DE102008013495A1 - Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements - Google Patents
Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements Download PDFInfo
- Publication number
- DE102008013495A1 DE102008013495A1 DE102008013495A DE102008013495A DE102008013495A1 DE 102008013495 A1 DE102008013495 A1 DE 102008013495A1 DE 102008013495 A DE102008013495 A DE 102008013495A DE 102008013495 A DE102008013495 A DE 102008013495A DE 102008013495 A1 DE102008013495 A1 DE 102008013495A1
- Authority
- DE
- Germany
- Prior art keywords
- movements
- kinematics
- freedom
- kinematic
- transformed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
- B25J13/025—Hand grip control means comprising haptic means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0266—Two-dimensional joints comprising more than two actuating or connecting rods
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00707—Dummies, phantoms; Devices simulating patient or parts of patient
Abstract
Description
Die Erfindung bezieht sich auf eine Vorrichtung zur Erzeugung eines haptischen Eindrucks gemäß Oberbegriff des Anspruchs 1, wie es z. B. für laparoskopischchirurgische Simulation Verwendung findet.The The invention relates to a device for producing a Haptic impression according to the preamble of the claim 1, as it is z. B. for laparoscopic surgical simulation Use finds.
Zur
Ausbildung von Chirurgen werden häufig Trainingssysteme
eingesetzt, welche entweder mechanisch [
Die
Außerdem
umfasst die
Auf
Basis dieses generellen Ansatzes existieren einige grundlegende
Realisationen von haptischen Systemen für laparoskopische
Anwendungen, welche auf unterschiedliche Art und Weise die mechanische
Umsetzung der Freiheitsgrade vornehmen. In der
In
den
In
der
Weitere
medizinische Anwendungen außerhalb der Laparoskopie werden
auch durch Simulatoren bedient [
Die
Die
Daher
wurden in Anwendungen außerhalb der medizinischen Simulationsapplikaiton
andere parallelkinematische Systeme realisiert (siehe
Bisher
fehlt jedoch eine Anwendung der Kinematiken nach der
Daher ist Aufgabe der Erfindung, eine Vorrichtung oben genannter Gattung anzugeben, welche unter Verwendung/Zuhilfenahme eines professionell und zuverlässig hergestellten und arbeitenden (Parallel-)Kinematik-Geräts insbesondere für medizinische Simulatoren einsetzbar ist.Therefore Object of the invention, a device of the type mentioned above indicate which using a professional and Reliably manufactured and working (parallel) kinematics device especially for medical simulators can be used.
Diese Aufgabe wird erfindungsgemäß durch eine Vorrichtung mit den Merkmalen des Anspruch 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung ergeben sich durch die in den Unteransprüchen angegebenen Merkmale.These The object is achieved by a device solved with the features of claim 1. Advantageous developments The invention results from the in the subclaims specified characteristics.
Der
Vorteil der Erfindung gegenüber der bestehenden Kinematik
besteht vor allem darin, dass über ein Kardangelenk ein
Pivotpunkt als Gegenlager für ein Bedienelement in Form
eines Instrumentes geschaffen wird. Der Pivotpunkt ist oberhalb
des Arbeitsraumes des Kinematik-Gerätes angesiedelt, was
eine räumliche Anordnung in einem Simulatorsystem bestehend
aus Bedienelement, Toraxnachbildung, Monitor und Kamera erleichtert.
Bestehende Probleme in der Zuverlässigkeit bei der Verwendung von
spezifischen laparoskopischen Simulatoren werden durch den Rückgriff
auf ein in hoher Stückzahl produziertes bewährtes
kinematisches System gemildert. Weiterhin erlaubt die Ankopplung
an eine bereits in den kommerziellen Umsetzungen der
Nachfolgend wird die Erfindung an Hand von Ausführungsbeispielen unter Bezug auf die Zeichnung näher erläutert. Dabei zeigen:following the invention with reference to embodiments below Referring to the drawing explained in more detail. there demonstrate:
- 11
- (Kinematik-)Gerät(Kinematic) device
- 22
- Parallelschwingenparallel turns
- 33
- Strebenpursuit
- 44
- Arbeitsplattform, AdapterplatteWorking platform adapter plate
- 55
- Bügelhanger
- 66
- Fußpunkt, äußererFoot point, outer
- 77
- Körperbody
- 88th
- Fußpunkt, innerer (Arbeitspunkt)nadir, inner (operating point)
- 99
- Arbeitspunkt, zentraleroperating, centrally
- 1010
- Vorrichtung, ErgänzungContraption, complement
- 1111
- --
- 1212
- Gestellframe
- 1313
- Pivotpunkt (Trokar)pivot point (Trocar)
- 1414
- Griff(-stück), Instrument)Handle (piece Terminals) Instrument)
- 1515
- Kardangelenk, oberesUniversal joint, upper
- 1616
- Arbeitsstrangwork string
- 1717
- WerkzeugTool
- 1818
- --
- 1919
- Kardangelenk, unteresUniversal joint, lower
- 2020
- --
- 2121
- Stift (Schnellverschluß)pen (Snap closure)
- 2222
- Formschluß, mechanischForm-fitting, mechanically
- 2323
- Platteplate
- 2424
- Aktorbaugruppeactuator assembly
- 2525
- Zwischenstückconnecting piece
- 2626
- Zwischenstückconnecting piece
- 2727
- --
- 2828
- Motorengine
- 2929
- Zahnrad, erstesGear, first
- 3030
- Zahnrad, zweitesGear, second
- 3131
- Stangepole
- 3232
- Zahnradgear
- 3333
- Zahnrad, großesGear, great
- 3434
- --
- 3535
- --
- 3636
- Verbindungconnection
- 3737
- Gelenkjoint
- 3838
- Handgriffhandle
- 3939
- 4040
ZITATE ENTHALTEN IN DER BESCHREIBUNGQUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- - US 5403191 A [0002] - US 5403191 A [0002]
- - US 20060073458 [0002] US 20060073458 [0002]
- - US 6654000 B2 [0002, 0003, 0004, 0004] - US 6654000 B2 [0002, 0003, 0004, 0004]
- - EP 0870296 B1 [0002, 0006] - EP 0870296 B1 [0002, 0006]
- - EP 1332484 [0002, 0005] - EP 1332484 [0002, 0005]
- - US 7023423 [0006] US 7023423 [0006]
- - DE 20280425 U1 [0007] - DE 20280425 U1 [0007]
- - DE 102006009454 [0008] - DE 102006009454 [0008]
- - US 2003091967 [0008, 0009] - US 2003091967 [0008, 0009]
- - US 20060257835 [0008] US 20060257835 [0008]
- - DE 10250496 [0010] - DE 10250496 [0010]
- - WO 2006084744 A2 [0011] - WO 2006084744 A2 [0011]
- - EP 1690651 [0011, 0012, 0015, 0017, 0025, 0026] - EP 1690651 [0011, 0012, 0015, 0017, 0025, 0026]
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013495A DE102008013495A1 (en) | 2008-03-10 | 2008-03-10 | Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008013495A DE102008013495A1 (en) | 2008-03-10 | 2008-03-10 | Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements |
Publications (1)
Publication Number | Publication Date |
---|---|
DE102008013495A1 true DE102008013495A1 (en) | 2009-09-24 |
Family
ID=40983818
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
DE102008013495A Withdrawn DE102008013495A1 (en) | 2008-03-10 | 2008-03-10 | Haptic impression producing device for laparoscopic surgical simulation, has upper and lower joints fastened at pivot and working points, where Cartesian movements of kinematic device are transformed into rotatory and translatory movements |
Country Status (1)
Country | Link |
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DE (1) | DE102008013495A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018190765A1 (en) * | 2017-04-11 | 2018-10-18 | Follou Ab | A surgical simulation arrangement |
CN109035954A (en) * | 2018-09-05 | 2018-12-18 | 黄锦锋 | A kind of laparoscopic surgery supplemental training device |
WO2019005983A1 (en) * | 2017-06-29 | 2019-01-03 | Verb Surgical Inc. | Virtual reality laparoscopic tools |
DE102018120903A1 (en) * | 2018-08-27 | 2020-02-27 | MDO Medizinische Dienstleistungsorganisation GmbH | Device for learning and strengthening the skills of minimally invasive interventions |
US11011077B2 (en) | 2017-06-29 | 2021-05-18 | Verb Surgical Inc. | Virtual reality training, simulation, and collaboration in a robotic surgical system |
US11270601B2 (en) | 2017-06-29 | 2022-03-08 | Verb Surgical Inc. | Virtual reality system for simulating a robotic surgical environment |
US11284955B2 (en) | 2017-06-29 | 2022-03-29 | Verb Surgical Inc. | Emulation of robotic arms and control thereof in a virtual reality environment |
Citations (13)
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US5403191A (en) | 1991-10-21 | 1995-04-04 | Tuason; Leo B. | Laparoscopic surgery simulator and method of use |
US20030091967A1 (en) | 2000-04-12 | 2003-05-15 | Edna Chosack | Endoscopic tutorial system for urology |
DE10250496A1 (en) | 2001-10-29 | 2003-06-05 | Albert Schaeffer | Input device operates according to parallel kinematic principles and with haptic feedback to a computer thus enabling robot type tele-operation of instruments, especially medical instruments |
EP1332484A1 (en) | 2000-11-03 | 2003-08-06 | Karl Storz GmbH & Co. KG | Simulator device having at least two degrees of freedom of motion for an instrument |
US6654000B2 (en) | 1994-07-14 | 2003-11-25 | Immersion Corporation | Physically realistic computer simulation of medical procedures |
EP0870296B1 (en) | 1995-11-17 | 2004-02-04 | Immersion Corporation | Apparatus for providing low cost force feedback and mechanical input/output for computer systems |
DE20280425U1 (en) | 2001-09-12 | 2004-09-09 | Xitact S.A. | Device for simulating a rod-shaped surgical instrument with force feedback |
US7023423B2 (en) | 1995-01-18 | 2006-04-04 | Immersion Corporation | Laparoscopic simulation interface |
US20060073458A1 (en) | 2004-09-21 | 2006-04-06 | Andre Ehrhardt | Virtual OP simulator |
EP1690651A1 (en) | 2005-02-11 | 2006-08-16 | Force Dimension S.à.r.l | Kinematic chain with an arm comprising a curved portion and parallel kinematics transmission structure with such kinematic chains |
WO2006084744A2 (en) | 2005-02-11 | 2006-08-17 | Force Dimension S.A.R.L. | Device for transmitting movements comprising a parallel kinematic structure |
DE102006009454A1 (en) | 2005-03-01 | 2006-09-07 | Pentax Corp. | Device for generating data for endoscope viewing and endoscope system |
US20060257835A1 (en) | 2005-05-13 | 2006-11-16 | Wallaker Daniel M | Endoscopy simulation system |
-
2008
- 2008-03-10 DE DE102008013495A patent/DE102008013495A1/en not_active Withdrawn
Patent Citations (13)
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---|---|---|---|---|
US5403191A (en) | 1991-10-21 | 1995-04-04 | Tuason; Leo B. | Laparoscopic surgery simulator and method of use |
US6654000B2 (en) | 1994-07-14 | 2003-11-25 | Immersion Corporation | Physically realistic computer simulation of medical procedures |
US7023423B2 (en) | 1995-01-18 | 2006-04-04 | Immersion Corporation | Laparoscopic simulation interface |
EP0870296B1 (en) | 1995-11-17 | 2004-02-04 | Immersion Corporation | Apparatus for providing low cost force feedback and mechanical input/output for computer systems |
US20030091967A1 (en) | 2000-04-12 | 2003-05-15 | Edna Chosack | Endoscopic tutorial system for urology |
EP1332484A1 (en) | 2000-11-03 | 2003-08-06 | Karl Storz GmbH & Co. KG | Simulator device having at least two degrees of freedom of motion for an instrument |
DE20280425U1 (en) | 2001-09-12 | 2004-09-09 | Xitact S.A. | Device for simulating a rod-shaped surgical instrument with force feedback |
DE10250496A1 (en) | 2001-10-29 | 2003-06-05 | Albert Schaeffer | Input device operates according to parallel kinematic principles and with haptic feedback to a computer thus enabling robot type tele-operation of instruments, especially medical instruments |
US20060073458A1 (en) | 2004-09-21 | 2006-04-06 | Andre Ehrhardt | Virtual OP simulator |
EP1690651A1 (en) | 2005-02-11 | 2006-08-16 | Force Dimension S.à.r.l | Kinematic chain with an arm comprising a curved portion and parallel kinematics transmission structure with such kinematic chains |
WO2006084744A2 (en) | 2005-02-11 | 2006-08-17 | Force Dimension S.A.R.L. | Device for transmitting movements comprising a parallel kinematic structure |
DE102006009454A1 (en) | 2005-03-01 | 2006-09-07 | Pentax Corp. | Device for generating data for endoscope viewing and endoscope system |
US20060257835A1 (en) | 2005-05-13 | 2006-11-16 | Wallaker Daniel M | Endoscopy simulation system |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2018190765A1 (en) * | 2017-04-11 | 2018-10-18 | Follou Ab | A surgical simulation arrangement |
US11335212B2 (en) | 2017-04-11 | 2022-05-17 | Follou Ab | Surgical simulation arrangement |
CN110800033A (en) * | 2017-06-29 | 2020-02-14 | 威博外科公司 | Virtual reality peritoneoscope formula instrument |
US11270601B2 (en) | 2017-06-29 | 2022-03-08 | Verb Surgical Inc. | Virtual reality system for simulating a robotic surgical environment |
WO2019005983A1 (en) * | 2017-06-29 | 2019-01-03 | Verb Surgical Inc. | Virtual reality laparoscopic tools |
JP7350908B2 (en) | 2017-06-29 | 2023-09-26 | バーブ サージカル インコーポレイテッド | virtual reality laparoscopic tools |
US10610303B2 (en) | 2017-06-29 | 2020-04-07 | Verb Surgical Inc. | Virtual reality laparoscopic tools |
US11011077B2 (en) | 2017-06-29 | 2021-05-18 | Verb Surgical Inc. | Virtual reality training, simulation, and collaboration in a robotic surgical system |
US11013559B2 (en) | 2017-06-29 | 2021-05-25 | Verb Surgical Inc. | Virtual reality laparoscopic tools |
KR20200012926A (en) * | 2017-06-29 | 2020-02-05 | 버브 서지컬 인크. | Virtual reality laparoscopic tool |
US11284955B2 (en) | 2017-06-29 | 2022-03-29 | Verb Surgical Inc. | Emulation of robotic arms and control thereof in a virtual reality environment |
JP2022070862A (en) * | 2017-06-29 | 2022-05-13 | バーブ サージカル インコーポレイテッド | Virtual reality laparoscopic tools |
US11580882B2 (en) | 2017-06-29 | 2023-02-14 | Verb Surgical Inc. | Virtual reality training, simulation, and collaboration in a robotic surgical system |
KR102441640B1 (en) * | 2017-06-29 | 2022-09-13 | 버브 서지컬 인크. | Virtual Reality Laparoscopic Tools |
DE102018120903A1 (en) * | 2018-08-27 | 2020-02-27 | MDO Medizinische Dienstleistungsorganisation GmbH | Device for learning and strengthening the skills of minimally invasive interventions |
CN109035954A (en) * | 2018-09-05 | 2018-12-18 | 黄锦锋 | A kind of laparoscopic surgery supplemental training device |
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