Haptic response system and method of use

Abstract

An apparatus and method for assessing a hazard associated with an object are disclosed. The apparatus includes a haptic input/output device coupled to a computer with haptic modeling software and a display device. A virtual object and a virtual passageway are displayed on the display device. The virtual passageway includes a haptic layer along a surface thereof. Force applied by a user to the haptic input/output device causes a cursor on the display device to move the virtual object into the virtual passageway. An interaction of the virtual object with the haptic layer generates a virtual contact force which may be determined by the user sensing a corresponding tactile feedback force generated by the haptic input/output device and/or by the computer processor. The magnitude of the virtual contact force may be used to assess a hazard associated with the virtual object.

1 . A system for simulating hazard assessment in humans for display, the display comprising:
 at least one database comprising a plurality of pre-assembled virtual objects, a plurality of virtual anatomical entities, and a plurality of the rigid haptic layers, each of the plurality of pre-assembled virtual objects being modeled from a physical object, each of the plurality of virtual anatomical entities having dimensional information modeled from a biological anatomical region, and each rigid haptic layers for detecting a force being applied to a corresponding virtual anatomical entity;   a user interface to:
 generate the plurality of pre-assembled virtual objects and the plurality of virtual anatomical entities for display; 
 receive a first input selecting a particular virtual object from the plurality of pre-assembled virtual objects; 
 receive a second input selecting a particular virtual anatomical entity from the plurality of virtual anatomical entities; 
 generate the particular virtual object for display; 
 generate the particular virtual anatomical entity for display, the virtual anatomical entity comprising a corresponding rigid haptic layer retrieved from the at least one database; 
 generate a first reference layer that corresponds to a different anatomical entity for display, the first reference layer for detecting a first resistance; 
 generate a second reference layer that corresponds to a second different anatomical entity, the second reference layer for detecting a second resistance; and 
 receive a third input controlling movement of the particular virtual object into or through the particular virtual anatomical entity; and 
   a processor to:
 calculate the magnitude of a force generated by interaction between the virtual object and the corresponding rigid haptic layer, the first resistance detected at the first reference layer, and the second resistance detected at the second reference layer; 
 generate hazard data for display based on the calculated magnitude of the force; and 
 wherein the user interface is further configured to display the interaction of the virtual object with the virtual anatomical entity in one of a two-dimensional or three-dimensional view. 
   
     
     
         2 . The system of  claim 1 , wherein the processor is further configured to generate the hazard data based on the calculated magnitude of the force and a degree of occlusion of the virtual anatomical entity by the virtual object. 
     
     
         3 . The system of  claim 1 , wherein the anatomical region includes material properties including at least one of tissues, surrounding tissues from which said tissues derive mechanical support, and a subset of tissues and surrounding tissues. 
     
     
         4 . The system of  claim 3 , wherein the user interface is further configured to generate the corresponding rigid haptic layer that corresponds to a surface of the particular virtual anatomical entity for display, wherein the force is determined by contact between the virtual object and the corresponding rigid haptic layer. 
     
     
         5 . The system of  claim 4 , wherein the processor is configured to determine a general stress and strain on the corresponding rigid haptic layer by contact between the virtual object and the corresponding rigid haptic layer. 
     
     
         6 . The system of  claim 3 , wherein one of the tissues or surrounding tissues has at least one non-anatomical color representative of an intensity of the contact force. 
     
     
         7 . The system of  claim 5 , the user interface is further configured to display the general stress and strain on the corresponding rigid haptic layer by contact between the virtual object and the corresponding rigid haptic layer. 
     
     
         8 . The system of  claim 1 , wherein: the virtual anatomical entity is selected from a group consisting of a virtual organ and a virtual passageway. 
     
     
         9 . The system of  claim 8 , wherein:
 the virtual organ is modeled from a physical organ selected from the group consisting of a lung, a uterus, and an intestine; and   the virtual passageway is modeled from a physical passageway selected from the group consisting of a nasal pharynx, an oral cavity, an oral pharynx, a trachea, a hypopharynx, an ear, and an esophagus.   
     
     
         10 . The system of  claim 1 , wherein the particular virtual object modeled from a physical object by obtaining dimensional information and material properties substantially representative from at least one of magnetic resonance images (MRI), computerized tomography (CT) images, and radiological measurements. 
     
     
         11 . The system of  claim 1 , wherein the virtual anatomical entity provides a virtual anatomical entity that corresponds to a different size percentile within one or more of the age groups. 
     
     
         12 . The system of  claim 11 , wherein the virtual object being modeled from the physical object provides a virtual anatomical entity that corresponds to a different size percentile within one or more of the age groups. 
     
     
         13 . The system of  claim 1 , wherein the virtual object being modeled from the physical object provides material properties simulated by a modified form of a general finite element method. 
     
     
         14 . The system of  claim 13 , wherein the general finite element method is a spring-mass damper model. 
     
     
         15 . The system of  claim 7 , wherein the processor is further configured to detect a collision to provide a determination of when the virtual object and a portion of the virtual anatomical entity occupy a same space. 
     
     
         16 . The system  claim 1 , wherein the user interface is configured to display the virtual object modeled from a physical object and vary at least one of material properties and the dimensional information of the virtual anatomical entity. 
     
     
         17 . The system of  claim 1 , wherein the physical object is a deformable or rigid virtual object. 
     
     
         18 . The system of  claim 1 , wherein the physical object is a deformable or rigid anatomical entity. 
     
     
         19 . The of system of  claim 1 , further comprising an input/output device that when manipulated causes the virtual object to interact with the virtual anatomical entity, and provides a force feedback as the virtual object interacts with the virtual anatomical entity, based on the hazard data. 
     
     
         20 . The system of  claim 1 , wherein the processor is further configured to calculate stress, strains, and contact force exerted between the virtual object and the virtual anatomical entity. 
     
     
         21 . The system of  claim 1 , wherein the first reference layer and the second reference layer may be toggled on or off. 
     
     
         22 . The system of  claim 1 , wherein the corresponding rigid haptic layer may be turned on or off. 
     
     
         23 . A method for simulating hazard assessment in humans for display, the method comprising:
 storing in at least one database a plurality of pre-assembled virtual objects, a plurality of virtual anatomical entities, and a plurality of the rigid haptic layers, each of the plurality of pre-assembled virtual objects being modeled from a physical object, each of the plurality of virtual anatomical entities having dimensional information modeled from a biological anatomical region, and each rigid haptic layers for detecting a force being applied to a corresponding virtual anatomical entity;   generating, at a user interface, the plurality of pre-assembled virtual objects and the plurality of virtual anatomical entities for display;   receiving, at a user interface, a first input selecting a particular virtual object from the plurality of pre-assembled virtual objects;   receiving, at a user interface a second input selecting a particular virtual anatomical entity from the plurality of virtual anatomical entities;   generating, at a user interface, the particular virtual object for display;   generating, at a user interface, the particular virtual anatomical entity comprising a corresponding rigid haptic layer for display;   generating, at a user interface, a first reference layer that corresponds to a different anatomical entity for display, the first reference layer for detecting a first resistance;   generating, at a user interface, a second reference layer that corresponds to a second different anatomical entity, the second reference layer for detecting a second resistance;   receiving, at a user interface, a third input controlling movement of the particular virtual object into or through the particular anatomical entity;   calculating, at a processor, the magnitude of the force generated by interaction between the virtual object and the corresponding rigid haptic layer, the first resistance detected at the first reference layer, and the second resistance detected at the second reference layer; and   generating, at the processor, hazard data for display based on the calculated force.   
     
     
         24 . The method of  claim 23 , wherein the anatomical region includes material properties including at least one of tissues, surrounding tissues from which said tissues derive mechanical support, and a subset of tissues and surrounding tissues. 
     
     
         25 . The method of  claim 24 , wherein one of the tissues or surrounding tissues has at least one non-anatomical color representative of an intensity of the contact force. 
     
     
         26 . The method of  claim 23 , wherein the anatomical entity is selected from a group consisting of a virtual organ and a virtual passageway. 
     
     
         27 . The method of  claim 26 , wherein:
 the virtual organ is modeled from physical organ selected from the group consisting of a lung, a uterus, and an intestine; and   the virtual passageway is modeled from a physical passageway selected from the group consisting of a nasal pharynx, an oral cavity, an oral pharynx, a trachea, a hypopharynx, an ear, canal, and an esophagus.   
     
     
         28 . The method of  claim 23 , wherein generating, at the user interface, the virtual object modeled from the physical object includes obtaining dimensional information and material properties substantially representative from at least one of magnetic resonance images (MRI), computerized tomography (CT) images, and radiological measurements. 
     
     
         29 . The method of  claim 28 , wherein material properties associated with the virtual anatomical entity are obtained from statistical means. 
     
     
         30 . The method of  claim 29 , wherein the material properties are adjustable. 
     
     
         31 . The method of  claim 23 , wherein the virtual anatomical entity provides a virtual anatomical entity that corresponds to a different size percentile within one or more of the age groups. 
     
     
         32 . The method of  claim 23 , wherein the virtual object being modeled from the physical object provides material properties simulated by a modified form of a general finite element method. 
     
     
         33 . The method of  claim 32 , wherein the general finite element method is a spring-mass damper model. 
     
     
         34 . The method of  claim 23 , further comprising providing a force feedback, at the user interface, as the virtual object interacts with the virtual anatomical entity. 
     
     
         35 . The method of  claim 23 , wherein calculating, at the processor, the magnitude of the force further comprises calculating the contact force exerted between the virtual object and the virtual anatomical entity. 
     
     
         36 . The method of  claim 23 , wherein calculating, at the processor, the magnitude of the force further comprises calculating the contact force exerted between the virtual object and the virtual anatomical entity. 
     
     
         37 . The method of  claim 23 , wherein the first reference layer and the second reference layer may be toggled on or off.