Simulation system and methods for surgical training

Patent metadata

Field	Value
Publication number	US-10854111-B2
Application number	US-201414300561-A
Country	US
Kind code	B2
Filing date	Jun 10, 2014
Priority date	Jun 12, 2013
Publication date	Dec 1, 2020
Grant date	Dec 1, 2020

Abstract

A three-dimensional radiological image of a living being is acquired and an anatomical feature of interest therein is identified. A three-dimensional print of the feature is created; the print has haptic characteristics that are similar to those of the anatomical feature of interest. The print is incorporated into a model upon which a medical student can simulate a surgical operation.
A simulator is provided; the simulator simulates the operation of a c-arm fluoroscope. This enables the medical student to simulate surgery while operating a fluoroscope.

First claim

The invention claimed is:

1. A surgery simulation system, comprising:
a physical three-dimensional model of an actual anatomical structure of a being located in a three-dimensional co-ordinate system, the physical three-dimensional model being a three-dimensional print generated based at least in part on a three-dimensional image acquired from the being, material forming the physical three-dimensional model having a haptic characteristic similar to the actual anatomical structure of the being;
an electromagnetic sensor positioned in the three-dimensional co-ordinate system;
a three-dimensional imitation instrument of an actual surgical instrument of a type that is suitable for performing surgery on the actual anatomical structure; and
a fluoroscope simulator in which a three-dimensional radiological image of the actual anatomical structure is stored or computed by a computer system, the fluoroscope simulator being configured to:
register a spatial location and orientation of the physical three-dimensional model in the three-dimensional co-ordinate system relative to the electromagnetic sensor, wherein the spatial location and orientation of the physical three-dimensional model is determined using the electromagnetic sensor;
register a spatial location and orientation of the three-dimensional imitation instrument in the three-dimensional co-ordinate system relative to the electromagnetic sensor, wherein the spatial location and orientation of the three-dimensional imitation instrument is determined using the electromagnetic sensor;
generate a simulated fluoroscopic image using the three-dimensional radiological image, the simulated fluoroscopic image comprising a virtualization registered in the computer system of the physical three-dimensional model in accordance with the spatial location and orientation of the physical three-dimensional model in the three-dimensional co-ordinate system and at least one operating characteristic and at least one configuration of a simulated fluoroscope registered in the computer system that is simulated to be in the three-dimensional co-ordinate system by the fluoroscopic simulator, the at least one operating characteristic comprising a simulated intensity of X-ray radiation supplied by an X-ray source of the simulated fluoroscope and a duration of delivery of the X-ray radiation;
determine a proficiency metric based at least in part on the intensity of the X-ray radiation and the duration of delivery of the X-ray radiation; and
display a plurality of generated simulated fluoroscopic images that comprise virtualizations registered in the computer system of the physical three-dimensional model in accordance with the spatial location and position of the physical three-dimensional model in the three-dimensional co-ordinate system and a plurality of virtualizations registered in the computer system of the three-dimensional imitation instrument superimposed on the plurality of generated simulated fluoroscopic images in accordance with a simulated location and orientation of the X-ray source registered in the computer system, wherein the plurality of generated simulated fluoroscopic images includes the simulated fluoroscopic image and at least two of the plurality of generated simulated fluoroscopic images display different views of the virtualized three-dimensional model registered in the computer system corresponding to at least two different locations or orientations of the X-ray source of the simulated fluoroscope registered in the computer system.

2. The surgery simulation system of claim 1 , wherein the physical three-dimensional model comprises a plurality of physical three-dimensional submodels of corresponding actual anatomical structures of the being, each of the plurality of physical three-dimensional submodels having haptic characteristics of the corresponding actual anatomical structure, and
wherein a spatial location and orientation of each of the plurality of physical three-dimensional submodels are registered individually.

3. The system of claim 1 , further comprising a footswitch that simulates an operation of the simulated fluoroscope, wherein the fluoroscope simulator is further configured to, when the footswitch is depressed:
generate at least one new simulated fluoroscopic image using the three-dimensional radiological image, the at least one new simulated fluoroscopic image comprising a virtualization of the physical three-dimensional model in accordance with the spatial location and orientation of the physical three-dimensional model in the three-dimensional co-ordinate system and the at least one operating characteristic and the at least one configuration of the simulated fluoroscope; and
display the at least one new simulated fluoroscopic image with a virtualization of the three-dimensional imitation instrument superimposed on the at least one new simulated fluoroscopic image.

4. The system of claim 3 , wherein the fluoroscope simulator is further configured to, when the footswitch is released:
stop generating the at least one new simulated fluoroscopic image; and
display a last produced one of the at least one new simulated fluoroscopic image with the virtualization of the three-dimensional imitation instrument.

5. The system of claim 1 , wherein the electromagnetic sensor is positioned below the physical three-dimensional model.

6. The system of claim 1 , wherein the three-dimensional image is acquired through a computerized tomography (CT) scan or a magnetic resonance imaging (MRI) scan.

7. A surgery simulation system, comprising:
a physical three-dimensional model of a region of a human, the physical three-dimensional model comprising a plurality of physical three-dimensional submodels of anatomical structures therein, each of the plurality of physical three-dimensional submodels corresponding to a corresponding actual anatomical structure of the human located in the region, the physical three-dimensional model of the region being a three-dimensional print generated based at least in part on a three-dimensional image and each of the plurality of physical three-dimensional submodels having a haptic characteristic similar to the corresponding actual anatomical structure of the region of the human;
a three-dimensional imitation instrument of an actual surgical instrument of a type that is suitable for performing surgery in the region; and
a fluoroscope simulator in which a three-dimensional radiological image of the region and the anatomical structures therein are stored or computed by a computer system, the fluoroscope simulator being configured to:
register a spatial location and orientation of the physical three-dimensional model of the region and individually register a spatial location and orientation of each of the plurality of physical three-dimensional submodels therein, wherein the spatial location and orientation of the physical three-dimensional model is determined using an electromagnetic sensor positioned relative to the physical three-dimensional model;
register a spatial location and orientation of the three-dimensional imitation instrument, wherein the spatial location and orientation of the three-dimensional imitation instrument is determined using the electromagnetic sensor positioned relative to the physical three-dimensional model;
control, in response to user inputs, a simulation of operating characteristics and configuration of a simulated fluoroscope registered in the computer system including a simulated location and orientation of an X-ray source of the simulated fluoroscope registered in the computer system relative to the physical three-dimensional model registered in the computer system, an intensity of X-ray radiation supplied by the X-ray source, and a duration of delivery of the X-ray ra

Assignees

• Univ Florida

Inventors

• Bova Frank J
• Friedman William Alan

Classifications

• G09B23/30

  Anatomical models {(G09B23/281 - G09B23/288 take precedence)} · CPC title

• G09B23/28

  for medicine · CPC title

• G09B23/285 Primary

  for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas · CPC title

• G09B23/00

  Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes (in the nature of toys A63H) · CPC title

• G09B23/34

  with removable parts · CPC title