WO2002043030A2 - Dispositif de simulation d'un instrument chirurgical en forme de tige avec retrocouplage de force - Google Patents

Dispositif de simulation d'un instrument chirurgical en forme de tige avec retrocouplage de force 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
drive block
virtual
Prior art date
Application number
PCT/CH2001/000684
Other languages
German (de)
English (en)
Other versions
WO2002043030A3 (fr
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
Application filed by Xitact S.A. filed Critical Xitact S.A.
Priority to AU2002214899A priority Critical patent/AU2002214899A1/en
Publication of WO2002043030A2 publication Critical patent/WO2002043030A2/fr
Publication of WO2002043030A3 publication Critical patent/WO2002043030A3/fr

Links

Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285—Models 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
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B19/00—Teaching not covered by other main groups of this subclass
    • G09B19/24—Use of tools

Definitions

  • the invention relates to a device for simulating a rod-shaped virtual surgical instrument, in particular for simulating an endoscopic instrument, with a stationary frame, with a handle of the instrument, with at least two drive blocks for force feedback, with a virtual trocar and with at least one force sensor, the handle being connected to the frame via the virtual trocar, the drive blocks and the force sensor.
  • the force sensor is not arranged in an area that lies above the abdominal wall of a simulated patient in the simulation and would thus impair the simulation of the area around the trocar to be inserted through the abdominal wall.
  • the senor requires a certain volume at a location where the simulated instrument is located. This is less significant if it is a simulation of a single instrument, in which the endoscopic camera is also completely virtual and cannot be manipulated by the surgeon. In the preferred case that multiple instruments, e.g. A total of three plus a camera are inserted in the simulated abdominal cavity, the sensor according to the prior art does not allow the tips of the instruments to come close, since this is made impossible by the space occupied by the force sensors. In the simulation of the instruments, however, the surgeon expects that the pliers, cutting edges and scissor tips of different instruments can approach each other at the smallest distances and that the instruments can also be crossed.
  • the invention has for its object to improve a device of the type mentioned so that several simulated instruments can be arranged in close proximity to each other without hindering each other, so the quality of the simulation for the Increase surgeon. Furthermore, it is an object of the invention to better detect the detection of transverse forces when the instrument is tilted. This object is achieved according to the invention in that at least one force sensor is arranged between a first drive block connected to the handle and a second drive block rigidly connected to the frame.
  • FIG. 1 shows a schematic cross-sectional view of an instrument with the arrangement of a force sensor according to the prior art
  • FIG. 2 shows a schematic cross-sectional view of an instrument with an arrangement of a force sensor according to the invention.
  • the instrument 1 shows very schematically a cross section of an instrument 1 according to the prior art with a sensor 2.
  • the instrument 1 has a handle 3, which can be a scissor handle, for example.
  • This handle 3 is rigidly connected to a tube 4 which is axially displaceable in an outer tube 5 along the longitudinal axis 6 of the instrument 1.
  • the handle 3 can also have sensors (not shown in the drawings) which, for example, detect an opening of the handle 3.
  • the outer tube 5 is arranged in a first engine block 13.
  • the engine block 13 has drives, not shown here, with which the outer tube 5 can be displaced relative to the engine block 13 in the direction of the longitudinal axis 6 and with which the outer tube 5 can be rotated about the longitudinal axis 6 relative to the engine block 13.
  • the engine block 13 is rigidly connected to a suspension 14.
  • the suspension 14 may preferably be a gimbal or other be an axial suspension with which a pivoting of the instrument 1 around the insertion point (virtual trocar) in the simulated abdominal wall is simulated with simple means. This suspension 14 is then attached to the stationary base frame of the instrument 1 in a manner not shown in the figures.
  • the suspension 14 is arranged to be movable with respect to the base frame and thus with respect to the plane of the drawing.
  • a suspension can in particular be a suspension which can be pivoted about a virtual pivot point and which lies outside the mechanical structure.
  • the distal end 7 of the instrument 1 carries the functional part of the same in the real instrument, for example pliers, scissors, a knife, a camera or the like.
  • a force sensor 2 is arranged at this lower end 7. 1 that the force section 2 is firmly connected to the distal end of the tube 4 with its lower section 8.
  • the upper section 9, however, is rigidly connected to the outer tube 5.
  • the upper section 9 comprises transition elements 10, which deform under load, with which measurement data of the deformation can be acquired via strain gauges attached to them, from which force vector data can be determined as a result.
  • three movements applied by the operator to the handle 3 are of interest: moving the instrument 1 in the direction of the longitudinal axis 6, which leads to a differential translational movement of the two tubes 4 and 5 into one another, rotating the instrument 1 about the said longitudinal axis 6, which leads to a differential rotation of the two tubes 4 and 5 against each other, and a tilting of the instrument 1 around the insertion point of the virtual trocar into the abdominal wall of the simulated patient.
  • FIG. 2 shows a schematic cross-sectional view of an instrument 1 with an arrangement of a force sensor 12 according to the invention.
  • the tube 4 is still guided in the outer tube 5, only the tube 4 and the outer tube 5 are firmly connected to a terminating piece 17.
  • the handle 3 is integrated with the tube 5, so that the distal end 7 can be almost completely cut off (shortened). The length of the end protruding beyond the engine block 13 on the side pointing away from the (fully inserted) handle then only has to be so large that the maximum advancement and retraction of a handle 3 of an instrument can be simulated, i.e. correspond to this stroke.
  • the force sensor 12 is thus arranged between the two motor units in the embodiment according to the invention according to FIG. 2, on the one hand the motor block 13 with which the force feedback for the translation and rotation of the handle 3 is driven, and on the other hand the drive of the WEInic suspension 14, with which the force feedback for the inclination of the instrument and the pivoting around the insertion point in the simulated abdominal wall is driven.
  • the arrangement of the sensor 12 between the drive blocks makes it necessary to compensate the sensor coordinates on the basis of the geometry and on the basis of the dynamics. The weight ratios must be taken into account.

Abstract

L'invention concerne un dispositif de simulation d'un instrument chirurgical (1) en forme de tige, notamment de simulation d'un instrument endoscopique, ledit dispositif présentant une structure fixe. Ledit instrument (1) comporte une poignée (3) destinée à l'utilisateur. Au moins deux blocs d'entraînement (13, 14) servent au rétrocouplage de la force. Ledit instrument est guidé dans un trocart virtuel et présente au moins un capteur de force (12). La poignée (3) est reliée à la structure par l'intermédiaire du trocart virtuel, des blocs d'entraînement (13, 14), et du capteur de force (12). Au moins un capteur de force (12) est disposé entre un premier bloc d'entraînement relié à la poignée (3), et un deuxième bloc d'entraînement (14) relié fixement à la structure, de manière à réduire l'encombrement spatial de l'instrument et à améliorer le relevé des valeurs de mesure pour des mouvements de pivotement de l'instrument.
PCT/CH2001/000684 2000-11-22 2001-11-22 Dispositif de simulation d'un instrument chirurgical en forme de tige avec retrocouplage de force WO2002043030A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU2002214899A AU2002214899A1 (en) 2000-11-22 2001-11-22 Device for simulating a rod-shaped surgical instrument with a back-coupling of forces

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CH2273/00 2000-11-22
CH02273/00A CH695041A5 (de) 2000-11-22 2000-11-22 Vorrichtung zur Simulation eines stabförmigen chirurgischen Instrumentes mit Kraftrückkopplung.

Publications (2)

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

Family

ID=4568340

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CH2001/000684 WO2002043030A2 (fr) 2000-11-22 2001-11-22 Dispositif de simulation d'un instrument chirurgical en forme de tige avec retrocouplage de force

Country Status (3)

Country Link
AU (1) AU2002214899A1 (fr)
CH (1) CH695041A5 (fr)
WO (1) WO2002043030A2 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1638065A2 (fr) * 2004-09-21 2006-03-22 KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LIMITED Instrument utilisé dans un simulateur médical.
WO2014128301A1 (fr) * 2013-02-25 2014-08-28 Bernd Meier Ponction dirigée par des ultrasons à détection optique
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 (fr) * 1998-02-19 1999-08-26 Boston Dynamics, Inc. Procede et dispositif pour l'entrainement et la simulation pour interventions chirurgicales
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 (fr) * 1998-02-19 1999-08-26 Boston Dynamics, Inc. Procede et dispositif pour l'entrainement et la simulation pour interventions chirurgicales

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1638065A2 (fr) * 2004-09-21 2006-03-22 KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LIMITED Instrument utilisé dans un simulateur médical.
EP1638065A3 (fr) * 2004-09-21 2006-04-26 KEYMED (MEDICAL & INDUSTRIAL EQUIPMENT) LIMITED Instrument utilisé dans un simulateur médical.
US9711066B2 (en) 2009-08-18 2017-07-18 Airway Limited Endoscope simulator
US11935429B2 (en) 2009-08-18 2024-03-19 Airway Limited Endoscope simulator
WO2014128301A1 (fr) * 2013-02-25 2014-08-28 Bernd Meier Ponction dirigée par des ultrasons à détection optique

Also Published As

Publication number Publication date
CH695041A5 (de) 2005-11-30
WO2002043030A3 (fr) 2002-09-26
AU2002214899A1 (en) 2002-06-03

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