alarm circuit, and the accurate training of the clamping force can be realized through the arrangement of the film pressure sensor.
The present invention will be described in further detail below with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a laparoscopic surgical multi-axis training system as disclosed in a preferred embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a multi-axis motion platform disclosed in the preferred embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a horizontal motion platform disclosed in the preferred embodiment of the present invention;
FIG. 4 is a schematic illustration showing the mounting base and the quick release quick install training module in accordance with the preferred embodiment of the present invention;
fig. 5 is a schematic structural diagram of an alarm circuit disclosed in the preferred embodiment of the present invention.
Illustration of the drawings:
1. laparoscope forceps; 2. a mounting frame; 21. a lifting base; 22. a section bar; 3. a training box; 31. a jack; 32. installing a base; 321. a counter bore; 322. a counter bore magnet; 33. a quick-release and quick-assembly training module; 331. a bump; 332. a bump magnet; 34. a light inlet opening; 4. a display device; 41. a camera; 42. a display screen; 5. an alarm circuit; 51. an audible alarm; 52. a battery; 53. a micro touch switch; 54. an alarm lamp; 6. a thin film pressure sensor; 7. a horizontal motion platform; 71. a bottom frame; 72. a horizontal telescoping member; 73. a support arm; 74. a horizontal support plate; 8. a vertical motion platform; 81. a vertical expansion member; 82. a ball joint; 83. vertical backup pad.
Detailed Description
The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.
As shown in fig. 1-5, the invention discloses a laparoscopic surgery multi-axis training system, which comprises laparoscopic forceps 1, a mounting frame 2, a training box 3 and a display device 4, wherein the training box 3 and the display device 4 are mounted on the mounting frame 2, the display device 4 comprises a camera 41 and a display screen 42 which are connected with each other, the display screen 42 can be selected from a conventional computer display, the camera 41 is mounted at the top inside the training box 3, the display screen 42 is mounted above the training box 3, a jack 31 for inserting the laparoscopic forceps 1 is arranged on the training box 3, a multi-axis motion platform is arranged at the bottom of the training box 3, and a training module is mounted at the motion tail end of the multi-axis motion platform. Therefore, the training module is driven to rotate from rest by the multi-axis motion platform, the training difficulty and the training interest of the trainee are improved, the strain capacity of the trainee in operating the laparoscopic forceps 1 is also improved, and various emergency situations of the operation can be coped with leisurely. Specifically, the multi-axis motion platform comprises a horizontal motion platform 7 for driving the training module to move horizontally, the horizontal motion platform 7 comprises a bottom frame 71, horizontal telescopic members 72, support arms 73 and horizontal support plates 74, the horizontal telescopic members 72 can adopt air cylinders or electric push rods, the horizontal telescopic members 72 are mounted on frame beams of the bottom frame 71, telescopic ends of the horizontal telescopic members 72 are hinged with one ends of the support arms 73, the other ends of the support arms 73 are pivoted on the lower sides of the horizontal support plates 74, the horizontal telescopic members 72 and the support arms 73 are four groups, two sets of which are provided on the left and right sides of the horizontal support plate 74 for driving the horizontal support plate 74 to move forward and backward, and the other two sets are provided on the front or rear side of the horizontal support plate 74, for driving the horizontal support plate 74 to move left and right by the combination of back and forth and left and right movements, thereby realizing the movement of the horizontal support plate 74 in either direction in the horizontal plane. Furthermore, the multi-axis motion platform further comprises a vertical motion platform 8 arranged on the horizontal support plate 74, the vertical motion platform 8 comprises three vertical telescopic parts 81, ball joints 82 and vertical support plates 83, the vertical telescopic parts 81 are three groups, the lower ends of the vertical telescopic parts 81 which are obliquely arranged are hinged with the upper sides of the horizontal support plates 74 through the ball joints 82, the upper ends of the vertical telescopic parts are hinged with the lower sides of the vertical support plates 83 through the ball joints 82, the training module is arranged on the upper sides of the vertical support plates 83, the vertical telescopic parts 81 can adopt air cylinders or electric push rods, on one hand, the vertical support plates 83 can be synchronously driven to move up and down by the three groups of vertical telescopic parts 81, meanwhile, when the vertical telescopic parts do not synchronously move, the training module can be driven to swing, the training difficulty is further improved, the strain capacity of the training personnel for operating the laparoscopic forceps 1 is improved, and therefore, various emergency situations of the surgery can be easily met, meanwhile, the training clamp is convenient to clamp tissues with unstable in-vivo flow.
In this embodiment, be provided with installation base 32 and a plurality of quick detach fast-assembling training module 33 that can with installation base 32 quick detach fast-assembling in training case 3, installation base 32 just fixes in the bottom of training case 3 when dispatching from the factory to, quick detach fast-assembling training module 33 can be quick fixed of conversion, has reduced the preparation time in the training process, has improved the efficiency of training. Specifically, in order to realize quick release and quick assembly, a plurality of counter bores 321 are arranged on the mounting base 32, counter bore magnets 322 are arranged at the bottoms of the counter bores 321, protruding blocks 331 capable of being inserted into the counter bores are arranged at the bottoms of the quick release and quick assembly training modules 33, protruding block magnets 332 capable of being adsorbed by the counter bore magnets 322 are arranged at the bottoms of the protruding blocks 331, and when the quick release and quick assembly training module is used, the protruding blocks 331 of the quick release and quick assembly training modules 33 only need to be inserted into the counter bores 321.
In this embodiment, the mounting bracket 2 is assembled by the section bar 22, the section bar 22 is of an aluminum structure, the weight is light, the movement is convenient, and the lifting base 21 for adjusting the height is arranged at the bottom of the mounting bracket 2, so that the mounting bracket can adapt to operators with different heights.
In this embodiment, training case 3's both sides all are provided with into light opening 34 to be convenient for light to get into from both sides, thereby guarantee to show clearly, of course, also can install the light additional at training case 3, simulate the different view illumination's operating environment in the abdominal cavity.
In this embodiment, in order to ensure that the end of the laparoscopic forceps 1 reaches the target position when the laparoscopic forceps 1 are operated by the trainee, the quick-release quick-assembly training module 33 is provided with the alarm circuit 5, the alarm circuit 5 includes an audible alarm 51, a battery 52 and a plurality of micro touch switches 53, the plurality of micro touch switches 53 are connected in parallel and then connected in series with the audible alarm 51 and the battery 52, when the laparoscopic forceps 1 touches the micro touch switches 53, the alarm circuit 5 is turned on, so that the audible alarm 51 gives an alarm to prompt the operator that the action is completed, wherein the audible alarm 51 may adopt a buzzer. Specifically, the micro touch switches 53 are arranged along the directions of the X axis, the Y axis, and the Z axis of the space, so that the original two-dimensional plane training is converted into the training in the three-dimensional space, and the actual surgical situation is more met.
In the present embodiment, a plurality of micro touch switches 53 are connected in parallel, and then a warning lamp 54 is connected in series with the circuit formed by connecting the audible alarm 51 and the battery 52 in series, so that the accuracy and the interestingness of the prompt are improved through audible and visual alarm.
In this embodiment, the limit clamping force born by different tissues is different, in order to avoid the pain and secondary damage caused by the damage of the tissues due to the excessive applied clamping force, the necessary simulation training of the clamping force in the abdominal cavity is also indispensable, the surface of the quick-release quick-assembly training module 33 is covered with a plurality of film pressure sensors 6 for detecting the clamping force of the front-end open clamp of the laparoscopic forceps 1, meanwhile, the surface of the film pressure sensors 6 is provided with marks with the same color as that of different tissues in the abdominal cavity, the marks can be pasted, and the operation environment in the abdominal cavity can be simulated. Thus, the trainee can know the magnitude of the clamping force applied to the distal end by himself/herself when operating the laparoscopic forceps 1, thereby achieving accurate training of the magnitude of the clamping force, wherein the thin film pressure sensor 6 is connected to the data processor in the display device 4, thereby displaying different magnitudes of the clamping force on the display screen 42 to be compared and matched with the target clamping force.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a laparoscopic surgery multiaxis training system, its characterized in that includes laparoscopic forceps (1), mounting bracket (2) and installs training case (3) and display device (4) on mounting bracket (2), display device (4) include interconnect's camera (41) and display screen (42), camera (41) are installed in training case (3), display screen (42) are installed the top of training case (3), be provided with on training case (3) and be used for laparoscopic forceps (1) male jack (31), the bottom of training case (3) is provided with multiaxis motion platform, the training module is installed to the motion end of multiaxis motion platform.
2. The laparoscopic surgical polyaxial training system of claim 1, wherein the polyaxial motion platform includes a horizontal motion platform (7) for driving the training module to move horizontally, the horizontal motion platform (7) including a bottom frame (71), a horizontal support plate (74), a plurality of horizontal telescoping members (72) and a plurality of support arms (73), the horizontal telescoping members (72) being mounted on a frame beam of the bottom frame (71), a portion of the horizontal telescoping members (72) having a telescoping end hinged to one end of a portion of the support arms (73) to drive one end of a portion of the support arms (73) to move horizontally laterally, another portion of the horizontal telescoping members (72) having a telescoping end hinged to one end of another portion of the support arms (73) to drive one end of another portion of the support arms (73) to move horizontally longitudinally, the other end of the supporting arm (73) is hinged on the lower side of the horizontal supporting plate (74).
3. The laparoscopic surgical polyaxial training system of claim 2, wherein the polyaxial motion platform further comprises a vertical motion platform (8) installed on the horizontal support plate (74), the vertical motion platform (8) comprises a vertical extension piece (81), a ball joint (82) and a vertical support plate (83), the lower end of the vertical extension piece (81) which is obliquely arranged is hinged with the upper side of the horizontal support plate (74) through the ball joint (82), the upper end of the vertical extension piece is hinged with the lower side of the vertical support plate (83) through the ball joint (82), and the training module is installed on the upper side of the vertical support plate (83).
4. The laparoscopic surgery multi-axis training system of claim 3, wherein said vertical support plate (83) is provided with a mounting base (32) and a plurality of quick-release quick-mount training modules (33) capable of being quickly and quickly released from said mounting base (32).
5. The laparoscopic surgery multi-axis training system according to claim 4, wherein a plurality of counter bores (321) are arranged on the mounting base (32), counter bore magnets (322) are arranged at the bottoms of the counter bores (321), a bump (331) which can be inserted into the counter bore (321) is arranged at the bottom of the quick-release and quick-assembly training module (33), and a bump magnet (332) which can be adsorbed with the counter bore magnets (322) is arranged at the bottom of the bump (331).
6. The laparoscopic surgery multi-axis training system according to claim 4, wherein an alarm circuit (5) is arranged on the quick-release and quick-assembly training module (33), the alarm circuit (5) comprises an audible alarm (51), a battery (52) and a plurality of micro touch switches (53), and the plurality of micro touch switches (53) are connected in parallel and then are connected in series with the audible alarm (51) and the battery (52).
7. The laparoscopic surgical polyaxial training system of claim 6, wherein the micro touch switches (53) are arranged along X, Y and Z-axis directions of a space.
8. The laparoscopic surgical multi-axis training system according to claim 6, wherein a warning lamp (54) is further connected in series to a circuit formed by connecting a plurality of micro touch switches (53) in parallel and then connecting the sound alarm (51) and the battery (52) in series.
9. The laparoscopic surgical multi-axis training system according to any one of claims 4 to 8, wherein the surface of said quick release and quick install training module (33) is further covered with a plurality of thin film pressure sensors (6) for detecting the clamping force of the front end of the laparoscopic forceps (1), and the surface of said thin film pressure sensors (6) is provided with marks of the same color as different tissues in the abdominal cavity.
10. The laparoscopic surgical polyaxial training system of any one of claims 1 to 8, wherein the mounting frame (2) is assembled from profiles (22), and a lifting base (21) for adjusting the height is provided at the bottom of the mounting frame (2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111597462.2A CN114495614A (en) | 2021-12-24 | 2021-12-24 | Laparoscopic surgery multiaxis training system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111597462.2A CN114495614A (en) | 2021-12-24 | 2021-12-24 | Laparoscopic surgery multiaxis training system |
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| CN114495614A true CN114495614A (en) | 2022-05-13 |
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| CN106695767A (en) * | 2017-03-03 | 2017-05-24 | 合肥工业大学 | Parallel device based on Delta mechanism and 3D printer adopting same |
| CN113035039A (en) * | 2021-04-21 | 2021-06-25 | 上海交通大学医学院附属仁济医院 | Laparoscopic surgery training box device supporting full-angle foldable rotating operation |
| CN113345291A (en) * | 2021-06-15 | 2021-09-03 | 南方医科大学珠江医院 | Minimally invasive surgery tactile feedback system and method based on fiber grating sensor |
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2021
- 2021-12-24 CN CN202111597462.2A patent/CN114495614A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202003575U (en) * | 2011-01-20 | 2011-10-05 | 中国人民解放军第三军医大学第一附属医院 | Skill training device for simulation phantom peritoneoscope |
| KR20130037027A (en) * | 2011-10-05 | 2013-04-15 | 하이젠모터 주식회사 | Motion driver of multiple link structure |
| CN104068991A (en) * | 2014-07-10 | 2014-10-01 | 中国科学院深圳先进技术研究院 | Ankle joint rehabilitation device |
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