WO2020138731A1 - Simulateur et procédé de formation médicale en oto-laryngologie et neurochirurgie basés sur un capteur em - Google Patents

Simulateur et procédé de formation médicale en oto-laryngologie et neurochirurgie basés sur un capteur em Download PDF

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Publication number
WO2020138731A1
WO2020138731A1 PCT/KR2019/016398 KR2019016398W WO2020138731A1 WO 2020138731 A1 WO2020138731 A1 WO 2020138731A1 KR 2019016398 W KR2019016398 W KR 2019016398W WO 2020138731 A1 WO2020138731 A1 WO 2020138731A1
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WO
WIPO (PCT)
Prior art keywords
endoscope
motion information
human body
signal
medical practice
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PCT/KR2019/016398
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English (en)
Korean (ko)
Inventor
김현문
임종화
박용택
반재경
김도현
김성원
Original Assignee
경북대학교 산학협력단
가톨릭대학교 산학협력단
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Publication of WO2020138731A1 publication Critical patent/WO2020138731A1/fr

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    • 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
    • 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
    • G09B9/00—Simulators for teaching or training purposes

Definitions

  • the present invention relates to a medical practice simulator, and more specifically, the position and angle of the endoscope, the rotational direction, the amount of rotation, etc. required in the course of surgery while examining the organs inside the human body by introducing the endoscope into a narrow space inside the human body. It relates to a simulator and method for medical practice to master the medical technology for manipulating the movement of the delicate.
  • virtual reality is mostly visual elements that rely on 3D images.
  • the Harvard Medical School team in the United States constructs a 3D virtual model from a computer tomography (CT) search photo, and a virtual reality training simulator that allows doctors to practice in this 3D virtual model before surgery.
  • CT computer tomography
  • the Mitsubishi Electric Research Institute developed a knee surgical surgery simulator using PHANToM and a three-dimensional virtual model of the knee constructed from MRI (Magnetic Resonance Imaging) images, and the KAIST (Korea Advanced Institute of Science and Technology) Medical Imaging Research Center A simulator for simulating spinal cord biopsy using PHANToM was developed.
  • the conventional commercial haptic device developed for general use has a limitation in application to a medical training simulator that requires a specialized function according to a specific procedure object, and thus it is necessary to develop a haptic device specialized for a target medical task.
  • Such technology has been published in the Korean Patent Office No. 10-2006-0030594 published by the name of a haptic device for a fire extinguisher endoscope training simulator, which allows a haptic device for a fire extinguisher endoscope training simulator to have a support portion and a linear movement to the support portion. It is installed, and one end of the endoscope tube is fixed on one side, and provides a linear motion information of the endoscope tube according to the user's manipulation to the controller of the digestive endoscope training simulator, and delivers a sense of backlash and touch to the user through the endoscope tube.
  • a haptic device comprising a roll rotating motion part that delivers a to a user through the endoscope tube.
  • a haptic device for simulating a fire extinguisher which is a support part having a support base plate, and is capable of pivoting about the support base plate and the endoscope tube on one side.
  • a linear motion simulation unit that provides curved motion information of the endoscope tube according to the user's manipulation to the control unit of the extinguisher endoscope simulator and transmits the reaction force to the user through the endoscope tube, and rotation of the endoscope tube Rotation is fixed to the linear motion simulating unit so that movement is possible, and information on the rotational movement of the endoscope tube according to the user's manipulation is provided to the control unit and the reaction force is transmitted to the user through the endoscope tube.
  • a circular haptic device for endoscopic simulation of a fire extinguisher that includes a roll rotation motion simulator.
  • haptic devices enable medical practice by simulating the sense of reversal or tactile sensation according to the shape of the human body.
  • the present invention is skilled in medical technology for delicately manipulating movements such as the position and angle of the endoscope, the rotation direction, and the amount of rotation, which are required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body.
  • An object of the present invention is to provide a simulator and method for medical practice.
  • the human body model unit having an external shape to follow the human body and equipped with an EM transmission module for transmitting an EM signal therein;
  • An endoscope having an outer shape of a long rod and a handle inserted into the human body model, and receiving the EM signal to generate and output motion information of the end of the rod;
  • a display device that displays image information corresponding to the motion information and guides the trainee;
  • a memory unit for storing image information according to the motion information of the endoscope;
  • a control device that receives and processes an EM signal from the endoscope unit and reads image information corresponding to the motion information of the endoscope obtained from the endoscope unit and outputs it through the display device.
  • the present invention described above is a medical technology for delicately manipulating movements such as the position and angle of the endoscope, the rotation direction, the amount of rotation, etc., required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body It has the advantage of being skilled.
  • FIG. 1 is a block diagram of an otolaryngology and neurosurgery medical practice simulator according to a preferred embodiment of the present invention.
  • FIG. 2 is a configuration diagram of the EM signal processing unit of FIG. 1;
  • 3 and 4 is an external view of the otolaryngology and neurosurgery medical practice simulator according to a preferred embodiment of the present invention.
  • Figure 5 is a procedure diagram of the otolaryngology and neurosurgery medical practice simulation method according to a preferred embodiment of the present invention.
  • the present invention allows the skilled person to master medical technology for delicately manipulating the position and angle, rotation direction, and rotation amount of the endoscope, which is required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body. do.
  • FIG. 1 is a diagram showing the configuration of an otolaryngology and neurosurgery medical practice simulator according to a preferred embodiment of the present invention
  • Figure 2 is a configuration diagram of the EM signal processing unit of Figure 1
  • Figures 3 to 4 are preferred embodiments of the present invention It shows the appearance of an otolaryngology and neurosurgery medical practice simulator according to an example.
  • the otolaryngology and neurosurgery medical practice simulator described above is based on an EM (Electro-Magnetic) sensor, the control device 100, the memory unit 102, the display device 104, and the user interface unit 106 for the main body And, an endoscope portion 108 and a human body model portion 116.
  • EM Electro-Magnetic
  • the control device 100, the memory unit 102, and the user interface unit 106 for the main body are accommodated in the housing 150 for the main body, and the housing 150 for the main body is in the form of a hexahedron to mount the patient in the operating room. It is formed to correspond to the height, and the human body model part 116 and the endoscope part 108 are located on the upper surface of the housing 150 for the main body, and the display device 104 is located on one side.
  • the control device 100 controls the parts of the otorhinolaryngology and neurosurgery medical practice simulator as a whole, and performs EM signal processing for otolaryngology and neurosurgery medical practice according to a preferred embodiment of the present invention.
  • the memory unit 102 stores various information including the processing program of the control device 100, and in particular stores image information for otolaryngology and neurosurgery medical practice according to a preferred embodiment of the present invention.
  • the image information is stored corresponding to the position and angle of the endoscope, the rotation direction, and the rotation amount.
  • the display device 104 outputs image information under the control of the control device 100 and guides the trainee.
  • the user interface unit 106 for the main body receives various user commands such as power on/off and restart and provides them to the control device 100.
  • the otorhinolaryngology and neurosurgery medical practice simulator may be configured in a dual manner in which the EM transmission module 118 and the EM receiving module 110 are separated based on an EM (Electro-Magnetic) sensor.
  • the EM transmission module 118 forms a constant amount of magnetic field at a low frequency in the sensing area, and the EM reception module 110 operates by reading the formed magnetic field signal.
  • the outer shape of the endoscope 108 has the same shape as a long rod and a handle in the same shape as the endoscope used in the operation of the otolaryngology and neurosurgery.
  • the EM receiving module 110 and the EM signal processor 112 are located inside the endoscope 108, and the endoscope user interface 114 is located in the handle portion.
  • the endoscope 108 may be used in medical practice for otolaryngology and neurosurgery surgery in conjunction with the surgical tool 122.
  • the EM receiving module 110 receives the EM signal transmitted by the EM transmitting module 118 embedded in the human body model 116 and provides it to the EM signal processing unit 112.
  • the EM transmission module 118 is embedded inside.
  • the EM transmission module 118 transmits an EM signal.
  • the otolaryngology department deals with diseases of the ear (ear), nose (rain), larynx, pharynx, and head and neck
  • neurosurgery ( ⁇ ) is the brain, spinal cord, and brain nerve It is a field of surgical treatment for various diseases in the nervous system, such as the hypertrophic spinal nerve and peripheral nerves.
  • the human body model 116 may include both the ear, nose, larynx, pharynx and otolaryngology shapes of the head and neck, and neurosurgery models such as the brain and spinal cord for otolaryngology and neurosurgery surgery.
  • the endoscope user interface 114 is composed of a plurality of buttons and receives various user commands, such as on/off of the endoscope, and provides it to the control device 100.
  • the EM signal processing unit 112 is composed of an ADC unit 200, a pre-processing unit 202, a position and angle detection unit 204, a post-processing unit 206, and a memory unit 208.
  • the ADC unit 200 receives the EM reception signal and processes the ADC to receive EM reception information and provides it to the pre-processing unit 202.
  • the pre-processing unit 202 receives the EM reception information, removes noise components, and provides the position and angle detection units 204.
  • the noise component removal process when the difference between the peak value of the current EM reception information and the peak value of the previous EM reception information is equal to or greater than a predetermined threshold, the current peak value is based on the previous peak value. Correction to remove noise effects.
  • the position and angle detection unit 204 receives the EM reception information, detects motion information including the position and angle of the endoscope 108 and provides it to the post-processing unit 206.
  • the post-processing unit 206 receives motion information including the position and angle of the endoscope 108 and post-processes the output.
  • the post-processing receives motion information including the position and angle of the endoscope 108 and exceptions when the position of the endoscope 108 falls outside a predetermined area.
  • the post-processing unit 206 limits the accumulation of errors in the position and angle information of the endoscope 108.
  • the memory unit 208 information such as peak value information of the previous EM reception information and location limitation area information of the endoscope 108 is stored.
  • the housing 150 for the main body is formed in a hexahedron shape corresponding to the height of the patient in the operating room, and the human body model 116 and the endoscope 108 of the human body are formed on the upper surface.
  • the display device 104 is located on one side.
  • the endoscope portion 108 has the form of a long rod and a handle, and enters the end portion of the endoscope rod into the nasal cavity of the human body model portion 116 to change the position and angle of the endoscope end or We rotate and practice medical practice.
  • the position, angle, rotation direction, and rotation amount of the end of the endoscope 108 are detected from the EM reception signal received by the EM receiving module 110 installed at the end of the endoscope 108, and the detected endoscope By displaying a simulation image corresponding to the position, angle, rotational direction, and rotation amount of the end of (108), it is possible for the practitioner to practice precisely manipulating the endoscope 108 in a narrow space inside the human body.
  • control device 100 When power on or restart is requested through the user interface 106 for the main body, the control device 100 reads the title and intro image information previously stored in the memory unit 102 and outputs it through the display device 104 By entering the standby mode to implement the guidance for the otolaryngology and neurosurgery medical practice simulator (step 300).
  • the control device 100 performs a practitioner login through pre-registered practitioner authentication information when the practitioner requests a practitioner login through the user interface 106 for the main body (step 302). .
  • the control device 100 reads out the training item guide information from the memory unit 102 and outputs it through the display device 104 to guide the practitioner (step 304).
  • the control device 100 loads and outputs the image information corresponding to the training item from the memory unit 102 (308).
  • Step) receiving motion information including the position and angle of the endoscope 108 from the endoscope 108, and further detecting the rotation direction and amount of rotation of the endoscope 108 based on the motion information and previous motion information
  • the memory 102 loads the pre-stored image information corresponding to the position, angular rotation direction and rotation of the endoscope 108 And outputting it so that medical practice simulation can be performed (steps 310 and 312).
  • the present invention accurately detects the position and angle, rotational direction, and amount of rotation of the endoscope for otorhinolaryngology and neurosurgery surgery, and displays a practice image linked to the detection information to effectively implement medical practice. .
  • the present invention allows the skilled person to master medical technology for delicately manipulating the position and angle, rotation direction, and rotation amount of the endoscope, which is required in the course of surgery while viewing the organs inside the human body by introducing the endoscope into a narrow space inside the human body.

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Abstract

La présente invention concerne un simulateur de formation médicale comportant: une unité de modèle de corps humain qui présente une forme externe suivant le corps humain et qui renferme un module d'émission EM servant à émettre un signal EM; une unité d'endoscope qui présente une forme externe composée d'une tige allongée insérée dans l'unité de modèle de corps humain et d'une poignée, et reçoit le signal EM pour générer et délivrer des informations de mouvement concernant l'extrémité de la tige; un dispositif d'affichage qui affiche des informations vidéo correspondant aux informations de mouvement, et présente les informations vidéo à des stagiaires; une unité de mémoire qui stocke les informations vidéo correspondant aux informations de mouvement concernant l'unité d'endoscope; et un dispositif de commande qui lit, à partir de l'unité de mémoire, les informations vidéo correspondant aux informations de mouvement d'endoscope obtenues en recevant et en traitant le signal EM provenant de l'unité d'endoscope, et délivre les informations vidéo par l'intermédiaire du dispositif d'affichage.
PCT/KR2019/016398 2018-12-27 2019-11-26 Simulateur et procédé de formation médicale en oto-laryngologie et neurochirurgie basés sur un capteur em WO2020138731A1 (fr)

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KR10-2018-0171019 2018-12-27
KR20180171019 2018-12-27

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004348095A (ja) * 2003-03-26 2004-12-09 National Institute Of Advanced Industrial & Technology トレーニングシステム
US20060173289A1 (en) * 2003-08-22 2006-08-03 Chieko Aizawa Device for detecting shape of endoscope
JP2008241988A (ja) * 2007-03-27 2008-10-09 Muranaka Iryoki Kk 脳神経外科手術のトレーニング装置及び操作方法、この装置に用いられる脳モデル及びモデル主体
JP2014071443A (ja) * 2012-10-02 2014-04-21 Japan Science & Technology Agency 動き学習支援装置
KR20160028393A (ko) * 2014-09-02 2016-03-11 건국대학교 산학협력단 3ｄ기반의 비강 수술 시뮬레이션 방법 및 그 장치

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2004348095A (ja) * 2003-03-26 2004-12-09 National Institute Of Advanced Industrial & Technology トレーニングシステム
US20060173289A1 (en) * 2003-08-22 2006-08-03 Chieko Aizawa Device for detecting shape of endoscope
JP2008241988A (ja) * 2007-03-27 2008-10-09 Muranaka Iryoki Kk 脳神経外科手術のトレーニング装置及び操作方法、この装置に用いられる脳モデル及びモデル主体
JP2014071443A (ja) * 2012-10-02 2014-04-21 Japan Science & Technology Agency 動き学習支援装置
KR20160028393A (ko) * 2014-09-02 2016-03-11 건국대학교 산학협력단 3ｄ기반의 비강 수술 시뮬레이션 방법 및 그 장치

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