FR3135560B1 - Plateforme d’entraînement - Google Patents

Plateforme d’entraînement Download PDF

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Publication number
FR3135560B1
FR3135560B1 FR2204583A FR2204583A FR3135560B1 FR 3135560 B1 FR3135560 B1 FR 3135560B1 FR 2204583 A FR2204583 A FR 2204583A FR 2204583 A FR2204583 A FR 2204583A FR 3135560 B1 FR3135560 B1 FR 3135560B1
Authority
FR
France
Prior art keywords
haptic controller
tool
surgical
training
training platform
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
FR2204583A
Other languages
English (en)
Other versions
FR3135560A1 (fr
Inventor
Lorent Bourdo Tom
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Virtualisurg SAS
Original Assignee
Virtualisurg SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to FR2204583A priority Critical patent/FR3135560B1/fr
Application filed by Virtualisurg SAS filed Critical Virtualisurg SAS
Priority to EP23729815.3A priority patent/EP4523202A1/fr
Priority to JP2024566861A priority patent/JP2025517215A/ja
Priority to AU2023269320A priority patent/AU2023269320A1/en
Priority to PCT/FR2023/050697 priority patent/WO2023218156A1/fr
Priority to PCT/FR2023/050695 priority patent/WO2023218155A1/fr
Priority to AU2023268000A priority patent/AU2023268000A1/en
Priority to CA3257363A priority patent/CA3257363A1/fr
Priority to US18/865,453 priority patent/US20250316184A1/en
Priority to EP23729817.9A priority patent/EP4523203A1/fr
Priority to IL316952A priority patent/IL316952A/en
Priority to IL316951A priority patent/IL316951A/en
Priority to JP2024566760A priority patent/JP2025517195A/ja
Priority to CA3257361A priority patent/CA3257361A1/fr
Publication of FR3135560A1 publication Critical patent/FR3135560A1/fr
Application granted granted Critical
Publication of FR3135560B1 publication Critical patent/FR3135560B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Medical Informatics (AREA)
  • General Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • General Engineering & Computer Science (AREA)
  • Educational Technology (AREA)
  • Educational Administration (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Chemical & Material Sciences (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • Algebra (AREA)
  • Medicinal Chemistry (AREA)
  • Robotics (AREA)
  • Human Computer Interaction (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pulmonology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Pathology (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Instructional Devices (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)

Abstract

PLATEFORME D’ENTRAÎNEMENT La présente invention concerne une plateforme d’entraînement chirurgical comprenant un dispositif d’affichage pour afficher l’environnement virtuel, un module de calibration (14) connecté au dispositif d’affichage, un module d’entraînement (16) avec un contrôleur haptique (18), un système de contrôle configuré pour identifier les différents modules, analyser les données liées au(x) mouvement(s) de chaque outil connecté au contrôleur haptique, générer l’environnement virtuel, interfacer chaque élément chirurgical virtuel avec un élément réel correspondant. L’ensemble des modules sont configurés pour être fixés les uns aux autres de manière réversible dans une configuration connue, chaque contrôleur haptique comporte un système de connexion configuré pour connecter mécaniquement, de manière réversible, un outil chirurgical d’entraînement, chaque contrôleur haptique étant, en outre, configuré pour mesurer chaque mouvement dans l’espace de l’outil chirurgical d’entraînement une fois celui-ci connecté au contrôleur haptique. Le système de contrôle comporte en outre un système de reconnaissance de l’outil. Figure de l’abrégé : Fig. 1
FR2204583A 2022-05-13 2022-05-13 Plateforme d’entraînement Active FR3135560B1 (fr)

Priority Applications (14)

Application Number Priority Date Filing Date Title
FR2204583A FR3135560B1 (fr) 2022-05-13 2022-05-13 Plateforme d’entraînement
IL316952A IL316952A (en) 2022-05-13 2023-05-15 Connecting various gadgets to the computer and automatically turning them on
AU2023269320A AU2023269320A1 (en) 2022-05-13 2023-05-15 Training platform
PCT/FR2023/050697 WO2023218156A1 (fr) 2022-05-13 2023-05-15 Connexion plug'n play
PCT/FR2023/050695 WO2023218155A1 (fr) 2022-05-13 2023-05-15 Plateforme d'entraînement
AU2023268000A AU2023268000A1 (en) 2022-05-13 2023-05-15 Plug and play connection
CA3257363A CA3257363A1 (fr) 2022-05-13 2023-05-15 Plateforme d'entraînement
US18/865,453 US20250316184A1 (en) 2022-05-13 2023-05-15 Training platform
EP23729815.3A EP4523202A1 (fr) 2022-05-13 2023-05-15 Plateforme d'entraînement
JP2024566861A JP2025517215A (ja) 2022-05-13 2023-05-15 プラグアンドプレイ接続
IL316951A IL316951A (en) 2022-05-13 2023-05-15 Training surface
JP2024566760A JP2025517195A (ja) 2022-05-13 2023-05-15 訓練プラットフォーム
CA3257361A CA3257361A1 (fr) 2022-05-13 2023-05-15 Connexion plug'n play
EP23729817.9A EP4523203A1 (fr) 2022-05-13 2023-05-15 Connexion plug'n play

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2204583 2022-05-13
FR2204583A FR3135560B1 (fr) 2022-05-13 2022-05-13 Plateforme d’entraînement

Publications (2)

Publication Number Publication Date
FR3135560A1 FR3135560A1 (fr) 2023-11-17
FR3135560B1 true FR3135560B1 (fr) 2024-06-21

Family

ID=82196756

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2204583A Active FR3135560B1 (fr) 2022-05-13 2022-05-13 Plateforme d’entraînement

Country Status (8)

Country Link
US (1) US20250316184A1 (fr)
EP (2) EP4523202A1 (fr)
JP (2) JP2025517215A (fr)
AU (2) AU2023268000A1 (fr)
CA (2) CA3257361A1 (fr)
FR (1) FR3135560B1 (fr)
IL (2) IL316952A (fr)
WO (2) WO2023218155A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12422921B2 (en) * 2022-03-14 2025-09-23 Daniel BAIRAMIAN Augmented reality point of view synchronisation system

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009094621A2 (fr) * 2008-01-25 2009-07-30 University Of Florida Research Foundation, Inc. Dispositifs et procédés permettant la mise en œuvre de procédures chirurgicales endoscopiques et d'instruments associés dans un environnement virtuel
US11272985B2 (en) * 2017-11-14 2022-03-15 Stryker Corporation Patient-specific preoperative planning simulation techniques
WO2019245862A1 (fr) * 2018-06-19 2019-12-26 Tornier, Inc. Visualisation de plans chirurgicaux à modification peropératoire
CN113473940A (zh) * 2019-03-13 2021-10-01 史密夫和内修有限公司 增强现实辅助手术工具对准

Also Published As

Publication number Publication date
WO2023218156A1 (fr) 2023-11-16
EP4523203A1 (fr) 2025-03-19
JP2025517215A (ja) 2025-06-03
US20250316184A1 (en) 2025-10-09
AU2023269320A1 (en) 2024-11-28
IL316951A (en) 2025-01-01
EP4523202A1 (fr) 2025-03-19
CA3257363A1 (fr) 2023-11-16
FR3135560A1 (fr) 2023-11-17
WO2023218155A1 (fr) 2023-11-16
JP2025517195A (ja) 2025-06-03
IL316952A (en) 2025-01-01
AU2023268000A1 (en) 2024-11-28
CA3257361A1 (fr) 2023-11-16

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