EP4091155A1

EP4091155A1 - Training device

Info

Publication number: EP4091155A1
Application number: EP21700217.9A
Authority: EP
Inventors: Ninon CANDALH-TOUTA; Nicolas MIGNAN; Cécile MULLER; David REVERSAT
Original assignee: Virtualisurg SAS
Current assignee: Virtualisurg SAS
Priority date: 2020-01-13
Filing date: 2021-01-13
Publication date: 2022-11-23
Also published as: CA3167654A1; FR3106232B1; FR3106232A1; JP2023512458A; US20230343244A1; WO2021144310A1

Abstract

The present invention relates to a training device (1) for scientific or medial manipulation on a scientific or medical object, characterised in that it comprises at least one anatomical part (3, 4) and a cover (2) for said anatomical part (3, 4); the anatomical part (3, 4) being manufactured, based on at least one image of said scientific or medical object, from at least one first material, each of the first materials being able to generate a specific haptic feedback; and the cover (2) being manufactured, based on the same image of the scientific or medical object, from at least one second material, different from the first material, and generating at least one haptic feedback different from that of the first material, the cover (2) being able to cover all or part of the anatomical part (3, 4); the manufacture of the anatomical part (3, 4) and of the cover (2) being carried out by additive manufacturing or by 3D printing or by subtractive manufacturing or by moulding.

Description

TRAINING DEVICE

FIELD OF THE INVENTION

The present invention relates to the field of educational and teaching tools, methods and materials. More particularly, the invention relates to a device for training scientific or medical manipulation, for scientists or medical personnel. In addition, the invention relates to a device for training a surgical act, said device then being preferably intended for the training of surgeons.

STATE OF THE ART

Learning to manipulate scientific or medical is generally based on example, and the people subjected to this learning often act, from the first time, in a real situation, on chemical, biological or medical materials, or even on instruments. scientists who can be valuable and for whom inexperienced manipulations can pose a risk.

For example, surgery training is currently mainly carried out in real conditions, on a patient, through surgical companionship. Certain training courses on training devices, accessible to only a small part of surgical residents, have a certain number of obvious limitations; to give an example, one of the known training devices, the pelvitrainer is a simple box in which are inserted trocars and a camera, with the possibility of practicing the suture, for example on inert materials such as foam . This type of training is very focused and limited. Other training courses are carried out on animals: handling on animals presents important issues of ethics, cost and limited anatomical correlation with humans.

International patent application WO2019 / 092382, filed by the Applicant, discloses a surgical act simulation system for training and training surgeons. This device comprises an enclosure comprising: a first surface defining an operating interface intended to receive at least one surgical tool, the remainder of the surface of the enclosure forming a base; an opening arranged on said first surface; and a link interface held around the circumference of said opening. The first surface has a movable portion relative to the base, and the opening is arranged on said movable portion. This enclosure is particularly advantageous because it makes it possible to perform various acts, but it does not allow a continuous haptic experience to be had over the whole of a surgical act. This is the reason why the Applicant has continued its research and carried out the present invention aimed at presenting a training device which better reflects the reality of a surgical act.

In the prior art, there are a few devices that combine an anatomical part and an environment assumed to resemble the skin. For example, US Pat. No. 10,002,546 presents a model for anatomical training comprising a transparent thermoplastic elastomer matrix in which part of a spine is embedded; a synthetic spinal sheath runs through part of the spine. The transparent thermoplastic elastomer matrix makes it possible to visualize the path of a needle during its penetration. The spine and synthetic spine sheath provide tactile feedback during needle penetration. This device is intended to prepare surgeons to perform injections into the spine. It does not allow training on different surgical procedures.

The American patent application US 2018/0322807 describes a simulated model of the abdominal wall for the practice of laparoscopic surgical techniques. The model includes a simulated portion of the abdominal wall captured between two elements of a support. The support is connectable to a surgical learning device. When connected to a training device, the model provides a penetrable portion of abdominal tissue for accessing an internal cavity of the training unit. The simulated abdominal wall includes a plurality of layers including a skin layer, a posterior rectus sheath tissue layer, a low resilience polyurethane foam simulated fat layer, and at least two layers that provide distinct haptic feedbacks upon penetrating the simulated transverse fascia and muscle layers. The simulated abdominal wall includes a simulated navel over several layers of simulated tissue. The system described in this document is a generic system supposed to simulate any abdomen, and does not make it possible to take into account the surgical variability arising from the different types of patients.

Document WO 2017/059417 is also known, describing a surgical simulator for surgical training. The simulator includes a frame defining an enclosure and a simulated tissue model located within the enclosure. The simulated tissue model is suitable for the practice of a number of surgical procedures, including transanal excisions and transvaginal hysterectomies. The simulated fabric model includes an additional component interchangeably connected to the frame with fasteners configured to pass through openings in the frame, to suspend the simulated fabric model in the frame. The enclosure of the frame is increasingly narrowed laterally along the longitudinal axis to gradually increase the containment of the components of the simulated tissue model. Here again, the simulator is generic and does not allow you to learn the different situations that are generated by the diversity of patients and their profiles.

In view of the prior art, the Applicant, listening to scientists and surgeons, realized (1) that the learning could not be complete if the model was not adapted to patients and to various pathologies, (2) that the fact of providing a single model did not make it possible to reflect all the situations for a given surgical act and (3) that it was possible to define typologies of subjects with different morphologies, and to propose models by category or type of subject, which allowed learning in conditions much closer to real life. Thus, the invention aims to provide a training device which approaches, better than the devices of the prior art, the handling experience in real life, and for training in the surgical act. , which takes into account the typology of patients and the pathology. DESCRIPTION

The object of the invention is a device for training in a scientific or medical manipulation on a scientific or medical object, characterized in that the training device comprises an anatomically realistic copy of the scientific or medical object, the copy of the object. 'scientific or medical object comprising:

- at least one anatomical part forming an internal layer of the 3D copy of the scientific or medical object, the at least one anatomical part having an external surface and an internal surface, the at least one anatomical part being made in at least one first material being able to generate a specific haptic feedback, and

- an envelope forming the outer layer of the copy of the scientific or medical object, said envelope being made of at least one second material different from the first material, generating at least one haptic feedback different from that of the first material. According to the invention, the envelope being able to cover all or part of the at least one anatomical part, the at least one anatomical part and the envelope being intended to cooperate structurally so that the envelope conforms to with precision the general shape of the external surface of the anatomical part, so as to form an anatomically coherent structure, According to the invention also, the manufacture of the anatomical part and of the envelope being carried out from at least one image of the scientific or medical object by additive manufacturing or 3D printing or by subtractive manufacturing or by molding.

The present simulation thus makes it possible to simulate, realistically, from an anatomical and / or haptic point of view, a scientific or medical intervention on a scientific or medical object having at least two layers of tissues / materials with different haptic properties, such as, for example, an organ covered with a bone envelope, or else an organ covered with a skin envelope or a tissue covered with another tissue.

By anatomical part is meant a part reproducing the structure, two-dimensional or three-dimensional, of a scientific or medical object, in particular but not exclusively an element of the human body, in particular an organ or a skeletal structure.

An anatomically coherent structure within the meaning of the present invention means that the structure in question has dimensions and shapes that are realistic and consistent with respect to a biological anatomical model. This also means that the materials used allow a haptic rendering close to the haptic rendering of the biological anatomical model.

According to one embodiment, scientific or medical manipulation on a scientific or medical object requires the presence and intervention of a user. According to one embodiment, the user is in particular a surgeon, a medical staff, a scientist, a technician.

According to one embodiment, the scientific or medical object is a hazardous material or a rare material. A hazardous material can in particular be a radioactive, flammable, explosive, corrosive, oxidizing, asphyxiant or biological hazardous material. A hazardous material can also be an allergenic, pathogenic or toxic substance or organism.

According to one embodiment, the scientific or medical object is all or part of an animal, a plant or a fungal species. According to one embodiment, the scientific or medical object is a human, a biological product, in particular a cell or a cellular tissue, or a chemical product or an industrial product, for example a machine. Thus, the scientific or medical object can be in particular all or part of a human or animal body, of a cellular or tissue biological product, of a chemical product or of a manufactured industrial product. According to one embodiment, the scientific or medical object is a type subject, defined as being the subject of an image selected because it is representative of a typology of patients and / or of a pathology and / or trauma. This scientific or medical object must make it possible to give rise to a three-dimensional copy, abbreviated 3D, based on an image of it. According to one embodiment, the typical subject is an adult from 16 to 75 years old. According to one embodiment, the typical subject is a person over the age of 75. According to a mode of achievement, the typical subject is a child from 2 to 16 years old. According to one embodiment, the typical subject is a young child under two years of age. According to one embodiment, the typical subject is a young child of less than six months. According to one embodiment, the typical subject is male. According to one embodiment, the typical subject is female. According to one embodiment, the scientific or medical object is a patient who is suffering from a pathology or who has suffered a trauma which requires a surgical or medical act.

According to one embodiment, the scientific or medical manipulation according to the invention is a surgical or medical act, a puncture, an injection, a suture, a study, an investigation, an analysis, a test or a step of a process. production. According to one embodiment, the scientific or medical manipulation according to the invention is an act of minimally invasive surgery. According to one embodiment, the scientific or medical manipulation according to the invention is a minimally invasive intervention of thoracic or visceral surgery. According to one embodiment, the scientific or medical manipulation according to the invention is a neurosurgical intervention. According to one embodiment, the scientific or medical manipulation is an orthopedic intervention.

According to one embodiment, the scientific or medical manipulation according to the invention includes all surgical and orthopedic acts (regardless of the operating mode and the type of equipment), and in particular:

Arthroplasties, including First-line total hip replacement, Partial knee replacement

- Surgical repair of recurrent dislocations of the shoulder Acromioplasty

Osteosynthesis of an isolated or multiple fracture of a limb segment

- Surgical repair of a tendon wound in the forearm, excluding complex trauma

- Surgical repair of a tendon wound in the hand, excluding complex trauma

- Surgical release of ductal syndromes of the upper limb

- Surgical release in the context of Dupuytren's disease Surgical repair of the calcaneal tendon (AN: Achilles tendon)

G Forefoot Surgical Repair

Osteotomies and / or transposition of the tibial tuberosity (AN: anterior tibial tuberosity)

Knee arthroscopy (meniscectomy, etc.), excluding ligamentoplasty Ligamentoplasty of the ankle

Surgical tendon transposition (apart from central neurological pathology)

Spinal disc surgery, excluding disc prosthesis Spinal surgery with arthrodesis

Spinal canal release surgery without arthrodesis, orthopedics, in particular isolated or multiple fracture of a limb segment, or extra-articular of the pelvis, treated orthopedically; stable spine fracture not operated on. According to one embodiment, the surgical act is a preoperative intervention.

According to the invention, the anatomical part is manufactured, in additive or subtractive manufacturing, from a file created from medical imaging files, of the radiography, ultrasound, scanner or magnetic resonance imaging or scintigraphy or ultrasound type. or spectroscopic imaging, preferably having at least one 3D modality. In one embodiment, the image is obtained by X-ray technology, optionally after administration of radiopharmaceuticals to the subject. In one embodiment, the image is obtained by ultrasound technology. In one embodiment, the image is obtained by magnetic resonance. In one embodiment, the image is three-dimensional. In one embodiment, the file for additive or subtractive manufacturing is created from one or more two-dimensional images, processed to produce a three-dimensional part.

In one embodiment, the image is an anonymized image of all or part of a typical subject, for example of a part of the body of an animal, including a human, selected because it is representative of a typology of patients and / or a pathology and / or a trauma.

In one embodiment, the image is an image of a specific subject, and the anatomical piece and casing are personalized reproductions of that subject's physiology. The envelope and the anatomical part thus form a scientifically, and more particularly anatomically consistent, structure of the subject.

According to one embodiment of the invention, from the image of a scientific or medical object, or of a subject or of a typical subject, an anatomical part and an envelope are made. In one embodiment, the anatomical part and the envelope are of identical shape and format. In one embodiment, the dimensions of the anatomical piece and / or of the envelope are adapted so that they can fit together. In one embodiment, the envelope and / or the anatomical piece comprises a means of attachment to one another or a means of attachment to a base. In one embodiment, the envelope and the anatomical object can be detached from each other and can be reattached to each other later.

In one embodiment, the anatomical piece is made of at least a first material chosen from thermoplastic polyurethane elastomers, called TPU; in one embodiment, the TPU is chosen so that the anatomical part is representative of a soft organ, of the type in particular brain, liver, stomach, lung; in this embodiment, preferably, the TPU has a Young's modulus of between 0.006 and 20 GPa. In another embodiment, the TPU is chosen so that the anatomical part is representative of a hard tissue, of the type in particular bone, cranial bone, spine, thorax; in this embodiment, preferably, the TPU has a Young's modulus of between 0.024 GPa and 30 GPa. In one embodiment, the anatomical piece includes representative parts of organs or soft tissue, and representative parts of organs or hard tissue, made of different materials with suitable Young's moduli.

In one embodiment, the envelope is made of a rigid material. In one embodiment, the envelope is made of a deformable or elastic material. In one embodiment, the envelope is able to be superimposed on the anatomical piece. or to fit on the anatomical piece. In another embodiment, the envelope is able to cover all or part of the anatomical part. In one embodiment, the second material which constitutes the envelope is a thermoplastic elastomer representative of human skin, the Young's modulus of which is preferably between 0.006 GPa and 20 GPa.

In one embodiment, the anatomical piece and shell are made with additive or subtractive manufacturing technology. In one embodiment, the anatomical part and / or the envelope are made by molding, the mold being made from the image of the scientific or medical object, in particular of the typical subject or of the subject, by manufacturing additive or subtractive.

Thus, the anatomical part and the envelope reproduce the structure of a scientific or medical object, in particular of a type subject or of a subject for training for one or more scientific or medical manipulations on this object. , this subject-type or this subject. The invention is therefore not a simple generic case, but a realistic physical representation of a scientific or medical object, in particular of a human or animal anatomical part.

According to one embodiment, the file created for additive or subtractive manufacturing is modified prior to manufacturing, in particular to generate openings on the envelope and / or on the anatomical part. The advantage provided by the presence of opening (s) is in particular to allow the user to perform training in palpation for the choice of the location of the trocars, and training with haptic feedback for the introduction of the trocars. in the orifices.

According to one embodiment, an opening arranged on the envelope makes it possible, for example, to simulate an incision in the skin of a typical subject or of a subject. Depending on the nature of the scientific or medical manipulation, the shape and number of openings on said envelope may vary, and for example include:

(i) a single opening, for example for an act of non-minimally invasive surgery, called open surgery: this opening can be quite long and adapted to the nature of said surgical act; this opening allows the insertion an instrument or the simultaneous insertion of several instruments and also direct access to the anatomical part;

(ii) a plurality of openings, for example for an act of minimally invasive surgery (MIS). These openings may be cylindrical in shape, with a diameter smaller than that of the trocars used to perform said surgical procedure, the diameter of a trocar being conventionally between 5 and 15mm. These openings can, moreover, comprise at least two, three, preferably four incisions distributed uniformly, for example in a star, on the periphery of the opening, which has the advantage of obtaining sufficient mechanical friction to maintain the trocars in position; by plurality, is meant 2 to 50, preferably 2 to 30, more preferably 5 to 15 openings.

The diameter of an opening can be between 5 mm and 15 mm. The opening may have an elasticity whose Young's modulus is preferably between 0.001 GPa and 0.1 GPa, and has the advantage of allowing an introduced trocar to remain in place, especially when changing the instrument. The opening may allow a 360 ° pivot connection of the trocar and positioning of said introduced trocar from a perpendicular plane to a plane parallel to the plane of the envelope. The edge of the opening may exhibit abrasion resistance during insertion and removal of the trocar or surgical tool or the user's finger. According to one embodiment, when the training is done on a thorax, the openings are preferably placed between the ribs of the anatomical part of the subject-type or of the subject; the number of openings may be between 10 and 30, preferably between 20 and 25; the openings are preferably positioned every 2 cm between two vertebrae, preferably on an axis of 120 ° C; advantageously, the number of openings is between 10 and 12 per line.

According to one embodiment, the anatomical part makes it possible to simulate a part of the body, a limb or an organ of a typical subject or of a subject. In this embodiment, the anatomical part is broken down into two categories: (i) the body anatomy, corresponding to the 3D impression of the part of the body of the subject-type or of the subject concerned by said surgical act, 'body anatomy which can be declined in a non-limiting manner by: a thorax with the ribs for a thoracic MIS intervention, an abdomen for an intervention a visceral surgery MIS, a head or a skull for a neurosurgical intervention, or a knee or a hip for an orthopedic intervention.

(ii) the organic anatomy, corresponding to the 3D impression of one or more organs of the type subject or of the subject concerned by said surgical act. The organic anatomy can be declined in a non-limiting way by a spine, a liver, a stomach or a lung.

According to one embodiment, the anatomical part and / or the envelope are manufactured without limitation by 3D printing or additive manufacturing or subtractive manufacturing. In a manner well known per se, additive manufacturing consists in manufacturing parts in volume by adding or agglomerating material, by stacking successive layers using a 3D printer. Said 3D printer depositing or solidifying the material layer by layer until obtaining the final part, knowing that it is the stacking of the layers or the solidification of the powders that creates the volume., Subtractive manufacturing, for its part, consists in subtracting from the material of a block or a blank to achieve dimensional goals using precision machinery.

According to one embodiment, the anatomical piece is manufactured in a non-limiting manner by molding, preferably with a silicone-type material for example.

According to one embodiment, a 3D printing process used for the manufacture of the anatomical part is, without limitation, of the type: deposition of molten wire called FDM, selective fusion by laser of powder known as SLM, selective sintering by laser. powder called SLS, projection of binder on a powder called Binder Jetting, electron beam fusion of powder called EBM, photopolymerization of powder called SLA, stereolithography of liquid called SLA, modeling of laminated solid objects called LOM, or - digital processing of light called OLP.

According to one embodiment, the material used for the manufacture of the anatomical part is, without limitation, from the family of so-called TPE thermoplastic elastomers, of the type:

Polyurethane TPE called TPE-U or TPU, - TPE sty renique called TPE- S or TPS, thermoplastic copolyamide called TPE-A or TP A, or ether-amide block copolymer called PEBA,

According to one embodiment, the material used for the manufacture of the anatomical part is, without limitation, from the family of elastomeric resins, silicones, neoprenes and other synthetic rubbers.

According to one embodiment, the anatomical part is manufactured with a material having physical characteristics of touch reproducing the touch of a real anatomical part (real understood in the sense of biological) of a scientific or medical object and making it possible to stimulate the sense. exteroceptive of the touch or haptic sense of the user. The haptic sense makes it possible to differentiate in particular: the texture appreciated by friction and displacement; the hardness assessed by the pressure; the temperature appreciated by the fixed and static contact; the weight appreciated by the lifting, the weighing; - the shape appreciated by the wrap; the overall shape appreciated by following the contours.

According to one embodiment, the anatomical part is made with a material having physical color characteristics reproducing the color of an actual anatomical part of the scientific or medical object. According to one embodiment, the anatomical part comprises a plurality of organs arranged together as in a real situation. According to one embodiment, the anatomical part reproduces one or more organs, which, in a real situation (in other words in a biological situation), are placed under the envelope. As already mentioned, the envelope is intended to precisely match the general shape of the external surface of the anatomical part, so as to form an anatomically coherent structure. The envelope can be in direct contact with the anatomical part. In another embodiment, there may be a space between the envelope and the anatomical piece.

According to one embodiment, the envelope makes it possible to simulate the skin of a typical subject or of a subject, covering one or more organs or anatomical structures, such as bones. Depending on the nature of said surgical act, said envelope is suitable and intended to cover all or part of the body anatomy. According to another embodiment, the envelope makes it possible, for example, to simulate a bone cavity covering one or more organs. According to another embodiment, the envelope makes it possible to simulate the outer layer of a tissue, an organ or any anatomical structure, the covered anatomical object making it possible to simulate an internal layer or an interior of the tissue, the organ or anatomical structure. The envelope can thus, for example, simulate the epidermis and the anatomical object can simulate the dermis and hypodermis.

According to one embodiment, the casing is made in a non-limiting manner in a material from the family of thermoplastic elastomers called TPE, of the type:

Polyurethane TPE called TPE-U or TPU,

Styrenic TPE called TPE-S or TPS, thermoplastic copolyamide called TPE-A or TP A, or ether-amide block copolymer called PEBA. According to one embodiment, the casing is made in a non-limiting manner in a material from the family of elastomeric resins, silicones, neoprenes and other synthetic rubbers.

The advantage of this type of material is that the envelope offers a resistance force and does not collapse under the manual pressure of the user, pressure exerted directly (pressure on the handles or forearms for open surgery) or indirectly (pressure on the trocars and instruments for minimally invasive surgery).

According to one embodiment, the envelope is manufactured in a non-limiting manner by means of a molding by taking an imprint of the body anatomy of the subject-type or of the subject and, which will then serve as a mold in which a material allowing a single print run or the production of multiple copies of the envelope. The printing consists in placing a material (liquid, paste, powder, sheet, plate, pellet, etc.) in the mold of which said material will take the form.

According to one embodiment, the choice of materials constituting the anatomical part and the envelope is important in order to offer a sensory rendering that is closest to that expected during the actual surgical act, both in terms of the sensation during the touch. with the hands, that of the resistance and flexibility of the anatomical parts when the introduction of trocars or the use of surgical instruments.

In particular, the envelope, regardless of the anatomical part covered, must allow the user to experience haptic feedback close to biological reality. The anatomical part must also, independently of the envelope, allow the user to experience haptic feedback close to biological reality. The combination of the anatomical part and the envelope thus allows an optimized haptic feedback, making it possible to offer a user a faithful and precise reproduction of the haptic and steric sensations felt during a scientific or medical manipulation, in particular a surgical one. , on the scientific or medical object represented.

According to one embodiment, the envelope is such that it generates at least two haptic sense feedbacks of different nature. These two haptic sense feedbacks of different nature are generated on contact with at least two materials arranged and offering a reactivity different from one compared to the other.

According to one embodiment, the difference in at least two haptic sense returns is due to the different characteristics of the materials used to manufacture the anatomical parts. The envelope is thus such that it generates a continuous haptic experience corresponding to the entire surgical act, from the first insertion of a surgical tool to the last stage of the operation.

This continuous haptic experience is due to the fabrication of anatomical pieces based on the image of the typical subject or subject.

According to one embodiment, the device further comprises a base on which are fixed independently of one another, the anatomical part and the casing, the casing covering all or part of the anatomical part.

According to one embodiment, the training device consists of an interlocking of an envelope covering all of the anatomical parts, the whole being fixed to a base.

The training device according to the invention can be used for learning surgical acts or scientific or technical acts in the scientific, medical, veterinary, nuclear, chemical, pharmaceutical, biological or industrial fields. According to the present invention, the anatomically realistic 3D copy of the scientific or medical object does not need to be transparent. In fact, in the context of the present invention, the training device can be used in combination with virtual reality software, itself functioning in combination with the training device and a device for displaying this reality. virtual: the training device allowing the haptic feeling and the software allowing the visual and / or sound feeling. According to this embodiment, the training device is intended to communicate with the virtual reality software and the display device. Thus, when the user uses the training device, he interacts with the envelope and / or the anatomical part, for example by manipulating a surgical tool, and visualizes said interaction by means of the software and of a display device. . The display device can for example be a virtual reality headset, adjustable to the user and able to provide audio feedback. The display device forms the link between the training device and the virtual reality software. BRIEF DESCRIPTION OF THE FIGURES

The invention will be better understood on reading the following description, given by way of non-limiting example, and made with reference to the following figures:

[Fig. 1] Figure 1 is a photograph showing the training device mounted on a support.

[Fig. 2a] Figure 2a is a photograph showing an example of anatomical organs, here a spine and part of the thorax, mounted on a support.

[Fig. 2b] Figure 2b is a photograph showing an example of an anatomical organ, here part of the thorax. [Fig. 3a] Figure 3a is a perspective photograph illustrating an example of an envelope with a plurality of openings for an act of minimally invasive surgery (MIS) on part of the half-thorax in a sagittal section plane.

[Fig.3b] Figure 3b is a photograph from another perspective compared to Figure 3a, illustrating an example of an envelope with a plurality of openings for an act of minimally invasive surgery (MIS) on a half-thorax part in a sagittal section plane.

[Fig. 3c] Figure 3c is a bottom photograph illustrating an example of an envelope with a plurality of openings for an act of minimally invasive surgery (MIS) on a part of the half-thorax in a sagittal section plane. In these figures, identical references from one figure to another designate identical or similar elements. For reasons of clarity, the elements shown are not to scale, unless otherwise indicated. DESCRIPTION OF FIGURES

In one embodiment illustrated in FIG. 1, in a sagittal section plane, the training device 1 corresponds to a half thorax of a subject. The training device 1 consists of an interlocking of an envelope 2 covering all of the anatomical parts 3 and 4, the whole being fixed to a base 5. A fastening means allows the user to interlock and disassemble the components of the training device 1 by hand without using specific tools.

In one embodiment illustrated in FIG. 2a, in a plane of transverse section, two anatomical parts corresponding to a spine 35 nested in a thorax 3 are fixed to the base 5. In this embodiment, the casing (not shown), fits over the top. of the two anatomical parts.

In one embodiment illustrated in FIG. 2b, in a sagittal sectional plane, an anatomical part 3, 4 is shown corresponding to a profile of a half-thorax. The choice of material constituting an anatomical part 3, 4 is varied and can be achieved by an additive manufacturing process (3D printing) of powder bed technology (type SL S or MJF), wire deposition (FDM) or photopolymerization of resin (SLA or DLP type). In case of simulation of parts of the body having an elasticity whose Young's modulus is between 0.006 GPa and 20 GPa, for example in the case of an abdominal anatomical part, the structure of this anatomical part can be produced by 3D printing in a thermoplastic elastomeric (TPE) type materials such as PEBA, PEBAX or TPU, or an elastomeric resin such as silicones, neoprenes and other synthetic rubbers.

In the embodiment illustrated in FIG. 3a,, an envelope 2 corresponding to a profile of a half-thorax in a sagittal section plane, supporting a single opening 23, for example for an act of non-minimally invasive surgery, called open surgery: this opening 23 can be long enough and adapted to the nature of said surgical act, this opening 23 allows the insertion of an instrument or the simultaneous insertion of several instruments and also direct access to the anatomical part, a plurality of openings 21, intended for the '' learning a minimally invasive surgery (MIS) act. These openings 21 may be cylindrical in shape, with a diameter smaller than that of the trocars used for surgery, the usual diameter of which is between 5 and 15mm, and may include at least two, three, preferably four incisions 22 evenly distributed, for example star, on the periphery of the openings The choice of material constituting the envelope is varied and can be chosen from: thermoplastic polyurethanes (TPU) or 3mm thick neoprene. The color panel of the material constituting the envelope is varied, it is of a mat tone, it is suited either to a color suitable for handling or to the scientific or medical object, or to a color that does not interfere with operation. a location device in space by camera. The envelope 2 consists at its base of a rectangular frame 24 intended to support the envelope 2.

In one embodiment illustrated in FIG. 3b, in another perspective compared to FIG. 3a, there is shown an envelope 2 corresponding to a profile of a half-thorax in a sagittal section plane, where the openings 21 are cylindrical in shape and of diameter smaller than that of the trocars. The envelope 2 consists at its base of a rectangular frame 24 intended to support the envelope 2. The frame 24 containing a plurality of fixing means 25 distributed on the short sides of the frame in order to fix the envelope 2 to the base 5, here base 5 is not shown.

In one embodiment illustrated in FIG. 3c, in a bottom view, is shown an envelope 2 corresponding to a profile of a half-thorax in a sagittal section plane, supporting a plurality of openings 21 in the case of a surgical act of the minimally invasive type ( MIS). The number of openings is between 20 and 25, the openings are positioned between the ribs every 2 cm between two vertebrae on an axis of 120 ° C, the number of openings per row is between 10 and 12. In a mode of embodiment illustrated in FIG. 3c, the casing 2 consists at its base of a rectangular frame 24. The frame 24 containing a plurality of fixing means 25 distributed over the short sides of the frame 24 in order to fix the casing 2 to the base 5, here base 5 is not shown. The present invention can find applications in all fields, and have uses in the scientific, medical, veterinary, nuclear, chemical, pharmaceutical, biological, industrial fields.

The present invention thus makes it possible to reproduce, in a realistic manner, the technical complexity of a medical and / or scientific environment, in particular anatomical, during a medical and / or scientific operation, in particular a surgical one. It allows a faithful reproduction of the sensations perceived during this operation and thus, to think about a spatial strategy to carry out this one in an efficient, reliable and secure way.

Claims

Training device (1) for scientific or medical manipulation on a scientific or medical object, characterized in that the training device (1) comprises an anatomically realistic 3D copy of the scientific or medical object, the 3D copy of the scientific or medical object (1) comprising:

- at least one anatomical part (3, 4) forming an internal layer of the 3D copy of the scientific or medical object, the at least one anatomical part (3, 4) having an external surface and an internal surface, the at least one anatomical part (3, 4) being made of at least a first material being able to generate a specific haptic feedback, and

- an envelope (2) forming the outer layer of the 3D copy of the scientific or medical object, said envelope (2) being made of at least one second material different from the first material, generating at least one haptic feedback different from that of the first material, the envelope (2) being able to cover all or part of the at least one anatomical part (3, 4), the at least one anatomical part (3, 4) and the envelope (2) being intended to cooperate structurally so that the envelope (2) precisely matches the general shape of the external surface of the anatomical part, so as to form an anatomically coherent structure, the manufacture of the anatomical part (3, 4) and the envelope

(2) being produced from at least one image of the scientific or medical object by additive manufacturing or 3D printing or by subtractive manufacturing or by molding.

Training device (1) according to claim 1, characterized in that the scientific or medical object is all or part of a human or animal body, of a cellular or tissue biological product, of a chemical or of a 'a manufactured industrial product.

3. Training device (1) according to any one of the preceding claims, characterized in that the anatomical part (3, 4) and the casing (2) are detachable from one another.

4. Drive device (1) according to any one of the preceding claims, characterized in that the envelope (2) generates at least two haptic sense feedbacks of different nature.

5. Training device (1) according to any one of the preceding claims, characterized in that a first material is a thermoplastic polyurethane elastomer, called TPU, representative of a hard organ, of the type in particular bone, cranial bone, spine, thorax, and / or a thermoplastic polyurethane elastomer, called TPU, representative of a soft organ, in particular of the brain, liver, stomach or lung type.

6. Training device (1) according to any one of the preceding claims, characterized in that the second material is a thermoplastic elastomer representative of human skin, the Young's modulus of which is between 0.006 GPa and 20 GPa.

7. Drive device (1) according to any one of the preceding claims, characterized in that the casing (2) comprises a single opening or a plurality of openings with a diameter less than 15mm, and comprising at least two , three or four incisions distributed evenly around the periphery of the opening.

8. Training device (1) according to any one of the preceding claims, characterized in that the envelope (2) is superimposed on the anatomical part (3, 4) or fits onto the anatomical part (3, 4). ).

9. Training device (1) according to any one of the preceding claims, characterized in that it further comprises a base (5) on which are independently fixed the anatomical part (3, 4) and the envelope ( 2), the envelope (2) covering all or part of the anatomical part (3, 4).

10. Training device (1) according to the preceding claim, characterized in that the anatomically coherent structure comprises a means of attachment to the base

(5).

11. Training device (1) according to any one of the preceding claims, characterized in that the anatomically coherent structure comprises an attachment means between the envelope (2) and the anatomical part (3, 4).

12. Training device (1) according to any one of the preceding claims, characterized in that the training device (1) is intended to communicate with virtual reality software and a display device of this virtual reality. .

13. Use of the training device (1) according to any one of the preceding claims, for learning surgical acts or scientific or technical acts in the scientific, medical, veterinary, nuclear, chemical, pharmaceutical fields, organic, industrial.

14. Use of the training device according to any one of the preceding claims, in combination with virtual reality software and a device for displaying this virtual reality.