DE4225519A1 - Three=dimensional simulation of anatomy and interaction with endoscope - using computer workstation to provide the 3-D views of the simulation and providing user with manual control of dummy endoscope module - Google Patents

Three=dimensional simulation of anatomy and interaction with endoscope - using computer workstation to provide the 3-D views of the simulation and providing user with manual control of dummy endoscope module

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Publication number
DE4225519A1
DE4225519A1 DE19924225519 DE4225519A DE4225519A1 DE 4225519 A1 DE4225519 A1 DE 4225519A1 DE 19924225519 DE19924225519 DE 19924225519 DE 4225519 A DE4225519 A DE 4225519A DE 4225519 A1 DE4225519 A1 DE 4225519A1
Authority
DE
Germany
Prior art keywords
simulation
endoscope
dimensional
manual control
anatomy
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE19924225519
Other languages
German (de)
Inventor
Roland Maier
Frank Dr Med Fueting
Ulrich Dr Ing Fligge
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MAIER ROLAND DIPL MATH
Original Assignee
MAIER ROLAND DIPL MATH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MAIER ROLAND DIPL MATH filed Critical MAIER ROLAND DIPL MATH
Priority to DE19924225519 priority Critical patent/DE4225519A1/en
Publication of DE4225519A1 publication Critical patent/DE4225519A1/en
Withdrawn legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

Abstract

The three dimensional simulation of an anatomical system, e.g. human stomach, involves using a manipulator representing an endoscope. A high powered computer work station is used (1.1) for the simulation and the 3-D image is generated (1.2) and viewed by the user on a monitor (1.3). The user has manual control of an endoscope dummy module (1.6). This provides motion data input to the simulation programme. 3D data is generated representing the probe position. USE/ADVANTAGE - for training of medical doctors. Allows expertise to be gained in positioning of instrument. Allows doctor to observe simulated internal organs as endoscope is moved under his control based upon computer system.

Description

Methode zur dreidimensionalen Simulation dreidimensionaler Hohl­ räume mittels eines Simulationsrechnersystemes und perspektivisch korrekte Darstellung aller Bewegungsabläufe auf einer Bildebene, zur Erprobung und Weiterentwicklung medizinischer Techniken.Method for three-dimensional simulation of three-dimensional hollow rooms using a simulation computer system and in perspective correct representation of all movements on one image level Testing and further development of medical techniques.

ErläuterungExplanation

Mit Hilfe einer Hochleistungsworkstation - Detail 1.1 - (oder einer adäquaten Einheit) und einer Spezialrechnereinheit - Detail 1.2 -, ge­ nannt "Echtzeitbildgenerator" werden auf Darstellungsebene - Detail 1.3 -, z. B. Videoprojektoren, Helmet Mountet Displays bzw./oder auf Monitoren simulierte Hohlräume - Detail 1.4 - dargestellt, in denen sich der trainierende Arzt mit Hilfe eines Handhabungssystemes - Detail 1.5 - frei bewegen kann.With the help of a high-performance workstation - Detail 1.1 - (or an adequate unit) and a special computer unit - Detail 1.2 -, called "real-time image generator" are on the display level - Detail 1.3 -, z. B. Video projectors, helmet mount displays and / or cavities simulated on monitors - detail 1.4 - are shown, in which the training doctor can move freely with the help of a handling system - detail 1.5 .

Erster besonderer Schwerpunkt dieser Methode ist es, den simulier­ ten Hohlraum exakt dreidimensional zu gestalten, wodurch es jeder­ zeit ermöglicht wird, sich perspektivisch exakt in jede beliebige simu­ lierte dreidimensionale Position in diesem Hohlraum zu bringen.The first special focus of this method is to simulate to design the cavity exactly three-dimensional, which makes it easy for everyone time is made possible, in perspective exactly in any simu brought three-dimensional position in this cavity.

Somit können anatomische (gesunde und krankhafte) Strukturen in menschlichen Hohlräumen von jeder beliebigen Position aus in die­ sem dreidimensionalen Raum betrachtet werden (z. B. Funktion und Fehlfunktion einer Herzklappe können sowohl vom Vorhof als auch von der Herzkammer oder jeder anderen beliebigen Position aus be­ trachtet werden).Thus, anatomical (healthy and pathological) structures in human cavities from any position in the three-dimensional space (e.g. function and Malfunction of a heart valve can occur both from the atrium as well from the ventricle or any other position to be sought).

Zweiter besonderer Schwerpunkt dieser Methode ist es, daß das Sy­ stem mit Hilfe geeigneter Algorithmen erkennt, wie nahe es der Wandung ist und somit in der Lage ist auf Berührung der Wandung mit der Aktivierung von Hemmkräften - Detail 1.6 - zu reagieren. Dies ist möglich, daß der Wandung eine bestimmte Elastizität zugeordnet wird. Diese Hemmkräfte wirken direkt am Originaluntersuchungsin­ strument - Detail 2.4).The second particular focus of this method is that the system recognizes with the help of suitable algorithms how close it is to the wall and is therefore able to react to contact with the wall by activating inhibitory forces - detail 1.6 . This is possible that a certain elasticity is assigned to the wall. These inhibitory forces act directly on the original examination instrument - detail 2.4 ).

Dritter besonderer Schwerpunkt ist es, die eben genannte Methode der Abstandsmessung nicht nur auf die Position des Beobachters, sondern auch auf Behandlungsinstrumente, wie Nadel, Skalpell, Körbchen, Schaber, etc. anzuwenden, um so eine realitätsgetreue Behandlung zu ermöglichen.The third special focus is the method just mentioned the distance measurement not only on the position of the observer, but also on treatment instruments such as needles, scalpels, Basket, scraper, etc. to apply so as to be realistic To allow treatment.

Das heißt, die Methode gestattet es, einen Schnitt auf der Darmwand "tatsächlich" auszuführen.That is, the method allows an incision to be made on the intestinal wall to "actually" perform.

Vierter besonderer Schwerpunkt dieser Methode ist es, die dreidi­ mensionalen Hohlraumflächen - Detail 1.7 - mit realistischen Bildin­ halten zu belegen, um so dem Arzt die Orientierung zu erleichtern und um Krankheitsbilder sichtbar zu machen. Die aufgelegten Bildin­ halte entsprechen fotografischer Qualität und können aus realen Abbildungen gewonnen werden. Mit Hilfe geeigneter Algorithmen werden sie perspektivisch so verrechnet, daß sie geometrisch korrekt dargestellt werden, egal von welcher Position aus der Beobachter die Oberfläche betrachtet. The fourth particular focus of this method is to cover the three-dimensional cavity surfaces - detail 1.7 - with realistic images, in order to facilitate orientation for the doctor and to make clinical pictures visible. The contents of the image correspond to photographic quality and can be obtained from real images. With the help of suitable algorithms, they are calculated in perspective so that they are represented geometrically correctly, regardless of the position from which the observer looks at the surface.

Fünfter besonderer Schwerpunkt der Methode ist es diese Auflage von fotografischen Bildinhalten auch auf Krankheitssymptome anzu­ wenden. Aus einer Bibliothek von verschiedenen Bildinhalten können dann beliebige Kombinationen zusammengestellt werden.The fifth special focus of the method is this edition from photographic image content also to symptoms of illness turn. From a library of different image content then any combinations can be put together.

Methode zur dynamischen Vermessung und Lageberechnung eines bewegbaren, flexiblen oder starren Untersuchungs- /Behandlungsschlauches und/oder -Werkzeugs in einer digitalen dreidimensionalen Hohlraumdatenbasis, sowie zur Manipulation an digital dreidimensional dargestellten Strukturen.Method for dynamic measurement and position calculation of a movable, flexible or rigid examination / Treatment hose and / or tool in a digital three-dimensional cavity database, as well as for manipulation structures represented digitally in three dimensions.

ErläuterungExplanation

Mit Hilfe einer Hochleistungsworkstation - Detail 2.1 - (oder einer adäquaten Einheit) und einer Spezialrechnereinheit - Detail 2.2 - ge­ nannt "Echtzeitbildgenerator" wird das dynamische Verhalten von flexiblen/starren Schläuchen und Werkzeugen in Hohlraumdatenba­ sen nachgebildet.With the help of a high-performance workstation - detail 2.1 - (or an adequate unit) and a special computer unit - detail 2.2 - called "real-time image generator", the dynamic behavior of flexible / rigid hoses and tools is simulated in cavity data bases.

Erster besonderer Schwerpunkt dieser Methode ist es, daß dieser Bildgenerator mit Hilfe geeigneter Algorithmen eine Abstandsmes­ sung der momentanen Schlauch/Werkzeuglage zu den Hohlraum­ wandungen, in denen er sich befindet, durchgeführt - Detail 2.3 - und für die Berührungsstellen Wand/Schlauch die Berührungseigenschaf­ ten beschreibt.The first particular focus of this method is that this image generator uses suitable algorithms to carry out a distance measurement of the current hose / tool position to the cavity walls in which it is located - detail 2.3 - and describes the contact properties for the wall / hose contact points .

Zweiter besonderer Schwerpunkt dieser Methode ist es, daß die Workstation mit Hilfe der gewonnenen Abstands- und Berührungsei­ genschaften das dynamische Verhalten des simulierten Schlauches (Werkzeuges) mit Hilfe geeigneter Algorithmen nachbildet.The second particular focus of this method is that the Workstation with the help of the distance and contact egg obtained properties of the dynamic behavior of the simulated hose (Tool) using suitable algorithms.

Dritter besonderer Schwerpunkt dieser Methode ist es, daß die Workstation diese Informationen auch dazu benutzt, um Aktuatoren, die auf das Handhabungsgerät - Detail 2.4 - wirken, zu simulieren, so daß der untersuchende Arzt der Wirklichkeit entsprechende Gegen­ kräfte empfindet.The third particular focus of this method is that the workstation also uses this information to simulate actuators that act on the handling device - detail 2.4 - so that the examining doctor feels the corresponding counter-forces to reality.

Vierter besonderer Schwerpunkt dieser Methode ist es, daß die Lei­ stungen der Komponenten so gewählt werden, daß die Messungen, Berechnungen und Simulationen so häufig pro Sekunde durchgeführt werden können, daß der untersuchende Arzt den Eindruck einer kon­ tinuierliche Handlung erhält, d. h. daß er Teil eines geschlossenen Regelkreises - Detail 2.5 - wird.Fourth particular focus of this method is that the performance of the components are selected so that the measurements, calculations and simulations can be carried out so often per second that the examining doctor receives the impression of a continuous action, ie that he is part of one closed loop - detail 2.5 - will.

Claims (2)

1. Methode zur dreidimensionalen Simulation dreidimensionaler Hohl­ räume mittels eines Simulationsrechnersystemes und perspektivisch korrekte Darstellung aller Bewegungsabläufe auf einer Bildebene, zur Erprobung und Weiterentwicklung medizinischer Techniken.1. Method for three-dimensional simulation of three-dimensional hollow rooms using a simulation computer system and in perspective correct representation of all movements on one image level Testing and further development of medical techniques. 2. Methode zur dynamischen Vermessung und Lageberechnung eines bewegbaren, flexiblen oder starren Untersuchungs- /Behandlungsschlauches und/oder -Werkzeugs in einer digitalen dreidimensionalen Hohlraumdatenbasis, sowie zur Manipulation an digital dreidimensional dargestellten Strukturen.2. Method for dynamic measurement and position calculation of a movable, flexible or rigid examination / Treatment hose and / or tool in a digital three-dimensional cavity database, as well as for manipulation structures represented digitally in three dimensions.
DE19924225519 1992-08-01 1992-08-01 Three=dimensional simulation of anatomy and interaction with endoscope - using computer workstation to provide the 3-D views of the simulation and providing user with manual control of dummy endoscope module Withdrawn DE4225519A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE19924225519 DE4225519A1 (en) 1992-08-01 1992-08-01 Three=dimensional simulation of anatomy and interaction with endoscope - using computer workstation to provide the 3-D views of the simulation and providing user with manual control of dummy endoscope module

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19924225519 DE4225519A1 (en) 1992-08-01 1992-08-01 Three=dimensional simulation of anatomy and interaction with endoscope - using computer workstation to provide the 3-D views of the simulation and providing user with manual control of dummy endoscope module

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DE4225519A1 true DE4225519A1 (en) 1994-02-03

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001008126A1 (en) * 1999-07-23 2001-02-01 Replicant Limited A fibrescope training apparatus

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2001008126A1 (en) * 1999-07-23 2001-02-01 Replicant Limited A fibrescope training apparatus
US6827580B1 (en) 1999-07-23 2004-12-07 Replicant Limited Fiberscope training apparatus

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