KR20130128673A - Surgery training simulator using force sensor and control method thereof - Google Patents

Abstract

The present invention discloses a surgical training simulator including a mechanical part and a controller for displaying a surgical related virtual reality image on a display using displacement information of the mechanical part. According to an embodiment of the present invention, there is provided a surgical instrument, comprising: a manipulating rod corresponding to a surgical tool inserted into a human body and performing a motion of one degree or more in accordance with a user's manipulation; A displacement sensor for detecting a displacement of the operating rod; Reaction force generating means for providing a reaction force to the operating rod according to a haptic signal transmitted from the control unit; It includes a force torque sensor for detecting the reaction force applied to the operating rod and transmits to the control unit.
According to the present invention, it is possible to precisely control the force by feeding back the reaction force felt when the user manipulates the mechanism in real time using the force torque sensor. Therefore, it is possible to maximize the training effect because the user can feel similar to the actual operation when he / she uses the simulator.

Description

Technical Field [0001] The present invention relates to a surgical training simulator using a force sensor,

The present invention relates to a training simulator prepared for an operation using an endoscope such as a laparoscopic surgery or a thoracoscopic surgery, and more specifically, a motor and a force sensor are installed in a mechanical part so that a user can feel a feedback force, The present invention relates to a surgical training simulator capable of realizing a virtual force that a user feels closer to reality by measuring a reaction force felt by a user.

In general, the physician's surgical training is to be practiced at the same time after the theoretical education in advance. Therefore, there is always a risk of accidents due to the frequent occurrence of mistakes during surgery, and frequent contact with untrained patients before they are trained.

In recent years, various practical tools have been used in order to solve such problems by setting various conditions in advance and practicing them. A simulator combining tools and images is one of these practical tools.

However, since most simulators deliver a virtual experience to a user through a simplified tool and image information, the user is forced to feel the actual situation by imagination, and since most of the situations are trained depending on visual information, And training that differs from

A simulator that allows the user to feel a reaction force through a haptic device is introduced as disclosed in Patent No. 1021595 (published on Mar. 16, 2011). However, since the reaction force of the user differs from the feeling of the actual operation, to be.

An object of the present invention is to overcome the limitations of the conventional surgical training simulator, and to measure the reaction force felt by the user and feed back the result, thereby greatly reducing the difference from the feeling in actual operation.

In order to achieve the above object, the present invention provides a surgical training simulator including a mechanical part and a control part for displaying a surgical related virtual reality image on a display using displacement information of the mechanical part, A manipulating rod corresponding to the tool, the manipulating rod being capable of performing a motion of one degree or more in accordance with the manipulation of the user; A displacement sensor for detecting a displacement of the operating rod; Reaction force generating means for providing a reaction force to the operating rod according to a haptic signal transmitted from the control unit; And a force torque sensor for detecting a reaction force applied to the operating rod and transmitting the detected reaction force to the control unit.

In the surgical training simulator according to the present invention, an operating mechanism for operating the user's hand is coupled to the upper end of the operating rod, and the force torque sensor is disposed between the operating rod and the operating mechanism.

Further, in the surgical training simulator according to the present invention, the force torque sensor may measure a reaction force in a circumferential direction or a longitudinal direction applied to the operating rod as a cylindrical shape passing through the operating rod.

Further, in the surgical training simulator according to the present invention, the reaction force generating means may include: a guide body through which the operation rod is inserted; A first link connecting shaft and a second link connecting shaft coupled to the guide body; A first link whose one end is connected to the first link connecting shaft; A second link whose one end is connected to the second link connecting shaft; First link driving means connected to the other end of the first link to rotate the first link; And second link driving means connected to the other end of the second link for rotating the second link.

Further, in the surgical training simulator according to the present invention, the reaction force generating means may include: a guide body through which the operation rod is inserted; A first rotating body and a second rotating body respectively positioned at one end and the other end of the guide body and each having a penetration portion into which the operating rod is inserted; A plurality of first rollers whose side ends are protruded into the penetrating portion of the first rotating body and are in contact with the guide body and are inclined relative to the longitudinal direction of the guide body; A plurality of second rollers whose side ends are protruded into the penetration portion of the second rotating body and come into contact with the guide body and are provided in an oblique direction opposite to the plurality of first rollers with respect to the longitudinal direction of the guide body; And a first rotatable driving unit and a second rotatable driving unit supported by the guide body for rotating the first rotating body and the second rotating body, respectively.

According to another aspect of the present invention, there is provided a control method of a surgical training simulator including a mechanical part and a controller for displaying a surgical-related virtual reality image on a display using displacement information of the mechanical part, the control method comprising the steps of: (a) To a mechanism section; (b) when a reaction force according to the haptic signal is generated in the mechanical part, the control part receives the reaction force information measured by the force torque sensor provided in the mechanical part; (c) if the control unit compares the reaction force information with the set value and determines that the tolerance is out of order, generates a new haptic signal and transmits the new haptic signal to the mechanism unit; (d) a reaction force is generated in the mechanism according to the new haptic signal.

The surgical training simulator according to the present invention enables precise force control by feeding back the reaction force felt by the user when operating the mechanism part in real time using a force torque sensor. Therefore, it is possible to maximize the training effect because the user can feel similar to the actual operation when he / she uses the simulator.

1 is a schematic diagram of a surgical training simulator according to an embodiment of the present invention
2 is a perspective view of a mechanical part according to an embodiment of the present invention;
3 is an internal perspective view of a mechanical part according to an embodiment of the present invention.
4 is a perspective view showing a state in which a guide body is coupled to an operation rod;
5 is a perspective view showing a link structure of a link
6 to 8 are a perspective view, a side view, and a cross-sectional view, respectively,
9 is a cross-sectional view showing another embodiment of the roller

Hereinafter, with reference to the drawings will be described a preferred embodiment of the present invention.

The surgical training simulator according to the embodiment of the present invention includes a mechanical part 100, a control part 200 and a display 300 as shown in the configuration diagram of FIG.

The control unit 200 includes a modeling program corresponding to a surgical site and a surgical tool, and generates a virtual reality video signal using the modeling program and transmits the generated virtual reality video signal to the display 300. Also, when the mechanical unit 100 generates displacement information due to user's operation, the controller 300 generates a video signal corresponding to the displacement information, and updates the screen of the display 300 in real time.

For example, when a user performs a forward / backward movement, a rotation operation, a picking operation, a chopping operation, and the like, the virtual endoscopic image and the surgical tool image are displayed on the display 300, It moves along.

When the surgical tool contacts the surgical site or the inner wall of the modeling image, the control unit 200 transmits the set haptic signal to the mechanical unit 100. The mechanical unit 100 drives the motor or the like according to the haptic signal, Thereby generating a reaction force.

In particular, since the mechanical part 100 according to the present invention is provided with a force torque sensor as described later, the control part 200 can measure the reaction force generated in the mechanical part 100. [ Therefore, if the reaction force information felt in various situations during the actual operation is stored in the controller 200, the reaction force measured by the force torque sensor and the reaction force experienced during the actual operation can be compared. If the comparison result is out of tolerance, a new haptic signal is generated And transmitted to the mechanical unit 100 to generate a reaction force such as a real feel.

The mechanical part 100 according to the embodiment of the present invention is shown in Fig. 3, which shows a perspective view of Fig. 2 and a state in which the case 102 is removed.

Specifically, the manipulation rod 140 has a shape similar to that of a real surgical tool inserted into a patient's body, an operation mechanism 110 provided at an upper end of the manipulation rod 140 to be manipulated by the user by hand, A guide body 150 for guiding the linear and rotary motion of the guide body 150 and having the operation rod 140 inserted therethrough, a guide body 150 for guiding the linear and rotational movements of the guide body 150, And a whole 160a and 160b. All of the components other than the operating mechanism 110 are preferably installed inside the case 102. A mounting groove 106 in which the lower end of the operating rod 140 is fixed is used at the bottom of the case 102 Respectively.

The operating mechanism 110 has a shape similar to the handle of a real surgical instrument used for laparoscopic or thoracoscopic surgery. In the embodiment of the present invention, the operation mechanism 110 of the cross-coupled shape is used so that the two rods can rotate relative to each other, but it goes without saying that the specific shape may be changed depending on the type of surgery. Further, the operation mechanism 110 may be provided with additional functions depending on the type of surgical training.

The operating mechanism 110 is provided with a displacement sensor 120 for the actuator for measuring a displacement generated when the user operates the spindle. Displacement sensor 120 for the operating mechanism may be an infrared sensor, a resistance sensor for detecting a linear displacement of the end of the operating mechanism, may be a sensor for measuring the rotation angle on the rotation axis of the operating mechanism.

The controller 200 controls the operation of the end effector of the surgical tool displayed on the display 300 using the displacement information measured by the displacement sensor 120 for the operator's hand, - < / RTI >

In the embodiment of the present invention, the displacement sensor 120 for the operating unit is provided at the lower end of the operating mechanism 110, but the position is not limited thereto.

Further, since it is difficult to measure the forward or backward movement or the rotational motion of the entire operation rod 140 only with the displacement sensor 120 for the operation device, it is preferable to further provide a displacement sensor capable of measuring the displacement of the operation rod 140. Although not shown in the drawing, the displacement sensor for the operating rod can be installed to detect the movement of the operating rod 140 and detect the linear movement and the axial rotation movement.

The mechanism part 100 of the present invention includes a force torque sensor 130 provided between the operating rod 140 and the operating mechanism 110. A force torque sensor 130 may be provided between the displacement sensor 120 for the operating device and the operating rod 140 when the displacement sensor 120 for the operating device is provided at the lower end of the operating mechanism 110. [

The force torque sensor 130 is for measuring the reaction force generated by the rotor drive motors 170a and 170b or the link drive motors 185 and 186 described below according to the haptic signal of the controller 200, , Fy and Fz) and three-directional torque (Tx, Ty, Tz) may be used. Depending on the operation type, training purpose, etc., sensors of 5 or less axes may be used.

Although the force torque sensor 130 is used for measuring the reaction force felt by the user, the force torque sensor 130 may be used for measuring the displacement of the operating rod 140 by detecting the force and torque generated when the user moves the operating rod 140 Can be used. In this way, the displacement of the operating rod 140 can be more accurately measured, and the training effect can be improved.

The guide body 150 has a substantially cylindrical shape, and the operation rod 140 passes through the inside of the guide rod 150 in the longitudinal direction as shown in Fig.

The guide body 150 has two link connecting shafts 153 and 154. The ends of the link connecting shafts 153 and 154 are connected to a point on the center axis of the guide body 150 in the longitudinal direction Quot;). ≪ / RTI >

Accordingly, the link connecting shafts 153 and 154 are spaced apart from each other by a predetermined angle with respect to the central axis of the guide body 150. If the center axes of the link connecting shafts 153 and 154 and the guide bodies 150 are orthogonal to each other when the link connecting shafts 153 and 154 are perpendicular to each other, All of which are centered on the rotation center point.

As shown in FIGS. 3 and 4, one end of each of the first and second links 181 and 182 is rotatably coupled to each of the link connection axes 153 and 154, and the other ends of the links 181 and 182 are connected to rotation drive means do.

The rotational drive means includes first and second pulleys 183 and 184 mounted on the base 104 and first and second link drive motors 185 and 186. The first pulley 183 is connected to a rotating shaft 187 rotated by a first link drive motor 185 by a wire and the second pulley 184 is rotated by a wire by a second driving motor 186 To the rotating shaft 188.

The other ends of the links 181 and 182 are fixed to the rotating shafts of the first and second pulleys 183 and 184, respectively. Therefore, when the first and second link driving motors 185 and 186 are operated by the haptic signal of the control unit 200, the guide body 150 can rotate in the left and right directions within the rotation range of the links 181 and 182, And the operation rod 150. The reaction force is transmitted to the user.

The first and second rotators 160a and 160b are also used to generate a reaction force according to the haptic signal of the controller 200. [

Referring to the perspective view, side view, and sectional view of FIGS. 6 to 8, the first rotating body 160a includes a body 161 having a penetration portion 162 in the longitudinal direction and a belt pulley 163 formed along the outer peripheral surface thereof, A plurality of roller mounting grooves 168 penetrating from the side to the inside of the body 161 and a plurality of rollers 168 mounted to the roller mounting grooves 168 and having side ends protruding into the through- 166, and a plurality of pins 165 inserted from the upper end of the body 161 and passing through the center of each roller 166.

Each roller 166 is installed in an inclined direction with respect to the central axis of the first rotating body 160a. That is, the rotational axis of each roller 166 should not be parallel or orthogonal to the central axis of the first rotating body 160a. Therefore, the inner end of each roller 166 is in point contact with the operating rod 140 inserted into the penetrating portion 162 at one support point.

It is also preferred that each roller 166 has the same tilt angle with respect to the central axis and is spaced at an angle of 120 degrees with respect to the central axis, respectively, when three rollers 166 are provided. However, the number of rollers 166 is not limited to three, so it may be four or more, and in any case, each roller 166 should be arranged such that the sum of the vectors from the central axis to each support point is zero.

A washer or the like may be provided on the upper surface and the lower surface of the roller 166 to reduce friction between the roller mounting groove 166 and the inner wall of the roller mounting groove 166.

The body 161 of each of the rotating bodies 160a and 160b has an insertion portion 164 to be inserted into the guide body 150. Therefore, the insertion portions 164 of the first and second rotating bodies 160a and 160b are inserted into both ends of the guide body 150. In this state, the operation rod 140 is inserted into the guide body 150, Through the body 161 of the second rotors 160a and 160b.

The roller 166 is in the form of a flat disk, and its side end is in contact with the surface of the operating rod 140 inside the body 161. The roller 166 serves to transmit a rotational force to the operating rod 140 when the body 161 of the rotating bodies 160a and 160b is rotated by the driving means. The roller 166 and the pin 165 must be installed so as not to rotate freely in order to prevent the loss of the reaction force applied to the operating rod 140. In order to prevent the roller 166 from slipping on the surface of the operating rod 140 It shall be made of material of coefficient.

In addition, in the embodiment of the present invention, in order to increase the contact force between the roller 166 and the operating rod 140, the pin hole in which each pin 165 is inserted in the body 161 is formed larger than the diameter of the pin 165, each pin The spring 167 of the ring form which presses the outer side of the upper end of (16) inward was provided.

In order to further increase the contact force, as shown in Fig. 9, a flange portion 166a may be formed at the upper and lower ends of the roller 166, and a friction member 169 having a high coefficient of friction may be mounted therebetween.

The first and second rotating bodies 160a and 60b having such a structure are respectively connected to the operating rod 140 by the first and second rotary motors 170a and 170b operated by the haptic signal of the controller 200, And generates a reaction force based on the rotation of the center axis.

The first and second rotary motors 170a and 170b are fixed to the guide body 150 and the rotary shafts of the first and second rotary motors 170a and 170b are driven by a timing belt or the like And is connected to the belt pulley 163 of each of the rotating bodies 160a and 60b.

The rollers 166 of the first rotating body 160a and the rollers 166 of the second rotating body 160a are disposed such that their inclined directions are opposite to each other with respect to the central axis of the guide body 150. [ When the first rotating body 160a and the rollers 166 of the second rotating bodies 160a and 160b have the same inclination direction, the operating rod rotates in the axial direction while being free to move in the longitudinal direction, It can not be controlled.

In addition, various kinds of reaction forces can be generated by appropriately adjusting the rotation directions of the respective rotating bodies 160a and 160b. For example, when the first rotating body 160a and the second rotating body 160a are rotated in the same direction, the operating rod 140 is rotated in the axial direction, and when the first rotating body 160a and the second rotating body 160a are rotated in opposite directions, In addition, if the rotational speeds of the first rotating body 160a and the second rotating body 160a are different from each other, axial rotation and translational motion of the operating rod 140 can be simultaneously generated.

Hereinafter, the operation of the surgical training simulator according to the embodiment of the present invention will be described with reference to the drawings.

First, the control unit 200 stores a modeling program of a virtual reality image to be displayed through the display 300. In addition, information on the reaction force to be generated through the mechanism should be stored in various surgical situations.

When the simulator is operated, the virtual reality image corresponding to the endoscopic image is displayed through the display 300, and the virtual surgery image and the surgical tool are displayed on the virtual reality image.

In this state, when the user holds the operating mechanism 110 and rotates the operating rod 140 corresponding to the surgical tool in the depth direction, or rotates the operating rod 140 in the left-right direction or the back-and-forth direction, the controller 200 controls the operation rod displacement sensor and / And uses the signal of the torque sensor 130 to update the virtual reality image of the display 300 in real time.

Therefore, the user can operate the operating rod 140 with the same feeling as operating the actual surgical tool while viewing the display 300. [

If it is determined that the surgical tool is in contact with the surgical site or the inner wall of the virtual reality image, the controller 200 generates a predetermined haptic signal for the corresponding situation and transmits the generated haptic signal to the mechanical unit 100.

When all or a part of the first and second rotary motors 170a and 170b and the first and second link drive motors 185 and 186 of the mechanism section 100 operate in accordance with the haptic signal, By translating, rotating or straightening, the user will feel reaction force.

Meanwhile, the reaction force transmitted to the user through the operation rod 140 is sensed through the force torque sensor 130, and the control unit 200 compares the reaction force initially set using the reaction force information detected by the force torque sensor 130 do.

The controller 200 generates a new haptic signal for reducing the error and transmits the new haptic signal to the mechanism unit 100. [ If this process is repeated in a short cycle, the reaction force felt by the user through the operation mechanism 110 can be realized as similar to the feeling of the actual operation as much as possible.

When the user approaches the surgical site in the image of the display 300 and the user operates the operating mechanism 110, the controller 200 displays the image of the end effector of the surgical tool displayed on the display 300, And real-time update using the displacement information of the robot 120. That is, as the user operates the operation mechanism 110, the display 300 displays an operation in which the end effector picks up or cuts the surgical site.

In this process, the control unit 200 transmits the set haptic signal to the mechanical unit 100 so that the user feels reaction force similar to the feeling at the time of operation and feedback-compensates the reaction force using the force torque sensor 130 .

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiments.

For example, although the drawings in this specification show a two-handed simulator having two operating mechanisms 110 in the mechanism section 100, it is also possible to provide one or more operating mechanisms 110 in the mechanism section 100 have.

In the above description, the force torque sensor 130 for measuring the reaction force is provided between the operating rod 140 and the operating mechanism 110, but the position of the force torque sensor 130 is not limited thereto. For example, it is also possible to measure the reaction force in the circumferential direction or the longitudinal direction applied to the operating rod 140 by being formed into a cylindrical shape surrounding the operating rod 140.

In the above description, the reaction force sensed by the user is fed back through the force torque sensor 130 to a set value. However, the reaction force information sensed by the user in various surgical situations is acquired and stored through the force torque sensor 130 This may be used to evaluate the user's ability to operate.

Although the rotational forces of the first and second rotary motors 170a and 170b are transmitted to the first and second rotary members 160a and 160b using belts in the above description, The second rotors 160a and 160b may be rotated. The rotational force of the first and second link driving motors 185 and 186 is transmitted to the first and second links 181 and 182 through wires. However, since the first and second links 181 and 182 are not limited thereto, .

As described above, the present invention can be modified or modified in various ways, and it is obvious that the modified or modified embodiments are included in the scope of the present invention if they include the technical idea of the present invention disclosed in the following claims.

100: Mechanism part 102: Case
104: base 106: mounting groove
110: Operation device 120: Displacement sensor for the operation device
130: Force torque sensor 140: Operation rod
150: guide body 153, 154: first and second link connecting shafts
160a, 160b: first and second rotors 161: body
162: penetration part 163: belt pulley
164: insertion portion 165: pin
166: roller 167: spring
168: roller mounting groove 169: friction member
170a, 170b: first and second rotary motors 181, 182: first and second links
183, 184: pulleys 185, 186: first and second link drive motors
187, 188: rotating shaft 200:
300: Display

Claims (7)

And a control unit for displaying a surgical-related virtual reality image on a display using displacement information of the mechanical unit, the surgical training simulator comprising:
The mechanism part,
An operating rod corresponding to a surgical tool inserted into a human body and performing a motion of one degree or more in accordance with a user's operation;
A displacement sensor for detecting a displacement of the operating rod;
Reaction force generating means for providing a reaction force to the operating rod according to a haptic signal transmitted from the control unit;
Force torque sensor for detecting the reaction force applied to the operating rod and transmitting to the control unit
Surgery Training Simulator Including The method of claim 1,
Wherein a manipulation mechanism operated by a user is coupled to the upper end of the manipulation rod and the force torque sensor is disposed between the manipulation rod and the manipulation mechanism. The method of claim 1,
Wherein the force torque sensor measures a reaction force in a circumferential direction or a longitudinal direction applied to the operating rod as a cylindrical shape passing through the operating rod, 2. The apparatus according to claim 1,
A guide body through which the operation rod is inserted;
A first link connecting shaft and a second link connecting shaft coupled to the guide body;
A first link whose one end is connected to the first link connecting shaft;
A second link whose one end is connected to the second link connecting shaft;
First link driving means connected to the other end of the first link to rotate the first link;
A second link driving means connected to the other end of the second link for rotating the second link,
A surgical training simulator < RTI ID = 0.0 > 5. The method of claim 4,
Wherein the center axis of the guide body, the first link connecting axis, and the second link connecting axis are set in directions orthogonal to each other. 2. The apparatus according to claim 1,
A guide body through which the operation rod is inserted;
A first rotating body and a second rotating body respectively positioned at one end and the other end of the guide body and each having a penetration portion into which the operating rod is inserted;
A plurality of first rollers whose side ends are protruded into the penetrating portion of the first rotating body and come in contact with the guide body and are inclined relative to the longitudinal direction of the guide body;
A plurality of second rollers whose side ends are protruded into the penetration portion of the second rotating body to abut on the guide body and are provided in an oblique direction opposite to the plurality of first rollers with respect to the longitudinal direction of the guide body;
A first rotating body driving means and a second rotating body driving means, respectively supported by the guide body, for rotating the first rotating body and the second rotating body,
A surgical training simulator < RTI ID = 0.0 > A control method of a surgical training simulator including a mechanical part and a control part for displaying a surgical related virtual reality image on a display using displacement information of the mechanical part,
(a) generating, by the control unit, a haptic signal to the instrument unit;
(b) receiving reaction force information measured by a force torque sensor installed in the mechanism unit, when the reaction force generated by the haptic signal is generated in the mechanism unit;
(c) if the control unit compares the reaction force information with the set value and determines that the tolerance is out of order, generates a new haptic signal and transmits the new haptic signal to the mechanism unit;
(d) generating a reaction force in the mechanical part according to the new haptic signal
Of a surgical training simulator

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