Interface device and method for interfacing instruments to medical procedure simulation systems

• US 7,833,018 B2
• Filed: 09/09/2003
• Issued: 11/16/2010
• Est. Priority Date: 09/04/1996
• Status: Expired due to Fees

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Corporation
• Inventors: Cunningham, Richard L., Cohen, Robert F., Feldman, Ben, Brown, J. Michael, Cabahug, Eric, Churchill, Philip J., Alexander, David
• Primary Examiner(s): Thai; Xuan M
• Assistant Examiner(s): MUSSELMAN, TIMOTHY A
• Application Number:
  US10/657,079
• Publication Number:
  US 20040045561A1
• Time in Patent Office: 2,625 Days
• Field of Search: 434262-275, 434/401, 814/53, 403321-330, 403/322.3, 403279-280, 403/273, 403/282, 705/7, 705/11
• US Class Current: 434/267
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

An interface device and method for interfacing instruments to a medical procedure simulation system serve to interface peripherals in the form of mock medical instruments to the medical procedure simulation system computer to enable simulation of medical procedures. The interface device includes a housing having a mock bodily region of interest to facilitate insertion of a mock instrument, such as an endoscope tube, into the interface device. The mock bodily region of interest may be pivotable to simulate various patient orientations. The instrument is engaged by a capture mechanism in order to measure rotational and translational motion of the instrument. An actuator is disposed within the interface device to provide force feedback to the instrument. The measured motion is provided to the computer system to reflect instrument motion on the display during the simulation. Alternatively, the interface device may be configured to accommodate instrument assemblies having a plurality of nested instruments (e.g., sheath, catheter and wire), whereby the interface device individually grasps, measures manipulation of and provides force feedback to the nested instruments. In addition, the interface device may be configured to simultaneously accommodate a plurality of independently inserted instruments.

Claims

1. A medical simulation apparatus comprising:

a capture mechanism having a coupling mechanism and being configured to engage a peripheral device manipulatable by a user, the peripheral device comprising a medical instrument or a simulated medical instrument;

a sensing assembly configured to detect movement of the peripheral device when engaged by the capture mechanism;

a dimension-adjusting mechanism configured to adjust the coupling mechanism along a dimension substantially transverse to a direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism, the dimension-adjusting mechanism configured to cause the adjustment of the coupling mechanism in response to the peripheral device pushing against the dimension-adjusting mechanism and applying a force to the dimension-adjusting mechanism in a direction substantially parallel to the direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism; and

an actuator configured to apply a force to the peripheral device when the peripheral device is engaged by the capture mechanism, wherein the force applied by the actuator is felt by the user manipulating the peripheral device and causes either impeded or enhanced motion of the peripheral device based on the force, the actuator applying the force based on control signals associated with the detected movement of the peripheral device,

the dimension-adjusting mechanism being configured to automatically adjust the dimension of the coupling mechanism, the dimension-adjusting mechanism further including;

an outer tubular-member; and

an inner tubular-member, the inner tubular-member being at least partially disposed within the outer tubular-member and being configured to slide relative to the outer tubular-member in response to a manipulation of the peripheral device, the inner tubular-member being configured to engage the peripheral device at a proximal end of the inner tubular member, the inner tubular-member being coupled to the sensing assembly at a distal end of the inner tubular-member.

2. A medical simulation apparatus comprising:

a capture mechanism having a coupling mechanism and being configured to engage a peripheral device manipulatable by a user, the peripheral device comprising a medical instrument or a simulated medical instrument;

a sensing assembly configured to detect movement of the peripheral device when engaged by the capture mechanism;

a dimension-adjusting mechanism configured to adjust the coupling mechanism along a dimension substantially transverse to a direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism, the dimension-adjusting mechanism configured to cause the adjustment of the coupling mechanism in response to the peripheral device pushing against the dimension-adjusting mechanism and applying a force to the dimension-adjusting mechanism in a direction substantially parallel to the direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism; and

an actuator configured to apply a force to the peripheral device when the peripheral device is engaged by the capture mechanism, wherein the force applied by the actuator is felt by the user manipulating the peripheral device and causes either impeded or enhanced motion of the peripheral device based on the force, the actuator applying the force based on control signals associated with the detected movement of the peripheral device,

wherein the sensing assembly includes;

a first pulley;

a second pulley;

a belt disposed about the first pulley and the second pulley;

a guide rail; and

a trolley configured to move along the guide rail in response to a corresponding movement of the peripheral device when engaged by the capture mechanism, the belt being configured to move in response to a movement of the trolley.

3. The apparatus of claim 2,

wherein the sensing assembly includes:

a rotational-motion sensor configured to measure a rotation of the peripheral device when engaged by the capture mechanism; and

a translational-motion sensor configured to measure a translational-motion of the peripheral device when engaged by the capture mechanism.

4. The apparatus of claim 3,

wherein:

the rotational-motion sensor is disposed proximate to the trolley; and

wherein the translational-motion sensor is coupled to the first pulley.

5. The apparatus of claim 3,

wherein,

the actuator is coupled to the second pulley and is configured to apply force-feedback by controlling a rotation of the second pulley.

6. A medical simulation method comprising:

engaging a peripheral device via a capture mechanism having a coupling mechanism, the peripheral device comprising a medical instrument or a simulated medical instrument;

coupling a sensing assembly to the peripheral device while engaged by the capture mechanism;

adjusting a transverse dimension of the coupling mechanism in response to a movement of the peripheral device when engaged by the capture mechanism, wherein said adjusting the transverse dimension of the coupling mechanism includes moving a carriage assembly from a first position to a second position and expanding a bellows in response to the movement of the carriage assembly; and

applying force feedback to the peripheral device while engaged by the capture mechanism in response to control signals associated with a simulated medical procedure.

7. The method of claim 6, further comprising:

sensing a rotational-motion of the peripheral device; and

sensing a translational-motion of the peripheral device.

8. The method of claim 6, further comprising:

sensing a rotational-motion of the peripheral device; and

sensing a translational-motion of the peripheral device, the sensing the translational motion including sensing a motion of a trolley, the trolley being coupled to the peripheral device.

9. The method of claim 6, comprising applying force feedback to the peripheral device by controlling a rotation of a pulley.

10. The method of claim 6, wherein adjusting the dimension includes:

increasing a cross-section of the capture mechanism such that the peripheral device may be removed from the capture mechanism.

11. The method of claim 6, wherein the adjusting the dimension of the coupling mechanism includes:

moving an inner tubular-member relative to an outer tubular-member in response to the movement of the peripheral device when engaged by the capture mechanism.

12. A medical simulation apparatus, comprising:

a capture mechanism having a coupling mechanism and being configured to engage a peripheral device, the peripheral device comprising a medical instrument or a simulated medical instrument;

a sensing assembly configured to detect movement of the peripheral device when the peripheral device is engaged by the capture mechanism;

a dimension-adjusting mechanism configured to adjust the coupling mechanism along a dimension substantially transverse to a direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism, the dimension-adjusting mechanism configured to move between a first position and a second position in a direction parallel to a direction of movement of the peripheral device when engaged by the capture mechanism, the dimension-adjustment mechanism being configured to support the peripheral device when engaged by the capture mechanism;

an actuator configured to apply force feedback to the peripheral device when engaged by the capture mechanism, the force feedback being based on control signals associated with the detected movement of the peripheral device; and

wherein the sensing assembly further includes a first pulley, a second pulley, a belt disposed about the first pulley and the second pulley, a guide rail, and a carriage assembly coupled to a bellows and being configured to move along the guide rail in response to a corresponding movement of the peripheral device when engaged by the capture mechanism, the belt being configured to move in response to movement of the carriage assembly.

13. The apparatus of claim 12, wherein the dimension-adjusting Mechanism includes:

an outer tubular-member; and

an inner tubular-member, the inner tubular-member being at least partially disposed within the outer tubular-member and being configured to slide relative to the outer tubular member in response to a manipulation of the peripheral device, the peripheral device being coupled to the inner tubular-member at a proximal end of the inner tubular-member when the peripheral device is engaged by the capture mechanism, the inner tubular-member being coupled to the sensing assembly at a distal end of the inner tubular-member.

14. The apparatus of claim 12, wherein the dimension-adjustment mechanism includes:

a bellows, the bellows having a plurality of leaves, the plurality of leaves being constructed of a rigid material, each leaf from the plurality of leaves having an aperture configured to receive the peripheral device, the apertures for each leaf from the plurality of leaves being configured to allow the peripheral device to pass through the bellows, the bellows being configured to support the peripheral device.

15. A medical simulation method, comprising:

providing a capture mechanism having a coupling mechanism and being configured to engage a peripheral device, the peripheral device comprising a medical instrument or a simulated instrument;

providing a sensing assembly configured to detect movement of the peripheral device when engaged by the capture mechanism;

providing a dimension-adjusting mechanism configured to adjust the coupling mechanism along a dimension substantially transverse to a direction of movement of the peripheral device when the peripheral device is engaged by the capture mechanism, the dimension-adjusting mechanism configured to move between a first position and a second position in a direction parallel to a direction of movement of the peripheral device when engaged by the capture mechanism, the dimension-adjustment mechanism being configured to support the peripheral device when engaged by the capture mechanism, wherein said providing a dimension adjusting mechanism further includes providing a bellows, the bellows having a plurality of leaves, the plurality of leaves being constructed of a rigid material, each leaf from the plurality of leaves having an aperture configured to receive the peripheral device, the apertures for each leaf from the plurality of leaves being configured to allow the peripheral device to pass through the bellows, the bellows being configured to support the peripheral device; and

providing an actuator configured to apply force feedback to the peripheral device when engaged by the capture mechanism, the force feedback being based on control signals associated with the detected movement of the peripheral device.

16. The method of claim 15, wherein providing the dimension-adjusting mechanism includes:

providing an outer tubular-member; and

providing an inner tubular-member, the inner tubular-member being at least partially disposed within the outer tubular-member and being configured to slide relative to the outer tubular-member in response to a manipulation of the peripheral device, the peripheral device being coupled to the inner tubular-member at a proximal end of the inner tubular-member when the peripheral device is engaged by the capture mechanism, the inner tubular-member being coupled to the sensing assembly at a distal end of the inner tubular-member.

17. The method of claim 15, wherein providing the sensing assembly includes:

providing a first pulley;

providing a second pulley;

disposing a belt about the first pulley and the second pulley;

providing a guide rail; and

providing a carriage assembly coupled to a bellows and being configured to move along the guide rail in response to a corresponding movement of the peripheral device when engaged by the capture mechanism, the belt being configured to move in response to movement of the carriage assembly.