Surgical burr hole drilling simulator
AssigneeSimQuest LLC
InventorDwight Meglan
Life of this patent
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Abstract
A system, method and device for simulating a medical procedure include a haptic mechanism controllable to provide feedback to a user manipulating a medical device. In an embodiment, a pair of three degree of freedom haptic devices are coupled to provide six degree of freedom measurement and force/moment feedback to the user. The six degree of freedom haptic device may be configured to provide different resolutions for different degrees of freedom, depending on simulation requirements. In an embodiment, a load cell is used to provide higher resolution in a dimension determined to be of greater criticality to realistic simulation.
Claims21
An apparatus comprising:
- a rotatable surgical tool;
- two three-degree-of-freedom haptic devices, each of the three-degree-of-freedom haptic devices separately mechanically communicated to ground and operably and cooperatively communicated to the surgical tool and constructed and arranged to measure motions of the surgical tool and to apply resistance to the motions in six degrees-of-freedom in response to computed values for a simulated medical procedure wherein the six degrees-of-freedom comprise three translations and three rotations.
A method of simulating a medical procedure comprising:
- measuring a user's manipulation of a rotating surgical tool in six degrees of freedom using two three-linear-degree-of-freedom haptic devices, wherein the six degrees-of-freedom comprise three translations and three rotations;
- modeling an interaction between the surgical tool and a subject of the medical procedure, based on the measured user's manipulation, including:
- modeling properties of materials present in an interaction region between the rotating surgical tool and the subject of the medical procedure,
- modeling an orientation of the rotating surgical tool;
- modeling a rotational speed of the rotating surgical tool;
- modeling forces between the surgical tool and portions of the interaction region based on the modeled properties, orientation and rotational speed;
- and
- providing feedback forces in at least three degrees of freedom to the manipulated surgical tool in accordance with the modeled forces, using the three-linear-degree-of-freedom haptic devices separately mechanically communicated to ground.
Dependencies are inferred from the claim text.