Endoscopic tutorial system for urology
First Claim
1. A system for performing a simulated medical urological endoscopy procedure, comprising:
- (a) at least a portion of a simulated urological organ system;
(b) a simulated endoscope for performing the simulated medical urological endoscopy procedure on said at least a portion of said simulated urological organ system;
(c) a locator for determining a location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system;
(d) a visual processing and display system for displaying images according to said location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system for providing visual feedback, such that said images simulate actual visual data received during an actual medical procedure as performed on an actual subject; and
(e) a plurality of mathematical models for modeling said at least a portion of a simulated urological organ system according to a corresponding at least a portion of an actual urological organ system, wherein each mathematical model features a path, said path corresponding to a branch of an actual urological organ system, and wherein said visual processing and display system selects a mathematical model according to said location of said simulated endoscope and selects said images according to said mathematical model.
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Accused Products
Abstract
A method and a system for simulating the minimally invasive medical procedure of urological endoscopy. The system is designed to simulate the actual medical procedure of urological endoscopy as closely as possible by providing both a simulated medical instrument, and tactile and visual feedback as the simulated procedure is performed on the simulated patient. Particularly preferred features include a multi-path solution for virtual navigation in a complex anatomy, the simulation of the effect of the beating heart on the urethra as it crosses the illiac vessel, and the simulated operation of a guidewire within the urethra In addition, the system and method optionally and more preferably incorporate the effect of dynamic contrast injection of dye into the urethra for fluoroscopy. The injection of such dye, and the subsequent visualization of the urological organ system in the presence of the endoscope, must be accurately simulated in terms of accurate visual feedback. Thus, the system and method provide a complete solution to the complex and difficult problem of training students in urological endoscopy procedures.
94 Citations
57 Claims
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1. A system for performing a simulated medical urological endoscopy procedure, comprising:
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(a) at least a portion of a simulated urological organ system;
(b) a simulated endoscope for performing the simulated medical urological endoscopy procedure on said at least a portion of said simulated urological organ system;
(c) a locator for determining a location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system;
(d) a visual processing and display system for displaying images according to said location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system for providing visual feedback, such that said images simulate actual visual data received during an actual medical procedure as performed on an actual subject; and
(e) a plurality of mathematical models for modeling said at least a portion of a simulated urological organ system according to a corresponding at least a portion of an actual urological organ system, wherein each mathematical model features a path, said path corresponding to a branch of an actual urological organ system, and wherein said visual processing and display system selects a mathematical model according to said location of said simulated endoscope and selects said images according to said mathematical model. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22)
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23. A method for performing a simulated endoscopic procedure on a simulated urological organ system, comprising:
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providing a system for performing the simulated endoscopic procedure;
providing a model for modeling said simulated urological organ system, wherein said model includes at least one path for representing at least one branch of said simulated urological organ system and wherein each path is modeled by a spline;
inserting said simulated endoscope into said simulated urological organ system;
determining a location of said simulated endoscope within said simulated urological organ system;
selecting visual feedback according to said location and said mathematical model;
displaying visual feedback as a displayed image; and
receiving tactile feedback according to said location of said endoscope within said urological organ system and according to said mathematical model. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40)
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41. A method for performing a simulated endoscopic procedure on a simulated urological organ system with a simulated guidewire, the method comprising:
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generating a model for modeling the urological organ system, wherein said model comprises a plurality of splines, each spline representing a portion of the urological organ system;
inserting the guidewire into a ureteral opening of the simulated urological organ system;
selecting an appropriate spline from said plurality of splines according to a location of the guidewire in the simulated urological organ system;
generating a similar spline according to said selected spline and to said location to form a spline key; and
modeling at least said initial portion of the simulated urological organ system according to said spline key. - View Dependent Claims (42, 43, 44, 45, 46, 47)
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48. A method for performing a simulated endoscopic procedure on a simulated urological organ system, comprising:
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providing a system for performing the simulated endoscopic procedure;
providing a model for modeling said simulated urological organ system, wherein said model includes at least one path for representing at least one branch of said simulated urological organ system;
inserting said simulated endoscope into said simulated urological organ system;
determining a location of said simulated endoscope within said simulated urological organ system;
selecting visual feedback according to said location and said mathematical model;
displaying visual feedback as a displayed image; and
receiving tactile feedback according to said location of said endoscope within said urological organ system.
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49. A method for modeling pulsation through a simulated lumen for simulation of an urological organ procedure, the lumen moving to a plurality of positions during each pulse, the method comprising:
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providing a simulated tool for being inserted into the lumen;
creating a plurality of pre-defined mathematical models of the lumen, each model describing a position of the lumen during the pulse;
determining a location of said simulated tool within the lumen;
electing said pre-defined mathematical model according to said location; and
selecting visual feedback according to said pre-defined mathematical model.
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50. A system for performing a simulated medical urological endoscopy procedure, comprising:
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(a) at least a portion of a simulated urological organ system;
(b) a simulated endoscope for performing the simulated medical urological endoscopy procedure on said at least a portion of said simulated urological organ system;
(c) a locator for determining a location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system;
(d) a visual processing and display system for displaying images according to said location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system for providing visual feedback, such that said images simulate actual visual data received during an actual medical procedure as performed on an actual subject; and
(e) a mathematical model for modeling said at least a portion of a simulated urological organ system according to a corresponding at least a portion of an actual urological organ system, wherein said mathematical model features at least one spline, and wherein said visual processing and display system selects said images according to said mathematical model.
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51. A system for performing a simulated medical urological endoscopy procedure, comprising:
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(a) at least a portion of a simulated urological organ system;
(b) a simulated endoscope for performing the simulated medical urological endoscopy procedure on said at least a portion of said simulated urological organ system;
(c) a locator for determining a location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system;
(d) a visual processing and display system for displaying images according to said location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system for providing visual feedback, such that said images simulate actual visual data received during an actual medical procedure as performed on an actual subject; and
(e) a mathematical model for modeling said at least a portion of a simulated urological organ system according to a corresponding at least a portion of an actual urological organ system, wherein said mathematical model features a plurality of paths, each path corresponding to a branch of an actual urological organ system, and wherein said visual processing and display system selects said images according to said mathematical model.
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52. A system for performing a simulated medical urological endoscopy procedure, comprising:
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(a) a simulated urological organ system for simulating the entirety of an actual urological organ system;
(b) a simulated endoscope for performing the simulated medical urological endoscopy procedure on said simulated urological organ system;
(c) a locator for determining a location of said simulated endoscope within said simulated urological organ system and for determining an orientation of said simulated endoscope within said simulated urological organ system; and
(d) a visual processing and display system for displaying images according to said location and said orientation of said simulated endoscope within said simulated urological organ system for providing visual feedback, such that said images simulate actual visual data received during an actual medical procedure as performed on an actual subject.
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53. A method for simulating a fluoroscopic procedure for diagnostic radiology within a simulated urological organ system, comprising:
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providing a three-dimensional model of at least a portion of the urological organ system, wherein said model comprises a plurality of vertices and a plurality of edges for connecting said vertices, and wherein each triplet of edges forms a triangle;
providing a virtual tool for navigating in the simulated urological organ system;
assigning each vertex of each triangle a value corresponding to distance of said vertex from said virtual tool;
determining whether said value is positive, according to whether said triangle is facing said virtual tool;
interpolating said values of said vertices;
adding said interpolated values to generate each pixel; and
displaying said pixels for simulating the fluorscopic procedure. - View Dependent Claims (54, 55, 56, 57)
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Specification