WO2014077732A1 - Гибридный медицинский тренажер лапароскопии - Google Patents
Гибридный медицинский тренажер лапароскопии Download PDFInfo
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- WO2014077732A1 WO2014077732A1 PCT/RU2013/000419 RU2013000419W WO2014077732A1 WO 2014077732 A1 WO2014077732 A1 WO 2014077732A1 RU 2013000419 W RU2013000419 W RU 2013000419W WO 2014077732 A1 WO2014077732 A1 WO 2014077732A1
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- simulator
- trocar
- laparoscopic
- simulators
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Classifications
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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
- G09B23/30—Anatomical models
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
Definitions
- the invention relates to manuals for training in medicine, in particular, it is used in the field of training and training of joint work of specialists of the operating team, conducting endosurgical operations.
- a well-known medical simulator LapSim manufactured Surgical Science, Gothenburg, Sweden
- LapSim manufactured Surgical Science, Gothenburg, Sweden
- computers three trocar simulators connected to a computer
- three laparoscopic simulators connected to trocar simulators
- a visualization system connected to a computer
- coagulator pedals connected to a computer.
- the simulator described above does not provide real actions and the real position of the surgical team relative to the patient robot and the surgical field; the ability to perform various options for laparoscopic access in complicated clinical situations; complicated access (at an angle, at a distance) depending on the selected position of the patient robot (American, French, etc.); training of operating and assisting surgeons, operating nurse teamwork with various scenarios; comprehensive training of the operating team, starting with the decision to conduct surgery based on data from the medical history and current complaints of the virtual patient, to
- the technical task to be solved is to ensure real actions and the real position of the surgical team relative to the patient robot and the surgical field; the ability to perform various options for laparoscopic access for complicated
- the technical problem to be solved in a hybrid medical simulator of laparoscopy containing computers, simulators of laparoscopic instruments connected to computers, simulators of trocars connected to A computer, a visualization system connected to a computer, is achieved by introducing a robot patient, simulators of laparoscopic devices connected to a computer, operating equipment, and each simulator of a laparoscopic instrument is made in the form of a real instrument containing a sensor block and separated from simulators of trocars that contain more than three installed in the abdominal cavity of the patient robot, each trocar simulator is connected to the corresponding trocar simulator displacement node, fixing the position and determining the gender the imitation of a trocar simulator on the anterior abdominal wall of a robot patient.
- Simulators of laparoscopic instruments are made in the form of a coagulator control unit, coagulator pedals, an aspirator-irrigator pedal, an endovideo camera control unit, an aspirator-irrigator control unit, an insufflator control unit with an insufflator tube.
- Imitators of laparoscopic instruments are made in the form of imitators of laparoscopic clamps, imitators of an endoscope, imitators of an aspirator-irrigator, imitators of a coagulator, imitators of laparoscopic scissors, imitators of dissectors, imitators “hooks”, imitators of laparoscopic clip applicators.
- the operating room equipment is made in the form of an operating table, surgical stand, tool table.
- Figure 1 presents a diagram of a hybrid medical simulator laparoscopy.
- Figure 2 presents a drawing of a simulator of a laparoscopic clamp, which is a simulator of a laparoscopic instrument.
- Fig. 3 is a drawing of a sensor block of a simulator of a laparoscopic instrument.
- Figure 4 presents a sectional view of a simulator of a trocar (side view).
- Figure 5 shows a drawing of a site for moving a trocar simulator connected to a trocar simulator (top view).
- Figure 6 shows a drawing of a site of movement of a trocar simulator connected to a trocar simulator (front view).
- Figure 7 schematically shows a robot patient with trocar simulators located in his abdominal cavity.
- On Fig shows a schematic diagram of the connection of the microcontroller of the sensor block simulator of a laparoscopic instrument with the sensors of the simulator of a laparoscopic instrument.
- Figure 9 shows a schematic diagram of an interface unit connected to a computer, sensor units and control units.
- Figure 10 presents a schematic diagram of the connection of microcontrollers nodes moving simulators of trocars to a computer.
- Figure 1 1 shows a schematic diagram of a control unit of a coagulator connected to a sensor unit and an interface unit.
- Fig (12/1 and 12/2) shows a block diagram of a General algorithm for the operation of the computer processor.
- On Fig shows a block diagram of the algorithm of operation of the microcontroller of the sensor block simulator of a laparoscopic instrument.
- On Fig shows a block diagram of the algorithm of operation of the microcontroller of the interface unit.
- On Fig shows a block diagram of the algorithm of the microcontrollers nodes moving simulators of trocars.
- On Fig shows a block diagram of the algorithm of operation of the main microcontroller node movement simulator trocar.
- On Fig shows a block diagram of the algorithm of operation of the microcontroller of the control unit of the coagulator, which is a simulator of a laparoscopic device.
- On Fig presents a drawing of a simulator of an endoscope, which is a simulator of a laparoscopic instrument.
- FIG. 20 is a schematic diagram of an aspirator-irrigator control unit connected to an interface unit.
- Fig depicts a schematic diagram of a control unit of an insufflator connected to a pairing unit.
- On Fig shows a block diagram of the algorithm of operation of the microcontroller of the control unit endovideo camera.
- On Fig shows a block diagram of the algorithm of operation of the microcontroller control unit of the aspirator-irrigator.
- On Fig shows a block diagram of the algorithm of operation of the microcontroller of the control unit of the insufflator.
- the hybrid medical simulator of laparoscopy shown in the diagram of figure 1, contains: a patient robot 1, a computer 2 (electronic computer), simulators of laparoscopic clamps 3, which are simulators of laparoscopic instruments connected 20 to a computer 2 through the interface unit 4, an endoscope simulator 5 , which is a simulator of a laparoscopic instrument, connected to a computer 2 through the control unit of the endovideo camera 6 and the interface unit 4, a simulator of an aspirator-irrigator 7, which is a simulator of a laparoscopic instrument, connected d with a computer 2 through an aspirator-25 irrigator control unit 8 and an interface unit 4, an insufflator tube 9 connected to an insufflator control unit 10, trocar simulators 11, which may contain more than three (four in this version) installed in the abdominal cavity of the robot the patient 1 and connected to the computer 2, a visualization system 12 connected to the computer 2, the interface unit 3, connecting the computer 2 with simulators of laparoscopic clamps 3, the coagulator control unit 13, which is one of the imitators
- FIG. 1 The operating equipment is shown in FIG. 1 in the form of: an operating table 14, a surgical stand 15, an instrument stage 16.
- Laparoscopic instrument imitators are presented in the diagram of FIG. 1 in the form of: imitators of laparoscopic clamps 3, endoscope simulator 5, and irrigator aspirator 7.
- Simulators laparoscopic devices are presented in the diagram of Fig. 1 in the form of: an endovideo camera control unit 6, an aspirator-irrigator control unit 8, an insufflator control unit 10 with an insufflator tube 9, a coagulate control unit rum 13, pedals coagulator 17, pedal aspirator-irrigator 18.
- Simulators of trocars 11 are located in the abdominal cavity of the robot-patient 1, the robot-patient 1 is located on the operating table 14, the imaging system 12 is connected to the computer 2, the interface unit 4 is connected to the computer 2, the simulators of laparoscopic clamps 3 are connected to the interface unit 4, the endoscope simulator 5 is connected to the control unit of the endovideo camera 6, the simulator of the aspirator-irrigator 7 is connected to the control unit of the aspirator-irrigator 8, the tube of the insufflator 9 is connected to the control unit of the insufflator 10. Simulators of laparoscopic clamps 3, simulator end the telescope 5, the simulator of the aspirator-irrigator 7 and the tube of the insufflator 9 are located on the instrument stage 16.
- the coagulator control unit 13, the endovideo camera control unit 6, the aspirator-irrigator control unit 8 and the insufflator control unit 10 are connected to the interface unit 4.
- the coagulator pedals 17 are connected to b the control unit of the coagulator 13, the pedal of the aspirator-irrigator 18 is connected to the control unit of the aspirator-irrigator 8.
- Computer circuitry 2 can be implemented as an IntelCorei7 processor with a processor frequency of 3500 MHz, guitarist 5 RAM type DDR3 with 8 GB of memory, NVIDIA Ge Force GTX560 graphics card with 2 GB of memory, Seagate hard disk with 500 GB of memory. Operating system "Microsoft Windows 7 Professional)). Computer 2 contains a manipulator that allows you to enter data into a program running in computer processor 2.
- ⁇ Craft-patient 1 can be made according to the model of the HPS robot simulator, supplied by Virtualmed LLC, www.virtumed.ru.
- the visualization system 12 can be made according to the model type TS1716L-6 (S U) 17 "LCD, monitor 'Neovo X-19AV White, supplied by ELLIPS Partner LLC.
- Surgical stanchion 15 consists of five shelves; it can be made according to the model Spya-03-05-KMT supplied by FinStar LLC.
- Tool table 16 can be made according to the model of the Goose type supplied by White Furniture LLC.
- the coagulator pedals 17 can be made according to the model of the two-key pedal to the EHF A-001 supplied by ELLIPS Partner LLC.
- the pedal of the aspirator-irrigator 18 can be made according to the model of the type of single-key pedal of the aspirator-irrigator supplied by ELLIPS Partner LLC.
- a simulator of a laparoscopic clamp 3 which is a simulator of a laparoscopic instrument, shown in the drawing of figure 2, contains: branches 19, a working tube 20, a sensor unit 21, a handle 22, the wing of the tool 23.
- the branches 19 are connected to the working tube 20, the working tube 20 is connected to the sensor block 21, the handle 22 is connected to the wing of the tool 23, the wing of the tool 23 is connected to the sensor block 21.
- the sensor unit 21 of the simulator of the laparoscopic instrument shown in FIG. 3 contains: a tool wing 23, an encoder 24, an encoder pulley 25, a sensor block housing 26, a pass 27, a tube 28, a bearing 29, a handle pulley 30, a lock ring 31, traction 32, stroke restriction cavity 33, magnetic head 34, magnetic Hall sensor 35, IR LED 36, microcontroller of the sensor unit 37.
- slots are provided for mounting the encoder 24, the magnetic Hall sensor 35, the IR LED 36, the microcontroller of the sensor block 37, the pulley of the handle 30, encoder pulley 25 and bearing 29.
- Tube 28 is connected to bearing 29, rod 32 is compressed by lock
- Magnetic Hall sensor 35, encoder 24, ir LED 36, the microcontroller of the sensor unit 37 is connected to the housing of the sensor unit
- Encoder 24 can be manufactured according to a model of the LIR212A type, produced by SKB IS, St. Russia.
- the simulator of a trocar 11 shown in the drawing of Fig. 4 in a section (side view), comprises: a housing of a simulator of a trocar 38, a receiver of a laparoscopic instrument 39, holding rollers 40, a shaft
- longitudinal movement measurement sensor 1 of tool 42 which can be manufactured according to a model of type EMS22 manufactured by Bourns, Columbia, www.bourns.com
- longitudinal movement measurement sensor shaft 43, shaft bearing 44, angle 45, sensor rotation along the ordinate axis 46 which can be made according to a model of the LIR212A type
- the ordinate axis 47, the shaft of the movable angle 48, the rotation sensor on the abscissa axis 49 which can be made according to the LIR212A type model
- the bearing of the movable angle 50 the holding housing 51, the IR receiver 52, the trocar valve 53.
- the housing of the trocar simulator 38 is connected to the receiver
- the housing of the trocar simulator 38 is connected to the holding rollers 40, the housing of the trocar simulator 38 is connected to the shaft of the housing of the trocar simulator 41, the housing of the trocar simulator 38 is connected to the sensor for measuring the longitudinal movement of the tool 42, the sensor for measuring the longitudinal movement of the tool 42 is connected to the shaft a sensor for measuring longitudinal displacements 43, a shaft bearing 44 is connected to the shaft of the housing of the trocar simulator 41, a shaft bearing 44 is connected to a movable corner 45, a rotation sensor along the ordinate 46 nen shaft simulator trocar housing 41, the rotation sensor on the ordinate axis 46 is connected with a retainer by rotation sensor
- the ordinate axis 47, the rotation sensor retainer on the ordinate axis 47 is connected to the movable corner 45, the movable corner 45 is connected to the shaft of the movable corner 48, the shaft of the movable corner 48 is connected to the rotation sensor on the abscissa 49, the shaft of the movable corner 48 is connected to the bearing of the movable corner 50, the holding body 51 is connected to
- the holding housing 51 is connected to the rotation sensor on the abscissa 49
- the IR receiver 52 is connected to the housing of the trocar simulator 38
- the valve of the trocar 53 is connected to the housing of the trocar simulator 38.
- a trocar simulator moving assembly connected to a simulator
- 25 of the trocar 1 1 (top view and front view), shown in the drawing of FIG. 5 and FIG. 6, comprises: a guide 54, a longitudinal movement sensor 55, a longitudinal movement sensor latch 56, a jumper 57, a steering rotation sensor 58, a guide pulley 59, guide housing retainer 60, guide housing 61, rubber ring 62, studs of the guide housing retainer 63, sensor pulley 64, silicone shaft 65, trocar simulator 11, laparoscopic clamp simulator 3, microcontroller of trocar simulator displacement unit 66 (66 g 66 3 - microcontrollers of trocar simulator displacement units, 66 4 - main microcontroller of trocar simulator displacement unit), lamb of displacement unit 67.
- Simulator a laparoscopic clamp 3 is inserted into the simulator of the trocar 1 1, the simulator of the trocar 11 is connected to the guide 54, the guide 54 is inserted into the guide body 61, the retainer of the guide housing 60 is connected by means of studs of the housing lock, for example
- the guide 63 with a jumper 57 the silicone shaft 65 is pressed against the guide 54, the clamp of the longitudinal displacement sensor 56 is connected to the guide body 61, the longitudinal displacement sensor of the guide 55 is connected to the silicone shaft 65, the longitudinal displacement sensor of the guide 55 is connected to the clamp of the longitudinal displacement sensor 56, pulley the guide 59 and the pulley of the sensor 64 are connected by a rubber ring 62, the pulley of the guide 59 is connected to the guide 54, the pulley of the sensor 64 is connected to the rotation sensor of the guide 58.
- the guide 54 is th square section aluminum tube, inside which are laid one cavity signal wires connecting the microcontroller simulated moving assembly of the trocar 66 with the sensor measuring the longitudinal movement of the tool 42, the rotation sensor on the ordinate axis 46, the rotation sensor on the abscissa 49 and IR receiver 52.
- the patient robot 1 with trocar simulators 1 1 located in its abdominal cavity contains: the patient robot 1, simulators of laparoscopic clamps 3, trocar simulators 11. Simulators of trocars 11 are located in the abdominal cavity of the robot patient 1 , simulators of laparoscopic clamps 3 are introduced into simulators of trocars 1 1.
- a schematic diagram of the connection of the microcontroller of the sensor unit 37 of the laparoscopic instrument simulator with the sensors of the laparoscopic instrument simulator, shown in Fig. 8, contains: the microcontroller of the sensor unit 37, which can be made according to a model of the AtMega8 type, located in the sensor unit 21, shown in Fig.
- encoder 24 which can be performed according to the model of the LIR212 type, a magnetic Hall sensor 35, which can be performed according to the model of the SS49 type, IR LED 36, the microcontroller of the interface unit 68.
- the microcontroller of the sensor block Forge 37 is connected respectively with a magnetic Hall sensor 35, encoder 24, a microcontroller of the interface unit 68, and an IR LED 36.
- n microcontrollers of the sensor unit 37 ( ⁇ -number of connected imitators of laparoscopic instruments), for example, n can take values equal to four, the microcontroller of the interface unit 68, which can be performed according to Delhi type AtMegal6, the microcontroller of the coagulator control unit 69, which can be made according to the model of the AtMegal6 type, the microcontroller of the control unit of the video camera 70, which can be made according to the model of the AtMegal6 type, the microcontroller of the control unit of the aspirator-irrigator 71, which can be made according to the model of the AtMegal6 type , the microcontroller of the insufflator control unit
- the microcontroller of the interface unit 68 is connected respectively to n unit microcontrollers yes sensors 37 (Fig. 9 shows one microcontroller of the sensor block 37), the microcontroller of the block controlling the coagulator 69, the microcontroller of the endovideo camera control unit 70, the microcontroller of the control unit of the aspirator-irrigator 71, the microcontroller of the control unit of the insufflator 72 and the computer 2.
- the microcontroller of the interface unit 68 is located inside
- the microcontroller of the trocar simulator 664 moving assembly is connected with a computer 2.
- the trocar simulator 661 is connected to a sensor for measuring the longitudinal movement of the tool 42, a rotation sensor for the ordinate 46, a rotation sensor for the abscissa 49, a longitudinal sensor for guiding 55, a sensor for guiding 58 and an IR receiver 52.
- a sensor for measuring the longitudinal movement of the tool 42 a rotation sensor for the ordinate 46, a rotation sensor for the abscissa 49, a longitudinal sensor for guiding 55, a sensor for guiding 58 and an IR receiver 52.
- the 20 of the trocar 662-664 is made similarly to the microcontroller of the displacement unit of the trocar simulator 661 and is connected respectively to the outputs of the sensor for measuring the longitudinal movement of the tool 42, the rotation sensor for the ordinate 46, the rotation sensor for the abscissa 49, the sensor for the longitudinal movement of the guide 55, the rotation sensor
- Schematic diagram of the control unit 'coagulator 13 connected to the sensor unit 21 and the interface unit 4, shown in Fig. P, contains: the control unit coagulator 13, the pedal of the coagulator 17, the microcontroller of the sensor unit 37, the microcontroller of the interface unit 68, the microcontroller of the control unit of the coagulator 69, 9, the coagulator current power regulator 74, the coagulation mode switch 75, the cutting mode switch 76, the mixed mode switch 77, the sensor unit 21, the interface unit 4 and the housing of the coagulator control unit 78.
- the microcontroller of the coagulator control unit 69 The microcontroller of the coagulator control unit 69
- the current power regulator of the coagulator 74, the coagulation mode switch 75, the cutting mode switch 76, the mixed mode switch 77 are installed on the body of the coagulator control unit 78.
- the microcontroller of the coagulator control unit 69 is located inside the body of the coagulator control unit om 78.
- Endoscope simulator 5 which is a simulator
- a laparoscopic instrument shown in FIG. 18, comprises: a working tube 20, a sensor unit 21, a tool wing 23.
- a working tube 20 is connected to a sensor unit 21, a tool wing 23 is connected to a sensor unit 21.
- the 20 connected to the sensor unit 21 and the interface unit 4, shown in Fig. 19, contains: an endocamera control unit 6, the sensor unit 21, an interface unit 4, a microcontroller of the endocamera control unit 70, an endocamera switch 79, a color tone adjuster 80, a light control 81 white balance adjuster
- halogen lighting switch 83 xenon lighting switch 84
- lighting brightness display 85 which can be made according to the type B AS 6-1 1EWA model, the microcontroller of the sensor unit 37, the microcontroller of the coupler unit 68 and the housing of the control unit for the end-video camera 86.
- the end-camera switch 79, a hue adjuster 80, a dimmer 81, a white balance adjuster 82, a halogen lighting switch 83, a xenon lighting switch 84, and a lighting brightness display 85 are mounted on the housing of the endovideo camera control unit 86.
- the microcontroller of the endovideo camera control unit 70 is connected to an endovideo camera switch 79, a color tone adjuster 80, a dimmer 81, a white balance dimmer 82, a switch halogen lighting 83, a xenon lighting switch 84, a microcontroller of the sensor unit 37, a microcontroller of the coupler unit 68 and a display for lighting brightness 85.
- Microcontrol the video camera control unit scooter 70 is located inside the housing of the video camera control unit 86.
- Schematic diagram of the control unit of the aspirator-irrigator 8 connected to the interface unit 4, shown in Fig.20, contains: the control unit of the aspirator-irrigator 8, the interface unit 4, the microcontroller of the control unit of the aspirator-irrigator 71, the pedal of the aspirator-irrigator 18, the switch of the aspirator -irrigator 87, switch for aspiration mode 88, switch for irrigation mode 89, switch for opening and closing 90, microcontroller of interface unit 68 and housing of control unit for aspirator-irrigator 91.
- the microcontroller of block is controlled the irrigation suction device 71 is connected to the pedal of the irrigation aspirator 18, the switch of the aspirator-irrigator 87, the switch for the aspiration mode 88, the switch for the irrigation mode 89, the switch for opening and closing 90 and the microcontroller of the interface unit 68.
- the switch for the aspirator-irrigator 87, the switch for aspiration mode 88 , switch for irrigation mode 89, opening and closing switch 90 are installed on the housing of the control unit of the aspirator-irrigator 91.
- the microcontroller of the control unit of the aspirator-irrigator 71 is located inside the housing the control unit of the aspirator-irrigator 91.
- Schematic diagram of the insufflator control unit 10 connected to the interface unit 4, shown in Fig.21, contains: the insufflator control unit 10, the interface unit 4, the microcontroller of the insufflator control unit 72, the microcontroller of the interface unit
- insufflator switch 92 insufflation start button 93, pressure increase switch 94, pressure decrease switch 95, pressure storage switch 96, flow increase switch 97, flow decrease switch 98, flow memory switch 99, set pressure display 100, measured pressure display 101, th display of a predetermined flow 102, a display of the measured flow 103 and the housing of the insufflator control unit 104.
- the microcontroller of the insufflator control unit 72 is connected to the outputs of the microcontroller of the interface unit 68, the switch nsuflyatora 92, insufflation start button 93, increasing the pressure switch 94, the switch pressure reduction
- the microcontroller of the insufflator control unit 72 is located inside the housing of the insufflator control unit 104.
- the stroke of the handle 22 is limited to with an axial ring 31, which abuts against the walls of the cavity of the stroke restriction 33, thus, the real restriction of the stroke of the jaws 19 is simulated.
- a detailed description of the surgeon's manipulations using the laparoscopic clamp simulator 3 and other laparoscopic instrument simulators is discussed further on pages 22-43, where hybrid medical simulator of laparoscopy, presented in the diagram of figure 1 and in examples of training operations "cholecystectomy" and "adnexectomy”.
- a simulator of a laparoscopic instrument for example, a simulator of a laparoscopic clamp 3, which is one of the simulators of a laparoscopic instrument, is inserted into the hole of the receiver of the laparoscopic instrument 39.
- the simulator of the laparoscopic clamp 3 is rotated along the abscissa and the ordinates, as in a real operation, respectively, the receiver of the laparoscopic instrument 39 , the body of the trocar simulator 38 and rotation through the shaft of the body of the trocar simulator 41 is transmitted to the rotation sensor along the ordinate 46, also the rotation of the is given through the movable corner 45 and the shaft of the movable corner 48 to the rotation sensor on the abscissa 49.
- the rotation sensor on the ordinate 46 and the rotation sensor on the abscissa 49 track the position coordinates of the laparoscopic simulator clamp 3 in space.
- the simulator of the laparoscopic clamp 3 when entering is in contact with the holding rollers 40 and the shaft of the sensor for measuring longitudinal displacements 43, thereby the sensor for measuring longitudinal displacement of the tool 42 registers the depth
- the rotation of the guide 54 is transmitted through the guide pulley 59 and the sensor pulley 64 to the rotation sensor of the guide 58.
- the longitudinal movement sensor of the guide 55 determines the longitudinal movement of the guide 54.
- the position of the trocar simulators 11 is determined on the front wall of the abdominal cavity of the robot patient 1.
- trocar simulators 11 are integrated
- a hybrid medical simulator of laparoscopy contains four movable trocar simulators 1 1. Depending on the type of endosurgical operation, different positions of trocar simulators 1 are set. 1. Different types of simulators of laparoscopic instruments are used, such as: endoscope simulator 5, coagulator simulator, simulator laparoscopic scissors, simulator of laparoscopic clamp 3, simulator of dissector, simulator “hook”, simulator of laparoscopic clip applicator, simulator of aspirator-irrigator 7, etc. The simulator of the coagulator is made similarly to the simulator of the laparoscopic clamp 3.
- the data is transmitted to the IR LED 36, which transmits a signal with the instrument code to the IR receiver 52, which is located in the simulator of a trocar 1 1 shown in the drawing of figure 4 (thus, the system recognizes what kind of simulator of a laparoscopic instrument is introduced into a specific simulator of a trocar 11).
- the algorithm of operation of the microcontroller of the interface unit 68 is shown in the block diagram of FIG. .fourteen.
- the microcontroller of the interface unit 68 sequentially polls the data via the TWI interface with n microcontrollers of the sensor unit 37 ( ⁇ -number of connected imitators of laparoscopic instruments), the microcontroller of the control unit of the endovideo camera 70, the microcontroller of the control unit of the aspirator-irrigator 71, the microcontroller of the control unit of the control unit of the insufflator 72 and the microcontroller of the control unit of the control unit of the insufflator 72 and the microcontroller 69.
- the microcontroller of the interface unit 68 converts the received data into information packets recognized by the program on e 2. M data via RS232 serial port are transmitted to the computer 2.
- a hybrid medical simulator laparoscopy contains four movable trocar simulators 11, respectively, contains four microcontrollers of the trocar simulator 66 displacement assembly shown in FIG. 10.
- the coagulator simulator which is a simulator of a laparoscopic instrument, is sent via the TWI interface to the microcontroller of the coagulator control unit 69.
- the microcontroller of the coagulator control unit 69 transmits the collected data via the TWI interface to the microcontroller of the interface unit 68, the operation of which is considered on
- the microcontroller of the video camera control unit 70 transmits the collected data via the TWI interface to the microcontroller of the interface unit 68.
- the dimmer 81 When you press the dimmer 81, the values of the current setting are displayed on the brightness display 85.
- the algorithm of operation of the microcontroller of the control unit of the aspirator-irrigator 71 is shown in the block diagram of Fig.23.
- the microcontroller of the control unit of the aspirator-irrigator 71 is located in the control unit of the aspirator-irrigator 8. Data from the switch of the aspirator-irrigator 87, the switch of the aspiration mode 88, the switch of the irrigation mode 89, the opening and closing switch 90, and the pedal of the aspirator-irrigator 18 are fed to the microcontroller of the control unit Aspirator-irrigator 71.
- the microcontroller of the control unit of the aspirator-irrigator 71 transmits the collected data via the TWI interface to the microcontroller of the interface unit 68.
- the algorithm shown in the block diagram of FIG. 12 (the block diagram of FIG. 12 is shown on two pages, on the first page under the name of FIG. 12/1, on the second - FIG. 12/2).
- the graphical display module according to the algorithm shown in the block diagram of FIG. 12 displays a menu in the visualization system 12 in which it is necessary to select an exercise,
- Manipulations by simulators of laparoscopic instruments which are carried out by the surgeon, while rotating the wing of the instrument 23 and pressing the handle 22 are monitored by an encoder 24, a magnetic Hall sensor 35, shown in the drawing of FIG.
- These sensors are connected to A computer 2 according to a circuit diagram for connecting a microcontroller of a sensor block 37 of a laparoscopic instrument simulator to sensors of a simulator of a laparoscopic instrument shown in Fig. 8, and according to a circuit diagram of an interface unit 4 connected to the sensor blocks 21 and the control units shown in Fig. 9.
- Data from these sensors is transmitted to the computer 2 according to the algorithm of operation of the microcontroller of the sensor block 37 of the simulator of the laparoscopic instrument shown in the block diagram of Fig. 13, and the algorithm of operation of the microcontroller of the interface block 68, shown in the block diagram of Fig. 14.
- Manipulations by trocar 11 simulators using the introduced laparoscopic instrument simulators are monitored by: a sensor for measuring the longitudinal movement of the tool 42, a rotation sensor on the ordinate 46, a rotation sensor on the abscissa 49.
- the movement of the trocar simulator 11 is tracked in the movement unit of the trocar simulator by the longitudinal movement sensor 55 and the sensor rotation of the guide 58.
- These sensors are connected to the computer 2 according to the circuit diagram of the connection of the microcontrollers of the nodes of movement of simulators tro 66 acres to the computer 2 shown in Figure 10. Data from these sensors is transmitted to the computer 2 according to the algorithm of operation of the microcontrollers of the nodes of movement of the simulator trocars 66 g 663, shown in the block diagram of Fig. 15, and the algorithm of the main microcontroller of the nodes of the movement of simulator of trocars 66 4 shown in the block diagram of Fig.
- the graphical display module In the calibration mode, it generates into the visualization system 12 a signal with the image of a dialog box listing calibrated sensors: encoder 24, a sensor for measuring the longitudinal movement of the tool 42, a rotation sensor along the ordinate 46, and a rotation sensor along
- the simulator of the laparoscopic instrument is introduced into the simulator of the trocar 11 and the minimum and maximum values are fixed for each calibrated sensor. For example, to calibrate the sensor for measuring the longitudinal displacement of the instrument 42, first, the laparoscopic instrument simulator is completely inserted 1 (to the stop) into the simulator of the trocar 11, the computer 2 selects the corresponding mode for fixing the minimum position of this sensor in the dialog box, then, without fully removing it, pull out the simulator laparoscopic
- Calibration can be carried out repeatedly until the real movements of the tool simulators entered into the trocar simulators 1 1 coincide with the virtual instruments displayed in the exercises performed by the visualization system 12.
- Autodesk 3ds Mach developed by Autodesk, is entered into the computer database 2.
- the physics module according to the algorithm shown in the block diagram of FIG. 12 is software written using the PhysX SDK, which was developed by the company
- the graphical display module according to the algorithm shown in the flowchart of FIG. 12 is software written using the DirectX SDK, which was developed by Microsoft.
- the clinical case description includes the medical history and current complaints of the virtual patient.
- the robot patient 1 is located on the operating table 14.
- the position of the first simulator of the trocar 11 is selected, into which the endoscope simulator 5 will be introduced, which is a simulator of a laparoscopic instrument.
- the visualization system 12 After selecting the first trocar simulator 1 1 and installing the endoscope simulator 5, which is a simulator of a laparoscopic instrument, the visualization system 12 displays the video information generated by the graphic display module according to the position
- module graphic graphical display according to the algorithm shown in the block diagram of Fig.12, generates a display of each virtual laparoscopic instrument among the virtual organs and virtual tissues, according to the location of the virtual laparoscopic instruments.
- the physics module according to the algorithm shown in the flowchart of FIG. 12, in the computer database 2 initializes the physical models of organs in the states corresponding to the completed steps preceding
- the physics module modifies three-dimensional surfaces imitating organs (for example, simulated traction or completed cuts and installed clips). Upon completion of all the actions provided for by the selected stage, an automatic exit from the exercise is performed.
- the graphic display module generates a three-dimensional picture sent to the visualization system 12, taking into account data obtained from the physics module and other modules given on the u block diagram of Fig. 12.
- the logic module according to the algorithm shown in the block diagram of FIG. 12 determines the signs of the beginning and end of the next stage, including determining the violation of the stages of the operation. The exercise ends when all stages of the operation are completed.
- the physics module calculates the current state of the surfaces of the virtual organs
- the graphic display module according to the algorithm shown in the block diagram of FIG. 12, generates a signal, entering the visualization system 12; as a result, a picture corresponding to the orientation of the inserted endoscope simulator 5, which is a simulator of a laparoscopic instrument, with the image of realistic mobility, smooth movement and mutual influence of virtual organs is imitated in the visualization system 12.
- the logic module according to the algorithm shown in the block diagram of Fig.
- the surgeon must carefully dissect the peritoneum and adipose tissue in order to isolate (visualize) the tubular formations (artery and duct) that are subject to clipping and intersection.
- the surgeon introduces a simulator of one of the laparoscopic instruments, for example, a dissector simulator, a hook simulator, which are simulators of laparoscopic instruments, the nurse connects the power tool connector to the coagulator control unit 13, sets the appropriate switches (coagulation mode switch 75, cutting mode switch 76, switch 77 mixed mode and current power regulator coagulator 74) the necessary mode and current power of the coagulator (according to the surgeon).
- the values of the mode and power of the coagulator current are transmitted to the computer 2.
- the surgeon By manipulating the laparoscopic instrument with a simulator, the surgeon captures the virtual adipose tissue, pulls it off, then cuts the pedal by pressing the coagulator pedal 17 (the signal about pressing the coagulator 17 pedal goes to computer 2 and the physics module according to the algorithm given 12, generates a virtual current flow through virtual tissues).
- the physics module according to the algorithm shown in the flowchart of FIG.
- the surgeon inserts a simulator of a laparoscopic clip applicator, which is a simulator of a laparoscopic instrument, into a simulator of a trocar 1 1, manipulates he and the movement of the virtual instrument achieves getting the desired section of the virtual vessel between the branches of the virtual clip applicator, sets the clip by holding the handle of the simulator of the laparoscopic clip applicator.
- the physics module according to the algorithm shown in Fig. 12 calculates the deformation of the vessel model, modifies the three-dimensional surface of the vessel, visualizes the installed virtual clip in the place of its imposition (for each clip, the position in the virtual space and the corresponding deformation of the virtual vessel are further calculated).
- the surgeon introduces a simulator of laparoscopic scissors, which is a simulator of a laparoscopic instrument, manipulates them and moves the simulator of a laparoscopic instrument, brings the branches of the virtual scissors to the incision site of the virtual vessel, performs an incision.
- the physics module according to the algorithm shown in the block diagram of FIG. 12 calculates the change in the three-dimensional surface of the virtual vessel as a result of a virtual section (the graphic display module according to the algorithm shown in the block diagram of FIG. 12 displays the changes in the visualization system 12).
- the logic module according to the algorithm shown in the flowchart of Fig.
- the physics module according to the algorithm shown in the block diagram of FIG. 12 calculates the corresponding deformations of the surface of the virtual gallbladder, the displacement and deformation of other virtual organs under the influence of the movement of virtual laparoscopic instruments.
- the surgeon manipulates simulators of laparoscopic instruments and brings the virtual hook tool to the place of adhesion of the virtual gallbladder with the virtual liver, presses the coagulator pedal 17.
- the physics module according to the algorithm shown in the block diagram of FIG. 12 calculates by the coordinates of the virtual instrument and the coordinates of the points virtual surfaces
- the visualization system 12 displays smoke and randomly moving particles of the dissected tissue, over a period of about 1 -3 seconds
- the logic module determines the correctness of the effect
- the exposure time the logic module according to the algorithm shown in the block diagram of Fig. 12 compares the exposure time with the minimum and maximum if the exposure time is less than the minimum threshold for the given power, then the disconnection of virtual tissues does not occur, if the exposure time is greater than the maximum threshold for a given power, then extensive tissue necrosis is simulated
- the location of exposure the physics module according to the algorithm shown in the block diagram of FIG. 12 calculates the current exposure zone in three-dimensional coordinates, the module
- the logic module according to the algorithm shown in the block diagram of FIG. 12 compares the zone impacts with a database of virtual vessels under the surface of virtual organs, as a result of piercing, cutting with virtual instruments or under the influence of a dissector, bleeding is generated, which is also displayed in visualization system 12; AI virtual bleeding verifiable facts bleeding coagulation Power places to stop it), washing
- the effect of the jet on the surface sections is calculated, the obtained surface section enters the bleeding calculation module according to the algorithm shown in the block diagram of FIG. 12, the washed-out part is determined, which is also displayed in the visualization system 12), and the aspiration of the gallbladder bed, etc. situation.
- Logic module according to the algorithm shown in the block diagram of FIG. 12, the washed-out part is determined, which is also displayed in the visualization system 12), and the aspiration of the gallbladder bed, etc. situation.
- the algorithm shown in the flowchart of FIG. 12 generates abnormal situations, for example, cardiac arrest, etc.
- signals are sent that change the indications in the visualization system 12 and / or the audiovisual and mechanical vital signs of the robot-patient 1.
- the surgical team must identify the emergency situation and respond accordingly.
- Logic module according to the algorithm shown in the flowchart of Fig.
- visualization system 12 displays a description of the clinical case of the selected virtual patient in the form of text information.
- the clinical case description includes the medical history and current complaints of the virtual patient.
- the visualization system 12 displays the video information generated by the graphic display module according to the position of the virtual endoscope according to the algorithm shown in the block diagram of FIG. 12.
- the nurse adjusts the image quality on the control unit for the video camera 6.
- the surgeon examines the virtual organs. Based on this the surgeon installs the remaining trocar simulators 11 video information, passes the endoscope simulator 5 to the assistant, for each trocar simulator 11 weakens the lamb of the displacement unit 67, sets the required position of the trocar simulator 1 1, fixes
- the physics module simulates the physical properties of virtual organs similar
- the 20 real, forms a variant of the anatomy, including size, shape, color, location of the uterus, fallopian tubes, ovaries, ligaments, mesosalpinx, etc.
- a three-dimensional computer model of organs including a description of the surface of organs (the surface is specified by points in
- the downloaded data is converted into the structures necessary for modeling deformations and cutting organs (tissues).
- the physics module according to the algorithm shown in the block diagram of FIG. 12, in the computer database 2, initializes the physical models of organs in the states corresponding to the completed stages preceding the selected stage and sends a signal to the graphic display module, which forms a three-dimensional picture of the virtual organs sent to visualization system 12.
- the physics module modifies three-dimensional surfaces imitating organs (for example, 1 performed traction or and cuts and clips installed). Upon completion of all the actions provided for by the selected stage, an automatic exit from the exercise is performed.
- the physics module according to the algorithm shown in the block diagram of FIG. 12, in the computer database 2 initializes the physical models of virtual organs in the initial state (how they are located and deformed in a real person lying on the operating table), the graphic display module forms a three-dimensional picture, sent to the visualization system 12, taking into account the data obtained from the physics module and other modules shown in the block diagram of Fig. 12.
- the logic module according to the algorithm shown in the block diagram of Fig. 12, determines the signs of the beginning and end of the next stage, including the violation of the stages of the operation. The exercise ends when all stages of the operation are completed. ''
- the surgeon or assistant must perform traction - the movement of virtual organs to provide access to the operated area.
- the assistant introduces the laparoscopic clamp simulator 3 into the trocar 11 simulator, manipulates the laparoscopic clamp simulator 3, which is displayed as a virtual instrument in the visualization system 12, captures the distal end of the uterine J tube with the laparoscopic clamp simulator 3, which is a simulator of the laparoscopic instrument, and lifts it in the head direction and somewhat to the side.
- the location of the mesosalpinx, ligamentous apparatus 1 of the ovary is studied, approximately the course of the ureter is identified (for this purpose, virtual organs and tissues are gently moved with the help of a simulator of a laparoscopic instrument, an image is obtained by which the structure of organs and tissues becomes clear, while the physics module calculates the deformation of the three-dimensional surface, which is displayed graphic display module according to the algorithm shown in the block diagram of FIG. 12 in the visualization system 12).
- the logic module according to the algorithm shown in the block diagram of Fig.
- the logic module calculates the speed of movement, the length of the movement, while the physics module according to the algorithm shown in the block diagram of FIG. 12 calculates the deformation of the three-dimensional surface that is displayed by the graphic display module according to the algorithm shown in the block diagram of FIG.
- the logic module compares with the reference values stored in the computer database 2) the incorrect overlap of the simulator of the laparoscopic clamp 3 (based on the coordinates of the branches of the virtual laparoscopic clamp, the physics module according to the algorithm,
- the logic module 15 shown in the block diagram of FIG. 12 calculates the distance to different parts of the three-dimensional surface of virtual organs and tissues, the logic module compares with the minimum distance threshold 'during operation of the virtual instrument according to the algorithm shown in the block diagram of Fig. 12; as well as by incoming coordinates
- the surgeon grabs and pulls the virtual mesosalpinx, puts the forceps of the virtual coagulator, presses the pedal of the coagulator 17 and holds for 1-2 s, the physics module according to the algorithm shown in the block diagram of Fig. 12, calculates the coagulation zone according to the coordinates of the virtual forceps, the logic module calculates the power and exposure time.
- the graphical display module according to the algorithm shown in the block diagram of FIG. 12 displays yellowing or discoloration of the tissue around the forceps of the virtual coagulator and saves the changed properties of the virtual tissues in the computer database 2.
- the logic module calculates the impact zone and compares with the reference options in the computer database 2, if the impact zones do not match the reference taking into account permissible deviations, generates a text message received through the graphic module
- the logic module compares with the reference options in the computer database 2 taking into account the permissible deviations), damage to neighboring organs.
- the logic module according to the algorithm shown in the block diagram of FIG. 12, checks appropriate actions of the surgeon, for example, coagulation of bleeding (existing virtual injuries and bleeding are registered in the computer database 2 in accordance with the above process of detecting and recording damage, when coagulating near the coordinates of the damage at a distance less than the reference for 1-2 seconds in the computer database 2 “stopping bleeding” persists, if not all bleeding is coagulated, “error” persists).
- the proposed hybrid medical simulator of laparoscopy in comparison with the prototype allows you to ensure the actual position of the surgical team relative to the robot patient 1 and the surgical field, the ability to perform various options for laparoscopic access in complicated clinical situations, depending on the selected position of the robot patient 1 , training of operating and assisting surgeons, operating nurse in team work with various development options events, the use of more than three trocar simulators 1 1, changing the number of trocar simulators 1 1, choosing the location of trocar simulators 1 1, the reality of various imitators of laparoscopic instruments and their introduction into trocar simulators 1 1.
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Abstract
Description
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Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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US14/442,538 US20160098943A1 (en) | 2012-11-13 | 2013-05-21 | Hybrid medical laparoscopic simulator |
EA201590789A EA027466B1 (ru) | 2012-11-13 | 2013-05-21 | Гибридный медицинский тренажер лапароскопии |
JP2015541738A JP2016500157A (ja) | 2012-11-13 | 2013-05-21 | ハイブリッド医療用腹腔鏡シミュレータ |
EP13855297.1A EP2922048A4 (en) | 2012-11-13 | 2013-05-21 | HYBRID MEDICAL DRIVE DEVICE FOR LAPAROSCOPY |
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RU2012148301 | 2012-11-13 | ||
RU2012148301 | 2012-11-13 |
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WO2014077732A1 true WO2014077732A1 (ru) | 2014-05-22 |
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PCT/RU2013/000419 WO2014077732A1 (ru) | 2012-11-13 | 2013-05-21 | Гибридный медицинский тренажер лапароскопии |
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US (1) | US20160098943A1 (ru) |
EP (1) | EP2922048A4 (ru) |
JP (1) | JP2016500157A (ru) |
EA (1) | EA027466B1 (ru) |
WO (1) | WO2014077732A1 (ru) |
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KR102623373B1 (ko) | 2014-10-27 | 2024-01-11 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블 운동을 위한 시스템 및 방법 |
KR102545930B1 (ko) | 2014-10-27 | 2023-06-22 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블을 위한 시스템 및 방법 |
US10682190B2 (en) | 2014-10-27 | 2020-06-16 | Intuitive Surgical Operations, Inc. | System and method for monitoring control points during reactive motion |
EP3212107A4 (en) | 2014-10-27 | 2018-06-13 | Intuitive Surgical Operations, Inc. | Medical device with active brake release control |
KR102574095B1 (ko) | 2014-10-27 | 2023-09-06 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 기기 교란 보상을 위한 시스템 및 방법 |
CN107072864B (zh) * | 2014-10-27 | 2019-06-14 | 直观外科手术操作公司 | 用于配准到手术台的***及方法 |
JPWO2017126313A1 (ja) * | 2016-01-19 | 2018-11-22 | 株式会社ファソテック | 生体質感臓器を用いる手術トレーニング及びシミュレーションシステム |
US10255829B2 (en) * | 2016-10-10 | 2019-04-09 | Medtronic Holding Company Sàrl | In-situ training apparatus, method and system |
WO2018118858A1 (en) | 2016-12-19 | 2018-06-28 | National Board Of Medical Examiners | Medical training and performance assessment instruments, methods, and systems |
KR101887805B1 (ko) * | 2017-03-23 | 2018-08-10 | 최재용 | 증강현실 기반의 복강경 수술용 시뮬레이션 시스템 및 이를 이용한 방법 |
US11717363B2 (en) * | 2017-09-08 | 2023-08-08 | Covidien Lp | High precision instrument control mode for robotic surgical systems |
FR3073657B1 (fr) * | 2017-11-10 | 2023-05-05 | Virtualisurg | Systeme de simulation d'acte chirurgical |
PL424841A1 (pl) * | 2018-03-09 | 2019-09-23 | Laparo Spółka Z Ograniczoną Odpowiedzialnością | Człon manipulacyjno-pomiarowy trenażera laparoskopowego |
KR102143784B1 (ko) * | 2018-12-27 | 2020-08-12 | 가톨릭대학교 산학협력단 | 가상현실 기반 이비인후과 및 신경외과 시뮬레이터의 수술 평가 시스템 |
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EA201590789A1 (ru) | 2015-07-30 |
EP2922048A1 (en) | 2015-09-23 |
US20160098943A1 (en) | 2016-04-07 |
EA027466B1 (ru) | 2017-07-31 |
EP2922048A4 (en) | 2015-10-07 |
JP2016500157A (ja) | 2016-01-07 |
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