KR20190051221A - Master device for simulation of epiduroscopy training - Google Patents

Abstract

Disclosed is a master device for epidural space endoscopy simulation, which is operated by a practitioner to indicate movement of a virtual catheter outputted to an imaging device. The master device for epidural space endoscopy simulation comprises: a gripping unit which is gripped by the practitioner and includes a rotating dial; a pipe unit which is extended from the gripping unit; an inserting unit which is inserted to move the pipe unit in a longitudinal direction; a distance measuring unit which is installed in the inserting unit and measures a moving distance of the pipe unit; and a rotation measuring unit which is installed in the gripping unit and measures a rotating angle of the rotating dial. The master device for epidural space endoscopy simulation can maximize a training effect by providing the same manipulation method as a catheter used in actual epidural space endoscopy.

Description

[0001] MASTER DEVICE FOR SIMULATION OF EPIDUROSCOPY TRAINING [0002]

The present invention relates to a master device for simulating epidural endoscopy, and more particularly, to a master device for simulating epidural endoscopy that maximizes the training effect by providing the same operation method as a catheter used in actual epidural endoscopy.

Epiduroscopy is an effective method for the diagnosis and treatment of low back pain patients. Small intestinal perforation and insertion of a micro-endoscope and catheter with a diameter of about 1 mm into the body cavity is a direct cause of pain. , Which is a minimally invasive and highly effective treatment for chronic back pain and lumbar disc herniation.

Epidural endoscopy consists of the steps of local anesthesia, disinfection, anesthetic injection, cannula placement, catheter insertion, drug and laser treatment. Among these steps, the most necessary part of the training is the catheter insertion procedure.

During the catheterization procedure of epidural endoscopy, the catheter enters the Sacral hiatus and passes through the space between the neural membranes called the epidural space and is inserted to the lesion site. In this case, since there are many nerves and discs in the space between the nerve membranes, the operator is required to master the catheter insertion.

In this regard, Korean Patent Registration No. 1537899 discloses a haptic interface device for a simulator for endoscopic procedure training, a rotational motion simulation device and a linear motion simulation device for the same, and a simulator for endoscopic procedure training including the same.

Patent Publication No. 1537899 discloses a haptic interface device for a simulator for endoscopic procedure training, comprising: a rotational motion simulator for simulating rotational motion of an endoscope tube; And a linear motion simulator for simulating the linear motion of the endoscope tube. The rotational motion simulator includes a rotation module for passing the endoscope tube along the first axis of rotation and rotating about the first axis of rotation together with the endoscope tube The linear motion simulator includes a gripper rotation part for holding the endoscope tube and moving the endoscope tube in an arc shape along the longitudinal direction, and a section of the endoscope tube passing through the rotation module and the gripper rotation part is located on the same plane.

However, the haptic interface device of the endoscope treatment training simulator of Patent Publication No. 1537899 has a disadvantage in that the training effect is low because the catheter and the operation method used in the actual epidural endoscopy are different.

Korean Registered Patent No. 1537899 (Registered on July 21, 2015)

It is an object of the present invention to provide a master device for simulation of epidural endoscopy which is provided to maximize the training effect by providing the same operation method as the catheter used in actual epidural endoscopy.

The above object is achieved by a master device operated by a practitioner to instruct movement of a virtual catheter output to an imaging device according to the present invention, comprising: a grip part held by the practitioner and equipped with a rotary dial; A conduit portion extending from the grip portion; An insertion portion into which the conduit portion is inserted so as to be movable in the longitudinal direction; A distance measuring unit installed at the insertion unit and measuring a moving distance of the conduit; And a rotation measuring unit installed on the grip unit and measuring a rotation angle of the rotary dial. [0029] According to another aspect of the present invention, there is provided a master apparatus for simulating epidural endoscopy.

Wherein the inserting portion is formed with a passage through which the conduit portion linearly moves, the distance measuring portion being provided in the passage and being pushed or pulled by the conduit portion to move the passage; And a coil wound around the passage member to generate an electrical signal corresponding to movement of the core.

The distance measuring unit may include an encoder that rotates in proportion to a moving distance of the conduit.

The rotation measuring unit may include an encoder that rotates in conjunction with the rotation dial.

A control unit for packetizing the position measurement value of the distance measurement unit and the rotation measurement value of the rotation measurement unit; And a communication unit for transmitting the packetized position measurement value and the rotation measurement value to the video apparatus.

According to the present invention, there is provided a gripper, comprising: a gripper gripped by a practitioner and equipped with a rotary dial; A conduit portion extending from the grip portion; An insertion portion into which the conduit portion is inserted movably in the longitudinal direction; A distance measuring unit installed in the inserting unit for measuring a moving distance of the conduit; And a rotation measuring unit that is installed in the grip unit and measures the rotation angle of the rotary dial. Thus, a master device for simulation of epidural endoscopic surgery, which is provided to maximize the training effect by providing the same operation method as the catheter used in actual epidural endoscopy, . ≪ / RTI >

FIG. 1 is a view showing the state of use of a catheter device used in an actual epidural endoscopy. FIG.
2 illustrates a master device for simulating epidural endoscopy according to an embodiment of the present invention.
FIG. 3 is a use state diagram of the master device for simulating epidural endoscopy of FIG. 1; FIG.
FIG. 4 is a use state diagram of a master device for simulating epidural endoscopy according to another embodiment of the present invention. FIG.
FIG. 5 is an AA sectional view of the master device for simulating epidural endoscopy of FIG. 1; FIG.
Figure 6 is a schematic diagram of a training system having a master device for simulating epidural endoscopy of Figure 1;
FIG. 7 is a diagram showing a stereoscopic image output from an imaging device of a training system having a master device for simulating epidural endoscopy shown in FIG. 6; FIG.
FIG. 8 is a view showing an X-ray image output from an imaging device of a training system having a master device for simulating epidural endoscopy shown in FIG. 6; FIG.
FIGS. 9 to 11 are views showing a stereoscopic image output through an imaging device of a training system having a master device for simulating epidural endoscopy shown in FIG. 6; FIG.
FIGS. 12 and 13 illustrate a perspective image output from an imaging device of a training system having a master device for epilepsy endoscopic simulation of FIG. 6; FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, the well-known functions or constructions are not described in order to simplify the gist of the present invention.

The master device for simulating epidural endoscopy of the present invention is provided to maximize the training effect by providing the same operation method as the catheter used in actual epidural endoscopy.

FIG. 1 is a view showing a state of use of a catheter apparatus used in an actual epidural endoscopy, FIG. 2 is a view showing a master apparatus for simulating epidural endoscopy according to an embodiment of the present invention, and FIG. 3 is a cross- FIG. 4 is a use state diagram of a master device for simulating epidural endoscopy according to another embodiment of the present invention, FIG. 5 is an AA sectional view of a master device for simulating epidural endoscopy in FIG. 1, and FIG. 6 is a schematic view of a training system having a master device for simulating epidural endoscopy shown in Fig. 1, Fig. 7 is a view showing a stereoscopic image output from an imaging device of a training system having a master device for epidural endoscopic simulation shown in Fig. 6, Of the training system with the master device for the epidural endoscopic simulation of Fig. 6 FIG. 9 is a view showing a stereoscopic image output through an imaging device of a training system having a master device for epicutaneous endoscopic simulation shown in FIG. 6, and FIGS. 12 and 13 are diagrams showing an X- A diagram showing a perspective image output from an imaging device of a training system having a master device for epileptic endoscopic simulation.

The master device 10 for simulating epidural endoscopy of the present invention is used in conjunction with the imaging device 1 to simulate catheter insertion training in a virtual reality, which requires particularly high proficiency in epidural endoscopy.

As shown in FIG. 6, the imaging apparatus 1 is configured to output the perspective images 1-10 of the virtual catheter 1-2 and the virtual patient 1-3, And a display device. The imaging apparatus 1 is installed at a position where the practitioner who handles the master apparatus 10 can easily observe.

As shown in FIGS. 7 to 13, the perspective image 1-10 may include a stereoscopic image 1-11 and an X-ray image 1-12.

The stereoscopic image 1-11 includes a virtual cannula 1-1, a virtual catheter 1-2, and a virtual patient 1-1. The virtual cannula 1-1 is a perspective image 1-10 outputting a perspective view of the inside of a virtual patient 1-3. (S1, S2, S3, S4), hypothetical nerves, virtual lumbar discs (D3, D4, D5) Virtual epicondyle 1-5, and virtual lesion 1-6 in a perspective view.

The meaning of 'virtual' means that the image is outputted in the form of an image from the image device 1 by the data inputted to the control device 2 without being in the form of material.

As shown in FIGS. 12 and 13, the virtual epidural catheter 1-5 may be implemented in the form of a virtual fixture of a substantially cylindrical shape. 7 and 9-11 do not show the virtual epidural catheter 1-5 for an easy understanding of the path of movement of the virtual catheter 1-2. The virtual lesions 1-6 may be implemented in the form of a solid object displayed within the virtual fixture.

The x-ray image (1-12) means an image implemented in the form of an x-ray. In actual epidural endoscopy, the practitioner will determine the position and path of the catheter based on the tactile information of the hand holding the x-ray image and the catheter. The practitioner trains the X-ray image 1-12 output to the imaging device 1 while checking the same image as the actual operation.

The stereoscopic image 1-11 and the x-ray image 1-12 are output through the imaging device 1 in a state of being synchronized through the control device 2. [ 12 and 13 show that the virtual lesion 1-6 is implemented in synchronization with the stereoscopic image 1-11 and the x-ray image 1-12.

The control device 2 controls the master device 10 and the imaging device 1 to reflect the manipulation information of the master device 10 in the epileptic endoscopic surgery training process.

The haptic technique may be applied to the master device 10. When haptics are applied to the master device 10, the control device 2 generates reaction force information dependent on the motion of the virtual catheter 1-2 and sends it to the master device 10.

Korean Patent Publication No. 1537899 discloses a known technique of a control device and a video device used together with a haptic interface device for endoscopic surgery training. Since the main technique of the present invention is the master device 10 for endoscopic simulation, a detailed description of the control device 2 and the imaging device 1 will be omitted.

As described above, the haptic technique may be applied to the master device 10. In the case where the haptic technique is applied to the master device 10, a haptic device for transferring the muscle sense is mounted on the master device 10. Hereinafter, the master device 10 will be described as having applied haptic technology. The haptic device mounted on the master device 10 will be described as a 'haptic part (not shown)'.

Of course, the haptic technique may not be applied to the master device 10. It should be understood that the detailed configuration of the master device 10 is the same as that of the master device 10 to which the haptic technique is applied.

Haptic technology manipulates various game machines such as joysticks, mice, keyboards, touch screens, and input devices of computers to manipulate the user to feel vibration, movement feeling, power, etc., Technology. Since the haptic technique for transmitting muscles is a known technique, a detailed description thereof will be omitted.

The master device 10 for simulating an epidural endoscopic technique of the present invention is configured such that a practitioner can manipulate the virtual catheter 1-2 to output a motion to the imaging device 1 and the gripper 100, 200, an insertion unit 300, a distance measuring unit 400, a rotation measuring unit 500, a control unit 600, a communication unit 700, and the haptic unit described above.

The master device 10 for simulating epidural endoscopy of the present invention is intended to maximize the training effect by providing the same operation method as the catheter used in the actual epidural endoscopy. As shown in FIGS. 1 and 2, the grip portion 100 and the conduit portion 200 form a shape corresponding to a catheter device actually used in epidural endoscopy. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a state of use of a catheter device (hereinafter, referred to as 'actual catheter device') used in actual epidural endoscopy.

As shown in Figs. 2 and 3, the grip portion 100 is configured by a practitioner, and a rotary dial 110 is provided. The rotary shaft 110 of the rotary dial 110 is rotatably coupled to the grip portion 100. The rotary dial 110 corresponds to the dial of the actual catheter device.

With reference to Korean Patent Publication No. 1537899, the dial of the actual catheter device is a configuration in which the practitioner rotates to rotate the distal end of the catheter. However, in the master device 10 of the present invention, even if the practitioner rotates the rotary dial 110, the distal end of the conduit part 200 is not rotated.

As shown in FIG. 3, the rotation measuring unit 500 includes an encoder for measuring the rotation angle of the rotation dial 110 and rotating in conjunction with the rotation dial 110. The encoder is installed in the gripper 100. The knob 510 of the encoder is fixed to the grip portion 100 and the body 520 of the encoder is fixed to the rotary dial 110. Therefore, when the practitioner rotates the rotary dial 110, the body 520 of the encoder rotates to measure the rotation angle of the rotary dial 110. [

As shown in FIG. 2, the conduit section 200 is configured to simulate the catheter of a real catheter apparatus, and is provided in the form of a tube or a string of a synthetic resin material. The conduit part (200) extends from the grip part (100). The catheter of the actual catheter device is rotated by the rotational operation of the dial. However, in the master device 10 of the present invention, even if the practitioner rotates the rotary dial 110, the distal end of the conduit part 200 is not rotated.

As shown in FIGS. 2 and 4, the insertion portion 300 has a configuration in which the conduit portion 200 is inserted in a longitudinal direction so as to be movable, and forms the appearance of a three-dimensional object without limitation in its shape. The insertion portion 300 corresponds to a patient who is undergoing an operation at the actual catheter procedure. Although the insertion portion 300 is shown as a rectangular parallelepiped in FIG. 2, it may be manufactured in the form of a body part in which a catheter is inserted in an actual epidural endoscopy.

The insertion portion 300 is formed with a passage 301 through which the conduit portion 200 linearly moves. A hole 302 is formed in the surface of the insertion portion 300 and the passage 301 extends from the hole 302 to the inside of the insertion portion 300. The conduit portion 200 is inserted into the passage 301 through the hole 302.

As shown in FIG. 4, the distance measuring unit 400 is installed in the inserting unit 300 to measure the moving distance of the conduit unit 200. The distance measuring unit 400 includes a core 410 and a coil 420.

The core 410 is provided in the passage 301 in a configuration in which the passage 301 is pushed or pulled by the conduit portion 200. The core 410 is provided with a magnetic core in the form of a cylinder. The core 410 is connected to the end of the passage 301 by a spring S. After the core 410 is pushed or pulled by the conduit 200, the spring S returns to its original position when the interference of the conduit 200 is removed.

The coil 420 is configured to generate an electric signal corresponding to the movement of the core 410 and is wound spirally on the outer peripheral surface of the member forming the passage 301. [ Although not shown in detail, the coil 420 is provided with three solenoid coils 420.

The core 410 and the coil 420 act as a linear variable differential transformer (LVDT). LVDT refers to the form of an electrical transducer that measures the linear distance difference, in which three solenoid coils 420 are located in the form of surrounding the tube. The middle coil 420 is the main and the other two are located outside. When the cylinder-shaped magnetic core 410 is moved along the path (pushed or pulled by the conduit 200), a position measurement corresponding to the travel distance of the core 410 is generated.

Of course, the core 410 and the coil 420 may constitute a resistive displacement sensor.

As shown in FIG. 5, the distance measuring unit 400 may include an encoder that rotates in proportion to the moving distance of the conduit unit 200. The encoders are provided on both sides of the conduit section 200 inserted in the passage 301, respectively. When the conduit portion 200 moves along the passage 301, the pair of encoders rotate by the frictional force with the conduit portion 200 and generate a position measurement value proportional to the rotation angle.

The control unit 600 packetizes the position measurement value of the distance measurement unit 400 and the rotation measurement value of the rotation measurement unit 500 and the communication unit 700 transmits the packetized position measurement value and the rotation measurement value to the image device 1). The imaging apparatus 1 receives the packetized position measurement value and the rotation measurement value, and outputs a perspective image of the moved and rotated virtual catheter 1-2 in real time.

2, 4 and 5, the control unit 600 and the communication unit 700 are provided inside the grip unit 100 and the insertion unit 300, respectively, in the form of an electronic device such as an MCU . The control unit 600 and the communication unit 700 provided inside the grip unit 100 are electrically connected to the rotation measuring unit 500 and include a control unit 600 and a communication unit 700 Is electrically connected to the distance measuring unit 400.

Hereinafter, the use state of the master device 10 for simulating epidural endoscopy will be described.

7 and 8, in actual epidural endoscopy, the catheter enters the sacral hiatus and is inserted through the space between the neural membranes called the epidural space to the lesion site.

At this time, it is particularly required to perform proficiency in the process of entering the sacrum hole (see FIG. 9), passing the sacrum (see FIG. 10) and passing the disk (see FIG. 11). Therefore, the state of use of the master device 10 will be described focusing on the entrance of the sacrum hole (see FIG. 9), the sacral passage (see FIG. 10) and the disk passage (see FIG. 11).

Epidural endoscopy is generally used to enter the sacrum, where the lesion is located near the third or fifth disc. Thus, the perspective images 1-10 are implemented from the sacral hiatus to the third disk position.

The practitioner watches the perspective image 1-10 of the virtual patient 1-3 output to the imaging device 1 and operates the master device 10 to move the virtual catheter 1-2 to the virtual epidural catheter 1-5, And enters my virtual lesion (1-6).

9-11 illustrate the movement path W of the virtual catheter 1-2 instead of directly showing the virtual catheter 1-2 for an easier understanding of the movement path W of the virtual catheter 1-2. W) are shown as lines with arrows.

As shown in FIGS. 8 and 9, the practitioner enters the virtual catheter 1-2 through the virtual cannula 1-1 into the virtual sacrum hole 1-4. The virtual cannula 1-1 is located in front of the virtual sacrum hole 1-4 on the back side of the virtual patient 1-3 and the practitioner holds the grip portion 100 of the master device 10 and holds the catheter 200 And is inserted into the hole 302 of the insertion portion 300.

In this process, when the virtual catheter 1-2 touches the virtual sacrum hole 1-4, the control device 2 generates reaction force information that is dependent on the motion of the virtual catheter 1-2, 10 to the haptic unit. The control device 2 calculates the reaction force when the virtual catheter 1-2 contacts the virtual sacrum hole 1-4 depending on the kinetic energy of the virtual catheter 1-2 to generate reaction force information do.

The haptic part outputs vibration or resistance to the gripper 100 by the reaction force information. The practitioner recognizes the state where the virtual catheter 1-2 is in contact with the virtual sacrum hole 1-4 through the vibration and resistance of the perspective images 1-10 and the gripper 100. [

8 and 10, the practitioner manipulates the master device 10 to enter the virtual epidural catheter 1-5 while passing the virtual catheter 1-2 through the virtual sacrum hole 1-4 Training.

The controller 600 packetizes the position measurement value of the distance measuring unit 400 and the communication unit 700 transmits the position measurement value of the distance measuring unit 400 to the communication unit 700. In this case, The packetized position measurement value is transmitted to the imaging device 1 and the packetized position measurement value is reflected in the perspective image 1-10 in real time and is transmitted to the virtual catheter 1 -2) is moved.

When the practitioner turns the rotary dial 110 in this process, the control unit 600 packetizes the rotation measurement value of the rotation measurement unit 500, and the communication unit 700 transmits the packetized rotation measurement value to the imaging device 1, and the packetized rotation measurement value is reflected in the perspective image 1-10 in real time, so that the end of the virtual catheter 1-2 is rotated in conjunction with the rotation of the rotation dial 110. [

When the virtual catheter 1-2 enters the virtual epidural catheter 1-5, the controller 2 generates reaction force information dependent on the motion of the virtual catheter 1-2 and sends it to the haptic unit. The control device 2 calculates reaction force when the virtual catheter 1-2 enters the virtual epidural catheter 1-5 depending on kinetic energy of the virtual catheter 1-2 to generate reaction force information .

The haptic part outputs vibration or resistance to the grip part 100 by the reaction force information and the practitioner can sense the vibration and resistance of the sight image 1-10 and the grip part 100, (1 - 5).

The practitioner moves the virtual catheter 1-2 from the back side to the virtual nerve 1-7 up to the virtual S3 nerve S3 and bypasses the virtual catheter 1-2 from the virtual S2 nerve S2 And moves from the abdomen on the basis of the virtual nerve 1-7.

Referring to FIG. 9, in the actual operation, the passage path of the catheter is divided into a dorsal root and a ventral root in the step of entering the sacrum. Dorsal root is the dorsal route based on the nerve root, and ventral root is the dorsal route based on the nerve root.

Referring to FIG. 10, the catheter is clinically moved to the dorsal root up to the S3 nerve, bypassed from the S2 nerve, and moved to the ventral root. Therefore, the practitioner inserts the virtual catheter 1-2 with the same movement path as the actual procedure.

8 and 11, the practitioner manipulates the master device 10 to move the virtual catheter 1-2 to the plurality of virtual disks D3, D4, and D5 in the virtual epidural space 1-5, (1-6) while bypassing each other.

At this time, when the practitioner moves the gripper 100 or rotates the rotary dial 110, the manipulation information of the master device 10 is reflected on the perspective image 1-10 by the control device 2, 100, the virtual catheter 1-2 is moved.

Referring to FIG. 11, in the actual operation, the path of movement of the catheter in the disk passing step is inserted while bypassing each disk. The practitioner performs catheter insertion training using the same path as the actual procedure.

When the virtual catheter 1-2 contacts the virtual disks D3, D4 and D5, the virtual epidural anchor 1-5 and the virtual disks D3, D4 and D5, the control device 2 controls the virtual catheter 1 -2), and sends the generated reaction force information to the master device 10. The control device 2 determines whether or not the virtual catheter 1-2 is in the virtual disk D3, D4, D5, virtual epidural space 1-5 and virtual disk D3 depending on the kinetic energy of the virtual catheter 1-2. , D4, and D5, and generates reaction force information.

The master device 10 outputs vibration or resistance to the gripper 100 by the reaction force information and the practitioner can sense the vibration of the virtual catheter 1-2 Are in contact with the virtual disks D3, D4 and D5, the virtual epidural anchor 1-5 and the virtual disks D3, D4 and D5.

According to the present invention, there is provided a gripper, comprising: a gripper gripped by a practitioner and equipped with a rotary dial; A conduit portion extending from the grip portion; An insertion portion into which the conduit portion is inserted movably in the longitudinal direction; A distance measuring unit installed in the inserting unit for measuring a moving distance of the conduit; And a rotation measuring unit that is installed in the grip unit and measures the rotation angle of the rotary dial. Thus, a master device for simulation of epidural endoscopic surgery, which is provided to maximize the training effect by providing the same operation method as the catheter used in actual epidural endoscopy, . ≪ / RTI >

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is obvious to those who have. Accordingly, it should be understood that such modifications or alterations should not be understood individually from the technical spirit and viewpoint of the present invention, and that modified embodiments fall within the scope of the claims of the present invention.

10: master device 400: distance measuring unit
100: grip portion 410: core
110: Rotary dial 420: Coil
111: rotating shaft 500: rotating measuring unit
200: conduit 510: knob
300: insertion portion 520: body
301: passage 600:
302: hole 700: communication section
1: Imaging device 1-4: Virtual stamina
1-10: Perspective image 1-5: Virtual epidural space
1-11: Stereoscopic image 1-6: Virtual lesion
1-12: X-ray image 1-7: Virtual disk
1-1: Virtual cannula 1-8: Virtual neuron
1-2: Virtual catheter S2: Virtual S2 nerve
1-3: virtual patient S3: virtual S3 nerves
2: Control device

Claims (5)

A master device operated by a practitioner to indicate movement of a virtual catheter output to a video device,
A gripper gripped by the practitioner and equipped with a rotary dial;
A conduit portion extending from the grip portion;
An insertion portion into which the conduit portion is inserted so as to be movable in the longitudinal direction;
A distance measuring unit installed at the insertion unit and measuring a moving distance of the conduit; And
And a rotation measuring unit provided on the grip unit and measuring a rotation angle of the rotary dial. The method according to claim 1,
A passage through which the conduit portion moves linearly is formed in the insertion portion,
The distance measuring unit may measure,
A core provided in the passage and being pushed or pulled by the conduit to move the passage; And
And a coil wound around the passage member to generate an electric signal corresponding to the movement of the core. The method according to claim 1,
Wherein the distance measuring unit comprises an encoder rotating in proportion to a moving distance of the conduit part. The method according to claim 1,
Wherein the rotation measuring unit comprises an encoder that rotates in conjunction with the rotary dial. The method according to claim 1,
A control unit for packetizing the position measurement value of the distance measurement unit and the rotation measurement value of the rotation measurement unit; And
And a communication unit for transmitting the packetized position measurement value and the rotation measurement value to the imaging apparatus.

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