Interventional simulation device

• US 7,520,749 B2
• Filed: 12/03/2003
• Issued: 04/21/2009
• Est. Priority Date: 12/03/2002
• Status: Active Grant

• Current Assignee: Mentice AB
• Original Assignee: Mentice AB
• Inventors: Ohlsson, Fredrik
• Primary Examiner(s): Fernstrom; Kurt
• Application Number:
  US10/538,006
• Publication Number:
  US 20060127864A1
• Time in Patent Office: 1,966 Days
• Field of Search: 434/262, 434/265, 434/267, 434/270, 434/271, 434/272, 434/273, 434/274, 434/275
• US Class Current: 434/262
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

The present invention relates to a device (100) in a simulation system for simulating an interventional operation. The device (100) is arranged to receive a number of real instruments, preferably at least two. The device (100) comprises a number of moveable carriages (16A-16C) corresponding to the number of the real instruments. The device (100) further comprises a track (20) and an interconnecting member (26). The interconnecting member (26) interconnects the carriages (16A-16C) serially. Each carriage (16A-16C) is provided with an opening for enabling reception of the instruments. Each carriage (16A-16C) further comprises members to receive and lock at least one instrument, and members for receiving a movement from the instrument and generating a force, fed back to the instrument with respect to a simulation characteristic.

Claims

1. A device in a simulation system for simulating an interventional operation, said device being arranged to receive at least two real instruments, comprising:

a number of moveable carriages corresponding to a number of said real instruments,

a track, and

an interconnecting member,

wherein said interconnecting member interconnects said carriages serially, each carriage being provided with an opening for enabling reception of said real instruments, each carriage further comprises;

a member for receiving and locking at least one real instrument, and

a member for receiving a movement from said instrument and generating a force feedback to said real instrument with respect to a simulation characteristic, and

wherein said opening is provided within said interconnecting member.

2. The device of claim 1, wherein said interconnecting member is a telescopic pipe.

3. The device of claim 1, wherein each carnage comprises a detecting arrangement for detecting a type of said real instrument inserted through said interconnecting member.

4. The device of claim 1, wherein said device is connected to a control unit to measure the movement of said carriages and control said movement by a speed control loop and a position control loop.

5. The device of claim 1, wherein said carriages are arranged to move along said track.

6. The device of claim 1, wherein said carriage has an actual position and a simulated position, which actual carnage position determines the simulated carriage position from a scale table.

7. The device of claim 1, wherein said carriage is connected through a transmission for driving along said track.

8. The device of claim 1, wherein said carriage is provided with a crank block, which is arranged in a torque wheel.

9. The device of claim 8, wherein said crank block is provided inside a torque wheel, which crank block moves in longitudinal direction and is fixed in the direction of rotation, relatively to the torque wheel.

10. The device of claim 8, wherein said crank block is provided with a mating surface, which is pressed towards a collet that grips the instrument wire.

11. The device of claim 8, wherein the force between a suspended plate and a chassis, which is arranged on said carriage, is measured by a force sensor.

12. The device of claim 1, wherein said carriage is provided with a detecting member, which detects presence of an instrument in the carriage.

13. The device of claim 1, wherein said detecting member is arranged to detect the type of each real instrument.

14. The device of claim 13, wherein said real instruments are categorized into said types with respect to at least one of the following characteristics;

thickness, color, structure, material, identity and/or bar-code.

15. The device of claim 12, wherein said detecting member is an optical sensor.

16. The device of claim 1, wherein a first interconnecting member is arranged between said opening and the first carriage, a second interconnecting member is arranged between the first carriage and the second carriage and a third interconnecting member is arranged between the second carriage and the third carriage.

17. The device of claim 1, comprising a processing unit for measuring a longitudinal movement and a movement of rotation, of the instrument.

18. The device of claim 1, comprising a processing unit, which provides force-feedback in the longitudinal direction and in the direction of rotation, of the real instrument.

19. The device of claim 1, wherein an end or pat of said real instrument is simulated.

20. The device of claim 1, comprising a locking member, for clamping an instrument, which locking member is attached to a central wall.

21. The device of claim 1, wherein said locking member comprises a member for applying a torque.

22. The device of claim 1, wherein the device is an interventional procedure simulator system.

23. The device according to claim 22, comprising at least a first and a second displaceable member, and a control system comprising:

a first controller, controlling the speed of said first displaceable member towards a set value, and

a second controller, for combining an error in a position and a speed of said second, previous displaceable member to a set speed for the first member, wherein the second controller controls CDV=C1*(CAP−

PCAP)+C2*PCAV, wherein C1 and C2 are constants.

24. The device according to claim 22, comprising an arrangement for detecting a real instrument to be simulated, wherein said arrangement includes an identffication device for identifying said real instrument.

25. The interventional procedure of claim 24, wherein said arrangement for detecting an instrument, comprises at least one IR diode and at least one IR phototransistor.

26. The interventional procedure of claim 24, wherein said identification device includes at least one of thickness, color, structure, material of said real instrument, identity and/or bar-code.

27. The device according to claim 22, further comprising members to receive and lock a real instrument to be simulated, and a control unit includes a force sensor, wherein said control unit controls towards a demand force value, and a force that a user experiences in the instrument is measured with the force sensor, and a signal from the force sensor is fed back in a force feedback control loop towards a set force.

28. The device according to claim 22, comprising an arrangement for generating a resistance in a simulated real instrument, the arrangement comprising a control unit, a force sensor, a force feedback control loop for controlling a actuator device for driving an instrument receiver member in a direction, and an inner force control ioop wherein said force sensor is arranged for measuring said resistance, a signal from the force sensor is fed back in said inner force control loop that controls, with a loop amplification provided by said control unit, towards a set force value provided by said control unit and said inner force control loop controlling said actuator, said system further comprises:

a device arranged to receive at least two real instruments,

a number of moveable carriages corresponding to a number of said real instruments,

a track, and

an interconnecting member,

wherein said interconnecting member is arranged to interconnect said carriages serially, each carriage having an opening for enabling reception of said real instruments, each carnage further comprises;

a member for receiving and locking at least one real instrument, and

a member for receiving a movement from said instrument and generating a force feedback to said real instrument with respect to a simulation characteristic, and

wherein said opening is provided within said interconnecting member.

29. The simulator system of claim 28, wherein said control unit controls said loop amplification to achieve a said resistance.

30. The simulator system of claim 28, wherein said control unit controls said set force to achieve a said resistance.

31. The device according to claim 22, comprising an arrangement for generating a resistance in an simulated real instrument, an arrangement for receiving and fixing a part of a real instrument in a device for measuring instrument movement and feeding back a force to said real instrument, said arrangement includes a member for clamping said real instrument.

32. The arrangement of claim 31, comprising a crank block, which is arranged in a torque wheel, said crank block being movable in a longitudinal direction inside said torque wheel.

33. The arrangement of claim 32, wherein said crank block is provided with a mating surface, which is pressed towards a collet that grips said instrument part.

34. A method of simulating a interventional operation by means of a device in a simulation system, said device being arranged to receive a at least two real instruments, comprising:

a number of moveable carriages corresponding to a number of said instruments,

a track, and

an interconnecting member,

the method comprising the steps of;

inserting a number of real instruments into said device, and

receiving said real instruments by each carriage, which are interconnected serially, each carriage having an opening for enabling reception of said real instruments, by receiving and locking at least one instrument, each carriage further includes a member for receiving a movement from said real instrument and a member for generating a force feedback to said real instrument with respect to a simulation characteristic, and said opening is provided within said interconnecting member.