BIAXIAL CONTROLLER FOR A MINIMALLY INVASIVE SURGERY TOOL, A CAMERA FOR MINIMALLY INVASIVE SURGERY TRAINING AND A SYSTEM FOR MINIMALLY INVASIVE SURGERY TRAINING

A biaxial controller for a minimally invasive surgery tool, a camera for minimally invasive surgery training and a system for minimally invasive surgery training. All the aspects of the disclosure are applicable during training surgeons for carrying out minimally invasive surgery procedures. The biaxial controller for the minimally invasive surgery tool includes a control arrangement, a computer connector, at least one tool connector, a first bearing coupled with a first arm which is coupled with a second bearing which is coupled with a second arm in which a trocar is positioned. In the trocar the minimally invasive surgery tool is accommodated that includes a sleeve and a handle. The camera for minimally invasive surgery training includes a sleeve, a handle, at least one sensor for measurement of the position of the minimally invasive surgery tool and a vision sensor positioned at the end of the sleeve, wherein the handle includes a focus adjustment knob and a sensor of rotation of the focus adjustment knob, wherein preferably the focus adjustment knob is seated on a third bearing which is positioned on a sleeve, and more preferably the third bearing is a ball bearing. The system for minimally invasive surgery training includes a housing, at least one tool socket, and in the at least one tool socket a biaxial controller is positioned, and a worktable.

The invention provides a biaxial controller for a minimally invasive surgery tool, a camera for minimally invasive surgery training and a system for minimally invasive surgery training. All the objects of the invention are applicable in training surgeons for performing minimally invasive surgery procedures.

Minimally invasive surgery training may be carried out, according to the solutions of the prior art, in two different environments: on physical objects or under virtual reality conditions. Each of the mentioned concepts has its advantages and disadvantages. The invention provides a complete solution that makes it possible to combine the two mentioned environments. This idea enables complete learning of the surgeon skills under the most suitable conditions. This hybrid solution maximizes advantages of the two solutions and eliminates shortcomings thereof. Physical trainer simulator is necessary to develop proficiency in manual skills. For example, sewing skill learning should be performed on real training objects. Virtual reality in turn helps in surgical procedures. Simulated environment very closely reflects the operation anatomy and teaches the user to use proper surgery operational technique step by step for each procedure type. Additionally, under the conditions of virtual reality the user may learn electrosurgery under safe conditions.

Document CN 2751372 Y discloses a training table with a laparoscope simulation, including a container for a casting of an abdomen, a camera and a monitor. The casting chamber of the abdominal cavity simulates an artificial condition of abdominal pneumatosis in a laparoscopic procedure. The camera is positioned within the container for the abdomen and is connected to the monitor. The surface of the box is provided with connecting openings wherein laparoscope operational instruments are placed. Simulated portions of the human body are positioned within the container.

Document CN 203038553 U discloses a training device for laparoscope simulation. The training device effectively integrates a body surface panel, a supporting panel, an operation platform, a base plate and a side panel by means of hinges, and it is capable of simulating the piercing channel in the human body surface and in a cavity in a human body. Simulation instruments may be introduced into the training device in order to carry out trainings in stitching technology, ligation and separation, that are used for the purpose of simulation of a surgery procedure area.

Document PL 424841 A1 discloses a handling/measuring member of a laparoscope training device that enables manual and virtual laparoscope training. A grip accommodates a sensor of opening of the operational tip jaw. From below the grip, in a sleeve axis, a flat light reflecting reflector is centrally secured. A trocar has a funnel-shaped body closed by a cover at the top, and within it there is an axially positioned guiding channel for an operational tool as well as sensors to determine desired parameters that characterize the action of the operational tool.

The invention provides a biaxial controller for a minimally invasive surgery tool, comprising a control arrangement, a computer connector and at least one tool connector for receiving signals from the minimally invasive surgery tool. A first bearing is engaged with a first arm which first arm is engaged with a second bearing. The second bearing is engaged with a second arm provided with an aperture. In the aperture there is a trocar that has a through hole in which a minimally invasive surgery tool is positioned. The minimally invasive surgery tool comprises a sleeve and a handle, and the biaxial controller also comprises a first sensor to determine the rotation angle of the first bearing and a second sensor to determine the rotation angle of the second bearing, and at least one sensor for measurement of the position of the minimally invasive surgery tool. The axes of the first bearing and the second bearing are crossed on the axis of the aperture.

Preferably, the biaxial controller is characterized in that the first sensor is a magnetic sensor and in the first arm a first magnet is provided.

Preferably, the biaxial controller is characterized in that the second sensor is a magnetic sensor and on the second arm a second magnet is provided.

Preferably, the biaxial controller is characterized in that the first bearing is a ball bearing.

Preferably, the biaxial controller is characterized in that the second bearing is s ball bearing.

Preferably, the biaxial controller is characterized in that that it comprises a trocar connector for receiving signals from the trocar.

Preferably, the biaxial controller is characterized in that the computer connector is a USB connector.

Preferably, the biaxial controller is characterized in that it comprises at least one sensor for determining the depth at which the minimally invasive surgery tool is inserted.

Preferably, the biaxial controller is characterized in that the sensor for determining the depth at which the minimally invasive surgery tool is inserted is a reflective sensor and a reflector.

Preferably, the biaxial controller is characterized in that the reflective sensor is an ultrasound sensor.

Preferably, the biaxial controller is characterized in that the reflective sensor is an optical sensor.

Preferably, the biaxial controller is characterized in that the reflective sensor is positioned on the trocar, and a reflector is positioned on the minimally invasive surgery tool.

Preferably, the biaxial controller is characterized in that the reflective sensor is positioned on the minimally invasive surgery tool, and the reflector is positioned on the trocar.

Preferably, the biaxial controller is characterized in that the sensor for determining the depth at which the minimally invasive surgery tool is inserted is a photosensitive matrix positioned in the trocar so that the photosensitive matrix faces the sleeve.

Preferably, the biaxial controller is characterized in that comprises position indication means.

Preferably, the biaxial controller is characterized in that the position indication means is a position connector.

Preferably, the position connector is connected to at least one passive element, preferably a resistor, or the position connector is connected to at least one semiconductor element, preferably with an integrated circuit.

Preferably, the position connector has means for reading position data.

Preferably, the biaxial controller is characterized in that the sensor for rotation measurement of the minimally invasive surgery tool is an accelerometer.

Preferably, the biaxial controller is characterized in that the axes of the first bearing and the second bearing cross in the aperture axis.

Preferably, the biaxial controller is characterized in that the minimally invasive surgery tool is a movement controller comprising a jaw.

Preferably, the biaxial controller is characterized in that the jaw comprises a movable jaw portion and an immovable jaw portion.

Preferably, the biaxial controller is characterized in that the jaw comprises two movable jaw portions.

Preferably, the biaxial controller is characterized in that the movement controller comprises a non-volatile memory.

Preferably, the biaxial controller is characterized in that it comprises a movable handle portion.

Preferably, the biaxial controller is characterized in that it comprises a handle opening sensor.

Preferably, the biaxial controller is characterized in that the handle opening sensor is a reflective sensor.

Preferably, the biaxial controller is characterized in that the handle opening sensor is an ultrasound sensor.

Preferably, the biaxial controller is characterized in that the handle opening sensor is an optical sensor.

A further invention is a camera for minimally invasive surgery training, comprising a sleeve, a handle and at least sensor for measurement of rotation of the minimally invasive surgery tool and a vision sensor positioned at the end of the sleeve. The handle comprises a focus adjustment knob seated in a third bearing which is positioned on the sleeve, more preferably, the third bearing is a ball bearing.

Preferably, the camera is characterized in that the sensor of the focus adjustment knob is a magnetic sensor.

Preferably, the camera is characterized in that the handle comprises a linking element and a sensor of vision path rotation. The sleeve is constituted by a first sleeve portion and a second sleeve portion. The linking element is seated in a fourth bearing, preferably the fourth bearing being a ball bearing. The fourth bearing is positioned on the first sleeve portion and the second sleeve portion is linked to the linking element. The second sleeve portion comprises a vision sensor. Preferably, the linking element comprises a guiding opening.

Preferably, the camera is characterized in that the sensor of the vision path rotation is a magnetic sensor.

Preferably, the camera is characterized in that the handle comprises at least one press button.

Preferably, the camera is characterized in that it comprises illumination at the vision sensor.

Preferably, the camera is characterized in that it comprises, within the optic path, an objective lens.

Preferably, the camera is characterized in that it comprises, within the optic path of the vision sensor, an electrically controlled lens.

Preferably, the camera is characterized in that the vision sensor is positioned on a base that is arranged on a movable extension arm.

Preferably, the camera is characterized in that the vision sensor is positioned on a base that is connected to an extension arm. The extension arm is engaged with the motor rotation axis by means of a transmission.

Preferably, the camera is characterized in that the vision sensor is positioned on a base rotationally connected to an immovable arm and a movable arm. The movable arm is connected to an extension arm engaged with the motor rotation axis with a transmission.

Preferably, the camera is characterized in that the vision sensor is positioned on a base rotationally connected to an immovable arm and a movable arm. The movable arm is connected to an extension arm engaged with the motor advance axis with a transmission.

Preferably, the camera is characterized in that the sensor for rotation measurement of the minimally invasive surgery tool is an accelerometer.

Preferably, the camera is characterized in that the camera is a minimally invasive surgery tool in a biaxial controller.

A further invention is a system for minimally invasive surgery training, comprising a housing, at least one tool socket, and preferably comprising a position connector, more preferably the position connector is connected to at least one passive element or a semiconductor element. In the at least one tool socket a biaxial controller is positioned. The system also comprises a worktable accommodated within the housing.

Preferably, the system is characterized in that the housing, in its interior, comprises at least one operation socket, preferably comprises three operation sockets. The worktable is attached to at least an operation socket.

Preferably, the system is characterized in that it comprises eight tool sockets.

Preferably, the system is characterized in that each of the tool sockets has a position connector.

The aim of the invention is to provide tools for minimally invasive surgery training, which combine advantages of the training in virtual reality and the training on a physical object.

[FIG.1] shows a biaxial controller1for a minimally invasive surgery tool. The biaxial controller1comprises a control arrangement3which analyses operation of the device and reads data out of the sensors. Furthermore, it also comprises a computer connector5, preferably a USB connector, for communication with a computer, at least one tool connector7for receiving signals from the minimally invasive surgery tool26. To the housing of the device, directly or indirectly, a first bearing11ais attached which is engaged with a first arm11bwhich first arm11bis engaged with a second bearing11cwhich is engaged with a second arm11din which an aperture12is provided in which a trocar13is positioned that comprises a through hole in which the minimally invasive surgery tool26is positioned the exemplary embodiment of which is shown in [FIG.2]. This connection of movable elements enables rotation of the minimally invasive surgery tool26such as during a surgery procedure—the rotation point is fixed in the biaxial controller1, and the biaxial controller1simulates the position of introduction of the minimally invasive surgery tool26into the body of the patient. The tool26as such comprises a sleeve17at the end of which varied tips may be arranged, e.g., claws or a camera, and a handle20. The biaxial controller1also comprises a first sensor9afor determining rotation angle of the first bearing11aand a second sensor9bfor determining rotation angle of the second bearing11c, and at least one sensor for position measurement of the minimally invasive surgery tool26. Furthermore, the axes of the first bearing11aand the second bearing12ccross in the axis of the aperture12, preferably they cross in the axis of the aperture12.

In a preferable embodiment, the first sensor9ais a magnetic sensor, and in the first arm11ba first magnet10ais arranged. Furthermore, the second sensor9bmay be also a magnetic sensor, and then in the second arm11da second magnet10bis arranged.

In a further embodiment, the first bearing11ais a ball bearing. The second bearing11bis a ball bearing.

In another embodiment, the biaxial controller1comprises a trocar connector6for receiving signals from the trocar13, and more precisely, for receiving information from the sensors provided in the trocar13.

In a yet another embodiment, biaxial controller1comprises at least one sensor for determining the depth at which the minimally invasive surgery tool26is inserted, being an exemplary sensor for measuring the position of the minimally invasive surgery tool26. This sensor enables precise determining of the position of the device and simulating operations in the virtual reality. The depth sensor may be for example a reflective sensor15that cooperates with a reflector16. One of these elements is positioned in the trocar13, while the other one is positioned in the handle20. the reflective sensor15may be for example an ultrasound sensor or an optic sensor. Another solution is the use of a photosensitive matrix14positioned in the trocar13so that the photosensitive matrix14faces the sleeve17. The photosensitive matrix14takes photographs of the surface of the sleeve17and compares changes in the subsequent photographs and this makes it possible to determine the change in the advancement position of the sleeve and its axial rotation. In a preferable embodiment there are two kinds of sensors, i.e. a reflective sensor15and a photosensitive matrix14. In this configuration the device may quickly determine the depth at which the tool26is inserted by means of the photosensitive matrix14, and the changes are defined absolutely by the reflective sensor15. It should be noted that other solutions enabling precise changes in the position, e.g. linear encoder, may be used instead as it will be apparent for a person skilled in the art.

As shown in [FIG.8], biaxial controller1cooperates with the housing52of a system for minimally invasive surgery training. In a preferable embodiment, the biaxial controller1has position indication means, i.e., means for transmitting to the computer of information in which socket53the biaxial controller1is mounted. Absence of such means implies an obligation for the use to introduce manually the respective data to the computer. In a preferable embodiment the position indication means is a position connector4. The position connector4may comprise at least one passive element, preferably a resistor, or at least one semiconductor element, preferably an integrated circuit. It should be noted that any combination of passive and active elements is allowable, and the specific solution will be apparent for a person skilled in the art. In another variety, the position connector4has means for reading out position data—these means make it possible to determine to which tool socket53the biaxial controller is connected. Dependently on the element used in the tool socket53(resistor, integrated circuit, etc.), the data readout and this the means for data readout will be different, but a person skilled in the art will be able to select suitable means for detection of position of the biaxial controller.

In another embodiment of biaxial controller1, the sensor for rotation measurement of26is an accelerometer24. The accelerometer is used mainly for absolute determining the rotation angle of the tool26, but a person skilled in the art will be able, when needed, to obtain information concerning changes in the position of the tool26.

In another embodiment, the minimally invasive surgery tool26is a movement controller comprising a jaw. The jaw may comprise a movable jaw portion19and an immovable jaw portion18, but it may also comprise two movable jaw portions19. Preferably, biaxial controller1may also include a movable portion21of the handle20, and it can further comprise a sensor22of handle opening. The handle opening sensor22may be a reflective sensor, e.g. an ultrasound sensor or an optic sensor. Such a solution enables a combined training, where a part of the training is simulated by the computer, and the user may train, e.g. stitching or knotting on a real object. Physical interaction between such object better reproduces real conditions for computer simulation and this enables achieving better training results.

FIGS.3-7show embodiments of a camera for minimally invasive surgery training. The camera comprises a sleeve17, a handle20, at least one sensor for measuring rotation of the minimally invasive surgery tool26and a vision sensor44positioned at the end of the sleeve17. The handle comprises a knob31for focus adjustment and a sensor33of rotation of the focus adjustment knob31, and preferably also at least one press button29. Preferably, the focus adjustment knob31is seated in a third bearing32which is positioned on the sleeve17, and more preferably the third bearing32is a ball bearing. Preferably, the sensor33of rotation of the focus adjustment knob31is a magnetic sensor. This construction enables reproduction of work on a real tool that would be used in a surgery procedure while the cost and requirements for the camera for training are lower than the ones related to the optic path used during the actual surgery procedure.

In a preferable embodiment, the handle20comprises a linking element36and a sensor38of rotation of the vision path. The sleeve17in this embodiment is constituted by a first portion30of the sleeve17and a second sleeve portion35. The linking element36is seated on a fourth bearing37, preferably the fourth bearing37being a ball bearing positioned on the first portion30of the sleeve17, while the second portion35of the sleeve17is linked with the linking element36. The second portion35of the sleeve17comprises a vision sensor44. Preferably, the linking element36comprises a guiding hole40.

The camera may be provided with additional equipment to enhance video reception, for example the camera may comprise illumination43at the vision sensor44, an object lens45, in the optic path of the vision sensor44, and a lens46electrically controlled, within the optic path of the vision sensor44. A person skilled in the art will be aware which of these elements are necessary for carrying out of the invention in a specific case.

Preferably, the vision sensor44may be set at different angles and this enables reproduction of operation of real vision paths during surgery procedures. The camera may achieve this aim by means of diverse mechanisms, where for example the vision sensor44is positioned on a base42, which base is positioned on a movable extension arm47, or the vision sensor44is positioned on a base42which is engaged with an extension arm47and the extension arm47is engaged with the rotation axis48of a motor41with a transmission. Furthermore, the vision sensor44may be positioned on a base42rotationally coupled with an immovable arm49and a movable arm50, and the movable arm50is coupled with an extension arm47engaged with the rotation axis48of a motor41with a transmission. In another example the vision sensor44is positioned on a base42rotationally engaged with an immovable arm49and a movable arm50, and the movable arm50is engaged with an extension arm47engaged with the advancement axis51of a motor41with a transmission.

In a preferable embodiment, the camera is provided with an accelerometer28which may be positioned for example in the handle20or in the linking element36. Also preferably, the camera may be positioned in the biaxial controller1, where it functions as the minimally invasive surgery tool26.

It should be noted that inFIGS.5-7the second sleeve portion35may be replaced, suitably to the variant contemplated, by the sleeve17.

FIGS.8-10show a system for minimally invasive surgery training, comprising a housing52and at least one tool socket53, preferably eight of them. The tool socket53may comprise a position connector4. For example, a position connector4is connected to at least one passive element or semiconductor element, and this enables identification of the biaxial controller inserted into the socket. It should be emphasized that also a variant is contemplated in which the system reads out the position of the biaxial controller. In at least one tool socket53there is a biaxial controller1such as described above. Additionally, the system has a worktable54. The system provides fixed mounting points for the tools26secured in biaxial controllers1, and this enables providing simulation for standard positions of tools26. Additionally, the worktable54enables providing a physical object. In a system thus prepared is to simulate virtually a surgery procedure, where the stitching operation is performed by physical action on the object.

In a preferable embodiment, the system comprises at least one operation socket55, and preferably it comprises three operation sockets55. The operation sockets55enable shifting the worktable54, and this enables arranging a larger number of exercises on the same workstation as shown in [FIG.9]. The operation sockets55are positioned within the housing52.

In a preferable embodiment, each of the tool sockets53has a position connector4which cooperates with the position connector4in the biaxial controller1.