# US 8,784,111 B2 · Vascular access simulation system with receiver for an end effector > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,784,111 B2 - Document ID: US8784111B2 - Status: Granted - Kind: B2 - Application number: 12/606,724 - Filed: 2009-10-27 - Published: 2010-02-25 - Granted: 2014-07-22 - Earliest claimed: 2004-03-23 - Assignees: Laerdal Medical AS - Applicants: David Feygin; Chih-Hao Ho - Inventors: David Feygin; Chih-Hao Ho - Web page: https://patentgrep.com/patent/US8784111B2 ## CPC - G09B 23/285: {for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas} - G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B) ## Abstract The illustrative embodiment is a simulation system for practicing vascular-access procedures without using human subjects. The simulator includes a data-processing system and a haptics interface device. The haptics device provides the physical interface at which an end effector (e.g., medical instrument, such as a needle, catheter, etc.) is manipulated to simulate needle insertion, etc. In accordance with the illustrative embodiment, the haptics device includes a receiver. The receiver receives the end effector when it's inserted by a user into the haptics device. Sensors that are associated with the receiver monitor the motion and position of the end effector, generate signals indicative thereof, and transmit the signals to the data processing system. The signals are processed to determine the effects of manipulation of the end effector. In some embodiments, the signals are processed to determine the various resistive forces that would arise if the user were manipulating a needle/catheter through actual human anatomy. Responsive to this determination, the receiver generates forces that the user experiences as a resistance to continued advance (insertion) of the end effector. Simulated results are displayed by the computer system. ## Claims ### Claim 1 An apparatus for simulating a medical technique, wherein the apparatus comprises: a housing; pseudo skin, wherein the pseudo skin covers a portion of housing and includes an insertion point; an end effector; a receiver structurally arranged to magnetically couple to the end effector as the end effector passes through the insertion point, wherein: (i) the receiver is structurally arranged to monitor translational movement of the end effector along one axis and rotational movements of the end effector about two axes, wherein all three of the axes intersect within the receiver; and (ii) the receiver, the end effector, and the pseudo skin are dimensioned and structurally arranged so that the simulation begins as the end effector passes through the insertion point, there being substantially no offset between the pseudo skin and a point at which the end effector operatively couples to the receiver such that translational movement and rotational movement of the end effector are monitored substantially immediately upon the end effector passing through the insertion point. ### Claim 2 (depends on 1) The apparatus of claim 1 wherein the end effector comprises a catheter. ### Claim 3 (depends on 1) The apparatus of claim 1 wherein the receiver comprises a movable member that is dimensioned and arranged to reversibly couple to the end effector. ### Claim 4 (depends on 3) The apparatus of claim 3 wherein the movable member is arranged so that it moves along a linear path in response to translational movement of the end effector when the end effector and the receiver are coupled. ### Claim 5 (depends on 3) The apparatus of claim 3 wherein the movable member is arranged to move via rolling contact. ### Claim 6 (depends on 5) The apparatus of claim 5 wherein the movable member comprises a pulley, and wherein the pulley provides the rolling contact. ### Claim 7 (depends on 6) The apparatus of claim 6 wherein the movable member is coupled to a cable and the cable is coupled to a motor, whereby translational movement of the movable member causes the motor to move. ### Claim 8 (depends on 7) The apparatus of claim 7 further comprising an encoder, wherein movement of the motor is captured by the encoder, the encoder thereby sensing translational motion of the movable member. ### Claim 9 (depends on 3) The apparatus of claim 3 wherein the movable member comprises a magnet, and wherein the end effector magnetically couples to the magnet. ### Claim 10 (depends on 3) The apparatus of claim 3 wherein the movable member is coupled to a force-feedback assembly that delivers force feedback to a user manipulating the end effector. ### Claim 11 (depends on 10) The apparatus of claim 10 wherein the force-feedback assembly comprises a motor, a plurality of pulleys and a cable. ### Claim 12 (depends on 11) The apparatus of claim 11 wherein the movable member couples to the cable. ### Claim 13 (depends on 12) The apparatus of claim 12 wherein the cable couples to the motor. ### Claim 14 (depends on 13) The apparatus of claim 13 wherein, responsive to a control signal, the motor generates a resistance to movement of the movable member. ### Claim 15 (depends on 11) The apparatus of claim 11 further comprising a frame, wherein the frame receives the movable member and the plurality of pulleys, and wherein the plurality of pulleys engage the cable, and further wherein the pulleys are arranged so that a tension in the cable aligns with a linear path along which the movable member moves. ### Claim 16 An apparatus for simulating a medical technique, wherein the apparatus comprises: a housing; a pseudo skin, wherein the pseudo skin covers a portion of housing and wherein the pseudo skin includes an insertion point; and a receiver, wherein the receiver is disposed in the housing, wherein the receiver is structurally arranged to receive an end effector that is inserted through the insertion point and is further structurally arranged to begin simulating the medical technique substantially as soon as the end effector is inserted through the insertion point by monitoring translational movement and rotational movement of the end effector, wherein receiver includes: (i) a frame; (ii) an arrangement for providing two orthogonal axes of rotation for the frame, wherein the frame is coupled to the arrangement; (iii) a movable member, wherein: the end effector magnetically couples to the movable member as the end effector passes through the insertion point; the movable member moves along a linear path in a region defined by the frame; and the linear path and each of the two orthogonal axes of rotation intersect at a single point within the frame; and (iv) sensors for monitoring movement of the end effector about the two axes of rotation and for monitoring movement of the movable member along the linear path. ### Claim 17 (depends on 16) The apparatus of claim 16 further comprising a force-feedback assembly, wherein the force-feedback assembly is coupled to the movable member, and wherein the force-feedback assembly imparts a force that resists forward motion of the movable member by the end effector. ### Claim 18 (depends on 17) The apparatus of claim 17 wherein the force-feedback assembly comprises: a motor; and a cable, wherein the cable is coupled to the motor. ### Claim 19 (depends on 18) The apparatus of claim 18 wherein the movable member includes a rolling-contact element, wherein the cable is coupled to the rolling-contact element. ### Claim 20 (depends on 16) The apparatus of claim 16 further comprising a counterbalance, wherein the counterbalance is coupled to the frame. ### Claim 21 (depends on 16) The apparatus of claim 16 wherein the receiver is gravitationally balanced. ### Claim 22 An apparatus for simulating a medical technique, wherein the apparatus comprises: pseudo skin, wherein the pseudo skin includes an insertion point; an end effector; and a receiver structurally arranged to couple to the end effector, wherein the receiver comprises: a receiving module having a movable member that magnetically couples to the end effector as the end effector passes through the insertion point, wherein the movable member is movable in linear fashion along a first axis; a base and gimbal assembly rotatably coupled to the receiving module and providing two orthogonal axes of rotation for the receiving module and wherein the first axis intersects the two axes of rotation at a single point; a sensor for monitoring movement of the movable member along the first axis; and a force feedback system for applying a variable force that opposes movement of the end effector based on sensed movement of the movable member, wherein the force feedback system comprises a cable that couples to the movable member.