WO2017030435A1 - Simulateur à interface haptique multiport - Google Patents

Simulateur à interface haptique multiport Download PDF

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Publication number
WO2017030435A1
WO2017030435A1 PCT/MY2016/050048 MY2016050048W WO2017030435A1 WO 2017030435 A1 WO2017030435 A1 WO 2017030435A1 MY 2016050048 W MY2016050048 W MY 2016050048W WO 2017030435 A1 WO2017030435 A1 WO 2017030435A1
Authority
WO
WIPO (PCT)
Prior art keywords
port
catheter
conduit
guide wire
actuator
Prior art date
Application number
PCT/MY2016/050048
Other languages
English (en)
Inventor
M. Iqbal Saripan
Hafiz Rashidi RAMLI
Fernando BELLO
Norhisam Misron
Original Assignee
Universiti Putra Malaysia
Imperial College London
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Universiti Putra Malaysia, Imperial College London filed Critical Universiti Putra Malaysia
Publication of WO2017030435A1 publication Critical patent/WO2017030435A1/fr

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Classifications

    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Definitions

  • the present invention relates to a haptic interface device that is used to control virtual models of cylindrical instruments in an image guided endovascular surgery simulator.
  • both guide wire and catheter act as controllers for the modelled tools in the simulation software.
  • the position and orientation of the tools must be trackable at all times to ensure the realism of the simulation.
  • haptic feedback must continuously be present for the same reason.
  • haptic feedback the mechanism used in the said patent involves the movement of a stepper motor arm to push clamps or cushions onto the tools to provide resistance in both translational and rotational movements.
  • SMEs Subject Matter Experts
  • findings from a study we conducted available upon request and due for publication before the end of the year
  • Patent US 7520749 describes another device for an interventional simulator.
  • the design used here is that of a carriage system.
  • Each carriage is dedicated to a specific instrument where the carriage closest to the entrance port is meant for the most external instrument (ie. catheter), the second closest for the second most external and so on.
  • each carriage is equipped with sensors and actuators to track and give haptic feedback to the selected instrument.
  • an optical sensor is used to check the instrument diameter. If the correct instrument is identified, a clip will be activated to lock the instrument within the carriage. After that, the carriage will move along the pulley when the wire is pushed and pulled. Sensors on the carriage will detect the carriage movement as insertion depth.
  • Optical sensors would also detect rotational motion of the instrument.
  • haptic feedback is required, a special mechanism onboard the carriage is activated to produce resistance to instrument movement in both directions.
  • the carriage system used here has the same flaws as that of the design shown in previous patents.
  • the internal instruments have to travel a significant distance before being detected by the sensors.
  • There is also a limit to each the range of movement for each instrument as each carriage can only travel as far as the telescopic connections can extend. Due to the weight of the carriage, the design may also introduce additional friction or resistance to instrument advancement and withdrawal, which could negatively affect the realism of the simulation.
  • Patent US 6538634 and US 7520749 describe almost complete systems for an interface device
  • the design in Patent US2007/0063971 only illustrates the actuation mechanism used to achieve the same effect in terms of haptic feedback. Nonetheless, the mechanism described should be working in tandem with a non contact motion sensing component that would record any movement of the catheter.
  • the design can also be used to apply haptic feedback to the guide wire, especially not in the concentric configuration of the wire within the catheter. Therefore, there is much less focus on solving the concentric occlusion problem in this patent. This is made more obvious by the fact that most of the designs presented feature many moving parts which include rollers and springs that are subject to wear and tear.
  • the present invention provides a multi port haptic interface simulator comprising: first port (100) including: a conduit (101); at least a sensor (103) placed along and over the conduit (101); at least an actuator (105) placed along and over the conduit (101); a catheter (107); and guide wire (109); second port (200) including: a conduit (201); at least a sensor (203) placed along and over the conduit (201); at least an actuator (205) placed along and over the conduit (201); a catheter (207); and guide wire (209); a separate sensor unit (211); and a catheter hub (210); a microcontroller (300); and a power supply (400); characterized in that a micro actuator (500) is placed within the catheter (210).
  • the micro actuator (500) is able to solve the concentric occlusion problem as it enables the generation of haptic feedback, even when the inner concentric instrument is within the outer concentric instrument.
  • the inner concentric instrument typically a guide wire
  • the inner concentric instrument is tracked at its proximal end by separate sensor unit (21 1) rather than at the distal end as in prior art.
  • This approach removes the possibility of the outer concentric instrument (catheter) overextending and reaching the inner concentric instrument sensor, at which point it would no longer be possible to track such instrument, potentially disrupting the simulation.
  • the inner concentric instrument actuator (500) in the second port (200) is placed within the outer concentric instrument hub (210), thus allowing haptic feedback to be applied immediately upon insertion, which was not possible in previous designs as the inner concentric instrument would need to travel some distance to reach the first actuator.
  • the micro actuator (500) is designed to deliver a more subtle range of haptic feedback, with the type of haptic effect varied and controlled by the design of the actuator brake.
  • Figure 1 illustrates a schematic diagram of a multi port haptic interface simulator of the present invention.
  • Figure 2 illustrates a complete assembly of a multi port haptic interface simulator of the present invention.
  • Figure 3 illustrates a micro actuator unit (500) of a multi port haptic interface simulator of the present invention.
  • Figure 4 illustrates: (a) an actuator brake (505) of a micro actuator unit (500) in sphere shape; (b) an actuator brake (505) of a micro actuator unit (500) having a shape like pin with a round head; and (c) an actuator brake (505) of a micro actuator unit (500) in roller shape.
  • Figure 5 illustrates channel and components used in a single port of the present invention.
  • Figure 6 illustrates concentric tracking sensor configuration at the first port (100).
  • Figure 7 illustrates sensor and actuator configuration at the second port (200).
  • Figure 8 illustrates guide wire (109) insertion at the first port (100).
  • Figure 9 illustrates sheathing of catheter (107) over guide wire (109) at the first port (100).
  • Figure 10 illustrates simultaneous catheter (207) and guide wire (209) manipulation at the second port (200).
  • Figure 1 1 illustrates: (a) extraction of guide wire (109); and (b) simulated injection of dye at the first port (100).
  • first port (100) including: a conduit (101); at least a sensor (103) placed along and over the conduit (101); at least an actuator (105) placed along and over the conduit (101); a catheter (107); and guide wire (109);
  • second port (200) including: a conduit (201); at least a sensor (203) placed along and over the conduit (201); at least an actuator (205) placed along and over the conduit (201); a catheter (207); and guide wire (209); a separate sensor unit (211); and a catheter hub (213); a microcontroller (300); and a power supply (400); characterized in that a micro actuator (500) is placed within the catheter hub (210).
  • the device features two separate ports for the insertion of instruments, with each port designed to facilitate the simulation of certain set procedures.
  • One of the ports (first port (100)) facilitates steps such as needle puncture, initial insertion of guide wire and catheter, instrument exchanging and fluoroscopic dye injection with a mock syringe.
  • the other port (second port (200)) is specifically designed for multiple instruments, supporting the simulated advancement of the guide wire and catheter, with the guide wire concentric within the catheter.
  • the micro actuator (500) further comprising: a ferromagnetic custom frame (501); four permanent magnets (503); a pair of brakes (505); a solenoid (507); and a solenoid casing (509).
  • the micro actuator (500) is designed to deliver a more subtle range of haptic feedback, with the type of haptic effect varied and controlled by the design of the actuator brake.
  • the brake (505) can instead be a sphere as in Figure 4(a).
  • the sliding solenoid (507) pushes against the inner concentric instrument offering resistance to movement in any direction.
  • the brake (505) can be modified to be a pin with a round head as in Figure 4(b).
  • the sliding solenoid (507) of the actuator would push the pin down, which in turn would apply high pressure to the object resulting in high resistance to translational movement of the inner concentric instrument. If a subtle force is needed, the brake (505) can be a roller as in Figure 4(c). The sliding solenoid (507) of the actuator would then slide against the roller to produce friction opposing translational movement of the inner concentric instrument.
  • Several actuators may also be used in tandem at different contact points to produce more detailed haptic feedback effects.
  • first port (100) comprises of a single conduit (101) or channel through which a tool might be inserted.
  • sensors (103) for example optical sensors and actuators (105), for example servo motor placed along and over the conduit (101).
  • the sensors (103) track the movement of instruments within the conduit (101), whilst the actuators (105) apply haptic feedback to the instrument.
  • the first port (100) may be used in procedures such as the initial insertion of introducer wires, the placement of a catheter (107) over a static guide wire (109) (held in place by the user) and the exchange of tools such as switching to different guide wires.
  • the first port (100) would also be able to facilitate needle puncture training by attaching a separate modular interface.
  • the guidewire's (109) movements upon inserting the guidewire into the first port (100), the guidewire's (109) movements would be tracked by a sensor (103), preferably an optical sensor, which is mounted over the port channel (101).
  • a sensor preferably an optical sensor, which is mounted over the port channel (101).
  • a catheter is introduced into the first port (100), as it is passed over the guidewire, its movements would be detected by a second sensor (103), preferably a trackball sensor (104), which is also mounted over the port channel (101).
  • the guide wire (109) With both the guidewire (109) and catheter (107) inserted into the first port (100), the guide wire (109) would be concentrically within the catheter (107).
  • a transparent catheter (107) preferably is used, so that the movements of the guide wire (109) may be tracked through the catheter (107) by the optical sensor (103).
  • the movements of the catheter (107) may continue to be tracked by the trackball sensor (104).
  • the optical sensors (103) would detect when the guide wire (109) has been pulled out before the next step of the procedure can be continued. If the catheter (107) needs to be exchanged, the insertion depth of the catheter (107) may be tracked by the trackball sensor (104).
  • the second port (200) has a separate sensor unit (211), for example optical sensor as illustrated in Figure 7.
  • This sensor unit (211) tracks the movement of the guide wire (209) at all times, whilst the sensor (203) inside the second port (200) tracks the catheter (207).
  • Haptic feedback is applied to the guide wire (209) through the micro actuator unit (500) placed within the catheter hub (210), and to the catheter (207) through the actuator (205) inside the second port (200). Both the catheter (207) and the guide wire (209) are pre-inserted into the second port (200), with the guide wire (209) is pre-inserted inside the separate sensor unit (211) as well.
  • the second port (200) allows for the simulation of procedures, where both the catheter (207) and the guide wire (209) are concentrically manipulated, either simultaneously or individually, ensuring continuous tracking and haptic feedback to both instruments.
  • This concentric manipulation is crucial as it teaches the core skill of navigating a guide wire and catheter to a target.
  • the following is a description of how the present invention may be used for the simulation of angiographic interventions: i. Initial guide wire insertion
  • the user is prompted to insert the guide wire through the needle into the first port (100) to a certain pre-determined insertion depth (Figure 8).
  • guide wire movement is tracked by a sensor (103) (e.g. optical sensor) on the first port (100).
  • the simulation program prompts the user to pull out the needle while leaving the guide wire (109) inside the patient.
  • the user would then be prompted to sheath a catheter (107) over the guide wire in the first port (100).
  • the catheter (107) is then inserted into the first port (100), while the guide wire (109) is held firmly in place by the user ( Figure 9).
  • the catheter's insertion depth is measured by a sensor (104) (e.g. trackball sensor). Once the desired insertion depth is reached, the user would be directed to the next step. iii. Guide wire and catheter navigation to target vessel
  • the user would be instructed to switch to the second port (200) and all sensors (103) and actuators (105) on the first port (100) would be deactivated.
  • the pre-inserted catheter (207) and guide wire (209) on the second port (200) would already be in the initial position following the previous step in the procedure (i.e. both instruments inserted at a certain depth).
  • the user would then be prompted to move the guide wire and catheter to the target vessel.
  • the actuators (500) and (205) would apply force or haptic feedback to the guidewire and catheter respectively, when triggered by the simulation software. Once the branch of the target vessel is reached, the next step would be prompted. iv. Guide wire extraction and dye injection
  • the second port (200) would be deactivated at this point and the first port (100) would be reactivated.
  • the user would be instructed to pull out the guide wire (109) inserted in the first port (100) ( Figure 11 (a)) and attach a syringe to the catheter (107) to inject contrast agent as necessary ( Figure
  • the same first port (100) or another separate port may be used to simulate corrective procedures such as angioplasty, stenting and abdominal aneurysm repair.

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Computational Mathematics (AREA)
  • Mathematical Optimization (AREA)
  • Medical Informatics (AREA)
  • Medicinal Chemistry (AREA)
  • Chemical & Material Sciences (AREA)
  • Algebra (AREA)
  • Radiology & Medical Imaging (AREA)
  • Pulmonology (AREA)
  • Mathematical Analysis (AREA)
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Abstract

La présente invention concerne un simulateur à interface haptique multiport comprenant : un premier port (100) qui comporte un conduit (101); au moins un capteur (103) placé le long du conduit (101) et au-dessus de celui-ci; au moins un actionneur (105) placé le long du conduit (101) et au-dessus de celui-ci; un cathéter (107); et un fil guide (109); un second port (200) qui inclut un conduit (201); au moins un capteur (203) placé le long du conduit (201) et au-dessus de celui-ci; au moins un actionneur (205) se trouvant le long du conduit (201) et au-dessus de celui-ci; un cathéter (207); et un fil guide (209); une unité à capteur séparée (211); une embase de cathéter (210); un microcontrôleur (300); et une alimentation électrique (400). Ce simulateur se caractérise en ce qu'un micro-actionneur (500) est situé dans l'embase de cathéter (210). Le micro-actionneur (500) résout le problème de l'occlusion concentrique car il permet la génération d'une rétroaction haptique, même lorsque l'instrument concentrique intérieur se trouve dans l'instrument concentrique extérieur.
PCT/MY2016/050048 2015-08-20 2016-08-19 Simulateur à interface haptique multiport WO2017030435A1 (fr)

Applications Claiming Priority (2)

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MYPI2015702770 2015-08-20
MYPI2015702770 2015-08-20

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Cited By (5)

* Cited by examiner, † Cited by third party
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CN108305522A (zh) * 2018-04-09 2018-07-20 西南石油大学 一种用于血管介入手术操作引导用的训练设备
EP3547297A1 (fr) * 2018-03-29 2019-10-02 CAE Healthcare Canada Inc. Appareil modulaire pour simuler l'insertion d'un instrument médical dans un sujet
EP3547298A1 (fr) * 2018-03-29 2019-10-02 CAE Healthcare Canada Inc. Simulateur médical à double canal
US10810907B2 (en) 2016-12-19 2020-10-20 National Board Of Medical Examiners Medical training and performance assessment instruments, methods, and systems
SE2250260A1 (en) * 2019-09-19 2022-02-25 Simbionix Ltd A multi-tool medical simulation system and method

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US7520749B2 (en) 2002-12-03 2009-04-21 Mentice Ab Interventional simulation device
WO2011028627A2 (fr) * 2009-08-26 2011-03-10 The Research Foundation Of State University Of New York Système et procédé pour un accès télérobotique endovasculaire
US8062038B2 (en) * 2004-06-14 2011-11-22 Medical Simulation Corporation Medical simulation system and method
US20140349263A1 (en) * 2013-05-21 2014-11-27 Simbionix Ltd. Foldable medical simulation system

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EP0970714A2 (fr) * 1998-07-10 2000-01-12 Mitsubishi Denki Kabushiki Kaisha Dispositif d'actionnement pour imprimer des mouvements indépendants axiaux et de rotation à un cathéter ou un autre objet allongé
US6538634B1 (en) 1998-12-18 2003-03-25 Kent Ridge Digital Labs Apparatus for the simulation of image-guided surgery
US7520749B2 (en) 2002-12-03 2009-04-21 Mentice Ab Interventional simulation device
US20070063971A1 (en) 2004-03-12 2007-03-22 Xitact S.A. Actuator for an elongated object for a force feedback generating device
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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10810907B2 (en) 2016-12-19 2020-10-20 National Board Of Medical Examiners Medical training and performance assessment instruments, methods, and systems
EP3547297A1 (fr) * 2018-03-29 2019-10-02 CAE Healthcare Canada Inc. Appareil modulaire pour simuler l'insertion d'un instrument médical dans un sujet
EP3547298A1 (fr) * 2018-03-29 2019-10-02 CAE Healthcare Canada Inc. Simulateur médical à double canal
JP2019174808A (ja) * 2018-03-29 2019-10-10 シーエーイー・ヘルスケア・カナダ・インコーポレイテッドＣａｅ Ｈｅａｌｔｈｃａｒｅ Ｃａｎａｄａ Ｉｎｃ． 医療器具の対象への挿入をシミュレートするためのモジュール式装置
CN110322766A (zh) * 2018-03-29 2019-10-11 卡艾保健加拿大公司 双通道医疗模拟器
CN110322765A (zh) * 2018-03-29 2019-10-11 卡艾保健加拿大公司 用于模拟医疗仪器插入受试者中的模块化设备
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SE2250260A1 (en) * 2019-09-19 2022-02-25 Simbionix Ltd A multi-tool medical simulation system and method
SE545389C2 (en) * 2019-09-19 2023-07-25 Simbionix Ltd A multi-tool medical simulation system and method for simulating endovascular medical procedures

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