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
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
• • 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
• • 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
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
  • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
  • A61B2034/101—Computer-aided simulation of surgical operations
  • A61B2034/102—Modelling of surgical devices, implants or prosthesis
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
  • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
  • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
  • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image

Definitions

• the present invention relates to the field of medical instruments and materials. More particularly, the invention relates to a device for surgical simulations.
• EP1746558 B discloses a system for simulating a surgical operation, by a user, on a body, simulated with at least two real instruments.
• the system comprises a longitudinal track and a plurality of carriages movable along said track. Each carriage has clamping means and means for rotating and moving said real instruments longitudinally.
• the system also comprises feedback means for receiving and transmitting, to the user's hand, a feedback force from said real instrument with respect to the simulation characteristic, means for recognizing a real instrument to be inserted into said clamping means , whereby said actual instrument can be fixed within said clamping means to be longitudinally moved and rotated by the user.
• WO 2019204615 discloses an apparatus comprising an endoscopy device, and a tracking device adapted to operate with a tracking system. three-dimensional to track the location and orientation of the endoscopy device in three dimensions in a simulated operating room environment.
• the apparatus also includes a physical model of a patient's head comprising hard and soft components, and the endoscopy device is configured to be inserted into the physical model to provide haptic feedback of the endoscopic surgery.
• Both documents disclose surgical training devices by combining a mechanical system (surgical instruments and / or training consoles) with a sensor system and a display system.
• the sensors make it possible to determine the positioning of the instruments used by the operator in relation to the components of the training console.
• Data is displayed on a display system to help the learner surgeon in his process.
• none of these devices allow real immersion. The conditions of the operating room are not reproduced and the learner cannot find all the sensations specific to an en bloc surgery.
• State-of-the-art disclosures lack a virtual component to the simulation, in order to significantly approximate bulk operating conditions.
• WO 2017114834 discloses a control unit for a surgical robot system, comprising a robot configured to operate a surgical tool on a patient.
• the control unit includes a processor configured to transmit live images acquired from the patient to a virtual reality (VR) device for display.
• the unit processes the input data received from the VR device to determine a target in the patient and determine a path for the surgical tool to reach the target based on the live images and input data processed; and to transmit control signals to cause the robot to guide the surgical tool to the target via the determined path.
• VR virtual reality
• the invention more particularly intends to remedy by providing a surgical simulation device combining a virtual world with the use of real surgical instruments.
• a surgical simulation device comprising:
• an electronic system comprising an electronic card and at least one sensor, the electronic system connecting the real surgical instrument to the computing unit, the electronic card and at least one sensor being integrated into the real surgical instrument by means of at least one specific interface part.
• the real surgical instrument provided with the electronic system has substantially the same weight as the corresponding functional surgical instrument
• the real surgical instrument corresponds to a functional surgical instrument
• the functional surgical instrument being intended to be handled in the context of a surgical procedure
• the functional surgical instrument comprising at least one functional element, the real surgical instrument having the same functional element, T at least one functional element which can be activated according to at least two distinct operating states
• the virtual surgical instrument has the same geometric characteristics as the surgical instrument real and has a virtual functional element similar to the functional element of the real surgical instrument
• the virtual functional element of the virtual surgical instrument is able to be activated according to the same operating states as those of the functional element of the real surgical instrument
• - the operating state of the virtual functional element of the virtual instrument is able to be aligned, in real time, with the operating state of the functional element of the surgical instrument real.
• this solution achieves the above objective.
• the fact of providing the instruments with at least one sensor and of connecting it to a virtual twin that the operator has in his virtual field of vision makes it possible to significantly increase the realism of the training and to reproduce almost identical operating conditions in an operating theater.
• Activation, by the operator, of the mechanical or electronic functions of the actual surgical instrument triggers an identical action in the virtual world, i.e. the operational state of the actual surgical instrument is instantly reproduced in the virtual world by the virtual surgical instrument.
• this surgical simulation device makes it possible to connect a wide variety of surgical instruments (mechanical and / or electronic, small and / or large, rigid and / or flexible).
• the surgical simulation device may include one or more of the following features, taken in isolation from one another or in combination with one another:
• At least one sensor of the electronic system can constitute a functional element of the real surgical instrument
• At least one sensor of the electronic system can be intended to measure a mechanical capacity of a functional element of the real surgical instrument, the at least one sensor of the electronic system can be intended to measure a relative movement of a functional element of the real surgical instrument with respect to an original position, the real surgical instrument provided with the electronic system has dimensions, shapes, and a center of mass substantially identical to those of the functional surgical instrument, the electronic card, the at least one sensor and the at least one specific interface part can be integrated into the actual surgical tool by replacement of at least one electronic component of a set of electronic components of the functional surgical instrument, the virtual surgical instrument may be able to be viewed by the operator on a viewing device connected to the computing unit, the actual surgical instrument may be fitted with a haptic device so as to be able to simulate, for the operator, an interaction with a predefined body, of determined nature and positioning. created by the calculation unit,
• the real surgical instrument can be provided with a sound feedback system
• the real surgical instrument can be provided with 'a spatial localization system so that the computing unit can determine, at any time, the positioning of the real surgical instrument in space with respect to a predefined origin.
• FIG. 1 is a generalized schematic view of the simulation device according to the present invention
• FIG. 2 is a perspective view of a first embodiment of a real surgical instrument according to the invention
• FIG. 3A is a perspective view of a first specific interface part according to the invention
• FIG. 3B is a perspective view of the interface part of FIG. 3A integrated into a surgical instrument according to the example of embodiment of FIG. 2
• FIG. 4A is a perspective view of a second specific interface part according to the invention
• FIG. 4B is a perspective view of the interface part of FIG. 4A integrated into a surgical instrument according to the embodiment of FIG. 2
• FIG. 1 is a generalized schematic view of the simulation device according to the present invention
• FIG. 2 is a perspective view of a first embodiment of a real surgical instrument according to the invention
• FIG. 3A is a perspective view of a first specific interface part according to the invention
• FIG. 3B is a perspective view of the interface part of FIG. 3A integrated into a surgical instrument according to
• FIG. 5 is a perspective view of a virtual surgical instrument according to the invention
• FIG. 6A is a perspective view of a virtual operating theater at the time of starting an operation
• figure 6B is a perspective view of the operating room of the previous figure during the operation
• - figure 7A is an illustration of a virtual screen of the virtual operating room of figures 6A and 6B, during the operation
• figure 7 A is an illustration of a virtual screen present in the virtual operating room allowing access to an interior view of a virtual patient
• FIG. 7B is an illustration of the virtual screen of the previous figure at the end of the operation
• the FIG. 8A is a perspective view of a second exemplary embodiment of a real surgical instrument according to the invention
• FIG. 8B is a perspective view of G exemplary embodiment of the previous figure, in which the interface piece specific is open.
• a surgical simulation device 10 comprises: an actual surgical instrument (surgical instrument) 12 intended to be manipulated by an operator,
• a computing unit 14 - an electronic system 16 comprising an electronic card 18 and at least one sensor 20a, 20b, 21, a virtual surgical instrument 22 connected to the computing unit 14.
• the actual surgical instrument 12 is derived from a functional surgical instrument intended to be manipulated in a surgical procedure. Thus, even though the actual surgical instrument 12 is not functional in an operating theater setting, it reproduces substantially the same physical sensations as a functional instrument when handled by an operator within the scope of this present invention. invention.
• Virtual surgical instrument 22 is made visible to the operator by projection onto a viewing device 24.
• the operator may be a trainee surgeon.
• the display device 24 is, for example, a virtual reality headset. The operator puts on the helmet to perform the surgical simulation.
• the electronic system 16 connects the surgical instrument 12 to the computing unit 14.
• the electronic system 16 is integrated with the surgical instrument 12.
• the electronic system 16 can be integrated with any type of surgical instrument 12, including, for example, actuation pedals arranged around machines conventionally present in an operating room (such as an ultrasound machine, a milling machine or a bed), a curing light or a milling speed management unit, for example.
• the electronic system 16 has dimensions, shapes, weight and center of mass transparent to the operator handling the surgical instrument 12.
• the electronic card 18 of the electronic system 16 can for example be a card of the iOS®, Teensy®, MBed® type. This electronic card 18 is capable of communicating with or wirelessly (for example according to BLE or WIFI protocols) with the computing unit 14.
• This computing unit 14 can, for example, be a remote computer or a microcontroller comprising a unit. arithmetic and logic, a memory.
• the electronic card 18 can, for example, be powered by a rechargeable battery (Li-Po, Ni-MH, Li-Ion, etc.), or by a battery.
• the electronic card 18 also allows direct feedback to the operator on the state of the electronic system 16 of the surgical instrument 12 by visual feedback via an LED (acronym for the English name light-emitting diode translating to, in French, by electroluminescent diode) multicolor (for example to indicate that the device 10 is on, that the electronic system 16 is well connected to the computing unit 14, that the battery level is low, that the sensors 20a, 20b , 21 are functional, etc.) without having to start a simulation.
• LED an LED
• electroluminescent diode multicolor
• This electronic card 18 has digital and analog inputs and outputs for retrieving, in real time, the information from the sensors 20a, 20b, 21 integrated into the surgical instrument 12.
• Each sensor 20a, 20b, 21 collects specific functional information. As can be seen in Figure 2, all of the sensors 20a, 20b, 21 are integrated into the surgical instrument 12.
• the electronic system 16 comprises three types of sensors 20a, 20b, 21: two types of so-called original sensors (a set of original primary sensors 20a, and a set of secondary original sensors 20b), and one type of so-called additional sensors 21.
• the original primary and secondary sensors 20a, 20b are elements present on the functional surgical instrument 12 as marketed and used by practitioners in an operating theater. These original primary and secondary sensors 20a, 20b are disconnected from their basic electronics resulting from their industrial machining and are then integrated into the electronic system 16 of the surgical simulation device 10.
• the original primary and secondary sensors 20a, 20b each constitute a functional element 26 of the surgical instrument 12.
• a functional element 26 is an element necessary for the proper functioning and / or handling of the surgical instrument 12.
• Each functional element 26 of the actual surgical instrument 12 is identical to the functional element 26 of the corresponding functional surgical instrument.
• a functional element 26 can be mechanical or electronic. Conventionally, each functional element 26 can be activated according to at least two distinct operating states. This will be explained later.
• a functional element 26 can also be primary 26a or secondary 26b.
• a surgical instrument 12 can thus comprise one or more primary functional element (s) 26a (electronic or mechanical) and one or more secondary functional element (s) (electronic or mechanical).
• a primary functional element 26a can for example take the form of an activation handle, a button, a lever or a touchpad and it allows to operate, activate, and / or control, etc. the surgical instrument 12.
• each original primary sensor 20a forming a primary functional element 26a allows the computing unit 14 to recover an action of the operator on the surgical instrument 12. The operator performs this action during of a surgical simulation for surgical purposes, such as, for example, the coagulation of a vessel, or the orientation of the effector of the surgical instrument 12.
• Each secondary original sensor 20b forming a secondary functional element 26b allows, in terms of him, to make a return on the operating state of the surgical instrument 12.
• An original secondary sensor 20b can, for example, take the form of a buzzer or an LED making it possible, for example, to indicate to the operator that a coagulation system is ready or that the surgical instrument 12 is at such level of load.
• each additional sensor 21 makes it possible to measure: a mechanical capacity a primary functional element 26a of the actual surgical instrument 12, and / or a relative movement of a primary functional element 26a of the actual surgical instrument 12 with respect to an original position of said primary functional element 26a, an orientation of a primary functional element 26a with respect to an original position of said element primary functional element 26a, an ambient or internal magnetic field, an orientation of a primary functional element 26 with respect to another primary functional element 26, a relative position of the surgical instrument 12 in space with respect to a defined frame of reference.
• An IMU (English acronym for inertial measurement unit, translating into French as “inertial unit”) can, for example, form an additional sensor 21.
• the electronic system 16 can be added to different categories of surgical instruments 12 in a wide range of applications and in all surgical specialties. Conventionally, we consider two types of functional surgical instruments: complex surgical instruments, mechanical surgical instruments.
• Complex functional surgical instruments can be electronic and / or mechanical. They can therefore have a wide variety of mechanical and electronic functional elements. These mechanical functional elements 26 can take the form of mechanical actuators such as buttons, triggers, activation handles P (see FIG. 2), knobs, intensity variators, etc.
• the mechanical functional elements 26 are primary functional elements 26a. They can be actuated by means of a motor or by direct action of the operator.
• a complex functional surgical instrument also includes electronic functional elements 26 of the secondary functional element type 26b such as an LED, for example.
• When a complex functional surgical instrument is electronic, it usually has a battery or is plugged into an external machine in the operating room to allow its power supply.
• the electrical power of the system is provided by a 12V / 3A power supply unit (not shown).
• the data is transmitted by a wired communication means (USB 2.0, Ethernet) or by a non-wired communication means (Wi-Fi, Bluetooth, etc.).
• a wired communication means USB 2.0, Ethernet
• Wi-Fi Wi-Fi, Bluetooth, etc.
• the signal processing performed from each actual surgical instrument 12 produces a real-time effect in the virtual reality simulation.
• each virtual surgical instrument 22 moves and reacts identically with respect to its real model.
• Each real surgical instrument 12 has a unique identifier making it possible to associate the values received with the corresponding virtual surgical instrument 26, ie with the correct virtual twin.
• Each real instrument 12 thus connects to the simulation (TCP, UDP, serial) when it is switched on.
• Each real instrument 12 then sends its data to the calculation unit 14 at a defined frequency.
• the connection is made between the computing unit 14 and each real surgical instrument 12 via a protocol which can be point to point (Unicast) or broadcast (Broadcast or Multicast for example). In all modes, the simulation acts as a data server.
• a protocol which can be point to point (Unicast) or broadcast (Broadcast or Multicast for example). In all modes, the simulation acts as a data server.
• Mechanical functional surgical instruments do not have electronic functional elements 26 but only mechanical functional elements 26 (primary functional elements 26a). This is the case, in particular, with surgical retractors, scissors, forceps and needle holders or more complex mechanical systems such as the AMIS® system by Medacta in connection with the fitting of a hip prosthesis.
• each actual surgical instrument 12 of the present invention corresponds to a functional instrument and each functional element 26 of the functional surgical instrument corresponds to a functional element 26 of the actual surgical instrument 12.
• Each functional element 26 of the real instrument 12 can be activated, just like the corresponding functional element 26 of the functional instrument, according to at least two distinct operating states. All states The operational status of each of the functional elements 26 of the actual surgical instrument 12 gives the operational status of the actual surgical instrument 121 itself. For a complex surgical instrument 12, it is possible, for example, to distinguish a functional state off and a functional state under tension.
• the functional state under voltage can itself be divided into a functional state of rest (the operator does not use the instrument 12) and a functional state of activation (the operator activates the instrument 12).
• the surgical instrument 12 may have several functional states of activation, for example if the surgical instrument 12 has a primary functional element 26a which can adopt several speeds, such as for example the rod T of the surgical instrument 12 of the The example illustrated in FIG. 2.
• a primary functional element 26a which can adopt several speeds, such as for example the rod T of the surgical instrument 12 of the The example illustrated in FIG. 2.
• a mechanical surgical instrument 12 it is possible, for example, to distinguish an open functional state and a closed functional state (in the case of a forceps, or of scissors, for example).
• a secondary sensor 21 can for example measure: - the rotation of a rod T of the real surgical instrument 12,
• rod T and the activation handle P are each a primary functional element 26a.
• the electronic system 16 can be integrated into a control box present in an operating theater.
• It can, for example, be a cold light management box for endoscopic cameras or the control panels of an anesthesia machine. It is thus possible to retrieve the actions of a user external to the simulation but present alongside the operator to reproduce his actions in the simulation. For example, in the In case of reuse of an endoscopic camera within the framework of a surgical simulation, it becomes possible to ask an assistant to adjust the light intensity of an endoscopic camera while the operator performs surgical simulation. To be able to do that, you have to be able to know the degree of light sent by the endoscopic camera and connect the light block to the simulation.
• the concept of a complex surgical instrument 12 covers certain operating robots such as, for example, a handling console for a robotic assistance platform, which practitioners are increasingly using.
• an encoder is a hardware or software component transforming information into code.
• a rotary encoder conventionally comprises a light source, a disc with holes at regular intervals rotating around an axis and an optical sensor. Each time light passes through one of the holes in the disc, an electrical signal is sent. By recovering the signal which passes through each disc, we can know in which direction the axis turns and by how many degrees. The more holes the disc has, the more precision there is on the angle.
• the axis 281 of the encoder 28 is coupled to the rod T of the surgical instrument 12.
• the rod T is activated (therefore that it is rotated)
• This axis 281 drives the perforated disk 282 which gives the information of the angle of rotation of the rod T.
• the degree of closure of the activation handle P is, for its part, transmitted by a secondary sensor 21 which may, for example, take the form of a variable resistor (potentiometer). 29 rotary or slide or a force sensor.
• a type of variable resistor with three terminals, one of which is connected to a cursor moving on a variable resistor block terminated by the other two terminals. This system makes it possible to collect, between the terminal connected to the cursor and one of the other two terminals, a voltage which depends on the position of the cursor and on the voltage to which the variable resistor block is subjected, the two terminals corresponding to the maximum values and minimum of the variable resistor block.
• the cursor 291 of the linear potentiometer 29 is coupled to the activation handle P.
• the cursor 291 of the potentiometer 29 is, along the variable resistor block 292 , moved in one direction of actuation and this displacement varies the resistance of the potentiometer 29 in this direction
• a spring integrated in the actual surgical instrument 12 pushes the activation handle P towards its original state (open) and the slider 291 of the potentiometer is, along the variable resistor block 292, driven in the other direction.
• the electronic card 18 and the sensors 20a, 20b, 21 are integrated into the surgical instrument 12 by means of at least one specific interface piece 30.
• Each piece of specific interface 30 is obtained by 3D printing.
• the junction between the encoder 28 and the rod T of the surgical instrument 12 is made possible by a specific interface piece 30.
• This specific interface piece 30 is illustrated in Figure 3A.
• the specific interface part 30 of FIG. 3 A is in two parts: a first part 301 intended to be glued on the rod T of the surgical instrument 12, and a second part 302 intended to be glued on the axis of encoder 28.
• a keying system allows the drive of the axis of the encoder 28 by the rod T.
• the particular dimensioning and geometry of the specific interface part 30 linked to the encoder 28 allows thus ensuring the drive of the encoder 28 by the rod T of the surgical instrument 12 without hindering the travel of the rod T during the operation of the surgical instrument 12.
• this specific interface part 30 comprises two parts: a first part 301 forming a sheath and intended to be glued around the slider of the potentiometer 29, and a second part 302 forming an arch and passing around the handle P.
• the first and second parts 301, 302 of the specific interface part 30 are interconnected so as to be able to pivot with respect to one another according to a degree of freedom.
• the potentiometer 29 is fixedly mounted in the surgical instrument 12.
• the first part 301 is fixedly mounted on the axis of the potentiometer 29, itself sliding relative to the body of the potentiometer.
• the second part 302 follows the movements of the activation handle P when the latter is actuated by the operator and then transmits these movements to the first part 301 which transmits them to the cursor of the potentiometer 29. The information is then sent to the calculation unit 14.
• Each additional sensor 21 is added to the surgical instrument 12, in a manner transparent to the operator with respect to the functional surgical instrument.
• the addition of all of the sensors 20a, 20b, 21 and of the electronic card 18 of the electronic system 16 as well as each of the specific interface parts does not appreciably modify either the mechanical stroke or the force necessary for it.
• the physical properties of the surgical instrument 12 remain, after integration of the electronic system 16, substantially identical to those of the functional surgical instrument obtained when leaving the factory.
• the stake, for each surgical instrument 12, is thus to add the measuring system of the electronic system 16 in a manner that is substantially transparent for the operator so as to preserve all the degrees of freedom of the functional surgical instrument.
• the electronic card 18, each sensor 20a, 20b, 21 and each specific interface piece 30 are integrated with the actual surgical tool 12 replacing at least one electronic component of a set of electronic components of the functional surgical instrument.
• the specific interface part 30 is integrated into the actual surgical tool 12 by joining to one end of the surgical instrument 12. This joining is made so as not to modify the handling parameters of the surgical tool 12.
• the specific interface part 30 is fixed in continuity with the axis of the motor of the real surgical tool 12.
• the final mass of the actual surgical tool 12 is kept substantially the same as that of the functional surgical tool because the electronic board 18, each sensor 20a, 20b, 21 and the specific interface piece 30 are integrated with the actual surgical tool 12 replacing at least one electronic component of a set of electronic components of the functional surgical instrument, even if they are not integrated where these electronic components.
• the specific interface part 30, the electronic card 18, the sensors 20a, 20b, 21 are integrated into the actual surgical tool 12 by joining and form the same technical part.
• each modification of mass induced by the addition of a component of the electronic system 16 of the system 10 is compensated for by the removal of an electronic component (for example a battery) initially present in the functional surgical instrument.
• the actual surgical instrument 12 may be provided with an audible feedback S.
• This audible feedback similar to what exists in the automotive field to assist a user in parking, makes it possible to give an indication of the space available around the vehicle. 'real surgical instrument 12 or even information on the position of one end of the real surgical instrument 12 in space and helps the operator, at the start of learning, to perceive the depth of the space of work.
• This sound feedback S gives the distance between the tip of the instrument and the surgical target. This type of feedback allows additional information to be sent to the user without overloading his visual space to allow him to concentrate on his task.
• the real surgical instrument 12 can be, moreover, provided with a spatial localization system L, so that the computing unit 14 can determine, at any moment, the positioning the actual surgical instrument 12 in space relative to a predefined origin.
• the actual surgical instrument 12 can also be provided with a haptic device H so as to be able to simulate, for the operator, an interaction with a predefined body.
• This haptic device H will be detailed in more detail below.
• the actual surgical instrument 12 can, in addition to the haptic device H, be provided with a global sensory device, so as to be able to emit, in response to a predefined external signal, a specific sound, light or smell.
• the set of systems added to the real surgical instrument 12, ie the integrated electronic system 16, the haptic system H, the sonar system S and the spatial localization system L, is transparent for the operator: the real surgical instrument 12 does not lose functionality despite the integration of all these systems and the center of mass of the actual surgical instrument 12 is not changed.
• each actual surgical instrument 12 of the present invention is intended to be manipulated by an operator and can be activated in at least two distinct operating states. Furthermore, each real surgical instrument 12 has its own geometric characteristics. In the surgical simulation device 10 of the present invention, each real surgical instrument 12 corresponds to a virtual surgical instrument 22 (see FIG. 5) having the same geometric characteristics as those of the corresponding real surgical instrument 12. This is a virtual twin 22 of the real surgical instrument 12. Each virtual surgical instrument 22 can be activated according to the same operating states as the corresponding real surgical instrument 12, and the operating state of the device. virtual instrument 22 is aligned, in real time, with the operating state of the corresponding real surgical instrument 12.
• the virtual surgical instrument 22 is a cauterizer, twin of the cauterizer illustrated in FIG. 2. While manipulating the actual surgical instrument (s) 12, the operator visualizes each virtual surgical instrument 22 on the visualization device 24 connected to the computing unit 14. In addition to visualizing each virtual surgical instrument 22 (in the case of FIG. 6A, a cauterizer and three trocars t1, t2, t3), the operator can visualize the whole of a virtual operating room 32 (see FIG. 6B) and even a virtual patient 34 on which he must perform a simulation of surgery. The virtual operating room 32 and the virtual patient 34 are recorded in the computing unit 14 and made visible to the operator by the latter.
• the surgery simulation concerns a correction of scoliosis by the thoracic route.
• this surgery is a minimally invasive surgery and the operator orientates himself thanks to an image generated by a camera introduced into the patient's body by means of one or more trocar (s).
• These trocar (s) also serve, in this case, to guide the actual surgical tool 12 towards an image of the organ to be operated on (here, the spine) displayed on a screen.
• the operator acts, by means of the virtual surgical tool 22 on the virtual organ to be operated on 36.
• the operator sees, on a virtual screen 38, an image 36 'of the virtual organ to be operated on 36 (the virtual spine).
• This virtual screen 38 is part of the virtual operating room 32.
• the operator also sees, on the virtual screen 38, an image 22 'of the virtual surgical tool 22.
• the surgical simulation therefore immerses the operator in real conditions of an operating theater.
• the user will first of all memorize the gesture and the actions to be carried out for the simulated procedure. And on the other hand, passively the interactions between its different senses will create automatisms that are transferable in a real context.
• each of the original 20a, 20b or additional 21 sensors added to the operative surgical instrument to measure a degree of rotation, a length of stroke, a percentage of close, a speed, a rate of battery charge, or a pressure, and make it possible to reproduce these same quantities on the virtual surgical instrument 22.
• Each sensor being connected to the electronic card 18, itself connected to the calculation unit 14, the calculation unit 14 can therefore, in time real, reproduce the mechanical operation of each real surgical instrument 12 during the simulation.
• the actual surgical instrument 12 may be provided with a haptic device so as to be able to simulate, for the operator, an interaction with a predefined body.
• This predefined body is a virtual body which has a virtual nature and a virtual positioning determined by the computing unit 14.
• the operator visualizes, through the display device 24, a virtual equivalent of the predefined body forming a virtual anatomical object 40.
• the operator sees an image 40 ′ of each anatomical object 40 surrounding the virtual organ to be operated on 36.
• FIG. 6A one can see ribs, in Figures 7A, 7B, there is an image of a lung.
• Each predefined body therefore simulates a virtual anatomical object 40 in virtual reality.
• this virtual anatomical object 40 can be a lung, a liver, a muscle, a bone, etc.
• the haptic feedback H integrated into the surgical instrument 12 makes it possible to maximize the realism of the surgical simulation by providing the operator with feelings of force feedback.
• a cable system or vibration technology e.g. an eccentric rotating mass motor (ERM), or a piezoelectric motor, etc.
• EEM eccentric rotating mass motor
• the virtual surgical instrument 22 palpation or collision of the actual surgical instrument 12 (or the virtual surgical instrument 22) with a virtual anatomical object 40 in virtual reality can be felt.
• the operator can also feel the pulling force of a suture, for example.
• the actual surgical instrument 12 is equipped with a global sensory device, the sound, light and / or smell emitted in response to the external signal further intensifies the immersive experience.
• the electronic system 16 integrated into the real surgical instrument 12 makes it possible to transmit, in real time, the information on the state of the real surgical instrument 12 to its virtual twin 22.
• the The virtual surgical instrument 22 has at least one virtual functional element 42 (see FIG. 5).
• This virtual functional element 42 is a twin of the corresponding real functional element 26.
• the operating state of the virtual functional element 42 of the virtual instrument 22 is aligned, in real time, with the operating state of each functional element 26 of the actual surgical instrument 12.
• the alignment of the functional state of the corresponding real 12 and virtual 22 surgical instruments (or of their corresponding functional elements 26, 42) takes place without apparent delay for the operator.
• the integrated electronic system 16 is able to follow the evolution of the functional states of the real surgical instrument 12 according to the entirety of the functionalities thereof, while respecting the ergonomics and the geometric characteristics thereof, and of be sufficiently miniaturized so as not to increase the weight of the actual surgical instrument 12 so as not to interfere with the operator during the surgical simulation.
• the surgical simulation device 10 allows an operator to simultaneously manipulate in the physical world and in the virtual world real real surgical instruments 12.
• each real surgical instrument 12 used in the context of the operating steps d A surgical procedure is connected in real time to a virtual reality comprising a virtual surgical instrument 22 corresponding to each real surgical instrument 12.
• the technology developed by the present invention thus offers a perfect registration between the virtual world and the real world, without which the skills acquired in simulation will be insufficient and approximate.

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• 2020
  • 2020-04-10 FR FR2003649A patent/FR3109078B1/fr active Active
• 2021
  • 2021-04-09 IL IL297103A patent/IL297103B2/en unknown
  • 2021-04-09 KR KR1020227038807A patent/KR20230031816A/ko active Pending
  • 2021-04-09 EP EP21726148.6A patent/EP4133474A1/de active Pending
  • 2021-04-09 JP JP2022560513A patent/JP2023521681A/ja active Pending
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  • 2021-04-09 CA CA3174843A patent/CA3174843A1/en active Pending
  • 2021-04-09 US US17/917,374 patent/US20230149085A1/en active Pending
  • 2021-04-09 WO PCT/FR2021/050633 patent/WO2021205131A1/fr not_active Ceased

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