WO2002043030A2 - Device for simulating a rod-shaped surgical instrument with a back-coupling of forces - Google Patents

Device for simulating a rod-shaped surgical instrument with a back-coupling of forces Download PDF

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Publication number
WO2002043030A2
WO2002043030A2 PCT/CH2001/000684 CH0100684W WO0243030A2 WO 2002043030 A2 WO2002043030 A2 WO 2002043030A2 CH 0100684 W CH0100684 W CH 0100684W WO 0243030 A2 WO0243030 A2 WO 0243030A2
Authority
WO
WIPO (PCT)
Prior art keywords
instrument
handle
force sensor
virtual
respect
Prior art date
Application number
PCT/CH2001/000684
Other languages
German (de)
French (fr)
Other versions
WO2002043030A3 (en
Inventor
Ronald Vuillemin
Marc Vollenweider
Original Assignee
Xitact S.A.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to CH02273/00A priority Critical patent/CH695041A5/en
Priority to CH2273/00 priority
Application filed by Xitact S.A. filed Critical Xitact S.A.
Publication of WO2002043030A2 publication Critical patent/WO2002043030A2/en
Publication of WO2002043030A3 publication Critical patent/WO2002043030A3/en

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Classifications

    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
    • GPHYSICS
    • G09EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09BEDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00Teaching not covered by other main groups of this subclass
    • G09B19/24Use of tools

Abstract

The invention relates to a device for simulating a rod-shaped surgical instrument (1), in particular for simulating an endoscopic instrument, said device having a fixed frame. The instrument (1) is provided with a handle (3) for the operator. At least two drive blocks (13, 14) are used for the back-coupling of forces. The instrument is guided in a virtual trocar and has at least one force sensor (12). The handle (3) is connected to the frame by means of the virtual trocar, the drive blocks (13, 14) and the force sensor (12). At least one force sensor (12) is located between a first drive block (13) that is connected to the handle (3) and a second drive block (14) that is connected in a fixed manner to the frame, in such a way that a reduction of the space requirement for the instrument and an improved measured value detection for the pivoting motion of said instrument are achieved simultaneously.

Description

A device for simulation of a rod-shaped surgical instrument with force feedback

The invention relates to a device for simulating a rod-shaped virtual surgical instrument, in particular for the simulation of an endoscopic instrument, comprising a stationary frame, with a handle of the instrument with at least two drive blocks for a force feedback, with a virtual trocar and at least one force sensor, wherein the handle via the virtual trocar is connected to the drive blocks and the force sensor to the frame.

In devices for use in the simulation of operations, especially endoscopic procedures, a plurality of drive blocks are used. These are driven in a manner to allow a transfer of simulated forces. The forces acting on the device forces are respectively detected by a force sensor. From the prior art it is known for such a device to dispose a force sensor indicated at the lower end of the instrument as shown in FIG. 1. Under force sensor each combination of force sensors is to be understood, which can detect the forces acting for a number of degrees of freedom. The arrangement according to the prior art has the advantage that be directly detected by the tube of the instrument transmitting forces and no delays by intermediary mechanics and actuators occur. Furthermore, it is advantageous in contrast to an arrangement of the force sensor at the upper end of the tube of the instrument that the force sensor is not arranged in a region which lies in the simulation above the abdominal wall of a simulated patients and thus through the simulation of the region around the the abdominal wall would affect introduced trocar.

A disadvantage, however, as is apparent from Fig. 1 that the sensor requires a certain volume at a location at which the simulated instrument is located. This is less important if it is a simulation of a single instrument, in which also the endoscopic camera completely virtual and not by the surgeon can be manipulated. In the preferred case that a plurality of instruments, such as a camera are inserted into the simulated abdominal total of three plus, does not allow the sensor according to the prior art is that the tips of the instruments come close, as indicated by the space occupied by the force sensors space is impossible. In the simulation of the instruments but the operator expects the pliers, cutting and scissor tips of different instruments can approach to the slightest distances and that a crossing of the instruments is possible.

Another system for force feedback is known for example from US 6.104158 showing a robot arm with several degrees of freedom.

Starting from this prior art, the invention has for its object to improve a device of the type mentioned at the outset so that a plurality of simulated instruments may be placed in close proximity to each other without interfering with each other, so the quality of the simulation for the to increase surgeon. Furthermore, it is an object of the invention, the detection of cross-acting forces, to detect tilting in the instrument, the better. This object is inventively achieved in that at least one force sensor between a first, is arranged with the handle connected to the drive block and a second, rigidly connected to the frame drive block.

Hereinafter, an embodiment of the invention with the aid of the accompanying drawings will be described by way of example. In the drawings: Figure 1 is a schematic cross-sectional view of an instrument with the arrangement of a force sensor according to the prior art, and Figure 2 is a schematic cross-sectional view of an instrument with an inventive arrangement of a force sensor...

Fig. 1 shows very diagrammatically a cross-section of an instrument 1 according to the prior art with a sensor 2. The instrument 1 has a handle 3, which may be for example a scissor handle. This handle 3 is rigidly connected to a tube 4 along the longitudinal axis 6 of the instrument 1 is axially displaceable in an outer tube. 5 The handle 3 may have sensors yet, not shown in the drawings, for example, detect opening of the handle. 3

The outer tube 5 is disposed in a first engine block. 13 The engine block 13 has a not shown drive, with which the outer tube can be displaced 5 with respect to the engine block 13 in the direction of the longitudinal axis 6 and with which the outer pipe can be rotated about the longitudinal axis 6 relative to the engine block 13. 5 In the prior art, the engine block 13 is rigidly connected to a suspension fourteenth The suspension 14 may be a gimbal or other preferably ehrachsige suspension, with the pivoting of the instrument 1 around the insertion point (virtual trocar) is simulated in the simulated abdominal wall with simple means. This suspension 14 is then attached in a manner not shown in FIGS. Manner on the stationary base frame of the instrument 1. In the schematic representation of the drawings, the support 14 relative to the base frame and thus arranged movable with respect to the drawing plane. Such a suspension can be in particular a pivotable about a virtual pivot point suspension, which is located outside of the mechanical structure.

The distal end 7 of the instrument 1 transmits in the real instrument the functional part thereof, such as a forceps, scissors, a knife, a camera or the like. In the illustrated device for use in the simulation of operations of a force sensor 2 is disposed on this lower end. 7 In Fig. 1 it can be seen that the force sensor 2 is fixedly connected to a lower portion 8 with the distal end of the tube 4. The upper portion 9 is, however, rigidly connected to the outer tube. 5 The upper portion 9 comprises transition elements 10 which deform under load, with which this measurement data of the deformation can be detected via attached on them strain gauges from which force vector resulting data are determined. In particular, three applied by the operator to the handle 3 moves are interesting: moving the instrument 1 in the direction of the longitudinal axis 6, which 4 and 5 into one another resulting in a differential translational motion of the two tubes, a twisting of the instrument 1 around said longitudinal axis 6, which against each other leads to a differential rotation of the two pipes 4 and 5 and a tilting of the instrument 1 around the insertion point of the virtual trocar into the abdominal wall of the simulated patient.

The two first-mentioned movements, longitudinal movement and rotational movement are easily detectable with the device according to the prior art. For the determination of the forces acting in the third motion is a drawback that a long lever arm occurs. However, this is - as stated above - not by the arrangement of the force sensor 2 near in Handgrif recoverable, as then the sensor 2 would be above the insertion point of the instrument in the simulated abdominal wall and thus unrealistic above this simulated abdominal wall in the field of view area of ​​the surgeon.

Fig. 2 shows a schematic cross-sectional view of an instrument 1 with an inventive arrangement of a force sensor 12. The same features are in both Fig. Respectively provided with the same reference numerals. In a simple modification of the embodiment of the device according to Fig. 1, the tube 4 is further guided in the outer tube 5, except that tube 4 and outer tube 5 is firmly connected to a terminating piece 17. In an alternative - not shown - embodiment, the handle 3 is integrated with the pipe 5, so that the distal end 7 almost completely cut may be (shortened). The length of the landmark on the engine block 13 on the (fully retracted) from the handle side also protruding end must then be so large that the maximum advancing and retracting a handle 3 of an instrument can be simulated, that this stroke correspond.

The force sensor 12 is thus in the inventive embodiment according to Fig. 2 between the two motor units disposed on one side of the engine block 13, with which the force feedback for the translation and rotation of the handle 3 is driven, and on the other side the drive of the WEI direct suspension 14, with which the force feedback for the inclination of the instrument and the pivoting is driven to the insertion point in the simulated abdominal wall. Due to the arrangement of the sensor 12 between the drive blocks, it is necessary to perform a compensation of the sensor coordinate because of the geometry and because of the dynamics. The weight ratios to be considered.

Due to the arrangement of the sensor 12 between the driving blocks 13 and 14, the mass and volume of the region of the handle and lifting tube 5 can be removed, so that different devices 1 can be pushed close to each other. A physical touching of each instrument one can be excluded safely. Thus, the quality of the simulation improved. Furthermore, arranged by the higher and thus closer to the pivot point of the virtual encryption trocar force sensor detected lateral forces better. Contrary to the condition of the prior art also longitudinal forces and rotational forces along and about the longitudinal axis 6 running movement therewith between the drive blocks 13 and 14 are arranged force sensor 12 are detected qualitatively well.

Claims

claims
1. A device for simulation of a rod-shaped surgical instrument (1), in particular for the simulation of an endoscopic instrument, comprising a stationary frame, with a handle (3) of the instrument (1), with at least two drive units (13, 14) for a force feedback , with a virtual trocar and at least one force sensor (2, 12), said handle (3) via the virtual trocar, via the drive blocks (13, 14) and via the force sensor (2, 12) is connected to the frame, characterized in that at least one force sensor (12) between a first, with the handle (3) is arranged connected to the drive block (13) and a second, rigidly connected to the frame drive block (14).
2. Device according to claim 1, characterized in that the first drive block (13) for a force feedback with respect to a rotational movement of the handle (3) about the longitudinal axis (6) of the instrument (1) and for a force feedback with respect to a translational motion the handle (3) along the longitudinal axis (6) of the instrument (1) is arranged and that the second drive block (14) for a force feedback with respect to a pivoting movement of the handle (3) is designed with respect to the insertion point of the virtual trocar.
3. Device according to claim 1 or claim 2, characterized in that said first force sensor (12) for detecting a pivotal movement of the handle (3) with respect to the insertion point of the virtual trocar is designed and that a second force sensor (2) for detecting a rotational movement of the handle (3) about 'the longitudinal axis (6) of the instrument (1) and a translational movement of the handle (3) along the longitudinal axis (6) of the instrument (1) between an inner tube (4) and a tube ( 5) the virtual trocar at the distal end (7) is disposed on the side opposite the handle (3) side of the first driving block (13).
4. Device according to claim 1 or claim 2, characterized in that the instrument (1) to the handle (3) via a rod (4, 5) has, whose via the first drive block
(13) on the side opposite the handle (3) side projecting length of the predefined virtual hub of the instrument (1).
5. The apparatus can be accommodated according to any one of claims 1 to 4, characterized in that the force sensor (12) and transmitted forces and / or moments by means of strain gauges.
PCT/CH2001/000684 2000-11-22 2001-11-22 Device for simulating a rod-shaped surgical instrument with a back-coupling of forces WO2002043030A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CH02273/00A CH695041A5 (en) 2000-11-22 2000-11-22 Device for simulation of a rod-shaped surgical instrument with force feedback.
CH2273/00 2000-11-22

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
AU1489902A AU1489902A (en) 2000-11-22 2001-11-22 Device for simulating a rod-shaped surgical instrument with back-coupling of forces

Publications (2)

Publication Number Publication Date
WO2002043030A2 true WO2002043030A2 (en) 2002-05-30
WO2002043030A3 WO2002043030A3 (en) 2002-09-26

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Family Applications (1)

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PCT/CH2001/000684 WO2002043030A2 (en) 2000-11-22 2001-11-22 Device for simulating a rod-shaped surgical instrument with a back-coupling of forces

Country Status (3)

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AU (1) AU1489902A (en)
CH (1) CH695041A5 (en)
WO (1) WO2002043030A2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1638065A2 (en) * 2004-09-21 2006-03-22 KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LIMITED An instrument for use in a medical simulator
WO2014128301A1 (en) * 2013-02-25 2014-08-28 Bernd Meier Optically detected ultrasound-guided puncturing
US9711066B2 (en) 2009-08-18 2017-07-18 Airway Limited Endoscope simulator

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5828197A (en) * 1996-10-25 1998-10-27 Immersion Human Interface Corporation Mechanical interface having multiple grounded actuators
US5929846A (en) * 1993-07-16 1999-07-27 Immersion Corporation Force feedback interface device including grounded sensor system
WO1999042978A1 (en) * 1998-02-19 1999-08-26 Boston Dynamics, Inc. Method and apparatus for surgical training and simulating surgery
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
US6046727A (en) * 1993-07-16 2000-04-04 Immersion Corporation Three dimensional position sensing interface with force output

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5929846A (en) * 1993-07-16 1999-07-27 Immersion Corporation Force feedback interface device including grounded sensor system
US6046727A (en) * 1993-07-16 2000-04-04 Immersion Corporation Three dimensional position sensing interface with force output
US6024576A (en) * 1996-09-06 2000-02-15 Immersion Corporation Hemispherical, high bandwidth mechanical interface for computer systems
US5828197A (en) * 1996-10-25 1998-10-27 Immersion Human Interface Corporation Mechanical interface having multiple grounded actuators
WO1999042978A1 (en) * 1998-02-19 1999-08-26 Boston Dynamics, Inc. Method and apparatus for surgical training and simulating surgery

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1638065A2 (en) * 2004-09-21 2006-03-22 KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LIMITED An instrument for use in a medical simulator
EP1638065A3 (en) * 2004-09-21 2006-04-26 KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LIMITED An instrument for use in a medical simulator
US9711066B2 (en) 2009-08-18 2017-07-18 Airway Limited Endoscope simulator
WO2014128301A1 (en) * 2013-02-25 2014-08-28 Bernd Meier Optically detected ultrasound-guided puncturing

Also Published As

Publication number Publication date
CH695041A5 (en) 2005-11-30
AU1489902A (en) 2002-06-03
WO2002043030A3 (en) 2002-09-26

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