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
• • 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
• • 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
• • 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
  • A61B34/30—Surgical robots
• • 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
  • A61B34/70—Manipulators specially adapted for use in surgery
  • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
• • 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
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
• • G—PHYSICS
  • G06—COMPUTING OR CALCULATING; COUNTING
  • G06F—ELECTRIC DIGITAL DATA PROCESSING
  • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
  • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
  • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
• • 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
  • 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
  • A61B2034/104—Modelling the effect of the tool, e.g. the effect of an implanted prosthesis or for predicting the effect of ablation or burring
• • 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
• • A—HUMAN NECESSITIES
  • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
  • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
  • A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
  • A61B2560/02—Operational features
  • A61B2560/0223—Operational features of calibration, e.g. protocols for calibrating sensors

Definitions

• the present invention relates to a modular surgical training platform.
• the present invention therefore lies in the field of educational and teaching tools, methods and materials. More particularly, the invention relates to a training device for a surgical procedure, intended for the training of surgeons.
• Figure 3 is a view similar to Figure 2 from a different angle
• Figure 4B is a perspective view of a training platform mounted according to the invention, comprising two training modules, connected to two surgical training modules,
• Figure 6 is a perspective view of a kit according to the present invention, manipulated by a user according to a second embodiment
• Figure 9A is a perspective view of a haptic controller connector according to the invention.
• FIG. 9B is a perspective view of a surgical training tool connector according to the invention.
• Figure 12 is a perspective view of an example of an anatomical module according to the invention.
• Figures 14A and 14B are perspective views of an example of a complementary tool module according to the invention.
• the present invention relates to a modular surgical training platform 10 configured to interface a virtual environment 100 comprising at least one mobile virtual surgical element 102 (see Figure 11).
• This virtual environment also includes a virtual patient 104 and different decorative elements 106.
• a user manipulating the modular platform 10 interacts with the virtual environment 100 in which all kinds of surgical operations are possible.
• the modular platform 10 comprises: a virtual reality display device 12 configured to show/display, to the user, the virtual environment 100, a calibration module 14 connected to the virtual display device 12, configured to align the virtual environment 100 with the physical reality of a user manipulating the platform 10 according to the present invention, at least one training module 16, each module d drive comprising a haptic controller 18, a control system 20.
• the at least one complementary tool module 23 may comprise all or part of a tool likely to be present in an operating theater or all or part of a surgical tool necessary during a specific surgical intervention but which does not intervene directly on the body of the patient in the simulation, such as for example: the regulation dial of a gas injector during a post laparoscopic intervention check, or the syringe used to inject a liquid by catheter into the body of a patient, etc. (see figures 14A and 14B)
• the different drive modules 16 connected to each other or to the calibration module 14 and the possible optional modules 21, 23, 25 can be positioned and located by the display device 12, given that a Once the different modules 14, 16, 21, 23, 25 are connected to each other, they are all at a fixed and known distance from the calibration module 14 and therefore from the mobile calibration tool 22 (see Figures 4A and 4B).
• the possible identification of the different modules 16, 21, 23, 25 through an electronic or computer system can make it possible to know this distance in a “plug and play” manner.
• the mobile calibration tool 22 associated with the display device 12 serves as a calibration reference for each training module, therefore each haptic controller 18 and therefore each of the physical elements manipulated by the user of the platform 10 .
• a “plug and play” connection thus describes a connection that is made with a single gesture.
• a shock can lead to untimely movement of the drive module(s) 16 (or possible optional modules 21, 23, 25) and therefore of the calibration module 14 which is connected there, in relation to the display system 12. This can lead to a break in calibration between the virtual environment 100 and the position of the user.
• an electronic system comprising an accelerometer making it possible, on the one hand, to detect this type of unwanted movement and, on the other hand, to adapt the digital positioning of the virtual environment 100 to the new position of the calibration module 14 with the mobile calibration tool 22.
• Each calibration module 14 or drive 16 or optional 21, 23, 25 or spacing module 28 comprises for this purpose, a base 30 having a specific shape (see Figure 7).
• the shapes of the different bases 30 of the different modules 14, 16, 21, 23, 25, 28 are complementary to each other, so as to obtain a stable and suitable nesting of the different modules 14, 16, 21, 23, 25, 28 between them.
• the known appearance of the bases 30 of the different modules 14, 16, 21, 23, 25, 28 makes it easy to determine the relative position of the modules 14, 16, 21, 23, 25 28 in space.
• a spacing module 28 makes it possible to position different modules 16, 21, 23, 25 of the control console 26 at different heights. More precisely, the at least one spacing module 28 is configured to arrange two modules 16, 21, 23, 25 on separate horizontal planes.
• control console 26 extending along three dimensions in space.
• the calibration 14, drive 16 and optional modules 21, 23, 25 are connected to each other by means of the spacing modules 28 in order to increase the stability of the control console 26 and the platform 10 in whole when assembled.
• each base 30 of each module 14, 16, 21, 23, 25, 28 comprises at least one magnet 32 intended to cooperate with a corresponding magnet 32 of a base 30 of a module 14, 16, 21, 23 , 25 28 complementary, thus forming a magnetic connection point.
• the magnets 32 are grouped in threes at each magnetic connection point.
• each spacing module 28 can accommodate at the level of each magnetic connection point, in addition, an electronic connector 34 intended to cooperate with an electronic connector of the base 30 of the calibration modules 14 and/or drive 16 and/or optional 21, 23, 25.
• Electronic communication between the different modules 14, 16, 21, 23, 25, 28 is therefore ensured that the calibration 14 and drive 16 modules and any optional modules 21, 23, 25 are connected together directly or by means of a module spacing 28.
• Electronic communication is also ensured between the different modules 14, 16, 21, 23, 25, 28 in the case where the control console 26 extends in 3D and all its modules 16, 21, 23 , 25 are not arranged on the same plane. This electronic communication allows, in particular, the passage of current.
• the electronic connection allows the control system 20 to identify the different modules 14, 16, 21, 23, 25, 28 of the control console 26.
• the control system 20 comprises a microcontroller itself electrically connected, through the connectors 34 and potentially the spacing modules 28, to the calibration modules 14 and drive 16 and possible optional modules 21, 23, 25.
• the different calibration 14 and/or drive 16 and/or optional modules 21, 23, 25 integrate a system voltage divider.
• each drive module 16 comprises a haptic controller 18.
• Each haptic controller 18 includes a connection system 35 configured to mechanically connect, in a reversible manner, a surgical training tool 36.
• control console 26 can include at least one storage module 25.
• Each storage module 25 has a footprint 360 of one or several surgical training tools 36 in order to be able to store the corresponding surgical training tool(s) 36 there. Thus all of the surgical training tools 36 necessary for the user to complete the surgical simulation are stored nearby.
• Each impression 360 may be provided with a connection system intended to interact with the corresponding surgical training tool 36 in order to allow the control system 20 to locate said surgical training tool 36 when it is stored.
• the surgical training kit thus formed (see Figures 5 and 6), therefore comprises a modular surgical training platform 16 according to the present invention and at least one surgical training tool 36 configured to be connected to the haptic controller 18 of said platform 10.
• the kit according to the present invention may include two types of surgical training tools: so-called “simple” tools and so-called “complex” tools.
• Complex tools are complex electronic tools that incorporate a microcontroller capable of communicating directly with the control system 20.
• These surgical training tools 36 are modified surgical tools or copies thereof.
• the simulation enabled by the platform 10 according to the present invention thus matches all or part of the physical actions to which these objects are subjected with the behaviors of the virtual twins in the virtual environment 100 displayed by the display device 12 (see Figures 5 and 6).
• connection system 35 of the haptic controller 18 is universal, in the sense that it makes it possible to connect at least two different surgical training tools 36 (see Figure 2).
• the connection system 35 comprises at least one locking connector 35a of the key-lock type configured to be fixed to the haptic controller 18 and to any surgical training tool 36 so as to ensure their removable connection (see figures 3, 9A and 9B).
• the connectors 35a, 35b also allow transmission of rotation along the axis of the end of the haptic controller 18 towards the drive module 16.
• connection system 35 comprises two key-lock type locking connectors 35a, 35b: a first connector 35a fixed to the haptic controller 18 and configured to cooperate removably with a second corresponding connector 35b fixed to the surgical training tool 36.
• the two connectors 35a, 35b can both be fixed reversibly, either to the haptic controller 18 or to the surgical training tool 36.
• the two connectors 35a, 35b are obtained by 3D printing or by layer deposition , or by sintering
• Figure 9 A represents the first connector 35a (here the lock) of the haptic controller 18
• Figure 9B represents the second connector 35b (here the key) intended to cooperate with the surgical training tool 36.
• Fixing the first connector 35a on the haptic controller 18 can be done in several ways. In the case of illustration 9A, a jack interface already present originally on the haptic controller 18 was used to fix it. In other embodiments, one could consider sticking the first connector 35a or adapting to another haptic controller 18 by creating a form of interface specific to the latter.
• the second connector 35b is preferably fixed by gluing to the surgical training tool 36. This mainly involves bonding at the distal stem of the surgical driving tool 36.
• the 3D model of the second connector 35b is adapted by providing, on the face not visible in FIG. 9B, a drilling corresponding to the end of the distal rod 360 of the surgical driving tool 36. Then the distal rod is glued into the second connector 35b by means, for example, of epoxy.
• This manufacturing process is not the only one that is implemented.
• the connection 35 of the lock key type, ensures a collinearity constraint along the axis 36 and the haptic controller 18) are therefore completely constrained in all directions.
• connection system 35 can comprise, on each side of the “key-lock” system at least one magnet 38 (see figure 9A, 9B).
• the magnets 38 used are cubic magnets having a magnetization force of 1.1 kg. This value allows both solidity of the attachment but also easy disconnection of the surgical training tool 36, with the desired aim of creating a “plug and play” interface.
• the magnets 38 provide a contact constraint between the two connectors 35a, 35b. As mentioned above, the two connectors 35a, 35b are completely constrained in all directions, except the direction collinear with F axis of the end of the haptic controller 18.
• connection system 35 of the key-lock type according to the present invention thus has three distinct and complementary functionalities: it allows easy and “plug and play” attachment of the surgical training tool 36 using of magnets 38, it makes it possible to transmit the rotational movement along a central axis to the haptic controller 18, it makes it possible, in certain cases, to electrically connect a surgical drive tool 36 drive module 16.
• connection system 35 Another advantage of the connection system 35 according to the present invention is the simplicity with which it is possible to change the surgical training tool 36 to the haptic controller 18. It is necessary that this change be simple and rapid so as not to burden the learning of complex manipulations. It is therefore necessary to provide a “plug and play” device, as the present invention does.
• Each haptic controller 18 is, moreover, configured to measure each movement in the space of the surgical training tool 36 once it is connected to the haptic controller 18.
• Each haptic controller 18 is thus provided with at least one translation or external rotation sensor 19 fixed on the different movable elements of the haptic controller 18 (see Figure 1), so as to capture the position and three-dimensional orientation of any object connected to the haptic controller 18 of the module training 16.

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• Engineering & Computer Science (AREA)
• Health & Medical Sciences (AREA)
• Physics & Mathematics (AREA)
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• Heart & Thoracic Surgery (AREA)
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• Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
• Public Health (AREA)
• Veterinary Medicine (AREA)
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• Management, Administration, Business Operations System, And Electronic Commerce (AREA)

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• 2022
  • 2022-05-13 FR FR2204583A patent/FR3135560B1/fr active Active
• 2023
  • 2023-05-15 WO PCT/FR2023/050695 patent/WO2023218155A1/fr not_active Ceased
  • 2023-05-15 JP JP2024566861A patent/JP2025517215A/ja active Pending
  • 2023-05-15 IL IL316952A patent/IL316952A/en unknown
  • 2023-05-15 US US18/865,453 patent/US20250316184A1/en active Pending
  • 2023-05-15 CA CA3257361A patent/CA3257361A1/en active Pending
  • 2023-05-15 IL IL316951A patent/IL316951A/en unknown
  • 2023-05-15 AU AU2023268000A patent/AU2023268000A1/en active Pending
  • 2023-05-15 JP JP2024566760A patent/JP2025517195A/ja active Pending
  • 2023-05-15 AU AU2023269320A patent/AU2023269320A1/en active Pending
  • 2023-05-15 CA CA3257363A patent/CA3257363A1/en active Pending
  • 2023-05-15 WO PCT/FR2023/050697 patent/WO2023218156A1/fr not_active Ceased
  • 2023-05-15 EP EP23729815.3A patent/EP4523202A1/de active Pending
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