Mixed-reality endoscope and surgical tools with haptic feedback for integrated virtual-reality visual and haptic surgical simulation
AssigneeArizona Board of Regents on Behalf of the University of Arizona
InventorsSamuel Barber, Saurabh Jain, Young-Jun Son, Eugene Chang
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Abstract
An apparatus has a device representing an endoscope, the device being either an endoscope or a dummy endoscope having shape and feel resembling an endoscope, and includes a tracker adapted to operate with a three-dimensional tracking system to track location and orientation of the device in three dimensions in a simulated operating-room environment. The apparatus also has a physical head model comprising hard and soft components, the device representing an endoscope configured to be inserted into the physical head model to provide a haptic feedback of endoscopic surgery.
Claims14
An endoscopic surgical simulation system comprising:
- a physical head model;
- a tracking system configured to track location and angle of a device representing an endoscope and a device representing a surgical tool;
- a computer-aided design (CAD) model in a modeling, and display machine, the CAD model registered to a location of the physical head model and comprising CAD representations of structures corresponding to structures of the physical head model;
- the modeling, and display machine being configured to track the device representing an endoscope and determine a location of a tip of the device representing an endoscope within a nasal cavity of the physical head model, and to determine a field of view of an endoscope located at the location of the tip of the device representing an endoscope;
- the modeling, and display machine being configured to track the device representing a surgical tool and determine a location of a tip of the device representing a surgical tool within the nasal cavity of the physical head model;
- the modeling and display machine being configured to generate a video stream corresponding to a view of structures represented by the CAD model within the field of view;
- and
- the modeling and display machine being configured to superimpose on the video stream an image corresponding to a tip of a surgical tool when the location of a tip of the device representing a surgical tool is in a field of view of view.
Dependencies are inferred from the claim text.