System for training persons to perform minimally invasive surgical procedures

• US 5,800,179 A
• Filed: 07/23/1996
• Issued: 09/01/1998
• Est. Priority Date: 07/23/1996
• Status: Expired due to Term

• Current Assignee: Medical Simulation Corporation
• Original Assignee: Medical Simulation Corporation
• Inventors: Bailey, Bradford E.
• Primary Examiner(s): Apley, Richard J.
• Assistant Examiner(s): ROVNAK, JOHN EDMUND
• Application Number:
  US08/681,455
• Time in Patent Office: 770 Days
• Field of Search: 318/568.16, 318/628, 318/568.11, 318/568.1, 364/174, 364/188, 364/190, 364/223.3, 364/224.5, 364/226.2, 364/559, 364/801, 364/578, 901/9, 395/99, 434/262, 434/267, 434/272
• US Class Current: 434/262
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

A system for producing highly realistic, real-time simulated operating conditions for interactive training of persons to perform minimally invasive surgical procedures involving implements that are inserted and manipulated through small incisions in the patient. The virtual environment for this training system includes a housing with a small opening. An implement simulating a surgical implement is inserted into the opening and manipulated relative to the housing. A movement guide and sensor assembly monitors the location of the implement relative to the housing and provides data about the implement'"'"'s location and orientation within the housing. The reported data is interpolated by a computer processor, which utilizes a database of information representing a patient'"'"'s internal landscape to create a computer model of the internal landscape of the patient. With reference to this computer model, the processor controls the occurrence of force feedback opposing the motion of the implement. A two-dimensional image representing the implement as it would appear within the patient is generated by a processor-controlled video imaging system based on the computer model of the patient'"'"'s internal landscape. This computer image of the implement is then merged with a video image loop of a patient'"'"'s internal landscape as it appears through a heartbeat and breathing cycle, and the merged image is displayed on a video display. The combined elements of real-time visual representation and interactive tactile force feedback provide a virtual training simulation with all elements of actual operation conditions, minus a live patient.

Claims

1. A system for training persons to perform a minimally invasive surgical procedure using a surgical implement that is inserted and manipulated through a small incision in a patient, said system comprising:

a housing with an opening;

an implement for simulating said surgical implement that is manually inserted through said opening in said housing and manipulated axially and rotationally relative to said housing;

a movement guide and sensor assembly for monitoring the position of said implement relative to said housing, said movement guide and sensor assembly having;

a) a guide cable;

b) a guide rail proximate to said guide cable;

c) a framed assembly mounted on said guide rail for restricting the linear motion of said implement as it is moved relative to said housing to a predetermined axis;

d) a rotation sensor affixed to said implement for monitoring the axial rotation of said implement relative to said housing;

e) a position sensor on said guide rail for monitoring the axial position of said framed assembly; and

f) a connection means connecting said guide cable and said framed assembly, such that motion of the framed assembly along the guide rail imparts motion to the guide cable;

a force feedback system for producing an adjustable force opposing the motion of said implement having;

a) an applied force sensor sensing applied force to said implement; and

b) a servo motor applying a torque to said guide cable, which by connection of said connection means to said framed assembly attached to said guide rail, imparts a resistive force to linear motion of said implement;

a display;

a video imaging system for producing a video image simulation of said implement superimposed on a visual representation of the patient'"'"'s internal landscape; and

a processor for interpreting the data from said rotation sensor and said position sensor to determine the location and occurrence of force feedback to said implement, said force feedback created by said processor controlling said servo motor in response to said sensed applied force, said processor also controlling said video imaging system to create a visual simulation for said display.

2. The system of claim 1, further comprising means for detecting the amount of axial force applied to said implement by the training person.

3. The system of claim 1, wherein said processor further comprises means for producing a visual display image depicting the patient'"'"'s internal landscape with a superimposed two-dimensional image of said implement, said display image incorporating the effect of heartbeat and breathing cycle upon the appearance of both said internal landscape and said two-dimensional image of said implement.

4. The system of claim 1 wherein said implement contains internal components which may be independently manipulated, and wherein said movement guide and sensor means further comprises means for sensing axial rotation of said implement'"'"'s internal components relative to said housing.

5. The system of claim 3 wherein said means for producing a visual image depicting the patient'"'"'s internal landscape further comprises a computer model having:

a series of video frames showing images of the patient'"'"'s internal landscape through a breathing and heartbeat cycle;

a first array of points indicating the path for insertion of said implement in the video frame showing the patient'"'"'s chest fully contracted;

a second array of points indicating the path for insertion of said implement in the video frame showing the patient'"'"'s chest fully expanded;

means for determining the limits of said implement'"'"'s pathway and movement within the internal landscape based on said first array of points when fully contracted and said second array of points when fully expanded;

means for creating two-dimensional computer images of said implement in shape and contour as indicated by the sensed position and orientation of said implement in relation to said determined limits of pathway; and

means for superimposing said two-dimensional images of said implement on said video frames by interpolating the location of said implement and corresponding video frame of said patient'"'"'s internal landscape, using said determined limits of pathway.