EP1649438A2 - Functional and anatomical delivery simulator - Google Patents

Functional and anatomical delivery simulator

Info

Publication number
EP1649438A2
EP1649438A2 EP04767933A EP04767933A EP1649438A2 EP 1649438 A2 EP1649438 A2 EP 1649438A2 EP 04767933 A EP04767933 A EP 04767933A EP 04767933 A EP04767933 A EP 04767933A EP 1649438 A2 EP1649438 A2 EP 1649438A2
Authority
EP
European Patent Office
Prior art keywords
fetal
maternal
simulator
fetal head
behavior
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP04767933A
Other languages
German (de)
French (fr)
Inventor
Olivier Dupuis
Maurice Betemps
Georges Delhomme
André Dittmar
Hervé Tanneguy REDARCE
Ruimark Creazzola Silveira
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Centre National de la Recherche Scientifique CNRS
Hospices Civils de Lyon HCL
Institut National des Sciences Appliquees de Lyon
Original Assignee
Centre National de la Recherche Scientifique CNRS
Institut National des Sciences Appliquees de Lyon
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Centre National de la Recherche Scientifique CNRS, Institut National des Sciences Appliquees de Lyon filed Critical Centre National de la Recherche Scientifique CNRS
Publication of EP1649438A2 publication Critical patent/EP1649438A2/en
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/281—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for pregnancy, birth or obstetrics

Definitions

  • the present invention relates to a childbirth simulator.
  • International application WO 03/001482 describes a simulator comprising an actuator arranged to simulate the movements of the fetus in the uterus during childbirth.
  • a sophisticated delivery simulator facilitating and improving the learning of gestures and obstetric techniques, diagnostic and therapeutic procedures for childbirth, making it possible to prepare parturient women for childbirth and to test and validate clinical procedures or instruments used during certain deliveries.
  • the subject of the invention is a birthing simulator which can be characterized by the fact that it comprises: - a fetal system intended for simulate the behavior of at least part of a fetus during childbirth, - a maternal system intended to simulate the behavior of at least part of the maternal body interacting with the fetus, this maternal system comprising at least one membrane subject to fluid pressure.
  • the membrane (s) of the maternal system can be made of a flexible and deformable material, and make it possible to simulate the behavior of maternal muscles or maternal internal cavities, in particular the pelvic muscles, the uterus, the bladder or others still .
  • the simulator may include a pneumatic or hydraulic device arranged to subject the membrane or membranes of the maternal system to a predetermined pressure during a simulated delivery, by sending a fluid into this or these membranes.
  • the fluid pressure may vary during the simulation.
  • uterine contractions occur and abdominal pressure can be exerted.
  • the pressure to which is or are subjected this or these membranes can vary greatly, with in particular pressure peaks, in order to simulate each uterine contraction and / or each abdominal pressure, as well as cervical dilation.
  • the fetal system comprises at least one fetal head which can be made of a semi-rigid, deformable material, of morphology similar to a fetal skull.
  • the fetal system may also include a fetal body.
  • the maternal system may include a part simulating a bony pelvis.
  • the maternal and fetal systems are preferably made from biomimetic materials.
  • the maternal and fetal systems can be arranged so as to be interchangeable with other maternal and fetal systems, so as to allow the learning of childbirth on different morphologies of maternal and fetal systems.
  • the invention relates to a childbirth simulator which can be characterized by the fact that it comprises: - a fetal system comprising at least one fetal head, this fetal system being intended to simulate the behavior of at least a part of a fetus, - a maternal system intended to simulate the behavior of at least a part of the maternal body interacting with the fetus, and a device making it possible to know the position at least one point, and preferably the position of at least two, even three points, or even the whole, of the fetal head and / or at least one obstetrical instrument.
  • position of the fetal head is meant at the same time its position in space, with respect to the maternal system, but also its orientation in space with respect to the maternal and fetal systems.
  • the obstetric instrument can be a forceps, a suction cup, or a spatula, or any type of extraction, diagnostic and / or obstetrical instrument.
  • the device making it possible to know the position of at least one point of the fetal head and / or of an obstetric instrument may comprise at least one transmitter or locating element positioned on the fetal head and at least one corresponding detector or associated fixed element the locating element placed at a distance from the fetal head, or vice versa, or any other type of sensor making it possible to position the head in space.
  • the transmitter can generate, for example, a magnetic or electromagnetic field.
  • the device making it possible to know the position of at least one point of the fetal head and / or of at least one obstetrical instrument can also comprise at least one camera and an image analysis system.
  • the device making it possible to know the position of at least one point of the fetal head and / or of at least one obstetrical instrument can in particular comprise at least two cameras arranged so as to determine, by triangulation, the position of the fetal head and / or the obstetric instrument.
  • the invention relates to a delivery simulator which can be characterized by the fact that it comprises: - a fetal system comprising at least one fetal head, this fetal system being intended to simulate the behavior of at least part of a fetus, the fetal head being connected to an actuator arranged to exert a force on the fetal head , and - a maternal system intended to simulate the behavior of at least one part of the maternal body interacting with the fetus.
  • the childbirth simulator allows, thanks to the actuator, to simulate the forces exerted on the fetal head during childbirth, in particular a force helping the expulsion of the fetus, for example during contraction or abdominal pressure, or opposite force.
  • the actuator may for example comprise a hydraulic, pneumatic or electric actuator, whether or not controlled to perform constant resistance to advancement or a constant forward speed programmed.
  • This cylinder can itself be movable in space along two or three axes making it possible to modify the axis of the cylinder.
  • the simulator can also include a device for positioning the fetal head, in particular a mechanical or electromechanical device making it possible to place the head in a predetermined location and orientation, before or at the start of a simulation.
  • the fetal head positioning device can be manual or automatic. It may for example include a flexible, an articulation such as a partial or complete ball joint making it possible to modify, with at least one degree of freedom, the position of the fetal head.
  • the simulator includes both a device making it possible to know the position of at least one point of the fetal head and a positioning device, it is for example possible to reproduce the same positioning of the fetal head at the start of each simulation , which can put several doctors or midwives in the same situation.
  • At least one zone of the fetal system may comprise at least one pressure sensor, arranged to deliver information relating to the pressure exerted on this zone, by another zone of the fetal system, by the maternal system or by a foreign element. , for example by hand or instrument.
  • At least one zone of the maternal system may likewise include at least one pressure sensor arranged to deliver information relating to the pressure exerted on this zone by another zone of the maternal system, by the fetal system or by a foreign element such as than a hand or an instrument.
  • the simulator may include a pressure measurement device, arranged to process information delivered by this or these pressure sensors.
  • One advantage of having pressure sensors on the maternal and fetal systems is that it makes it possible to record the locations on which the doctor or midwife exerts pressure and possibly to measure this pressure, in order to monitor the gestures practiced, and possibly their sequence.
  • a pressure sensor can be placed on at least one area of the maternal and fetal systems chosen from the following: sacred promontory, right or left sciatic spine, named lines, large or small fontanel, chin, nose, right orbit, left orbit, or other area of clinical interest.
  • the simulator advantageously includes a processing system for controlling the various active elements of the simulator, in order to simulate normal or pathological delivery.
  • the processing system may include computer means such as a microcomputer and the appropriate interfaces for controlling the active elements and receiving analog or digital signals and data.
  • the processing system can be connected to the aforementioned actuator and control the force exerted by the actuator during the simulation and which may correspond to a resistance movement or to a thrust.
  • the processing system can also be connected to the positioning device in order, for example, to control the positioning of the fetal head at the start of the simulation.
  • the treatment system can be connected to the device making it possible to know the position of at least one point of the fetal head and / or at least one obstetrical instrument and to be arranged to receive and process, for example in real time, information relative to the position including the orientation of the fetal head and / or the obstetric instrument during the simulation.
  • the device for measuring the interface pressure can be connected to the treatment system, the latter being arranged to cause the display, for example, of a map of the pressures exerted on the fetal head.
  • the processing system may include an input device, for example a keyboard and / or a mouse, making it possible in particular to enter information relating to the simulation and / or to the person exercising on the simulator.
  • the simulator may also include at least one loudspeaker connected to the treatment system, the latter being arranged to transmit sound signals to it, for example noises or cries simulating those of a real birth, or instructions or advice, at the start or during the simulation for example.
  • the simulator preferably comprises a display device arranged to display information relating to the simulation of childbirth in the form in particular of images and / or of continuous or intermittent light signals.
  • the display device can display in real time information on the progress of the delivery, for example one or more images or data relating to the positioning of the fetal head, one or more images relating to the interface pressures exerted on the one and / or the other of the maternal and fetal systems, information relating to the development of contractions and / or abdominal pressure.
  • information relating to the progress of the contractions may be apparent on a paper tracer as during actual delivery.
  • the paper tracer can for example be connected to the processing system, which can be arranged to cause the tracing of contractions according to the simulation.
  • the invention also relates to an assembly comprising a childbirth simulator as defined above and an obstetric instrument, in particular a forceps, this instrument being able to be provided with at least one pressure sensor.
  • the obstetric instrument can be connected to the treatment system.
  • the treatment system can be arranged to receive and process the information delivered by the pressure sensor or sensors, in particular concerning the pressures exerted by the obstetrical instrument on the fetal system. Thanks to the invention, a person practicing on the simulator can safely carry out manipulations with an obstetrical instrument, these manipulations being often difficult and risky in reality. We can also test a new obstetric instrument on the birthing simulator.
  • the simulator according to the invention can also be used for the preparation of parturient women for childbirth, by visualizing a simulated childbirth.
  • the birthing simulator according to the invention can also be used to train doctors and midwives in childbirth, in particular to train them: in gestures of maternal monitoring among which one can cite the diagnosis of the degree of cervical dilation, placement of an instrument in the pelvic canal or uterus such as the internal tocometer; gestures for monitoring the fetus, for example the fitting of a scalp electrode, saturometer, fetal pulse oximeter, or other instruments in contact with the fetus, diagnosis of fetal presentation or diagnosis of the degree of head down; manual obstetric maneuvers, for example the Jacquemier maneuver, the great extraction of the seat, the uterine massage; instrumental obstetrical maneuvers, using for example suction cups, forceps, spatulas; to maneuvers performed after childbirth, such as artificial delivery or uterine revision.
  • FIG. 1 is a view schematic and partial, in section, of an example of childbirth simulator according to the invention
  • - Figure 2 is a perspective view, schematic and partial, of an example of simulator according to the invention
  • - Figure 3 shows, schematically and partially, an example of a device for positioning the fetal head, - FIG.
  • FIGS. 1 and 2 show certain elements constituting a birthing simulator 1 produced in accordance with the invention.
  • This simulator 1 comprises a fetal system 2 intended to simulate the behavior of at least a part of the fetus during childbirth, and a maternal system 3 intended to simulate the behavior of at least a part of the maternal body interacting with the fetus .
  • a treatment system 40 shown diagrammatically in FIG. 4, makes it possible to control the operation of the simulator 1. In the example of FIGS.
  • the fetal system 2 comprises a fetal head 4, but it can also include a body fetal without departing from the scope of the present invention.
  • the maternal system 3 comprises, in the example under consideration, flexible inflatable membranes 5, two in number, intended to simulate the behavior of the pelvic muscles.
  • the maternal system 3 also includes a part 6 intended to simulate the behavior of a female osseous pelvis, with extensions 16 corresponding to the legs. This part 6 has an opening 13 through which the fetal system 2 can be expelled.
  • a positioning device 7 for the fetal head 4 makes it possible to modify the position of the fetal head 4 at any time.
  • the actuator 8 comprises, in the example considered, a pneumatic cylinder comprising a cylinder body 9 and a pump 10 supplying the pressure necessary for actuating the cylinder.
  • the membranes 5 of the maternal system 3 are subjected to the pressure of a fluid, of air in the example considered, thanks to a pneumatic device 11 to which they are connected via respective valves 14 and a conduit 15.
  • the pneumatic device 11 is controlled by the treatment system 40, and makes it possible to send a fluid into the enclosures delimited by the membranes 5 under a predefined pressure, this pressure can vary during the simulation of childbirth, so as to simulate the behavior of the maternal muscles.
  • the birthing simulator 1 rests on a support 12 which can be a table for example.
  • the positioning device 7 is arranged to allow the position of the fetal head 4 to be modified as desired by the user, in particular at the start of a childbirth simulation.
  • the positioning device 7 can be manually or automatically controlled. In the case of an automatic control, this can be done through the treatment system 40.
  • the actuator 8 is arranged to exert a force on the fetal system 2 going against the expulsion of the fetal system or on the contrary, helping with expulsion, so as to simulate the real forces exerted on a fetus during childbirth, and in particular during uterine contractions or abdominal pressures.
  • the actuator 8 can also allow the displacement of the fetal head along a longitudinal axis X, coincident with that of the opening 13 in the example considered. It can be seen on examining FIG. 2 that the valves 14 of the pneumatic device 11 are carried by a support 21 disposed above the membranes 5, so as not to harm the quality of the simulation.
  • the fetal head 4 has a morphology and texture similar to that of a fetal skull, being preferably made of a deformable semi-rigid material.
  • the membranes 5 and the fetal system 4 are covered with a flexible apron 19 made of transparent polymer, fixed by means of fasteners 20 to the part 6 corresponding to the maternal pelvis.
  • This apron 19 can, in a variant not shown, be opaque and / or simulate the behavior of the maternal abdomen.
  • the maternal 3 and fetal 2 systems can be exchanged with others, corresponding to different morphologies, not shown.
  • the number of membranes 5 can be greater than two, additional membranes can be arranged so as to also simulate the uterus and the bladder, among others.
  • the membrane 5 simulating the pelvic muscles extends into the opening 13.
  • the positioning device 7 of the fetal head 4 can be produced in different ways.
  • the positioning device 7 may include a hose, as illustrated in FIG. 1. It may also include a ball joint or the like.
  • FIG. 3 shows a ball joint connected to the fetal head 4.
  • the ⁇ otule makes it possible to modify, with several degrees of freedom, the positioning of the fetal head 4. It allows in particular the rotation around an axis Z orthogonal to the plane of the figure and around the longitudinal axis X or the axis Y, perpendicular to the axis X in the plane of the figure.
  • the maternal system 3 and the fetal system 2 can each comprise, as illustrated very diagrammatically in FIG. 4, one or more pressure sensors 30. These sensors 30 are connected to a device 31 for measuring the pressure, arranged to receive and process the information delivered by the sensors 30.
  • the pressure sensors 30 can be arranged on at least one of the following zones of the maternal system or of the fetal system: the sacred promontory, the right or left sciatic spine, the streaked lines, the large or small fontanelle, the chin, the nose, the right orbit or the left orbit.
  • the pressure sensors 30 can be of the single-sensor type, for example strain gauge sensor or contact sensor, or resistive ink sensor or else of the matrix sensor type, for example sensor with charged carbon pellets or pressure sensor. interface. Other types of pressure sensors can be used on the maternal and fetal systems without departing from the scope of the present invention.
  • the sensors 3 can also be tactile or other sensors without departing from the scope of the invention.
  • the fetal system 2 may further include one or more elements 33 allowing the location of the position of the fetal head and / or an obstetric instrument, such as a forceps.
  • a device 34 making it possible to know the position of at least one point of the fetal head and / or of an obstetrical instrument makes it possible to know the position of the tracking elements 33.
  • These, three in number in the example illustrated, may for example each include a transmitter of a radiofrequency signal and the device 34 one or more corresponding detectors.
  • the device 34 making it possible to know the position of at least one point of the fetal head and / or of an obstetrical instrument can comprise at least two cameras arranged so as to make it possible to determine, by triangulation, the position of the fetal head and / or of the obstetrical instrument, the locating elements 33 comprising for example light emitters or reflective parts.
  • the locating elements 33 comprising for example light emitters or reflective parts.
  • the processing system 40 may consist of a microcomputer or the like, and also controls a display device 41, a loudspeaker 42 and an input device 43.
  • the processing system 40 receives and processes information coming from, of the pressure measurement device 31 and of the device 34 making it possible to know the position of at least one point of the fetal head and / or of an obstetrical instrument.
  • the processing system 40 is also arranged to, as mentioned above, control the respective actions of the positioning device of the fetal head 7, of the actuator 8, as well as of the pneumatic device 11.
  • the processing system 40 When a person enters, by means of the input device 43, data relating to a simulation to be performed, and in particular gives the order to the processing system 40 to start a predefined simulation, the latter brings the fetal head 4 to a predetermined position, causes the enclosures delimited by filling the membranes 5 at a predetermined pressure and, by means of the actuator 8, applies a predetermined force to the fetal head 4.
  • the processing system 40 will cause the display on the display device 41 information relating to the simulation, and for example signaling whether the actions performed by the person exercising on the simulator are correct.
  • the display device 41 can display an image or data relating to the positioning of the fetal head, for example 3D images of the fetal head, and / or information on the pressures exerted on the areas on which the pressure sensors 30.
  • the display device 41 can also be arranged to display information relating to the development of contractions, and / or abdominal pressure, and / or cervical dilation, in particular graphs allowing monitoring in real-time contractions and / or abdominal pressure, and / or cervical dilation.
  • the display device 41 can comprise a screen, for example a computer screen or a video projector, and be placed next to, above or behind the maternal and fetal systems.
  • the loudspeaker 42 can broadcast the advice of a trainer or sounds simulating that of childbirth.
  • the treatment system 40 can optionally be arranged to evaluate the doctor or the midwife at the end of a childbirth simulation exercise, causing the display of a note or an appreciation.
  • the simulator may include an instrument, for example an obstetric forceps, instrumented or not. Certain childbirth simulations, for example stored in the treatment system, may require the use of obstetric instruments, in particular forceps, the use of which involves risks for the fetus.
  • the birthing simulator according to the invention allows the use of obstetric instruments. Training in the use of obstetric instruments on the birthing simulator can reduce the risks during a real birth.
  • FIG. 5 shows a forceps that can be used with the delivery simulator according to the invention, this forceps being of the type of one that is used during actual deliveries.
  • the forceps comprises two spoons 50 symmetrical, coming to bear on the fetal head.
  • the latter can be equipped on at least one spoon 50, as illustrated in FIG. 6, with at least one pressure sensor 30.
  • the pressure sensor (s) 30 can be arranged on the interior and / or exterior faces of each of the spoons 50. Different types of pressure sensors 30 can be used on instruments without departing from the scope of the present invention. like those that can be used on the maternal and fetal systems. It may however be advantageous to use a matrix sensor as illustrated.
  • a forceps equipped with at least one pressure sensor can make it possible in particular to monitor the symmetry of the pressures exerted by the spoons on the fetal head 4, to detect in real time the soft points that the orbits can constitute, for example of the fetal head or hard spots that can constitute bones.
  • the invention is not limited to the examples which have just been described. In particular, other obstetric instruments equipped, if necessary, with pressure sensors can be used during a simulation.
  • the device for positioning the fetal head 4 may also be different.
  • the fetal system may also include a fetal body in addition to the fetal head.

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Abstract

The invention concerns a delivery simulator (1), characterized in that it comprises: a fetal system (2) for simulating the behaviour of at least part of a fetus during delivery; a maternal system (3) for simulating the behaviour of at least part of the mother's body interacting with the fetus, said maternal system including at least one membrane (5) subjected to a fluid pressure.

Description

Simulateur fonctionnel et anatomique d'accouchement La présente invention concerne un simulateur d'accouchement. La demande internationale WO 03/001482 décrit un simulateur comportant un actionneur agencé pour simuler les mouvements du fœtus dans l'utérus au cours de l'accouchement. Il existe un besoin pour disposer d'un simulateur d'accouchement perfectionné, facilitant et améliorant l'apprentissage des gestes et techniques obstétricaux, des procédures de diagnostic et de thérapeutique de l'accouchement, permettant de préparer des parturientes à l'accouchement et de tester et valider des procédures cliniques ou des instruments utilisés lors de certains accouchements. Simulateur comportant au moins une membrane soumise à la pression d'un fluide Selon un premier de ses aspects, l'invention a pour objet un simulateur d'accouchement qui peut se caractériser par le fait qu'il comporte : - un système fœtal destiné à simuler le comportement d'au moins une partie d'un fœtus lors de l'accouchement, - un système maternel destiné à simuler le comportement d'au moins une partie du corps maternel interagissant avec le fœtus, ce système maternel comportant au moins une membrane soumise à la pression d'un fluide. La ou les membranes du système maternel peuvent être réalisées dans un matériau souple et déformable, et permettent de simuler le comportement de muscles maternels ou de cavités internes maternelles, notamment des muscles pelviens, de l'utérus, de la vessie ou d'autres encore. Le simulateur peut comporter un dispositif pneumatique ou hydraulique agencé pour soumettre la ou les membranes du système maternel à une pression prédéterminée au cours d'une simulation d'accouchement, en envoyant un fluide dans cette ou ces membranes. La pression du fluide peut varier au cours de la simulation. En particulier, lors du travail et/ou de l'expulsion, des contractions utérines se produisent et une pression abdominale peut être exercée. Dans le cas où une ou plusieurs membranes sont destinées à simuler le comportement de l'utérus, la pression à laquelle est ou sont soumises cette ou ces membranes peut varier fortement, avec notamment des pics de pression, afin de simuler chaque contraction utérine et/ou chaque pression abdominale, ainsi que la dilatation cervicale. De préférence, le système fœtal comporte au moins une tête fœtale pouvant être réalisée dans un matériau semi-rigide, déformable, de morphologie similaire à un crâne de foetus. Le système foetal peut également comporter un corps fœtal. Outre la ou les membranes, le système maternel peut comporter une partie simulant un bassin osseux. Les systèmes maternel et fœtal sont de préférence réalisés dans des matériaux biomimétiques. Le système maternel et le système fœtal peuvent être agencés de manière à être interchangeables avec d'autres systèmes maternels et fœtaux, de manière à permettre l'apprentissage de l'accouchement sur différentes morphologies de systèmes maternels et fœtaux. Simulateur comportant un dispositif permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'un instrument obstétrical. Selon un autre de ses aspects, indépendamment ou en combinaison avec ce qui précède, l'invention a pour objet un simulateur d'accouchement pouvant se caractériser par le fait qu'il comporte : - un système fœtal comportant au moins une tête fœtale, ce système fœtal étant destiné à simuler le comportement d'au moins une partie d'un fœtus, - un système maternel destiné à simuler le comportement d'au moins une partie du corps maternel interagissant avec le fœtus, et un dispositif permettant de connaître la position d'au moins un point, et de préférence la position d'au moins deux, voire trois points, voire l'ensemble, de la tête fœtale et/ou d'au moins un instrument obstétrical. Ainsi, il est possible de suivre les changements de position de la tête fœtale et/ou de l'instrument obstétrical au cours d'une simulation d'accouchement, en temps réel. Par « position de la tête fœtale », on entend en même temps sa position dans l'espace, par rapport au système maternel, mais également son orientation dans l'espace par rapport aux systèmes maternel et fœtal. L'instrument obstétrical peut être un forceps, une ventouse, ou une spatule, ou tout type d'instrument d'extraction, de diagnostic et/ou obstétrical. Le dispositif permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'un instrument obstétrical peut comporter au moins un émetteur ou élément de repérage positionné sur la tête fœtale et au moins un détecteur correspondant ou élément fixe associé à l'élément de repérage placé à distance de la tête fœtale, ou inversement, ou encore tout autre type de capteur permettant de positionner la tête dans l'espace. L'émetteur peut générer par exemple un champ magnétique ou électromagnétique. Le dispositif permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'au moins un instrument obstétrical peut encore comporter au moins une caméra et un système d'analyse d'image. Le dispositif permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'au moins un instrument obstétrical peut notamment comporter au moins deux caméras agencées de manière à déterminer, par triangulation, la position de la tête fœtale et/ou de l'instrument obstétrical. Simulateur comportant un actionneur agencé pour exercer une force sur la tête fœtale Selon un autre encore de ses aspects, indépendamment ou en combinaison avec ce qui précède, l'invention a pour objet un simulateur d'accouchement pouvant se caractériser par le fait qu'il comporte : - un système fœtal comportant au moins une tête fœtale, ce système fœtal étant destiné à simuler le comportement d'au moins une partie d'un fœtus, la tête fœtale étant reliée à un actionneur agencé pour exercer une force sur la tête fœtale, et - un système maternel destiné à simuler le comportement d'au moins une partie du corps maternel interagissant avec le fœtus. Selon ce dernier aspect, le simulateur d'accouchement permet, grâce à l'actionneur, de simuler les forces exercées sur la tête fœtale au cours de l'accouchement, notamment une force aidant à l'expulsion du fœtus, par exemple lors d'une contraction ou d'une pression abdominale, ou une force opposée. Un médecin ou une sage-femme s'entraînant sur le simulateur pourra ainsi être confronté aux mêmes forces que celles qu'il ou elle rencontrerait lors d'un accouchement réel. L'actionneur peut par exemple comporter un vérin hydraulique, pneumatique ou électrique, asservi ou non pour effectuer une résistance constante à l'avancement ou une vitesse d'avancement constante programmée. Ce vérin peut être lui-même mobile dans l'espace selon deux ou trois axes permettant de modifier l'axe du vérin. Le simulateur peut également comporter un dispositif de positionnement de la tête fœtale, notamment un dispositif mécanique ou électromécanique permettant de placer la tête en un emplacement et avec une orientation prédéterminés, avant ou au début d'une simulation. Le dispositif de positionnement de la tête fœtale peut être à commande manuelle ou automatique. Il peut par exemple comporter un flexible, une articulation telle qu'une rotule partielle ou complète permettant de modifier, avec au moins un degré de liberté, la position de la tête fœtale. Dans le cas où le simulateur comporte à la fois un dispositif permettant de connaître la position d'au moins un point de la tête fœtale et un dispositif de positionnement, on peut par exemple reproduire le même positionnement de la tête fœtale au début de chaque simulation, ce qui peut permettre de mettre plusieurs médecins ou sages-femmes dans la même situation. Mesure de pression Une zone au moins du système fœtal peut comporter au moins un capteur de pression, agencé pour délivrer une information relative à la pression exercée sur cette zone, par une autre zone du système fœtal, par le système maternel ou par un élément étranger, par exemple par une main ou un instrument. Une zone au moins du système maternel peut, de même, comporter au moins un capteur de pression agencé pour délivrer une information relative à la pression exercée sur cette zone par une autre zone du système maternel, par le système fœtal ou par un élément étranger tel qu'une main ou un instrument. Le simulateur peut comporter un dispositif de mesure de la pression, agencé pour traiter des informations délivrées par ce ou ces capteurs de pression. Un avantage qu'il y a à disposer des capteurs de pression sur les systèmes maternel et fœtal est de permettre d'enregistrer les emplacements sur lesquels le médecin ou la sage-femme exerce une pression et éventuellement de mesurer cette pression, afin de suivre les gestes pratiqués, et éventuellement leur enchaînement. Lors de la manipulation d'un instrument muni d'au moins un capteur de pression, on peut notamment surveiller les pressions exercées par l'instrument sur la tête fœtale. Par exemple, on peut voir si l'instrument est posé sur un os ou une orbite par exemple. Un capteur de pression peut être disposé sur au moins une zone des systèmes maternel et fœtal choisie parmi les suivantes : promontoire sacré, épine sciatique droite ou gauche, lignes innommées, grande ou petite fontanelle , menton, nez, orbite droite, orbite gauche, ou autre zone d'intérêt clinique. Parmi les capteurs de pression, on peut utiliser un capteur choisi parmi les monocapteurs comportant un seul point de détection tel qu'un capteur à jauge de contrainte, un capteur à contact, un capteur à encre résistive ou parmi les capteurs à matrice comportant entre 10 et 50 points de détection, tels qu'un capteur à pastilles à carbone chargé, un capteur de pression d'interface, ou d'autres encore, dès lors qu'ils sont agencés pour délivrer une information sur la pression exercée à l'emplacement où ils se trouvent. Les capteurs à matrice peuvent délivrer davantage d'information, notamment en ce qui concerne le positionnement de la main ou de l'instrument. Système de traitement des données et de commande Le simulateur comporte avantageusement un système de traitement permettant de commander les divers éléments actifs du simulateur, afin de simuler un accouchement normal ou pathologique. Le système de traitement peut comporter des moyens informatiques tel qu'un micro-ordinateur et les interfaces adéquates pour piloter les éléments actifs et recevoir des signaux et données analogiques ou numériques. Le système de traitement peut être relié à l'actionneur précité et commander la force exercée par l'actionneur au cours de la simulation et pouvant correspondre à un mouvement de résistance ou à une poussée. Le système de traitement peut également être relié au dispositif de positionnement afin, par exemple, de commander le positionnement de la tête fœtale au début de la simulation. Le système de traitement peut être relié au dispositif permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'au moins un instrument obstétrical et être agencé pour recevoir et traiter, par exemple en temps réel, des informations relatives à la position y compris l'orientation de la tête fœtale et/ou de l'instrument obstétrical au cours de la simulation. Le dispositif de mesure de la pression d'interface peut être relié au système de traitement, ce dernier étant agencé pour provoquer l'affichage par exemple d'une cartographie des pressions exercées sur la tête fœtale. Le système de traitement peut comporter un dispositif de saisie, par exemple un clavier et/ou une souris, permettant notamment d'entrer des informations relatives à la simulation et/ou à la personne s'exerçant sur le simulateur. Le simulateur peut encore comporter au moins un haut-parleur relié au système de traitement, ce dernier étant agencé pour lui transmettre des signaux sonores, par exemple des bruits ou cris simulant ceux d'un accouchement réel, ou des consignes ou conseils, au début ou au cours de la simulation par exemple. Le simulateur comporte de préférence un dispositif d'affichage agencé pour afficher des informations relatives à la simulation de l'accouchement sous forme notamment d'images et/ou de signaux lumineux continus ou intermittents. Le dispositif d'affichage peut afficher en temps réel des informations sur le déroulement de l'accouchement, par exemple une ou plusieurs images ou données relatives au positionnement de la tête fœtale, une ou plusieurs images relatives aux pressions d'interface exercées sur l'un et/ou l'autre des systèmes maternel et fœtal, des informations relatives à l'évolution des contractions et/ou de la pression abdominale. En variante, des informations relatives à l'évolution des contractions peuvent être apparentes sur un traceur papier comme lors de l'accouchement réel. Le traceur papier peut par exemple être relié au système de traitement, lequel peut être agencé pour provoquer le traçage des contractions en fonction de la simulation. L'invention a encore pour objet un ensemble comportant un simulateur d'accouchement tel que défini plus haut et un instrument obstétrical, notamment un forceps, cet instrument pouvant être muni d'au moins un capteur de pression. L'instrument obstétrical peut être relié au système de traitement. Dans ce cas, le système de traitement peut être agencé pour recevoir et traiter les informations délivrées par le ou les capteurs de pression notamment concernant les pressions exercées par l'instrument obstétrical sur le système fœtal. Grâce à l'invention, une personne s'exerçant sur le simulateur peut effectuer sans risques des manipulations avec un instrument obstétrical, ces manipulations étant souvent difficiles et risquées dans la réalité. On peut également tester un nouvel instrument obstétrical sur le simulateur d'accouchement. Utilisation du simulateur d'accouchement Le simulateur selon l'invention peut aussi être utilisé pour la préparation de parturientes à l'accouchement, par la visualisation d'un accouchement simulé. Le simulateur d'accouchement selon l'invention peut également être utilisé pour former des médecins et des sages-femmes à l'accouchement, notamment pour les former : aux gestes de surveillance maternelle parmi lesquels on peut citer le diagnostic du degré de dilatation cervicale, la pose d'instrument dans le canal pelvien ou l'utérus tel que le tocomètre interne ; aux gestes de surveillance du fœtus, par exemple à la pose d'électrode de scalp, de saturomètre, d'oxymètre de pouls fœtal, ou d'autres instruments en contact avec le fœtus, au diagnostic de présentation fœtale ou au diagnostic du degré de descente de la tête ; aux manœuvres obstétricales manuelles, par exemple la manœuvre de Jacquemier, la grande extraction du siège, le massage utérin ; aux manœuvres obstétricales instrumentales, à l'aide par exemple de ventouse, de forceps, de spatules ; aux manœuvres réalisées après l'accouchement, telles que la délivrance artificielle ou la révision utérine. Le simulateur d'accouchement selon l'invention peut encore être utilisé pour tester de nouveaux outils ou procédures obstétricaux. On peut encore utiliser le simulateur d'accouchement selon l'invention pour évaluer la pertinence et la reproductibilité de critères cliniques classiques. L'invention pourra être mieux comprise à la lecture de la description détaillée qui va suivre, d'exemples de mise en œuvre non limitatifs de celle-ci, et à l'examen du dessin annexé, sur lequel : la figure 1 est une vue schématique et partielle, en coupe, d'un exemple de simulateur d'accouchement selon l'invention, - la figure 2 est une vue en perspective, schématique et partielle, d'un exemple de simulateur selon l'invention, - la figure 3 représente, de manière schématique et partielle, un exemple de dispositif de positionnement de la tête fœtale, - la figure 4 représente, de manière schématique, différents éléments constitutifs du simulateur, - la figure 5 représente, de manière schématique, un forceps pouvant être utilisé avec le simulateur d'accouchement, et - la figure 6 représente, de manière schématique et partielle, un forceps comportant un capteur de pression. Exemple de simulateur d'accouchement On a représenté aux figures 1 et 2 certains éléments constitutifs d'un simulateur d'accouchement 1 réalisé conformément à l'invention. Ce simulateur 1 comporte un système fœtal 2 destiné à simuler le comportement d'au moins une partie du fœtus lors de l'accouchement, et un système maternel 3 destiné à simuler le comportement d'au moins une partie du corps maternel interagissant avec le fœtus. Un système de traitement 40, représenté de façon schématique à la figure 4, permet de contrôler le fonctionnement du simulateur 1. Dans l'exemple des figures 1 et % le système fœtal 2 comporte une tête fœtale 4, mais il peut comporter également un corps fœtal sans que l'on sorte du cadre de la présente invention. Le système maternel 3 comporte, dans l'exemple considéré, des membranes souples gonflables 5, au nombre de deux, destinées à simuler le comportement des muscles pelviens. Le système maternel 3 comporte encore une partie 6 destinée à simuler le comportement d'un bassin osseux féminin, avec des extensions 16 correspondant aux jambes. Cette partie 6 comporte une ouverture 13 par laquelle le système fœtal 2 peut être expulsé. Un dispositif de positionnement 7 de la tête fœtale 4 permet de modifier à tout moment la position de la tête fœtale 4. Cette dernière est reliée, par l'intermédiaire du dispositif de positionnement 7, à un actionneur 8 commandable par le système de traitement 40. L'actionneur 8 comporte, dans l'exemple considéré, un vérin pneumatique comportant un corps de vérin 9 et une pompe 10 fournissant la pression nécessaire à l'actionnement du vérin. Les membranes 5 du système maternel 3 sont soumises à la pression d'un fluide, de l'air dans l'exemple considéré, grâce à un dispositif pneumatique 11 auquel elles sont reliées par l'intermédiaire de valves respectives 14 et d'un conduit 15. Le dispositif pneumatique 11 est commandé par le système de traitement 40, et permet d'envoyer un fluide dans les enceintes délimitées par les membranes 5 sous une pression prédéfinie, cette pression pouvant varier au cours de la simulation de l'accouchement, de manière à simuler le comportement des muscles maternels. Le simulateur d'accouchement 1 repose sur un support 12 qui peut être une table par exemple. Le dispositif de positionnement 7 est agencé pour permettre de modifier comme le souhaite l'utilisateur la position de la tête fœtale 4, notamment au début d'une simulation d'accouchement. Le dispositif de positionnement 7 peut être à commande manuelle ou automatique. Dans le cas d'une commande automatique, celle-ci peut s'effectuer à travers le système de traitement 40. L'actionneur 8 est agencé pour exercer une force sur le système fœtal 2 allant à encontre de l'expulsion du système fœtal ou au contraire, aidant à l'expulsion, de manière à simuler les forces réelles exercées sur un fœtus lors de l'accouchement, et notamment lors de contractions utérines ou de pressions abdominales. L'actionneur 8 peut également permettre le déplacement de la tête fœtale selon un axe longitudinal X, confondu avec celui de l'ouverture 13 dans l'exemple considéré. On peut voir à l'examen de la figure 2 que les valves 14 du dispositif pneumatique 11 sont portées par un support 21 disposé au-dessus des membranes 5, afin de ne pas nuire à la qualité de la simulation. La tête fœtale 4 est de morphologie et de texture similaires à celles d'un crâne de fœtus, étant réalisée de préférence dans un matériau semi-rigide déformable. Les membranes 5 et le système fœtal 4 sont recouverts d'un tablier 19 souple en polymère transparent, fixé au moyen d'attaches 20 à la partie 6 correspondant au bassin maternel. Ce tablier 19 peut, dans une variante non représentée, être opaque et/ou simuler le comportement de l'abdomen maternel. Les systèmes maternel 3 et fœtal 2 peuvent être échangés avec d'autres, correspondant à des morphologies différentes, non représentés. Le nombre de membranes 5 peut être supérieur à deux, des membranes additionnelles pouvant être disposées de manière à simuler également l'utérus et la vessie, entre autres. La membrane 5 simulant les muscles pelviens s'étend jusque dans l'ouverture 13. On peut réaliser le dispositif de positionnement 7 de la tête fœtale 4 de différentes manières. Le dispositif de positionnement 7 peut comporter un flexible, comme illustré à la figure 1. Il peut également comporter une liaison à rotule ou analogue. A titre d'exemple, on a représenté à la figure 3 une rotule reliée à la tête fœtale 4. La τotule permet de modifier, avec plusieurs degrés de liberté, le positionnement de la tête fœtale 4. Elle permet notamment la rotation autour d'un axe Z orthogonal au plan de la figure et autour de l'axe longitudinal X ou de l'axe Y, perpendiculaire à l'axe X dans le plan de la figure. Le système maternel 3 et le système fœtal 2 peuvent comporter chacun, comme illustré de manière très schématique à la figure 4, un ou plusieurs capteurs 30 de pression. Ces capteurs 30 sont reliés à un dispositif 31 de mesure de la pression, agencé pour recevoir et traiter les informations délivrées par les capteurs 30. Les capteurs 30 de pression peuvent être disposés sur l'une au moins des zones suivantes du système maternel ou du système fœtal : le promontoir sacré, l'épine sciatique droite ou gauche, les lignes inominées, la grande ou la petite fontanelle, le menton, le nez, l'orbite droite ou l'orbite gauche. Les capteurs 30 de pression peuvent être de type monocapteur, par exemple capteur à jauge de contrainte ou capteur à contact, ou capteur à encre résistive ou encore du type capteur à matrice, par exemple capteur à pastilles de carbone chargé ou capteur de pression d'interface. D'autres types de capteurs 30 de pression peuvent être utilisés sur les systèmes maternel et fœtal sans que l'on sorte du cadre de la présente invention. Les capteurs 3 peuvent encore être des capteurs tactiles ou autres sans que l'on sorte du cadre de l'invention. Le système fœtal 2 peut comporter, de plus, un ou plusieurs éléments 33 permettant le repérage de la position de la tête fœtale et/ou d'un instrument obstétrical, tel qu'un forceps. Un dispositif 34 permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'un instrument obstétrical permet de connaître la position des éléments 33 de repérage. Ces derniers, au nombre de trois dans l'exemple illustré, peuvent par exemple comporter chacun un émetteur d'un signal radiofréquence et le dispositif 34 un ou plusieurs détecteurs correspondants. Dans une variante non illustrée, le dispositif 34 permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'un instrument obstétrical peut comporter au moins deux caméras agencées de manière à permettre de déterminer, par triangulation, la position de la tête fœtale et/ou de l'instrument obstétrical, les éléments de repérage 33 comportant par exemple des émetteurs lumineux ou des parties réfléchissantes. Lorsqu'il y a plus d'un élément de repérage 33, on peut avoir une information sur l'orientation de la tête fœtale el ou de l'instrument obstétrical, voire connaître l'orientation de la tête fœtale et/ou de l'instrument obstétrical si les éléments de repérage sont nombreux. Le système de traitement 40 peut être constitué par un micro-ordinateur ou analogue, et contrôle également un dispositif d'affichage 41, un haut-parleur 42 et un dispositif de saisie 43. Le système de traitement 40 reçoit et traite des informations provenant, du dispositif 31 de mesure de pression et du dispositif 34 permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'un instrument obstétrical. Le système de traitement 40 est également agencé pour, comme mentionné plus haut, contrôler les actions respectives du dispositif de positionnement de la tête fœtale 7, de l'actionneur 8, ainsi que du dispositif pneumatique 11. Lorsqu'une personne entre, au moyen du dispositif de saisie 43, des données concernant une simulation à effectuer, et notamment donne l'ordre au système de traitement 40 de débuter une simulation prédéfinie, ce dernier amène la tête fœtale 4 dans une position prédéterminée, provoque le remplissage des enceintes délimitées par les membranes 5 à une pression prédéterminée et, au moyen de l'actionneur 8, applique une force prédéterminée sur la tête fœtale 4. Au cours de la simulation, le système de traitement 40 va provoquer l'affichage sur le dispositif d'affichage 41 d'informations relatives à la simulation, et par exemple signaler si les actions exercées par la personne s'exerçant sur le simulateur sont correctes. Le dispositif d'affichage 41 peut afficher une image ou des données relatives au positionnement de la tête fœtale, par exemple des images en 3 D de la tête fœtale, et/ou une information sur les pressions exercées sur les zones sur lesquelles sont placés les capteurs de pression 30. Le dispositif d'affichage 41 peut encore être agencé pour afficher des informations relatives à l'évolution des contractions, et/ou de la pression abdominale, et/ou de la dilatation cervicale, notamment des graphes permettant le suivi en temps réel des contractions et/ou de la pression abdominale, et/ou de la dilatation cervicale. Le dispositif d'affichage 41 peut comporter un écran, par exemple un écran d'ordinateur ou de vidée-projecteur, et être disposé à côté, au-dessus ou derrière les systèmes maternel et fœtal. Le haut-parleur 42 peut diffuser les conseils d'un formateur ou des bruits simulant ceux d'un accouchement. Le système de traitement 40 peut éventuellement être agencé pour évaluer le médecin ou la sage-femme à la fin d'un exercice de simulation d'accouchement, provoquant l'affichage d'une note ou d'une appréciation. Le simulateur peut comporter un instrument, par exemple un forceps obstétrical, instrumenté ou non. Certaines simulations d'accouchement, par exemple en mémoire dans le système de traitement, peuvent nécessiter l'usage d'instruments obstétricaux, notamment du forceps, dont l'utilisation comporte des risques pour le fœtus. Le simulateur d'accouchement selon l'invention permet l'usage d'instruments obstétricaux. L'entraînement à l'utilisation des instruments obstétricaux sur le simulateur d'accouchement peut permettre de diminuer les risques lors d'un accouchement réel. On a représenté à la figure 5 un forceps pouvant être utilisé avec le simulateur d'accouchement selon l'invention, ce forceps étant du type d'un de ceux que l'on utilise lors d'accouchements réels. Le forceps comporte deux cuillères 50 symétriques, venant en appui sur la tête fœtale. Afin de contrôler la manipulation du forceps par l'obstétricien, ce dernier peut être équipé sur une cuillère 50 au moins, comme illustré sur la figure 6, d'au moins un capteur de pression 30. Le ou les capteurs de pression 30 peuvent être disposés sur les faces intérieure et/ou extérieure de chacune des cuillères 50. Différents types de capteurs de pression 30 peuvent être utilisés sur des instruments sans que l'on sorte du cadre de la présente invention à l'instar de ceux que l'on peut utiliser sur les systèmes maternel et fœtal. Il peut être toutefois avantageux d'utiliser un capteur à matrice tel qu'illustré. L'utilisation d'un forceps équipé d'au moins un capteur de pression peut permettre notamment de surveiller la symétrie des pressions exercées par les cuillères sur la tête fœtale 4, de détecter en temps réel les points mous que peuvent constituer par exemple les orbites de la tête fœtale ou des points durs que peuvent constituer des os. L'invention n'est pas limitée aux exemples qui viennent d'être décrits. En particulier, d'autres instruments obstétricaux équipés, le cas échéant, de capteurs de pression peuvent être utilisés lors d'une simulation. Le dispositif de positionnement de la tête fœtale 4 peut également être différent. Le système fœtal peut encore comporter un corps fœtal en plus de la tête fœtale. Dans toute la description, y compris les revendications, l'expressionThe present invention relates to a childbirth simulator. International application WO 03/001482 describes a simulator comprising an actuator arranged to simulate the movements of the fetus in the uterus during childbirth. There is a need to have a sophisticated delivery simulator, facilitating and improving the learning of gestures and obstetric techniques, diagnostic and therapeutic procedures for childbirth, making it possible to prepare parturient women for childbirth and to test and validate clinical procedures or instruments used during certain deliveries. Simulator comprising at least one membrane subjected to the pressure of a fluid According to a first of its aspects, the subject of the invention is a birthing simulator which can be characterized by the fact that it comprises: - a fetal system intended for simulate the behavior of at least part of a fetus during childbirth, - a maternal system intended to simulate the behavior of at least part of the maternal body interacting with the fetus, this maternal system comprising at least one membrane subject to fluid pressure. The membrane (s) of the maternal system can be made of a flexible and deformable material, and make it possible to simulate the behavior of maternal muscles or maternal internal cavities, in particular the pelvic muscles, the uterus, the bladder or others still . The simulator may include a pneumatic or hydraulic device arranged to subject the membrane or membranes of the maternal system to a predetermined pressure during a simulated delivery, by sending a fluid into this or these membranes. The fluid pressure may vary during the simulation. In particular, during labor and / or expulsion, uterine contractions occur and abdominal pressure can be exerted. In the case where one or more membranes are intended to simulate the behavior of the uterus, the pressure to which is or are subjected this or these membranes can vary greatly, with in particular pressure peaks, in order to simulate each uterine contraction and / or each abdominal pressure, as well as cervical dilation. Preferably, the fetal system comprises at least one fetal head which can be made of a semi-rigid, deformable material, of morphology similar to a fetal skull. The fetal system may also include a fetal body. In addition to the membrane (s), the maternal system may include a part simulating a bony pelvis. The maternal and fetal systems are preferably made from biomimetic materials. The maternal and fetal systems can be arranged so as to be interchangeable with other maternal and fetal systems, so as to allow the learning of childbirth on different morphologies of maternal and fetal systems. Simulator comprising a device enabling the position of at least one point of the fetal head and / or an obstetric instrument to be known. According to another of its aspects, independently or in combination with the above, the invention relates to a childbirth simulator which can be characterized by the fact that it comprises: - a fetal system comprising at least one fetal head, this fetal system being intended to simulate the behavior of at least a part of a fetus, - a maternal system intended to simulate the behavior of at least a part of the maternal body interacting with the fetus, and a device making it possible to know the position at least one point, and preferably the position of at least two, even three points, or even the whole, of the fetal head and / or at least one obstetrical instrument. Thus, it is possible to follow the changes in position of the fetal head and / or the obstetrical instrument during a simulation of childbirth, in real time. By "position of the fetal head" is meant at the same time its position in space, with respect to the maternal system, but also its orientation in space with respect to the maternal and fetal systems. The obstetric instrument can be a forceps, a suction cup, or a spatula, or any type of extraction, diagnostic and / or obstetrical instrument. The device making it possible to know the position of at least one point of the fetal head and / or of an obstetric instrument may comprise at least one transmitter or locating element positioned on the fetal head and at least one corresponding detector or associated fixed element the locating element placed at a distance from the fetal head, or vice versa, or any other type of sensor making it possible to position the head in space. The transmitter can generate, for example, a magnetic or electromagnetic field. The device making it possible to know the position of at least one point of the fetal head and / or of at least one obstetrical instrument can also comprise at least one camera and an image analysis system. The device making it possible to know the position of at least one point of the fetal head and / or of at least one obstetrical instrument can in particular comprise at least two cameras arranged so as to determine, by triangulation, the position of the fetal head and / or the obstetric instrument. Simulator comprising an actuator arranged to exert a force on the fetal head According to yet another of its aspects, independently or in combination with the above, the invention relates to a delivery simulator which can be characterized by the fact that it comprises: - a fetal system comprising at least one fetal head, this fetal system being intended to simulate the behavior of at least part of a fetus, the fetal head being connected to an actuator arranged to exert a force on the fetal head , and - a maternal system intended to simulate the behavior of at least one part of the maternal body interacting with the fetus. According to this last aspect, the childbirth simulator allows, thanks to the actuator, to simulate the forces exerted on the fetal head during childbirth, in particular a force helping the expulsion of the fetus, for example during contraction or abdominal pressure, or opposite force. A doctor or midwife training on the simulator can thus be confronted with the same forces as those he or she would encounter during a real birth. The actuator may for example comprise a hydraulic, pneumatic or electric actuator, whether or not controlled to perform constant resistance to advancement or a constant forward speed programmed. This cylinder can itself be movable in space along two or three axes making it possible to modify the axis of the cylinder. The simulator can also include a device for positioning the fetal head, in particular a mechanical or electromechanical device making it possible to place the head in a predetermined location and orientation, before or at the start of a simulation. The fetal head positioning device can be manual or automatic. It may for example include a flexible, an articulation such as a partial or complete ball joint making it possible to modify, with at least one degree of freedom, the position of the fetal head. In the case where the simulator includes both a device making it possible to know the position of at least one point of the fetal head and a positioning device, it is for example possible to reproduce the same positioning of the fetal head at the start of each simulation , which can put several doctors or midwives in the same situation. Pressure measurement At least one zone of the fetal system may comprise at least one pressure sensor, arranged to deliver information relating to the pressure exerted on this zone, by another zone of the fetal system, by the maternal system or by a foreign element. , for example by hand or instrument. At least one zone of the maternal system may likewise include at least one pressure sensor arranged to deliver information relating to the pressure exerted on this zone by another zone of the maternal system, by the fetal system or by a foreign element such as than a hand or an instrument. The simulator may include a pressure measurement device, arranged to process information delivered by this or these pressure sensors. One advantage of having pressure sensors on the maternal and fetal systems is that it makes it possible to record the locations on which the doctor or midwife exerts pressure and possibly to measure this pressure, in order to monitor the gestures practiced, and possibly their sequence. When handling an instrument fitted with at least one pressure sensor, it is possible in particular to monitor the pressures exerted by the instrument on the fetal head. For example, we can see if the instrument is placed on a bone or an orbit for example. A pressure sensor can be placed on at least one area of the maternal and fetal systems chosen from the following: sacred promontory, right or left sciatic spine, named lines, large or small fontanel, chin, nose, right orbit, left orbit, or other area of clinical interest. Among the pressure sensors, it is possible to use a sensor chosen from the single-sensor comprising a single detection point such as a strain gauge sensor, a contact sensor, a resistive ink sensor or among the matrix sensors comprising between 10 and 50 detection points, such as a charged carbon pellet sensor, an interface pressure sensor, or others, as long as they are arranged to deliver information on the pressure exerted at the location where they are. Matrix sensors can provide more information, particularly regarding the positioning of the hand or the instrument. Data processing and control system The simulator advantageously includes a processing system for controlling the various active elements of the simulator, in order to simulate normal or pathological delivery. The processing system may include computer means such as a microcomputer and the appropriate interfaces for controlling the active elements and receiving analog or digital signals and data. The processing system can be connected to the aforementioned actuator and control the force exerted by the actuator during the simulation and which may correspond to a resistance movement or to a thrust. The processing system can also be connected to the positioning device in order, for example, to control the positioning of the fetal head at the start of the simulation. The treatment system can be connected to the device making it possible to know the position of at least one point of the fetal head and / or at least one obstetrical instrument and to be arranged to receive and process, for example in real time, information relative to the position including the orientation of the fetal head and / or the obstetric instrument during the simulation. The device for measuring the interface pressure can be connected to the treatment system, the latter being arranged to cause the display, for example, of a map of the pressures exerted on the fetal head. The processing system may include an input device, for example a keyboard and / or a mouse, making it possible in particular to enter information relating to the simulation and / or to the person exercising on the simulator. The simulator may also include at least one loudspeaker connected to the treatment system, the latter being arranged to transmit sound signals to it, for example noises or cries simulating those of a real birth, or instructions or advice, at the start or during the simulation for example. The simulator preferably comprises a display device arranged to display information relating to the simulation of childbirth in the form in particular of images and / or of continuous or intermittent light signals. The display device can display in real time information on the progress of the delivery, for example one or more images or data relating to the positioning of the fetal head, one or more images relating to the interface pressures exerted on the one and / or the other of the maternal and fetal systems, information relating to the development of contractions and / or abdominal pressure. As a variant, information relating to the progress of the contractions may be apparent on a paper tracer as during actual delivery. The paper tracer can for example be connected to the processing system, which can be arranged to cause the tracing of contractions according to the simulation. The invention also relates to an assembly comprising a childbirth simulator as defined above and an obstetric instrument, in particular a forceps, this instrument being able to be provided with at least one pressure sensor. The obstetric instrument can be connected to the treatment system. In this case, the treatment system can be arranged to receive and process the information delivered by the pressure sensor or sensors, in particular concerning the pressures exerted by the obstetrical instrument on the fetal system. Thanks to the invention, a person practicing on the simulator can safely carry out manipulations with an obstetrical instrument, these manipulations being often difficult and risky in reality. We can also test a new obstetric instrument on the birthing simulator. Use of the childbirth simulator The simulator according to the invention can also be used for the preparation of parturient women for childbirth, by visualizing a simulated childbirth. The birthing simulator according to the invention can also be used to train doctors and midwives in childbirth, in particular to train them: in gestures of maternal monitoring among which one can cite the diagnosis of the degree of cervical dilation, placement of an instrument in the pelvic canal or uterus such as the internal tocometer; gestures for monitoring the fetus, for example the fitting of a scalp electrode, saturometer, fetal pulse oximeter, or other instruments in contact with the fetus, diagnosis of fetal presentation or diagnosis of the degree of head down; manual obstetric maneuvers, for example the Jacquemier maneuver, the great extraction of the seat, the uterine massage; instrumental obstetrical maneuvers, using for example suction cups, forceps, spatulas; to maneuvers performed after childbirth, such as artificial delivery or uterine revision. The delivery simulator according to the invention can also be used to test new obstetric tools or procedures. The delivery simulator according to the invention can also be used to assess the relevance and the reproducibility of conventional clinical criteria. The invention will be better understood on reading the detailed description which follows, of non-limiting examples of implementation thereof, and on examining the appended drawing, in which: FIG. 1 is a view schematic and partial, in section, of an example of childbirth simulator according to the invention, - Figure 2 is a perspective view, schematic and partial, of an example of simulator according to the invention, - Figure 3 shows, schematically and partially, an example of a device for positioning the fetal head, - FIG. 4 shows, schematically, different components of the simulator, - Figure 5 shows, schematically, a forceps that can be used with the birthing simulator, and - Figure 6 shows, schematically and partially, a forceps comprising a pressure sensor. Example of a birthing simulator FIGS. 1 and 2 show certain elements constituting a birthing simulator 1 produced in accordance with the invention. This simulator 1 comprises a fetal system 2 intended to simulate the behavior of at least a part of the fetus during childbirth, and a maternal system 3 intended to simulate the behavior of at least a part of the maternal body interacting with the fetus . A treatment system 40, shown diagrammatically in FIG. 4, makes it possible to control the operation of the simulator 1. In the example of FIGS. 1 and% the fetal system 2 comprises a fetal head 4, but it can also include a body fetal without departing from the scope of the present invention. The maternal system 3 comprises, in the example under consideration, flexible inflatable membranes 5, two in number, intended to simulate the behavior of the pelvic muscles. The maternal system 3 also includes a part 6 intended to simulate the behavior of a female osseous pelvis, with extensions 16 corresponding to the legs. This part 6 has an opening 13 through which the fetal system 2 can be expelled. A positioning device 7 for the fetal head 4 makes it possible to modify the position of the fetal head 4 at any time. The latter is connected, via the positioning device 7, to an actuator 8 controllable by the processing system 40 The actuator 8 comprises, in the example considered, a pneumatic cylinder comprising a cylinder body 9 and a pump 10 supplying the pressure necessary for actuating the cylinder. The membranes 5 of the maternal system 3 are subjected to the pressure of a fluid, of air in the example considered, thanks to a pneumatic device 11 to which they are connected via respective valves 14 and a conduit 15. The pneumatic device 11 is controlled by the treatment system 40, and makes it possible to send a fluid into the enclosures delimited by the membranes 5 under a predefined pressure, this pressure can vary during the simulation of childbirth, so as to simulate the behavior of the maternal muscles. The birthing simulator 1 rests on a support 12 which can be a table for example. The positioning device 7 is arranged to allow the position of the fetal head 4 to be modified as desired by the user, in particular at the start of a childbirth simulation. The positioning device 7 can be manually or automatically controlled. In the case of an automatic control, this can be done through the treatment system 40. The actuator 8 is arranged to exert a force on the fetal system 2 going against the expulsion of the fetal system or on the contrary, helping with expulsion, so as to simulate the real forces exerted on a fetus during childbirth, and in particular during uterine contractions or abdominal pressures. The actuator 8 can also allow the displacement of the fetal head along a longitudinal axis X, coincident with that of the opening 13 in the example considered. It can be seen on examining FIG. 2 that the valves 14 of the pneumatic device 11 are carried by a support 21 disposed above the membranes 5, so as not to harm the quality of the simulation. The fetal head 4 has a morphology and texture similar to that of a fetal skull, being preferably made of a deformable semi-rigid material. The membranes 5 and the fetal system 4 are covered with a flexible apron 19 made of transparent polymer, fixed by means of fasteners 20 to the part 6 corresponding to the maternal pelvis. This apron 19 can, in a variant not shown, be opaque and / or simulate the behavior of the maternal abdomen. The maternal 3 and fetal 2 systems can be exchanged with others, corresponding to different morphologies, not shown. The number of membranes 5 can be greater than two, additional membranes can be arranged so as to also simulate the uterus and the bladder, among others. The membrane 5 simulating the pelvic muscles extends into the opening 13. The positioning device 7 of the fetal head 4 can be produced in different ways. The positioning device 7 may include a hose, as illustrated in FIG. 1. It may also include a ball joint or the like. By way of example, FIG. 3 shows a ball joint connected to the fetal head 4. The τotule makes it possible to modify, with several degrees of freedom, the positioning of the fetal head 4. It allows in particular the rotation around an axis Z orthogonal to the plane of the figure and around the longitudinal axis X or the axis Y, perpendicular to the axis X in the plane of the figure. The maternal system 3 and the fetal system 2 can each comprise, as illustrated very diagrammatically in FIG. 4, one or more pressure sensors 30. These sensors 30 are connected to a device 31 for measuring the pressure, arranged to receive and process the information delivered by the sensors 30. The pressure sensors 30 can be arranged on at least one of the following zones of the maternal system or of the fetal system: the sacred promontory, the right or left sciatic spine, the streaked lines, the large or small fontanelle, the chin, the nose, the right orbit or the left orbit. The pressure sensors 30 can be of the single-sensor type, for example strain gauge sensor or contact sensor, or resistive ink sensor or else of the matrix sensor type, for example sensor with charged carbon pellets or pressure sensor. interface. Other types of pressure sensors can be used on the maternal and fetal systems without departing from the scope of the present invention. The sensors 3 can also be tactile or other sensors without departing from the scope of the invention. The fetal system 2 may further include one or more elements 33 allowing the location of the position of the fetal head and / or an obstetric instrument, such as a forceps. A device 34 making it possible to know the position of at least one point of the fetal head and / or of an obstetrical instrument makes it possible to know the position of the tracking elements 33. These, three in number in the example illustrated, may for example each include a transmitter of a radiofrequency signal and the device 34 one or more corresponding detectors. In a variant not illustrated, the device 34 making it possible to know the position of at least one point of the fetal head and / or of an obstetrical instrument can comprise at least two cameras arranged so as to make it possible to determine, by triangulation, the position of the fetal head and / or of the obstetrical instrument, the locating elements 33 comprising for example light emitters or reflective parts. When there is more than one locating element 33, it is possible to have information on the orientation of the fetal head and of the obstetrical instrument, or even to know the orientation of the fetal head and / or of the obstetric instrument if the locating elements are numerous. The processing system 40 may consist of a microcomputer or the like, and also controls a display device 41, a loudspeaker 42 and an input device 43. The processing system 40 receives and processes information coming from, of the pressure measurement device 31 and of the device 34 making it possible to know the position of at least one point of the fetal head and / or of an obstetrical instrument. The processing system 40 is also arranged to, as mentioned above, control the respective actions of the positioning device of the fetal head 7, of the actuator 8, as well as of the pneumatic device 11. When a person enters, by means of the input device 43, data relating to a simulation to be performed, and in particular gives the order to the processing system 40 to start a predefined simulation, the latter brings the fetal head 4 to a predetermined position, causes the enclosures delimited by filling the membranes 5 at a predetermined pressure and, by means of the actuator 8, applies a predetermined force to the fetal head 4. During the simulation, the processing system 40 will cause the display on the display device 41 information relating to the simulation, and for example signaling whether the actions performed by the person exercising on the simulator are correct. The display device 41 can display an image or data relating to the positioning of the fetal head, for example 3D images of the fetal head, and / or information on the pressures exerted on the areas on which the pressure sensors 30. The display device 41 can also be arranged to display information relating to the development of contractions, and / or abdominal pressure, and / or cervical dilation, in particular graphs allowing monitoring in real-time contractions and / or abdominal pressure, and / or cervical dilation. The display device 41 can comprise a screen, for example a computer screen or a video projector, and be placed next to, above or behind the maternal and fetal systems. The loudspeaker 42 can broadcast the advice of a trainer or sounds simulating that of childbirth. The treatment system 40 can optionally be arranged to evaluate the doctor or the midwife at the end of a childbirth simulation exercise, causing the display of a note or an appreciation. The simulator may include an instrument, for example an obstetric forceps, instrumented or not. Certain childbirth simulations, for example stored in the treatment system, may require the use of obstetric instruments, in particular forceps, the use of which involves risks for the fetus. The birthing simulator according to the invention allows the use of obstetric instruments. Training in the use of obstetric instruments on the birthing simulator can reduce the risks during a real birth. FIG. 5 shows a forceps that can be used with the delivery simulator according to the invention, this forceps being of the type of one that is used during actual deliveries. The forceps comprises two spoons 50 symmetrical, coming to bear on the fetal head. In order to control the manipulation of the forceps by the obstetrician, the latter can be equipped on at least one spoon 50, as illustrated in FIG. 6, with at least one pressure sensor 30. The pressure sensor (s) 30 can be arranged on the interior and / or exterior faces of each of the spoons 50. Different types of pressure sensors 30 can be used on instruments without departing from the scope of the present invention. like those that can be used on the maternal and fetal systems. It may however be advantageous to use a matrix sensor as illustrated. The use of a forceps equipped with at least one pressure sensor can make it possible in particular to monitor the symmetry of the pressures exerted by the spoons on the fetal head 4, to detect in real time the soft points that the orbits can constitute, for example of the fetal head or hard spots that can constitute bones. The invention is not limited to the examples which have just been described. In particular, other obstetric instruments equipped, if necessary, with pressure sensors can be used during a simulation. The device for positioning the fetal head 4 may also be different. The fetal system may also include a fetal body in addition to the fetal head. Throughout the description, including the claims, the expression
« comportant un » doit être comprise comme étant synonyme de l'expression « comportant au moins un », sauf si le contraire est spécifié. "Comprising a" should be understood as being synonymous with the expression "comprising at least one", unless otherwise specified.

Claims

REVENDICATIONS
1. Simulateur d'accouchement (1 ), caractérisé par le fait qu'il comporte : un système fœtal (2) destiné à simuler le comportement d'au moins une partie d'un fœtus lors de l'accouchement, un système maternel (3) destiné à simuler le comportement d'au moins une partie du corps maternel interagissant avec le fœtus, ce système maternel comportant au moins une membrane (5) soumise à la pression d'un fluide. 1. Childbirth simulator (1), characterized in that it comprises: a fetal system (2) intended to simulate the behavior of at least part of a fetus during childbirth, a maternal system ( 3) intended to simulate the behavior of at least part of the maternal body interacting with the fetus, this maternal system comprising at least one membrane (5) subjected to the pressure of a fluid.
2. Simulateur d'accouchement, caractérisé par le fait qu'il comporte : un système fœtal (2) comportant au moins une tête fœtale (4), ce système fœtal étant destiné à simuler le comportement d'au moins une partie d'un fœtus, un système maternel (3) destiné à simuler le comportement d'au moins une partie du corps maternel interagissant avec le fœtus, et un dispositif (34) permettant de connaître la position d'au moins un point, notamment au moins deux ou trois points, de la tête fœtale et/ou d'au moins un instrument obstétrical. 2. Childbirth simulator, characterized in that it comprises: a fetal system (2) comprising at least one fetal head (4), this fetal system being intended to simulate the behavior of at least part of a fetus, a maternal system (3) intended to simulate the behavior of at least one part of the maternal body interacting with the fetus, and a device (34) making it possible to know the position of at least one point, in particular at least two or three points, of the fetal head and / or at least one obstetric instrument.
3. Simulateur d'accouchement, caractérisé par le fait qu'il comporte : un système fœtal (2) comportant au moins une tête fœtale (4), ce système fœtal étant destiné à simuler le comportement d'au moins une partie d'un fœtus, la tête fœtale (4) étant reliée à un actionneur (8) agencé pour exercer une force sur la tête fœtale (4), et un système maternel (3) destiné à simuler le comportement d'au moins une partie du corps maternel interagissant avec le fœtus. 3. Delivery simulator, characterized in that it comprises: a fetal system (2) comprising at least one fetal head (4), this fetal system being intended to simulate the behavior of at least part of a fetus, the fetal head (4) being connected to an actuator (8) arranged to exert a force on the fetal head (4), and a maternal system (3) intended to simulate the behavior of at least part of the maternal body interacting with the fetus.
4. Simulateur selon la revendication 1, caractérisé par le fait qu'il comporte un dispositif pneumatique ou hydraulique (11) agencé pour soumettre la ou les membranes4. Simulator according to claim 1, characterized in that it comprises a pneumatic or hydraulic device (11) arranged to subject the membrane (s)
(5) du système maternel (3) à une pression prédéterminée au cours d'une simulation d'accouchement. (5) of the maternal system (3) at a predetermined pressure during a simulated delivery.
5. Simulateur selon l'une quelconque des revendications précédentes, caractérisé par le fait que le système fœtal (2) comporte au moins une tête fœtale (4), de préférence réalisée dans un matériau biomimétique semi-rigide déformable, et éventuellement un corps foetal. 5. Simulator according to any one of the preceding claims, characterized in that the fetal system (2) comprises at least one fetal head (4), preferably made of a deformable semi-rigid biomimetic material, and possibly a fetal body .
6. Simulateur selon l'une quelconque des revendications précédentes, caractérisé par le fait que le système maternel (3) comporte au moins une membrane (5) réalisée dans un matériau biomimétique, souple et déformable. 6. Simulator according to any one of the preceding claims, characterized in that the maternal system (3) comprises at least one membrane (5) made of a biomimetic material, flexible and deformable.
7. Simulateur selon l'une quelconque des revendications précédentes, caractérisé par le fait que le système maternel (3) comporte une partie (6) simulant le comportement d'un bassin osseux féminin. 7. Simulator according to any one of the preceding claims, characterized in that the maternal system (3) comprises a part (6) simulating the behavior of a female osseous pelvis.
8. Simulateur selon la revendication 2, caractérisé par le fait que le dispositif (34) permettant de connaître la position d'au moins un point de la tête fœtale et/ou d'un instrument obstétrical (4) comporte au moins un élément de repérage (33) positionné sur la tête fœtale el ou sur l'instrument obstétrical et au moins un élément fixe associé à cet élément de repérage, placé à distance de la tête fœtale et/ou de l'instrument obstétrical. 8. Simulator according to claim 2, characterized in that the device (34) making it possible to know the position of at least one point of the fetal head and / or of an obstetrical instrument (4) comprises at least one element of marking (33) positioned on the fetal head el or on the obstetric instrument and at least one fixed element associated with this locating element, placed at a distance from the fetal head and / or the obstetrical instrument.
9. Simulateur selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'il comporte un dispositif de positionnement (7) de la tête fœtale (4), notamment un dispositif mécanique ou électromécanique. 9. Simulator according to any one of the preceding claims, characterized in that it comprises a positioning device (7) of the fetal head (4), in particular a mechanical or electromechanical device.
10. Simulateur selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'une zone au moins du système fœtal (2) comporte au moins un capteur de pression (30) agencé pour délivrer une information relative à la pression exercée sur cette zone. 10. Simulator according to any one of the preceding claims, characterized in that at least one zone of the fetal system (2) comprises at least one pressure sensor (30) arranged to deliver information relating to the pressure exerted on this zoned.
11. Simulateur selon l'une quelconque des revendications précédentes, caractérisé par le fait qu'une zone au moins du système maternel comporte au moins un capteur de pression (30) agencé pour délivrer une information relative à la pression exercée sur cette zone. 11. Simulator according to any one of the preceding claims, characterized in that at least one zone of the maternal system comprises at least one pressure sensor (30) arranged to deliver information relating to the pressure exerted on this zone.
12. Ensemble comportant un simulateur d'accouchement selon l'une quelconque des revendications précédentes, et un instrument obstétrical, notamment un forceps. 12. Assembly comprising a childbirth simulator according to any one of the preceding claims, and an obstetrical instrument, in particular a forceps.
13. Ensemble selon la revendication précédente, caractérisé par le fait que l'instrument obstétrical comporte au moins un capteur de pression. 13. An assembly according to the preceding claim, characterized in that the obstetric instrument comprises at least one pressure sensor.
EP04767933A 2003-08-01 2004-07-30 Functional and anatomical delivery simulator Withdrawn EP1649438A2 (en)

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WO2005013239A3 (en) 2005-07-21
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US7651332B2 (en) 2010-01-26
US20070218442A1 (en) 2007-09-20
JP2007501419A (en) 2007-01-25

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