• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The object of the invention is a tracking system for surgical instruments that allows to determine the movement and manipulation of said instruments. The system comprises a series of circular elements (5, 6, 7) and doubly grooved elements (3, 3 ', 4, 4') with sensors that characterize a pivot element (1); in addition to other sensors that characterize a closing element (2). The arrangement of the different circular elements (5, 6, 7) and double grooved elements (3, 3 ', 4, 4') allows the pivot element (1) to move in four degrees of freedom. And the closing element (2) allows knowing the separation between the parts of the control of the instruments. Both elements, pivot and lock, generate useful information on movement and handling for use in simulation and training, such as: position, distance, angles, speeds, accelerations, among others. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2641047A1
    申请号:ES201600380
    申请日:2016-05-05
    公开日:2017-11-07
    发明作者:José Blas PAGADOR CARRASCO；Juan Carlos GÓMEZ BLANCO；Luis BOTE CURIEL；Jose Luis MOYANO GARCIA-CUEVAS；Luisa Fernanda SÁNCHEZ PERALTA；Juan Francisco ORTEGA MORÁN；Francisco Miguel SÁNCHEZ MARGALLO
    申请人:Fundacion Centro de Cirugia de Minima Invasion Jesus Uson CCMIJU；
    IPC主号:
    专利说明:

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    SURGICAL INSTRUMENTAL FOLLOW-UP SYSTEM
    TECHNICAL SECTOR
    The present invention relates to elements of measurement and testing within medical or veterinary science, in particular it is a demonstration or training apparatus for surgical skills.
    BACKGROUND OF THE INVENTION
    Currently, a widely used method of surgical skill training is the use of simulators. Some of these simulators use different optical and mechanical sensors to obtain the position of the instrument tip in real time, such as the one recorded in document US 8 184 094 or in US 7 706 000. Several systems are shown that allow us to know the position of a certain simulator or real instrument, when it is inserted in a trocar coupled to a Cardan (Gimbal) suspension system. On the other hand, the manipulation of the instruments (knowing if the clamp is open or closed) is a necessary fact when the tracking system is used as an input / output interface for training simulators, as in document US 7 877 243.
    EXPLANATION OF THE INVENTION
    The present invention refers to a new tracking system used to obtain data on the movements of a certain object that can subsequently be processed, being able to obtain parameters of interest such as position, angles, speeds and accelerations among others. This monitoring system generates a rotation system similar to that of a Cardan suspension system, but using different mechanical restrictions. In this sense, the disposition of the different elements that make up the devised tracking system has the purpose of facilitating the movement or blocking of certain degrees of freedom to obtain the most appropriate data depending on the desired property
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    to size.
    In particular, the proposed monitoring system is composed of a pivot element through which the surgical instruments are inserted and a closure element placed in the instrument handle, with the necessary means to determine the movement of the instruments through the pivot center and the manipulation of said instruments.
    It is important to note that the degrees of freedom of the different components of the pivot element are limited to facilitate the interaction between them and the arrangement of different types of sensors that allow to determine precisely and robustly the relative and / or absolute movements between each circular element pair - doubly grooved element. In particular, a pivot element can comprise one or more elements, both circular elements and double grooved elements, depending on the number of degrees of freedom needed in the specific application. Each circular element is housed in one or more doubly grooved elements depending on the size and functionality that is desired to be given to the system, but said pair, circular element - doubly grooved element (either this one or more than one) defines a rotation on an axis when both slide together. In addition, it is necessary that in one of the circular elements there is a passing guide, where the surgical instruments will be housed and that will allow their movement.
    The doubly grooved element is characterized in that it has at least two grooves on opposite faces, with a perpendicular arrangement between them, which ensures that the two circular elements housed in said doubly grooved elements rotate on orthogonal axes. In addition, to facilitate calculations of the tracking system, a series of doubly grooved elements are fixed to a circular element, such that the axes of rotation of the circular elements are orthogonal two to two and an orthogonal reference system is generated where The reference center coincides with the center of rotations of the pivot element.
    On the other hand, the peripheral circular element of the pivoting element is fixed to an external element, this being possible: a support, another peripheral circular element of another pivoting element or some other fastening element.
    The means for determining the movement of the surgical instruments are one or more sensors that can vary according to whether they are arranged in the circular element or in the double grooved element. In such a way that a double grooved element 5 comprises one or more sensors that determine the relative and / or absolute movement between a circular element and said doubly grooved element. Depending on the type of sensor used in the doubly grooved element, modifications to the circular element comprising: one or more perforations or notches, necessary for example in the case of optical cutting encoders 10, may be necessary; or a structured pattern, necessary for example in the case of optical reflection encoders. In other cases, such modification of the circular element will not be necessary, for example when the doubly grooved element uses optical navigation sensors or inertial sensors. Another possible configuration is that characterized in that the circular element comprises one or more sensors that determine the relative and / or absolute movement between a doubly grooved element and said circular element. In this case, the sensor used by the circular element may be, for example, a photoelectric type proximity sensor. It is also possible that depending on the type of sensor used in the circular element, modifications in the doubly grooved element that comprise at least one activation element, for example a magnetized element for operating with a Hall-type proximity sensor, are necessary. On the other hand, the through guide comprises one or more sensors attached to said guide to determine the movement of the surgical instruments that are housed within it. This sensor or sensors must determine the two possible degrees of freedom (insertion / extraction and rotation on its own), for example using an optical navigation sensor. The data obtained from all these movements can be processed as position, angle, speed, acceleration, over acceleration, displacement, area and volume, among others.
    Although the detailed description focuses on the application of the tracking system 30 for laparoscopic instruments, it can also be used with surgical instruments of other specialties such as endoscopy and endovascular. In addition, it has the advantage of being able to be used with both real and simulated surgical instruments, providing multiple applications in different contexts such as training, evaluation, etc.
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    In addition, the monitoring system allows measuring another degree of additional freedom, the separation between one or several parts of the instrument handle. The measurement of this degree of freedom is done using a closure element placed in the instrument handle. Said closing element comprises at least one sensor with its corresponding activating element which, according to its separation, causes a variation in the sensor serial that determines the separation in the parts of said handle. This sensor-activator element pair can be formed, for example, by a Hall effect proximity sensor and a magnetized element. However, in another possible example it may be formed by a force sensor and a deformable spring or spring type actuator.
    BRIEF DESCRIPTION OF THE DRAWINGS
    To complement the description that is being made and in order to help a better understanding of the characteristics of the invention, a set of drawings is attached as an integral part of said description, where the illustrative and non-limiting nature has been represented next:
    Figure 1 - Set of elements that form the tracking system: pivot element and closure element.
    Figure 2 - A possible embodiment of the pivot element.
    Figure 3 - A possible embodiment of the closure element.
    Figure 4 - Another possible embodiment of the closure element.
    PREFERRED EMBODIMENT OF THE INVENTION
    Based on the drawings that are attached to this technical report, several examples of preferred embodiment example for the invention object thereof are described below. This embodiment is neither exclusive nor limiting, being open to possible modifications contemplated in the description and claims herein.
    The surgical instrument monitoring system developed is a system that allows obtaining information about the movement of a certain instrument used in surgery, specifically in minimally invasive surgeries such as
    The described below embodiment of the surgical instrument tracking system, as shown in Figure 1, consists of an element in charge of obtaining data on the movement of laparoscopic forceps, which we will call pivot element (1), and a element in charge of providing information on the separation between the parts of the surgical instrument handle, which we will call the closing element (2).
    10 A possible embodiment of the pivot element (1) is that shown in Figure 2. The pivot element has the function of obtaining the degrees of freedom of the system relative to the angles of rotation (pitching and warping), the insertion depth of the clamp (insert) and the rotation of the clamp on itself (guinated). In this embodiment the pivot element (1) is composed of a first circular element 15 (5), formed by a ring, which has a through guide (8) to receive and house the
    clamp to follow. The through guide (8) has a sufficient diameter to accommodate the clamps used in laparoscopy, and it is also arranged so that the rod of the clamp passes through the center of rotation of the tracking system. The through-guide (8) also has a measurement system by means of a sensor (9), for example an optical navigation sensor as an ADNS 9600 laser excited system, which allows obtaining two additional degrees of freedom, the rotation of the rod of the laparoscopic clamp on itself (guinated) and the depth of insertion of the rod in the through guide (8) (insertion).
    The first circular element (5) is housed in a pair of doubly grooved elements (3 and 3 ') facing each other so that they limit the possible movements of the circular element (5) to a rotation, which corresponds to the first degree of freedom of the pivot element (pitch). The grooves of the double grooved elements (3 and 3 ’) are opposite and perpendicular to each other, in order to allow only perpendicular turns corresponding to an orthogonal reference system. The double grooved elements (3 and 3 ’) house and fix a new circular element (6), in the form of a ring, where a new pair of doubly grooved elements (4 and 4’) will be housed and fixed. The arrangement of the doubly grooved elements 3-3 'and 4-4' must be such that the line joining the elements 3 and 3 'and the line 35 joining the elements 4 and 4' are perpendicular to each other on the piano that contains at
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    circular element (6). The double grooved elements (4 and 4 ’) also house the additional circular elements (7 and T). Said circular elements (7 and 7 ’) are segments of rings that must be arranged in a fixed base or accessory. The anchoring of these elements (7 and 7 ’) results in a new degree of freedom in which the system as a whole is the one that slides over said elements (7 and 7’) (warping).
    A first possible arrangement of the different sensors necessary for measuring the degrees of freedom, corresponding to two rotations of the system (pitching and warping), is that where the sensors are located in the double-slotted elements (3 and 4) and the structured patterns in circular elements (5 and 7). The measurement can be performed with optical sensors, such as an AEDR-8300 reflective encoder and structured patterns, such as a series of black and white stripes along the perimeter of the circular element.
    Another possible arrangement of the different sensors necessary for measuring the degrees of freedom, corresponding to two rotations of the system (pitching and warping), is that where the sensors are located in the circular elements (5 and 7) and the activating elements in double grooved elements (3 and 4). The measurement can be performed with proximity sensors, such as one or several SS449A Hall effect sensors placed in the circular element and the activating element being for example a magnetized magnet type component.
    TO! As with the pivot element (1), the closing element (2) can be made in different ways, one of them illustrated in Figure 3, where the measurement of the separation between the parts of the surgical instruments is carried out by means of a proximity sensor (11), such as an SS449A Hall effect sensor. This Hall effect sensor is located in a part of the handle of the clamp and in the opposite part is the activating element (10) of the sensor, formed for example by a permanent magnet; so that by varying the distance between the parts of the handle of the clamp, a variation of the magnetic field is caused, which will be translated into a separation between the parts of the instrument handle.
    Another possible embodiment of the closure element (2) is shown in Figure 4, where the measurement of the separation between the handle parts of the surgical instruments is
    it is carried out through the interaction of a force sensor (12), such as a resistive type force sensor and a deformable element (13), such as a spring or spring. Both the force sensor and the deformable element are arranged in a part of the handle, the deformable element being placed in direct contact with the sensor. When manipulating the handle of the clamp a part of the handle will come into contact with the deformable element and will cause a variation in the serial detected by the force sensor, obtaining from said serial variation the separation between the parts of the instrument handle.
    10 All data obtained from the different sensors are collected and processed in a processor external to the pivot elements (1) and closure (2). Through the processing of the data, specific metrics are obtained that inform about the movement and manipulation of the measured surgical instruments.
    fifteen
    权利要求:
    Claims (11)
    [1]
    1. Surgical instrument tracking system comprising:
    at least one pivot element (1);
    5 at least one closing element (2); Y
    the means to determine the movement and manipulation of surgical instruments.
    [2]
    2. The tracking system according to claim 1, characterized in that the pivot element (1) comprises:
    10 one or more doubly grooved elements (3, 3 ’, 4, 4’);
    one or more circular elements (5, 6, 7); a through guide (8) in at least one circular element; in such a way that a doubly grooved element (3, 3 ', 4, 4') and a circular element (5, 6, 7) can slide between them describing a rotation and 15 the through guide (8) allows the housing and the instrumental movement
    surgical.
    [3]
    3. The tracking system according to claim 2, characterized in that the doubly grooved element (3.3 ', 4.4') has at least two grooves on opposite faces arranged perpendicularly.
    20 4. The monitoring system according to claim 2, characterized in that the
    doubly grooved elements (3.3 ', 4.4') are fixed to the circular element (6) forming perpendicular axes of rotation.
    [5]
    5. The monitoring system according to claim 2, characterized in that the circular elements (7,7 ') are fixed to an external element.
    The tracking system according to claim 2, characterized in that a
    doubly grooved element (3, 3 ’, 4, 4’) comprises one or more sensors that determine the movement between a circular element and said doubly grooved element.
    [7]
    7. The monitoring system according to claim 2, characterized in that one of
    The faces of the circular element (5, 6, 7) comprise at least one perforation, of
    such that the variation of serial caused by said or said perforations in a sensor placed in the doubly grooved element (3, 3 ’, 4, 4’) determines the movement between said doubly grooved element and said circular element.
    [8]
    8. The monitoring system according to claim 2, characterized in that one of
    The faces of the circular element (5, 6, 7) comprise at least one notch, of such
    such that the serial variation caused by said or said notches in a sensor placed in the doubly grooved element (3, 3 ’, 4, 4’) determines the movement between said doubly grooved element and said circular element.
    [9]
    9. The tracking system according to claim 2, characterized in that one of 5 faces of the circular element (5, 6, 7) comprises at least one pattern
    structured, such that the serial variation caused by said or said patterns in a sensor placed in the double grooved element (3, 3 ’, 4, 4’) determines the movement between said double grooved element and said circular element.
    10 10. The monitoring system according to claim 2, characterized in that a
    circular element (5, 6, 7) comprises one or more sensors that determine the movement between a doubly grooved element and said circular element.
    [11]
    11. The tracking system according to claim 2, characterized in that the doubly grooved element (3, 3 ’, 4, 4’) comprises a! least one item
    15 activator, so that the serial variation caused by the element
    activator in the sensor placed in the circular element (5, 6, 7) determines the movement between said circular element and said doubly grooved element.
    [12]
    12. The monitoring system according to claim 2, characterized in that the through-guide (8) comprises one or more sensors (9) fixed to said guide for
    20 determine the movement of the instruments inside the guide.
    [13]
    13. The monitoring system according to claim 1, characterized in that the closure element (2) comprises: at least one sensor for determining the separation between the parts of the instrument handle;
    [14]
    14. The monitoring system according to claim 13, characterized in that the
    25 closure element (2) comprises:
    at least one proximity sensor (11); and at least one activating element (10);
    such that the serial variation caused by the activating element in the proximity sensor determines the separation.
    30 15. The monitoring system according to claim 13, characterized in that the
    closure element (2) comprises: at least one force sensor (12); and at least one deformable actuator (13);
    such that the serial variation caused by the contact between actuator
    35 and sensor determines the separation.
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    同族专利:
    公开号 | 公开日
    ES2641047B1|2018-09-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US8184094B2|1994-07-14|2012-05-22|Immersion Corporation|Physically realistic computer simulation of medical procedures|
    US20040101813A1|2000-11-03|2004-05-27|Irion Klaus M.|Simulator apparatus with at least two degrees of freedom of movement for an instrument|
    US7877243B2|2001-07-16|2011-01-25|Immersion Corporation|Pivotable computer interface|
    US8764448B2|2010-09-01|2014-07-01|Agency For Science, Technology And Research|Robotic device for use in image-guided robot assisted surgical training|
    法律状态:
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    优先权:
    申请号 | 申请日 | 专利标题
    ES201600380A|ES2641047B1|2016-05-05|2016-05-05|Surgical Instrument Tracking System|ES201600380A| ES2641047B1|2016-05-05|2016-05-05|Surgical Instrument Tracking System|
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