Surgical simulation interface device and method

• US 20010016804A1
• Filed: 12/15/2000
• Published: 08/23/2001
• Est. Priority Date: 09/04/1996
• Status: Active Grant

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Cohen, Robert F., Cunningham, Richard L., Brown, J. Michael, Falk, Robert B.
• Granted Patent: US 7,815,436 B2
• Time in Patent Office: Days
• US Class Current: 703/7
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

An interface device capable of communicating with a computer running a simulation program, such as a surgical simulation program, comprises an instrument capable of being manipulated by a user. The instrument is receivable within an orifice in an instrument receiving member, the instrument receiving member comprising a capture member engageable with the instrument and a sensor to sense a position of the instrument. The position of the instrument is then used by the computer to control a graphic image related to the simulation. In one version, the simulation is a simulation of a surgical instrument insertion procedure, such as an endoscopy procedure.

Claims

1. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:

an instrument capable of being manipulated by a user;

an instrument receiving member comprising an orifice capable of receiving the instrument, the instrument receiving member comprising a capture member engageable with the instrument and movable in an at least partially arcuate path in the instrument receiving member; and

a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position,

whereby the position signal may be used by the computer to control a graphic image.

2. An interface device according to

claim 1

further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.

3. An interface device according to

claim 1

wherein the instrument is releasable from the capture member.

4. An interface device according to

claim 1

wherein the instrument is insertable into and removable from the instrument receiving member.

5. An interface device according to

claim 1

wherein the instrument is a mock surgical instrument.

6. An interface device according to

claim 5

wherein the mock surgical instrument is a mock endoscope.

7. An interface device according to

claim 1

wherein the capture member is locatable adjacent the orifice and comprises a bendable shaft.

8. An interface device according to

claim 1

wherein the capture member comprises a shaft coupled to a sensor capable of sensing rotation of the capture member.

9. An interface device according to

claim 8

wherein the shaft is coupled to an actuator capable of applying rotational force feedback to the instrument engaged by the capture member.

10. An interface device according to

claim 1

wherein the arcuate path is defined by a rotatable wheel.

11. An interface device according to

claim 10

wherein the wheel comprises a groove to receive the capture member.

12. An interface device according to

claim 11

wherein the groove is on an edge of the wheel.

13. An interface device according to

claim 11

wherein the groove is helical.

14. An interface device according to

claim 11

wherein the wheel further comprises a second groove.

15. An interface device according to

claim 11

further comprising a belt covering at least a portion of the groove.

16. An interface device according to

claim 15

wherein the belt drivingly engages the wheel.

17. An interface device according to

claim 16

further comprising a force feedback actuator coupled to the belt.

18. An interface device according to

claim 15

wherein the belt is drivingly engaged by the wheel.

19. An interface device according to

claim 18

further comprising a force feedback actuator coupled to the wheel.

20. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:

an instrument capable of being manipulated by a user;

an instrument receiving member comprising an orifice capable of receiving the instrument, the instrument receiving member comprising a belt capable of contacting the instrument; and

a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position,

whereby the position signal may be used by the computer to control a graphic image.

21. An interface device according to

claim 20

further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.

22. An interface device according to

claim 20

wherein the instrument is a mock surgical instrument.

23. An interface device according to

claim 20

wherein the instrument is releasably engageable to a capture member.

24. An interface device according to

claim 23

wherein the capture member comprises a shaft coupled to a sensor capable of sensing rotation of the capture member.

25. An interface device according to

claim 24

wherein the shaft is coupled to an actuator capable of applying rotational force feedback to the instrument engaged by the capture member.

26. An interface device according to

claim 24

wherein the capture member is fixed to a wheel, the belt engaging the wheel.

27. An interface device according to

claim 26

wherein the capture member is within a groove in the wheel and the belt covers at least a portion of the groove.

28. An interface device according to

claim 26

wherein the belt drivingly engages the wheel.

29. An interface device according to

claim 28

further comprising a force feedback actuator coupled to the belt.

30. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:

an instrument capable of being manipulated by a user;

an instrument receiving member comprising an orifice capable of receiving the instrument;

a position detector to generate a position signal related to a position of the instrument in the instrument receiving member; and

means for forcing the instrument and reducing undesired bending of the instrument,

whereby the position signal may be used by the computer to control a graphic image and to generate the force signal to force the instrument.

31. An interface device according to

claim 30

wherein the means for forcing the instrument and reducing undesired bending of the instrument comprises a belt.

32. An interface device according to

claim 30

wherein the means for forcing the instrument and reducing undesired bending of the instrument comprises a belt capable of maintaining the instrument on a wheel.

33. An interface device according to

claim 32

wherein means for forcing the instrument and reducing undesired bending of the instrument further comprises an actuator capable of driving the belt or the wheel.

34. An interface device according to

claim 30

further comprising a capture member in the instrument receiving member, the capture member releasably engagable with the instrument.

35. An interface device according to

claim 30

wherein the position detector comprises a sensor in the instrument receiving member.

36. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:

an instrument capable of being manipulated by a user, the instrument having a longitudinal axis;

an instrument receiving member comprising an orifice capable of receiving the instrument;

a sensor in the instrument receiving member to sense a rotational position of the instrument about its longitudinal axis and to generate a position signal related to the rotational position; and

an actuator coupled to the instrument to provide rotational force feedback to the user by rotating the instrument about its longitudinal axis in response to a force signal from the computer,

whereby the position signal may be used by the computer to control a graphic image.

37. An interface device according to

claim 36

comprising a capture member in the instrument receiving member, the capture member removably engageable with the instrument.

38. An interface device according to

claim 37

wherein the capture member is locatable adjacent the orifice and comprises a shaft coupled to the actuator.

39. An interface device according to

claim 36

wherein the instrument is insertable into and removable from the instrument receiving member.

40. An interface device according to

claim 36

wherein the instrument is a mock surgical instrument.

41. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:

an instrument capable of being manipulated by a user, the instrument comprising a distal end;

an instrument receiving member comprising an orifice capable of receiving the instrument, the instrument receiving member comprising a capture member comprising a locking mechanism to lock the distal end of the instrument to the capture member; and

a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position,

whereby the position signal may be used by the computer to control a graphic image.

42. An interface device according to

claim 41

further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.

43. An interface device according to

claim 41

wherein the distal end of the instrument comprises an opening and the capture member comprises a male portion receivable in the opening.

44. An interface device according to

claim 43

wherein the locking mechanism locks the capture member to the instrument when the capture mechanism is moved beyond a home position and unlocks the capture member from the instrument when the capture member returns to the home position.

45. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:

an instrument capable of being manipulated by a user;

an instrument receiving member comprising a first orifice capable of receiving the instrument and a second orifice capable of receiving the instrument or a different instrument, the instrument receiving member comprising a first capture member associated with the first orifice and engageable with the instrument and a second capture member associated with the second orifice and engageable with the instrument or the different instrument; and

a sensor in the instrument receiving member to sense a position of the instrument and to generate a position signal related to the position,

whereby the position signal may be used by the computer to control a graphic image.

46. An interface device according to

claim 45

further comprising an actuator coupled to the instrument to provide force feedback to the user in response to a force signal from the computer, whereby the position signal may be used by the computer to generate the force signal.

47. An interface device capable of communicating with a computer running a simulation program, the interface device comprising:

an instrument capable of being manipulated by a user;

a handle on the instrument, the handle comprising a sensor to detect the presence or absence of a body part of the user and generating a signal related thereto,

whereby the signal may be used by the computer to control a graphic image.

48. An interface device according to

claim 47

wherein the sensor comprises a radiation emitter and a radiation detector.

49. An interface device according to

claim 47

wherein the sensor is positioned within a pushable button.

50. An interface device according to

claim 49

further comprising a sensor capable of detecting when the button is pushed.

51. A method of interfacing a user with a computer running a simulation program, the method comprising:

inserting an instrument into an orifice;

detecting a position of the instrument;

providing visual feedback to the user based on the detected position; and

providing rotational force feedback to the user based on the detected position.

52. A method according to

claim 51

wherein the instrument is a mock surgical instrument.

53. A method according to

claim 51

wherein the instrument is inserted into the orifice to an insertion depth of at least about 100 cm.

55. A method according to

claim 51

wherein the instrument is a mock surgical instrument.

54. A method of interfacing a user with a computer running a simulation program, the method comprising:

inserting an instrument into an orifice, the instrument following an at least partially arcuate path;

detecting a position of the instrument; and

providing force feedback to the user through the instrument based on the detected position.