Surgical simulation device, system and method
First Claim
1. A computer system comprising a virtual organ for use in simulated medical procedures, the computer system comprising:
- a processor to perform a simulated medical procedure using the virtual organ, the virtual organ being a computer-implemented simulation,a user interaction device for user interaction with the virtual organ during the simulated medical procedure; and
a user interface for presenting results of the simulated medical procedure,wherein the virtual organ comprises;
a structure of elastic strip elements that simulate connecting tissues to be removed in the medical procedure, each strip element being a linear segment defined by a diameter function along the length of the strip element and two connection points wherein the diameter function defines a volume parameter around the linear segment at each point of the segment and when force is applied to a particular one of the elastic strip elements at a coagulation point by the user interaction, the diameter of the particular strip element at the coagulation point is reduced to zero so as to remove the particular strip element from the structure.
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Accused Products
Abstract
A device system and method for simulating laparoscopic procedures, particularly for the purposes of instruction and/or demonstration. The system comprises one or more virtual organs to be operated on. The organ comprises a plurality of elements, each element having neighboring elements; and a plurality of tensioned connections connecting neighboring elements over said organ, such that force applied at one of said elements propagates via respective neighboring elements provides a distributed reaction over said organ. In addition there is a physical manipulation device for manipulation by a user; and a tracking arrangement for tracking said physical manipulation device and translating motion of said physical manipulation device into application of forces onto said virtual organ. The system is capable of simulating organs moving, cutting, suturing, coagulations and other surgical and surgery-related operations.
461 Citations
41 Claims
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1. A computer system comprising a virtual organ for use in simulated medical procedures, the computer system comprising:
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a processor to perform a simulated medical procedure using the virtual organ, the virtual organ being a computer-implemented simulation, a user interaction device for user interaction with the virtual organ during the simulated medical procedure; and a user interface for presenting results of the simulated medical procedure, wherein the virtual organ comprises; a structure of elastic strip elements that simulate connecting tissues to be removed in the medical procedure, each strip element being a linear segment defined by a diameter function along the length of the strip element and two connection points wherein the diameter function defines a volume parameter around the linear segment at each point of the segment and when force is applied to a particular one of the elastic strip elements at a coagulation point by the user interaction, the diameter of the particular strip element at the coagulation point is reduced to zero so as to remove the particular strip element from the structure. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A system for simulation of a surgical procedure comprising:
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a) at least one virtual organ, the virtual organ being a computer-implemented simulation comprising; a structure of elastic strip elements that simulate connecting tissues to be removed in the medical procedure, each strip element being a linear segment defined by a diameter function along the length of the strip element and two connection points wherein the diameter function defines a volume parameter around the linear segment at each point of the segment and when force is applied to a particular one of the elastic strip elements at a coagulation point by a user interaction with the virtual organ, the diameter of the particular strip element at the coagulation point is reduced to zero so as to remove the particular strip element from the structure; b) a physical manipulation device for manipulation by a user; and c) a tracking arrangement for tracking said physical manipulation device and translating motion of said physical manipulation device into application of forces onto said virtual organ. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for simulating an interaction with an organ, the method comprising:
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providing a computer system and a physical interaction device; constructing a simulated organ on said computer system using a plurality of particles and spring/damper (SD) sets, ones of said plurality of particles being connected to others of said particles by said SD set to provide a plurality of connected particles to collectively model a mechanical geometric behavior of the organ, wherein the simulated organ comprises a structure of elastic strip elements that simulate connecting tissues, at least a portion of the elastic strip elements are to be removed in a simulated medical procedure, each strip element being a linear segment defined by a diameter function along the length of the strip element and two connection points, wherein the diameter function defines a volume parameter around the linear segment at each point of the segment; simulating a physical force on the organ by applying a simulated instrument to a location on said organ using said physical interaction device, said location corresponding to at least one of said particles, said force being allowed to alter at least one physical characteristic of the organ according to application of said force to said at least one of said particles directly, and according to application of said force indirectly via said SD set to others of said particles; and simulating a physical force on a particular one of the elastic strip elements by applying a virtual model of the physical interaction device to a coagulation point on the particular strip element, wherein the force causes the diameter of the particular strip element at the coagulation point to be reduced to zero so as to remove the particular strip element to be cut and removed from the structure. - View Dependent Claims (26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36)
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37. A method for simulating a surgical procedure on a body component using a computer system and a physical interaction device, the method comprising:
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on said computer system constructing at least the body component as a plurality of particles and spring/damper (SD) sets, wherein at least one of said plurality of particles is connected by at least one SD set to at least one other particle, such that movement at one of said connected particles leads to an effect on another particle connected thereto, wherein the body component comprises a structure of elastic strip elements that simulate connecting tissues, at least a portion of the elastic strip elements are to be removed in a simulated medical procedure, each strip element being a linear segment defined by a diameter function along the length of the strip element and two connection points, wherein the diameter function defines a volume parameter around the linear segment at each point of the segment; simulating a physical interaction with a physical force on at least one of said particles based on user input via said physical interaction device, such that said physical interaction propagates over the body component via respectively connected SD sets following application of said force to said at least one particle;
wherein said physical interaction is part of said surgical procedure; andsimulating a physical force on a particular one of the elastic strip elements by applying a virtual model of the physical interaction device to a coagulation point on the particular strip element, wherein the force causes the diameter of the particular strip element at the coagulation point to be reduced to zero so as to remove the particular strip element from the structure. - View Dependent Claims (38, 39, 40, 41)
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Specification