JP7144800B2 - Manipulative pressure detection device, human body model for manipulative training, manipulative training system, laparoscopic surgery support system - Google Patents

Description

The present invention relates to a technique pressure sensing device that can be used in laparoscopic surgery, a technique training system that uses the technique pressure sensing device, and a laparoscopic surgery support system.

In laparoscopic surgery, carbon dioxide gas 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) is inserted into the internal space B through a hole made in the abdominal wall A. ) C is inserted, a laparoscope (generally a CCD camera) D is inserted into one trocar C, surgical instruments E such as forceps and a scalpel are inserted into the other trocar C, and the image captured by the laparoscope D is processed for signal processing. Generally, the image is processed by the device F and displayed on the screen of the image monitor G, and the operation is performed while observing the image (for example, Patent Documents 1 and 2).

Japanese Patent No. 5975504 JP 2013-179998 A

In the laparoscopic surgery, the surgical instrument F passed through the trocar C is pivotally moved around the trocar C as a fulcrum. The pressure intensity, pressure direction, and variations (changes) thereof applied from the trocar C to the abdominal wall fulcrum due to the pivotal motion (hereinafter collectively referred to as "procedure pressure") become a burden (invasiveness) on the patient's body. Therefore, in recent years, there is a demand for minimally invasive surgery that can reduce the invasion. Therefore, in laparoscopic surgery, it is important to continuously grasp (evaluate) the operating pressure applied to the fulcrum of the abdominal wall. However, invasiveness differs depending on the surgical technique of the surgeon performing the operation, and although experienced physicians can grasp the surgical pressure applied to the fulcrum of the abdominal wall to some extent based on their experience and intuition, inexperienced physicians, trainees, and medical students cannot It is difficult for others to comprehend.

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

The procedure pressure detection device of the present invention is a pressure sensor capable of detecting procedure pressure attached to trocars, surgical instruments, and other instruments that are subjected to procedure pressure (hereinafter referred to as "procedure pressure-related instruments") used in laparoscopic surgery. is provided so that the surgical pressure exerted on the pressure sensor by the surgical instrument can be continuously sensed (detected). The procedure pressure sensing device of the present invention can also be used for surgical instrument procedure training and procedure evaluation.

The technique training system of the present invention enables technique training of surgical instruments used in laparoscopic surgery. A pressure sensor capable of continuously detecting the surgical pressure and a signal processing unit (for example, a personal computer) capable of graphing and/or graphically representing the surgical pressure detected by the pressure sensor (hereinafter collectively referred to as "graphical representation"). ) and an image monitor, the pseudo-abdominal wall has a trocar insertion hole and a laparoscope insertion opening, and the signal processing unit receives images taken by the laparoscope and the surgical pressure graphically represented by the signal processing unit. The graphics can be simultaneously displayed on the same screen of the image monitor in real time, and the technique training can be performed while looking at the displayed photographed image and the image of the technique pressure diagram (manipulation 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 the surgical pressure detected by the pressure sensor, and an image monitor. wherein the signal processing unit is capable of simultaneously displaying in real time on the same screen of the image monitor a captured image captured by the laparoscope and a surgical pressure graphic imaged by the signal processing unit; This allows the operator to perform laparoscopic surgery while viewing the surgical pressure image. When a laparoscopic surgical procedure is performed by a robot, a controller is provided that can control the robot procedure based on the surgical pressure detected by the pressure sensor. It is also possible to control the robot in such a way as to reduce it.

INDUSTRIAL APPLICABILITY The procedure pressure detection device of the present invention can continuously detect the procedure pressure applied to the pressure sensor during a procedure using a surgical instrument, so that it can be used in laparoscopic surgery to detect the procedure pressure during surgery in real time. . It can also be used for laparoscopic surgery technique training and detect the technique pressure in real time during training.

By using the technique training system of the present invention, technique training can be performed in an environment close to actual laparoscopic surgery, and stable pivoting of surgical instruments can be learned.

The laparoscopic surgery support system of the present invention can detect the surgical pressure during surgery with a pressure sensor and display it on the monitor screen as a surgical pressure image. It is possible to reduce the burden on the patient by carrying out the procedure so as to alleviate the pain, thereby enabling minimally invasive surgery. When a laparoscopic surgery is performed by a robot, the robot can be controlled to reduce the surgical pressure based on the detected surgical pressure, thereby enabling minimally invasive surgery.

(a) is a cross-sectional view of a manipulative pressure detection device in which a pressure sensor is attached to the inner wall of the body pipe of the trocar; (c) is a front view showing an example of a trocar. (a) is a perspective view of the pressure sensor attached to the seat of the body insertion portion of the trocar, (b) is a cross-sectional view of an example of the trocar body, and (c) is a pressure sensor attached to the seat of the head insertion portion of the trocar. FIG. 4D is a plan view of the sheet; FIG. (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 wrapped around a trocar, and (c) is a film-like sensor of (a) attached to a pseudo-abdominal wall. Cross-sectional view in the case of (a) is an explanatory diagram showing an example of the technique training system of the present invention, and (b) is a sectional view of a pseudo internal organ. (a) is an explanatory view of a state in which a film sensor is attached to a pad, and (b) is a sectional view of a state in which an elastic member is attached to the back side of the film sensor in (a). Explanatory drawing which shows an example of the monitor screen in the technique training system of this invention. FIG. 4 is an explanatory diagram of a signal processing unit according to the present invention; Explanatory drawing in the case of wirelessly transmitting a detection signal in the present invention. Explanatory drawing of general-purpose laparoscopic surgery.

(First Embodiment of Manipulation Pressure Detection Device)
An example of the procedure pressure sensing device of the present invention is shown in FIG. 1(a). The manipulation pressure detection device 1 has a pressure sensor 4 attached to the inner wall (inner peripheral surface) of the body pipe portion 3a of the main body 3 of the trocar 2 to detect the manipulation pressure.

(Second Embodiment of Manipulation Pressure Detection Device)
An example of the procedure pressure sensing device of the present invention is shown in FIG. 1(b). The operating pressure detection device 1 is provided with a pressure sensor 4 capable of detecting operating pressure near the inlet of the body insertion portion 3b of the main body 3 of the trocar 2. As shown in FIG.

(Embodiment 3 of Manipulation Pressure Detection Device)
An example of the procedure pressure sensing device of the present invention is shown in FIGS. 2(a) and 2(b). This procedure pressure detection device 1 is also the case of the trocar 2 . The trocar 2 has a body insertion portion 3b covered with a flexible resin sheet 15, and the sheet 15 has a cut 16 (FIG. 2(d)) through which the surgical instrument 6 is inserted into the trocar 2. I have made it possible for you to do so. Although the pressure sensor 4 is attached to the front surface of the sheet 15 in FIG. When the surgical instrument 6 is pulled in and out in the direction of arrow A in FIG. 2B or moved in the direction of arrow B in FIG. The manipulation pressure applied to the pressure sensor 4 by deformation of the sheet 15 is detected. The same applies when the surgical instrument 6 is operated.

(Embodiment 4 of Manipulation Pressure Detection Device)
An example of the procedure pressure sensing device of the present invention is shown in FIG. 2(c). In this procedure pressure detection 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. 2(d)). The surgical instrument 6 can be inserted into the trocar 2 through the. The manipulation pressure sensing device 1 of the present invention can also attach the pressure sensor 4 to the front or back surface of the sheet 15 . In this procedure pressure detection device 1 as well, when the surgical instrument 6 is taken in and out in the direction of arrow A in FIG. 2(c) or moved in the direction of arrow B in FIG. The manipulation pressure applied to the pressure sensor 4 by deformation of the sheet 15 is detected. The same applies when the surgical instrument 6 is operated.

(Fifth Embodiment of Manipulation Pressure Detection Device)
The procedure pressure detection device of the present invention may be one in which a pressure sensor 4 is attached to a surgical instrument 6 (FIG. 2(a)) such as forceps or scalpel inserted into the trocar 2. FIG. The attachment point may be the outer peripheral surface or the inner peripheral surface of the surgical instrument 6 . In this case, attachment of the pressure sensor 4 to the seat 15 is unnecessary.

(Embodiment 6 of Manipulation Pressure Detection Device)
Although the procedure pressure detection device 1 of Embodiments 1 to 5 has the pressure sensor 4 attached to the trocar 2 and the surgical instrument 6, the instruments to which the pressure sensor 4 is attached in the present invention are other than the trocar 2 and the surgical instrument 6. It may also be a surgical pressure-related instrument that receives the surgical pressure, such as a pad 26 (Fig. 4) attached to a simulated abdominal wall (simulated body wall) 22 (Fig. 4) of a surgical training system.

In the case of any of the procedure pressure detection devices 1 of Embodiments 1 to 6, when a procedure is performed with the surgical instrument 6 inserted into the trocar 2, the pressure sensor 4 and the surgical instrument 6 come into direct or indirect contact and the procedure is performed. Pressure is continuously sensed by the pressure sensor 4 . At the same time, changes in surgical pressure accompanying the operation of the surgical instrument 6 are also detected in real time. The procedure pressure detected here is the procedure pressure applied to the port fulcrum of the body wall (abdominal wall) via the trocar 2 in the case of laparoscopic surgery, and the pressure of the pseudo abdominal wall (Fig. 4) 22 in the case of the procedure training system. This is the procedure pressure applied to the port fulcrum.

[trocar]
The trocar 2 used in the surgical pressure detection device of the present invention may be a general-purpose trocar or a newly developed trocar. General-purpose trocars come in various shapes and structures, but basically there is a main body 3 at the tip of the head 5 as shown in FIG. 1(c). In any trocar, the necessary number of pressure sensors 4 can be attached to locations where the procedure pressure can be easily detected.

[Pressure sensor]
The pressure sensor 4 used in the device for detecting surgical pressure of the present invention may be any sensor capable of detecting the surgical pressure exerted on the port fulcrum of the abdominal wall or pseudo-abdominal wall by the procedure of the surgical instrument 6 inserted into the trocar 2. For example, A general-purpose pressure sensor, strain sensor, or other sensor capable of detecting procedure pressure can be used. 1(a) and 2(a), the pressure sensors 4 are attached at four locations. The number and mounting locations are not particularly limited.

[Film sensor]
The pressure sensor 4 can be directly attached to the trocar 2, the surgical instrument 6, or the like. It is also possible to form the film-like sensor 8 by using the trocar 2, the surgical instrument 6, and attach the film-like sensor 8 to other instruments related to surgical pressure. The film 7 has four partition pieces 11 partitioned by an insertion hole 9 and five partition grooves 10, and a pressure sensor 4 is attached to each partition piece 11. - 特許庁By providing the partition grooves 10, the operating pressure applied to each pressure sensor 4 can be easily detected. The film sensor 8 shown in FIG. 3(a) is made so that the cut 12 can be widened by rolling up the outer portion 7a of the sheet 7 as shown in FIG. 3(b). By unfolding, the film-like 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. 3(c). The pressure sensor 4 shown in FIGS. 3A and 3B is connected to a terminal (connector) 14 by a lead wire 13. As shown in FIG.

(Embodiment 1 of procedure evaluation/training system)
[Human body model]
An example of the surgical training system of the present invention is shown in FIGS. 4(a) and 4(b). This technique training system is a system that enables technique training using the above-described technique pressure detection device 1, as well as understanding and evaluation of techniques. Reference numeral 20 in FIG. 4( a ) denotes a human body model, which imitates the abdomen of a human body, and has a pseudo abdominal wall 22 on a 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 platform 24 is provided in the intra-wall space 23, and a pseudo internal organ 25 is placed thereon. The pseudo internal organ 25 imitates an intestine.

The material of the base 21 and the platform 24 is metal, resin, or the like. The simulated viscera 25 is made of a material that has the same tactile sensation and elasticity as the intestines of a living human body, such as resin or silicon. As shown in FIG. 4(b), it is made thick so that it can be gripped or incised with a surgical instrument 6. As shown in FIG. The base 21 and the mounting table 24 may have shapes, structures, and materials other than those described above. The pseudo viscera 25 may also be other than the intestine, and can be made to imitate the viscera necessary for skill training.

The simulated abdominal wall 22 has two spigots (not shown) with pads 26 attached to each of the spigots. 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 is a laparoscope insertion opening into which a laparoscope (camera) D can be inserted.

The pad 26 in FIG. 4(a) is disc-shaped, and as shown in FIGS. 5(a) and 5(b), 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. An inner member 28 is filled on the back side of the film-like sensor 8 and inside the outer peripheral portion 27 , and a trocar insertion hole 29 is provided substantially in the center between the film-like sensor 8 and the inner member 28 . The inner member 28 is an elastic material. In FIG. 5B, when the surgical instrument 6 in the trocar 2 inserted into the trocar insertion hole 29 is subjected to surgical pressure on the fulcrum (port fulcrum) of the pad 26, the inner member 28 is deformed so that the operating pressure is detected by the pressure sensor 4 . 5(a) and 5(b), the pressure sensors 4 are attached to the outer periphery of the trocar insertion hole 29 at four locations, but the number and locations of attachment of the pressure sensors 4 are limited to those shown in the figure. However, the number and locations can be set as required for pressure detection.

[Pressure detector, image monitor]
In FIG. 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, personal computer: PC) through the pressure detection unit 30, and the signal processing unit 40 is connected to an image monitor G such as a TV.

The pressure detection unit 30 has, for example, a configuration as shown in FIG. A communication circuit 33 is provided for transmitting the converted digital signal to the signal processing unit 40 .

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

FIG. 6 shows a screen displayed on the image monitor G. An image display section 34 is provided in the center of the screen, and pressure display sections 35 are provided on the left and right sides of the image display section 34 . The image display unit 34 displays the photographed image of the pseudo internal organs 25 photographed by the laparoscope D (FIG. 4(a)), and the pressure display unit 35 displays the procedure pressure detected by the pressure sensor 4. are processed into figures (manipulative pressure figures) such as markers and graphs and displayed. The right pressure display section 35 displays the surgical pressure from the surgical instrument 6 inserted into the right trocar 2 of the simulated abdominal wall 22 (FIG. 4(a)), and the left pressure display section 35 displays the left trocar 2. The operating pressure from the surgical instrument 6 inserted into is displayed. In FIG. 6 , the surgical pressure applied to the pressure sensor 4 is displayed as a marker (frame-shaped figure) 36 . The number of markers 36 indicates the pressure intensity, and the display direction (orientation) of the markers 36 indicates the pressure direction. Also, the change in the pressure intensity can be grasped and evaluated by the change in the number of the markers 36, and the change in the pressure direction can be grasped and evaluated by the change in the direction of the markers. Furthermore, the pressure intensity is also expressed in Newtons (N). In FIG. 5, Newton (N), which is a measure of the strength of the pressure, is displayed on the marker 36 as 0.0, 1.0, 2.0, 3.0, 4.0, 5.0. The pressure intensity sensed in 4d is displayed by line graph 37. FIG. The technique pressure graphic may be any other graphic such as a line graph, bar graph, pie chart, or other graphic as long as it can display at least pressure intensity, pressure method, and pressure change. Numerical values may be used as long as they are easy to see on the monitor screen. The display method may also be a method other than that shown in FIG.

The pad 26 in FIG. 4A may or may not have the pressure sensor 4 . In the case of a device without a pressure sensor, a trocar (procedure pressure detection device 1) having a pressure sensor 4 as the trocar 2 is used, or a surgical instrument (procedure pressure detection device 1) having a pressure sensor 4 as the surgical instrument 6 is used. can be used to continuously detect the procedure pressure during the procedure. For those equipped with a pressure sensor, continuous detection of the procedure pressure during the procedure, whether using a general-purpose trocar without a pressure sensor or using a general-purpose surgical instrument without a pressure sensor be able to.

Although the pressure detection unit 30 shown in FIG. 4A transmits the pressure signal detected by the pressure sensor 4 by wire, it can also be transmitted wirelessly in the present invention. In the case of wireless transmission, as shown in FIG. 8, the pressure detected by the pressure detection unit 30 is amplified by the amplifier unit 38 and wirelessly transmitted. . By monitoring the operating pressure during the operating procedure and displaying it on the monitor image in this way, it is possible to evaluate the operating procedures of doctors, trainees, medical students, and the like. In addition, doctors, trainees, medical students, etc. can understand and improve the shortcomings of the technique from the evaluation results, which can be used for training to improve the technique.

(Embodiment 2 of the procedure evaluation/training system)
The pad 26 of the technique training system of the present invention may have shapes and structures other than those shown. Pad 26 may not be provided. If the pad 26 is not provided, the pressure sensor 4 is attached directly to the trocar insertion hole of the simulated abdominal wall 22 (FIG. 4(a)) or is not attached as the case may be. When the pressure sensor 4 is attached, the procedure pressure applied to the trocar insertion hole (port fulcrum) can be detected even if the general-purpose trocar 2 or surgical instrument 6 with no pressure sensor is used. can be done. If no pressure sensor is attached, the surgical pressure applied to the trocar insertion hole can be detected by using a trocar with a pressure sensor or a surgical instrument (manipulation pressure detection device 1). In this case as well, by monitoring the technique pressure during the technique and displaying it on a monitor image, it is possible to grasp and evaluate the techniques of doctors, trainees, medical students, and the like. In addition, doctors, trainees, medical students, etc. can understand and improve the shortcomings of the technique from the evaluation results, which can be used for training to improve the technique.

(Embodiment 3 of procedure evaluation/training system)
The human body model 20 of the technique training system in FIG. 4(a) has the pseudo-abdominal wall 22 made of a resin plate, but the pseudo-abdominal wall 22 can be made of a material that has the same tactile sensation and elasticity as a real human body. In this case, the pseudo-abdominal wall 22 is provided with a trocar insertion hole and a laparoscope insertion opening. Also, the pressure sensor 4 can be attached to the trocar insertion hole. In this case as well, by monitoring the technique pressure during the technique and displaying it on a monitor image, it is possible to grasp and evaluate the techniques of doctors, trainees, medical students, and the like. In addition, doctors, trainees, medical students, etc. can understand and improve the shortcomings of the technique from the evaluation results, which can be used for training to improve the technique.

(Embodiment of Laparoscopic Surgery Support System)
The laparoscopic surgery support system of the present invention can assist ordinary laparoscopic surgery. In place of the trocar C of FIG. The surgical instrument 6 inserted into the hole in FIG. 9) and inserted into the surgical pressure detection device 1 is operated to perform surgery. The manipulation pressure during the manipulation is continuously detected by the pressure sensor 4 of the manipulation pressure detection device 1, and the detected manipulation pressure is processed by the pressure detection unit 30 (FIG. 4(a)) and sent to the signal processing unit 40. The surgical pressure image imaged by the signal processing unit 40 is displayed on the same monitor screen in real time together with the captured image of the laparoscope D. The operator can perform laparoscopic surgery by manipulating the surgical instrument 6 while observing both images.

[Robot control]
In laparoscopic surgery, when a surgical instrument procedure is performed by a robot, the detected pressure detected by the procedure pressure detection device 1 of the present invention, processed by the pressure detection unit 30 and sent to the signal processing unit 40 is converted into a signal. The information can be transmitted (feedback) from the processing unit 40 to the robot, and the robot can be controlled so as to reduce the operating pressure of the robot (to perform minimally invasive surgery). In this case, the signal processing unit 40 can be provided with a control function (software). In addition, it is possible to display a photographed image and a manipulation pressure diagram during the manipulation of the robot on the monitor screen.

[Robot control system 1]
In laparoscopic surgery, when a surgical instrument procedure is performed by a robot, the procedure pressure detected by the procedure 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 is detected. , pressure direction, and a control signal based on one or more of these changes is transmitted (feedback) from the signal processing unit 40 to the robot so that the procedure pressure by the robot is reduced (minimally invasive surgery ) can control the robot. In addition, it is possible to display a photographed image and a manipulation pressure diagram during the manipulation of the robot on the monitor screen.

[Robot control system 2]
The robot control system of the present invention may be a control system different from that of the first embodiment. Recent industrial robots and consumer robots are equipped with artificial intelligence (AI) and are equipped with judgment ability, evaluation ability, learning ability, and the like. The same is true for surgical robots. When a robot equipped with AI is used for a procedure using a surgical instrument in laparoscopic surgery, the procedure pressure detected by the procedure pressure detection device 1 is not processed by the signal processing unit 40, and the detected procedure pressure is used in the surgical procedure. The robot itself may grasp, evaluate, and control (self-control) so that its own procedure pressure can be reduced (minimally invasive surgery). If necessary, the surgical pressure detected by the surgical pressure detection device 1 can be processed by the signal processing unit 40, and then the surgical robot can self-control its own surgical pressure based on the processed data. can. In any of the above cases, it is not always necessary to display the maneuver pressure graphic on the monitor screen. Depending on the case, the monitor screen itself may not be necessary.

Although the above-described embodiment exemplifies abdominal laparoscopic surgery and abdominal technique training, the present invention can also be used for endoscopic surgery and technique training on other parts of the human body. In that case, the human body model 20 can be changed to one suitable for endoscopic surgery and skill training, and the procedure pressure sensing device 1 can also be changed to one suitable for such surgery or skill training.

The manipulation pressure detection device 1 of the present invention can be applied not only to the manipulation pressure detection of doctors but also to the manipulation pressure detection of surgical robots. In addition, if the procedure training system is used not only for doctors and residents (including medical students) but also for surgical robots, it is possible to perform procedure evaluation and ability training for surgical robots.

1 Manipulation pressure detection device 2 Trocar 3 Body 3a Body pipe part 3b Body insertion part 4, 4a to 4d Pressure sensor 5 Head 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)
15 Sheet 16 Incision 20 Human Body Model 21 Base 22 Simulated Abdominal Wall 23 Inner Wall Space 24 Mounting Table 25 Simulated Internal Organ 26 Pad 27 (Pad) Periphery 28 (Pad) Inner Material 29 (Pad) Trocar Insertion Hole 30 Pressure Detector 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 (trocar)
D Laparoscope E Surgical instruments F Signal processor G Image monitor PC Personal computer

Claims (13)

A surgical pressure detection device that is inserted into a body wall in laparoscopic surgery or a simulated abdominal wall in skill training for laparoscopic surgery ,
The technique pressure detection device is a trocar, and the trocar has a main body with a main body insertion part and a head with a head insertion part,
There is a sheet in the body insertion part and/or the head insertion part, and a sensor capable of detecting the procedure pressure is attached to the sheet.
A procedure pressure detection device characterized by: The procedure pressure detection device according to claim 1,
the sheet is penetrable by a surgical instrument inserted into the trocar;
A procedure pressure detection device characterized by: A surgical pressure detection device that is inserted into a body wall in laparoscopic surgery or a simulated abdominal wall in skill training for laparoscopic surgery,
The procedure pressure detection device is a trocar or a procedure pressure-related instrument that receives a procedure pressure due to a procedure of a surgical instrument inserted into the trocar, and the trocar, or the surgical instrument, or the procedure pressure-related instrument comprises a film sensor,
The film sensor is a sensor attached to a film that can be attached to a trocar, a surgical instrument, or a surgical instrument,
The film of the film-like sensor has an insertion hole into which a trocar can be inserted, a partition groove, and several partition pieces partitioned by the partition groove, each partition piece having a sensor,
A procedure pressure detection device characterized by: The procedure pressure detection device according to claim 3,
The film of the film sensor has an insertion hole and a notch,
The cut is opened from the outer edge of the film to the insertion hole, and can be widened by rolling up the outer portion of the film to the insertion hole, and the trocar into which the surgical instrument is inserted is slid from the widened cut to the insertion hole, and the can be inserted into the slot, after which the outer portion of the rolled up film can be applied to the simulated abdominal wall;
A procedure pressure detection device characterized by: A human body model capable of performing laparoscopic surgery technique training using the technique pressure detection device according to any one of claims 1 to 4,
The human body model has a pseudo-abdominal wall that imitates the human body, a space inside the wall, and a pseudo internal organ in the space inside the wall.
The simulated abdominal wall has the same tactile sensation as the body wall of the human body, and has a laparoscope insertion opening into which a laparoscope can be inserted and a trocar insertion hole into which a trocar can be inserted.
A human body model for skill training characterized by: In the human body model for technique training according to claim 5,
the trocar insertion holes are on both sides of the laparoscopic insertion opening;
A human body model for skill training characterized by: A technique training system capable of performing technique training for laparoscopic surgery,
Equipped with a human body model imitating the human body, a trocar, a sensor, a signal processing unit, and an image monitor,
A procedure pressure detection device used for procedure training is the procedure pressure detection device according to any one of claims 1 to 4,
The sensor of the surgical pressure detection device can detect the surgical pressure applied by the surgical instrument inserted in the trocar,
The human body model has a pseudo abdominal wall that imitates the body wall of the human body, a space inside the wall, and a pseudo internal organ in the space inside the wall.
The pseudo-abdominal wall has the same tactile sensation as the body wall of the human body, and has a laparoscope insertion opening into which a laparoscope can be inserted and a trocar insertion hole into which a trocar can be inserted.
One display screen of the image monitor has a pressure display section and an image display section,
The signal processing unit displays the surgical pressure diagram, which is an image of the surgical pressure detected by the sensor, on the pressure display unit, and the image of the simulated internal organs captured by the laparoscope inserted into the laparoscope insertion opening of the simulated abdominal wall is displayed on the image display unit. can be displayed in real time during the procedure,
A procedure training system characterized by: In the procedure training system according to claim 7 ,
The pseudo-abdominal wall has two trocar insertion holes, and surgical instruments in the trocars inserted into the respective trocar insertion holes can be used to perform procedures,
The image monitor has an image display section in the center of one display screen, and pressure display sections on both sides thereof.
The images of the simulated internal organs captured by the laparoscope inserted into the laparoscopic insertion opening of the simulated abdominal wall are displayed on the image display unit, and the surgical pressure diagrams of the surgical instruments in the trocars inserted into the two trocar insertion holes are displayed on the two screens. I made it possible to display separately on the pressure display part,
A procedure training system characterized by: In the procedure training system according to claim 7 or claim 8 ,
The procedure pressure detection device is the procedure pressure detection device according to any one of claims 1 to 4,
A procedure training system characterized by: In the procedure training system according to any one of claims 7 to 9,
The sensor detects the technique pressure during technique training, and the detected technique pressure is graphically processed by the signal processing unit and displayed as a technique pressure diagram on the technique pressure display part of the image monitor. Displaying on the image display unit of the image monitor, both the surgical pressure figure and the photographed image can be displayed on the same screen of one image monitor in real time during the procedure.
A laparoscopic surgery support system characterized by: In the laparoscopic surgery support system according to claim 10 ,
Perform surgical instrument procedures with surgical robots,
The sensor detects the surgical pressure of the surgical robot, and the signal processing unit processes the detected surgical pressure into data that can be used for subsequent procedures and feeds it back to the surgical robot so that the surgical robot reduces the surgical pressure. is capable of controlling the surgical robot to
A laparoscopic surgery support system characterized by: In the procedure training system according to any one of claims 7 to 9,
Perform surgical instrument procedures with surgical robots equipped with artificial intelligence,
A sensor detects the surgical pressure during surgical procedure training by the surgical robot, and the detected surgical pressure is graphically processed by the artificial intelligence of the surgical robot, or by the artificial intelligence and the signal processing unit, and processed as a surgical pressure graphic on the image monitor. Display on the pressure display unit, display the image captured by the laparoscope on the image display unit of the image monitor, and display both the surgical pressure figure and the captured image on the same screen of one image monitor in real time during the procedure. can be displayed,
A laparoscopic surgery support system characterized by: In the laparoscopic surgery support system according to claim 12,
The detected procedure pressure is signal-processed by the artificial intelligence of the surgical robot, or by the artificial intelligence and the signal processing unit, and is fed back to the surgical robot as data that can be used for subsequent procedures, so that the surgical pressure by the surgical robot is processed. the surgical robot is controllable to reduce
A laparoscopic surgery support system characterized by:

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