Vascular-access simulation system with receiver for an end effector

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.

1 . An apparatus comprising a receiver, wherein: 
 said receiver has at least three degrees of freedom, wherein axes of said three degrees of freedom intersect; and    said receiver receives an end effector, wherein said end effector removably couples to said receiver.    
   
   
       2 . The apparatus of  claim 1  further comprising said end effector, wherein said end effector comprises a catheter.  
   
   
       3 . The apparatus of  claim 1  wherein two of said three degrees of freedom are rotational and one of said three degrees of freedom is translational.  
   
   
       4 . The apparatus of  claim 1  further comprising pseudo skin, wherein said receiver is disposed beneath said pseudo skin.  
   
   
       5 . The apparatus of  claim 4  further comprising said end effector, wherein said pseudo skin lies in a plane between said end effector and said receiver, and wherein to simulate a vascular access procedure, said end effector crosses said plane to couple with said receiver.  
   
   
       6 . The apparatus of  claim 1  further comprising: 
 a plurality of sensors, wherein said sensors: 
 monitor movement of said receiver with respect to said degrees of freedom, wherein said movement is indicative of the position and orientation of said end effector; and  
 generate signals indicative of said monitored movement; and  
   a data processing system, wherein said data processing system receives signals generated by said sensors.    
   
   
       7 . The apparatus of  claim 6  and further wherein said data processing system determines a position and orientation of said end effector based on said received signals.  
   
   
       8 . The apparatus of  claim 1  wherein said receiver comprises a force-feedback assembly, wherein said force-feedback assembly generates a resistance to movement of said end effector.  
   
   
       9 . The apparatus of  claim 8  wherein said force-feedback assembly comprises a motor.  
   
   
       10 . An apparatus comprising: 
 an end effector; and    a movable member, wherein: 
 said end effector reversibly couples to said movable member to simulate a vascular access procedure; and  
 said movable member moves along a linear path in response to manipulation of said end effector.  
   
   
   
       11 . The apparatus of  claim 10  wherein said movable member is coupled to a cable.  
   
   
       12 . The apparatus of  claim 11  wherein said cable is coupled to a motor.  
   
   
       13 . The apparatus of  claim 12  wherein, responsive to a control signal, said motor generates a resistance to movement of said movable member.  
   
   
       14 . The apparatus of  claim 11  further comprising a plurality of pulleys disposed on a frame, wherein: 
 said pulleys engage said cable; and    said pulleys are arranged so that a tension in said cable aligns with said linear path along which said movable member moves.    
   
   
       15 . The apparatus of  claim 11  wherein said movable member comprises a pulley, wherein said movable member is coupled to said cable via said pulley.  
   
   
       16 . The apparatus of  claim 10  wherein said movable member comprises a magnet, and wherein said end effector couples to said movable member via said magnet.  
   
   
       17 . The apparatus of  claim 10  further comprising a housing, wherein said movable member is disposed within said housing and said end effector is disposed outside of said housing.  
   
   
       18 . The apparatus of  claim 17  further comprising pseudo skin, wherein said pseudo skin is substantially co-planar with a surface of said housing.  
   
   
       19 . An apparatus comprising a receiver for an end effector, wherein said receiver comprises: 
 a frame;    an arrangement for providing two orthogonal axes of rotation for said frame, wherein said frame is coupled to said arrangement; and    a movable member, wherein: 
 said movable member receives an end effector during a vascular access procedure;  
 said movable member moves along a linear path in a region defined by said frame; and  
 said linear path intersects said two orthogonal axes of rotation of said frame.  
   
   
   
       20 . The apparatus of  claim 19  further comprising a force-feedback assembly, wherein said force-feedback assembly is coupled to said movable member, and wherein said force-feedback assembly imparts a force that resists forward motion of said movable member by said end effector.  
   
   
       21 . The apparatus of  claim 20  wherein said force-feedback assembly comprises: 
 a motor; and    a cable, wherein said cable is coupled to said motor.    
   
   
       22 . The apparatus of  claim 21  wherein said movable member includes a rolling-contact element, wherein said cable is coupled to said rolling-contact element.  
   
   
       23 . The apparatus of  claim 21  further comprising a counterbalance, wherein said counterbalance is coupled to said frame.  
   
   
       24 . An apparatus comprising: 
 pseudo skin; and    a receiver for coupling to an end effector, wherein: 
 said receiver is disposed beneath said pseudo skin; and  
 said receiver has no offset degrees of freedom.  
   
   
   
       25 . The apparatus of  claim 24  wherein a magnetic force is used for coupling said end effector to said receiver.  
   
   
       26 . The apparatus of  claim 24  wherein said end effector is selected from the group consisting of a catheter, a needle, and a combined catheter and needle.  
   
   
       27 . The apparatus of  claim 24  wherein said receiver has three degrees of freedom.  
   
   
       28 . The apparatus of  claim 27  wherein two of said three degrees of freedom are rotational and one of said three degrees of freedom is translational.  
   
   
       29 . The apparatus of  claim 24  wherein said receiver comprises a movable member, and wherein said movable member is movable along a linear path.  
   
   
       30 . The apparatus of  claim 24  wherein said receiver comprises a movable member, and wherein said movable member is physically adapted for rolling contact during movement.  
   
   
       31 . The apparatus of  claim 24  wherein said receiver is gravitationally balanced.  
   
   
       32 . The apparatus of  claim 24  further comprising said end effector, wherein, until coupled to said receiver by a user, said end effector is disposed above said pseudo skin.  
   
   
       33 . The apparatus of  claim 24  wherein said receiver further comprises: 
 a movable member, wherein said movable member couples to said end effector; and    a force-feedback assembly, wherein said force-feedback assembly is coupled to said movable element.    
   
   
       34 . An apparatus comprising: 
 pseudo skin; and    a receiver for coupling to an end effector, wherein: 
 said receiver is disposed beneath said pseudo skin; and  
 said receiver comprises a force-feedback assembly.  
   
   
   
       35 . The apparatus of  claim 34  wherein said receiver further comprises a movable member, and wherein: 
 said movable member is coupled to said force-feedback assembly;    said movable member couples to said end effector;    when said movable member is coupled to said end effector, movement of said end effector causes said movable member to move.    
   
   
       36 . The apparatus of  claim 35  further comprising a data processing system, wherein, responsive to a signal from said data processing system, said force-feedback assembly generates a force that opposes movement of said movable member and said end effector, in at least a first direction.  
   
   
       37 . An apparatus comprising: 
 an end effector, wherein said end effector is a pseudo medical instrument;    pseudo skin, wherein said pseudo skin is physically adapted to enable said end effector to pass through it to a first region beneath said pseudo skin;    a data processing system, wherein said data processing system: 
 receives information indicative of a position of said end effector in said first region;  
 determines a position of a virtual end effector in a virtual anatomy based on said received information;  
 determines a resistive force that would arise if said virtual end effector were present at said position in said virtual anatomy; and  
   a force-feedback system, wherein said end effector is coupled to said force-feedback system when said end effector is in said first region, and wherein said force-feedback system generates said resistive force, and wherein said resistive force opposes movement of said end effector in said first region in at least some directions.