System for training persons to perform minimally invasive surgical procedures

• US 6,062,865 A
• Filed: 08/25/1998
• Issued: 05/16/2000
• 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): Hafer, Robert A.
• Assistant Examiner(s): Rovnak, John Edmund
• Application Number:
  US09/140,723
• Time in Patent Office: 630 Days
• Field of Search: 434/262, 434/267, 434/272, 364/801, 364/578
• 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 having a natural cycle, 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 relative to said housing;

sensor means for monitoring the location of said implement relative to said housing;

a computer model of the internal landscape of said patient Is having;

a) a series of video frames showing images of the patient'"'"'s internal landscape through a cycle having a first and second limiting states;

b) a first array of points indicating the path for insertion of said implement in the video frame showing the patient'"'"'s internal landscape in said first limiting state;

c) a second array of points indicating the path for insertion of said implement in the video frame showing the patient'"'"'s internal landscape in said second limiting state;

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

e) 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

f) 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 patients internal landscape, using said determined limits of pathway;

display means for displaying said superimposed images of said computer-generated two-dimensional image of said implement with said video frames of said patient'"'"'s internal landscape; and

a processor for interpreting the sensor data of said implement'"'"'s location and orientation to determine the location controlling said display means to create a visual simulation for said display using said computer model.

2. The system of claim 1 wherein said sensor means comprises means for sensing the axial rotation of said implement relative to said housing.

3. The system of claim 1 further comprising means for detecting the amount of axial force applied to said implement.

4. The system of claim 1 further comprising connection means for restricting the motion of said implement within said housing to a predetermined axis relative to said housing.

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

6. The system of claim 1 wherein said implement contains internal components which may be independently manipulated, and wherein said sensor means comprises means for sensing the axial motion of said implement'"'"'s internal components relative to said housing.

7. The system of claim 1 wherein said cycle comprises the patient'"'"'s breathing cycle.

8. The system of claim 1 wherein said cycle comprises the patient'"'"'s heartbeat cycle.

9. The device of claim 1 further comprising force feedback means to create a tactile force feedback to said implement simulating restrictions encountered in said surgical procedure.

10. 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 having a natural cycle, 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 relative to said housing;

sensor means for monitoring the location of said implement relative to said housing;

a computer model of the internal landscape of said patient having;

a) a series of video frames showing images of the patient'"'"'s internal landscape through said cycle;

b) means for determining the range of movement of the path for insertion of said implement path throughout said cycle;

c) 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 path for insertion; and

d) 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;

display means for displaying said superimposed image of said computer-generated two-dimensional image of said implement with said video frames of said patient'"'"'s internal landscape; and

a processor controlling said display means to create a visual simulation for said display using said computer model.

11. The system of claim 10 wherein said sensor means comprises means for sensing the axial rotation of said implement relative to said housing.

12. The system of claim 10 further comprising means for detecting the amount of axial force applied to said implement.

13. The system of claim 10 further comprising connection means for restricting the motion of said implement within said housing to a predetermined axis relative to said housing.

14. The system of claim 10 wherein said implement contains internal components which may be independently manipulated, and wherein said sensor means comprises means for sensing the axial rotation of said implement'"'"'s internal components relative to said housing.

15. The system of claim 10 wherein said cycle comprises the patient'"'"'s breathing cycle.

16. The system of claim 10 wherein said cycle comprises the patient'"'"'s heartbeat cycle.

17. The device of claim 10 further comprising force feedback means to create a tactile force feedback to said implement simulating restrictions encountered in said surgical procedure.