Devices and Methods for Utilizing Mechanical Surgical Devices in a Virtual Environment

• US 20100291520A1
• Filed: 11/03/2007
• Published: 11/18/2010
• Est. Priority Date: 11/06/2006
• Status: Active Grant

• Current Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Original Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Inventors: Kurenov, Sergei N., Cendan, Juan Carlos, Peters, Jorg
• Granted Patent: US 8,834,170 B2
• Time in Patent Office: Days
• US Class Current: 434/262
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0491 Sewing machines for surgery
• CPC Class Codes: A61B 2017/00371 Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Devices and methods that combine an actual surgical instrument handle, for example the handle of an AutoSuture EndoStitch™ device, with a force feedback generator able to create resistance to motion similar to that encountered in a real operating environment. The devices and methods provide a means for repeatedly performing maneuvers that accurately simulate the actual instrument, but in a virtual environment. The devices have haptic capabilities and collision detection so that the virtual device, such as the needle driver of the EndoStitch™ device, is “aware” of instrument contact.

Claims

1. A system for creating an interactive virtual model of a surgical suturing instrument comprising:

an input device that can be manipulated similarly or identically to a suturing instrument such that manipulations of the input device generate at least one signal that corresponds to a similar or identical at least one manipulation of the suturing instrument;

at least one haptic feedback device in operable connection with the input device, such that the at least one signal is transmitted to the at least one haptic feedback device and wherein the haptic feedback device can transmit information to the input device;

a video display device in operable connection with the at least one haptic feedback device wherein information from the at least one haptic feedback device is transmitted to the video display device;

a computer application stored on a computer readable medium accessible by the video display device that, when executed,

generates a virtual model on the viewing apparatus of at least a portion of a working tip of the suturing instrument corresponding to the input device;

interpretes information received from the at least one haptic feedback device;

modifies the virtual model display on the video display device in response to information from the haptic feedback device; and

transmits information to the haptic feedback device that causes a haptic response to be transmitted to the input device that corresponds to the modified virtual model display,

such that the manipulations of the input device correspond to and cause modification of the display of the virtual model of the working tip of the suturing instrument

2. The system, according to claim 1, wherein the input device operates similarly or identically to a laparoscopic suturing instrument.

3. The system, according to claim 2, wherein the input device operates similarly or identically to an AutoSuture®

EndoStitch™

laparoscopic suturing instrument.

4. The system, according to claim 1, wherein the working tip displayed in the virtual environment on the video display device resembles that of an AutoSuture®

EndoStitch™

laparoscopic suturing instrument.

5. The system, according to claim 1, wherein the video display device is a computer monitor.

6. The system, according to claim 1, wherein the haptic feedback device is a Phantom®

Omni™

(SensAble Technologies) haptic device.

7. A system for creating an interactive virtual model of a surgical suturing instrument comprising:

an input device incorporating at least a portion of the handle of a surgical suturing instrument, modified to generate at least one signal that corresponds to at least one manipulation or movement of the suturing instrument;

at least one haptic feedback device in operable connection to the input device, such that the at least one signal is transmitted to the at least one haptic feedback device;

a video display device operably connected to the haptic feedback device wherein information from the haptic feedback device, corresponding to the at least one signal, is transmitted to the video display device;

a computer application stored on a computer readable medium and accessible by the video display device, that, when executed,

generates a virtual model on the video display device of at least a portion of the working tip corresponding to the modified suturing instrument handle used an the input device,

generates a virtual model on the video display device of at least one object that can interact with and/or be manipulated by the virtual model of the working tip,

interpretes the information received from the haptic feedback device and modifies at least one of the virtual models displayed on the video display device in response thereto,

transmits information to the haptic feedback device pertaining to the modified virtual model displays that causes a haptic response to be transmitted to the input device that corresponds to the virtual model displays,

such that the manipulations of the input device correspond to and can cause modification of the display of the virtual models.

8. The system, according to claim 7, wherein the at least one virtual object is an internal organ or tissue.

9. The system, according to claim 7, wherein the input device is the modified handle of an AutoSuture®

EndoStitch™

suturing instrument.

10. The system, according to claim 9, wherein the display of the virtual working tip includes at least the upper and lower jaw, and corresponding suturing needle, of the suturing instrument.

11. The system, according to claim 10, wherein the display of the virtual working tip corresponds, in approximately real time, to the manipulations of the modified handle.

12. The system, according to claim 9, wherein the input device comprises an instrument handle modified with at least one microswitch that transmits a signal to the haptic device when the input device is manipulated.

13. The system, according to claim 12, wherein at least one microswitch is utilized to detect at least one manipulation of a sliding lever.

14. The system, according to claim 12, wherein at least one microswitch is utilized to detect at least one manipulation of a handle arm.

15. The system, according to claim 12, wherein the operable connection of the modified handle to the haptic device is by electrical connection.

16. The system, according to claim 12, wherein the electrical connection is facilitated by an electric jack.

17. A method for interactive virtual suturing comprising:

utilizing, as an input device, at least a portion of the handle of a surgical suturing instrument modified to generate at least one signal corresponding to at least one manipulation or movement of the handle of the suturing instrument and to provide at least one haptic response corresponding to said signal;

operably connecting the input device to a video display device such that the at least one signal is transmitted to the video display device;

utilizing a computer application stored on a computer readable medium and accessible by the video display device, that, when executed,

generates a virtual model, on the video display device, of at least a portion of the working tip corresponding to the input device,

generates a virtual model, on the video display device, of a suture needle that can be utilized with the working tip of the instrument,

generates, on the video display device, an interactive virtual suture by, determining the location of the virtual suture needle;

associating a first mass point with the virtual suture needle,

generating one or more sequential mass points from the first mass point, with connectivity links there between; and

modifying the display of the virtual suture, as the location of the suture needle changes in the virtual environment, by updating the location of sequential mass points based upon the connectivity links,

generates a virtual model of at least one object that can be manipulated by the virtual model of the suturing instrument and suture,

interpretes the at least one signal received from the input device and modifies at least one of the virtual models displayed on the video display device in response thereto,

transmits information to the input device pertaining to the modified display of at least one of the virtual models that causes a haptic response in the modified handle that corresponds to the virtual model displays,

such that the manipulations of the modified handle correspond to and can cause modification of the display of at least one of the virtual models and where such modification can generate a haptic response by the modified handle.

18. The method, according to claim 17, wherein the input device is the modified handle of an AutoSuture®

EndoStitch™

suturing instrument.

19. The method, according to claim 17, wherein the at least one haptic device is a Phantom®

Omni™

(SensAble Technologies) haptic device

20. The method, according to claim 18, wherein the virtual model of the suture needle corresponds to the AutoSuture®

EndoStitch™

suturing instrument needle.

21. The method, according to claim 17, further comprising a Follow-the-Leader algorithm to generate the one or more sequential mass points with connectivity links therebetween.

22. The method, according to claim 17, wherein the display of the virtual working tip corresponds, in approximately real time, to the manipulations of the modified handle.

23. The method, according to claim 18, wherein the modified handle of the AutoSuture®

EndoStitch™

suturing instrument comprises at least one microswitch that transmits a signal to the haptic device when the handle is manipulated.

24. The method, according to claim 23, wherein at least one microswitch is utilized to detect at least one manipulation of a sliding lever of the AutoSuture®

EndoStitch™

suturing instrument.

25. The method, according to claim 23, wherein at least one microswitch is utilized to detect at least one manipulation of a handle arm of the AutoSuture®

EndoStitch™

suturing instrument.