Interface device and method for interfacing instruments to medical procedure simulation systems
An interface device and method for interfacing instruments to a medical procedure simulation system serve to interface peripherals in the form of mock medical instruments to the medical procedure simulation system computer to enable simulation of medical procedures. The interface device includes a housing having a mock bodily region of interest to facilitate insertion of a mock instrument, such as an endoscope tube, into the interface device. The mock bodily region of interest may be pivotable to simulate various patient orientations. The instrument is engaged by a capture mechanism in order to measure rotational and translational motion of the instrument. An actuator is disposed within the interface device to provide force feedback to the instrument. The measured motion is provided to the computer system to reflect instrument motion on the display during the simulation. Alternatively, the interface device may be configured to accommodate instrument assemblies having a plurality of nested instruments (e.g., sheath, catheter and wire), whereby the interface device individually grasps, measures manipulation of and provides force feedback to the nested instruments. In addition, the interface device may be configured to simultaneously accommodate a plurality of independently inserted instruments.
1. An apparatus for simulating a procedure, comprising:
a capture mechanism comprising:
a first end and a second end,
a length dimension and a cross-sectional dimension,
the capture mechanism configured to:
receive an insertion device therein at the first end,
automatically adjust the cross-sectional dimension in response to the insertion device adjusting the length dimension while moving in a longitudinal direction within the capture mechanism toward the second end of the capture mechanism, the adjusted cross-sectional dimension of the capture mechanism configured to either grasp or release the insertion device from the capture mechanism based on the movement of the insertion device with respect to the second end,
provide a rotational degree of freedom to the insertion device while the capture mechanism has grasped the insertion device such that the insertion device remains grasped while being manipulated in the rotational degree of freedom, and
couple to and move with a carrier assembly, the carrier assembly moveable in a translational degree of freedom.
2. The apparatus of claim 1 , wherein the capture mechanism further comprises a lock and release mechanism for automatically locking or releasing the insertion device based on the movement of the insertion device with respect to the capture mechanism.
3. The apparatus of claim 1 , further comprising a mock anatomical site including an aperture adapted to receive the insertion device, the capture mechanism in communication with the aperture.
4. The apparatus of claim 3 , wherein the mock anatomical site is configured to be pivotable.
5. The apparatus of claim 1 , further comprising at least one actuator configured to apply force feedback to the insertion device when engaged with the capture mechanism, wherein the actuator applies the force feedback in response to receiving an activating signal based on the one or more signals from the sensor.
6. The apparatus of claim 1 , wherein the capture mechanism further comprises a plurality of capture mechanisms, each configured to separately engage a corresponding one of a plurality of insertion devices.
7. An apparatus for simulating a procedure comprising:
a capture mechanism comprising:
a first end and a second end,
a length dimension and a cross-sectional dimension,
the capture mechanism configured to:
receive an insertion device at the first end,
adjust the cross-sectional dimension in response to the insertion device adjusting the length dimension by moving in a longitudinal direction within the capture mechanism with respect to the second end to either grasp or release the insertion device,
provide a rotational degree of freedom to an insertion device while the capture mechanism has grasped the insertion device such that the insertion device remains grasped while being manipulated in the rotational degree of freedom, and
couple to and move with a carrier assembly, the carrier assembly moveable in a translational degree of freedom;
a sensor configured to measure a translational movement and a rotational movement of the insertion device when engaged with the capture mechanism, wherein the sensor provides one or more signals associated with the measured translation and rotational movement to a processor; and
at least one actuator configured to apply force feedback to the insertion device when engaged with the capture mechanism, wherein the actuator applies the force feedback in response to receiving an activating signal from the processor based on the one or more signals from the sensor.
8. The apparatus of claim 7 , wherein the capture mechanism further comprises an lock and release mechanism for automatically locking or releasing the insertion device based on the movement of the insertion device with respect to the capture mechanism.
9. The apparatus of claim 7 , further comprising a mock anatomical site including an aperture adapted to receive the insertion device, the capture mechanism in communication with the aperture.
10. The apparatus of claim 9 , wherein the mock anatomical site is configured to be pivotable.
11. The apparatus of claim 7 , wherein the capture mechanism further comprises a plurality of capture mechanisms, each configured to separately engage a corresponding one of a plurality of insertion devices.
12. An apparatus for simulating a procedure to a user comprising:
a capture mechanism having a length dimension and a cross-sectional dimension, the capture mechanism configured to:
receive an insertion device at a first end, wherein the capture mechanism automatically adjusts the cross-sectional dimension in response to the insertion device adjusting the length dimension by moving in a longitudinal direction within the capture mechanism with respect to an opposed second end, the adjusted cross-sectional dimension of the capture mechanism configured to either grasp or release the insertion device,
provide a rotational degree of freedom to an insertion device while the capture mechanism has grasped the insertion device such that the insertion device remains grasped while being manipulated in the rotational degree of freedom, and
couple to and move with a carrier assembly, the carrier assembly moveable in a translational degree of freedom;
a sensor configured to measure a translational movement and a rotational movement of the insertion device when engaged with the capture mechanism, wherein the sensor provides one or more positional signals associated with the measured translation and rotational movement to a processor; and
a display coupled to the processor and configured to display a representation of the insertion device within a simulated environment, wherein the representation of the insertion device moves within the simulated environment in response the one or more positional signals.
13. The apparatus of claim 12 , wherein the capture mechanism further comprises an lock and release mechanism for automatically locking or releasing the insertion device based on the movement of the insertion device with respect to the capture mechanism.
14. The apparatus of claim 12 , further comprising a mock anatomical site including an aperture adapted to receive the insertion device, the capture mechanism in communication with the aperture.
15. The apparatus of claim 14 , wherein the mock anatomical site is configured to be pivotable.
16. The apparatus of claim 12 , further comprising at least one actuator configured to apply force feedback to the insertion device when engaged with the capture mechanism, wherein the actuator applies the force feedback in response to receiving an activating signal based on the one or more signals from the sensor.
17. The apparatus of claim 12 , wherein the capture mechanism further comprises a plurality of capture mechanisms, each configured to separately engage a corresponding one of a plurality of insertion devices.
18. The apparatus of claim 1 wherein the cross-sectional dimension of the capture mechanism is configured to increase as the length dimension is decreased.
19. The apparatus of claim 7 wherein the cross-sectional dimension of the capture mechanism is configured to increase as the length dimension is decreased.
20. The apparatus of claim 12 wherein the cross-sectional dimension of the capture mechanism is configured to increase as the length dimension is decreased.