US 5,800,179 AGranted

System for training persons to perform minimally invasive surgical procedures

AssigneeMedical Simulation Corporation

InventorBradford E. Bailey

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Abstract

A system for producing highly realistic, real-time simulated operating conditions for interactive training of persons to perform minimally invasive surgical procedures involving implements that are inserted and manipulated through small incisions in the patient. The virtual environment for this training system includes a housing with a small opening. An implement simulating a surgical implement is inserted into the opening and manipulated relative to the housing. A movement guide and sensor assembly monitors the location of the implement relative to the housing and provides data about the implement's location and orientation within the housing. The reported data is interpolated by a computer processor, which utilizes a database of information representing a patient's internal landscape to create a computer model of the internal landscape of the patient. With reference to this computer model, the processor controls the occurrence of force feedback opposing the motion of the implement. A two-dimensional image representing the implement as it would appear within the patient is generated by a processor-controlled video imaging system based on the computer model of the patient's internal landscape. This computer image of the implement is then merged with a video image loop of a patient's internal landscape as it appears through a heartbeat and breathing cycle, and the merged image is displayed on a video display. The combined elements of real-time visual representation and interactive tactile force feedback provide a virtual training simulation with all elements of actual operation conditions, minus a live patient.

A system for training persons to perform a minimally invasive surgical procedure using a surgical implement that is inserted and manipulated through a small incision in a patient, said system comprising:

a housing with an opening;
an implement for simulating said surgical implement that is manually inserted through said opening in said housing and manipulated axially and rotationally relative to said housing;
a movement guide and sensor assembly for monitoring the position of said implement relative to said housing, said movement guide and sensor assembly having:
a) a guide cable;
b) a guide rail proximate to said guide cable;
c) a framed assembly mounted on said guide rail for restricting the linear motion of said implement as it is moved relative to said housing to a predetermined axis;
d) a rotation sensor affixed to said implement for monitoring the axial rotation of said implement relative to said housing;
e) a position sensor on said guide rail for monitoring the axial position of said framed assembly;
and
f) a connection means connecting said guide cable and said framed assembly, such that motion of the framed assembly along the guide rail imparts motion to the guide cable;
a force feedback system for producing an adjustable force opposing the motion of said implement having;
a) an applied force sensor sensing applied force to said implement;
and
b) a servo motor applying a torque to said guide cable, which by connection of said connection means to said framed assembly attached to said guide rail, imparts a resistive force to linear motion of said implement;
a display;
a video imaging system for producing a video image simulation of said implement superimposed on a visual representation of the patient's internal landscape;
and
a processor for interpreting the data from said rotation sensor and said position sensor to determine the location and occurrence of force feedback to said implement, said force feedback created by said processor controlling said servo motor in response to said sensed applied force, said processor also controlling said video imaging system to create a visual simulation for said display.

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Abstract

Claims5