Method and system for simulating surgical procedures

• US 8,831,924 B2
• Filed: 10/15/2012
• Issued: 09/09/2014
• Est. Priority Date: 10/19/2009
• Status: Active Grant

• Current Assignee: Surgical Theater Inc.
• Original Assignee: Surgical Theater LLC
• Inventors: Avisar, Mordechai
• Primary Examiner(s): Zeman, Mary
• Application Number:
  US13/651,549
• Publication Number:
  US 20130047103A1
• Time in Patent Office: 694 Days
• US Class Current: 703/11
• CPC Class Codes: A61B 90/37 Surgical systems with images on a monitor during operation
• CPC Class Codes: G09B 23/28 for medicine
• CPC Class Codes: G16H 50/50 for simulation or modelling of medical disorders
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: H04L 67/10 in which an application is distributed across nodes in the network software deployment G06F8/60; multiprogramming arrangements G06F9/46

Abstract

A system and method for converting static/still medical images of a particular patient into dynamic and interactive images interacting with medical tools including medical devices by coupling a model of tissue dynamics and tool characteristics to the patient specific imagery for simulating a medical procedure in an accurate and dynamic manner.

Claims

1. A modeling system for enabling a user to perform a simulated medical procedure, said system comprising:

one or more computers;

a display for displaying images to the user;

a database for storing physical characteristics of an organ and surrounding tissue;

an image generator using one or more of said computers for executing software adapted for generating a dynamic realistic image of the organ and surrounding tissue for displaying on said display, wherein said realistic image is provided showing an appearance including shadowing and textures indicative of an actual organ and surrounding tissue;

a user tool library stored in said database for providing a plurality of user tool models of actual user tools used in medical procedures;

a user interface connected to one or more of said computers adapted for accepting inputs from the user for selecting one of the user tool models;

a user tool generator using one or more of said computers for executing software for generating a realistic tool image of the selected user tool model for displaying on said display; and

a user interface connected to one or more of said computers adapted for accepting inputs from the user, said inputs used by said computers for dynamically manipulating said tool image for dynamically interacting with said realistic image of the organ and surrounding tissue during the simulated medical procedure for display to the user on said display in real-time, wherein

the dynamic interaction between the tool image and the image of the organ and surrounding tissue is displayed on said display using images with realistic visual features exhibiting realistic mechanical interactions based on the stored physical characteristics.

2. The system of claim 1, wherein said user input interface includes a feedback mechanism for providing realistic feedback to the user, said feedback realistically representing the interactions of said tool image with said realistic dynamic images for accurately providing said simulated medical procedure.

3. The system of claim 1, further comprising a first network connected to said plurality of computers, wherein first software for executing said user tool generator, second software for executing said image generator, and third software for executing at least one of the user interface functions are each executed by one of the plurality of computers connected to said network such that at least one of said first software, said second software and said third software executes on a first one of said plurality of computers and a second one of said first software, said second software and said third software executes on a second one of said plurality of computers, wherein each one of said computers includes a sub-dataset of a database for storing a common virtual environment for increasing the efficiency of said network.

4. The system of claim 3, further comprising a host computer connected to said network, wherein, in one of said computers, a given aspect of the simulation is simulated in parallel with other aspects of the simulation that are simulated on one or more others of said computers while said network and the host computer ensure that all relevant changes in the database are shared among all of the computers, and wherein said plurality of computers are managed by the host computer for ensuring real-time or near real-time performance of said system, performed in a cyclic and rapid manner creating a continuous scenario.

5. The system of claim 4, further comprising a second network, wherein said plurality of computers and said host computer are also connected to said second network, and wherein said database is connected to said second network, such that non real-time critical network traffic is allocated to said second network and critical real-time network traffic is allocated to said first network.

6. The system of claim 4, wherein said first network is a peer-to-peer network, and wherein said plurality of computers and said host computer listen on said first network for information pertinent to their respective functionality issued by others of said computers and said host computer, and said listening computers utilize any information pertinent to their respective functionality without use of a common server.

7. The system of claim 1, wherein said image generator includes a Real Time Soft Tissue Deformation Engine (RTTDE) using finite element methods for generating said realistic dynamic images and providing said interaction that is realistically projected in the image generator and wherein said RTTDE couples mechanical properties modeling to each of a plurality of image generator image components such that the image generator updates the images according to calculations of the dynamic physical and mechanical performed and behavior of the material (for example, tissue mechanical properties or surgery tool and/or implant) by said RTTDE.

8. The system of claim 1, wherein said characteristics of said organ and surrounding tissue includes physical properties of said organ and surrounding tissue to define dynamic physical and mechanical interactions between two or more materials.

9. The system of claim 8, wherein said physical properties allow the conversion of medical images that are static into said realistic dynamic images that can interact with said tool image by coupling a model of dynamic attributes of said organ and surrounding tissue based on patient specific imagery.

10. the system of claim 1, wherein a force that is applied by the user to simulate use of the tool image in the simulation causes a dynamic mechanical reaction on blood vessels and tissues provided in said realistic dynamic images such that said blood vessels and tissues are dynamically reshaped according to mechanical properties of corresponding vessels and tissues of a real patient.

11. The system of claim 1, wherein interactions between said tool image providing a force and said realistic dynamic images of the organ and surrounding tissues are provided such that changes to surrounding organs are accurately reflected in said realistic dynamic images in a manner similar to a corresponding real surgery tool providing a similar force in an actual patient.

12. The system of claim 1, further comprising a debrief server for recording a progress of the medical procedure simulation.

13. The system of claim 12, wherein said debrief server provides an undo function to return to an earlier point in the simulation to undo recent procedures.

14. The system of claim 12, wherein said debrief server can freeze the simulation and/or change the perspective view of the simulation.

15. The system of claim 12, wherein said debrief server provides a capability to mark a point in time in said simulation for later return to that point in time to continue the simulation from the marked point in time.

16. The system of claim 12, wherein said debrief server provides a capability to replay said simulation.

17. The system of claim 1, wherein said Image generator comprises a filter for filtering out a particular type of tissue from the display of said realistic dynamic images at the request of the user.

18. The system of claim 1, wherein said Image generator includes a filter for removing a 3 dimensional corridor accordion to a desired location, orientation and dimension, of the corridor at the request of the user.

19. The system of claim 1, wherein the selected model of the surgery tool includes modeling mechanical properties of the tool that support tool open/close status, spring load, and/or spring force that will applied on a vessel in the simulation.

20. The system of claim 1, wherein said tool is an implantable medical device.

21. A platform comprising a plurality of systems of claim 1 networked together for collaboratively planning and simulating a surgery, said platform supporting users from two or more distributed sites each using at least one of said systems for supporting said surgery simulation in a coordinated manner.

22. A modeling system for enabling a user to perform a simulated medical procedure, said system comprising:

one or more computers;

a display for displaying images to the user;

a database for storing physical characteristics of an organ and/or tissue;

an image generator using one or more of said computers for executing software adapted for generating a dynamic image of the organ and/or tissue for displaying on said display;

a user tool library stored in said database for providing a plurality of user tool models of actual user tools used in medical procedures;

a user interface connected to one or more of said computers adapted for accepting inputs from the user for selecting one of the user tool models;

a user tool generator using one or more of said computers for executing software for generating a tool image of the selected user tool model for displaying on said display; and

a user interface connected to one or more of said computers adapted for accepting inputs from the user, said inputs for dynamically manipulating said tool image for dynamically interacting with said dynamic image of the organ and/or tissue during the simulated medical procedure for display to the user on said display in real-time or near real-time; and

a debrief server for recording a progress of the simulated medical procedure for allowing the simulated procedure to return to a previous point in time for restart or replay of the simulated medical procedure.

25. The modeling system of claim 22, further comprising a first network for networking said plurality of computers together, and also comprising a second network for networking said plurality of computers together, such that non real-time critical network traffic is allocated to said second network and critical real-time network traffic is allocated to said first network.

23. A modeling system for enabling a user to perform a simulated medical procedure, said system comprising:

a host computer;

a first computer network;

a plurality of simulation computers networked together via said computer network with said host computer;

a display for displaying images to the user;

a database for storing physical characteristics of an organ and/or tissue;

an image generator using at least one of said computers for executing software adapted for generating a dynamic image of the organ and/or tissue for displaying on said display;

a user tool generator using at least one of said computers for executing software adapted for generating a realistic tool image of a user tool model for displaying on said display; and

a user interface connected to one or more of said computers adapted for accepting inputs from the user, said inputs for dynamically manipulating said tool image for dynamically interacting with said dynamic image of the organ and/or tissue during the simulated medical procedure for display to the user on said display, wherein

one aspect of the simulated medical procedure is generated using a first subset of simulation data in one of said plurality of computers concurrent with another aspect of the simulated medical procedure being generated using a second subset of simulation data in another of said plurality of computers, and wherein

said host computer ensures that said first subset of data is consistent with said second subset of data as the simulated medical procedure progresses, and wherein

said host computer coordinates the plurality of computers to provide the simulated medical procedure.

24. The modeling system of claim 23, further comprising a second network, wherein said plurality of computers and said host computer are also connected to said second network, such that non real-time critical network traffic is allocated to said second network and critical real-time network traffic is allocated to said first network.