Physically realistic computer simulation of medical procedures

• US 8,184,094 B2
• Filed: 08/07/2009
• Issued: 05/22/2012
• 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:
  US12/537,967
• Publication Number:
  US 20090299711A1
• Time in Patent Office: 1,019 Days
• Field of Search: 345156-158, 345/161, 345/184
• 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.

Claims

1. A system comprising:

a user manipulatable object comprising a laparoscopic tool handle and an elongated member extending from the laparoscopic tool handle;

a gimbal mechanism coupled to the user manipulatable object, the gimbal mechanism configured to receive the elongated member of the user manipulatable object and to allow the user manipulatable object to move in at least three rotational degrees of freedom and a translational degree of freedom;

a trocar coupled to the gimbal mechanism, the trocar configured to receive the elongated member of the user manipulatable object;

a first sensor configured to determine a first movement of the user manipulatable object in a first rotational degree of freedom and to transmit a first sensor signal based on the first movement;

a second sensor configured to determine a second movement of the user manipulatable object in a second rotational degree of freedom and to transmit a second sensor signal based on the second movement;

a third sensor configured to determine a third movement of the user manipulatable object in a third rotational degree of freedom and to transmit a third sensor signal based on the third movement;

a fourth sensor configured to determine a fourth movement of the user manipulatable object in the translational degree of freedom and to transmit a fourth sensor signal based on the fourth movement; and

a local processor in communication with the first, second, third, and fourth sensors and configured to;

receive the first, second, third, and fourth sensor signals, and

transmit a local processing signal to a host processor, the local processing signal based on at least one of the first, second, third, or fourth sensor signals.

2. The system of claim 1, further comprising:

a first actuator configured to output a first force in the first rotational degree of freedom;

a second actuator configured to output a second force in the second rotational degree of freedom;

a third actuator configured to output a third force in the third rotational degree of freedom; and

a fourth actuator configured to output a fourth force in the translational degree of freedom.

3. The system of claim 2, wherein the local processor is configured to output actuator signals to the first, second, third, and fourth actuators configured to cause the actuators to output the first, second, third, and fourth forces.

4. The system of claim 1, wherein the elongated member comprises a catheter.

5. The system of claim 1, wherein the laparoscopic handle comprises a grip configured to open and close about a pivot point, and wherein the system further comprises a fifth sensor to sense an open and close movement of the grip about the pivot point, the fifth sensor configured to transmit a fifth sensor signal based on the open and close movement.

6. The system of claim 5, further comprising an actuator configured to output a force about the pivot point.

7. The system of claim 5, wherein the local processing signal is based on at least one of the first, second, third, fourth, or fifth sensor signals, and further comprising the host processor in communication with the local processor, the host processor configured to:

receive the local processing signal;

execute a laparoscopic simulation; and

display a simulated object in a simulated environment based on the local processing signal.

8. The system of claim 2, wherein the laparoscopic handle comprises a grip configured to open and close about a pivot point, and wherein the system further comprises a sensor to sense an open and close movement of the grip about the pivot point.

9. The system of claim 8, further comprising a fifth actuator configured to output a fifth force about the pivot point.

10. The system of claim 8 further comprising the host processor in communication with the local processor, the host processor configured to:

receive the local processing signal;

execute a laparoscopic simulation; and

display a simulated object in a simulated environment based on the local processing signal.

11. A system comprising:

a user manipulatable object comprising a tool handle and an elongated member extending from the tool handle;

a gimbal mechanism coupled to the user manipulatable object, the gimbal mechanism configured to receive the elongated member of the user manipulatable object and to allow the user manipulatable object to move in at least three rotational degrees of freedom and a translational degree of freedom;

a trocar coupled to the gimbal mechanism, the trocar configured to receive the elongated member of the user manipulatable object;

a first sensor configured to determine a first movement of the user manipulatable object in a first rotational degree of freedom and to transmit a first sensor signal based on the first movement;

a second sensor configured to determine a second movement of the user manipulatable object in a second rotational degree of freedom and to transmit a second sensor signal based on the second movement;

a third sensor configured to determine a third movement of the user manipulatable object in a third rotational degree of freedom and to transmit a third sensor signal based on the third movement;

a fourth sensor configured to determine a fourth movement of the user manipulatable object in the translational degree of freedom and to transmit a fourth sensor signal based on the fourth movement; and

a local processor in communication with the first, second, third, and fourth sensors and configured to;

receive the first, second, third, and fourth sensor signals, and

transmit a local processing signal to a host processor, the local processing signal based on at least one of the first, second, third, or fourth sensor signals.

12. The system of claim 11, further comprising:

a first actuator configured to output a first force in the first rotational degree of freedom;

a second actuator configured to output a second force in the second rotational degree of freedom;

a third actuator configured to output a third force in the third rotational degree of freedom; and

a fourth actuator configured to output a fourth force in the translational degree of freedom.

13. The system of claim 12, wherein the local processor is configured to output actuator signals to the first, second, third, and fourth actuators configured to cause the actuators to output the first, second, third, and fourth forces.

14. The system of claim 11, wherein the elongated member comprises a catheter.

15. The system of claim 11, wherein the laparoscopic handle comprises a grip configured to open and close about a pivot point, and wherein the system further comprises a fifth sensor to sense an open and close movement of the grip about the pivot point, the fifth sensor configured to transmit a fifth sensor signal based on the open and close movement.

16. The system of claim 15, further comprising an actuator configured to output a force about the pivot point.

17. The system of claim 15, wherein the local processing signal is based on at least one of the first, second, third, fourth, or fifth sensor signals, and further comprising the host processor in communication with the local processor, the host processor configured to:

receive the local processing signal;

execute a laparoscopic simulation; and

display a simulated object in a simulated environment based on the local processing signal.

18. The system of claim 12, wherein the laparoscopic handle comprises a grip configured to open and close about a pivot point, and wherein the system further comprises a sensor to sense an open and close movement of the grip about the pivot point.

19. The system of claim 18, further comprising a fifth actuator configured to output a fifth force about the pivot point.

20. The system of claim 18 further comprising the host processor in communication with the local processor, the host processor configured to:

receive the local processing signal;

execute a laparoscopic simulation; and

display a simulated object in a simulated environment based on the local processing signal.