Method and apparatus for simulation of an endoscopy operation

1. An apparatus for use in training an operator in the use of an endoscope system comprising:

a dummy endoscope having an insertion tube;

a fixture defining a duct receiving in use the insertion tube, the dummy endoscope being manipulated by the operator;

sensor means responsive to manipulation of the dummy endoscope for producing signals representative of longitudinal and rotational movement of the insertion tube relative to the fixture; and

simulation means responsive to the signals for generating an operator viewable image simulating the image which would be viewable using an actual endoscope when the actual endoscope is used in an actual endoscopic procedure and is manipulated like the dummy endoscope, wherein the simulation means comprises tactile means operable between the fixture and the insertion tube so as to provide corresponding tactile feedback to the operator, and an operator interface producing input information in response to external physical manipulation of the operator interface applied by the operator while the insertion tube is received in the fixture, the external physical manipulation corresponding to a force required to deform a patient body, the simulation means being operable to receive the input information and relate it to deformation of a patient body caused by the external physical manipulation which is separate from any pressure exerted by the dummy endoscope on the patient body, the simulation means being further operable to simulate the deformation of an actual patient body that would be caused by the physical manipulation and modify the viewable image and the force feedback based on the simulated deformation of the patient body thereby simulating the changed viewable image that would be seen through an endoscope if an actual patient had received the physical manipulation.

2. An apparatus according to claim 1 wherein the operator interface is provided by one or more pressure pads.

3. A training apparatus for training a person to use an endoscopic system, the apparatus comprising:

a dummy endoscope including an insertion tube;

a fixture defining, in part, a duct for receiving the insertion tube, the fixture including the one or more insertion tube detectors to detect the linear and angular position of the insertion tube and produce position signals corresponding the linear and angular position;

an angulation feedback controller, the angulation feedback controller for generating a force feedback on the insertion tube;

a simulator control unit for monitoring the position signals, for producing a computer generated model of a colon, responsive to the position signals to generate an operator viewable image simulating the image of an actual colon which would be viewable using an actual endoscope when the actual endoscope is used in an actual endoscopic procedure and is manipulated like the dummy endoscope, for determining the position of the dummy endoscope with respect to the computer generated model of a colon and for controlling the force feedback generated by the angulation feedback controller;

a display device for displaying the operator viewable image; and

an operator interface for simulating an external condition of a patient body while the dummy endoscope is located in the duct of the fixture, the operator interface including at least a first pressure pad for receiving a force applied by an operator, the first pressure pad including a first simulated skin surface layer and a first sensor connected to sense the force exerted on the first pressure pad, which is a sensed amount of force, and being connected to communicate the sensed amount of force on the first pressure pad to the simulator control unit;

the simulator control unit being responsive to the sensed amount of force to modify the force feedback on the insertion tube and the view of the colon based at least in part on the force placed on the first pressure pad and the computer generated model of a colon.

4. The training apparatus of claim 3 wherein the operator interface further comprises a rotation detector for detecting and transmitting information indicating rotational movement of the fixture and being connected to communicate the rotational movement of the fixture to the simulator control unit.

5. The training apparatus of claim 3 wherein the operator interface further comprises a trans-illumination assembly including a light covered with a sheet, the simulator control unit being connected to control the light based on the simulated position of the insertion tube in the computer generated model of a colon to simulate the appearance of a light from an endoscope in a colon as it would be seen in practice through the wall of an abdomen.

6. The training apparatus of claim 3 wherein the operator interface further comprises a second pressure pad including a second simulated skin surface layer and a second sensor connected to sense the amount of force exerted on the second pressure pad and being connected to communicate the sensed amount of force on the second pressure pad to the simulator control unit.

7. A training apparatus for training a person to use an endoscopic system, the apparatus comprising:

a dummy endoscope including an insertion tube and an angulation feedback controller, the angulation feedback controller including one or more feedback motors for generating a force feedback on the insertion tube;

a fixture defining, in part, a duct for receiving the insertion tube, the fixture including detectors to detect the linear and angular position of the insertion tube and produce position signals corresponding to the linear and angular position;

a simulator control unit including memory storage for storing a computer generated model of a colon, the simulator control unit for monitoring the position signals to determine the position of the dummy endoscope within the fixture and relate the position of the dummy endoscope within the fixture to a virtual position within the computer generated model of a colon and for controlling the force feedback generated by the angulation feedback controller, the simulator control unit being responsive to the position signals to generate an operator viewable image simulating the image of an actual colon which would be viewable using an actual endoscope when the actual endoscope is used in an actual endoscopic procedure and is manipulated like the dummy endoscope;

a display device for displaying the operator viewable image of a colon;

a control panel and a pointer device for a user to interface with the training apparatus; and

an operator interface for simulating an external condition of a patient body while the dummy endoscope is located in the duct of the fixture, the operator interface including the following devices:

a sigmoid loop pressure pad sized to simulate the area of an abdomen above the sigmoid colon, the sigmoid loop pressure pad for receiving a first force from an operator and including a first simulated skin surface layer, a first plunger disposed to receive first input forces from the first skin surface layer and move in response to the first input forces, and a first sensor connected to sense the position of the first plunger and being connected to communicate the position of the plunger to the simulator control unit,

a right iliac fossa pressure pad sized to simulate the area of an abdomen above the right iliac fossa, the right iliac fossa pressure pad for receiving a second force from the operator and including a second simulated skin surface layer, a second plunger disposed to receive second input forces from the second simulated skin surface layer and move in response to the second input forces, and a second sensor connected to sense the position of the second plunger and being connected to communicate the position of the plunger to the simulator control unit;

a trans-illumination assembly including a light covered with a sheet and mounted on a third housing, the simulator control unit being connected to control the light based on the simulated position of the insertion tube in the computer generated model of a colon to simulate the appearance of a light from an endoscope as it would be seen in practice through the wall of the abdomen; and

a rotation detector for receiving input indicating rotational movement of the fixture and being connected to communicate the rotational movement of the fixture to the simulator control unit;

the simulator control unit being responsive to the input devices to simulate one or more effects on a geometry of the colon shown in the operator viewable image of a colon caused by the first and second forces applied to the pressure pads and to modify the force feedback on the insertion tube based at least in part on the first and second forces placed on the input devices and the computer generated model of a colon.