JP3769469B2 - Operation training equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an operation training device, and more particularly, an operation training device effective for surgeon's operation training and the like, and an operation training device capable of quantitatively evaluating the degree of operation skill of the operation training result. About.
[0002]
[Prior art]
Conventionally, when a surgeon performs an operation, it is performed under a laparoscope by inserting forceps from a plurality of small holes without greatly opening the abdomen. This operation is said to be a minimally invasive operation, and it is currently spreading because it is small in wound, less painful, and recovers quickly, so the burden on the patient is small and early discharge is possible. However, since the above-described operation requires a high level of skill from the surgeon, it is not an operation that anyone can perform anywhere.
[0003]
Therefore, conventionally, surgical training has been performed using an operation training apparatus 101 for surgical training as shown in FIG. That is, the operation training apparatus 101 includes a transparent and horizontal acrylic plate 105 supported by a plurality of legs 103, and forceps are inserted into holes 107 provided at appropriate positions on the acrylic plate 105 via trocars 109. 111 is supported.
[0004]
A simulated organ 113 such as a sponge simulating a surgical site such as the stomach is disposed below the acrylic plate 105, and the gripping lever 115L provided at the base of the forceps 111 is gripped to hold the gripping lever 115L. The gripper 117 that is openable and closable at the tip of the forceps 111 is operated, and a needle or thread is gripped by the gripper 117 so that sewing, ligation, and the like are provided in the central portion of the acrylic plate 115. Training was performed while viewing the image of the endoscope camera 119.
[0005]
[Problems to be solved by the invention]
In the conventional operation training apparatus as described above, although it is sensibly familiar with the operation of the forceps, there is a problem that it is not possible to know how much the operation of the trainee has been improved. There is a problem that it is difficult to grasp the difference from the above and it takes time to become skilled.
[0006]
For the above-mentioned problems, the operation state of the forceps can be evaluated by taking a video, for example, but this evaluation is also sensuous and cannot be quantitatively evaluated.
[0007]
In addition, as a method of measuring the operation state of the forceps, it is possible to attach a marker to a feature point of the forceps and photograph the marker with a camera and process the image. There is a problem that you can not. In addition, research on surgical training devices using virtual reality (VR) has been conducted, but it does not actually operate the forceps, but operates the gripping part simulating the gripping part of the forceps. The target is a computer graphic (CG) displayed graphically by a computer, and there is a problem that the reality is poor.
[0008]
According to one aspect of the present invention, an operation training tool including an operation unit and a driven operation unit that is driven by the operation of the operation unit, and a plurality of links that connect a plurality of links and support the operation training tool at a free end. A joint mechanism, a sensor provided at each joint in the multi-joint mechanism to detect movement of the link on the distal side relative to the link on the base side, and a desired position of the operation training tool based on detection data of each sensor A data processing unit for performing data processing for displaying the data on the display unit, and the operation training tool is a forceps including a bar member, and a tip including a grip unit as an operation unit on the base side of the bar member An operation training apparatus is provided, comprising an opening / closing part as a side driven operation part, wherein the multi-joint mechanism supports the bar member between the grip part and the opening / closing part. .
[0009]
According to one aspect of the present invention, the bar member is an operation training device characterized by being supported so as to be rotatable about an axis of the bar member.
[0010]
According to a third aspect of the present invention, in the operation training device according to the first or second aspect, each joint portion in the multi-joint mechanism includes an actuator and a controller for controlling the actuator, and each sensor And a comparison operation unit for outputting a load signal to each actuator based on the result of comparing the detected data and the reference data.
[0011]
According to a fourth aspect of the present invention, in the operation training device according to the first or second aspect, the data processing unit has a calculation function for calculating a position and orientation of the operation training tool based on detection data of each sensor. The position and orientation of the operation training tool are displayed in a graph or animation on the display unit based on the calculation result.
[0012]
According to a fifth aspect of the present invention, in the operation training device according to the first or second aspect, the operation unit includes a sensor for detecting an operation state of the driven operation unit.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 conceptually and schematically shows an overall configuration of an operation training apparatus 1 according to an embodiment of the present invention.
[0014]
Referring to FIG. 1, the operation training apparatus 1 has a configuration in which an operation training tool 5 is provided at a free end of a multi-joint mechanism 3 in which a plurality of links are connected.
[0015]
More specifically, the multi-joint mechanism 3 includes a swivel base 9 supported on a gantry 7 so as to be horizontally rotatable in the direction of arrow A. The swivel base 9 has an axis at the center of the swivel base 9. A base portion of the first link 13 is supported via a first joint portion 11 that is rotatable in an arrow B direction around an axis P that is orthogonal to the axis P. The base of the second link 17 is supported at the distal end of the first link 13 via a second joint portion 15 that is rotatable in the direction of arrow C around an axis Q parallel to the axis P. The wrist member 19 is supported at the distal end of the second link 17 so as to be rotatable in the direction of arrow D about the axis of the second link 17. Then, a hand member (holding) is provided at the distal end portion of the wrist member 19 via a third joint portion 21 that is rotatable in an arrow E direction around an axis R that is orthogonal to the axis of the wrist member 19. Member) 23 is supported, and the operation training tool 5 is rotatably supported by the hand member 23.
[0016]
An appropriate sensor (not shown) such as a rotary encoder for detecting the rotational movement of the swivel base 9 as the tip side with respect to the base 7 as the base side is provided between the base 7 and the swivel base 9. It has been. Therefore, the rotation amount (movement amount) and the rotation speed (movement speed) of the swivel base 9 with respect to the reference position of the gantry 7 can be detected.
[0017]
Similarly, the first joint part 11 is provided with a sensor for detecting the amount of rotation of the first link 13 as the distal end side with respect to the reference position of the swivel base 9 as the base side. Is provided with a sensor for detecting the amount of rotation of the second link 17 as the tip side relative to the reference position of the first link 13 as the base side. In addition, a sensor is provided between the second link 17 and the wrist member 19 for detecting the amount of rotation of the wrist member 19 as the tip side relative to the reference position of the second link 17 as the base side. The third joint portion 21 is provided with a sensor for detecting the rotation amount of the hand member 23 as the distal end side with respect to the reference position of the wrist member 19 as the base portion side. Further, a sensor for detecting a rotation amount of the operation training tool 5 as the distal end side in the direction of arrow F with respect to a reference position of the hand member 23 as the base side between the hand member 23 and the operation training tool 5. Is provided.
[0018]
Therefore, the position and posture of the operation training tool 5 can be obtained by detecting the movement of the distal end side with respect to the reference position on the base side by the sensors and appropriately processing the detection data. In other words, the dimensions of the swivel base 9, the first and second links 13, 17, the wrist member 19, the hand member 23 and the attachment position data of the operation training tool 5 with respect to the hand member 23 can be known in advance, so these data The position and posture of each joint in the multi-joint mechanism 3 can be calculated in a forward kinematic manner based on the detection data of each sensor and the posture and tip position of the operation training tool 5 are similarly calculated by calculation. be able to.
[0019]
The operation training tool 5 is a forceps similar to the conventional forceps described above, and includes a grip portion 27 as an operation portion on the base side of a long pipe-shaped bar member 25. A gripper 31 that is opened and closed by operating an operation lever 29 provided in the vicinity of the grip portion 27 is provided as an opening and closing portion. In other words, the gripper 31 is opened and closed by operating the operating lever 29 of the grip portion 27 as an operating portion, and constitutes a driven operating portion. Although the forceps is used as an operation training tool, the operation training tool is preferably a medical device used for actual surgery such as a pinch forceps and a needle holder.
[0020]
The grip portion 27 is provided with a sensor 33 for detecting the operation of the operation lever 29. Therefore, it is possible to detect when the operation lever 29 is pulled by the sensor 33 or when the grip is released, and when the operation training tool 5 is in any position and posture, the gripper 31 is opened and closed. You can know what happened.
[0021]
The bar member 25 is supported by the hand member 23. As shown in FIG. 2A, a through hole 35 is provided in the hand member 23, and a sleeve 37 rotatably fitted in the through hole 35 is provided. After the bar member 25 is inserted and the dimension from the hand member 23 to the gripper 31 is adjusted, the bar member 25 can be integrally fixed by a set screw 39. A stopper 41 for preventing the sleeve 37 from coming off from the through hole 35 is attached to the tip of the sleeve 37, and a rotary encoder for detecting the rotation of the sleeve 37 relative to the reference position of the hand member 23 is attached to the sleeve 37. A sensor (not shown) for position detection such as the above is provided.
[0022]
By the way, in order to reproduce the operation when the operation training device 1 is operated, the operation at the time of operation of the operation training device 1 deviates more than an allowable value with respect to the operation at the time of a standard operation. In order to apply a load to each operating part, the first, second and third joint parts 11, 15, 21 and the second link 17 and the wrist member are provided between the gantry 7 and the swivel base 9. It is desirable to provide an appropriate actuator such as a servo motor, for example, at the portion of the sleeve 37 provided between the arm member 19 and the hand member 23.
[0023]
The wrist member 19 may support the hand member 23 as shown in FIG. 2B. That is, an L-shaped bracket 19B is integrally attached to the distal end portion of the wrist member 19, and an actuator provided with a rotating shaft 20S in a direction orthogonal to the axis of the wrist member 19 at the distal end portion of the bracket 19B. Wear 20 And it attaches to the front-end | tip part of the said rotating shaft 20S so that the axial center of the holding member (hand member) 23 which supported the said bar member 25 rotatably can be orthogonal to the axial center of the said rotating shaft 20S. . In this case, the extension of the axis of the wrist member 19, the extension of the axis of the rotary shaft 20S, and the axis of the bar member 25 intersect at one point.
[0024]
The actuator 20 includes an appropriate sensor (not shown) such as a rotary encoder that detects the amount of rotation of the hand member 23 as the distal end relative to the reference position of the bracket 19B as the base side.
[0025]
According to the above configuration, the rotation axis of the wrist member 19 in the direction of arrow D ′, the rotation axis of the hand member 23 in the direction of arrow E ′, and the rotation axis of the bar member 25 in the direction of arrow F ′ intersect at one point M. With this configuration, the amount of calculation for calculating the posture and desired position of the bar member 25 is reduced, the degree of freedom is increased, and the operation range is widened.
[0026]
The position of the intersection M is a position determined by the operations of the swivel base 9, the first link 13, and the second link 17 (rotating operations in the directions of arrows A, B, and C) in the multi-joint mechanism 3, and the arrows It does not fluctuate due to the rotation of D ′, E ′, F ′. Therefore, it becomes easier to calculate the posture and the like when the posture of the bar member 25 is changed variously with the intersection M as the rotation center.
[0027]
In the case where an actuator such as a servo motor is provided in the second joint portion 15, as shown in FIG. 3, in the second joint portion 15, the first link 13 belonging to the base side is connected to a position / speed detection sensor. As an example of this sensor, an actuator 51 having a configuration including a rotary encoder 43, a servo motor 45, a speed reducer 47, and an electromagnetic brake 49 is mounted, and the rotatable output shaft 53 of this actuator 51 belongs to the tip side. The base portion of the second link 17 is integrally fixed via a key 55 and a set screw 57.
[0028]
With the above configuration, when the second link 17 is rotated with respect to the first link 13, the rotational position of the second link 17 with respect to the first link 13 can be detected by the rotary encoder 43. Further, as described above, after the second link 17 is rotated with respect to the first link 13, it can be held at an arbitrary position by the electromagnetic brake 49. Furthermore, by controlling the servo motor 45 to rotate, the operator can feel a load when the second link 17 is automatically rotated with respect to the first link 13.
[0029]
In the configuration as described above, when the swivel base 9, the first and second links 13, 17, the wrist member 19, the hand member 23, and the operation training tool 5 are in their initial reference positions, the grip portion of the operation training tool 5 is provided. 27, the gripper 31 is moved to a desired position, opened and closed, and practiced such as suturing and ligation is performed on a sponge simulating the internal organs as in a normal operation. It is rotated in the direction of arrow A, and the rotation position is detected by a sensor such as a rotary encoder provided in the portion.
[0030]
Further, the first link 13 is rotated with respect to the swivel base 9, the second link 17 is rotated with respect to the first link 13, and the wrist member 19 is rotated with respect to the first link 13, Further, the hand member 23 is rotated with respect to the wrist member 19 and the bar member 25 is rotated with respect to the hand member 23. The movement position (rotation position) of the first link 13 with respect to the swivel base 9 is detected by a sensor provided in the first joint portion 11, and the movement position of the second link 17 with respect to the first link 13 is at the second joint portion 15. It is detected by the provided sensor.
[0031]
That is, in the multi-joint mechanism 3, the movement position of the link on the distal end side with respect to the base side in the connection part such as each joint part is detected by each sensor S (only one is shown in FIG. 4) provided in each joint part. The detection data of each sensor S is stored in the first memory 61 in the controller 59 for control. The control controller 59 comprises a computer equipped with a central processing unit, and the first memory 61 stores the detection data of each sensor S detected every sampling time and the operation lever 29 in association with the detection data. The detection data of the sensor 33 that detected the operation is stored.
[0032]
The control controller 59 includes a second memory 63 that stores reference data serving as an operation reference. That is, the second memory 63 stores, as reference data, detection data of each sensor S when, for example, a skilled surgeon operates the operation training apparatus 1.
[0033]
The control controller 59 is provided with a data processing unit 65 that processes data stored in the first and second memories 61 and 63 into desired data. The data processing unit 65 includes the known shape and dimension data of the swivel base 9, the first and second links 13 and 17, the wrist member 19 and the hand member 23, the known shape and dimension data of the operation training tool 5, and the aforementioned Based on the data stored in the first memory 61 or the second memory 63, the display unit 67 performs arithmetic processing so that, for example, the position and orientation of the operation training tool 5 are displayed as an animation.
[0034]
In this case, as shown in FIG. 5, the posture change of the operation training tool 5 and the movement locus of the gripper 31 can be continuously displayed. Therefore, it is possible to know the passage of time and the change state of each joint part, and to evaluate the proficiency level of the operation of the operation training tool 5.
[0035]
Further, for example, when the operation training tool 5 is alternately operated by a plurality of persons A, B, C, and D, detection data of each sensor in each joint portion when each person operates is stored in the first memory 61. For example, the movement trajectory of the gripper 31 is calculated and displayed for each person A, B, C, D as shown in FIG. Can be compared. In this case, by displaying the movement locus of the gripper 31 based on the data stored in the second memory 63 at the same time, it is possible to know quantitatively by comparing the proficiency level of each person for the operation of the expert. Will be able to.
[0036]
Furthermore, as shown in FIG. 7, it is also possible to display the operation trajectory or the like when the same person has practiced a plurality of times so that they can be distinguished for each operation order. In this case, it is possible to know whether or not the operation has been improved by repeating the operation training. In this case as well, it is possible to know the level of proficiency by quantitatively comparing with the expert by simultaneously displaying the operation trajectory etc. of the expert based on the data stored in the second memory. Can do.
[0037]
The data processing unit 65 has an arithmetic processing function to reproduce the operation of the operation training tool 5 based on the data stored in the first memory 61 or the second memory 63. In this case, The calculation result data is output to each actuator driving driver 69 corresponding to each actuator 51, and each actuator 51 is driven and controlled by each actuator driving driver 69, whereby the first memory 61 or the second memory 63 is controlled. The reproduction operation is performed based on the stored data.
[0038]
In other words, the operation state when the trainee operates can be reproduced and the operation state when the expert operates can be reproduced. You will know the degree.
[0039]
Further, the control controller 59 is provided with a comparison operation unit 71. When the operation training device 1 is operated, the comparison calculation unit 71 uses the detection data of each sensor of each joint in the multi-joint mechanism 3 and the reference data of each joint stored in the second memory 63. In comparison, when the absolute value of the difference is equal to or greater than the allowable value, a torque signal (load signal) is output to the actuator 51 corresponding to the sensor whose difference is equal to or greater than the allowable value, and the magnitude of the difference. The load is applied by controlling so as to correspond to the above.
[0040]
Therefore, the trainer (practice) can feel the degree of movement or operation deviating from the standard operation or the standard operation by the torque generated by each actuator 51 when the operation training apparatus 1 is operated. it can. Therefore, the degree of proficiency can be improved by operating the operation training apparatus 1 so that the load is reduced.
[0041]
Further, for example, an operation trajectory of a skilled person is displayed on the display unit 67 in advance, and the operation training apparatus 1 is practiced so as to follow the operation trajectory, so that training such as surgery can be performed effectively.
[0042]
Note that the present invention is not limited to the above-described embodiment, and can be implemented in other modes by making appropriate modifications. That is, in the above description, the case of the forceps has been described as the operation training tool, but other appropriate operation tools may be used without being limited to the forceps.
[0043]
【The invention's effect】
As can be understood from the above description, the invention according to claim 1 is free to connect a plurality of links to an operation training tool including an operation unit and a driven operation unit driven by the operation of the operation unit. A multi-joint mechanism that supports the operation training tool at an end; a sensor provided at each joint in the multi-joint mechanism to detect movement of a distal-side link relative to a base-side link; and detection data of each sensor And a data processing unit that performs data processing for displaying a desired position of the operation training tool on the display unit, so that when the operation training tool is gripped and operated, Each sensor provided at each joint in the mechanism can detect the movement of the link on the distal end side with respect to the link on the base side. Therefore, by performing data processing based on the detection data of each sensor in each joint portion, a desired position such as a driven operation portion of the operation training tool can be displayed on the display portion by a desired display method. Therefore, it is possible to know the operation state when the operation training tool is operated, and to know and improve the skill level of the operation.
[0044]
According to a second aspect of the present invention, in the operation training device according to the first aspect, the operation training tool is a forceps including a bar member, and a tip having a grip portion as an operation portion on the base side of the bar member. The same effect as that of the invention according to claim 1, comprising an opening / closing part as a driven operation part on the side, wherein the bar member is supported so as to be rotatable around an axis of the bar member. As well as performing surgical training using forceps, the operating range of rotation of the forceps can be widened.
[0045]
According to a third aspect of the present invention, in the operation training device according to the first or second aspect, each joint portion in the multi-joint mechanism includes an actuator and a controller for controlling the actuator, and each sensor Since the comparison operation unit for outputting a load signal to each actuator based on the result of comparing the detected data and the reference data is provided, the same effect as that of the invention according to claim 1 or 2 can be obtained. In addition to performing the operation that deviates from the operation for obtaining the reference data during operation training, it can be felt as a load, and the operation can be improved by operating so as to reduce this load. .
[0046]
According to a fourth aspect of the present invention, in the operation training device according to the first or second aspect, the data processing unit has a calculation function for calculating a position and orientation of the operation training tool based on detection data of each sensor. Since the position and orientation of the operation training tool are displayed in a graph or an animation on the display unit based on the calculation result, the same effect as that of the invention according to claim 1 or 2 can be obtained, and the display unit It is possible to know the degree of training proficiency and the problem during operation by observing the display of, and to promote the proficiency of operation training.
[0047]
Since the invention which concerns on Claim 5 is a structure provided with the sensor for detecting the operation state of a driven operation part in the operation training apparatus of Claim 1 or 2 in the operation part, Claim 1 or It is possible to obtain the same effect as the invention described in 2, and to know what position and posture of the operation training tool the operation of the driven operation unit is performed, and to evaluate the operation in more detail. it can.
[Brief description of the drawings]
FIG. 1 is an operation explanatory diagram conceptually and schematically showing an overall configuration of an operation training apparatus according to an embodiment of the present invention.
FIG. 2 is an explanatory view showing a support structure of a bar member for a multi-joint mechanism.
FIG. 3 is an explanatory diagram showing a configuration in which an actuator is provided in a joint portion.
FIG. 4 is a functional block diagram.
FIG. 5 is an explanatory diagram illustrating a display example of a display unit.
FIG. 6 is an explanatory diagram illustrating a display example of a display unit.
FIG. 7 is an explanatory diagram illustrating a display example of a display unit.
FIG. 8 is an explanatory diagram showing a configuration of a conventional surgical training apparatus.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Operation training apparatus 3 Articulated mechanism 5 Operation training tool 7 Base 9 Turning base 11 1st joint part 13 1st link 15 2nd joint part 17 2nd link 19 Wrist member 21 3rd joint part 23 Hand member 25 Bar member 27 Grip section 29 Operation lever 31 Gripper 33 Sensor 43 Rotary encoder 45 Servo motor 47 Reducer 49 Electromagnetic brake 51 Actuator 59 Controller 61 Controlling first memory 63 Second memory 65 Data processing section 67 Display section

Claims (5)

An operation training tool provided with an operation part and a driven operation part driven by the operation of the operation part, a multi-joint mechanism connecting a plurality of links and supporting the operation training tool at a free end, and a link on the base side Sensors provided at each joint part in the multi-joint mechanism for detecting the movement of the link on the distal end side, and data for displaying the desired position of the operation training tool on the display part based on the detection data of each sensor A data processing unit for processing ,
The operation training tool is a forceps provided with a bar member, comprising a grip part as an operation part on the base side of the bar member, and an opening / closing part as a driven operation part on the distal end side,
The multi-joint mechanism supports the bar member between the grip part and the opening / closing part . The operation training apparatus according to claim 1, wherein the bar member is supported so as to be rotatable around an axis of the bar member.   The operation training apparatus according to claim 1 or 2, further comprising an actuator at each joint portion of the multi-joint mechanism and a controller for controlling each actuator, and detection data and reference data of each sensor. An operation training apparatus comprising a comparison operation unit for outputting a load signal to each actuator based on a comparison result. In operation training device according to any one of claims 1 to 3, wherein the data processing unit has a calculation function of calculating the position and orientation of the operation training tool based on the detection data of each sensor, the calculation result The operation training apparatus is characterized in that the position and orientation of the operation training tool are displayed in a graph or an animation on the display unit. 5. The operation training apparatus according to claim 1, wherein the operation unit includes a sensor for detecting an operation state of the driven operation unit.

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