JP4611742B2 - Direct physical examination of remote patients using virtual examination function - Google Patents

Description

This application is a continuation-in-part of US Application No. 685,327, filed October 6, 2000, and claims priority from that application date under Section 120 of the US Patent Act. The disclosure of which is incorporated herein by reference.

The present invention relates generally to an apparatus for processing and / or acquiring haptic information, and more particularly, transmitting, recording, reproducing, and reproducing haptic information acquired at a remote location or at a remote time. Related to the device.

Background of the Invention In the 1980s, as an effort to overcome the shortage of doctors in rural areas, the idea of using communication and computer systems for the exchange of medical information between specialists and patients far away was born. Promoted development. With the advent of the Internet and inexpensive audio and video systems, the application range of telemedicine continues to expand. While many patients use the Internet to search for general medical information, many doctors currently use email to contact patients. However, current forms of telemedicine systems are limited due to the lack of adequate physical examination.

  As a basic physical examination process, doctors collect information on patient status from various sources (medical history, direct physical examination, clinical trials and diagnostic imaging), and analyze the data to reflect it in treatment. There is a need. The most important source of information comes from physical patient physical examination. Even using only physical examinations that are carried out professionally, a correct diagnosis can be made with an accuracy of more than 90%. Certain types of treatment information can be sent via phone, fax or the Internet, but information obtained from actual physical contact between the doctor and patient in a manual examination process cannot, This represents one of the few major steps in the entire telemedicine examination process. Telemedicine's reliability for most serious medical problems is limited because it cannot remotely capture physical data and reliably transfer that information to a remote physician.

  Thus, a computer hardware and software system that allows direct physical examination of a patient at a remote location without any actual direct physical contact between the patient and the physician. There is a need for a system that allows doctors to conduct direct medical examinations of the patient's body. Further, there is a need for a system that collects haptic and “physical contact” data and transmits it through existing global communication systems. Such a system will allow any doctor in the world to see any patient in any location, including “local” in rural or remote areas, emergencies or wars or any adverse environment Will provide a means. It also converts the tactile pressure applied / received to digital and transmits it via the Internet or any other type of communication platform that can send and receive such signals, and finally to the partner's terminal Therefore, it is required to be able to convert the digital signal into an appropriate output (pressurized) haptic pressure. In addition, this digital haptic data can be recorded so that the system can reproduce the digital haptic data for the reproduction or modeling of the physical features inherent in the original person or object that was examined. It is requested to do so.

  Furthermore, there is a need for an imaging diagnostic assembly that can acquire tactile data simultaneously with 2-D or 3-D image data inside the body. By including internal body images, physician users can obtain richer local anatomical information that leads to the location and internal features of the inner tissues and organs being palpated during the exam. Currently, in order to obtain 2-D or 3-D diagnostic images, patients need to undergo additional examination items or examination steps in the diagnostic process. Currently available non-invasive imaging systems include ultrasound, computed tomography (CT) scan, magnetic resonance imaging (MRI), nuclear scan, and positron emission tomography (PET) scan. In CT scans, PET scans, and MRI, patients need to lay their bodies in large enclosures in order to create examination data. However, an ultrasound system is a very portable and safe system that uses sound waves to generate acoustic information that can be converted into 2-D or 3-D body images. Current ultrasound systems require either a technician or physician familiar with the use of ultrasound equipment, and use the hand to apply an ultrasound probe to a point of interest on the patient's body. The probe is physically connected to an ultrasound instrument equipped with power and an image processing system.

  Ultrasound devices emit pulses of ultrasonic energy at a specific frequency and deliver them toward body tissue. The response is returned from the organization and is collected by the transducer. The echo coming back from the stationary tissue is detected and displayed as a grayscale image. Depth and brightness can be determined by the arrival time and signal strength of the returning echo characteristics. Changes in the frequency of the reverberant returning indicate movement within the underlying structure. These pieces of information are processed by imaging system software to generate an internal image of the structure being examined. The physician can use the video and spectral data to make diagnosis and treatment decisions. In ultrasound diagnostics, a technician or physician user often has to press the transducer scan head against the body surface in order to detect additional characteristics of the underlying structure being examined.

  As described above, there is a need for a system that can be used to detect and transmit tactile information in real time, including 2-D and 3-D ultrasound information, between two people at distant locations. Furthermore, simultaneous transmission and reception of real-time tactile information data between two people at remote locations, including image data that provides users with internal or external body images of simultaneous real-time 2-D or 3-D And a replaceable device is needed. There is also a need for an enhanced medical diagnostic instrument that allows the user at the other end to sense or palpate the body structure tissue in question and has the ability to observe the effect of the applied tactile pressure on the body. .

SUMMARY OF THE INVENTION In accordance with the present invention, a simulator assembly for simulating the tactile response of an object is provided. The simulator assembly generally includes a playback module that is shaped into at least a portion of the simulated object, and a playback module body that includes an outer skin. The simulator assembly further includes a plurality of cavities disposed in the outer epidermis within the regeneration module body. The simulator assembly includes a plurality of sensory modulation subunits, each sensory modulation subunit being at least partially disposed within one of the plurality of cavities. Each sensory modulation subunit is configured to generate a force against the external epidermis according to an input signal.

  The simulator assembly can include a pressure transducer that is adapted to generate an output signal in response to an applied force. The simulator assembly incorporates a computer system and is functionally connected to the sensory modulation subunit, causing the computer system to transmit input signals for dynamically controlling the force produced by the sensory modulation subunit. it can. The computer system can receive an output signal generated by the sensory modulation subunit and use the received output signal to determine an input signal to the sensory modulation subunit. The computer system can incorporate a memory module that stores data that determines the hardness of the simulated object, and the data can be used to determine the input signal to the sensory modulation subunit.

  In accordance with the present invention, a haptic reproduction assembly is provided that converts an input signal received from a player into a user's tactile sensation. The tactile regeneration assembly includes a bi-directional pressure regeneration garment that is removable by a user. The tactile reproduction assembly further includes a plurality of cells disposed in the garment and a plurality of sensory modulation subunits each disposed in one of the cells. The sensory modulation subunit is configured to generate a force applied to the user in response to the input signal.

  The tactile reproduction assembly can include a sensory modulation subunit having a variable pressure generating device for generating a force on the user's body in response to an input signal received from the player, thereby reducing the magnitude of the force. It becomes variable and the force can be determined by the input signal received from the player. A tactile playback assembly can include a playback device operably coupled to the sensory modulation subunit to provide an input signal to the sensory modulation subunit. The haptic playback assembly can incorporate a playback device that generates video output to correlate the sensory modulation subunit signal with this video signal.

  In accordance with the present invention, a haptic data recording assembly is provided. The tactile data recording assembly includes a dual pressure recording garment that is removable from at least a portion of a user's body. The haptic data recording assembly also includes a plurality of cells disposed within the garment. The haptic data recording assembly also includes a plurality of sensory modulation subunits, each sensory modulation subunit being at least partially housed in one of the cells, depending on the haptic pressure applied to the sensory modulation subunit. , Configured to generate an output signal. The haptic data recording assembly further includes an output signal recording device that is functionally coupled to the plurality of sensory modulation subunits to record the output signal generated by the sensory modulation subunit. .

  The sensory modulation subunit can be varied in size so that the output signal can be generated so that the magnitude of the output signal correlates with the magnitude of the haptic pressure applied to the sensory modulation subunit. The haptic data recording assembly can include a sensory modulation subunit that includes a resilient slab with a built-in pressure transducer, which is directly related to the haptic pressure applied to the sensory modulation subunit. Configured to generate a signal.

  In accordance with the present invention, an imaging diagnostic assembly for palpating the body and acquiring the body image is disclosed. The imaging diagnostic assembly includes a housing and an imaging device disposed at least partially within the housing, and the imaging device is used for acquiring body images. The imaging diagnostic assembly also includes a sensory modulation subunit that is at least partially disposed within the housing and includes a variable pressure generating device that is used to generate haptic pressure on the body. The sensory modulation subunit further includes a pressure transducer, which is configured to generate a signal that is directly correlated to the contact surface pressure between the sensory modulation subunit and the body.

  The variable pressure generator can further include an expansion chamber, which can selectively introduce pressurized fluid to expand the expansion chamber and apply a desired haptic pressure to the body. The imaging diagnostic assembly can further include a valve, which can be placed between the expansion chamber and the pressurized media flow tank and used to control the flow of media into and out of the expansion chamber. The imaging diagnostic assembly can further include an ultrasound transducer disposed within the housing, wherein the transducer can be configured to deliver ultrasound into the body. The ultrasound can also be configured to detect ultrasound. The imaging diagnostic assembly can further include a second ultrasound transducer disposed within the housing, and the second ultrasound transducer can be configured to detect ultrasound. An imaging diagnostic assembly can be used to acquire an internal image of the body.

  In accordance with the present invention, an ultrasound imaging system is provided. The ultrasound imaging system includes an ultrasound pulse generator and an ultrasound image display system deployed at a first location. The ultrasound imaging system also includes an ultrasound transducer assembly that emits and detects ultrasound, and the ultrasound transducer assembly is deployed at a second location. These ultrasonic transducer assemblies are coupled through a computer system with an ultrasonic pulse generator and an ultrasonic image display system.

  In accordance with the present invention, an apparatus is provided for remote direct medical examination of a patient using a hand. The apparatus includes a manual control unit that includes at least one first sensory modulation subunit, the sensory modulation subunit at the first location detects a force applied to the first sensory modulation subunit, and detects a force according to the detected force. One signal is generated and a force is generated in response to the signal received from the second location. The apparatus also includes a patient screening module, the patient screening module having a plurality of second sensory modulation subunits that are selectively connectable to the first sensory modulation subunit. The second sensory modulation subunit can receive the signal from the first and generate a force in response to the received first signal. The second sensory modulation subunit detects a resistance force against the applied force, generates a second signal based on the detected resistance force, and the first sensory modulation subunit receives the second signal. . The apparatus further includes a recording device in signal communication with the first and second sensory modulation subunits and recording the first and second signals.

  The apparatus may be configured to couple the first sensory modulation subunit to the first computer in signal communication and to couple the second sensory modulation subunit to the second computer in signal communication. The first computer and the second computer are operatively connected through the communication network. The device can also be configured to place the manual control unit and the patient examination module at remote locations.

  In accordance with the present invention, a method is provided for communicating tactile sensations to the user. The method includes wrapping a user's body part with a double pressure replay garment, the double pressure replay garment of a linear actuator capable of generating haptic pressure on the user's body in response to an input signal. Has an array. The method also includes a two-way pressure replay garment and a data output device capable of generating a series of input signals that are transmitted to an array of linear activators that selectively convey tactile pressure on the user's body. Including communication connection.

  In accordance with the present invention, a method for recording haptic data is disclosed. The method includes wrapping a user's body part with a pressure sensing pad, the pressure sensing pad having a plurality of sensory cells capable of generating an output signal in response to haptic pressure received on the pressure sensing pad. . The method also includes a signal communication connection between the pressure sensing pad and the output signal recording device. The method further includes exposing the pressure sensing pad to at least one force and recording an output signal generated by the contact force receiving pad on an output signal recording device.

  The features of the invention described above and many of the attendant advantages will become more apparent and more fully understood when referring to the following detailed description in conjunction with the accompanying drawings.

DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS The devices disclosed herein allow a physician to perform a direct physical examination of a patient's body without actual direct contact or access between the patient and the physician. This typically allows the type of data obtained by direct manual contact between the patient and the physician to be collected and transmitted via existing global communication systems. At present, the exchange of medical information between patients and physicians for the purpose of providing “telemediacin”, a diagnosis and treatment plan, can only progress to a certain extent, and physical examination findings are part of the decision-making process. When it comes to importance, patients are encouraged to see their physician or come to an emergency room where the physician can do physical examinations. The inability to remotely obtain physical data and reliably transmit it to physicians elsewhere is the benefit of other industries developing from global communications platforms and the potential consumers around the world. It is an obstacle to using efficiency to develop medical practice and the power of medicine.

  The following terms used herein shall have the following meanings:

  The sensory modulation subunit is (1) the ability to sense the force applied to the device and generate an output signal associated with the sensed force, and / or (2) receive the input signal and Any device that has the ability to generate an associated force and / or displacement.

  A manual control unit or HCU is any device configured to contact or receive a part of the user's body, such as the user's hand, which can be accessed by the user's hand that the device has received. All devices with sensory modulation subunits.

  A patient examination module or PEM refers to any device that is configured to receive a portion of a living tissue of a person (or other living organism) and that includes sensory modulation subunits adjacent to the received living tissue. In accordance with the present invention, PEM can be used to examine a patient, but the term PEM is any device that is intended for tactile sensation on living tissue for other purposes, or for tactile sensation of other objects or materials. Should be understood to encompass.

  This will be described with reference to FIG. The present invention includes three general parts for remote collection and transmission of actually obtained medical data: a manual control unit 100 (HCU), a patient examination module 200 (PEM), and a physician (HCU). Three parts of computer software for controlling the acquisition, calibration, transfer, and conversion of body data between the patient (through) and the patient (through PEM). The present invention allows a physician to manually apply pressure to the HCU and transmit it to a patient at a remote location and through the PEM 200 to a selected portion of the patient's body. The pressure response from the patient's body is sent back to the doctor, thereby simulating direct contact between the doctor and the patient.

Manual control unit (HCU)
The HCU 100 shown in FIG. 2 has a molded plastic outer structure 101 shaped in the shape of an actual hand. The advantages of this type of construction are that it is lightweight, easy to manufacture, durable and impact resistant. Other materials such as wood, paper, aluminum, stone, Plexiglas ™, or materials developed in the future could also be used to make this device. The HCU 100 is shaped to fit the inner portion of the human wrist, preferably the entirety thereof, and has a palm surface 102 that includes a proximal palm portion 108 and a distal palm portion 107, a fingertip 106, and a thumb portion 105. . The purpose of all these design arrangements is to provide a familiar interface between the sensory and motion parts of the user's hand and the HCU 100. In this preferred embodiment, the HCU 100 has a slight bump at the center in the palm surface 102. The peripheral portion of the palm surface 102 has a slight descent as compared with the contour 104 on the HCU 100, and is adjusted so that the user's hand is more calm on the palm surface 102. Slight palm elevation compared to the position of the fingertip 106 and proximal palm portion 108 (the level of the user's knuckles will be higher than the rest of the finger and hand), resulting in a broad base pyramid Form. This design provides maximum flexibility with respect to fingertip, distal and proximal palm pressure, pressure, device control and their functionality. The HCU 100 allows all inner portions of the user's palm and finger surfaces to be in full contact with the palm surface 102 of the HCU 100. In this preferred embodiment, the external structure 101 of the HCU 100 is formed by two portions 101a, 101b that are generally separated by a lateral fissure 110 located at the location of the central palmar pleat and arranged along the sides. . The two parts 101a, 101b are connected to slide and are configured to allow relative movement in the vertical direction so that their length can be adjusted to fit different hand sizes. Has been. Optionally, the HCU 100 can include “glove” type parts (not shown), with the entire tip of the wrist inserted into the manual control unit. Thereby, it becomes possible to make contact with the surface of the highest part (back surface part) of the hand, and it is possible to perform functions relating to diagnostic operations and sensory inputs obtained from the surface of the highest part of the operator's hand.

  Recesses or cavities 112, 114, 116 are provided in fingertip 106, distal palm portion 107, and proximal palm portion 108, respectively. Housed in each recess 112, 114, 116 is a pressure relay and pressure sensing sensation modulation subunit 140, as can be seen most clearly in FIG. The top of the sensory modulation subunit 140 is composed of a slab piece 142 of a flexible material such as silicon rubber or a soft plastic substrate that forms a simulated skin surface. Other materials suitable as this “skin” contact surface may include other natural or artificial biocompatible materials (artificial, simulated, cultured or processed skin cells or alternative materials). The size of each plank piece depends on the size of the respective recess 112, 114, 116 in the HCU 100. In general, for each of the fingertip 106 areas of the device, a fingertip-sized sensory modulation subunit 140, a proximal palm portion 108, and a distal palm portion 107, respectively, are proximal palm-sized sub-units. There is a unit 140 and a distal palm-sized subunit 140. In order to increase the sensitivity and functionality of the HCU 100, each module can be divided into multiple parts, and each recess can contain a smaller set of subunits based on the subunit outline below. Like.

  This will be described with reference to FIG. The sensory modulation subunit 140 includes a unidirectional single channel pressure transducer 144 built into the simulated skin slab piece 142. The working surface of the pressure transducer 144, i.e., the pressure receiving surface 145, faces upward, i.e., faces the palm of the user's hand. The pressure transducer 144 is oriented so that the pressure applied by the user is applied to the working surface 145 of the pressure transducer 144 and does not directly sense the pressure or force applied from the back of the pressure transducer 144. In this preferred embodiment, each fingertip 106 is provided with a single pressure transducer 144, and the palm portions 107, 108 are each further divided into two pressure zones. Wiring or other suitable connection mechanism (not shown) provides access to the incoming and outgoing signals to the pressure transducer 144.

  A simulated skin slab piece 142 containing a single channel pressure transducer 144 is mounted on a thin support platform 136, preferably made of metal or plastic. Attached to the underside of the support platform 136 is a variable pressure generator, such as a linear actuator, a single channel piston type variable pressure resistor, or other variable pressure generator 148. Linear actuators or variable pressure generators, here referred to as “piston resistors,” refer to any number known in the art, including devices that generate variable pressures through electrical, mechanical, pneumatic or hydraulic processes. It can be realized in that way. A representative example of such a device is described, for example, in Kramer US Pat. 8a-m in US Pat. No. 5,631,861, in which it is called a “fingertip tissue simulator”. In this preferred embodiment of the invention, a magnetically driven device is used. The piston resistor 148 applies a reverse pressure or a resistance pressure to the lower surface of the simulated skin plank piece 142 in accordance with a reaction signal derived from the patient examination module 200 (described later). The plank piece 142, the transducer 144, the support platform 146 and the piston resistor 148 are disposed in the recesses 112, 114, 116 of the HCU 100. A hole 150 is provided in each of the recesses 112, 114, 116 and is adjusted to insert the open end of the piston resistor 148. The depth of the hole 150 is selected such that the support platform 146 is slightly lifted from the bottom surface of the recess, so that the rebound resistance felt by the user is only due to the simulated skin plank piece 142 itself.

  Various types of pressure transducers suitable for use with the present invention are known in the art. For example, the following illustrations are not intended to limit the scope of the invention, but are described in US Pat. US 6,033,370 discloses a capacitive pressure transducer having a polyurethane foam dielectric sandwiched between two conductive layers. Duncan et al., US Pat. A similar device is disclosed in US Pat. No. 4,852,443, which has compressible protrusions placed on the capacitor electrode on both sides of the insulating sheet. A pressure transducer based on variable resistance components is described in US Pat. No. 5,060,527 by Burgess.

  This will be described with reference to FIG. 2 again. The portion 105 corresponding to the thumb of the HCU 100 stores buttons 152 for controlling and selecting functions and options related to the computer software (mouse click control or other input device). The underside of the HCU 100 supports the tracking ball 154 and allows the computer's selection function and through the PEM 200 to locate the 2D coordinate axis of the HCU 100 in the patient space. It will be apparent to those skilled in the art that buttons 152 and tracking ball 154 provide the basic functionality of a computer mouse and can selectively interact with the computer in a familiar and well-known manner. It will also be apparent that other types of selection mechanisms can be used, including touch pads and optical systems. The HCU 100 is also coupled to a signal processor 130 and an analog / digital / digital / analog signal converter 132.

  The HCU 100 functions as an interface or contact point between a physician and a remote patient. The HCU 100 receives the mechanically applied pressure signal generated by the physician's hand and converts it into an electrical signal through the pressure transducer 144, while at the same time the incoming electrical obtained from the pressure response at the patient screening module 200. The signal is converted to a resistance force signal that is applied to a piston resistor 148 mounted to the support platform. The ability of this sensory modulation subunit 140 to “sense” the input pressure applied by the user and at the same time provide a direct resistance feedback response to the user occurs when a person presses the hand against another object. Simulate actual events. Depending on the direct pressure applied to the patient (determined by the input pressure from the HCU 100), the high level of resistance (actual patient response) sensed through the PEM 200 is relayed back to the HCU 100 and the piston resistor 148 Is fed back to the doctor. When the PEM 200 senses an increase in resistance, the force applied to the underside of the support platform 146 will increase accordingly. This translates into a sense of greater resistance to the simulated skin plank piece 142, or its “lack of elasticity”. This feedback resistance is perceived by the user as a direct response from the patient to the force applied by the physician.

  Optionally, a single or multiple multi-channel pressure transducer / resistor device can be incorporated into the HCU 100 and / or the absolute change in resistance can be converted and applied to the physician's hand through a manual control unit. Instead of the above, the sensory modulation subunit 140 can be accommodated in the thumb portion 105 currently used for the software command function. By incorporating thumb movement into the examination process and returning to this part of the hand to hold the sensing input, the functional capabilities and sensitivity of the HCU 100 could be expanded. The most complex embodiment of an HCU would include full contact with any part of the operator's hand and mounting multiple sensory modulation subunits 140 throughout the HCU. Limiting the number of subunits 140 is only the ability to miniaturize these dual pressure transducer devices. Numerous sensory modulation subunits 140 will provide the user with the ability to generate and sense mechanical and sensory input in any part of the operator's hand.

Patient Examination Module (PEM)
This will be described with reference to FIGS. The PEM 200 is comprised of a pad or pad-like structure 202 made of a soft, semi-soft material such as nylon, rubber, silicon or soft plastic substrate. The entire pad 202 is preferably a solid having viscoelastic properties similar to the simulated skin plank piece 142 of the HCU 100. The pad 202 is divided into basic structures called cells or cell areas. Both the overall size of the pad 202 and the number of cells 204 in the pad 202 will vary depending on the particular application. Each cell area 204 corresponds to an area within the pad 202 and is preferably sized similar to the sensory modulation subunit 140 of the corresponding HCU 100. As shown in FIG. 6, a single channel pressure transducer 244 is mounted within each cell 204 and is oriented so that its working / pressure-receiving surface 245 faces the patient. The preferred pad 202 is a continuous gel type structure 242 that contains a number of pressure transducers 244. The back surface 206 of the pad 202 is flexible and includes a semi-rigid sheeting. The presently preferred material for this back surface 206 is a plastic or polymer substrate that can be flexed to some degree for a variety of body size applications while maintaining firm support for the cell area 204. Harder materials such as metal, wood or synthetic materials could also be used if they have a solid support structure and are capable of bending the surface with various contours of the body. A linear actuator including a single channel piston type variable pressure generating sensory modulation subunit 240 is attached to the underside of a thin support platform 246, preferably made of metal or plastic. Support platform 246 is desirably sized similar to fingertip 106 in HCU 100. A piston type variable pressure generating device 248, or similar linear actuator, is positioned directly under each pressure transducer 244 located at the interface between the cell 204 and the support 206, and is housed within the support 206. And is positioned below the support platform 246 below the pressure transducer 244.

  The examination pad 202 is applied directly to the body surface portion of the patient to be examined, and is fixed thereto by, for example, a sticking chuck type fixture 250. The affixing chuck fixture 250 is flexible and can be used in a variety of body shapes and sizes. In addition, the pad 202 is used as a vest for use on the chest, a belt for use on the abdomen, a sleeve, a glove on the upper arm, a glove on the upper arm, and a boot on the pants leg or lower leg And for small applications like fingers and toes, it could be tailored into small pieces of cloth. Although this preferred embodiment of the PEM is a pad structure with a fixed position, a mobile sensing unit in which the patient, other personnel, or a robot guide moves the patient's epidermis or cavity in the body is also of the present invention. Within range.

  In one preferred embodiment, the PEM 200 is connected to the command control box 300 via an electrical connection cord 302. In this preferred embodiment, command control box 300 includes a power source 304, a small central processing unit (CPU) 306, a signal processor 308, a digital to analog converter 310, and a communication system 312. The command control box 300 couples the PEM 200 to the physician's HCU 100 by receiving and transmitting data from the PEM 200. The power source 304 preferably has the ability to operate on both alternating current (home or industrial) or direct current (battery work). Although the connection cord 302 is shown, other data links such as a wireless data link are within the scope of the present invention.

  The communication system 312 of this preferred embodiment includes an internal modem (not shown) that allows a physician's computer 160 located near the HCU 100 to connect to a remote computer 260 located near the PEM 200. . Other communication systems are possible, including systems based on the following communication schemes. (1) optical-based communications, including optical fiber cable channels and non-fiber optical-based data / audio / video signal transmission methods; (2) but not limited to: radio frequency, ultra-high frequency, microwave or Wireless communications capable of transmitting and receiving voice and / or data information, including satellite systems; and (3) infrared light, magnetism, visible or invisible radiation of other wavelengths, biomaterials (including biological robots or viral life forms), Any future voice or data transmission method using any media that is not currently in use, such as atoms / elements. Preferably, pad 202 through flexible connection cord 302 allows for weight savings directly on the patient, size limitations and possibly safety (reduction of exposure to RF or microwave radiation from communication / data transmission). Is connected to the command control box 300. The connection cord 302 connects the pressure transducer 244 and the variable pressure generating device 248 in the sensory modulation subunit 240 to the power supply 304.

  Other device configurations could incorporate single or multiple multi-channel pressure transducer / resistor devices to translate and transmit absolute changes in resistance to the user's hand through the HCU 100. In an attempt to increase the sensitivity and functionality of the PEM 200, each cell area 204 could be further divided and multiple sensory modulation subunits 140 could be attached to the entire PEM 200. The only limitation on the number of functional subunits is the ability to miniaturize these dual pressure transducer devices. Numerous sensory modulation subunits 140 will provide the user with the ability to generate and sense mechanical and sensory input in any part of the operator's hand.

  A second embodiment of PEM 400 uses a pneumatic or hydraulic medium flow rather than the electromechanical structure described above, as shown in FIGS. In this second embodiment, the PEM 400 is comprised of a pad 402 or pad-like structure made of a soft, semi-soft material such as nylon, rubber, silicon or soft plastic substrate. The pad 402 is subdivided into a plurality of cells 404. The overall size of pad 402 and the number of cells 404 in pad 402 will vary depending on the device model and application. Each cell 404 has one inflow / outflow dual function line 410 and one valve 414 that allows inflow and outflow of a pressurized media stream such as air, water, hydraulic fluid, or electrochemical gel, and Designed as an airtight or watertight cavity chamber 416 with a single pressure transducer 444. The pressure transducer 444 is a single channel transducer similar to the pressure transducer 144 described above for the HCU 100. The pressure transducer 444 is mounted in a sheet material that is applied directly to the surface of the patient's body. Thus, the open portion of the cell structure will be behind the pressure transducer 444. The pressure-receiving surface 445 of the transducer will face the patient.

  The pad 402 is applied directly to the body surface portion of the patient to be examined and is fixed thereto with, for example, a sticking chuck type fixture 250. The affixing chuck fixture 250 is flexible and can be used in a variety of body shapes and sizes. The pad 402 can be worn as a vest for use on the chest, a band for use on the abdomen, a sleeve, a glove on the upper arm, a glove on the upper arm, and a boot on the leg of the pants or lower leg. Also, for small applications such as fingers and toes, it can be tailored into small pieces of cloth. Also, if necessary, a heavy reinforcing layer (lead, metal or plastic) may be attached to the outer surface of the pad 402 to increase stability or back pressure. The inflow / outflow line 410 of each cell 404 is connected to a pump mechanism that includes a pump (not shown) and a pressurized tank 418 for containing a pressurized media stream. An intervening valve 414 is installed between the pressurized tank 418 and each cell 404 along the inflow / outflow line 410. As described above, the PEM 400 is connected to the command control box 300 via the connection cord 302.

  Desirably, this control portion of the PEM 400 reduces the weight directly applied to the patient, size limitations when placing the pack on small parts of the body such as limbs and fingers, or possibly safety (from communication / data transmission). In consideration of (reduction of exposure to RF or microwave radiation), it is installed away from the patient. The specifications and functions of the command control box 300 are described above. Further, the connection cord 302 connects the pressure transducer 444 including the inflow / outflow line 410 and the valve 414 of the pressurized medium flow to the power supply 304.

Depending on the particular HCU 100 design, both the pump and pressurized tank 418 may be included in the command control box 300 portion, or both in the PEM 400 itself, or in either area regardless of each other. A PEM 400 that uses a semi-closed circuit would use. In this preferred embodiment, the pump mechanism draws air from outside the unit into a single pressurized fluid tank 418 attached to the back of the pad 402. In general, the pressurized tank 418 is the same size as the pad 402. The valves 414 are installed at a plurality of locations corresponding to the cells 404 on the lower side in the pressurized tank 418. Thus, the pressurized tank 428 communicates directly with the respective pressure cell 404 through the intervening valve 414. In order to ensure proper chamber pressure, a pressure regulation circuit (not shown) is incorporated in the pressurized tank 418 to sense the pressure inside the chamber and send that information back to the command control box 300. The appropriate cell 404 is activated to achieve the desired pump chamber pressure (in response to a corresponding pressurization signal from the HCU 100), and the resulting patient response signal is returned to the HCU 100 via the command control box 300. After that, the pump evacuates and returns the pressure chamber 416 to atmospheric pressure. The PEM 400 using hydraulic fluid consists of a built-in closed fluid system.

  The function of the PEM 400 is to “send” the pressure applied by the user to the HCU 100 directly to the patient and send the resulting resistance response signal from the patient to the physician's HCU 100. Using software and the physician's HCU 100, various parts of the body that are within the coverage of the PEM 400 can be diagnosed by "selecting" the appropriate pressure cell on top of it. The software sends an appropriate command to open the valve 414 corresponding to the selected cell 404. The number of cells 404 selected corresponds to the body area of the patient that the physician wishes to “push” to elicit the patient's response to the applied “hand” pressure. Furthermore, the doctor can indiscriminately select a cell, that is, a body area, from which the return pressure data is returned to the user. In many situations, a cell that applies pressure will return its return pressure data signal to the physician's HCU 100, but for some diagnostic functions, it will apply pressure in one set of cells and a different cell's There is also an option to receive pressure from the set.

  Incorporating a second HCU and aligning it with the hand opposite the first HCU, the doctor uses one hand to apply pressure (through the first HCU and PEM) to the patient, It is also conceivable to allow the pressure response from the site to be received by the opposite hand (through the second HCU).

  The computer software controls commands for various functions of the physician's HCU 100, PEM 200 or 400, system dynamics, and communication protocols. The functions of the HCU 100 include a cell selection function for driving a specific cell or group of cells to be activated and a cell carrying the resulting return signal. The software can also assign the physician's specific HCU100 pressure response pad to be designated as a feed patch for the physician to send pressure signals and as a receiving pad for returning patient data to the physician.

  Computer software also tracks the position of the physician's HCU 100 on the patient's body. The movement of the HCU 100 can be converted and transmitted to the PEM 200 or 400 to simulate hand movements anywhere on the patient's body. In addition, an anatomical database can be incorporated to provide a tissue cross-section and three-dimensional rendering of a particular body area to be diagnosed.

  This software converts the physical pressure response applied by the physician to the HCU 100 into an electrical signal. Signal and signal strength standardization, calibration and real-time monitoring are typical program functions. This software is also responsible for the transmission protocol for electrical signal conversion and transmission from the HCU 100 to the PEM 200 or 400 and vice versa. Transmission protocols include terrestrial and non-terrestrial based communication platforms. Pump chamber pressurization, calibration, and the transmitted electrical signal is correlated to the same magnitude as the actual pressure applied to the manual control unit and converted to the appropriate boost command, and the selected valve All commands to the pumps and valves, including the open / closed state of, are controlled by the software of the device.

  FIG. 9 depicts the general process flow of device functions for both electromechanical and pneumatic / hydraulic embodiments of the present invention. The physician selects the body area of interest and uses the HCU 100 to align it to the underside of the drive cell 204 or 404 corresponding to the area to be palpated. Applying pressure to the HCU 100 via the sensory modulation subunit 140 generates a signal that is sent to the physician's computer 160 through the signal processor 130 and analog-to-digital converter 132, which in turn is the pressure signal from the HCU 100. Send a computer command to drive the sensory modulation subunit 240 or 440 in the range of interest on the PEM 200 or 400. Thus, the pressure transducer 244 or 444 corresponding to the patient's body area that the user wants to “feel” after applying the pressure stimulus is activated. This command drives the pressure transducer 244 or 444 of the receiving cell so that the output signal can be returned to the physician's HCU 100.

  The physician uses any combination of fingertip, proximal palm, and distal palm hand surfaces (from one finger to the entire palm surface) to push directly on the sensory modulation subunit 140 of the HCU 100 and usually Produces a desired input pressure stimulus with a force equivalent to that applied when performing a patient visit by hand. This pressure will vary depending on the person, the environment, and the patient's diagnostic site. The pressure applied by the physician to the sensory modulation subunit 140 of the HCU 100 is sensed by the pressure transducer 144 and converted into an electrical output signal. This electrical signal is transmitted to the signal processor 130, and the processed analog electrical signal is converted to a digital signal 132. This digital signal is then input to the physician's computer 160.

  In the physician's computer 160, the software program is linked to the system path linked between the various transmit and receive portions of the HCU 100 and PEM 200 or 400; 244, 444, piston resistor 148 and variable pressure generator 248 are responsible for calibration and conversion of input electrical signals from HCU 100 into corresponding electrical output signals to PEMs 200, 400. When using a pump system for the PEM 400, a pressure sensor (not shown) inside the media pressure tank 418 will be calibrated. The physician's computer 160 sends electrical signals and associated software commands to the PEMs 200, 400 to the remote computer 260 via the communication system 312. Alternatively, a separate command control box 300 can be used on the patient side or remote side and placed near the PEM 200 or 400. The digital pressure generation signal is converted back to an analog electrical signal 310 by a digital-to-analog converter, post-processed 308, and then sent to a suitable pre-selected pressure generator in the PEM 200 or 400. Therefore, the PEM 200 or 400 applies force directly to the patient based on the force applied to the HCU 100 by the user, that is, the doctor.

  The software receives, for PEM 400, the receipt of electrical signals from each active area of HCU 100, the calculation of the magnitude corresponding to each of the input pressures applied to the various parts of HCU 100, and the information. It is responsible for converting to a specific pump command. This pressure command is then sent either directly to the remote computer 260 at the patient's remote location or to the command control box 300 portion of the PEM 400. Therefore, in order to realize an output pressure equal to the pressure directly applied to the HCU 100 by the doctor, the PEM 400 drives the pump mechanism and pressurizes the pressurizing chamber 418. A pressure sensor monitors the internal pressure of chamber 418 and provides continuous feedback on the need to continue or stop pumping until the desired input pressure is obtained. The pressurized media in pressurization chamber 418 is then fed via inflow / outflow line 410 to each cell 404 that has been selected and opened pressure valve 414. The pressurized media flows into the selected cell 404 and increases the cell volume and internal cell pressure in response to the force applied by the physician to the HCU 100.

  The downward force applied to the patient by the PEM 200 or 400 elicits a response from the patient ranging from the extent that the area diagnosed with no resistance is further depressed, leading to greater resistance or “protection”. This resistance force from the patient against the force applied by the driven cell will be detected by the cell pressure transducer 244 or 444.

  The mechanical resistance response detected by the actuated pressure transducer 244 of the PEM 200 or 400 is converted into an electrical signal and returned to the command control box 300 or remote computer 260 at the patient location. This analog electrical signal will be processed 308 and converted to a digital signal 310 as described above for the input command set. This digital signal is returned to the doctor's computer 160 via the communication system 312. As described above for the HCU100 output signal, the software program receives the incoming digital electrical signal from each active area on the PEM200, 400 and calculates the magnitude corresponding to each of the PEM200, 400 output pressures. And converting to digital HCU100 resistance signal equivalent to these. This digital signal is converted to an equivalent analog electrical signal 132 and post-processed 130 where it is directed to the appropriate preselected HCU 100 piston resistor. The resistance output generated by the piston resistor 148 of the HCU 100 is equal to the resistance output generated by the patient in response to the input pressure stimulus of the HCU 100.

  The reaction resistance provided by the piston resistor 148 provides the physician with a tactile simulation of the patient's response to pressure applied to a selected area of patient tissue. The system is real-time and dynamic, allowing the physician to continuously stimulate within a preselected cell area by a push-release or push-partial release operation. The three main components of this device, the physician's manual control unit, the computer software, and the patient screening module, provide a system for continuous, real-time, action / reaction feedback loops. The physician interprets the difference in resistance between the pressure applied by the physician and the patient's resistance response sensed by the physician's hand to the manual control unit and uses it for medical decision making.

  In a preferred embodiment, a flowchart illustrating the overall process that the software will control is illustrated in FIGS. 10A-10C. The user is typically a doctor, but first logs into the system 500. The login mechanism may include any existing means, including, for example, a biometric scanner (fingerprint reader, not shown) in the HCU, or a more conventional user identification request mechanism and password. The doctor's computer 160 can be provided. The software then queries the system date and time 502, sets up a connection with the PEM, checks the status of the HCU and PEM 504, and then sets up the necessary communication links between them. In this preferred embodiment, the physician's computer 160 accesses the first database 508 to obtain various calibration factors for HCU and PEM components such as pressure transducers and pressure generating devices (linear actuators). Thus, the software performs various other initialization functions 510, which can include setting the sampling rate of the pressure transducer, initializing and calibrating the components (eg for pressure transducers). Set “zero pressure”).

  Next, both the identification of the patient and the identification of the patent for the medical record, and the establishment of basic parameters that may aid in the examination, such as the general size and age of the patient. Biometric information is entered 512. Next, the physician selects 514 the anatomical site to be examined. In this preferred embodiment, an access to a database of anatomical data is made 516, which can include a comprehensive still image or animation of the portion of tissue to be examined. In embodiments of the present invention, the patient treatment and biometric information is used to adjust various system parameters, such as pressure transducer and linear actuator sensitivity, in addition to comprehensive information about the portion of tissue to be examined. Can be considered. Next, the practitioner returns the pressure signal to the HCU, the HCU portion 518 that provides the output signal to the PEM, the HCU portion 520 that receives the feedback pressure from the PEM, the PEM cell 522 that receives the pressure signal from the HCU, and the PEM. Cell 524 is selected. In most applications, a one-to-one correspondence between the active HCU part and the driven PEM cell, for example, the sensory modulation subunit of the HCU sends and receives pressure signals to and from the same PEM cell. Expected to be. However, the ability to decouple transmitted and received signals is believed to provide additional functionality to the system. The present invention contemplates a system that cannot decouple the input and output pressure signals of the HCU.

  The software also positions the drive part of the HCU in a manner similar to moving the mouse, such that the system tracks the movement of the HCU and changes the corresponding PEM cell to drive. 526 that can be linked to things. Prior to applying any pressure to the system, a predetermined force correction function, such as pressure amplification / expansion or reduction / minimization of the HCU and PEM output signals, can be applied 528. The user applies a force 530 to the HCU, and its pressure signal generates a low current signal (HCU-P1) 532 in the pressure transducer 144 that is sent to the signal processor, corresponding to the higher current. A signal is generated 534 and then converted 536 to a digital signal (D-HCU-P1). Using the D-HCU-P1 pressure signal, a digital pressure signal (D-PEM-P1) for the PEM is generated 538, which is transmitted 540 from the physician's computer 160 to the remote computer 260. The D-PEM-P1 pressure signal is then converted to a low current analog signal (PEM-P1) 542, applied to the PEM variable pressure generator 248, and the corresponding force applied to the patient 546.

  The selected PEM cell detects the patient's resistance response 548, generates a pressure response signal (PEM-P2) 550, which is processed to generate a higher current signal 552, digitized (D- PEM-P2) 554. Using the D-PEM-P2 pressure signal, a corresponding digital pressure signal (D-PEM-P1) for the HCU is generated 556, which is transmitted from the remote computer to the physician's computer 558 and converted to an analog signal 560. It is applied to the appropriate HCU piston-type variable piezoresistor 148 to generate a reactive force on the 562HCU. If the examination is complete 556, the system is reset to allow the physician to initiate another examination of a different part of the patient's body tissue. Otherwise, the physician can continue to apply force and detect further reactions from the patient.

  Although this process has been described in connection with a preferred embodiment, it will be apparent to those skilled in the art that variations of the above process are possible. For example, a pressure signal from a pressure transducer can be used without pre-processing to a higher current signal, or can be used with a built-in AD converter to directly generate a digital signal. Embodiments that would be possible would be possible. Optionally, if the patient and physician are in close proximity, the HCU and PEM can be directly connected to a common computer or a data processing system dedicated to this application. The present invention can obviously be implemented without the additional functionality provided by the anatomical database. Furthermore, it will be apparent to those skilled in the art how the process shown in FIGS. 10A-10C may be modified to adapt the PEM described above to a hydraulic or atmospheric embodiment.

  The HCU 100 is intended to enable simulation of physical examination of a patient at a remote location. Applications in the medical field may also include the ability to see patients in poor environments such as deep sea, space, battlefield conditions, remote areas, and / or mountain / jungle explorations. The present invention can also be adapted for non-medical and / or recreational applications to examine, feel, or otherwise use tactile responses from other people, bodies or objects located in a remote location. Use it when you want to pull it out with.

  The portable version could be applied in a medical room in the workplace, for example, to eliminate the need for the patient to actually leave the workplace and go to the doctor's office.

  Also, with the increasing use of robotic tools to perform surgery, the above invention can be applied in a straightforward manner to provide tactile feedback when a doctor is performing a surgery using a robotic system. Remodeling is also possible.

  A portable version could be applied at home, for example, to avoid visiting homes, visiting a doctor's office, or visiting an emergency room after hours. This efficiency will have a major impact on overall medical costs.

  Any application that requires tactile information or 3D tactile modeling of body structures required by a person who is not in close proximity is within the scope of the present invention.

The present invention can also be adapted to enhance the ability of visually impaired people to convey or simulate the feeling of an object without actual direct physical contact between the object and the visually impaired person. Like

First Alternative Embodiment With reference to FIG. 11, a first alternative embodiment of a simulator assembly 600 according to the present invention is illustrated. This alternative embodiment provides the ability to record and replay the palpation portion of the physical examination. As discussed below, the simulator assembly 600 records the palpation portion of the physical examination in a medical record so that it can be transferred to, for example, consultants, spare physicians, patients, forensic settings, research, education, patient information, etc. Is intended to be. Simulator assembly 600 includes a data manipulation system 628 that is coupled to body shape reproduction module 602. The data manipulation system 628 includes a compact disc 626 (hereinafter “CD”) having a digital data file 622 stored therein, the digital data file 622 being examined using the HCU 100 and PEM 200 described above. The digital palpation part of physical examination is expressed. Data manipulation system 628 also includes a controller with computer software operable to control calibration, conversion, modeling and / or transfer of digital data file 622, such as well-known computer 606. A known cable 612 couples signal communication between the components.

  In operation, in the illustrated simulator assembly 600 embodiment, the pre-recorded or stored haptic data obtained in the previous diagnosis and saved as a digital data file 622 is played on the body shape playback module 602. Can do. In this way, the body shape reproduction module 602 can be used to represent or reproduce the actual physical characteristics of a person or object previously examined at a remote time or place.

  Digital data file 622 is a digital representation of a physical examination. More specifically, the digital data file 622 is preferably a pressure sensor, optical encoder, motor command activated during the physical examination performed with the help of the HCU and PEM in the above-described embodiments. Represents a complex series of interactions between piston-type variable piezoresistors, pneumatic technology devices, microcontrollers, etc. Furthermore, when performing the original examination, the above-mentioned HCU and PEM pressure sensors, optical encoders, motors, piston-type variable piezoresistors, pneumatic technology devices, microcontrollers, etc. are used using methods known in the art. Digital data representing the interaction between the two is recorded and a digital data file 622 is created.

  This digital data may be a CD 626, a digital video disc (hereinafter “DVD”), an optical disc, a floppy disc, a tape or any other various storage media currently known or in development. Any known digital data storage media may be recorded or stored thereby forming the digital data file 622. Having a stored digital data file 622 allows physician users to operate for purposes such as medical dissertation, continuation of treatment when handing over to an on-call physician, or educational tools and research for medical students, resident, patients Would have information suitable for use in reproducing the correct examination findings and patient characteristics.

  It should be noted that the exact sequence of things and procedures performed during a physical examination are well known to those skilled in the art and are therefore not described in detail herein. Also, in the illustrated embodiment, it is desirable to obtain a digital data implementation procedure by recording the digital data obtained during the actual examination, but for those skilled in the art, for example, the abdomen resulting from appendicitis Stored digital data file 622 in any suitable manner known in the art, such as computer modeling of the resistance expected when touching various parts of the body against a particular disease, such as stiffness. It will be clear that can be created.

  In the illustrated embodiment, the computer software retrieves the stored digital data file 622 and resets the procedure for applying pressure values from various parts of the stone HCU 100 and corresponding reactions from the PEM 200. Can do. The software system will map this series of action / reaction patterns for a specific part of the body to be examined, both in terms of time and place. Identification of the anatomical location is determined by reading the characteristics of the original PEM data element at the time of the original examination.

  The idea is that this process involves developing a dynamic 3-D model of the patient. Initially, the software clarifies the data for the PEM unit used with the HCU from the stored digital data file 622. The software then sets up a graphical representation of the examined body part (based on the specific area PEM used) and plays the digital data stored in the digital data file 622 in turn. The input pressure value, the pressure as a function of time (pressure profile), the value of the stroke movement, and the degree of movement of the HCU haptic surface components recorded from the original pressurization are directed to the data. The particular area of the original PEM that was actuated with the resulting force will be depicted in detail. Subsequent reaction forces, which are caused by the force applied to the HCU 100 and detected by the PEM, will also be converted for each of the above parameters.

  Since each PEM unit is composed of a series of smaller subunits, there is already a grid pattern on which force and pressure data can be mapped. Thus, the force applied to the HCU and the PEM reaction reaction will be mapped along a specific area of the problematic biological tissue. The examination procedure can be replayed to determine a map of force and pressure profiles at the time of the examination and generate a model of features inherent in the person or object being examined. This data can be downloaded from the computer 606 directly connected to the body shape reproduction module 602 to the body shape reproduction module 602, or transmitted through a communication network and downloaded to a remote computer or body shape reproduction module 602. .

  Communication networks in the computer communication field are well known. By definition, a network is a group of computers and related devices that are connected by a communication facility or link. Network communication may be of a permanent nature, such as via a dedicated cable, or may be of a temporary nature, such as communications performed over a telephone line or wireless connection. A network includes a wide area network ("WAN") interconnecting geographically distributed computers and LANs from a local area network ("LAN") consisting of several computers or workstations and associated equipment. And remote connection services ("RAS") that interconnect computers at distant locations via temporary communication links. Internetwork is then a community of many computer networks of similar and different types using gateways and routers that facilitate the transfer of data and conversion from various networks.

  With reference to FIGS. 11-13, and focusing on the body shape regeneration module 602, the body shape regeneration module 602 is a three-dimensional (3-D) body corresponding to the body tissue being examined using PEM. Shaped as a model. For example, the body shape reproduction module 602 can be shaped in the whole body or in any part of the body of interest such as the chest, abdomen, head, neck, arms, hands, legs, feet, pelvis or fingers. The body shape reproduction module 602 of the illustrated embodiment is formed by imitating the abdomen of a human body. Desirably, the body shape regeneration module 602 corresponding to the body structure of the PEM used in the original examination is used, but a general body shape regeneration module can be used instead.

  In the illustrated embodiment, the body shape regeneration module 602 is molded from a soft, semi-soft material such as gel, nylon, rubber, silicone or soft plastic substrate. Each body shape regeneration module 602 desirably includes a resilient external contact surface to simulate a skin surface 618.

  The body shape reproduction module 602 includes an array 630 of cells 632. The cell 632 is the same as the cell 204 of the HCU 100 and the PEM 200 described above. Although the sensory modulation subunit 506 previously described performs both force sensing and generation, those skilled in the art will recognize that the cell 632 of this embodiment could instead be pressurized without the ability to detect force. Obviously, it can be configured to do only. Such a configuration can be used to statically represent body shapes or conditions such as abdominal deformities due to rib fractures.

  The overall size of the body shape reproduction module 602 and the number of cells 632 in each body shape reproduction module 602 can be selected according to the desired application. Desirably, the size and location of each cell 632 correlates with that of cell 204 in the corresponding PEM 200. Of course, the cell 602 will generally function in the opposite manner as the corresponding PEM cell. As a concept, using photographic film processing as an example, PEM would represent a negative and body shape reproduction module 602 would represent a (positive) print.

  This will be described with reference to FIG. Each cell 632 includes a cavity 634 that is several millimeters deep, corresponding to the size and dimensions of the sensory modulation subunits in the corresponding PEM. A sensory modulation subunit 636 is accommodated in each cavity 634. The top of the sensory modulation subunit 636 includes, for example, natural, artificial or biocompatible materials (artificial, simulated, cultured or processed skin cells or alternatives), artificial skin material silicon rubber, soft plastic substrate, or A plank piece 638 formed of other suitable material. Each plank piece 638 is preferably approximately the size of a fingertip. To increase the sensitivity and functionality of the device. Each cell 632 can be further divided such that each cavity 634 represents a collection of smaller functional sensory modulation subunits.

  Details of an exemplary sensory modulation subunit 636 will be described. Subunit 636 includes a one-way pressure transducer 640 incorporated in a simulated skin slab piece 638. The working surface 642 of the pressure transducer 640, i.e. the pressure receiving surface, faces upward, i.e., facing the user's hand. The direction of the pressure transducer 640 is such that the pressure coming from the user faces the working surface 642 of the pressure transducer 640.

  A plank piece 642, which is simulated skin with a built-in pressure transducer 640, is mounted on a support platform 644 formed of a hard material such as metal or plastic. Mounted on the underside of the support platform 644 is a variable pressure generating resistor 646, which in the illustrated embodiment is a single channel piston type variable resistor 646. The piston resistor 646 applies a reverse pressure or a reaction force to the lower surface of the plank piece 638 that is a pseudo skin, in accordance with the reaction signal received from the data manipulation system 628. The components of each cell 632, including the slab 638, the pressure transducer 640 support platform 644, and the piston resistor 646, are disposed within and supported by the cavity 634 of each cell. A hole 648 is provided in each cavity 634 and is adapted to insert the open end of the piston resistor 646. In the starting embodiment, the size of this hole 648 is set so that the support platform 644 rises slightly from the bottom surface of the cavity 634, so the resistance felt by the user is only due to the simulated skin plank piece 638 itself. is there.

  Desirably, each cell 632 includes a second pressure transducer 650 disposed at the interface between the support platform 644 and the bottom surface of the simulated skin slab piece 638. This second pressure transducer 650 is preferably oriented so that its working surface 652 is opposite the bottom surface 654 of the simulated skin plank piece 638. The function of the second pressure transducer 650 is to monitor the internal resistance and determine whether an appropriate amount of driving force is maintained within each cell 632. This data is used, for example, to ensure that the appropriate resistance pattern is reproduced when the user's hand 605 touches or moves the surface of the body shape reproduction module.

  Alternatively, rather than using a piston resistor system, a linear actuator, motor, and / or optical encoder system is used to generate and maintain selected force and pressure profiles within each cell 632. Thus, each cell 632 can be constructed. Referring to FIG. 14, for example, the piston resistor 646 of FIG. 13 can be replaced with a mechanical actuation system 680. Mechanical actuation system 680 includes a linear actuator 656 composed of a stepper motor 684 that can drive a linear gear rack 688. Stepper motor 684 includes a gear 686 that engages with gear rack 688 and selectively drives it longitudinally. A support platform 644 is attached to the tip of the gear rack. Thus, as will be apparent to those skilled in the art, the stepper motor is selectively controlled to drive the gear rack 688 and attached support platform 644 linearly relative to the underside of the plank piece 683. The pressure and resistance force applied can be adjusted. The pressure and resistance applied are determined by the reaction signal received from the data manipulation system. Although the illustrated embodiment depicts an embodiment of a particular linear actuator 656, those skilled in the art will recognize other linear actuators well known in the art that can drive the support platform 644 linearly. It will be clear that it is suitable for use in the present invention.

  Mechanical actuation system 680 preferably includes an optical encoder 682. The optical encoder 682 includes a gear 690 that is in mesh with the gear rack 688 such that any linear movement of the gear rack 688 causes rotation of the associated gear 690. Thus, the optical encoder 682 can be used to monitor the position of the gear rack 688, thereby indirectly monitoring the force at the interface of the outer surface of the plank piece 638.

  This will be described with reference to FIGS. The present invention also contemplates other sensory modulation subunit configurations. For example, sensory modulation subunits incorporating single or multiple multi-channel pressure transducers or resistors in each cell are suitable for use in the present invention. In such a configuration, the absolute change in pressure or resistance is calculated taking a set of forces applied to a single or multiple channel pressure transducer or resistor.

  This will be described with reference to FIG. The body shape reproduction module 602 of the illustrated embodiment is connected to the end user computer 606 through a conventional cable 612.

  This will be described with reference to FIG. Fig. 5 shows another embodiment of a cell 700 suitable for use in the simulator assembly described above. In this alternative embodiment, the cell 700 linearly displaces the support platform 722 using a pressurized media flow such as air, water, electrochemical gel, or hydraulic fluid.

  Each cell 700 includes an expansion chamber 702 with a single intake / exhaust dual function line 704 responsible for the inflow and outflow of a pressurized medium stream. A valve 706 regulates the inflow and outflow of the pressurized medium flow into and out of the expansion chamber 702. Each cell 700 also includes a first single channel pressure transducer 708 and a second single channel pressure transducer 710. The first pressure transducer 708 is installed in the direction in which its working surface faces outward, and the second pressure transducer 710 is installed in the direction in which its working surface faces the inner expansion chamber. Pressure transducers 708 and 710 function to maintain the expansion chamber 702 pressure necessary to simulate the resistance sensed in a particular part of the body area during the examination as well as monitoring and recording the tactile pressure applied by the user. To do.

  The intake / exhaust line 704 of each cell 700 is preferably coupled to a storage chamber 716 for containing a pressurized media stream. Valve 706 regulates the flow of pressurized media flow between the expansion chamber and storage chamber 716 of each cell. Inflow into the expansion chamber 702 results in expansion of the expansion chamber 702, thereby increasing the simulated resistance. Similarly, outflow from expansion chamber 702 results in a reduction of expansion chamber 702, thereby reducing simulated resistance.

  The pressurizing assembly 712 includes a conventional pressurizing device, such as a pump 714 coupled to the storage chamber 716 to supply a pressurized media stream to the storage chamber 716. Desirably, the pressurizing assembly 712 and associated control hardware are incorporated directly into the body shape regeneration module, but can also be externally installed.

  For a body shape regeneration module that uses air as the pressurized media stream, for example, a pump 714 sucks air from outside the body shape regeneration module into a storage chamber 716 located at the bottom of the cell 700 array. A semi-closed circuit design can be used. In this preferred embodiment, a plurality of valves 706 are disposed within the storage chamber 716, each cell 700 having a single valve 706 coupled with an expansion chamber 702 of each cell 700 therein. Thus, the valve 706 can be selectively actuated to control the flow of pressurized medium flow between the storage chamber 716 and the expansion chamber 702 of each cell. Thus, this single storage chamber is in direct communication with each expansion chamber 702 through an intervening valve 706.

  The pressure regulation circuit 718 desirably senses the chamber internal pressure and sends that information to the controller 720 to maintain the desired storage chamber pressure. After the appropriate expansion chamber 702 is pressurized, the desired pressure is achieved in the storage chamber 716 (depending on the appropriate pressure signal transmitted from the HCU), and the patient response signal caused thereby is the controller 720. Is returned to the HCU via. If necessary, the storage chamber 716 vents to atmospheric pressure to reduce the pressure of the pressurized media contained in the storage chamber 716. A body regenerative module using hydraulic pressurized media flow would consist of a self-contained, closed fluid system circuit, but its structure will be apparent to those skilled in the art in light of the foregoing disclosure. Will.

  This will be described with reference to FIG. The body shape reproduction module 602 reproduces the internal resistance and pressure obtained and recorded through the use of the HCU and PEM unit, and allows the user to feel the tactile sensation of the patient's body part felt at a remote time or place. It provides a certain expression. Even after the fact, the body shape reproduction module 602 can physically operate this so that, for example, another user feels the simulated tactile sensation felt by the examiner during the original examination.

  While the embodiments of the present invention illustrated above have been described with respect to particular medical applications for illustrative purposes, those skilled in the art will recognize that the first embodiment disclosed is of an explanatory nature. It will be appreciated that it should not be construed as limited to application to the reproduction of actual physical findings in physical examination. Thus, it will be apparent to those skilled in the art that this alternative embodiment has a wide range of applications and can be used in any situation where a remote person requires tactile information or 3D modeling of body structure. . For example, an embodiment formed in accordance with the present invention can be used in a scientific application (such as archeology or biology) for organizations to which field scientists belong to the tactile characteristics of their findings / work outcomes. Suitable for non-medical applications, such as when you need to send to colleagues or may want to do so. Thus, embodiments formed in accordance with the present invention are also suitable for objects other than the human body, such as non-living organisms.

Second Alternative Embodiment In another embodiment of the present invention suitable for use in the entertainment industry, haptic data is incorporated into entertainment media such as DVDs, CDs, computer games and TV broadcasts in advance. Bring a touching sensation into the recorded movie, audio and video formats. Referring to FIG. 16, a haptic reproduction assembly 800 is shown. Tactile regeneration assembly 800 includes a regeneration device 802, a multi-channel controller 804, and a bidirectional pressure regeneration garment 806.

  The playback device 802 of the illustrated embodiment is similar to a DVD player in appearance and function. However, those skilled in the art will know what suitable form that the regenerator 802 can convert stored data, eg, digital data, into control signals usable by the bi-directional pressure replay garment 806. It will be clear that it can also be taken. For example, media storage devices such as CDs, digital tape DAT, MP3 files, bird drive devices, etc. can be used to convert digitally encoded haptic data to consumers / users to wear Any regenerator that can transmit to the existing two-way pressure replay garment 806 is suitable for use with the present invention. The bi-directional pressure regeneration garment 806 will be substantially similar to the structure and operation of the PEM device already described in the previous embodiments. In addition, the bidirectional pressure regeneration garment 806 can cover only the user's whole body or only a part of the user such as the chest, abdomen, arms, hands, legs, feet, etc., as shown.

  In operation, the bidirectional pressure regeneration garment 806 receives digitally encoded tactile data transmitted from the regeneration device 801 and stores the data in a cell 808 array disposed within the bidirectional pressure regeneration garment 806. Are converted into input signals for driving a plurality of variable pressure generating devices incorporated in the device. This pressure generator is selectively activated to apply a desired force or tactile sensation to the user wearing the interactive pressure replay garment 806. Since this pressure generating device has been described previously, it will not be described here. However, it will be appreciated that the bi-directional pressure regeneration garment 806 can be simplified so that the garment 806 can only apply force and lack the ability to detect force. Thus, if a simplified bi-directional pressure regeneration garment 806 is desired, one of the previously described pressure transducers can be removed.

  The haptic playback assembly 800 encodes haptic information and incorporates it with current audio and video information, which is applied to all forms of entertainment media including computer games, movies and Internet-based audio / video communications. Make it possible to do. For example, by incorporating tactile event data into a DVD film track, the consumer will be able to experience some of the tactile sensation of the action being projected. For example, when watching horror or mystery things, you can feel the hand placed on the shoulder from the back of the character, and the punch or kick that the character will endure in the action movie. Includes the ability to feel. As will be apparent to those skilled in the art, similar applications can be incorporated into computer games and other forms of entertainment media. As will also be apparent to those skilled in the art, the playback device can be used to transmit data to the playback garment 806 located at a remote location via a communication network.

Third Alternative Embodiment With reference to FIG. 17, a third embodiment formed in accordance with the present invention will be described as a haptic recording assembly 850. The tactile recording assembly 850 includes a recording device 852, a multi-channel controller 854, and a bi-directional pressure recording garment 856.

  The recording device 852 stores the digitally encoded tactile data received from the bidirectional pressure recording garment 856 in the media recording device. The recording device 852 of the illustrated embodiment is similar in appearance and function to a DVD recorder. In a desired use, a user such as an actor or stunt person, for example, wears an interactive pressure recording garment 856. Next, the bi-directional pressure recording garment 856 is subjected to external impacts, such as other actors or stunt persons. The tactile pressure applied to the bidirectional pressure recording garment 856 is recorded by a recording device 852 that is in signal communication with the bidirectional pressure recording garment 856. In this way, digital file data can be created and the playback device 802 in this alternative embodiment depicted in FIG. 16 can play it back on the interactive pressure playback garment 806.

  In operation, the bi-directional pressure regeneration garment 806 receives haptic pressure on a plurality of sensory modulation subunits built into the array of cells 858, converts the received haptic pressure into an output signal, and multiplexes the output signal. Transmit to channel controller 854. The sensory modulation subunit has the ability to generate a variable magnitude output signal that correlates with the magnitude of the haptic pressure applied to the sensory modulation subunit. Multi-channel controller 854 processes the signal received from bidirectional pressure recording garment 856 and transmits the processed signal to recording device 852 for storage. Since the sensory modulation subunit of the bi-directional pressure recording garment 856 is substantially similar in structure and function to the sensory modulation subunit of the PEM device described in the previous embodiment, further details are not described here. . Although the bidirectional pressure recording garment 856 is drawn so as to cover the entire body of the user, those skilled in the art will recognize that the bidirectional pressure recording garment 856 is replaced by the chest, abdomen, arms, and hands. Obviously, it can also cover some part of the user's body, such as the legs, feet, etc.

  This will be described with reference to FIGS. In this preferred embodiment, the digital data file is created through the wearing of the interactive pressure recording garment 856, but those skilled in the art will recognize this data file without the assistance of the interactive pressure recording garment 856. It will be apparent that it can be generated by other means, such as a generated digital data file. Still further, the two-way pressure regeneration garment 806 can be directly coupled to the two-way pressure recording garment 856 at a nearby location, or a global computer if the garments 806 and 856 are located remotely. It will be apparent that they can be coupled through a communication network such as a network. In this way, the first user wearing bi-directional pressure reproduction garment 806 can feel the tactile pressure received from the second user wearing bi-directional pressure recording garment 856.

Fourth Alternative Embodiment Illustrated in FIGS. 18-21 is a fourth embodiment formed in accordance with the present invention, commonly referred to as an imaging diagnostic assembly 900. This imaging diagnostic assembly 900 allows physical examination of the patient's body without actual direct physical contact between the patient and the physician. The imaging diagnostic assembly 900 includes an imaging device 936 operable to simultaneously generate 2-D or 3-D internal or external body images. The imaging diagnostic assembly 900 also acquires haptic data concurrently with the body image data. This would allow the physician / user to see the effect of the tactile pressure applied simultaneously and / or outside the body while remotely tactilely feeling or moving the tissue or body in question. This capability enhances the functionality of this device as a medical diagnostic instrument.

  The imaging diagnostic assembly 900 is generally comprised of three components: an HCU (not shown), a patient diagnosis-imaging module 904 (hereinafter “PEIM”), and a remote doctor and patient. Computer software that can be used to control acquisition, calibration, transfer, and conversion of both body tactile information and image processing data. This HCU is substantially the same as the HCU described above for the embodiment illustrated in FIGS. 1-4 and will not be described here for the sake of brevity.

  The PEIM 904 is preferably a molded plastic device that is generally cuboid shaped to resemble the size of a human hand. The advantage of this type of structure is its ease of manufacture in terms of its light weight, ease of movement, device shaping, durability, and impact resistance. Although the illustrated embodiment of PEIM 904 is rectangular, it will be apparent to those skilled in the art that PEIM 904 can be shaped into any suitable shape. Desirably, however, PEIM 904 is shaped to provide a familiar interface between the critical sensing, motion and imaging portions of the device and the person or object being diagnosed.

  In the illustrated embodiment, the PEIM 904 has a slight bulge on the top surface 910 of the PEIM 904 relative to the periphery, and the operating bottom surface 912 has a slight recess or depression. The slight bulge on the top surface 910 allows the patient to place his hand on the top of the PEIM 904 and secure it to each part of his body or follow the body part according to the instructions of a remote physician. You can move it. Alternatively, PEIM 904 can be designed in a “glove” shape and the entire patient's hand can be inserted into PEIM 904.

  The operating bottom 912 of the PEIM 904 is divided into cells 914 that function as tactile processors. Since the tactile sensation processing method of PEIM 904 is substantially the same as the tactile sensation processing method of the above-described embodiment, it will be briefly described here. Briefly, the cell 914 forms a plurality of cavities 916 (typically several millimeters deep) on a molded plastic PEIM 904. A sensory modulation subunit 918 is housed in each cavity 916. The electromechanical and / or pneumatic system structure of the sensory modulation subunit 918 is the same as the sensory modulation subunit 918 described in the previous embodiment and will not be repeated here.

  The size of each sensory modulation subunit 918 will be different for each cavity 916 in PEIM 904. In general, the base area of each sensory modulation subunit 918 is close to the size of the fingertip. In the illustrated embodiment, a 2 × 4 matrix of cells 914 containing eight sensory modulation subunits 918 is shown. The size, shape and number of sensory modulation subunits 918 can be varied to increase (though undesirable, but not) the sensitivity and functionality of the device. For example, in a preferred embodiment, the sensory modulation subunits are 4 × 4 matrices and are formed to accommodate 16 sensory modulation subunits 918. Each sensory modulation subunit 918 can be further divided such that each cavity 916 is a collection of smaller sensory modulation subunits 918.

  The imaging system functionality of PEIM 904 is desirably provided through an ultrasound imaging technology platform. In the illustrated PEIM 904 embodiment, the imaging device 936 is positioned along the central portion of the bottom surface 912 of the PEIM 904. The imaging device 936 includes a linear array transducer 908 with ultrasonic signal generation and reception capabilities. Linear array transducer 908 includes a multifunction transducer 920 that both transmits and receives signals using standard signal gating techniques. A simulated skin surface 922 composed of a non-interfering material such as a gel matrix material is placed over the linear array transducer 908. A gel matrix material is placed at the interface between the linear array transducer 908 and the patient's skin as air interferes with the desired ultrasound conduction. The linear array transducer 908 may vary in both configuration and frequency depending on the desired PEIM 904 function and the required ultrasonic penetration depth. In general, devices for imaging deep tissue structures use a lower emission frequency linear array transducer 908, and a linear array with higher frequency capability for closer surface structures. -Transducer 908 will be used.

  PEIM 904 is intended for use with the system software and HCU described in the previous embodiments. The PEIM 904 will be connected to a computer or communication device (not shown) at the patient end. The patient will hold PEIM 904 and move it along his body according to the doctor's instructions. The physician can then send a pressure signal to PEIM 904 through the communication network using the HCU. PEIM 904 can then detect the patient's counter pressure response and send a back pressure signal thereby to the HCU.

  In addition, PEIM 904 can transmit and receive ultrasonic pulse information. In this preferred embodiment, an emission signal is transmitted via a communication network from processing software on the physician's computer to drive the linear array transducer 908 in the PEIM 904 to emit an ultrasound signal to the patient. The gating function is then performed and the same linear array transducer 908 receives the returning echo. The information is returned to the doctor's host computer.

  In the illustrated embodiment, well-known image processing methods can be used to provide B-mode, spectral, duplex, and / or color information. Such information is preferably available in real time by a doctor who is performing a medical examination via a communication network. Like other functions of the imaging diagnostic assembly 900, these digital information can be stored and played back by incorporating tactile event data into the image data.

  In contrast to the PEIM, the PEIM is configured as a clothing that can be worn on the body with a diagnostic pad supported by a removable fixture such as a chuck fixture that is applied directly on the body of the patient to be examined. A device configuration can be used. Affixing chuck fixtures will be flexible and allow use in a variety of body shapes and sizes. Tailor PEIM into small bands for chest vests, abdominal bands, sleeves, long gloves, or upper limb gloves, leg trousers or lower limb boots, or small areas such as fingers or toes It comes out. The separate version also includes sensory modulation subunits based on hydraulic and barometric systems as described above.

  The PEIM 904 can be attached to a command control box (not shown) or directly to the patient terminal computer or communication device via an electrical connection cord 938. The command control box incorporates a well-known power supply, small central processing unit, signal processor, digital-to-analog converter, and a communication system for the PEIM 904 to receive and transmit data and link it to the functions of the physician's HCU. I will be.

  This communication system includes a built-in modem that allows a computer connection or direct connection to a communication network, ground-based or direct wired telephone line, or any other current or future device that allows: (1) optical-based communications, including optical fiber cable channels and non-fiber optical-based data / audio / video signal transmission methods; (2) but not limited to: radio frequency, ultra-high frequency, Wireless communication capable of transmitting and receiving voice and / or data information, including microwave or satellite systems, and (3) infrared light, magnetism, visible or invisible radiation of other wavelengths, biomaterials (biological robots or viral life forms Any future audio using any media not currently in use, such as atoms / elements) Data transmission.

  Desirably, this control portion of PEIM 904 reduces the weight directly applied to the patient, particularly when PEIM 904 is placed on a small part of the body, such as a limb or finger, and / or increases the safety of the unit ( (Reduced exposure to RF or microwave radiation from communications / data transmission) would be placed away from the patient. As will be apparent to those skilled in the art, the electrical connection cord 938 may include a connection line disposed between the pressure transducer and variable pressure generator of the sensory modulation subunit, the imaging device 908, and the power source.

  As will be apparent to those skilled in the art, the PEIM 904 is constructed of a single or multiple multi-channel pressure transducer / resistor device to convert and transmit absolute changes in resistance to the user's hand through the HCU (not shown). You can also. To increase the sensitivity and functionality of PEIM 904, each cell 914 can be further divided and multiple sensory modulation subunits can be attached to the entire PEIM 904.

  In the above embodiment, the linear array transducer 908 is located within the PEIM 904, separate from the cell 914 that contains the sensory modulation subunit 918, but those skilled in the art within the scope of the present invention, It will be apparent that other configurations are possible. For example, as shown in FIG. 21, an ultrasound transducer 908 can be placed in each cell 914, and each cell 914 can include both a sensory modulation subunit and an ultrasound transducer 908.

  FIG. 22 is a flowchart illustrating the overall process associated with the imaging diagnostic assembly 900. The software controls various functions of HCU, PEIM, system dynamics, and communication protocols. The individual functions of the software 1000 are the same as those described in the above embodiment except for the additional characteristics related to the imaging aspect of the present invention. Accordingly, the following description focuses on features used to control the imaging aspects of PEIM 904 and, for the sake of brevity, does not describe the details of the previously described software functionality.

  This additional software functionality includes specific signal processing functions, signal analysis and processing commands to provide B-mode, spectral analysis, color, and / or duplex Doppler images, ultrasound signal emission, gate switching, And all of the communication protocols. This software uses a communication network located between the working portion of the linear array transducer 908 and the rest of the PEIM 904 to provide tactile data, and a device transmission protocol for emission sources and return data. To control.

  This will be described with reference to FIG. The computer 1014 generates an emission signal based on the pulse reception from the pulse generator 1024. This emission signal is received by a microprocessor 1016 formed integrally with the computer 1016. The emission signal is processed by software, depending on whether the emission signal has passed through a digital gate 1006 or a digital-to-analog conversion gate 1004, either in the form of a digital signal or an analog signal, for example in a global computer network. To the linear array transducer 1002 via the computer network 1012. The linear array transducer 1002 receives and processes this emission signal, and generates an ultrasonic wave corresponding to the reception emission signal. The ultrasound is directed into the patient's body. The return ultrasonic wave received by the linear array transducer 1002 is transmitted to the microprocessor 1008 via a digital gate or an analog / digital conversion gate as appropriate. The microprocessor 1008 processes the received signal and transmits the signal to the computer 1010. The computer 1010 processes the received signal and transmits processing data representing an ultrasound image to the second computer 1014 via the communication network 1012.

  The computer 1014 processes the received data, sends the data to the microprocessor 1016, and then sends it to the receiver 1026 through the digital gate 1018 or the digital to analog conversion gate 1020. The receiver 1026 processes the received data for operation on a gray scale display device or a color display device, and transmits the data to the memory unit 1020 and preferably to the display device 1030. Display device 1030 displays the data in a visual format for user / physician use.

  The pulse generator 1024 synchronizes the various components of the illustrated system. Specifically, as is well known in the art, an ultrasound imaging apparatus emits ultrasound for a short time. The ultrasonic transducer then stops the emission function and listens for a brief return echo. The pulse generator 1024 triggers various events performed during the ultrasound imaging process and emits timing pulses to synchronize.

  The illustrated pulse generator 1024 of the present invention is in signal communication with a memory unit 1028, a receiver 1024, and an amplifier 1022. When amplifier 1022 receives a pulse from pulse generator 1024, amplifier 1022 generates an output signal in the form of a voltage that is sent to digital gate 1018 or analog to digital conversion gate 1020 for transmission to microprocessor 1016. Directed to either. The signal is processed within microprocessor 1016 and transmitted to computer 1014. The computer further processes the signal and transmits the signal to another computer 1010 over a communication network such as the Internet 1012. Computer 1010 processes the signal and sends the signal to microprocessor 1008 for further processing. Microprocessor 1008 then preferably transmits the signal to either digital gate 1006 or analog to digital gate 1020 for transmission through signal amplifier 1003 to transducer array 1002. Depending on the signal received by the transducer array 1002, the transducer array 1002 can be configured to either emit or receive.

  For illustrative purposes, embodiments of the present invention have been extended in connection with specific medical applications, but those skilled in the art will appreciate that the various disclosed embodiments are of descriptive nature and are related to physical examination. Really understand that it should not be construed as limited to the reproduction of physical findings. Thus, it will be apparent that alternative embodiments have a wide range of applications and can be used in any situation where a remote person requires tactile information or 3D modeling of body structure.

  For example, although the illustrated embodiments of the present invention have been described as being usable to simulate physical examination of a patient at a remote location, further applications within the medical field include deep sea, space, battlefield conditions In remote environments, in harsh environments such as mountain / jungle exploration, this will include the ability to examine patients with real-time in-vivo imaging capabilities in addition to palpation. In addition, the portable version could be used in a medical room in the workplace to eliminate the need for the patient to actually leave the workplace and go to the doctor's office. This is very inefficient for both patients and physicians. The mobile version could also be applied to the home, and for some diagnoses, an overtime emergency room visit could be omitted. This efficiency will have a significant impact on overall medical costs. In addition, the illustrated embodiment, among other scientific applications (such as archeology, biology, deep sea), field scientists belong to the tactile and internal image characteristics of their findings / work results It can be applied when there is a need to send to a colleague of an organization who wants to do so or there is a desire to do so.

  While embodiments of the invention have been illustrated and described, it will be appreciated that various changes can be made thereto without departing from the spirit and scope of the invention.

FIG. 1 is an illustration of a preferred embodiment of a system using the present invention showing a physician examining a patient at a remote location. FIG. 2 is a plan view of a manual control unit according to the present invention. FIG. 3 is a schematic cross-sectional view of the manual control unit of FIG. 4 is a schematic cross-sectional view of a sensory modulation subunit for the manual control unit shown in FIG. 3 in accordance with the present invention. FIG. 5 is a front view of a preferred embodiment of a patient examination module for patient torso examination according to the present invention. FIG. 6 is a cross-sectional view of the cell of the patient examination module shown in FIG. FIG. 7 is a front view of a second preferred embodiment of a patient examination module for patient torso examination according to the present invention. FIG. 8 is a cross-sectional view of the cell of the patient examination module shown in FIG. FIG. 9 is a general process flow diagram of a preferred embodiment of the present invention. 10A-10C show a flowchart detailing the functions of the software that controls the preferred embodiment shown in FIG. 10A-10C show a flowchart detailing the functions of the software that controls the preferred embodiment shown in FIG. 10A-10C show a flowchart detailing the functions of the software that controls the preferred embodiment shown in FIG. FIG. 11 is a perspective view of a first alternative embodiment formed in accordance with the present invention, commonly referred to as a simulator assembly, which reproduces a body shape that is cabled to a data manipulation system. Includes modules. FIG. 12 is an exploded view of the body shape regeneration module shown in FIG. 11 and shows an internal cell arrangement with the simulated skin removed. FIG. 13 is a cross-sectional view of the cell of the body shape regeneration module shown in FIG. 12, and this cross-sectional view is a cross-section taken substantially along the line “13-13” of FIG. Shown with sensory modulation subunits. FIG. 14 is an elevational view of an alternative embodiment of a sensory modulation subunit formed in accordance with the present invention suitable for use with the body shape reproduction module illustrated in FIGS. FIG. 15 is an elevational view of an alternative embodiment of a pair of sensory modulation subunits formed in accordance with the present invention, suitable for use with the body shape regeneration module illustrated in FIGS. FIG. 16 is an elevation view of a second alternative embodiment formed in accordance with the present invention, generally referred to as a haptic playback assembly, which includes a playback device, a multi-channel controller, and Includes two-sided pressure regeneration clothing. FIG. 17 is an elevation view of a third alternative embodiment formed in accordance with the present invention, this alternative embodiment generally referred to as an entertainment recording assembly, the entertainment recording assembly comprising a recording device, Includes a multi-channel controller, and a dual-type pressure recording garment. FIG. 18 is a perspective view of a fourth alternative embodiment formed in accordance with the present invention, generally referred to as an imaging diagnostic assembly. FIG. 19 is a perspective view of the imaging diagnostic assembly illustrated in FIG. 18, showing the bottom of the imaging diagnostic assembly. FIG. 20 is a cross-sectional view of the imaging diagnostic assembly shown in FIG. 19, taken through approximately “20-20” of FIG. FIG. 21 is a perspective view of an alternative embodiment of the imaging diagnostic assembly illustrated in FIGS. 18-20. FIG. 22 is a general process flow diagram of a fourth alternative embodiment formed in accordance with the present invention and illustrated in FIGS. 18-20.

Claims (12)

A simulator assembly that simulates the real tactile response,
The simulator assembly is
(A) a playback module having a pre-recorded data file created from the physical palpation, wherein the real is the body, and the pre-recorded data file is a time during the palpation Created by mapping the body's response to the body in terms of and location, the playback module uses the data file to simulate the real haptic characteristics, and the playback module A regeneration module that is generally shaped into at least a portion of the shape, the regeneration module including an outer skin;
(B) a plurality of cavities located in the regeneration module and below the outer epidermis in an increasingly eye pattern to which force and pressure data from the body palpation is mapped ;
(C) a plurality of sensory modulation subunits, each of the plurality of sensory modulation subunits being at least partially disposed within one of the plurality of cavities; A plurality of sensory modulations, each applying a force to the external skin in response to a received input signal, the received input signal responsive to a force applied to the playback module by a user's hand A simulator assembly that includes subunits.   The simulator assembly of claim 1, wherein the sensory modulation subunit further comprises a pressure transducer adapted to generate an output signal in response to an applied force.   The computer system further comprising a computer system operatively connected to the sensory modulation subunit, the computer system transmitting the input signal to dynamically control the force applied by the sensory modulation subunit. 2. The simulator assembly according to 2.   The computer system further receives the output signal generated by the sensory modulation subunit, and the received output signal is used to determine an input signal of the sensory modulation subunit. Item 4. The simulator assembly according to item 3.   The computer system further includes a memory module including data defining the hardness of the simulated object, the data used to determine an input signal of the sensory modulation subunit. The simulator assembly described in 1.   The simulator assembly according to claim 4, wherein the sensory modulation subunit includes a piston-type variable resistor.   The simulator assembly according to claim 4, wherein the sensory modulation subunit includes a linear actuator.   The simulator assembly according to claim 7, wherein the sensory modulation subunit further includes an optical encoder, wherein the optical encoder detects movement of the linear actuator and generates a response signal.   The simulator assembly of claim 4, wherein the sensory modulation subunit includes an expansion chamber adapted to receive a pressurized fluid.   The simulator assembly of claim 9, further comprising a tank of pressurized fluid, wherein the plurality of sensory modulation subunits are fluidly connected to the tank by valves.   The simulator assembly of claim 1, wherein the simulated object is a part of a human body.   The simulator assembly of claim 11, wherein the data file includes a portion of a patient medical record.

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