Device and method for simulating an examination or a surgical operation performed on a simulated organ

• US 5,909,380 A
• Filed: 12/31/1996
• Issued: 06/01/1999
• Est. Priority Date: 05/04/1994
• Status: Expired due to Fees

• Current Assignee: Centre Hospitalier Universitaire de Toulouse, Université de Liège, Université des Sciences et Technologies de Lille
• Original Assignee: Centre Hospitalier Universitaire de Toulouse, Université de Liège, Université des Sciences et Technologies de Lille
• Inventors: Karpf, Sylvain, Meseure, Philippe, Dubois, Patrick, Chaillou, Christophe, Rouland, Jean-Francois
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): Irshadullah, M.
• Application Number:
  US08/732,405
• Time in Patent Office: 882 Days
• Field of Search: 364/578, 351/205, 606/4, 606/10, 434/262
• US Class Current: 703/11
• CPC Class Codes: G06T 15/10 Geometric effects
• CPC Class Codes: G09B 23/28 for medicine

Abstract

A device for simulating a procedure on a simulated organ by an operator, which simulated organ is generated using at least one digitized photograph. The device includes a binocular for observing the organ, fitted with a control stage system, to displace the binocular in an orthonormal triaxial frame. The device further includes means for synthesizing a computer image of the simulated organ, which includes means for simulating a slit lamp, adjusting the dimensioning of the slit lamp, and means for simulating magnifying optics. The device further includes one or two miniaturized video screens, computing means generating the image and projecting it on the screen(s), and means for simulating a lens for examining the organ. A method for simulating a procedure on a simulating organ using at least one digitized photograph includes simulating a slit lamp, simulating magnifying optics, generating a video image, simulating a lens, so that changes in any of the parameters relating to the displacement of the binocular, adjustment of the slit lamp,(magnification, or the examination lens modifies the video image of the simulated organ in real-time.

Claims

1. A device (1) for simulating a procedure on a simulated organ by an operator, which simulated organ is generated using at least one digitized photograph, comprising:

a binocular (3), for observing the organ and fitted with a control stage system (4) actuated manually by the operator, said system being designed to displace the binocular in an orthonormal triaxial frame Ox, Oy, Oz;

wherein said device further comprises;

a simulation means, including means for synthesizing a computer image of the simulated organ, wherein said simulation means comprises;

means (8) for simulating a slit lamp and means (15) for simulating means for adjusting the dimensioning of said slit lamp which illuminates the organ;

means (8) for simulating magnifying optics;

one or two miniaturized video screens integral with the binocular;

computation means (8) which generates a video image of the simulated organ to be examined and projects said image onto said miniaturized video screen or screens; and

means for simulating a lens (16), for examining the organ, that is fitted with means (12) for manual actuation by an operator, which are designed to simulate the relative displacement of said simulated examination lens relative to said video image;

wherein said simulation means and said computation means are designed so that the changing by the operator of any one of the parameters relating to the displacement of the binocular, to the adjustment of the slit lamp, to the magnification or to the examination lens modifies the video image of the simulated organ in real-time.

2. The device according to claim 1, further comprising means for simulating a laser radiation, including a mobile control element actuated by the operator, and means for simulating the impact of said laser radiation on the organ when the operator acts on said mobile control element.

3. The device according to claim 2, wherein the means for simulating the laser radiation include means to simulate the size of the impact spot, and the intensity and the duration of said radiation, the mobile control element comprising means for adjusting the position of the impact spot on the video image of the simulated organ, said adjustment means comprising a micromanipulator designed to act on a simulated deflection mirror that can move about two perpendicular axes.

4. The device according to claim 1, wherein the means for simulating the slit lamp comprise means for simulating the height and the width of the slit, and means for simulating the power of the lamp.

5. The device according to claim 1, wherein the simulation means include a set of potentiometric sensors designed to encode the information describing said parameters or to transmit the information to said computation means.

6. The device according to claim 1, further comprising a single sensor consisting of a triaxial potentiometric system designed to register entirely in a reference frame, the absolute angular position of said manual actuation means which is designed to simulate the relative displacement of the examination lens relative to the video image of the organ.

7. The device according to claim 1, further comprising means for recording the performance of the simulated procedure on the organ.

8. The device according to claim 1, wherein the organ of which the synthesis means supply a computer image is a fundus of eye and wherein the simulated examination lens is a lens with three mirrors whose movements are described by three rotations, one about its axis of revolution and the other two about the center of the cornea of the eye whose fundus is simulated, respectively in a horizontal plane and in a vertical plane, the spherical optical lens being modelled by a circle in one plane and the three mirrors by three planes.

9. The device according to claim 1, wherein the computation means which generates a video image of the simulated fundus of eye to be examined is designed to generate such an image from the at least one digitized photograph, the eye model used being a sphere cut into facets, the iris of which is modelled by a flat ring.

10. The device according to claim 1, wherein the computation means which generates a video image of the eye is designed to reconstruct a complete image of the eye from a plurality of digitized photographs, by juxtaposing said photographs edge-to-edge while attempting to respect the continuity of the blood vessels.

11. A method for simulating a procedure on a simulated organ by an operator, which simulated organ is generated using at least one digitized photograph, said operator using a binocular, for observing the organ, which is fitted with a manually actuated control stage system and designed to displace the binocular in an orthonormal triaxial frame Ox, Oy, Oz, comprising:

simulating by computation the presence of a slit lamp and the dimensioning of said slit lamp;

simulating by computation magnifying optics;

generating by computation a video image of the simulated organ to be examined wherein said image is projected onto a miniaturized video screen integral with the binocular;

simulating by computation a lens for examining the simulated organ and the relative displacement of said simulated examination lens relative to said video image is simulated by actuation of a manual control by the operator, said simulations being designed so that the changing of any one of the parameters relating to the displacement of the binocular, to the adjustment of the slit lamp, to the magnification or to the examination lens modifies the video image of the simulated organ in real-time.

12. The method according to claim 11, further comprising the steps of simulating a laser radiation by computation, wherein the simulated operation and displacement are actuated by the operator acting on a mobile control element;

and

simulating by computation the impact of said laser radiation on the organ when the operator acts on said mobile control element.

13. The method according to claim 12, wherein during the simulation of the laser radiation, the size of the impact spot of said radiation, and its intensity and its duration are simulated by computation and the position of the impact spot on the video image of the simulated organ is adjusted by actuation on a micromanipulator designed to act on a simulated deflection mirror which can move about two perpendicular axes.

14. The method according to claim 12, wherein the impact of the laser radiation is integrated in a simulated video image, without plotting said image on the screen during a shot, and the dazzling observed after a laser shot is simulated by making the colors of the organ of said simulated video image reappear progressively.

15. The method according to claim 11, wherein during the simulation of the slit lamp, the height and the width of the slit and the power of the lamp are simulated.

16. The method according to claim 11, wherein the information describing said parameters is encoded by a set of sensors and is transmitted to the computation means, generating the video image of the simulated organ, which can project said simulated image onto said miniaturized screen integral with the binocular while modifying said image in real-time as a function of said parameters.

17. The method according to claim 11 wherein, to generate the video image of the simulated organ to be examined from an image data file relating to the organ, the method further comprises:

identifying four degrees of freedom for each pixel, the longitude (φ

), the latitude (θ

), the image rotation (ν

) and the separation (χ

);

calculating for each pixel, a function f(φ

, θ

, ν

, χ

), thereby obtaining a point in the map of the organ to be visualized, wherein this point is illuminated on a screen of a computer having a predefined color;

visually checking the matching coherence between adjacent files to be visualized on the screen; and

if the result is not satisfactory, changing the values of φ

, θ

, ν

, and χ and

reiterating the calculations and the display until the result is satisfactory, in which case the image is assembled.

18. The method according to claim 11, wherein the smoothing of the video image is generated by computing a plurality of image textures and by plotting the color of a pixel from a linear interpolation between two consecutive textures.

19. The method according to claim 11, wherein to plot one part of the simulated organ in another part belonging to said organ, the method further comprises polygon cutting employing the Sutherland-Hodgman algorithm.

20. The method according to claim 11, wherein the angular position of the actuated manual control is fully registered in order to simulate the relative displacement of the simulated examination lens by a single sensor.

21. The method according to claim 11, wherein the performance of the simulated intervention on the organ is recorded.

22. The method according to claim 11, wherein the organ is the fundus of eye and, in order to simulate the examination lens, the method further comprises simulating a lens with three mirrors, the movements of which are described by three rotations, one about its axis of revolution and the other two about the center of the cornea of the simulated fundus of eye, respectively in a horizontal plane and in a vertical plane, by modelling the spherical optical lens by a circle in a plane and the three mirrors by three planes.

23. The method according to claim 22, wherein a video image of the simulated eye to be examined is generated from the at least one digitized photograph, the eye model used being a sphere cut into facets, the iris of which is modelled by a flat ring.

24. The method according to claim 23, wherein said video image of the eye is generated by reconstructing a complete image of the eye from a plurality of digitized photographs and by juxtaposing the said photographs edge-to-edge while attempting to respect the continuity of the blood vessels.