Medical operation simulation system capable of presenting approach data

• US 6,283,763 B1
• Filed: 11/16/1998
• Issued: 09/04/2001
• Est. Priority Date: 12/01/1997
• Status: Expired due to Term

• Current Assignee: Olympus Optical Company Ltd. (Olympus Corporation)
• Original Assignee: Olympus Optical Company Ltd. (Olympus Corporation)
• Inventors: Saito, Akito, Shibasaki, Takao, Matsuzaki, Hiroshi, Asano, Takeo
• Primary Examiner(s): Rovnak, John Edmund
• Application Number:
  US09/192,902
• Time in Patent Office: 1,023 Days
• Field of Search: 434/262, 434/263, 434/264, 434/265, 434/266, 434/267, 434/268, 434/269, 434/270, 434/271, 434/272, 434/273, 434/274, 434/275
• US Class Current: 434/262
• CPC Class Codes: G09B 23/286 for scanning or photography techniques, e.g. X-rays, ultrasonics

Abstract

A medical operation simulator includes a three-dimensional image reconstruction section, an instrument-image forming section, and an approach data presenting section. The three-dimensional image reconstructing section processes data representing slice images, thereby generating three-dimensional image data. The three-dimensional image data is supplied to a display device. The instrument-image forming section forms an image of a medical instrument. The image moves in the same way that a medical instrument provided on an operation input device is manipulated by an operator. The instrument-image forming section supplies data representing the image of the instrument to the display device. The display device displays the image of the instrument together with a three-dimensional image represented by the three-dimensional image data generated by the three-dimensional image reconstructing means. The approach data presenting section converts data showing an approach of the medical instrument toward a region of interest into at least one of an aural sensation, visual sensation, pressure sensation and touch sensation, by performing approach data presentation processing, and then presents at least one of the aural sensation, visual sensation, pressure sensation and touch sensation.

Claims

1. A medical operation simulator comprising:

a three-dimensional image reconstructing device that;

(i) processes data representing slice images, thereby to generate three-dimensional image data, and (ii) supplies the three-dimensional image data to a display device;

an instrument-image forming device that;

(i) forms an image of a medical instrument, said image moving in the same way that a medical instrument provided on an operation input device is manipulated by an operator, and (ii) supplies data representing the image of the medical instrument to the display device, thereby to display the image of the medical instrument together with a three-dimensional image represented by the three-dimensional image data generated by the three-dimensional image reconstructing device; and

an approach data presenting device that;

(i) converts data showing an approach of the medical instrument toward a region of interest into at least one of an aural sensation, visual sensation, pressure sensation and touch sensation by performing approach data presentation processing, and (ii) presents at least one of the aural sensation, visual sensation, pressure sensation and touch sensation;

wherein the approach data presenting device outputs an alarm signal when the medical instrument approaches a region of interest, said alarm signal having a magnitude that is changed in accordance with one of;

(i) a distance between the medical instrument and the region of interest, and (ii) a distance from the region of interest.

2. A simulator according to claim 1, wherein the approach data presenting device causes the operation input device to one of exert a reaction and stop the operation input device so as to inhibit the medical instrument from entering an anti-invasion region, when the medical instrument approaches one of the region of interest and the anti-invasion region in a virtual space defined by the three-dimensional image.

3. A simulator according to claim 1, which further comprises a selection device that selects one of an operation using an endoscope and an operation including an incision procedure, and wherein the approach data presenting device alters a region within which the medical instrument is able to move and a mode of displaying the image of the medical instrument on the display device in accordance with the operation selected by the selection device.

4. A simulator according to claim 1, wherein the approach data presenting device (i) determines whether the image of the medical instrument contacts a sheath of an endoscope while an operation using the endoscope is being simulated, and (ii) at least one of prevents the operation input device from further moving and applies a large reaction to the operation input device when it is determined that the image of the medical instrument contacts the sheath of the endoscope.

5. A medical operation simulator comprising:

a three-dimensional image reconstructing device that;

(i) processes data representing slice images, thereby to generate three-dimensional image data, and (ii) supplies the three-dimensional image data to a display device;

an instrument-image forming device that;

(i) forms an image of a medical instrument, said image moving in the same way that a medical instrument provided on an operation input device is manipulated by an operator, and (ii) supplies data representing the image of the medical instrument to the display device, thereby to display the image of the medical instrument together with a three-dimensional image represented by the three-dimensional image data generated by the three-dimensional image reconstructing device; and

an approach data presenting device that;

(i) converts data showing an approach of the medical instrument toward a region of interest into at least one of an aural sensation, visual sensation, pressure sensation and touch sensation by performing approach data presentation processing, and (ii) presents at least one of the aural sensation, visual sensation, pressure sensation and touch sensation;

wherein the three-dimensional image reconstructing device distinguishes an affected region from anti-invasion regions, which include blood vessels and nerves, and sets an instrument-guiding path for guiding the medical instrument from an external area on a head to an affected part in a brain, and wherein the approach data presenting device continuously presents the approach data while the simulation proceeds along the instrument-guiding path.

6. A simulator according to claim 5, wherein the approach data presenting device causes the operation input device to one of exert a reaction and stop the operation input device so as to inhibit the medical instrument from entering an anti-invasion region, when the medical instrument approaches one of the region of interest and the anti-invasion region in a virtual space defined by the three-dimensional image.

7. A simulator according to claim 5, which further comprises a selection device that selects one of an operation using an endoscope and an operation including an incision procedure, and wherein the approach data presenting device alters a region within which the medical instrument is able to move and a mode of displaying the image of the medical instrument on the display device in accordance with the operation selected by the selection device.

8. A simulator according to claim 5, wherein the approach data presenting device (i) determines whether the image of the medical instrument contacts a sheath of an endoscope while an operation using the endoscope is being simulated, and (ii) at least one of prevents the operation input device from further moving and applies a large reaction to the operation input device when it is determined that the image of the medical instrument contacts the sheath of the endoscope.

9. A method of controlling a medical operation simulator comprising:

processing data representing slice images, thereby to generate three-dimensional image data, and then supplying the three-dimensional image data to a display device;

forming an image of a medical instrument, said image moving in the same way that a medical instrument provided on an operation input device is manipulated by an operator, and then supplying data representing the image of the medical instrument to the display device, thereby to display the image of the medical instrument together with a three-dimensional image represented by the three-dimensional image data generated; and

converting data showing an approach of the medical instrument toward a region of interest into at least one of an aural sensation, visual sensation, pressure sensation and touch sensation by performing approach data presentation processing, and presenting at least one of the aural sensation, visual sensation, pressure sensation and touch sensation;

wherein the approach of the medical instrument toward a region of interest is presented by outputting an alarm signal when the medical instrument approaches a region of interest, said alarm signal having a magnitude that is changed in accordance with one of;

(i) a distance between the medical instrument and the region of interest, and (ii) a distance from the region of interest.

10. A method according to claim 9, wherein the operation input device one of exerts a reaction and is stopped so as to inhibit the medical instrument from entering an anti-invasion region, when the medical instrument approaches one of the region of interest and the anti-invasion region in a virtual space defined by the three-dimensional image.

11. A method according to claim 9, which further comprises a step of selecting one of an operation using an endoscope and an operation including an incision procedure, and wherein the step of presenting the approach data comprises altering a region within which the medical instrument is able to move and a mode of displaying the image of the medical instrument on the display device in accordance with which operation has been selected.

12. A method according to claim 9, wherein in the step of presenting the approach data it is determined whether the image of the medical instrument contacts a sheath of an endoscope while an operation using the endoscope is being simulated, and wherein the operation input device at least one of is prevented from further moving and applies a large reaction to the operation input device when it is determined that the image of the medical instrument contacts the sheath of the endoscope.

13. A method of controlling a medical operation simulator comprising:

processing data representing slice images, thereby to generate three-dimensional image data, and then supplying the three-dimensional image data to a display device;

forming an image of a medical instrument, said image moving in the same way that a medical instrument provided on an operation input device is manipulated by an operator, and then supplying data representing the image of the medical instrument to the display device, thereby to display the image of the medical instrument together with a three-dimensional image represented by the three-dimensional image data generated; and

converting data showing an approach of the medical instrument toward a region of interest into at least one of an aural sensation, visual sensation, pressure sensation and touch sensation by performing approach data presentation processing, and presenting at least one of the aural sensation, visual sensation, pressure sensation and touch sensation;

wherein the step of supplying the three-dimensional image data to a display device comprises distinguishing an affected region from anti-invasion regions, which include blood vessels and nerves, and then setting an instrument-guiding path for guiding the medical instrument from an external area on a head to an affected part in a brain, and wherein the step of presenting the approach data comprises continuously presenting the approach data while the simulation proceeds along the instrument-guiding path.

14. A method according to claim 13, wherein the operation input device one of exerts a reaction and is stopped so as to inhibit the medical instrument from entering an anti-invasion region, when the medical instrument approaches one of the region of interest and the anti-invasion region in a virtual space defined by the three-dimensional image.

15. A method according to claim 13, which further comprises a step of selecting one of an operation using an endoscope and an operation including an incision procedure, and wherein the step of presenting the approach data comprises altering a region within which the medical instrument is able to move and a mode of displaying the image of the medical instrument on the display device in accordance with which operation has been selected.

16. A method according to claim 13, wherein in the step of presenting the approach data it is determined whether the image of the medical instrument contacts a sheath of an endoscope while an operation using the endoscope is being simulated, and wherein the operation input device at least one of is prevented from further moving and applies a large reaction to the operation input device when it is determined that the image of the medical instrument contacts the sheath of the endoscope.