Devices and methods for utilizing mechanical surgical devices in a virtual environment

• US 8,834,170 B2
• Filed: 11/03/2007
• Issued: 09/16/2014
• Est. Priority Date: 11/06/2006
• Status: Expired due to Fees

• Current Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Original Assignee: University of Florida Research Foundation, Incorporated (State University System of Florida)
• Inventors: Kurenov, Sergei N., Cendan, Juan Carlos, Peters, Jorg
• Primary Examiner(s): Frisby, Kesha
• Application Number:
  US12/446,587
• Publication Number:
  US 20100291520A1
• Time in Patent Office: 2,509 Days
• Field of Search: 434/262
• US Class Current: 434/262
• CPC Class Codes: A61B 17/0469 Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
• CPC Class Codes: A61B 17/0491 Sewing machines for surgery
• CPC Class Codes: A61B 2017/00371 Multiple actuation, e.g. pushing of two buttons, or two working tips becoming operational
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Devices and methods that combine an actual surgical instrument handle, for example the handle of an AutoSuture EndoStitch™ device, with a force feedback generator able to create resistance to motion similar to that encountered in a real operating environment. The devices and methods provide a means for repeatedly performing maneuvers that accurately simulate the actual instrument, but in a virtual environment. The devices have haptic capabilities and collision detection so that the virtual device, such as the needle driver of the EndoStitch™ device, is “aware” of instrument contact.

Claims

1. A system for creating an interactive virtual model of a surgical instrument within a virtual environment, the system comprising:

an input device that is manipulated similarly or identically to the handle of the surgical instrument, such that the manipulations used with the input device are similar or identical to one or more maneuvers used to operate one or more controls of the surgical instrument working tip and where the input device manipulations generate at least one signal that corresponds to one or more of the maneuvers that are made with the handle of the surgical instrument;

at least one haptic feedback device in operable connection with the input device, such that the at least one signal is transmitted to the at least one haptic feedback device and wherein the haptic feedback device transmits haptic feedback information, including information pertaining to the at least one signal, to the input device;

a display device in operable connection with the at least one haptic feedback device wherein information from the at least one haptic feedback device is transmitted to the display device; and

,

a computer application stored on a computer readable medium accessible by display device that, when executed,

generates a virtual model in the virtual environment of the surgical instrument working tip on the display device, such that the virtual model of the working tip is similar or identical to that of the surgical instrument and is controlled by manipulation of the input device;

interprets the information received from the at least one haptic feedback device;

modifies at least one of a representation and orientation of the virtual model of the working tip of the surgical instrument on the display device in response to information from the haptic feedback device; and

transmits information back to the haptic feedback device that causes a haptic response corresponding to the modified virtual model display to be transmitted to and detectable with the input device,

such that the manipulations of the input device correspond to one or more control maneuvers used with a surgical instrument and cause modification of the display of the virtual model of the working tip of the surgical instrument.

2. The system, according to claim 1, wherein the input device operates similarly or identically to a handle of a laparoscopic suturing instrument.

3. The system, according to claim 2, wherein the input device operates similarly or identically to a handle of an AutoSuture®

EndoStitch™

laparoscopic suturing instrument.

4. The system, according to claim 3, wherein the working tip displayed in the virtual environment on the display device resembles that of an AutoSuture®

EndoStitch™

laparoscopic suturing instrument.

5. The system, according to claim 1, wherein the display device is a computer monitor.

6. The system, according to claim 1, wherein the haptic feedback device is a Phantom®

Omni™

(SensAble Technologies) haptic device.

7. A system for creating an interactive virtual model of a surgical instrument within a virtual environment, the system comprising:

an input device comprising at least a handle from a surgical instrument, where the handle is modified to generate at least one signal that corresponds to at least one maneuver that is similar or identical to one performed with the handle of the surgical instrument;

at least one haptic feedback device in operable connection to the input device, such that the at least one signal is transmitted to the at least one haptic feedback device;

a display device operably connected to the haptic feedback device wherein information from the haptic feedback device, including the at least one signal, is transmitted to the display device; and

a computer application stored on a computer readable medium and accessible by the display device, that, when executed,

generates a virtual model on display device of at least a portion of the surgical instrument working tip, such that the virtual model working tip is similar or identical to one controlled by the surgical instrument handle used an the input device,

generates a virtual model in the virtual environment on display device of at least one object that interacts with and is manipulated by the virtual model of the working tip,

interprets the information received from the haptic feedback device and modifies at least one of a representation and orientation of at least one of the virtual models displayed on the display device in response thereto, and

transmits information back to the haptic feedback device pertaining to the modified display of at least one of the virtual models, where the information causes a haptic response to be transmitted to the input device corresponding to the interaction that caused the modified display of at least one of the virtual models,

such that the manipulations of the input device correspond to the maneuvers used to control the surgical instrument and cause a corresponding modification of the display of the one or more virtual models.

8. The system, according to claim 7, wherein the at least one virtual object is an internal organ or tissue.

9. The system, according to claim 7, wherein the input device is the modified handle of an AutoSuture®

EndoStitch™

suturing instrument.

10. The system, according to claim 9, wherein the display of the virtual working tip includes at least the upper and lower jaw, and corresponding suturing needle, of the suturing instrument.

11. The system, according to claim 10, wherein the modifications of the display of the virtual working tip correspond to the manipulations of the modified handle that change the position of the jaws or the suturing needle.

12. The system, according to claim 9, wherein the input device comprises a surgical instrument handle modified with at least one microswitch that transmits a signal to the haptic device when the input device is manipulated.

13. The system, according to claim 12, wherein at least one microswitch is utilized to detect at least one manipulation of a sliding lever.

14. The system, according to claim 12, wherein at least one microswitch is utilized to detect at least one manipulation of a handle arm.

15. The system, according to claim 12, wherein the operable connection of the modified handle to the haptic device is by electrical connection.

16. The system, according to claim 12, wherein the electrical connection is facilitated by an electric jack.

17. A method for interactive virtual suturing comprising:

utilizing, as an input device, at least a handle from a surgical suturing instrument modified to generate at least one signal corresponding to at least one maneuver performed with the handle of the surgical suturing instrument and to receive at least one haptic response corresponding to said signal;

operably connecting the input device to a display device such that the at least one signal, generated by manipulating the input device, is transmitted to the display device;

utilizing a computer application stored on a computer readable medium and accessible by the display device, that, when executed,

generates a virtual model, on the display device, of at least a portion of the working tip of the surgical suturing instrument, such that the virtual model of the working tip is the similar or identical to that of the surgical suturing instrument working tip utilized as the input device,

generates a virtual model, on the display device, of a suture needle that is utilized with the virtual model of the working tip of the surgical suturing instrument,

generates, on the display device, an interactive virtual suture by,

determining the location of the virtual suture needle;

associating a first mass point with the virtual suture needle;

generating one or more sequential mass points from the first mass point, with connectivity links therebetween; and

modifying the display of the virtual suture, as the location of the suture needle changes in the virtual environment, by updating the location of sequential mass points based upon the connectivity links,

generates a virtual model of at least one object that is manipulated by the virtual model of the surgical suturing instrument and the suture,

interprets the at least one signal received from the manipulated input device and modifies at least one of the virtual models displayed on the display device in response thereto, and

transmits information to the input device pertaining to the modified display of at least one of the virtual models that causes a haptic response to be sent to the modified handle that corresponds to the modified virtual model displays,

such that the manipulations of the modified handle input device correspond to and can cause modification of the display of at least one of the virtual models and where such modification can generate a haptic response to be sent to and be detectable by the modified handle.

18. The method, according to claim 17, wherein the input device is the modified handle of an AutoSuture®

EndoStitch™

suturing instrument.

19. The method, according to claim 18, wherein the virtual model of the suture needle corresponds to the AutoSuture®

EndoStitch™

suturing instrument needle.

20. The method, according to claim 19, wherein the display of the virtual working tip and suture needle are modified according to the manipulations of the modified handle.

21. The method, according to claim 18, wherein the modified handle of the AutoSuture®

EndoStitch™

suturing instrument comprises at least one microswitch that transmits a signal to the haptic device when the handle is manipulated.

22. The method, according to claim 21, wherein at least one microswitch is utilized to detect at least one manipulation of a sliding lever of the AutoSuture®

EndoStitch™

suturing instrument.

23. The method, according to claim 21, wherein at least one microswitch is utilized to detect at least one manipulation of a handle arm of the AutoSuture®

EndoStitch™

suturing instrument.

24. The method, according to claim 17, wherein the at least one haptic device is a Phantom®

Omni™

(SensAble Technologies) haptic device.

25. The method, according to claim 17, further comprising a Follow-the-Leader algorithm to generate the one or more sequential mass points with connectivity links therebetween.