KR20190130777A - Apparatus for laparoscope surgical simulator - Google Patents

Abstract

The laparoscopic surgery simulation apparatus generates a laparoscopic manipulation image that generates a laparoscopic manipulation image by generating a lesion image including a lesion area based on the body and image information of the patient, and adjusting the position of the laparoscope for training in the lesion image. When the training laparoscope is located in the lesion area includes a surgical simulation unit for simulating the surgical process according to the user's operation. Therefore, the laparoscopy surgery simulation apparatus generates an affected area image including the lesion area according to the adjustment of the laparoscopy for practice, and generates an operation manipulation animation that reproduces the surgical process when located in the lesion area so that the user can perform the surgical practice.

Description

Laparoscopic surgery simulation device {APPARATUS FOR LAPAROSCOPE SURGICAL SIMULATOR}

The present invention relates to a laparoscopic surgery simulation apparatus, and more particularly, to a laparoscopic surgery simulation apparatus for providing a wound image and a laparoscopic surgery image through a training laparoscopic operation.

Laparoscopic surgery has traditionally had a large incision in the abdomen, and a laparoscopic surgery produces a small multiple incision of 0.5-1.5 cm in the abdomen, and a video camera and various surgical instruments are placed in the abdominal cavity through the incision. It is also called 'minimally invasive surgery'.

Since laparoscopic surgery has a smaller incision size compared to traditional laparotomy, it has a shorter hospital stay compared to laparotomy because of the aesthetic benefit of surgical wounds, a very small effect of pain, and a rapid recovery rate. Since there is an advantage of being able to return quickly, the number of hospitals performing laparoscopic surgery is increasing because patients have a high preference for laparoscopic surgery.

Korean Patent No. 10-1154809 (2012.6.01) relates to a medical simulation apparatus and a method of using the same, and a system for providing a realistic sense in a simulation system by providing tactile feedback to a user is disclosed. The system includes a linkable training tool that the user associates with and a mechanical simulation device coupled to the training tool. The mechanical simulation apparatus includes a ground member 46, a mechanical linkage 38 rotatably coupled to the ground member 47, a linear shaft member coupled to the training tool and the mechanical linkage 38, and at least four coupled to the ground member. In contact with the actuators 62, 64, 66, 70, sensors 65, 67, 69 for sensing the movement of the actuators, and at least four actuators 62, 64, 66, 70 and a mechanical linkage ( At least three cables coupled to 38). The interface device is coupled to the simulation device, and the host computer 20 is coupled to the interface device 14 to implement the application program. The application program provides a signal to the actuators 62, 64, 66, 70 to move the cables 130, thereby moving the mechanical linkage 38.

Korean Patent Registration No. 10-1852181 (April 19, 2018) is a fusion imaging device for laparoscopic surgery, which acquires endo-PET / near-infrared / visible light, respectively, which acquires triple images of gamma rays from visible light, near-infrared, and gamma-ray radioactive materials administered to the affected area. Fusion image module for; An in vitro endo-PET module installed under the fusion image module to detect flashes generated by scintillation crystals through simultaneous counting; An optical fiber for transmitting a triple image obtained from the fused image module; A light source generating near-infrared excitation light to obtain a near-infrared image by exciting white light and a near-infrared emitter to the affected part to obtain a visible light image through the optical fiber; A photoelectric conversion module that separates individual images of visible light, near infrared light, and gamma light from the triple image transmitted through the optical fiber and converts the individual images into electric signals; Matching means for matching a visible light image signal, a near infrared image signal and a gamma ray image signal of the photoelectric conversion module to one image; And a control unit including image display means for acquiring, amplifying, and simultaneously counting the image signal of the photoelectric conversion module and the image signal of the endo-PET module to display the image signal. .

Korean Patent Registration No. 10-1154809 (2012.6.01) Korea Patent Registration No. 10-1852181 (2018.4.19)

One embodiment of the present invention is to provide a laparoscopic surgery simulation apparatus for generating an affected area image including a lesion area under the control of the laparoscopic training.

An embodiment of the present invention is to provide a laparoscopic surgery simulation apparatus for providing a lesion image by implementing the surgical tool of the laparoscope for practice in augmented reality.

One embodiment of the present invention is to provide a laparoscopic surgery simulation device for generating a surgical operation animation to reproduce the surgical process, and determine the surgical practice performance when located in the lesion area in accordance with the control of the laparoscopic training.

In one or more embodiments, the laparoscopic surgery simulation apparatus may generate an affected area image generating unit including a lesion area based on the body and image information of the patient, and generate a laparoscopic manipulation image by adjusting the position of the training laparoscope on the affected area image. Laparoscopic operation image generation unit, and the training laparoscope includes a surgical simulation unit for simulating the surgical process according to the user's operation when located in the lesion area.

The affected part image generating unit generates the affected part image based on laparoscopic surgery data generated during the actual laparoscopy operation of the patient and including body and image information of the corresponding patient.

The affected part image generating unit forms at least a part of the human body and detects the insertion of the training laparoscope in a human body model including the insertion hole of the training laparoscope, and generates the affected image according to the position of the insertion.

The laparoscopic manipulation image generation unit determines the surgical tool through selection of the user, and then generates the laparoscopic manipulation image by combining the surgical tool with the training laparoscope on the affected image in an augmented reality manner.

 The surgery simulation unit generates a surgery operation animation for reproducing the surgery process according to the user's operation, and generates surgery contents for the affected part image according to the surgery process.

The surgical simulation unit analyzes the operation contents according to the operation of the user and the operation contents according to the laparoscopic surgery data generated in the laparoscopic surgery process of the actual patient to determine the outcome of the surgery practice.

The disclosed technique can have the following effects. However, since a specific embodiment does not mean to include all of the following effects or only the following effects, it should not be understood that the scope of the disclosed technology is limited by this.

Laparoscopic surgery simulation apparatus according to an embodiment of the present invention provides for generating an affected area image including the lesion area in accordance with the adjustment of the training laparoscope.

Laparoscopic surgery simulation apparatus according to an embodiment of the present invention implements the surgical tool of the laparoscope for practice in augmented reality to provide an affected image.

Laparoscopic surgery simulation apparatus according to an embodiment of the present invention generates a surgical operation animation to reproduce the surgical process when located in the lesion area in accordance with the adjustment of the laparoscopic training, and determine the outcome of the surgical practice.

1 is a view for explaining a laparoscopic surgery simulation apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating the apparatuses required for use of the laparoscopic surgery simulation apparatus in FIG. 1.
3 is a conceptual diagram of a laparoscopic surgery simulation apparatus in FIG.

Description of the present invention is only an embodiment for structural or functional description, the scope of the present invention should not be construed as limited by the embodiments described in the text. That is, since the embodiments may be variously modified and may have various forms, the scope of the present invention should be understood to include equivalents capable of realizing the technical idea. In addition, the objects or effects presented in the present invention does not mean that a specific embodiment should include all or only such effects, the scope of the present invention should not be understood as being limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as "first" and "second" are intended to distinguish one component from another component, and the scope of rights should not be limited by these terms. For example, the first component may be named a second component, and similarly, the second component may also be named a first component.

When a component is referred to as being "connected" to another component, it should be understood that there may be other components in between, although it may be directly connected to the other component. On the other hand, when a component is referred to as being "directly connected" to another component, it should be understood that there is no other component in between. On the other hand, other expressions describing the relationship between the components, such as "between" and "immediately between" or "neighboring to" and "directly neighboring to", should be interpreted as well.

Singular expressions should be understood to include plural expressions unless the context clearly indicates otherwise, and terms such as "comprise" or "have" refer to a feature, number, step, operation, component, part, or feature thereof. It is to be understood that the combination is intended to be present and does not exclude in advance the possibility of the presence or addition of one or more other features or numbers, steps, operations, components, parts or combinations thereof.

The present invention can be embodied as computer readable code on a computer readable recording medium, and the computer readable recording medium includes all kinds of recording devices in which data can be read by a computer system. . Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. The computer readable recording medium can also be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. Generally, the terms defined in the dictionary used are to be interpreted to coincide with the meanings in the context of the related art, and should not be interpreted as having ideal or excessively formal meanings unless clearly defined in the present application.

1 is a view for explaining a laparoscopic surgery simulation apparatus according to an embodiment of the present invention, Figure 2 is a view for explaining the devices required for use of the laparoscopic surgery simulation apparatus in FIG.

Referring to FIG. 1, the laparoscopic surgery simulation apparatus 100 includes an affected part image generator 110, a human body model 112, a laparoscopic manipulation image generator 120, a laparoscope for practice, a surgical tool 124, and surgery. It may include a simulation unit 130 and the controller 140.

According to FIG. 2, the laparoscopic surgery simulation apparatus 100 may be connected to the display panel 220 and the surgery database 230.

The affected part image generator 110 generates an affected part image including the lesion area based on the patient's body and image information stored in the surgical database 230. The affected part image generating unit 110 includes a human body model 112 that forms at least a part of the human body. The human body model 112 includes an insertion hole for insertion of the training laparoscope 122.

The affected part image generator 110 detects the insertion of the human body 112 of the training laparoscope 122. The affected part image generator 110 generates the affected part according to the position of the training laparoscope 122 according to the insertion of the human body model 112 of the training laparoscope 122.

In one embodiment, the affected part image generator 110 may generate the affected part image by integrating body and image information based on the actual patient data stored in the surgical database 230. The affected part image generator 110 may generate the affected part based on image data of a medical examination apparatus that outputs body information such as a patient's height and weight, and images such as MRI, CT, and X-ray. The affected area image generator 110 may generate a lesion area based on body and image information based on actual patient data stored in the surgery database 230, and generate an affected area image including the lesion area. .

In one embodiment, the affected area image generating unit 110 may include a human body model 112 that shapes at least a part of the human body and a human body model 112 that continuously shapes various human body parts. The human body model 112 may shape major laparoscopic surgery sites such as the abdomen, upper body, and lower body of the human body. The human body model 112 may include an insertion hole for insertion of the training laparoscope 122. The human body model 112 is a sensor that detects which part of the human body model 112 and where it moves according to the insertion of the training laparoscope 122 when the training laparoscope 122 is inserted through the insertion hole by the user. It may include. The affected part image generator 110 is based on the physical and image information based on the actual patient data stored in the surgical database 230 according to the insertion depth of the training laparoscope 122 and the rotation in the clockwise or counterclockwise direction. An interface function of selecting a lesion image including the generated lesion area and the lesion area is provided.

For example, the human body 112 may include laparoscopic cholecystectomy, laparoscopic assisted distal gastrectomy (LADG), laparoscopic assisted colectomy (laparoscopic assisted colectomy), NISSEN method May include surgical sites in typical laparoscopic surgeries such as NISSEN fundoplication, pulmonary resection, prostatectomy / gasification, sinus surgery, nephrectomy, endometriosis lesion removal, uterine fibroid nucleation, hysterectomy and appendicitis appendectomy . The human body model is intended to provide a realistic laparoscopic surgical environment and may provide a predetermined resistance to provide a feeling of moving the laparoscopic and surgical tool 124 inside the human body.

According to an embodiment, the affected part image generator 110 may generate the affected part image based on the actual patient data stored in the surgical database 230 according to the negative of the human body 112 in which the training laparoscope 122 is located. Can be. The affected part image generator 110 detects a change in the position of the human body model 112 inserted into the human body model 112 of the training laparoscope 122 in real time, and corresponds to the site of the human body model 112 according to the continuous position change. An image can be generated. The affected part image generator 110 may generate the affected part image which is enlarged, reduced, or changed in up, down, left, and right directions according to the change of the laparoscopic position.

In one embodiment, the affected area image generating unit 110 is generated based on the physical and image information based on the actual patient data stored in the database 230 by dividing the various conditions according to the insertion depth of the training laparoscope 122 An interface function for selecting a lesion image including the lesion area and the lesion area may be provided. The lesion image generating unit 110 is a lesion generated based on body and image information based on actual patient data stored in the surgical database 230 according to the rotation of the training laparoscope 122 in a clockwise or counterclockwise direction. An interface function for selecting an affected area image including an area and a lesion area may be provided. The affected image generator 110 may display the affected image on the display panel 220.

The laparoscopic manipulation image generator 120 includes a training laparoscope 122 and a surgical tool 124. When the laparoscopic manipulation image generator 120 determines a specific surgical tool 124 among various surgical tools 124 through a user's selection, the laparoscopic manipulation image generator 120 augments the surgical tool 124 selected on the affected image to the image of the laparoscope for training 122. Combine in a realistic way to generate laparoscopic manipulation images.

The laparoscopic manipulation image generation unit 120 generates a laparoscopic manipulation image to move the surgical tool 124 coupled in an augmented reality manner in accordance with the movement of the training abdominal cavity.

In one embodiment, the laparoscopic manipulation image generation unit 120 is a surgical tool 124 used for laparoscopic surgery may include forceps, trocar, trocar tube, electric scalpel, ultrasonic coagulation incision device and hemostatic suture apparatus. have.

In one embodiment, the laparoscopic manipulation image generation unit 120 is used to practice the surgical tool 124 selected on the affected image through the control unit 140 when the surgical tool 124 required in the laparoscopic surgery process according to the user's selection is selected The laparoscope manipulation image may be generated by combining the image of the laparoscope 122 in an augmented reality manner. The laparoscopic manipulation image generation unit 120 may generate a laparoscopic manipulation image to move the surgical tool 124 coupled in an augmented reality manner in accordance with the movement of the training laparoscope 122.

In one embodiment, the laparoscopic manipulation image generation unit 120 is a surgical tool 124 such as forceps, trocar, trocar tube, electric scalpel, ultrasonic coagulation incision device and hemostatic suture device laparoscopic cholecystectomy, Laparoscopic assisted distal gastrectomy (LADG), Laparoscopic assisted colectomy (laparoscopic assisted colectomy), NISSEN method (membranous plastic surgery: NISSEN fundoplication), Lung resection, Prostatectomy, Vaginal surgery, Sinus surgery, Kidney Operational images used in typical laparoscopic surgery such as resection, endometriosis lesion removal, uterine fibroid nucleation, hysterectomy, and appendicitis appendix removal are classified according to surgery and the body based on the actual patient data stored in the surgical database 230. And the number of images combined by the augmented reality method to the affected images generated by the affected image generating unit 110. It can create a tool (124).

The surgical simulation unit 130 simulates the surgical procedure according to the manipulation of the user's practice of the laparoscope 122 and the use of the surgical tool 124 when the training laparoscope 122 is positioned in the lesion area of the affected image. The surgery simulation unit 130 generates a surgery manipulation animation to reproduce the surgery process according to the user's manipulation. The surgical simulation unit 130 generates a surgical procedure according to the user's use of the training laparoscope 122 and the use of the surgical tool 124 as surgical contents for the affected image.

In one embodiment, the surgical simulation unit 130 may detect the user's use of the training laparoscopic 122 and the surgical tool 124 through the control unit 140. The surgical simulation unit 130 may reproduce the surgical procedure in the lesion area according to the user's manipulation when the training laparoscope 122 is located in the lesion area of the affected image. The surgery simulation unit 130 may generate a surgery manipulation animation by integrating existing surgery images based on the body and image information of the patient stored in the surgery database 230.

In one embodiment. The surgical simulation unit 130 includes laparoscopic cholecystectomy, laparoscopic assisted distal gastrectomy (LADG), laparoscopic assisted colectomy (laparoscopic assisted colectomy), and NISSEN fundoplication (NISSEN fundoplication). Real images are classified by lesion area of typical laparoscopic surgery such as pulmonary resection, prostatectomy, vaporization, sinus surgery, nephrectomy, endometriosis lesion removal, uterine fibroid nucleation, hysterectomy and appendicitis removal Laparoscopic manipulation and use of surgical tool 124 may be analyzed based on the patient's body and image information stored in surgical database 230. The surgery simulation unit 130 selects the closest surgical image animation among 2D and 3D computer graphics surgical image animations prepared in advance, and reflects the use of the training laparoscope 122 and the use of the surgical tool 124. Can be created with The surgical simulation unit 130 may selectively utilize 2D and 3D computer graphic images as a surgical image animation.

In one embodiment, the surgical simulation unit 130 may detect the user's manipulation of the training laparoscopic 122 and the use of the surgical tool 124 through the control unit 140, the abnormal behavior of the user in the lesion area of the affected image Can produce an unexpected situation. The surgery simulation unit 130 may selectively utilize 2D and 3D computer graphics surgical image animations prepared in advance for the sudden situation production. The surgery simulation unit 130 may display the surgery manipulation animation on the display panel 220.

Surgery simulation unit 130 may generate the operation content for the affected image according to the surgical procedure. The surgery simulation unit 130 analyzes the operation contents according to the operation of the user and the use of the surgical tool 124 and the operation contents according to the laparoscopic surgery data generated in the laparoscopic surgery process of the actual patient stored in the surgery database 230. Determine the outcome of your surgical practice.

In one embodiment, the surgery simulation unit 130 to compare and analyze the laparoscopic surgery data generated during the laparoscopic surgery process of the actual patient stored in the surgery database 230 and the operation contents of the surgery process according to the operation of the training laparoscope 122 Can be. Surgery simulation unit 130 may be described in the laparoscopic cholecystectomy (laparoscopic cholecystectomy), laparoscopic assisted distal gastrectomy (LADG), laparoscopic assisted colectomy (laparoscopic assisted colectomy), NISSEN method : Comparison with actual surgical data categorized by typical laparoscopic surgery such as NISSEN fundoplication, pulmonary resection, prostatectomy / gasification, sinus surgery, nephrectomy, endometriosis lesion removal, uterine fibroid nucleation, hysterectomy and appendicitis By selecting the most similar to the actual surgical data can be compared and analyzed the laparoscopic manipulation and use of the surgical tool (124). The surgical simulation unit 130 may evaluate the surgical contents by items such as time, location, and role as a result of comparing and analyzing the simulated surgical contents and the actual surgical data. The surgical simulation unit 130 may determine the results of the surgical practice as an evaluation result of the simulation surgical contents, so that the laparoscopy surgical practice of the user may be performed.

In one embodiment, the surgical simulation unit 130 may display the surgical practice results through the display panel 220. Surgery simulation unit 130 may be displayed by highlighting the differences between the items by comparing and analyzing the actual surgical data and the results of the surgical practice similar to the most similar.

As a result, the laparoscopic surgery simulation apparatus 100 generates an affected area image including the lesion area under the control of the training laparoscope 122 through the affected image generating unit 110, and operates through the laparoscopic manipulation image generating unit 120. Implementing the tool 124 in augmented reality, located in the lesion area through the surgical simulation unit 130 generates a surgical operation animation to reproduce the surgical process and provides the user's surgical practice.

Although described above with reference to a preferred embodiment of the present invention, those skilled in the art will be variously modified and changed within the scope of the invention without departing from the spirit and scope of the invention described in the claims below I can understand that you can.

100: laparoscopic surgery simulation device
110: affected image generation unit 112: human body model
120: laparoscopy manipulation image generation unit
122: practice laparoscope 124: surgical instruments
130: surgery simulation unit 140: control unit
220: display panel 230: surgery database

Claims (6)

An affected part image generator configured to generate an affected part image including a lesion area based on the body and image information of the patient;
Laparoscopic manipulation image generation unit for generating a laparoscopic manipulation image by adjusting the position of the training laparoscope in the affected image; And
Laparoscopic surgery simulation apparatus including a surgical simulation unit for simulating the surgical process according to the user's operation when the training laparoscopic is located in the lesion area.
The method of claim 1, wherein the affected area image generating unit
Laparoscopic surgery simulation apparatus, characterized in that for generating the affected image based on the laparoscopic surgery data generated during the laparoscopic surgery of the actual patient and including the body and image information of the patient.
The method of claim 2, wherein the affected area image generating unit
Laparoscopic surgery simulation apparatus, characterized in that to form at least a portion of the human body and the insertion of the training laparoscopic to a human body model including the insertion hole of the training laparoscopy to generate a wound image according to the position of the insertion.
The method of claim 1, wherein the laparoscopic manipulation image generating unit
Laparoscopic surgery simulation apparatus, characterized in that the surgical tool is determined by the user's selection and then the laparoscopic operation image is generated by combining the surgical tool on the affected image to the training laparoscope in an augmented reality method.
According to claim 1, The surgical simulation unit
Laparoscopic surgery simulation apparatus, characterized in that for generating a surgical operation animation to reproduce the surgical process according to the operation of the user and the generation of the operation content for the affected image according to the surgical process.
According to claim 5, The surgical simulation unit
Laparoscopic surgery simulation apparatus, characterized in that to determine the surgical practice performance by analyzing the operation contents according to the operation of the user and the laparoscopic surgery data generated in the laparoscopic surgery process of the actual patient.

Images