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EP1966782A1 - Dispositif de simulation d'operations d'introduction - Google Patents

Dispositif de simulation d'operations d'introduction

Info

Publication number
EP1966782A1
EP1966782A1 EP06828734A EP06828734A EP1966782A1 EP 1966782 A1 EP1966782 A1 EP 1966782A1 EP 06828734 A EP06828734 A EP 06828734A EP 06828734 A EP06828734 A EP 06828734A EP 1966782 A1 EP1966782 A1 EP 1966782A1
Authority
EP
European Patent Office
Prior art keywords
instrument
handle
force
simulation device
simulation
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.)
Withdrawn
Application number
EP06828734A
Other languages
German (de)
English (en)
Inventor
Rainer Burgkart
Robert Riener
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.)
Individual
Original Assignee
Individual
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 claimed from DE102005062611A external-priority patent/DE102005062611A1/de
Priority claimed from DE200510062610 external-priority patent/DE102005062610A1/de
Application filed by Individual filed Critical Individual
Publication of EP1966782A1 publication Critical patent/EP1966782A1/fr
Withdrawn legal-status Critical Current

Links

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
    • 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

Definitions

  • the invention relates to a simulation device for simulating penetrations, which are carried out by means of a needle or pen-like instrument or tool, wherein subsequently only the term instrument is used.
  • injection simulators which are designed for different practice cases, such. For example, from DE 44 14 832 a model for practicing the insertion in blood vessels or from GB 2 288 686 A or WO 03/054834 A1.
  • a particular limitation of the haptic simulators hitherto is the definition of a very narrow work area, where under work area z. B. the body surface of the patient is to understand on the practitioner first select the correct injection site and possibly even by touching with your fingers the injection site must determine very precisely. For training z. B. as a doctor such exercises are essential. In other words, the practitioner not only has to be able to properly guide the instrument after the puncture, but he must also learn to strike the right puncture site.
  • haptic injection simulators known from the prior art have two system-related disadvantages: a. The simulation of the living organism (human, animal) is not possible. b. The learning process of "searching and finding the right puncture site” is also not possible.
  • the problem of overcoming the defect a is achieved with a simulation device according to claim 1.
  • the problem of overcoming the deficiencies a and b is achieved with a simulation device according to claim 5.
  • the simulation device for simulating penetrations of an instrument into a body has a handle with which the simulation device is manually guided by the operator.
  • the instrument is coupled to the handle so that the instrument is slidable with respect to the handle in a predetermined displacement direction, d. H.
  • d. H a predetermined displacement direction
  • a position-determining device which determines the current position of the instrument relative to the handle and generates a current position signal. More specifically, information about the displacement of the instrument tip with respect to the handle must be provided.
  • a force-determining device which determines the current force with which the instrument is pressed by means of the handle against the body, wherein the force-determining device generates a current force signal. It is further provided a computer-controlled drive device which causes the instrument can be retracted only against a predetermined force in the handle. This drive device is signal-technically connected to the position-determining device, the force-determining device and the computer.
  • the drive device is controlled by evaluating the current force and position signal.
  • a computer program is used which simulates the material properties of the body in the form of control signals for the drive device. This relationship will be described in more detail below.
  • the drive device is either integrated in the handle, or connected from the outside via a coupling device with the handle.
  • a coupling device z. B. a hydraulic hose suitable.
  • control philosophy should be described qualitatively so far that a person skilled in control engineering can build the simulation device.
  • the aim is to simulate the penetration of a needle into a living part of a human or animal body. It should be simulated that the body portion is covered on its surface with a skin, then z. If, for example, an adipose tissue follows, then a connective tissue layer is to be pierced, followed by a thick muscle tissue and then a solid bone tissue. All of the aforementioned tissue sections of the body are fictitious, i. H. only represented as a software model in the calculator.
  • the simulation serves the purpose of practicing a penetration action with a hand-guided instrument in a real body, it is expedient and serves the learning success, if the exercise can be performed not only on a model body, but also on a living body. For completeness, therefore, it is mentioned that even if the body portion of a hard Plastic (eg an anatomical model), the haptic effect in the simulation is the same as in a living body part.
  • a hard Plastic eg an anatomical model
  • the needle tip must be such that it can not penetrate the simulation. This is achieved by greatly increasing the area of the needle tip. So it is z. B. possible to attach to the needle tip a small plastic disc.
  • this pressure is determined by the force determination device. If the surgeon presses harder, skin penetration is simulated by the drive device suddenly pushing the needle a little into the handle, d. H. it simulates the penetration of the skin and the underlying fatty tissue, so that then the needle is present at the simulated connective tissue.
  • the drive device allows further insertion of the needle into the handle only when the surgeon presses the needle with the penetration force required in reality against the relatively strong connective tissue. Then comes the muscle tissue, whose penetration is simulated again by a specific retraction of the needle. Now, the needle is on the bone tissue, which can not be penetrated, so that the surgeon feels a stronger resistance, which is achieved by blocking the drive device even with stronger pressures.
  • the drive device is arranged in or on the handle, in which case the part of the drive device is meant, which generates the driving force. It is possible in the handle z. Example, to provide a spindle-nut assembly, wherein the spindle is driven by an electric motor and the nut running on the spindle is firmly connected to the instrument.
  • the position detecting device is arranged in or on the handle. It is possible to arrange in the handle an angle sensor so that the rotational movement of the spindle is detected according to claim 2. From the current position of the angle sensor, the current Nadeiposition can be determined.
  • the force-determining device is arranged in or on the handle. It is possible to arrange in the handle a force sensor so that the force generated by the handle when pressing the instrument against the body is transmitted to the force sensor.
  • the force sensor is thus to be arranged in a spindle-nut arrangement between the instrument and the spindle nut.
  • a position determining device which determines the current spatial position of the instrument relative to the body and generates an electrical position signal, which is supplied to the arithmetic and control unit.
  • Such position determining devices are known in the art as navigation systems, so that only the appropriate application for each case Determine gearsvortechnisch and signal technology to adapt.
  • it is z.
  • it is possible to simulate direction-dependent body characteristics, or it can be learned to set up the instrument at the medically correct point on the body surface (eg in the region of the spinal column) and to simulatively pierce the body in the medically correct solid angle.
  • a conventional, known in the art optical navigation device is used, wherein on the handle and the body navigation marks are provided, which are recognizable by a camera system for optical navigation.
  • the simulation is carried out on a solid model body, such. B. a back portion on which the insertion of the instrument in the area of the spine is practiced.
  • This fixed model body is coupled to a force measuring device which provides electrical measurement signals from which it is possible to calculate at which current point of the model body the instrument tip is placed.
  • This technique is known in the art and z. B. in DE 102 61 673 A1 described in detail.
  • Fig. 1 shows a first embodiment of the invention.
  • Fig. 2 shows a second embodiment of the invention.
  • Fig. 3 shows a third embodiment of the invention.
  • Fig. 4 shows a fourth embodiment of the invention.
  • Fig. 5 shows a first application of the invention.
  • Fig. 6 shows a second application of the invention.
  • Fig. 7 shows a first application of the invention with navigation system.
  • Fig. 8 shows a second application of the invention with navigation system.
  • the simulation device with a handle 1, with which the device by an operator with the Hand is guided.
  • the instrument is a needle 2, which is connected to the handle 1, wherein the needle 2 with respect to the handle 1 in the direction of the double arrow is slidably formed.
  • a spindle-nut assembly 3, 4 is integrated as a drive device, wherein the spindle 3 is driven by a likewise integrated in the handle 1 electric motor 5.
  • the running on the spindle 3 nut 4 is firmly connected via a force sensor 6 to the needle 2.
  • an incremental Winkelmeßsystem 7 is coupled to the electric motor 5.
  • the electric motor 5 rotates the spindle 3, the nut 4 is moved forward or backward in the direction of the double arrow. From the thread pitch of the spindle 3 and measured by the angle measuring 7 angle change of the displacement of the needle 2 can be determined.
  • a plastic disc 9 is glued to the skin at the intended injection site. This plastic disc 9 has a small recess into which the needle tip is inserted, so that slipping of the needle is avoided by the plastic disc. This plastic disc can also be replaced by a small ball attached to the tip of the needle.
  • the force applied by the surgeon by means of the handle on the needle force is measured by means of the force sensor 6 and fed as an electrical measurement signal to a computer.
  • the computer has software that simulates the various material properties of the body in the form of control signals for the drive device that controls the motor 6. If z. For example, when the mode "spinal cord puncture" is set, the software activating the material properties of the body between the outer skin of the body and the spine is activated. If, on the other hand, an injection into a vein of the forearm is to be simulated, the "forearm vein injection" mode is selected.
  • the surgeon uses the simulation device as a real medical instrument and thus performs the same medically determined movements as under real conditions.
  • a predetermined pressure is simulated that the outer skin is pierced, in which the needle 2 is moved a piece into the handle.
  • the needle is a larger or a small piece retracted into the handle. It is clear to the person skilled in the art of control engineering that the control loop required for this purpose must have such a dynamic behavior that the needle movements by the spindle-nut drive 3, 4, 5 must be as fast as during the movement of a real needle under real conditions.
  • FIG. 2 shows an embodiment of the invention in which a cable-slide arrangement 10, 11 is used as the drive device. Since, in contrast to the spindle 3 used in FIG. 1, the cable does not have sufficient inherent rigidity, a needle guide 13 in the form of a sleeve is provided for guiding the needle 2.
  • the carriage 11 is fixed to the cable 10, which is movable by means of the motor 5 in the direction of the double arrow.
  • FIG 3 shows an embodiment in which the tool 2 is arranged at right angles to the handle 1, wherein the cable 10 is driven by the motor 5 and passes over two deflection rollers 12a and 12b.
  • Fig. 4 shows a fourth embodiment of the invention based on hydraulic cylinder-piston assemblies.
  • the first cylinder-piston assembly is operated by means of the spindle-nut arrangement 3, 4 described in Fig. 1.
  • the first piston 14 is connected via a piston rod 15 to the force sensor 6 and displaces hydraulic fluid in the first cylinder 16.
  • the displaced hydraulic fluid passes via the flexible hydraulic line 17 into the second cylinder 18 and displaces there the piston 19 which is in contact with the needle 2 is connected.
  • the principal operation of this embodiment is the same as that of the first embodiment.
  • the interposed flexible hydraulic line 17 provides a decisive advantage, since now the handle 1 can be made very small, since he holds only the second cylinder-piston assembly contains.
  • FIGS. 5 and 6 show applications in a living human on the back and forearm.
  • FIG. 7 shows an embodiment of the invention using an optical navigation system 20 to 23, with which the current spatial position of the needle 2 with respect to the patient 8 is determined at a predetermined puncture site and an electrical position signal is generated, which is supplied to the arithmetic and control unit ,
  • the reference numerals 20 and 21 each indicate three navigation points, wherein the navigation points 20 define the position of the needle and the navigation points 21 the position of the patient.
  • the navigation points are optically detected and determines the spatial position of the needle 2. All data of the camera are fed to a computer.
  • the optical navigation method is well known to those skilled in the art, so that a more detailed explanation can be dispensed with. From the electrical position signal generated by the computer, it can be determined exactly whether the needle is attached to the medically correct position and at the correct angle. In this application of the invention, both a living patient or a plastic model can be used. When practicing on a live patient, the instrument tip must be provided with a stab-proof plate so that the patient is not injured by the instrument tip.
  • FIG. 8 shows an embodiment of the invention using a torque-based navigation system. In this application of the invention, only a plastic model can be used, which has a high inherent rigidity. This plastic model is rigidly mounted on a multi-component load cell 24.
  • the multi-component load cell 24 When the instrument 2 is pressed by means of the handle 1 on the chest of the patient, the multi-component load cell 24 generates signals from which the touchdown point of the instrument tip is calculated. By means of a graphic animation, the correct or incorrect position of the touchdown point on the screen 25 can be displayed. Likewise, by means of an acoustic information from the speaker 26 can be informed about the correct or incorrect position of the touchdown point.
  • controllable drive device for defined displacement of the instrument 2 with respect to the handle 1 must be technically connected to the computing and control unit. This connection can be made via an electrical control line, but also wirelessly by means of a radio link. This compound was not shown in the drawings for the sake of clarity.
  • simulation devices can be provided for the first time, in which the instrument can be placed freely on any arbitrary point of a body, so that with this technology also finding the penetration point on the body and can be well practiced.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Medical Informatics (AREA)
  • Medicinal Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Algebra (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pulmonology (AREA)
  • Mathematical Analysis (AREA)
  • General Health & Medical Sciences (AREA)
  • Mathematical Physics (AREA)
  • Pure & Applied Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Theoretical Computer Science (AREA)
  • Instructional Devices (AREA)

Abstract

L'invention concerne un dispositif de simulation servant à simuler des opérations d'introduction effectuées au moyen d'un instrument de type aiguille ou pointe, ce dispositif de simulation comprenant : un manche (1) relié à l'instrument (2) de façon coulissante, ce manche (1) étant tenu par un chirurgien, un dispositif de détermination de position (7) qui détermine la position de l'instrument (2) par rapport au manche (1) et génère un signal de position, un dispositif de détermination de force (6) qui détermine la force avec laquelle l'instrument (2) est appuyé contre le corps (8) au moyen du manche (1), ce dispositif de détermination de force (6) générant un signal de force, un dispositif d'entraînement pouvant être commandé pour déplacer l'instrument (2) par rapport au manche (1), ainsi qu'une unité de calcul et de commande reliée au dispositif d'entraînement à des fins de transmission de signaux. Ladite unité de calcul et de commande présente une mémoire dans laquelle des informations de pénétration spécifiques du corps et un programme de calcul sont stockés et le dispositif d'entraînement est commandé d'après les signaux de position et de force de telle sorte qu'une pression de l'instrument (2) contre le corps (8) produise la même perception haptique que celle obtenue lors de la manipulation d'un vrai instrument introduit dans un vrai corps.
EP06828734A 2005-12-23 2006-12-23 Dispositif de simulation d'operations d'introduction Withdrawn EP1966782A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102005062611A DE102005062611A1 (de) 2005-12-23 2005-12-23 Modell-Simulationsvorrichtung zum Simulieren von Eindringvorgängen
DE200510062610 DE102005062610A1 (de) 2005-12-23 2005-12-23 Simulationsvorrichtung zum Simulieren von Eindringvorgängen
PCT/DE2006/002344 WO2007073733A1 (fr) 2005-12-23 2006-12-23 Dispositif de simulation d'operations d'introduction

Publications (1)

Publication Number Publication Date
EP1966782A1 true EP1966782A1 (fr) 2008-09-10

Family

ID=37909414

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06828734A Withdrawn EP1966782A1 (fr) 2005-12-23 2006-12-23 Dispositif de simulation d'operations d'introduction

Country Status (3)

Country Link
US (1) US20090305213A1 (fr)
EP (1) EP1966782A1 (fr)
WO (1) WO2007073733A1 (fr)

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US9792836B2 (en) 2012-10-30 2017-10-17 Truinject Corp. Injection training apparatus using 3D position sensor
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WO2015109251A1 (fr) 2014-01-17 2015-07-23 Truinject Medical Corp. Système de formation aux sites d'injection
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Also Published As

Publication number Publication date
US20090305213A1 (en) 2009-12-10
WO2007073733A1 (fr) 2007-07-05

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