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 .- 60 . (canceled) 
     
     
         61 . An apparatus for simulating a medical technique, wherein the apparatus comprises:
 a housing;   pseudo skin, wherein the pseudo skin covers a portion of housing and includes an insertion point;   an end effector; and   a receiver having a movable member to which the end effector detachably couples to simulate the medical technique, wherein the movable member is disposed below the pseudo skin and is covered thereby and is arranged to move in a linear path along a first axis in response to translational movement of the end effector when the end effector and the receiver are coupled, and wherein the movement of the movable member is monitored to quantify the translational motion of the end effector, and further wherein the receiver is structurally arranged to monitor and quantify rotational movements of the end effector about a second axis and a third axis of the receiver.   
     
     
         62 . The apparatus of  claim 61  wherein the movable member comprises a magnet, wherein the end effector magnetically couples to the magnet. 
     
     
         63 . The apparatus of  claim 61  wherein the movable member is arranged to move via rolling contact. 
     
     
         64 . The apparatus of  claim 61  wherein the movable member comprises a pulley, and wherein the pulley provides the rolling contact. 
     
     
         65 . The apparatus of  claim 61  further comprising a cable, a motor, and an encoder, wherein the movable member is coupled the cable and the cable is coupled to a motor, whereby translational movement of the movable member causes the motor to move, and wherein movement of the motor is monitored by the encoder, the encoder thereby sensing translational motion of the movable member. 
     
     
         66 . The apparatus of  claim 61  wherein the movable member is coupled to a force-feedback assembly that delivers force feedback to a user that is manipulating the end effector. 
     
     
         67 . The apparatus of  claim 66  wherein the force-feedback assembly comprises a motor, a plurality of pulleys, and a cable, wherein the movable member couples to the cable and the cable couples to the motor. 
     
     
         68 . The apparatus of  claim 61  further comprising a pitch potentiometer and a yaw potentiometer, wherein rotational movement about the second axis is pitch of the receiver, rotational movement about the third axis is yaw of the receiver, and wherein the pitch potentiometer monitors pitch and the yaw potentiometer monitors yaw. 
     
     
         69 . The apparatus of  claim 61  further comprising a data processing system, wherein the data processing system receives signals indicative of the monitored movement, and, in conjunction with an anatomical model, determines anatomical features that the end effector would encounter, based on the position thereof, were the end effector moving through an actual anatomy corresponding to the anatomical model. 
     
     
         70 . The apparatus of  claim 69  and further wherein the data processing system calculates resistive forces that would arise when the end effector encounters the anatomical features. 
     
     
         71 . The apparatus of  claim 70  and further comprising a force-feedback assembly that couples to the movable member, wherein the force-feedback assembly generates a force based on the calculated resistive forces, wherein the generated force opposes motion of the end effector. 
     
     
         72 . The apparatus of  claim 61  wherein the end effector is a needle/catheter module. 
     
     
         73 . An apparatus for simulating a medical technique, wherein the apparatus comprises:
 a housing;   pseudo skin, wherein the pseudo skin covers a portion of housing and includes an insertion point, and wherein the pseudo skin lies in a plane;   an end effector;   a receiver having a movable member to which the end effector detachably couples to simulate the medical technique, wherein the movable member is disposed below pseudo skin and is covered thereby, and wherein, prior to beginning the simulation, the end effector is above the plane, and during the simulation, the end effector passes through the plane so that a portion of the end effector is below the plane.   
     
     
         74 . The apparatus of  claim 73  wherein the movable member is arranged to move in a linear path in response to translational movement of the end effector when the end effector and the receiver are coupled. 
     
     
         75 . The apparatus of  claim 74  comprising a first arrangement for monitoring the movement of the movable member to quantify the translational motion of the end effector. 
     
     
         76 . The apparatus of  claim 75  wherein the receiver is physically configured to rotate about a first axis of rotation and a second axis of rotation, wherein the first and second axis of rotation are orthogonal with respect to one another, and further comprising a first sensor to monitor rotation of the receiver about the first axis of rotation and a second sensor to monitor rotation about the second axis of rotation. 
     
     
         77 . The apparatus of  claim 73  wherein the receiver enables three degrees of freedom of movement of the end effector, including a first translational degree of freedom along a first axis, a first rotational degree of freedom about a second axis, and a second rotational degree of freedom about a third axis, and wherein the first axis, the second axis, and the third axis are mutually orthogonal to one another and all intersect one another at a point. 
     
     
         78 . The apparatus of  claim 77  wherein the receiver includes a frame, wherein the movable member moves along a linear path in a region defined by the frame and wherein the point lies within the frame. 
     
     
         79 . The apparatus of  claim 77  further comprising sensors for monitoring movement of the end effector about the first axis, the second axis, and third axis. 
     
     
         80 . The apparatus of  claim 78  further comprising a counterbalance, wherein the counterbalance is coupled to the frame. 
     
     
         81 . The apparatus of  claim 80  wherein the receiver is gravitationally balanced. 
     
     
         82 . An apparatus for simulating a medical technique, wherein the apparatus comprises:
 pseudo skin, wherein the pseudo skin includes an insertion point;   an end effector; and   a receiver structurally arranged to couple to the end effector, wherein the receiver comprises a receiving module having a movable member that magnetically couples to the end effector as the end effector passes through the insertion point, wherein the movable member moves linearly along a first axis responsive to movement of the end effector.   
     
     
         83 . The apparatus of  claim 82  wherein the receiver further comprises a base and gimbal assembly rotatably coupled to the receiving module and providing two orthogonal axes of rotation for the receiving module and wherein the first axis intersects the two axes of rotation at a single point. 
     
     
         84 . The apparatus of  claim 82  wherein the receiver further comprises a sensor for monitoring movement of the movable member along the first axis. 
     
     
         85 . The apparatus of  claim 84  further comprising a force feedback system for applying a variable force that opposes movement of the end effector based on sensed movement of the movable member, wherein the force feedback system comprises a cable that couples to the movable member.