CN102446446B - Invasive surgical is simulated - Google Patents

Abstract

The invention provides a kind of equipment, described equipment includes: probe entities model, and described probe entities model has far-end and the near-end of applicable operator grasping.Described equipment also includes the patient's physical model simulating actual patient, and described patient's physical model has aperture, and described aperture enables the described far-end of described probe entities model to be penetrated in described patient's physical model.Described equipment includes that forcer and system controller, described forcer are connected to described probe entities model to exert a force to the appreciable described near-end of operator.Described controller is configured to: follow the tracks of its position during described far-end is penetrated in described patient's physical model, obtain the instruction of the contraction force value of the described actual patient organic region corresponding with described position, and start described forcer so that being applied to the power of described near-end corresponding to described instruction.

Description

Invasive surgical is simulated

Technical field

Present invention relates generally to invasive medical treatment device, specifically, relate to the simulation of this type of operation.

Background technology

It is usually present the learning curve relevant to any medical operating, and according to the difference of operation, should Learning curve in some cases may relatively " precipitous ".Even if in the situation that learning curve is the most precipitous Under, generally also require a great deal of time and learn and improve operation.If able to sham operated, Then can shorten such time cycle.

(the disclosure of which is with way of reference to authorize the U.S. Patent application 2007/0043285 of Schwartz It is expressly incorporated herein) method that describes operation on heart preconsolidation stress and execution.The method includes simulating sheath pipe The situation and the simulation medical treatment device that insert heart pass sheath pipe and insert the situation of heart.

(the disclosure of which is with way of reference to authorize the U.S. Patent application 2007/0032826 of Schwartz It is expressly incorporated herein) describe the method treating atrial fibrillation.The method and patent application 2007/0043285 Method have some similarities, including simulation sheath pipe insert atrium situation and simulation medical treatment device The situation in atrium is inserted through sheath pipe.

Above illustration provides the overview of correlation technique in this area, it is right to should not be interpreted as The one of the prior art of any information structure present patent application comprised recognizes.

Summary of the invention

According to embodiments of the invention, it is provided that a kind of equipment, comprising:

Probe entities model, it is near that this probe entities model has that far-end and applicable operator grasp End；

Patient's physical model of simulation actual patient, this patient's physical model has an aperture, this Aperture enables the far-end of probe entities model to be penetrated in patient's physical model；

Forcer, this forcer is connected to probe entities model to exert a force to operator Appreciable near-end；And

System controller, this system controller is configured to:

Its position is followed the tracks of during far-end is penetrated in patient's physical model,

Obtain the instruction of the contraction force value of the actual patient organic region corresponding with this position,

And

Start forcer so that being applied to the power of near-end corresponding to this instruction.

Generally, system controller is configured to obtain the probe parameter characterizing genuine probe mechanical performance, Described genuine probe is simulated by probe entities model, and is applied to the power of near-end to this probe parameter Respond.The value of probe parameter can be determined according to the estimated value of the power of operator institute perception.

System controller can be configured to obtain the operator's parameter characterizing operator's operation style, and And this operator's parameter can be responded by the power being applied to near-end.Can be according to remote location and this position The record of time determine operator's parameter.

In one embodiment, system controller is configured to according to organ contact force scaling graph and device In official's image, the analysis of at least one determines contraction force value.The true spy with force transducer can be used Pin produces contact force scaling graph.The non-invasive image based methods of organ can be used to produce image.

In disclosed embodiment of this invention, probe entities model is configured to simulate genuine probe, Described genuine probe has genuine probe far-end and includes force transducer at genuine probe far-end.

In alternative embodiment, this equipment includes one or more tracking device, and these are followed the tracks of Far-end is followed the tracks of signal according to the position of far-end and is transferred to system controller by device.

According to embodiments of the invention, additionally provide a kind of method, comprising:

Thering is provided probe entities model, this probe entities model has what far-end and applicable operator grasped Near-end；

Simulating actual patient with patient's physical model, this patient's physical model has an aperture, this Aperture enables probe entities model far-end to be penetrated in patient's physical model；

It is appreciable closely to exert a force to operator that forcer is connected to probe entities model End；

The position of far-end is followed the tracks of during far-end is penetrated in patient's physical model；

Obtain the instruction of the contraction force value of the actual patient organic region corresponding with this position；And

Start forcer so that being applied to the power of near-end corresponding to this instruction.

By the detailed description to the embodiment below in conjunction with accompanying drawing, the present invention will be more fully understood:

Accompanying drawing explanation

Fig. 1 is the schematic diagram illustrating analog systems according to embodiments of the present invention；

Fig. 2 is to perform, operator, the setting that the forward direction operator of simulation shows according to the embodiment of the present invention The schematic diagram of screen；

Fig. 3 is the schematic diagram of the contact force scaling graph according to the embodiment of the present invention；

Fig. 4 is by being used when operator performs simulation in the system of Fig. 1 according to the embodiment of the present invention The flow chart of step；

Fig. 5 is the screen shown in Fig. 4 flow chart step implementation process according to the embodiment of the present invention Schematic diagram；

The flow process of the Fig. 6 step by being used according to embodiment of the present invention evaluation operator's operation style Figure；

The step that Fig. 7 is used by the probe parameter value evaluating probe entities model according to the embodiment of the present invention Rapid flow chart；

The step that Fig. 8 is used by the regions contract power giving inner chamber according to embodiment of the present invention evaluation Flow chart.

Detailed description of the invention

General introduction

Embodiments of the invention allow operator (usually medical professional, such as doctor) operation Such system, this system simulation organ invasive surgical of the true catheter probe of use.Should Organ is assumed to have inner chamber in this article, and typically catheter probe includes force transducer, should Force transducer measures the contact force of probe distal and inner chamber.

Operator is generally selected the inner chamber and probe to use in the sham operated of inner chamber.Inner chamber is selected For selecting, system controller obtains three-dimensional (3D) image and the contractility number of cavity region of inner chamber According to.Operator holds the near-end of probe entities model, and probe entities model is inserted patient's entity mould In the aperture of type.During insertion, probe entities model far-end position in patient's physical model Tracked.This system includes forcer, and the power that forcer applies can be held probe entities model Operator's perception of near-end.

When the controller of system determines that the position of probe entities model far-end (makes corresponding to internal chamber wall region With 3D rendering) time, controller starts forcer, tactile feedback force is applied to probe entities model Near-end.The power applied changes along with the contractility in this region.This power is real also generally with probe Probe type and the operation style of operator that body Model is simulated and change.

For including the genuine probe of force transducer, when applying the power that forcer sends, by this biography The power estimated value that sensor records can show to operator.This type of probe is at such as U.S. Patent application Being described in 2009/0093806 and 2010/0160770, these patents are all assigned to the present invention's Assignee is the most incorporated herein by reference.Pass to the power numerical value of operator and tactile feedback force this During two kinds " feedback " enables the operator to associate and learn truly to perform the operation from simulation situation, sensor is surveyed The contrast degree of the power of fixed power numerical value and operator's perception.

Additionally, for the probe including force transducer, simulation enables the operator to illustrate the district of mapping room Territory, wherein uses certain operator's mapping mode and has the selected catheter probe of known mechanical characteristic Time, possibly cannot realize effectively contacting that (effectively contact may be defined as producing therapeutic transmural ablation and musted The contact needed).In this case, operator can revise therapeutic scheme and (relates to ablation points or line Locus), adjust mapping mode and/or change selected by probe.Similarly, predefined The deathtrap that big contact force predictability is higher so that " no-fly " zone can be limited, it is ensured that safer Catheter probe manipulation.In all cases, operator can use this system to check change Operation.

Detailed description of the invention

Referring now to Fig. 1, this figure is the signal showing analog systems 20 according to embodiments of the present invention Figure.System 20 allows system operators 22 (usually medical professional, such as doctor) to perform The simulation of invasive medical operating.In actual medical is performed the operation, catheter probe is inserted health by operator Organ (supposes that it includes inner chamber) in this article, and it is remote to use the controller of catheter proximal end to manipulate probe End.In the following description, often assume that the body cavity in true operation includes patient's heart.But, It is to be understood that this is truly performed the operation to illustrate by way of example, other medical treatment handss that system 20 can be simulated Art will be apparent to for those of ordinary skills.Will be understood that this type of operation and simulation thereof It is all contained in the scope of the present invention.

In analog systems 20, use probe entities model 24 and non-genuine operation in " truly " Probe, and probe entities model is inserted in patient's physical model 26, patient's physical model 26 substitutes Actual patient in true operation.Suppose that patient's physical model 26 has case the most by way of example Shape shape.But, patient's physical model can have any convenient shape, including being more closely similar to people Shape.

System 20 is generally used for instructing the utilization aspect of genuine probe, and operator 22 need not Implement real operation.It is assumed herein that genuine probe has force transducer at its far-end, this force transducer Measure the power almost parallel with probe axis.Simulation as herein described provides tactile particularly by operator The reading of feel feedback analog force sensor simultaneously, and make the operator of this simulation of execution will appreciate that power passes The function of sensor.But, using force transducer function study aspect herein is in order to simple and clear, because of This can be in addition necessary to embodiments of the invention amendment, to instruct other aspects of probe, the most logical Cross and provide sense of touch feedback to instruct the function of temperature sensor in simulation ablative surgery.All these sides Face is all considered as being included in the present invention.

In true operation, operator 22 generally uses more than one genuine probe, various different spies Pin takes on a different character, the most distinctive shape or the electrode of varying number.At mould as herein described In plan, operator it be also possible to use more than one probe entities model 24.For the sake of clarity, if desired And when using more than one probe entities model, can be by distinguishing plus letter after identifier 24 Different probe entities model so that when simulation uses the operation of two kinds of genuine probe, operator can Use probe entities model 24A and probe entities model 24B.

The operation of system 20 is controlled by system controller 28, and this controller includes processing unit 30, place Reason unit 30 communicates with the internal memory 32 running required software for storing system 20.Controller 28 leads to It it is often the industrial standard personal computer including general-purpose computer processor.But in some embodiments In, at least some function of controller uses the hardware and software of custom design to perform, such as, special Integrated circuit (ASIC) and/or field programmable gate array (FPGA).System controller 28 and system 20 Element between communication (including the signal between controller and element) can by physical cable such as Conductive cable or optical cable and/or wirelessly realize.For brevity, system 20 with communicate Relevant element is not shown in FIG. 1.

Software in internal memory 32 Electronically can be downloaded to controller by such as network.As separately Additionally or alternatively, software can be by non-volatile tangible medium (such as optics, magnetic for outer one Or electronic storage medium) provide.

System controller 28 manipulates graphic user interface (GUI) 34, and this graphic user interface is raw by system The result become is presented to operator 22.GUI 34 can also make operator when arranging simulated scenario to respectively Plant option to select.Generally, operator use pointing device 36 (such as trace ball or mouse) come with Controller 28 and GUI 34 is mutual.

In patient's physical model 26, operator 22 can be by holding and manipulate probe entities model Near-end 40 operate the far-end 38 of probe entities model 24.Generally, will by such as glass fibre or The elastic tube 42 of the materials for support of granules of polystyrene etc is placed in patient's physical model 26, with mould Intend vein or the tremulous pulse of actual patient.Pipe 42 is used as support member and the guider of probe entities model, Without hindering probe to move forwards or backwards undeservedly.Generally, operator uses handle 44 to hold spy Pin physical model, as it generally holds genuine probe in actual medical is performed the operation.Operator's Manipulation generally also includes that other move, the horizontal and rotary motion of such as near-end, remote correspondingly to operate End.

The manipulation of near-end includes that the hole 46 by being connected to pipe 42 in patient's physical model is by probe entities Model inserts the body cavity physical model 48 being positioned at patient's physical model remote area.(manipulation also includes leading to Cross same hole and take out probe entities model.)

Body cavity physical model 48 generally includes the full-scale Flexible Model about Ecology of the inner chamber being modeled.Such as, body Chamber physical model 48 can be formed by plastic material such as polrvinyl chloride (PVC).As described further below, The far-end of probe entities model is followed the tracks of in inner chamber physical model.If this tracking uses optical mode, The Flexible Model about Ecology of the inner chamber being then modeled generally is made up of transparent plastic material such as transparent PVC.

In true operation process, internal chamber wall limits genuine probe application in some passage.Body Chamber physical model 48 has similar restriction to probe entities model 24.

Patient's physical model 26 also includes haptic technology device 50, and this device is configured to near-end 40 Applying power and/or motion, in order to simulation uses operator in the true operation that genuine probe is carried out to be experienced The resistance arrived.This device generally includes motor and/or location actuator, also referred to as causes herein Dynamic device 50.It is referred to as " touching by the active force being used for simulated resistance generated by actuator and/or motion herein Feel and feed back ".Actuator 50 by provide the signal of telecommunication (herein referred as " feedback signal ") to device is System controller 28 controls.Generally, actuator 50 is configured to apply variable to probe entities model 24 Frictional force, method is actuator substantially transversely applies power to probe entities model by pipe 42.Rub The size of wiping power is set by controller 28.Such configuration allows operator 22 overcoming actuator 50 After the frictional force applied, probe entities model 24 is movable into and out patient's physical model 26.

In some medical surgery, in addition to experiencing resistance when operating genuine probe, operator is also The motion of one or more organs of the actual patient owing to undergoing surgery may be experienced and produce Power, and/or experience the motion of probe.The direction of this power or motion is the most flat with probe axis OK.For genuine probe (in true operation), an example of this power or motion is to work as far-end The power caused during the contact dirty wall of pulsatile heart or motion, thus produce the probe experienced at near-end and shake Dynamic.In some embodiments of the invention, actuator 50 is configured to apply near-end 40 greatly Cause longitudinal power, in order to the power of simulation the type or motion.

For implementing this simulation, system controller 28 uses from one or more Object tracking devices 52 Tracking signal, and follow the tracks of the position of far-end 38.At least carry out in the inside of body cavity physical model 48 Follow the tracks of, the most also can carry out part tracking at lumen outer.In true operation process, such as, pass through Magnetic tracking system (is such as provided by Biosense Webster Inc. (Diamond Bar, CA) CARTO system) follow the tracks of genuine probe far-end.And embodiments of the invention can mutatis mutandis Use such tracking system, it is not necessary that by system conventional in invasive surgical, far-end 38 is entered Line trace.

Suppose that inner chamber physical model 48 is transparent the most by way of example, and suppose to follow the tracks of device 52 include multiple substantially similar video camera (herein also referred to as camera 52), thus to far-end 38 Carry out optical tracking.It is internal that camera is generally arranged at patient's physical model 26, in order to inner chamber 48 Corresponding regional imaging.In certain embodiments, also lamp (not shown) can be arranged on patient Physical model 26 is internal, thus illuminates it when far-end 38 is positioned at patient's physical model inside.With Way of example, it is assumed that the position of far-end 38 is limited by the edge of patient's physical model 26 relative to one group Fixed xyz normal axis is tracked.

Those of ordinary skill in the art will be familiar with the other system being used for following the tracks of far-end 38, the most ultrasonic System, and suppose that all these system and correlation tracking device thereof are all contained in the scope of the present invention.

Fig. 2 for according to the embodiment of the present invention before operator performs simulation on GUI 34 to operator The schematic diagram that screen 60 is set of 22 displays.Screen 60 enables the operator to select analog parameter.Screen Curtain 60 includes that probe selects region 62, and wherein operator selects probe entities model 24 to simulate Genuine probe.Region 62 usually menu-style, multiple genuine probe therefrom can be made choosing by operator Select.Such as, different ablation probes can have an electrode of varying number at its far-end, and/or probe Far-end can be classified by their shapes, the most substantially " straight " probe or " lasso trick " probe, and/or probe Can have different diameters.But, although it is usually present multiple genuine probe, but genuine probe and spy Pin physical model 24A, 24B ... between usual the most not one_to_one corresponding because, such as institute herein it is assumed that a kind of Multiple genuine probe usually simulated by probe entities model 24.Therefore, there is normally only a small amount of spy Pin physical model 24A, 24B ..., each probe entities model can simulate different genuine probe.

The corresponding group metadata of the selectable each genuine probe of operator, this metadata in region 62 The characteristic of genuine probe, the diameter of such as genuine probe, the length of genuine probe, and explanation are described One or more parameters that genuine probe is flexible.In certain embodiments, genuine probe can be considered as right Multiple linear bar that Ying Yu is connected by the joint with known elasticity constant, metadata in this case Size and elastic constant including bar.Metadata the most also includes other parameters, and these parameters can relate to The function of genuine probe, the most multiple electrodes and/or the desired use of probe.As the most in more detail Bright, system 20 uses some metadata of selected genuine probe, represents operation process middle probe to draw Parameter P of impact.

In inner chamber selects region 64 to allow operator to select will simulate in the operation of system 20 Chamber.Although the number of the inner chamber type can simulated system is substantially free of restriction, but with the side of citing Formula, it is assumed that inner chamber to be simulated in system 20 includes two kinds of inner chambers: heart and bladder.(for each Plant inner chamber, be usually present the corresponding inner chamber physical model that may be mounted to that in patient's physical model.) every Individual selected inner chamber includes the metadata of respective sets, and these metadata are generally by corresponding true inner chamber On measure (such as imaging) and obtain.

The metadata relevant to given selected inner chamber determine internal chamber wall three-dimensional (3D) scaling graph and The characteristic in each region of wall.These characteristics generally include wall regional movement and contractility assessment, so that first Data include the 3D scaling graph of contractility effectively.

As it is known in the art, contractility can pass through multiple types of tools (such as echocardiography, blood Pipe visualization, magnetic resonance marker and analyze the local path of catheter tip in cardiac cycle with conduit Based on cardiac mapping) assessment.It is same as it is known in the art, contractility can be by different merits Can be measured, these functions based on (such as) locally shortening fraction (its can be linear, Circumference or sections), endocardium deformation, Doppler range rate measurement, and strain and strain rate analysis. Assuming that these type of assessments all of contractility and measurement are all contained in the scope of the present invention.

Depend on that inner chamber, metadata may also include other parameters.Such as, for heart, metadata can The direction of motion including the heart wall region specified on periodicity, amplitude and heart wall scaling graph.

Assuming that each inner chamber to be simulated can be divided into two classes: the inner chamber that common inner chamber and operator generate. In some embodiments, it may be possible to there is more than one common inner chamber to be simulated, each limit difference Characteristic, such as size and/or condition of illness.

The metadata of common inner chamber can be by the inner chamber data genaration in public sphere, such as, cardiac data It is found in www.yale.edu/imaging.This type of metadata can include using such as electrocardiography or many The inner chamber analysis result that the program of general Le imaging etc obtains.Alternatively or except this it Outward, metadata can be generated by other images, the X-ray of such as inner chamber or nuclear magnetic resonance (MRI) or meter Calculation machine tomoscan (CT) image；This type of image can be obtained by operator 22, but cannot be used for public neck Territory.

The metadata of the inner chamber that operator generates is generally derived from operator or operator assistant before this truly The data gathered during the Noninvasive carried out on inner chamber or invasive surgical.Such as, patient may Suffer from myocardial infarction, and may obtain Noninvasive MRI image and/or the non-intruding of its diseased heart Property CT image.Furthermore, it is possible to implemented invasive surgical, this operation generates the contact force of heart Scaling graph.One or more images can be used as together with the contact force data of heart area basis, with Generate metadata, including the contractility scaling graph of the diseased heart being modeled.Below in conjunction with Fig. 8's Flow chart 280, further describes the illustrative methods for determining inner chamber contractility scaling graph.

Screen 60 also includes operator's behavior menu 66.As medical field is known, even if carrying out phase As truly perform the operation, different genuine probe operators also can use probe with different style.Example As, an operator may use probe with the strongest " propelling movement " motion, and another operates Member then may move with " drawing " of milder and use probe.In true operation, different motions The counteracting force of operator's perception will be affected.Under many circumstances, operator understands himself use spy The style of pin.Operator 22 can select in a series of styles of subordinate act menu 66.Herein Style classifies as from very effectively to as mild as a dove by way of example, but any other can be used to close Suitable classification and corresponding labelling.Select the one in menu 66 to be categorized as controller 28 and provide phase The operator's behavior Dynamic gene answered, as mentioned below, applies this Dynamic gene in simulation process In actuator 50.

Menu 66 also includes that system determines entry 68, and this entry allows system 20 to operator's 22 Effectively style is evaluated.Operator uncertain to self style or want whether to check its style The operator corresponding with the classification of system 20 may select this type of entry.Select this entry will allow system 20 Perform the program for determining operator 22 style.This program is retouched further hereinafter in connection with Fig. 6 State.

Probe metadata and inner chamber metadata are stored in internal memory 32.Operator uses probe to select region 62 and inner chamber when selecting region 64 to select given probe and given inner chamber, processing unit 30 is able to access that Two group metadata.By metadata group and operator's behavior Dynamic gene of determining from menu 66, control Device 28 processed can determine that the sense of touch feedback that will be supplied to operator 22 in simulation process, and this will below Middle combination Fig. 4 is more fully described.

Fig. 3 is the schematic diagram of contact force mapping Figure 100 according to the embodiment of the present invention.Contact force mapping Figure 100 shows and uses probe (having the contact force measurement apparatus being arranged on its far-end) connecing of recording Touch force values, as shown in gray scale in figure, although this scaling graph generally presents with color version.Scaling graph 100 is the ThermoCool SMARTTOUCH produced by Biosense Webster Inc.^TMProbe is surveyed The contact force scaling graph of fixed left atrium.This scaling graph generally generates in real exploration of heart. As mentioned below, contact force scaling graph as such as mapping Figure 100 can be used for obtaining heart area Contractility data.

The contact force of any specific region of inner chamber depends on the contractility in this region, for measuring contact The probe of power and operator use the peculiar style of probe.The mathematic(al) representation of this relation can be such as Under:

CF_xyz=f (C_xyz,P,O) (1)

Wherein CF_xyzBe (x, y, z) contact force of peripheral region,

C_xyzIt is the contractility in this region,

P is derived from the parameter of probe metadata,

O is the parameter representing operator's style, and

F is function.

In obtaining the true operation of contact force (i.e. power on genuine probe far-end) of formula (1), behaviour Work person will experience the power relevant to contact force at probe near-end.At the mould performed by the embodiment of the present invention In plan, for simplicity, suppose that the power that actuator 50 applies supposes to deposit in simulation by way of example Contact force linear correlation.The power applied by actuator 50 herein is referred to as " tactile feedback force ".By Release formula (2) above:

HFF_xyz=k × CF_xyz=k × f (C_xyz,P,O) (2)

Wherein HFF_xyzBe probe contact region (x, y, tactile feedback force time z), and

K is constant.

Return to formula (1), this formula can be reset, obtain about region (x, y, contractility z) Relational expression:

C_xyz=g (CF_xyz,P,O) (3)

Wherein g is the second function

Generally, parameter k, P and O in formula (1) (3) can be represented by corresponding matrix, and letter Number f and g includes multiplication of matrices computing.For simplicity, in the following description suppose parameter k, P and O is arithmetic number.The most for simplicity, it is assumed that CF_xyz、C_xyz, there is line between P and O Sexual relationship.Above-mentioned parameter is matrix and/or relation is nonlinear situation, the common skill of this area Change that can be in addition necessary is revised this description by art personnel.

By suitably selecting the value of P and/or O, thus formula (2) and (3) can be rewritten as:

C_xyz=CF_xyz×P×O (4)

${\mathrm{HFF}}_{xyz}=k\×{\mathrm{CF}}_{xyz}=k\×\frac{C_{xyz}}{P\×O}---\left(5\right)$

Formula (1) also can be rewritten as similarly:

${\mathrm{CF}}_{xyz}=\frac{C_{xyz}}{P\×O}---\left(6\right)$

Set forth below is the application of formula (1) (6).

Flow process Figure 150 of used step when Fig. 4 is simulated in system 20 by operator 22, The screen 180 of display on GUI 34 when Fig. 5 is the step performing flow chart according to the embodiment of the present invention Schematic diagram.Flow process Figure 150 supposes that the relation being similar to above-mentioned formula (4), (5) and (6) is equally applicable.

In the first step 152 carried out before operator starts simulation, to taking the photograph of patient's physical model 26 Shadow machine 52 and tactile feedback actuators 50 are calibrated.

The calibration permission controller 28 of camera is from the distal view picture that camera is formed, relative to patient Physical model axis determines the far-end 38 coordinate in patient's physical model.Generally by far-end is arranged The known location of the transparent inner chamber physical model 48 in being positioned at patient's physical model is to carry out camera school Accurate.Camera generates distal view picture, and by the coordinate of far-end in different images and relative to patient's entity The known far-end coordinate that model axis records is associated.Calibration generally also includes by being arranged on by far-end The data that known location generates push away in carrying out and/or extrapolate so that controller 28 can be by camera 52 The image generated determines the far-end 38 coordinate in body cavity physical model 48 during any position.

The calibration of actuator 50 allows controller 28 to use formula (5) to provide correct sense of touch to feed back, its Form is the power of operator's perception.The power experienced typically for the motion of given actuator 50 depends on In the diameter of probe entities model 24, so that have the situation of different-diameter at probe entities model Under, each different diameter is all had corresponding calibration.For the probe entities model of given diameter, Can be by inputting known enabling signal to actuator and measuring the frictional resistance on probe entities model Calibrate.This calibration provides the value of constant k in formula (5), for each probe entities model, and should Value is typically different.

As it has been described above, be configured to apply approximately longitudinally power to probe entities model 24 at actuator 50 Embodiment in, use the mode roughly the same with resistance calibration to calibrate the longitudinal force of actuator.At this In a little embodiments, although constant k is typically different, but the formula substantially similar with formula (5) is still suitable for.

In primary simulation step 154, it is shown that screen 60 (Fig. 2).Operator selects to wait to simulate Inner chamber and probe, and select the operator's style that will use in simulations.In the following description, false Determine inner chamber physical model 48 corresponding with the inner chamber type (such as, heart or bladder) that operator selects

The selection of probe enables the controller to obtain metadata and P value, the choosing of operator's style of probe Select and enable the controller to obtain operator's Dynamic gene and O value.

When selecting inner chamber, controller 28 obtains the metadata of inner chamber, thus obtains the 3D mark of inner chamber Mapping, i.e. (x, y, z) value, and (x, y, z) contraction force value C of peripheral region of inner chamber_xyz(formula (4)).Controller is by scaling graph and shrinks force value and patient's physical model axis registration.Implement at some In example, also obtain the contact force scaling graph for generating contractility scaling graph.

In simulation starts step 156, GUI 34 provides selected true inner chamber for operator (non-inner chamber physical model 48) and the image 182 (Fig. 5) of contact force instrument 184.Additionally, start Camera 52.Operator by probe entities model 24 being inserted the aperture 46 of patient's physical model, Start simulation program.Generally, controller 28 starts actuator 50, genuine probe is inserted true with simulation Resistance suffered when the tremulous pulse of real patient or vein.But, suffered by simulation far-end 38, contact force connects Touch instrument is typically set to zero, because in this stage of true operation, suffered by the far-end of genuine probe Axial force the least or be zero.

In continuing simulation steps 158, operator continues into probe entities model, until camera 52 positions that recorded far-end 38 are positioned at the boundary of inner chamber 3D scaling graph.At this moment, controller 28 Start to follow the tracks of the position of far-end together with camera 52.Controller 28 uses the position recorded at screen On 180, display represents the icon 186 of far-end, and this icon is already present selected true interior with on GUI 34 The image in chamber correctly registrates.Operator 22 manipulates the near-end 40 of probe entities model 24, thus will be remote End moves on to the desired location in image 182.

In locular wall contact procedure 160, controller 28 detects position and the internal chamber wall region of far-end 38 The corresponding situation (using 3D scaling graph coordinate) of position, so that far-end contacts locular wall effectively.Logical Cross the far-end icon 186 generated on locular wall image and screen 180, this contact for operator aobvious equally and It is clear to.When contact, controller obtains inner chamber metadata to determine the contractility of contact position.Control Device is by contractility and uses formula (6) to determine the simulating contact power of contact area, and in contact force instrument This power is shown on 184.Controller uses formula (5) to determine the sense of touch feedback that will be applied by actuator 50 Power.

In forcing step 162, controller starts actuator 50, with the sense of touch that will be determined by formula (5) Feedback force is applied to near-end 40.Probe selected by root Ju and the metadata of inner chamber, controller can also start Actuator 50 proximally to apply other power, the most above-mentioned longitudinal force.This startup will last till controller The region determined in far-end 38 and step 160 comes in contact to use camera 52 to determine.

As shown in condition step 164, its middle controller determines that far-end 38 is moved by operator 22 the most To new position, and by shown in arrow 166, repeat step 158,160 and 162, until not having New position registrates for far-end.Then the simulation described by flow chart i.e. terminates.

In certain embodiments, there is scaling graph rendering step 168.Step 168 can complete mould one Just implement after plan, or carried to controller 28 by operator alternatively in simulation process Go out request and implement.In step 168, simulating contact power determined by step 160 with Fig. 3 The form of the simulating contact power scaling graph that scaling graph is substantially similar is presented on GUI 34.Obtaining use In generating in the embodiment of contact force scaling graph of inner chamber contractility scaling graph, this contact force scaling graph is also Can be displayed on GUI 34 for comparative purposes.Simulating contact power scaling graph is checked and/or incites somebody to action It compares with the scaling graph of acquisition in step 154, can be that operator provides instruction, it is indicated that may It is applied with the place of too much or very few power, or the place perhaps without the power of mensuration.

Fig. 6 is for evaluating the flow process of the step performed by operator 22 style according to the embodiment of the present invention Figure 200.The step of this flow chart generally performs when operator's its style uncertain, and can be by behaviour Entry (Fig. 2) obtains to select the system of menu 66 to determine as member.

Flow process Figure 200 supposes that the camera of patient's physical model 26 and actuator (are flowed by step 152 Journey Figure 150) described in calibrated.

Initial step 202 is substantially similar with step 154 (flow process Figure 150), in order to operator select by It is used for inner chamber and the probe evaluated.Assuming that inner chamber and probe be respectively provided with preset contractility scaling graph and Probe parameter.Style, controller 28 is not selected to suppose predetermined style value by operator, the most Know the meansigma methods of operator's style value, or the weighted mean of likely O value.Generally, once select Select inner chamber and probe, operator will be made instruction by GUI 34, it is desirable to operator performs known journey The local ablation of sequence, such as left atrium.

First evaluation procedure 204 and the second evaluation procedure 206 start step 156 with simulation respectively and continue Continuous simulation steps 158 is substantially similar.

In recording step 208, during once far-end 38 is positioned at inner chamber physical model, controller 28 is i.e. Start to record the position of far-end, and far-end is in the time of this position.As long as also carrying out flow chart The evaluation of 200, this record will continue to.

Operation 210,212 respectively with above-mentioned locular wall contact procedure 160 and forcing step 162 substantially phase Seemingly.But, in step 210, O value step 202 supposed is used for formula (5) and (6).

By the first circulation of the flow chart shown in condition step 214 and arrow 216, with flow process Figure 150 Conditional step 164 is roughly the same with the circulation of arrow 166, and it is mobile remote to last till that operator stops End.If condition step 214 returns negative value, then flow process Figure 200 will continue executing with by condition step 218 and arrow 220 shown in second circulation, to check whether operator selects another inner chamber or spy Pin is used for evaluating.Such as, operator can select different types of heart (can be " thin slim ", " loose type " or " athlete's type ") and be suitable to the probe of dissimilar heart.If condition 218 Return value certainly, then flow chart will be returned to step 202.

If condition 214 and 218 all returns negative value, thus indicates that operator 22 has completed its operation The offer of style data, then flow chart will continue executing with the final step 222 and 224 of flow chart.At knot Really in step 222, the result generated in abovementioned steps is generally organized into one or more by controller 28 Matrix.In analytical procedure 224, result is analyzed, is generally used for determining the value of parameter, example Such as the mean force registrated, the maximum, force of registration, the average movement velocity of probe, the change of movement velocity Change and probe accelerate acceleration and/or time-derivative.Controller uses these values, generally to this A little values are weighted, in order to estimate the O value corresponding with operator's style.

Fig. 7 be according to the embodiment of the present invention by controller 28 perform for evaluating given probe entities mould The flow chart 250 of the step of parameter P value used by type 24.As described above, P generally depends on probe The mechanical property of the genuine probe of physical model simulation, such as diameter and flexibility.The journey of flow chart 250 Sequence uses the characteristic of genuine probe to determine P value.

In first step 252, controller 28 obtains the metadata of genuine probe.Controller is from unit's number The elastic normal of mechanical data, such as length, diameter and tolerance probe bending difficulty is isolated according to Number.

In estimating step 254, controller estimates P value according to mechanical data.An embodiment In, it may be assumed that P is inversely proportional to length, is directly proportional to diameter, and is directly proportional to elastic constant.Make Select for another, other phases of these mechanical datas and/or other data can be supposed when estimating P Guan Xing.

In evaluation procedure 256, operator 22 is typically based on the step 152 164 of flow process Figure 150 Operating system 20.But, P value is drawn by step 254.Selected inner chamber is usually what operator was familiar with Inner chamber, and the contractility scaling graph of inner chamber can measure according to flow chart 280 (Fig. 8).Evaluating In, operator estimates whether the sense of touch generated in the step 162 of flow process Figure 150 feedback can connect It is subject to.

In comparison step 258, whether operator's instruction can accept for the P value of step 256. If P value is unacceptable, then operator and/or controller 28 will change P in regulating step 260 Value, flow chart will be returned to step 256.

If comparing 259 returns value certainly, then suppose the P value that will use in last circulation step 256 For giving probe entities model 24 and selected genuine probe, flow chart terminates.

Fig. 8 is the region for evaluating given inner chamber performed by controller 28 according to the embodiment of the present invention The flow chart 280 of the step of contractility.For given inner chamber, the contractility of evaluation region and mensuration Contractility scaling graph is corresponding.

In first step 282, controller obtains the 3D rendering data of inner chamber.View data is usual Including one or more MRI image, and/or one or more CT image.Alternatively select Select, it be also possible to use other imaging datas, such as from electrocardiography, the data of doppler imaging and/ Or ultrasonic or optical image data.

In wall measuring process 284, controller measures the wall thickness of inner chamber zones of different.

In contractility determination step 286, controller measures the mechanical property in region, such as elastic. The region characteristic of inner chamber obtains from source, public sphere (as referred to above) usually from operator 22 And it is stored in the data in internal memory 32.These data generally include the ultrasoundcardiogram number gathered in advance According to and/or magnetic resonance elastography data.Alternatively or additionally, if contact force Scaling graph can be used for inner chamber, then controller 28 can use this contact force scaling graph to determine its required machine Tool characteristic.Such as, the contact force measurement of ablation areas can be to the elasticity number before controller provides and melts Compare the region elasticity number of correction.

Controller determines the region corresponding to generating given inner chamber contractility scaling graph by mechanical property (x, y, contractility C z)_xyz。

Above specification provides the O value for determining operator's style, be used for determining that simulation is given true The parameter P value of the probe entities model of probe, and be used for determining corresponding to given inner chamber contractility mark Regions contract power C of mapping_xyzIndependent solution.

For measuring the additive method of contractility scaling graph, probe parameter P and operator's style O to this Also will be apparent from for the those of ordinary skill in field, then can be by these scaling graphs, parameter With style for system 20.Assuming that this type of method is also contained in the scope of the present invention.

Such as, can to use different probe obtain and/or by different operating person generate same or similar The contact force scaling graph group of organ compares.Such comparison (can be in conjunction with one or more according to stream Journey Figure 200, method described in 250 and 280) generally produce the estimated value of organ contraction's power scaling graph. This relatively generally also generates the estimated value being used for obtaining parameter P of the probe of contact force scaling graph, and The estimated value of operator's style O of operation probe.

Being to be understood that above-described embodiment is only quoting of way of example, the present invention is not limited to specifically above The content illustrated and describe.More precisely, the scope of the present invention includes the combination of above-mentioned various feature Can be thinkable and existing when reading description above with sub-portfolio and those skilled in the art Undocumented variations and modification in technology.

Claims (20)

1. for an equipment for invasive surgical simulation, including:

Probe entities model, described probe entities model has far-end and the near-end of applicable operator grasping；

Patient's physical model of simulation actual patient, described patient's physical model has aperture, and described aperture enables the described far-end of described probe entities model to be penetrated in described patient's physical model；

Forcer, described forcer is connected to described probe entities model to exert a force to the appreciable described near-end of described operator；And

System controller, described system controller is configured to:

Selection will described invasive surgical simulation used in operator's style,

Its position is followed the tracks of during described far-end is penetrated in described patient's physical model,

Obtain the instruction of the contraction force value of the described actual patient organic region corresponding with the position followed the tracks of,

And

Start described forcer so that being applied to the power of described near-end corresponding to described instruction and described operator's style.

Equipment the most according to claim 1, wherein said system controller is configured to obtain the probe parameter of the genuine probe mechanical performance characterizing the simulation of described probe entities model, and described probe parameter is responded by the power being wherein applied to described near-end.

Equipment the most according to claim 2, the value of wherein said probe parameter adjusts according to the evaluation of the power of described operator's perception.

Equipment the most according to claim 1, wherein said system controller is configured to obtain the operator's parameter characterizing described operator's operation style, and described operator's parameter is responded by the power being wherein applied to described near-end.

Equipment the most according to claim 4, wherein said operator's parameter is determined according to the position of described far-end and the record in the time of described position thereof.

Equipment the most according to claim 1, wherein said system controller is configured to according to the analysis of at least one in the contact force scaling graph of described organ and the image of described organ is determined described contraction force value.

Equipment the most according to claim 6, wherein said contact force scaling graph uses the genuine probe including force transducer to generate.

Equipment the most according to claim 6, wherein said image uses the non-invasive imaging of described organ to generate.

Equipment the most according to claim 1, wherein said probe entities model is configured to simulate genuine probe, and described genuine probe has genuine probe far-end and includes force transducer at described genuine probe far-end.

Equipment the most according to claim 1, also includes one or more tracking device, and far-end is followed the tracks of signal according to the position of described far-end and is transferred to described system controller by described tracking device.

11. 1 kinds of methods for invasive surgical simulation, including:

Thering is provided probe entities model, described probe entities model has far-end and the near-end of applicable operator grasping；

Simulating actual patient with patient's physical model, described patient's physical model has aperture, and described aperture enables the described far-end of described probe entities model to be penetrated in described patient's physical model；

Forcer is connected to described probe entities model to exert a force to the appreciable described near-end of operator；

Selection will described invasive surgical simulation used in operator's style,

Its position is followed the tracks of during described far-end is penetrated in described patient's physical model；

Obtain the instruction of the contraction force value of the described actual patient organic region corresponding with the position followed the tracks of；And

Start described forcer so that being applied to the power of described near-end corresponding to described instruction and described operator's style.

12. methods according to claim 11, also include the probe parameter obtaining the genuine probe mechanical performance characterizing the simulation of described probe entities model, and described probe parameter is responded by the power being wherein applied to described near-end.

13. methods according to claim 12, also include that the evaluation of the power according to the perception of described operator institute adjusts described probe parameter value.

14. methods according to claim 11, also include obtaining the operator's parameter characterizing described operator's operation style, and described operator's parameter are responded by the power being wherein applied to described near-end.

15. methods according to claim 14, wherein said operator's parameter is determined according to the position of described far-end and the record in the time of described position thereof.

16. methods according to claim 11, also include according to the analysis of at least one in the contact force scaling graph of described organ and the image of described organ is determined described contraction force value.

17. methods according to claim 16, wherein said contact force scaling graph uses the genuine probe including force transducer to generate.

18. methods according to claim 16, wherein said image uses the non-invasive imaging of described organ to generate.

19. methods according to claim 11, wherein said probe entities model is configured to simulate genuine probe, and described genuine probe has genuine probe far-end and includes force transducer at described genuine probe far-end.

20. methods according to claim 11, also include that far-end is followed the tracks of signal and is transferred to system controller by the position according to described far-end.