Physically realistic computer simulation of medical procedures

• US 6,654,000 B2
• Filed: 11/27/2001
• Issued: 11/25/2003
• Est. Priority Date: 07/14/1994
• Status: Expired due to Term

• Current Assignee: Immersion Corporation Delaware
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Liang, Regina
• Application Number:
  US09/996,487
• Publication Number:
  US 20020033802A1
• Time in Patent Office: 728 Days
• Field of Search: 345/156, 345/161, 345/700, 345/701, 345/702, 434/262, 434/267, 434/307.R, 434/365
• US Class Current: 345/156
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 19/409 characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters G05B19/408, G05B19/4093 take precedence
• CPC Class Codes: G05B 2219/35338 Display virtual tool, locus, part to check possibility of execution next block
• CPC Class Codes: G05B 2219/35441 Production design metaphore, tool, operation like input system
• CPC Class Codes: G05B 2219/40119 Virtual internal model, derive from forces on object, motion of end effector
• CPC Class Codes: G05B 2219/40137 Force sensation feedback from simulated tool
• CPC Class Codes: G05B 2219/45118 Endoscopic, laparoscopic manipulator
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders

Abstract

An apparatus for interfacing the movement of a shaft with a computer includes a support, a gimbal mechanism having two degrees of freedom, and three electromechanical transducers. When a shaft is engaged with the gimbal mechanism, it can move with three degrees of freedom in a spherical coordinate space, where each degree of freedom is sensed by one of the three transducers. A fourth transducer can be used to sense rotation of the shaft around an axis. The method includes the steps of defining an origin in 3-dimensional space, physically constraining a shaft in the 3-dimensional space such that a portion of the shaft always intersects the origin and such that a portion of the shaft extending beyond the origin defines a radius in a spherical coordinate system, transducing a first electrical signal related to a first angular coordinate of the radius with a first transducer, transducing a second electrical signal related to a second angular coordinate with a second transducer, transducing a third electrical signal related to the length of the radius with a third transducer, and coupling the transducers to a computer.

Claims

1. A method for enabling a physically realistic computer simulation of medical procedures, said method comprising:

providing a hardware interface interfacing at least a portion of a medical tool with a computer running a graphical simulation of a medical procedure, said graphical simulation displaying simulated patient anatomy and at least a portion of a simulated medical instrument, wherein said hardware interface includes an object representing at least a portion of a physical medical tool for manipulation by a user, said object corresponding to said displayed simulated medical instrument, and wherein said object includes a gripper handle portion that can be opened and closed by said user;

enabling the exchange of data between said hardware interface and said computer running said graphical simulation of said medical procedure, said data enabling said computer to update said graphical simulation in response to said physical manipulation of said object by said user;

enabling a detection of translation of said object with respect to a surface, said detection performed by at least one sensor included in said hardware interface; and

enabling a detection of an open-close motion of said gripper handle portion when squeezed by said user, said detection performed by a gripper sensor.

2. A method as recited in claim 1 further comprising enabling haptic feedback to be output to said user during said simulated medical procedure using one or more actuators, said actuators coupled to said object.

3. A method as recited in claim 2 wherein said exchanged data includes data for commanding said actuator to provide said haptic feedback.

4. A method as recited in claim 2 wherein said haptic feedback corresponds with said displayed simulated medical instrument interacting with said displayed simulated patient anatomy.

5. A method as recited in claim 4 wherein said haptic feedback resists user motion of said object when said displayed simulated medical instrument encounters dense tissue or bone within said graphical simulation.

6. A method as recited in claim 2 wherein said method further comprises enabling the detection of the axial rotation of said object with respect to a surface.

7. A method as recited in claim 2 wherein said method further comprises enabling the detection of the pitch and yaw of said object with respect to a surface using at least one sensor in said hardware interface.

8. A method as recited in claim 1 wherein said object represents a laparoscopic medical tool.

9. A method as recited in claim 1 wherein said object represents a needle.

10. A method for enabling a physically realistic computer simulation of medical procedures, said method comprising:

providing a hardware interface interfacing at least a portion of a medical tool with a computer running a graphical simulation of a medical procedure, said graphical simulation displaying simulated patient anatomy and at least a portion of a simulated medical instrument, wherein said hardware interface includes an object representing at least a portion of a physical medical tool for manipulation by a user, said object corresponding to said displayed simulated medical instrument, and wherein said object includes a gripper handle portion that can be opened and closed by said user;

enabling the exchange of data between said hardware interface and said computer running said graphical simulation of said medical procedure, said data enabling said computer to update said graphical simulation in response to said physical manipulation of said object by said user.

enabling a detection of translation of said object with respect to a surface, said detection performed by at least one sensor included in said hardware interface and connected to a friction wheel, said friction wheel engaging said object.

11. A method as recited in claim 10 further comprising enabling haptic feedback to be output to said user during said simulated medical procedure using one or more actuators, said actuators coupled to said object.

12. A method as recited in claim 11 wherein said exchanged data includes data for commanding said actuator to provide said haptic feedback.

13. A method as recited in claim 11 wherein said haptic feedback corresponds with said displayed simulated medical instrument interacting with said displayed simulated patient anatomy.

14. A method as recited in claim 13 wherein said haptic feedback resists user motion of said object when said displayed simulated medical instrument encounters an obstruction within said graphical simulation.

15. A method as recited in claim 11 wherein said method further comprises enabling the detection of the axial rotation of said object with respect to a surface using at least one sensor in said hardware interface.

16. A method as recited in claim 15 wherein said object includes tube within a tube structure to facilitate the simultaneous detection of both translation and rotation of said object.

17. A method as recited in claim 15 wherein said object is passed through a keyed sleeve to facilitate the simultaneous detection of both translation and rotation of said object.

18. A method as recited in claim 10 wherein said object represents a catheter wire.

19. A method as recited in claim 10 wherein said object represents a needle.

20. A method as recited in claim 10 wherein said object includes a groove or flat to facilitate engagement by said friction wheel.

21. An apparatus for enabling a physically realistic computer simulation of medical procedures, wherein a graphical simulation of a medical procedure is run by a computer, said graphical simulation displaying simulated patient anatomy and at least one portion of a simulated medical instrument, said apparatus comprising;

an object representing at least a portion of a physical medical tool for manipulation by a user, said object corresponding to said displayed simulated medical instrument, and wherein said object includes a gripper handle portion that can opened and closed by said user

at least one sensor operative to detect translation of said object with respect to a surface; and

a gripper sensor operative to detect an open-close motion of said gripper handle portion when squeezed by said user;

wherein an exchange of data occurs between said hardware interface and said computer running said graphical simulation of said medical procedure, said data enabling said computer to update said graphical simulation in response to said physical manipulation of said object by said user.

22. An apparatus as recited in claim 21 wherein said object represents a catheter wire.

23. An apparatus as recited in claim 21 wherein said object represents a needle.

24. A method of simulating a medical procedure, said method comprising:

providing a simulated patient anatomy and at least a portion of a simulated medical instrument;

providing a hardware interface that includes at least a portion of a physical medical instrument comprising a gripper handle portion for manipulation by a user;

enabling a detection of translation of said physical medical instrument with respect to a surface, said detection performed by at least one sensor included in said hardware interface;

detecting an open-close motion of said gripper handle portion when squeezed by said user, said detection being performed by a gripper sensor; and

updating at least one of said simulated patient anatomy and said simulated medical instrument in response to said manipulation of said physical medical instrument by said user.

25. A method as recited in claim 24 wherein said medical instrument is a catheter wire.

26. A method as recited in claim 24 wherein said medical instrument is a needle.

27. A method as recited in claim 24 further comprising enabling haptic feedback to be output to said user during said simulated medical procedure using one or more actuators, said actuators coupled to said physical medical instrument.

28. A method as recited in claim 27 wherein said exchanged data includes data for commanding said actuator to provide said haptic feedback.

29. A method as recited in claim 27 wherein said haptic feedback corresponds with said displayed simulated medical instrument interacting with said displayed simulated patient anatomy.

30. A method as recited in claim 29 wherein said haptic feedback resists user motion of said physical medical instrument when said displayed simulated medical instrument encounters dense tissue or bone within said graphical simulation.

31. A method as recited in claim 27 wherein said method further comprises enabling the detection of the axial rotation of said physical medical instrument with respect to a surface using at least one sensor in said hardware interface.

32. A method as recited in claim 27 wherein said method further comprises enabling the detection of the pitch and yaw of said physical medical instrument with respect to a surface using at least one sensor in said hardware interface.