Physically realistic computer simulation of medical procedures

• US 7,215,326 B2
• Filed: 10/01/2003
• Issued: 05/08/2007
• Est. Priority Date: 07/14/1994
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation Delaware
• Original Assignee: Immersion Corporation
• Inventors: Rosenberg, Louis B.
• Primary Examiner(s): Liang; Regina
• Application Number:
  US10/674,423
• Publication Number:
  US 20040066369A1
• Time in Patent Office: 1,315 Days
• Field of Search: 345/7, 345/8, 345156-158, 345/161, 345/166, 345/184, 345700-702, 434/262, 434/267
• US Class Current: 345/158
• 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 computer simulation, comprising:

generating a virtual reality simulation on a host computer having a display;

manipulating a medical instrument coupled to an interface including a mechanism, the medical instrument slidably moveable through an aperture of the mechanism along a linear degree of freedom;

sensing movement of the medical instrument in at least two rotary degrees of freedom and the linear degree of freedom;

transmitting position information of the medical instrument at the interface based on the sensed movement to the host computer;

updating the displayed virtual reality simulation in response to the updated position information;

selectively transmitting a force command from the host computer to the interface based on the updated position information; and

generating a force feedback sensation on the medical instrument in response to the force command.

2. The method of claim 1, further comprising executing a local software routine at the interface.

3. The method of claim 1, further comprising detecting rotary motion of the portion of the medical instrument about a first axis and detecting rotary motion of the portion of the medical instrument about a second axis, wherein the first and second axes are substantially perpendicular to one another.

4. The method of claim 1, wherein generating the virtual reality simulation further comprising simulating at least a portion of a body of a patient.

5. The method of claim 1, wherein generating the force feedback sensation further comprises generating a resistance force to act against the movement of the medical instrument.

6. The method of claim 1, wherein generating the force feedback sensation further comprises generating a twisting force on a shaft of the medical instrument.

7. The method of claim 1, wherein generating the force feedback sensation further comprises generating a force along the linear degree of freedom.

8. The method of claim 1, wherein generating the force feedback sensation further comprises generating a force along at least one of the rotary degrees of freedom.

9. A medical simulation system comprising:

an interface adapted to receive a medical instrument, the interface including a mechanism having an aperture to slidably receive at least a portion of the medical instrument along a linear degree of freedom, the interface configured to track movement of the medical instrument along the linear degree of freedom and at least two rotary degrees of freedom;

a host computer configured to generate a virtual reality representation on a display, the host computer coupled to the interface and configured to receive position information associated with the tracked movement of the medical instrument, wherein the host computer is configured to update the displayed virtual reality simulation based on the received position information and selectively output a force command; and

wherein the interface includes an actuator configured to provide a force feedback sensation to the medical instrument in response to receiving the force command.

10. The simulation system of claim 9, wherein the at least two rotary degrees of freedom further comprises a first degree of motion along a first axis and a second degree of freedom along a second axis, wherein the first and second axes are substantially perpendicular to one another.

11. The simulation system of claim 9, wherein the interface further comprises a first sensor configured to detect rotary motion of the medical instrument about a first axis and a second sensor is configured to detect rotary motion of the medical instrument about a second axis substantially perpendicular to the first axis.

12. The simulation system of claim 9, wherein the interface further comprises a linear sensor configured to detect linear motion of the medical instrument along an axis coaxial with the aperture.

13. The simulation system of claim 9, wherein the virtual reality representation is that of a patient'"'"'s body.

14. The simulation system of claim 9, wherein the virtual reality representation includes a graphical representation of the medical instrument.

15. The simulation system of claim 9, wherein the force feedback sensation opposes a directed force by the user on the medical instrument.

16. The simulation system of claim 9, wherein the medical instrument represents a laparoscopic instrument and is formed in a shape of a physical laparoscopic instrument handle.

17. The simulation system of claim 9, wherein the medical instrument is a catheter and a portion of the medical instrument is formed in a shape of a catheter wire.

18. The simulation system of claim 9, wherein the force feedback includes a twisting force on a shaft of the medical instrument.

19. The simulation system of claim 9, wherein the force feedback includes a linear force on a shaft of the medical instrument.

20. The simulation system of claim 9, the actuator applies force to the medical instrument through a frictional engagement of a drive wheel.

21. An apparatus for computer simulation comprising:

means for generating a virtual reality simulation on a host computer having a display;

means for engaging a medical instrument, wherein the medical instrument is slidably moveable through an aperture along a linear degree of freedom in said means for engaging;

means for sensing movement of the medical instrument in at least two rotary degrees of freedom and the linear degree of freedom;

means for transmitting position information of the medical instrument on the sensed movement;

means for updating the displayed virtual reality simulation in response to the updated position information;

means for selectively transmitting a force command from said means for generating to said means for engaging based on the updated position information; and

means for generating a force feedback sensation on the medical instrument in response to the force command.

22. The apparatus of claim 21, further comprising means for executing a local software routine in response to receiving the force command.

23. The apparatus of claim 21, wherein said means for engaging is configured to allow at least a portion of the medical instrument to operate with at least two degrees of freedom supported by a gimbal mechanism.

24. The apparatus of claim 21, further comprising first means for sensing rotary motion of the medical instrument about a first axis.

25. The apparatus of claim 24, further comprising secpmd means for detecting rotary motion of the medical instrument about a second axis.

26. The apparatus of claim 21, wherein the virtual reality simulation includes at least a portion of a body of a patient.

27. The apparatus of claim 21, wherein the virtual reality simulation includes a graphical representation of the medical instrument.

28. The apparatus of claim 21, wherein said means for generating generates a resistance force to act against the movement of the medical instrument.

29. The apparatus of claim 21, wherein said means for generating generates a rotary torque on a shaft of the medical instrument.