Interventional radiology interface apparatus and method

• US 6,106,301 A
• Filed: 09/04/1997
• Issued: 08/22/2000
• Est. Priority Date: 09/04/1996
• Status: Expired due to Term

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: HT Medical Systems Incorporated
• Inventors: Merril, Gregory L.
• Primary Examiner(s): Harrison, Jessica J.
• Assistant Examiner(s): Clayton, Sheila
• Application Number:
  US08/923,477
• Time in Patent Office: 1,083 Days
• Field of Search: 434/262, 434/263, 434/28
• US Class Current: 434/262
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 34/20 Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

An interventional radiology interface apparatus and method interfaces peripherals in the form of mock medical instruments to a medical procedure simulation system to enable performance of a medical procedure on a virtual patient. The interface apparatus includes a guidewire, catheter and sheath, an injection syringe, an inflation syringe and a foot switch to realistically simulate the instruments utilized during an actual medical procedure. A user manipulates guidewire, catheter and sheath peripherals to traverse an arterial network toward a simulated blockage shown on the medical procedure simulation system display. The foot switch controls the display to provide a fluoroscope image showing the position of the guidewire, catheter, sheath and blockage within the arterial network. The injection syringe may be manipulated to simulate injections of contrast fluid or other pharmaceutical substances through the catheter or sheath into the virtual patient. When a guidewire is positioned past the simulated blockage within the arterial network, the catheter is exchanged for a balloon-tipped angioplasty catheter, and the inflation syringe is manipulated to simulate inflation of the balloon to reduce the blockage. In addition, the interface apparatus may apply force feedback to the guidewire and catheter to simulate forces encountered by these instruments during an actual medical procedure. The interface apparatus measures peripheral manipulation and transfers these measurements via a processor to the medical procedure simulation system to enable simulation of the medical procedure.

Claims

1. An interface device for use with a simulation system to enable a user to interact with the simulation system to perform a medical procedure on a simulated anatomy of a virtual patient, said interface device comprising:

at least one navigation peripheral capable of selective manipulation by the user and providing navigation information associated with said manipulation to said interface device for transmission to the simulation system for enabling the simulation system to simulate traversal of a corresponding navigation instrument through the simulated anatomy in accordance with said manipulation; and

an inflation peripheral selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument to provide information associated with a balloon inflation level of said navigation instrument balloon resulting from manipulation of said inflation peripheral to said interface device for transmission to the simulation system for enabling the simulation system to simulate incremental inflation of the navigation instrument balloon in accordance with said balloon inflation level and manipulation of said inflation peripheral.

2. The device of claim 1 further including at least one navigation peripheral tracking unit associated with said at least one navigation peripheral to measure manipulation of that navigation peripheral.

3. The device of claim 1 further including:

at least one tactile feedback unit associated with a corresponding navigation peripheral to apply force to that navigation peripheral to simulate forces encountered by the corresponding navigation instrument during a medical procedure.

4. The device of claim 3 further including a processor to control each tactile feedback unit to apply a force to said corresponding navigation peripheral corresponding to forces encountered by the corresponding navigation instrument during a medical procedure, and each tactile feedback unit includes:

a force applicator disposed proximate said corresponding navigation peripheral to apply force to said corresponding navigation peripheral; and

a force sensor to measure the force applied by said force applicator to said corresponding navigation peripheral;

wherein said processor is responsive to force measurement from said force sensor to control said force applicator.

5. An interface device for use with a simulation system to enable a user to interact with the simulation system to perform a medical procedure on a simulated anatomy of a virtual patient, said interface device comprising:

at least one navigation peripheral capable of selective manipulation by the user and providing navigation information associated with said manipulation to said interface device for transmission to the simulation system for enabling the simulation system to simulate traversal of a corresponding navigation instrument through the simulated anatomy in accordance with said manipulation;

an inflation peripheral selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument to provide information associated with manipulation of said inflation peripheral to said interface device for transmission to the simulation system for enabling the simulation system to simulate inflation of the navigation instrument balloon in accordance with manipulation of said inflation peripheral; and

an injection peripheral selectively manipulable by the user to provide injection information associated with manipulation of said injection peripheral to said interface device for transmission to the simulation system to enable the simulation system to simulate injection of fluids within the simulated anatomy in accordance with manipulation of said injection peripheral.

6. The device of claim 5 further including a foot switch to control a simulation system display.

7. The device of claim 5 wherein said injection peripheral includes an injection syringe, and said interface device further includes a syringe tracking unit to measure manipulation of said injection syringe.

8. An interface device for use with a simulation system to enable a user to interact with the simulation system to perform a medical procedure on a simulated anatomy of a virtual patient, said interface device comprising:

a plurality of arterial network navigation peripherals each selectively manipulable by the user and associated with a corresponding arterial network navigation instrument to provide navigation information associated with manipulation of that navigation peripheral to said interface device for transmission to the simulation system for enabling the simulation system to simulate simultaneous navigation of said corresponding arterial network navigation instruments through an arterial network of the simulated anatomy in accordance with manipulation of said associated navigation peripherals.

9. An interface device for use with a simulation system to enable a user to interact with the simulation system to perform a medical procedure on a simulated anatomy of a virtual patient, said interface device comprising:

a plurality of navigation peripherals each selectively manipulable by the user and providing navigation information associated with manipulation of that navigation peripheral to said interface device for transmission to the simulation system for enabling the simulation system to simulate traversal of a corresponding navigation instrument through the simulated anatomy in accordance with manipulation of that navigation peripheral, wherein said plurality of navigation peripherals includes;

a guidewire to provide said navigation information associated with manipulation of said guidewire to said interface device for transmission to the simulation system for enabling the simulation system to simulate traversal of a corresponding guidewire instrument through the simulated anatomy in accordance with manipulation of said guidewire;

a catheter to provide said navigation information associated with manipulation of said catheter to said interface device for transmission to the simulation system for enabling the simulation system to simulate traversal of a corresponding catheter instrument through the simulated anatomy in accordance with manipulation of said catheter; and

a sheath to provide said navigation information associated with manipulation of said sheath to said interface device for transmission to the simulation system for enabling the simulation system to simulate traversal of a corresponding sheath instrument through the simulated anatomy in accordance with manipulation of said sheath.

10. The device of claim 9 further including:

an inflation peripheral selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument to provide information associated with manipulation of said inflation peripheral to said interface device for transmission to the simulation system for enabling the simulation system to simulate inflation of the navigation instrument balloon in accordance with manipulation of said inflation peripheral.

11. An interface device for use with a simulation system to enable a user to interact with the simulation system to perform a medical procedure on a simulated anatomy of a virtual patient, said interface device comprising:

an inflation peripheral selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument to provide information associated with a balloon inflation level of said navigation instrument balloon resulting from manipulation of said inflation peripheral to said interface device for transmission to the simulation system for enabling the simulation system to simulate incremental inflation of the navigation instrument balloon in accordance with said balloon inflation level and manipulation of said inflation peripheral.

12. An interface device for use with a simulation system to enable a user to interact with the simulation system to perform a medical procedure on a simulated anatomy of a virtual patient, said interface device comprising:

at least one navigation peripheral selectively manipulable by the user and providing navigation information associated with manipulation of that navigation peripheral to said interface device for transmission to the simulation system to enable the simulation system to simulate traversal of a corresponding navigation instrument through the simulated anatomy in accordance with said manipulation;

at least one tactile feedback unit wherein each tactile feedback unit is associated with a corresponding navigation peripheral to apply force to that navigation peripheral to simulate forces encountered by the corresponding navigation instrument during a medical procedure; and

a processor to control each tactile feedback unit to apply a force to said corresponding navigation peripheral corresponding to forces encountered by the corresponding navigation instrument during a medical procedure, wherein said processor controls each tactile feedback unit in response to the simulation system determining said force to apply to said corresponding navigation peripheral, and each tactile feedback unit includes;

a force applicator disposed proximate said corresponding navigation peripheral to apply force to said corresponding navigation peripheral; and

a force sensor to measure the force directly applied by said force applicator to said corresponding navigation peripheral and to provide said force measurement to said processor;

wherein said processor controls said force applicator to apply said force determined by the simulation system to said corresponding navigation peripheral by adjusting force applied by said force applicator to said corresponding navigation peripheral based on the force measurement from said force sensor.

13. A method to enable a user to interact with a simulation system via an interface device to perform a medical procedure on a simulated anatomy of a virtual patient, wherein the interface device interfaces user manipulable peripherals to the simulation system, said method comprising the steps of:

(a) interfacing at least one navigation peripheral to the interface device, said at least one navigation peripheral being selectively manipulable by the user and associated with a corresponding navigation instrument;

(b) interfacing an inflation peripheral to the interface device wherein the inflation peripheral is selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument;

(c) measuring manipulation of each navigation peripheral and the inflation peripheral via the interface device, wherein the measured manipulation of the inflation peripheral provides information associated with a balloon inflation level of the navigation instrument balloon resulting from manipulation of the inflation peripheral;

(d) transmitting the manipulation measurement for said at least one navigation peripheral from the interface device to the simulation system to enable the simulation system to simulate traversal of the corresponding navigation instrument associated with said at least one navigation peripheral through the simulated anatomy in accordance with manipulation of that navigation peripheral; and

(e) transmitting the manipulation measurement for the inflation peripheral from the interface device to the simulation system to enable the simulation system to simulate incremental inflation of the navigation instrument balloon in accordance with the balloon inflation level and manipulation of the inflation peripheral.

14. The method of claim 13 further including the step of:

(f) applying force to a corresponding navigation peripheral to simulate forces encountered by the corresponding navigation instrument during a medical procedure.

15. The method of claim 14 wherein step (f) further includes the steps of:

(f.1) disposing a force applicator proximate the corresponding navigation peripheral;

(f.2) applying force to the corresponding navigation peripheral via the force applicator;

(f.3) measuring the force applied by the force applicator to the corresponding navigation peripheral via a force sensor; and

(f.4) controlling the force applicator based on the force measurement.

16. A method to enable a user to interact with a simulation system via an interface device to perform a medical procedure on a simulated anatomy of a virtual patient, wherein the interface device interfaces user manipulable peripherals to the simulation system, said method comprising the steps of:

(a) interfacing at least one navigation peripheral to the interface device, said at least one navigation peripheral being selectively manipulable by the user and associated with a corresponding navigation instrument;

(b) interfacing an inflation peripheral to the interface device wherein the inflation peripheral is selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument;

(c) measuring manipulation of each navigation peripheral and the inflation peripheral via the interface device;

(d) transmitting the manipulation measurement for said at least one navigation peripheral from the interface device to the simulation system to enable the simulation system to simulate traversal of the corresponding navigation instrument associated with said at least one navigation peripheral through the simulated anatomy in accordance with manipulation of that navigation peripheral;

(e) transmitting the manipulation measurement for the inflation peripheral from the interface device to the simulation system to enable the simulation system to simulate inflation of the navigation instrument balloon in accordance with manipulation of the inflation peripheral;

(f) interfacing an injection peripheral selectively manipulable by the user to the interface device;

(g) measuring manipulation of the injection peripheral via the interface device; and

(h) transmitting the manipulation measurement for the injection peripheral from the interface device to the simulation system to enable the simulation system to simulate injection of fluids within the simulated anatomy in accordance with manipulation of the injection peripheral.

17. The method of claim 16 further including the step of:

(i) interfacing a foot switch to the simulation system via the interface device to control a simulation system display.

18. A method to enable a user to interact with a simulation system via an interface device to perform a medical procedure on a simulated anatomy of a virtual patient, wherein the interface device interfaces user manipulable peripherals to the simulation system, said method comprising the steps of:

(a) interfacing a plurality of arterial network navigation peripherals to the interface device wherein each arterial network navigation peripheral is selectively manipulable by the user and associated with a corresponding instrument for navigating through an arterial network;

(b) measuring manipulation of each arterial network navigation peripheral via the interface device; and

(c) transmitting the manipulation measurement for each arterial network navigation peripheral from the interface device to the simulation system to enable the simulation system to simulate simultaneous navigation of the corresponding arterial network navigation instruments through an arterial network of the simulated anatomy in accordance with manipulation of the associated arterial network navigation peripherals.

19. A method to enable a user to interact with a simulation system via an interface device to perform a medical procedure on a simulated anatomy of a virtual patient, wherein the interface device interfaces user manipulable peripherals to the simulation system, said method comprising the steps of:

(a) interfacing a plurality of navigation peripherals in the form of a guidewire, catheter and sheath to the interface device wherein each navigation peripheral is selectively manipulable by the user and associated with a corresponding navigation instrument;

(b) measuring manipulation of the guidewire, catheter and sheath via the interface device; and

(c) transmitting the manipulation measurements for the guidewire catheter and sheath from the interface device to the simulation system to enable the simulation system to respectively simulate traversal of corresponding guidewire, catheter and sheath instruments through the simulated anatomy in accordance with manipulation of the guidewire, catheter and sheath.

20. The method of claim 19 further including the steps of:

(d) interfacing an inflation peripheral to the interface device wherein the inflation peripheral is selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument;

(e) measuring manipulation of the inflation peripheral via the interface device; and

(f) transmitting the manipulation measurement for the inflation peripheral from the interface device to the simulation system to enable the simulation system to simulate inflation of the navigation instrument balloon in accordance with manipulation of the inflation peripheral.

21. A method to enable a user to interact with a simulation system via an interface device to perform a medical procedure on a simulated anatomy of a virtual patient, wherein the interface device interfaces user manipulable peripherals to the simulation system, said method comprising the steps of:

(a) interfacing an inflation peripheral to the interface device wherein the inflation peripheral is selectively manipulable by the user and associated with a navigation instrument balloon disposed at a distal end of a navigation instrument;

(b) measuring manipulation of the inflation peripheral via the interface device, wherein the measured manipulation of the inflation peripheral provides information associated with a balloon inflation level of the navigation instrument balloon resulting from manipulation of the inflation peripheral; and

(c) transmitting the manipulation measurement for the inflation peripheral from the interface device to the simulation system to enable the simulation system to simulate incremental inflation of the navigation instrument balloon in accordance with the balloon inflation level and manipulation of the inflation peripheral.

22. A method to enable a user to interact with a simulation system via an interface device to perform a medical procedure on a simulated anatomy of a virtual patient, wherein the interface device interfaces user manipulable peripherals to the simulation system, said method comprising the steps of:

(a) interfacing at least one navigation peripheral to the interface device wherein each navigation peripheral is selectively manipulable by the user and associated with a corresponding navigation instrument;

(b) measuring manipulation of each navigation peripheral;

(c) transmitting the manipulation measurement for each navigation peripheral from the interface device to the simulation system to enable the simulation system to simulate traversal of the corresponding navigation instrument associated with each navigation peripheral through the simulated anatomy in accordance with manipulation of each navigation peripheral; and

(d) applying force to a corresponding navigation peripheral to simulate forces encountered by the corresponding navigation instrument during a medical procedure, wherein the force applied to the corresponding navigation peripheral is determined by the simulation system, and step (d) further includes;

(d.1) disposing a force applicator proximate the corresponding navigation peripheral;

(d.2) applying force to the corresponding navigation peripheral via the force applicator;

(d.3) measuring the force directly applied by the force applicator to the corresponding navigation peripheral via a force sensor; and

(d.4) controlling the force applicator to apply the force determined by the simulation system to the corresponding navigation peripheral by adjusting force applied by the force applicator to the corresponding navigation peripheral based on the force measurement from the force sensor.

23. An interface device for use with a simulation system to enable a user to interact with the simulation system to perform a medical procedure on a simulated anatomy of a virtual patient, said interface device comprising:

an injection peripheral selectively manipulable by the user to provide injection information associated with an amount of manipulation of said injection peripheral and a quantity of injected fluid resulting from said manipulation to said interface device for transmission to the simulation system to enable the simulation system to simulate injection of fluids within the simulated anatomy in accordance with said quantity of injected fluid and manipulation of said injection peripheral.

24. A method to enable a user to interact with a simulation system via an interface device to perform a medical procedure on a simulated anatomy of a virtual patient, wherein the interface device interfaces user manipulable peripherals to the simulation system, said method comprising the steps of:

(a) interfacing an injection peripheral selectively manipulable by the user to the interface device;

(b) measuring manipulation of the injection peripheral via the interface device, wherein the measured manipulation of the injection peripheral provides information associated with a quantity of injected fluid resulting from manipulation of the injection peripheral; and

(c) transmitting the manipulation measurement for the injection peripheral from the interface device to the simulation system to enable the simulation system to simulate injection of fluids within the simulated anatomy in accordance with the quantity of injected fluid and manipulation of the injection peripheral.