Medical Simulation System and Method

Abstract

A portable medical simulation system and method employs an artificial patient with a built-in haptic interface device, with up to four carriages for engaging different diameter catheters. A catheter stabilizer between each carriage expands and contracts in an accordion fashion as the carriages move in relation to each other, preventing the catheter from bending and bowing. A contrast display visual effect derived from a particle emitter software tool simulates the release of radiopaque dye within a simulated vasculature system for display on a monitor. A computer software based system is used for generating haptic effects on the catheter through control signals passed to each of the carriage motors controlling translation movement of the catheter and magnetic particle brakes controlling rotational movement of the catheter.

1 . A method for simulating a medical procedure, the method comprising the steps of: 
 (a) selecting at least one medical procedure from at least one medical simulation computer for simulation;    (b) receiving a desired behavior data based on said at least one medical procedure in a haptic interface computer;    (c) processing said desired behavior data in a haptic effects generator of said haptic interface computer;    (d) sending a desired force data to a force controller of said haptic interface computer;    (e) generating by said force controller a plurality of motor and brake commands;    (f) sending said plurality of motor and brake commands to a haptic interface device;    (g) receiving in said haptic interface computer a position, force, rotation, and collision data from said haptic interface device;    (h) sending a position and rotation data to said at least one medical simulation computer; and    (i) sending a plurality of display signals to at least one monitor for displaying said at least one medical procedure based on said position and rotation data.    
   
   
       2 . The method according to  claim 1  further comprising the steps of: 
 receiving user input signals in said at least one medical simulation computer from a user interacting with a touch screen input of said at least one monitor; and    inserting a medical device into said haptic interface device.    
   
   
       3 . The method according to  claim 1  further comprising the step of: 
 when a catheter exchange event is detected, generating by said haptic effects generator a haptic effects off signal;    activating a catheter exchange;    sending a catheter exchange data by said catheter exchange to said force controller;    processing said catheter exchange data by said force controller;    sending a catheter exchange motor and brake commands to said haptic interface device; and    exchanging a catheter from engagement with a first carriage of said haptic interface device to engagement with a second carriage of said haptic interface device through said catheter exchange motor and brake commands.    
   
   
       4 . The method according to  claim 1  further comprising the step of: 
 positioning said haptic interface device within an artificial patient to add to the realism of the simulation of said at least one medical procedure.    
   
   
       5 . The method according to  claim 1  further comprising the step of: 
 displaying on a selection monitor a plurality of medical procedures that may be selected for simulation by said at least one medical simulation computer.    
   
   
       6 . The method according to  claim 1  further comprising the step of: 
 displaying on a patient/mentor monitor at various times during said at least one medical procedure at least one virtual person, wherein said at least one virtual person is at least a one of a patient, a mentor, a doctor, a nurse, and an individual appropriate for the simulated medical procedure.    
   
   
       7 . The method according to  claim 1  further comprising the step of: 
 displaying on a road map monitor a plurality of stored fluoroscopic images of a patient to serve as a guide to at least one participant for said at least one medical procedure selected for simulation.    
   
   
       8 . The method according to  claim 1  further comprising the step of: 
 displaying on a hemodynamic monitor a vital statistics of an artificial patient, wherein said vital statistics are at least a one of a blood pressure, an O 2  level, a pulse rate, an EKG, and an other related vital sign or diagnostic output for said artificial patient.    
   
   
       9 . The method according to  claim 1  further comprising the step of: 
 displaying on an equipment selection monitor a plurality of medical devices for selection by a participant for use in said at least one medical procedure.    
   
   
       10 . The method according to  claim 1  further comprising the step of: 
 receiving a participant input through at least one input device into said at least one medical simulation computer, wherein said participant input makes selections and initiates commands for said at least one medical procedure.    
   
   
       11 . The method according to  claim 1  further comprising the step of: 
 manipulating a dual joy stick controller for simulating control of a c-arm device and a patient table panning.    
   
   
       12 . The method according to  claim 1  further comprising the step of: 
 supporting on a simulation table and stand an artificial patient having said haptic interface device and said at least one monitor, and housing in said simulation table and stand said at least one medical simulation computer and said haptic interface computer, said simulation table and stand further having caster wheels enabling portability for simulating said at least one medical procedure in various locations.    
   
   
       13 . A system for simulating medical procedures, the system comprising: 
 at least one medical simulation computer for running a simulation of at least one medical procedure;    a haptic interface computer connectable to said at least one medical simulation computer for receiving a desired behavior data based on said simulation of said at least one medical procedure from said at least one medical simulation computer, said haptic interface computer further comprising: 
 a haptic effects generator for processing said desired behavior data in order to generate a desired force data; and  
 a force controller for receiving said desired force data in order to generate a plurality of motor and brake commands;  
   a haptic interface device connectable to said haptic interface computer for receiving said plurality of motor and brake commands, and for sending a position, force, rotation and collision data to said haptic interface computer; and    at least one monitor connectable to said at least one medical simulation computer;    wherein said at least one medical simulation computer sends a plurality of display signals to said at least one monitor for displaying said simulation of said at least one medical procedure based upon said position and rotation data received from said haptic interface computer.    
   
   
       14 . The system according to  claim 13  wherein said at least one monitor further comprises a touch screen input for receiving user input from a user of the system for simulating medical procedures.  
   
   
       15 . The system according to  claim 13  further comprising: 
 at least one catheter for insertion in said haptic interface device.    
   
   
       16 . The system according to  claim 15  further comprising: 
 at least one carriage within said haptic interface device, wherein said at least one catheter engages with said at least one carriage.    
   
   
       17 . The system according to  claim 16  wherein said haptic interface computer further comprises: 
 a catheter exchange, wherein when a catheter exchange event is detected, said catheter exchange sends a catheter exchange data to said force controller which processes said catheter exchange data and sends a catheter exchange motor and brake commands to said haptic interface device, causing said at least one catheter to exchange engagement from a first said at least one carriage to engagement with a second said at least one carriage.    
   
   
       18 . The system according to  claim 15  further comprising: 
 an artificial patient, wherein said haptic interface device is positioned within said artificial patient to add to the realism of the system for simulating medical procedures.    
   
   
       19 . The system according to  claim 13  wherein a one of said at least one monitor is a selection monitor that displays all of said at least one medical procedure that may be selected to run on the system for simulating medical procedures.  
   
   
       20 . The system according to  claim 13  wherein a one of said at least one monitor is a patient/mentor monitor that displays at various times during the simulation of said at least on medical procedure at least one virtual person, wherein said at least one virtual person is at least a one of a patient, a mentor, a doctor, a nurse, and an individual appropriate for the simulation of said at least one medical procedure.  
   
   
       21 . The system according to  claim 13  wherein a one of said at least one monitor is a road map monitor that displays a plurality of stored fluoroscopic images of a patient and serves as a guide to at least one participant of the simulation of said at least one medical procedure.  
   
   
       22 . The system according to  claim 13  wherein a one of said at least one monitor is a hemodynamic monitor that displays vital statistics of an artificial patient, wherein said vital statistics are at least a one of a blood pressure, an O 2  level, a pulse rate, and EKG, and an other related vital sign or diagnostic output of said artificial patient.  
   
   
       23 . The system according to  claim 13  wherein a one of said at least one monitor is an equipment selection monitor that displays a plurality of medical devices for selection by a participant in the simulation of said at least one medical procedure.  
   
   
       24 . The system according to  claim 13  further comprising: 
 at least one input device for enabling a participant in the simulated medical procedure to make selections and initiate commands, wherein said at least one input device is at least a one of a keyboard, a mouse, and a touch screen built into said at least one monitor.    
   
   
       25 . The system according to  claim 13  further comprising: 
 a dual joy stick controller for simulating control of a c-arm device and a patient table panning.    
   
   
       26 . The system according to  claim 13  further comprising: 
 a simulation table and stand for supporting an artificial patient having said haptic interface device and said at least one monitor, and for housing said at least one medical simulation computer and said haptic interface computer, said simulation table and stand further having caster wheels enabling portability for simulating said at least one medical procedure in various locations.    
   
   
       27 . A method for simulating a medical procedure utilizing a haptic interface device, the method comprising the steps of: 
 (a) inserting a medical device into a support tube of the haptic interface device;    (b) receiving said medical device from said support tube into at least one carriage slidably mounted on a rail mounted to a carriage bed mounted to a frame of the haptic interface device, wherein said at least one carriage engages with said medical device;    (c) sending position, force, rotation, and collision data from said at least one carriage to a processor;    (d) sending motor commands from said processor to at least one drive motor mounted to said carriage bed, wherein said at least one drive motor translates said at least one carriage along said rail through a drive belt attached to said at least one carriage and looped around a fly wheel of said at least one drive motor and looped around an idler pulley; and    (e) sending brake commands from said processor to said at least one carriage, wherein said brake commands affect resistance to rotation of said medical device engaged with said at least one carriage;    wherein the medical procedure is simulated through the interaction of said medical device with said at least one carriage and said motor commands and said brake commands from said processor to simulate the medical procedure.    
   
   
       28 . The method according to  claim 27  further comprising the steps of: 
 displaying on a monitor in a background a real image related to the medical procedure being simulated; and    displaying on said monitor in a foreground a rendering of said medical device, said rendering based upon said interactions of said medical device with the haptic interface device.    
   
   
       29 . The method according to  claim 27  further comprising the step of: 
 receiving a collision signal in said processor from a collision sensor of said at least one carriage; and    sending a control signals to said at least one carriage from said processor to prevent said at least one carriage from colliding into another said at least one carriage.    
   
   
       30 . The method according to  claim 27  wherein said sending step (e) further comprises causing a magnetic particle break, in cooperation with a timing belt in cooperation with a spring loaded collet, to affect resistance to rotation of said spring loaded collet, which is engaged with said at least one medical device.  
   
   
       31 . The method according to  claim 27  wherein said receiving step (b) further comprises the steps of: 
 pushing a tip of said medical device within a restricted walls of a lumen of a spring loaded collet of a first of said at least one carriage;    sensing a pushing force of said tip against said restricted walls of said lumen as indicating an engage medical device state;    sending signals to said at least one drive motor controlling said first of said at least one carriage to move said first of said at least one carriage against a support stand or against a stationary second of said at least one carriage;    compressing a spring surrounding a collet of said spring loaded collet of said first of said at least one carriage, causing said collet to open up, increasing a diameter of said lumen;    receiving said tip of said medical device farther into said lumen of said collet; and    sending signals to said at least one drive motor controlling said first of said at least one carriage to move said first of said at least one carriage away from said support stand or away from said stationary second of said at least one carriage, causing said collet to close down, decreasing the diameter of said lumen and exerting a clamping force on said tip of said medical device, engaging said medical device with said first of said at least one carriage.    
   
   
       32 . The method according to  claim 31  further comprising the steps of: 
 engaging said spring loaded collet of said first of said at least one carriage with a spring loaded collet of a second of said at least one carriage;    bending a pair of flex beams attached to said spring loaded collet of said first of said at least one carriage;    driving an anvil of said first of said at least one carriage into a force sensor of said first of said at least one carriage;    sending a signal from said force sensor of said first of said at least one carriage to said processor;    bending a pair of flex beams attached to said spring loaded collet of said second of said at least one carriage;    driving an anvil of said second of said at least one carriage into a force sensor of said second of said at least one carriage; and    sending a signal from said force sensor of said second of said at least one carriage to said processor.    
   
   
       33 . The method according to  claim 31  further comprises the steps of: 
 pulling on said medical device engaged with said first of said at least one carriage;    sensing a pulling force on said spring loaded collet of said first of said at least one carriage engaged with said medical device as indicating an exchange medical device state;    sending signals to said at least one drive motor controlling said first of said at least one carriage to move said first of said at least one carriage against a support stand or against a stationary second of said at least one carriage;    compressing a spring surrounding said collet of said spring loaded collet of said first of said at least one carriage, causing said collet to open up, increasing said diameter of said lumen; and    releasing said tip of said medical device from said lumen of said collet.