JP2019187510A - Manipulative pressure sensing device, manipulation training system, and laparoscopic surgery support system - Google Patents

Abstract

To continuously detect manipulative pressure of a surgical instrument, and display a detected manipulative pressure image and a captured image photographed in laparoscope on the same image monitor.SOLUTION: A manipulative pressure sensing device provides a pressure sensor in a trocar or a surgical instrument inserted into the trocar or a manipulative pressure related instrument, and the pressure sensor can detect the manipulative pressure related to the pressure sensor by the manipulation of the surgical instrument. A manipulation training system includes a simulated body wall, a pressure sensor, a signal processing section and an image monitor. The simulated body wall includes a laparoscopic inserting opening and a trocar insertion hole. The pressure sensor is capable of detecting the manipulative pressure applied thereto. The signal processing section can transform the manipulative pressure detected by the pressure sensor into a manipulative pressure figure, and can display it in real time in the same screen of an image monitor along with an image photographed by a laparoscope. A laparoscopic surgery support system is capable of controlling the manipulative pressure of a surgical robot based on the manipulative pressure detected by the manipulative pressure sensing device.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a technique pressure detection device that can be used for laparoscopic surgery, a technique training system using the technique pressure detection device, and a laparoscopic surgery support system.

  In laparoscopic surgery, carbon dioxide is injected into the abdominal cavity to inflate the abdominal wall (body wall) A (FIG. 9) to secure an internal space B, and a trocar (trocar in the internal space B through a hole made in the abdominal wall A. ) Insert C, insert a laparoscope (generally a CCD camera) D into one trocar C, insert surgical instruments E such as forceps and scalpel into the other trocar C, and process the video taken with the laparoscope D It is common to perform the operation while observing the image by processing with the instrument F and displaying it on the screen of the image monitor G (for example, Patent Documents 1 and 2).

Japanese Patent No. 5975504 JP 2013-179998 A

  In laparoscopic surgery, the surgical instrument F passed through the trocar C is pivoted with the trocar C as a fulcrum to perform the procedure. The pressure intensity applied from the trocar C to the abdominal wall fulcrum by the pivoting movement, the pressure direction, and their fluctuations (changes) (hereinafter collectively referred to as “hand pressure”) are burdens (invasive) on the patient's body. Therefore, in recent years, minimally invasive surgery that can reduce invasion has been demanded. For this reason, in laparoscopic surgery, it is important to continuously grasp (evaluate) the technique pressure applied to the abdominal wall fulcrum. However, the invasion varies depending on the procedure of the doctor performing the surgery, and if it is an experienced doctor, it is possible to grasp the procedure pressure on the abdominal wall fulcrum to some extent by experience and intuition, but inexperienced doctors, residents, and medical students It is difficult for us to understand.

  An object of the present invention is to provide a technique pressure detection device capable of continuously detecting a technique pressure during a procedure, a technique training (training) system using the device, and a laparoscopic surgery support system capable of supporting laparoscopic surgery. It is to provide.

  The technique pressure detection device of the present invention is a pressure sensor capable of detecting a technique pressure in a trocar, a surgical instrument, and other instruments to which a procedure pressure is applied (hereinafter referred to as “procedure pressure related instrument”) used in laparoscopic surgery. Is provided so that the technique pressure applied to the pressure sensor can be continuously detected (detected) by the technique of the surgical instrument. The technique pressure detection device of the present invention can also be used for technique training of surgical instruments and evaluation of techniques.

  The technique training system according to the present invention is capable of performing a technique training of a surgical instrument used in laparoscopic surgery. A pressure sensor capable of continuously detecting the technique pressure, and a signal processing unit (for example, a personal computer) that can at least graph or / and figure the technique pressure detected by the pressure sensor (hereinafter, both are collectively referred to as "figure"). ) And an image monitor, the pseudo abdominal wall includes a trocar insertion hole and a laparoscopic insertion opening, and the signal processing unit is a photographic image taken with a laparoscope, and a hand pressure that is figured by the signal processing unit The figure can be displayed simultaneously on the same screen of the image monitor in real time, and the technique training can be performed while viewing the displayed captured image and the image of the technique pressure figure (the technique pressure image). .

  A laparoscopic surgery support system of the present invention includes a trocar used in laparoscopic surgery, a surgical instrument, a pressure sensor, a signal processing unit capable of imaging at least a technique pressure detected by the pressure sensor, and an image monitor. The signal processing unit is capable of simultaneously displaying in real time on the same screen of the image monitor the captured image captured by the laparoscope and the technique pressure image imaged by the signal processing unit. The procedure of laparoscopic surgery can be performed while viewing the procedure pressure image. When a laparoscopic surgical procedure is performed by a robot, a control unit capable of controlling the robot procedure based on the procedure pressure detected by the pressure sensor is provided, and the robot procedure pressure is determined by a signal from the control unit. The robot can also be controlled so as to reduce it.

  Since the technique pressure detection device of the present invention can continuously detect the technique pressure applied to the pressure sensor during the procedure of the surgical instrument, it can be used for laparoscopic surgery to detect the technique pressure during the operation in real time. . It can also be used for laparoscopic surgery technique training to detect the technique pressure during training in real time.

  By using the procedure training system of the present invention, procedure training can be performed in an environment close to actual laparoscopic surgery, and a stable pivot operation of the surgical instrument can be acquired.

  The laparoscopic surgery support system of the present invention can detect the technique pressure during the operation with the pressure sensor and display it on the monitor screen as a technique pressure image, so that the technique pressure is checked while checking the technique pressure on the monitor screen. The burden on the patient can be reduced by manipulating the procedure so as to reduce the invasive surgery. When performing laparoscopic surgery with a robot, the robot can be controlled so that the technique pressure is reduced based on the detected technique pressure, thereby enabling minimally invasive surgery.

(A) is a cross-sectional view of a technique pressure detection device in which a pressure sensor is attached to the inner wall of the main body pipe portion of the trocar; (b) is a cross-sectional view of the technique pressure detection device in which a pressure sensor is attached to the inlet of the main body insertion portion of the trocar; (C) is a front view which shows an example of a trocar. (A) is a perspective view of a state in which the pressure sensor is attached to the seat of the trocar main body insertion portion, (b) is a sectional view of an example of the trocar main body, and (c) is a pressure sensor attached to the seat of the trocar head insertion portion. (D) is a plan view of the sheet. (A) is a perspective view of an example of a film-like sensor, (b) is a perspective view when the film-like sensor of (a) is wound around a trocar, and (c) is affixed to the pseudo abdominal wall of (a). FIG. (A) is explanatory drawing which shows an example of the technique training system of this invention, (b) is sectional drawing of a pseudo internal organ. (A) is explanatory drawing of the state which affixed the film-form sensor on the pad, (b) is sectional drawing of the state which attached the elastic material to the back side of the film-form sensor of (a). Explanatory drawing which shows an example of the monitor screen in the technique training system of this invention. Explanatory drawing of the signal processing part in this invention. Explanatory drawing in the case of transmitting a detection signal by radio | wireless in this invention. Explanatory drawing of general-purpose laparoscopic surgery.

(Embodiment 1 of a technique pressure detection device)
An example of the technique pressure detection device of the present invention is shown in FIG. This technique pressure detection device 1 has a pressure sensor 4 capable of detecting a technique pressure attached to an inner wall (inner peripheral surface) of a main body pipe portion 3 a of a main body 3 of a trocar 2.

(Embodiment 2 of technique pressure detection device)
An example of the technique pressure detection device of the present invention is shown in FIG. This technique pressure detection device 1 is provided with a pressure sensor 4 capable of detecting a technique pressure in the vicinity of the entrance of the main body insertion portion 3 b of the main body 3 of the trocar 2.

(Embodiment 3 of the technique pressure detection device)
An example of the technique pressure detection device of the present invention is shown in FIGS. This technique pressure detection device 1 is also a case of the trocar 2. In the trocar 2, the main body insertion portion 3 b is covered with a flexible resin sheet 15, and the sheet 15 has a notch 16 (FIG. 2D), and the surgical instrument 6 is inserted into the trocar 2 through the notch 16. You can do that. Although the pressure sensor 4 is attached to the surface of the sheet 15 in FIG. 2A, the technique pressure detection device 1 of the present invention can also attach the pressure sensor 4 to the back surface of the sheet 15. When the surgical instrument 6 is put in and out in the direction of arrow A in FIG. 2B or moved in the direction of arrow B in FIG. The technique pressure applied to the pressure sensor 4 when the sheet 15 is deformed is detected. The same applies when the surgical instrument 6 is manipulated.

(Embodiment 4 of technique pressure detection device)
An example of the technique pressure detection device of the present invention is shown in FIG. In the technique pressure detecting device 1, the head insertion portion 5a on the back surface of the head 5 is covered with a flexible resin sheet 15, and the sheet 15 has a cut 16 (FIG. 2D). The surgical instrument 6 can be inserted into the trocar 2 through. In the technique pressure detection device 1 of the present invention, the pressure sensor 4 can be attached to the front surface or the back surface of the sheet 15. When the surgical instrument 6 is brought into and out of the direction of the arrow A in FIG. 2C or moved in the direction of the arrow B in FIG. The technique pressure applied to the pressure sensor 4 when the seat 15 is deformed is detected. The same applies when the surgical instrument 6 is manipulated.

(Embodiment 5 of a technique pressure detection device)
The technique pressure detection device of the present invention may be one in which the pressure sensor 4 is attached to a surgical instrument 6 (FIG. 2A) such as a forceps and a scalpel inserted into the trocar 2. The attachment location may be the outer peripheral surface or the inner peripheral surface of the surgical instrument 6. In this case, it is not necessary to attach the pressure sensor 4 to the seat 15.

(Embodiment 6 of technique pressure detection device)
Although the technique pressure detection device 1 of the first to fifth embodiments has the pressure sensor 4 attached to the trocar 2 or the surgical instrument 6, the instrument to which the pressure sensor 4 is attached is not the trocar 2 or the surgical instrument 6 in the present invention. It may also be a technique pressure-related instrument that receives a technique pressure, for example, a pad 26 (FIG. 4) attached to the pseudo abdominal wall (pseudo body wall) 22 (FIG. 4) of the technique training system.

  In any of the technique pressure detection devices 1 of the first to sixth embodiments, when the surgical instrument 6 inserted into the trocar 2 is manipulated, the pressure sensor 4 and the surgical instrument 6 come into direct or indirect contact with each other. The pressure is continuously detected by the pressure sensor 4. At the same time, a change in technique pressure accompanying the operation of the surgical instrument 6 is also detected in real time. The technique pressure detected here is the technique pressure applied to the port fulcrum of the body wall (abdominal wall) via the trocar 2 in the case of laparoscopic surgery, and in the case of the technique training system, the pseudo abdominal wall (FIG. 4) 22 This is the pressure applied to the port fulcrum.

[Trocker]
The trocar 2 used in the technique pressure detection device of the present invention may be a general-purpose trocar or a newly developed trocar. General-purpose trocars have various shapes and structures. Basically, there is a main body 3 at the end of the head 5 as shown in FIG. In any of the trocars, the necessary number of pressure sensors 4 can be attached to a place where the technique pressure is easily detected.

[Pressure sensor]
The pressure sensor 4 used in the technique pressure detection device of the present invention may be any sensor that can detect the technique pressure applied to the port fulcrum of the abdominal wall or the pseudo abdominal wall by the technique of the surgical instrument 6 inserted into the trocar 2. A general-purpose pressure sensor, a strain sensor, or another sensor capable of detecting a technique pressure can be used. In FIGS. 1 (a) and 2 (a), the pressure sensors 4 are attached to four locations. However, the pressure sensors 4 may be attached to the locations where the procedure pressure during the procedure is easily detected. The number and attachment location are not particularly limited.

[Film sensor]
Although the pressure sensor 4 can be directly attached to the trocar 2, the surgical instrument 6 or the like, the pressure sensor 4 is attached to a sheet or film (hereinafter referred to as “film”) 7 as shown in FIGS. The film-shaped sensor 8 can be formed, and the film-shaped sensor 8 can be attached to the trocar 2, the surgical instrument 6, and other technique pressure related instruments. The film 7 includes four partition pieces 11 partitioned by insertion holes 9 and five partition grooves 10, and the pressure sensor 4 is attached to each partition piece 11. By providing the partition groove 10, the technique pressure applied to each pressure sensor 4 is easily detected. The film-shaped sensor 8 in FIG. 3A is configured such that the outer portion 7a of the sheet 7 can be rolled up as shown in FIG. By spreading, the film sensor 8 can be attached to the surface of the pseudo abdominal wall 22 (body wall A) even after the surgical instrument 6 is inserted into the trocar 2 as shown in FIG. The pressure sensor 4 in FIGS. 3A and 3B is connected to a terminal (connector) 14 with a lead wire 13.

(Embodiment 1 of technique evaluation / training system)
[Human body model]
An example of the surgical training system of the present invention is shown in FIGS. This technique training system is a system in which a technique training can be performed using the above-described technique pressure detecting device 1, and a technique can be grasped and evaluated. Reference numeral 20 in FIG. 4A denotes a human body model that imitates the abdomen of the human body, and has a pseudo abdominal wall 22 on the base 21. The pseudo abdominal wall 22 imitates the abdominal wall of the human body. There is an intra-wall space 23 inside the pseudo abdominal wall 22, a mounting base 24 is provided in the intra-wall space 23, and a pseudo internal organ 25 is placed thereon. The pseudo viscera 25 imitates the intestine.

  The base 21 and the mount 24 are made of metal, resin, etc., and the pseudo abdominal wall 22 is a transparent plate made of resin, and is attached to the base 21 in an arch shape. The pseudo viscera 25 is formed of a material having the same tactile sensation and elasticity as that of a live human intestine, for example, resin, silicon or the like. As shown in FIG. 4B, the thickness is increased so that the surgical instrument 6 can grasp or incise it. The base 21 and the mounting base 24 may have other shapes, structures, and materials. The pseudo viscera 25 may be other than the intestine, and may be a model of the internal organs necessary for the procedure training.

  The pseudo abdominal wall 22 has two insertion holes (not shown), and a pad 26 is attached to each insertion hole. Each pad 26 has a trocar insertion hole 29 into which the trocar 2 is inserted, and a surgical instrument (forceps in the drawing) 6 is inserted into the trocar 2. Between the two pads 26, there is a laparoscopic insertion opening through which a laparoscope (camera) D can be inserted.

  The pad 26 in FIG. 4A has a disk shape, and the film sensor 8 is attached to the front side of the outer peripheral portion 27 made of an elastic material such as resin or rubber as shown in FIGS. 5A and 5B. The inner material 28 is filled on the back side of the film-shaped sensor 8 and inside the outer peripheral portion 27, and a trocar insertion hole 29 is provided at a substantially central portion between the film-shaped sensor 8 and the inner material 28. The inner member 28 is an elastic member. In FIG. 5B, when the surgical instrument 6 in the trocar 2 inserted into the trocar insertion hole 29 is manually applied to the fulcrum (port fulcrum) of the pad 26, the inner member 28 is inserted. 28 is deformed, and the technique pressure is detected by the pressure sensor 4. 5 (a) and 5 (b), the pressure sensor 4 is attached to the outer peripheral four places of the trocar insertion hole 29. However, the number of attachments and attachment places of the pressure sensor 4 are limited to those illustrated. Instead, the number and location required for pressure detection can be provided.

[Pressure detection unit, image monitor]
4A, the laparoscope (camera) D is directly connected to the signal processing unit 40, the pressure sensor 4 is connected to the signal processing unit 40 (for example, a personal computer: PC) through the pressure detection unit 30, and the signal processing unit. Reference numeral 40 denotes an image monitor G such as a TV.

  The pressure detection unit 30 has a configuration as shown in FIG. 7, for example, a signal amplifier 31 that amplifies signals detected by the individual pressure sensors 4, an A / D converter 32 that converts the amplified analog signal into a digital signal, A communication circuit 33 for transmitting the digital signal thus obtained to the signal processing unit 40 is provided.

[Signal processing section]
The signal processing unit 40 is an imaging processing function capable of imaging the digital signal transmitted from the communication circuit 33, and the imaged signal is synchronized with the image from the laparoscope (camera) D on the screen of the image monitor G. Synchronous display function to display in real time, data storage function, and other signals necessary for procedure training are processed into data that can be used for subsequent processing (hereinafter referred to as “procedure pressure data”), and an image is displayed. And various functions (software) that can be stored. In FIG. 4A, the signal processing unit 40 is a built-in signal processing unit built in the personal computer PC. However, the signal processing unit 40 is an external signal processing unit that is provided separately from the personal computer and can be connected to the personal computer PC. You can also.

  FIG. 6 shows a screen displayed on the image monitor G. An image display unit 34 is provided at the center of the screen, and a pressure display unit 35 is provided on the left and right sides of the image display unit 34. The image display unit 34 displays a captured image of the pseudo viscera 25 captured by the laparoscope D (FIG. 4A), and the pressure display unit 35 displays the technique pressure detected by the pressure sensor 4 as a signal processing unit 40. Are processed and displayed as a graphic (manipulation pressure graphic) such as a marker or a graph. The right pressure display unit 35 displays the technique pressure from the surgical instrument 6 inserted into the right trocar 2 of the pseudo abdominal wall 22 (FIG. 4A), and the left pressure display unit 35 displays the left trocar 2 The procedure pressure from the surgical instrument 6 inserted in the screen is displayed. In FIG. 6, the procedure pressure applied to the pressure sensor 4 is displayed as a marker (frame-shaped figure) 36. The pressure intensity is displayed by the number of the markers 36, and the pressure direction is displayed by the display direction (orientation) of the markers 36. Further, it is possible to grasp and evaluate a change in pressure intensity by a change in the number of markers 36 and a change in pressure direction by a change in marker direction. Furthermore, the pressure intensity is also displayed in Newton (N). In FIG. 5, Newton (N), which is an indication of pressure intensity, is displayed on the marker 36 as 0.0, 1.0, 2.0, 3.0, 4.0, 5.0, and the four sensors 4 a to 4 in FIG. The pressure intensity detected at 4d is displayed as a line graph 37. The technique pressure graphic may be another graphic, for example, a line graph, a bar graph, a pie chart, or any other graphic as long as at least pressure intensity, pressure method, and pressure change can be displayed. A numerical value may be used as long as it is easy to see on the monitor screen. The display method may be a method other than that shown in FIG.

  The pad 26 in FIG. 4A may or may not include the pressure sensor 4. In the case where the pressure sensor is not provided, a trocar (manual pressure detection device 1) provided with the pressure sensor 4 is used as the trocar 2 or a surgical instrument (pressure detection device 1) provided with the pressure sensor 4 as the surgical instrument 6. By using, it is possible to continuously detect the procedure pressure during the procedure. Even if a general-purpose trocar without a pressure sensor is used or a general-purpose surgical instrument without a pressure sensor is used, the pressure in the procedure is continuously detected. be able to.

  The pressure detection unit 30 in FIG. 4A is a case where the pressure signal detected by the pressure sensor 4 is transmitted by wire, but can be wirelessly transmitted in the present invention. In the case of wireless transmission, as shown in FIG. 8, the pressure detected by the pressure detector 30 is amplified by the amplifier 38 and wirelessly transmitted, and the signal is received by the signal processor 40 and displayed on the image monitor G. . Thus, by monitoring the procedure pressure during the procedure and displaying it on the monitor image, the procedure of a doctor, a resident, a medical student, etc. can be evaluated. In addition, doctors, residents, medical students, and the like can grasp and improve the shortcomings of the technique based on the evaluation result, and can use it for training for improving the technique.

(Embodiment 2 of technique evaluation / training system)
The pad 26 of the technique training system of the present invention may have a shape and structure other than those illustrated. The pad 26 may not be provided. When the pad 26 is not provided, the pressure sensor 4 is attached directly to the trocar insertion hole of the pseudo abdominal wall 22 (FIG. 4A) or not attached depending on circumstances. When the pressure sensor 4 is attached, even if a general-purpose trocar 2 or surgical instrument 6 without a pressure sensor is used for the trocar 2 or the surgical instrument 6, the technique pressure applied to the trocar insertion hole (port fulcrum) is detected. Can do. When a pressure sensor is not attached, the technique pressure applied to the trocar insertion hole can be detected by using a trocar or a surgical instrument (manual pressure detection device 1) with a pressure sensor. In this case as well, by monitoring the technique pressure during the procedure and displaying it on the monitor image, it is possible to grasp and evaluate the procedure of a doctor, a resident, a medical student, or the like. In addition, doctors, residents, medical students, and the like can grasp and improve the shortcomings of the technique based on the evaluation result, and can use it for training for improving the technique.

(Third Embodiment of Technique Evaluation / Training System)
Although the pseudo abdominal wall 22 is a resin plate in the human body model 20 of the technique training system in FIG. In this case, the pseudo abdominal wall 22 is provided with a trocar insertion hole and a laparoscopic insertion opening. Moreover, the pressure sensor 4 can also be attached to the trocar insertion hole. In this case as well, by monitoring the technique pressure during the procedure and displaying it on the monitor image, it is possible to grasp and evaluate the procedures of doctors, residents, medical students and the like. In addition, doctors, residents, medical students, etc. can grasp and improve the shortcomings of the technique based on the evaluation result, and can use it for training for improving the technique.

(Embodiment of Laparoscopic Surgery Support System)
The laparoscopic surgery support system of the present invention can support normal laparoscopic surgery, and replaces the trocar C of FIG. 9 with the trocar with a pressure sensor (manual pressure detection device) 1 of the present invention as the abdominal wall A ( The surgical instrument 6 inserted into the hole of FIG. 9) and inserted into the technique pressure detection device 1 is operated to perform the operation. The procedure pressure during the procedure is continuously detected by the pressure sensor 4 of the procedure pressure detection device 1, and the detected procedure pressure is processed by the pressure detector 30 (FIG. 4A) and sent to the signal processor 40. The technique pressure image imaged by the signal processing unit 40 is displayed in real time on the same monitor screen together with the image taken by the laparoscope D. The operator can perform laparoscopic surgery by operating the surgical instrument 6 while observing both images.

[Robot control]
In laparoscopic surgery, when a surgical instrument is performed by a robot, the detected pressure that is detected by the technique pressure detection device 1 of the present invention, processed by the pressure detection unit 30 and sent to the signal processing unit 40 is signaled. Transmission (feedback) from the processing unit 40 to the robot allows the robot to be controlled (so as to perform minimally invasive surgery) so that the technique pressure by the robot is reduced. In this case, the signal processing unit 40 can be provided with a control function (software). In addition, it is possible to display a captured image and a technique pressure figure during the robot procedure on the monitor screen.

[Robot control system 1]
In a laparoscopic surgery, when a surgical instrument is operated by a robot, the pressure detected by the technique pressure detection device 1 of the present invention is processed by the pressure detection unit 30 and the pressure intensity processed by the signal processing unit 40. A control signal based on one or more of the pressure direction and the change thereof is transmitted (feedback) from the signal processing unit 40 to the robot so that the manual pressure by the robot is reduced (to achieve a minimally invasive surgery). ) The robot can be controlled. In addition, it is possible to display a captured image and a technique pressure figure during the robot procedure on the monitor screen.

[Robot control system 2]
The robot control system of the present invention may be a control system different from the first embodiment. Recent industrial robots and consumer robots have artificial intelligence (AI), and have judgment ability, evaluation ability, learning ability, and the like. The same applies to the surgical robot. When a robot equipped with AI is used for the procedure of a surgical instrument in laparoscopic surgery, the detected procedure pressure is operated without processing the procedure pressure detected by the procedure pressure detection device 1 with the signal processing unit 40. The robot itself may grasp, evaluate, and control (self-control) so as to reduce its own technique pressure (because of minimally invasive surgery). If necessary, after the technique pressure detected by the technique pressure detection device 1 is processed by the signal processing unit 40, the surgical robot may be able to self-control its own technique pressure based on the processing data. it can. In either case, it is not always necessary to display the technique pressure graphic on the monitor screen. In some cases, the monitor screen itself may not be present.

  The above-described embodiment is an example of abdominal laparoscopic surgery and abdominal procedure training, but the present invention can also be used for endoscopic surgery and procedure training of other parts of the human body. In that case, the human body model 20 can be changed to one suitable for endoscopic surgery and procedure training, and the procedure pressure detection device 1 can also be changed to one suitable for those procedures or procedure training.

  The technique pressure detection device 1 of the present invention can be applied not only to the doctor's technique pressure detection but also to the surgical robot's technique pressure detection. Further, if the technique training system is used not only for doctors and resident (including medical students) but also for surgical robots, it is possible to perform surgical robot skill evaluation and ability training.

DESCRIPTION OF SYMBOLS 1 Procedure pressure detection device 2 Trocar 3 Main body (of trocar) Main body pipe part 3b Main body pipe part 3b (In trocar) Main body insertion part 4, 4a-4d Pressure sensor 5 Head (of trocar) 5a Head insertion part 6 Surgical instrument 7 Film 7a (film) outer portion 8 film sensor 9 (film) insertion hole 10 (film) partition groove 11 (film) partition piece 12 notch 13 lead wire 14 terminal (connector)
DESCRIPTION OF SYMBOLS 15 Sheet | seat 16 Cut 20 Human body model 21 Base 22 Pseudo abdominal wall 23 Wall space 24 Mounting stand 25 Pseudo internal organs 26 Pad 27 (Pad) outer peripheral part 28 (Pad) inner material 29 (Pad) trocar insertion hole 30 Pressure detection part 31 signal amplifier 32 A / D converter 33 communication circuit 34 image display unit 35 pressure display unit 36 marker 37 line graph 38 amplifier unit 40 signal processing unit A abdominal wall (body wall)
B Internal space C Trocar (trocker)
D Laparoscope E Surgical instrument F Signal processor G Image monitor PC Personal computer

Claims (14)

Procedures that receive procedural pressure by means of a trocar inserted into a body wall in laparoscopic surgery or a simulated body wall in laparoscopic surgery procedure training, or a surgical instrument inserted into the trocar, or a surgical instrument inserted into the trocar A pressure sensor is attached to the pressure-related instrument, which can detect the technique pressure by the procedure of the surgical instrument inserted in the trocar.
A technique pressure sensing device characterized by that. The technique pressure detection device according to claim 1,
The technique pressure detection device is a trocar, the trocar has a main body with a main body insertion portion and a head with a head insertion portion, a main body insertion portion and / or a head insertion portion has a sheet, and a pressure sensor is attached to the sheet. Is,
A technique pressure sensing device characterized by that. A procedure training system capable of performing procedure training for laparoscopic surgery,
A human body model simulating a human body, a pressure sensor, a signal processing unit, and an image monitor,
The human body model has a pseudo body wall that imitates the body wall of the human body and a technique space inside it.
The simulated body wall has a laparoscopic insertion opening into which a laparoscope can be inserted, and a trocar insertion hole into which the trocar can be inserted,
The pressure sensor can detect a technique pressure applied to the pressure sensor by a technique of a surgical instrument in the trocar inserted into the trocar insertion hole,
The signal processing unit displays on the same screen of the image monitor the procedure pressure figure that is obtained by imaging the procedure pressure detected by the pressure sensor and the image taken by the laparoscope inserted into the laparoscope insertion opening of the pseudo body wall. Can be,
A technique training system characterized by this. The technique training system according to claim 3,
The simulated body wall has a pad, the pad has a trocar insertion hole,
A technique training system characterized by this. The technique training system according to claim 4,
A pressure sensor is attached to the pad,
The pressure sensor is capable of detecting a technique pressure applied to the pressure sensor by a technique of a surgical instrument in the trocar inserted into the trocar insertion hole,
The signal processing unit can display on the same screen of the image monitor a technique pressure figure obtained by imaging the technique pressure detected by the pressure sensor and a photographed image taken by a laparoscope inserted into the opening of the pseudo body wall. With the ability to
A technique training system characterized by this. The technique training system according to any one of claims 3 to 5,
The simulated body wall has the same tactile sensation as the human body wall.
A technique training system characterized by this. A laparoscopic surgery support system that can support laparoscopic surgery,
Comprising a technique pressure detection device capable of detecting the technique pressure in the laparoscopic surgery,
The technique pressure detection device is the technique pressure detection device according to claim 1 or claim 2.
Laparoscopic surgery support system characterized by that. A laparoscopic surgery support system that can support laparoscopic surgery,
A technique pressure detection device capable of detecting the technique pressure in the laparoscopic surgery and a signal processing unit,
The technique pressure detection device according to claim 1 or claim 2, wherein the technique pressure detection device is,
The signal processing unit can process the technique pressure data based on the technique pressure detected by the pressure sensor of the technique pressure detection device.
Laparoscopic surgery support system characterized by that. A laparoscopic surgery support system that can support laparoscopic surgery,
A technique pressure detection device capable of detecting the technique pressure in the laparoscopic surgery, a signal processing unit, and an image monitor,
The technique pressure detection device according to claim 1 or claim 2, wherein the technique pressure detection device is,
The signal processing unit can process the pressure detected by the pressure sensor of the technique pressure detection device and process it on the monitor screen of the image monitor.
Laparoscopic surgery support system characterized by that. A laparoscopic surgery support system that can support laparoscopic surgery,
A technique pressure detection device capable of detecting the technique pressure in the laparoscopic surgery, a signal processing unit, and an image monitor,
The technique pressure detection device according to claim 1 or claim 2, wherein the technique pressure detection device is,
The signal processing unit can process the hand pressure detected by the pressure sensor of the hand pressure detection device, and display the processed hand pressure figure and the captured image taken with the laparoscope on the same screen of the image monitor in real time. Can
Laparoscopic surgery support system characterized by that. In a support system for laparoscopic surgery in which surgical instrument techniques are performed with a surgical robot,
The technique pressure detection device according to claim 1 or claim 2 is used for the laparoscopic surgery,
The surgical robot is controllable to reduce the surgical robot's own technique pressure based on the technique pressure detected by the technique pressure detecting device.
Laparoscopic surgery support system characterized by that. In a support system for laparoscopic surgery in which surgical instrument techniques are performed with a surgical robot,
A technique pressure detection device and a signal processing unit are used for the laparoscopic surgery,
The technique pressure detection device is the technique pressure detection device according to claim 1 or claim 2,
The signal processing unit can process at least the technique pressure detected by the technique pressure detecting device into data that can be used for subsequent techniques,
The surgical robot is controllable to reduce the surgical robot's own technique pressure based on the technique pressure data processed by the signal processing unit.
Laparoscopic surgery support system characterized by that. In a support system for laparoscopic surgery in which surgical instrument techniques are performed with a surgical robot,
A technique pressure detection device, a signal processing unit and an image monitor are used for the laparoscopic surgery,
The technique pressure detection device is the technique pressure detection device according to claim 1 or claim 2,
The signal processing unit can process the technique pressure detected by the pressure sensor of the technique pressure detecting device and process it on the same screen of the image monitor,
The surgical robot is controllable so as to reduce the surgical robot's own technique pressure based on the technique pressure detected by the pressure sensor of the technique pressure detecting device or the technique pressure data processed by the signal processing unit.
Laparoscopic surgery support system characterized by that. In a support system for laparoscopic surgery in which surgical instrument techniques are performed with a surgical robot,
A technique pressure detection device, a signal processing unit and an image monitor are used for the laparoscopic surgery,
The technique pressure detection device is the technique pressure detection device according to claim 1 or claim 2,
The signal processing unit can process the hand pressure detected by the pressure sensor of the hand pressure detection device, and display the processed hand pressure figure and the photographed image taken with the laparoscope in real time on the same screen of the image monitor. It is possible,
The surgical robot is controllable so as to reduce the surgical robot's own technique pressure based on the technique pressure detected by the pressure sensor of the technique pressure detecting device or the technique pressure data processed by the signal processing unit.
Laparoscopic surgery support system characterized by that.

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