DE3937035A1 - SYSTEM FOR COMPUTER SIMULATION OF INTERVENTIONS IN HUMAN BODY - Google Patents

SYSTEM FOR COMPUTER SIMULATION OF INTERVENTIONS IN HUMAN BODY

Info

Publication number
DE3937035A1
DE3937035A1 DE19893937035 DE3937035A DE3937035A1 DE 3937035 A1 DE3937035 A1 DE 3937035A1 DE 19893937035 DE19893937035 DE 19893937035 DE 3937035 A DE3937035 A DE 3937035A DE 3937035 A1 DE3937035 A1 DE 3937035A1
Authority
DE
Germany
Prior art keywords
diagnostic
computer
human body
sensor
sensors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE19893937035
Other languages
German (de)
Inventor
Roland Maier
Frank Dr Med Fueting
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
MAIER ROLAND DIPL MATH
Original Assignee
MAIER ROLAND DIPL MATH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by MAIER ROLAND DIPL MATH filed Critical MAIER ROLAND DIPL MATH
Priority to DE19893937035 priority Critical patent/DE3937035A1/en
Priority to PCT/DE1990/000839 priority patent/WO1991006935A1/en
Publication of DE3937035A1 publication Critical patent/DE3937035A1/en
Withdrawn legal-status Critical Current

Links

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

Abstract

A system for computerized simulation of diagnostic and/or therapeutic operations on the human body is useful for training and post-graduate training.

Description

Sowohl in der medizinischen Aus- als auch Weiterbildung kön­ nen diagnostische und therapeutische Eingriffe nur mangel­ haft geübt werden. Dabei bleibt häufig nur die Möglichkeit, unter Anleitung eines erfahrenen Mediziners am lebenden Pa­ tienten zu üben und zu lernen. Da der ausbildende Mediziner häufig nicht schnell genug eingreifen kann, führt dies zu einer unverantwortlichen Gefährdung des Patienten. Diese Problematik stellt sich allerdings nicht nur in der Aus- und Weiterbildung, sondern auch im späteren medizinischen Wir­ ken, da gewisse Eingriffe und Maßnahmen so selten in der täglichen Praxis vorkommen, daß der Arzt zwangsläufig eine unter Umständen vorhandene Routine verliert.Both in medical education and training Diagnostic and therapeutic interventions are inadequate be practiced in custody. Often there is only the possibility under the guidance of an experienced medical doctor at the living Pa to practice and learn. Because the training medical doctor often cannot intervene quickly enough, this leads to an irresponsible risk to the patient. These However, problems do not only arise in education and training Continuing education, but also in the later medical we because certain interventions and measures are so rare in the daily practice that the doctor inevitably has a possibly existing routine loses.

Und aus dieser Erkenntnis heraus stellt sich die vorliegende Erfindung die Aufgabe, ein System zur Simulation von diagnostischen und therapeutischen Eingriffen (Untersuchungen, therapeutische Maßnahmen, Operationen, Erprobung neuer, gefährlicher Maß­ nahmen an und im menschlichen Körper an allen definierten Stellen und/oder Öffnungen des menschlichen Körpers) zu schaffen.And from this Knowledge turns out the present invention Task, a system for the simulation of diagnostic and therapeutic interventions (examinations, therapeutic Measures, operations, testing new, dangerous levels assumed and defined in all in the human body Places and / or openings of the human body) create.

Dies wird erfindungsgemäß durch die Merkmale des Patentan­ spruches 1 erreicht. Das Gesamtsystem besteht aus einer Nach­ bildung des menschlichen Körpers, mit Nachbildungen von Kör­ peröffnungen (die allerdings im Innern ins Leere führen). Die Körperöffnungen sind entsprechend zur Aufnahme der Sen­ sorik ausgebildet. Dabei ist es möglich, daß jede Körperöff­ nung ihre eigene Sensorik hat, es kann allerdings auch eine austauschbare Sensorik gewählt werden. Diese Sensorik kann in anderen Varianten an allen anderen Körperstellen ange­ bracht werden (z. B. um Katheteruntersuchungen und/oder das Verabreichen einer Punktion zu simulieren). Mit Hilfe dieser Sensorik wird der Ort der Spitze des medizinischen Instru­ mentes bzw. der für Übungszwecke gewählten Nachbildung dieses Instrumentes exakt vermessen. Dies geschieht durch Messen von Längen, Winkeln und Drehungen. Desweiteren können Senso­ ren in dem Instrument selbst angebracht sein, die weitere Zusatzfunktionen erfassen. Mit Hilfe dieser Informationen können dann in einem grafik-orientierten Rechner Simulatio­ nen durchgeführt werden. Bestandteil des Rechnersystems ist ein Programmsystem, das die Struktur der zu simulierenden Teile des menschlichen Körpers in einem Speicher, der Bild­ datenbank, abbildet. Darüber hinaus können auch in einem realistischen Modell des zu simulierenden Teils des mensch­ lichen Körpers vermittels elektronischer Abtastung (z. B. Video) Bilder für die Datenbank bereitgestellt werden. Das System wird anhand der Darstellungen weiter erläutert.This is according to the invention by the features of the patent spell 1 reached. The overall system consists of an after education of the human body, with replicas of bodies openings (which lead to the void inside). The body openings are corresponding to the reception of the sen  Sorik trained. It is possible that every body opening has its own sensor system, but it can also interchangeable sensors can be selected. This sensor technology can in other variants on all other parts of the body be brought up (e.g. for catheter examinations and / or that To administer a puncture). With the help of this Sensor technology becomes the location of the top of the medical instru mentes or the replica chosen for exercise purposes Measure instruments precisely. This is done by measuring of lengths, angles and rotations. Furthermore, Senso the other be installed in the instrument itself Record additional functions. With the help of this information can then simulate in a graphics-oriented computer be carried out. Is part of the computer system a program system that simulates the structure of the Parts of the human body in a memory, the picture database, maps. In addition, you can also in one realistic model of the part of the human being to be simulated body by means of electronic scanning (e.g. Video) Images are provided for the database. The system is further explained on the basis of the representations.

Es zeigtIt shows

Fig. 1 ein Blockschaltbild des Systems, Fig. 1 is a block diagram of the system,

Fig. 2 schematisch eine Anordnung zur Durchführung der Simulation mit einem schematisierten Instrument. Fig. 2 shows schematically an arrangement for performing the simulation with a schematic instrument.

Ein Diagnostik- und Therapieinstrument, im vorliegenden Bei­ spiel ein Endoskop (A) wird zur Magenuntersuchung durch den Mund dargestellt. Dabei handelt es sich um ein leicht modi­ fiziertes Originalinstrument der ärztlichen Praxis. An die­ sem sind Sensoren (1) angebracht, die im Zusammenspiel mit den Sensoren (2) an der Körpernachbildung (B und Ausschnitt) zur Messung von Längen, Winkeln und Drehung in der Lage sind, den räumlichen Ort der Spitze des Diagnostik- und The­ rapieinstrumentes in der Nachbildung des menschlichen Kör­ pers (B) exakt festzustellen. Dabei dient das proximale Ende einschl. der hier vorhandenen Steuereinrichtungen als Infor­ mationsgeber. Diese Informationen werden also als Eingangs­ signale in den Rechner übertragen und dort weiter verarbei­ tet. Bei dem Rechner handelt es sich um einen Real-Zeit-Rechner für Bildverarbeitung. Im Speicher dieses Systems, in der Datenbank, bzw. im realistischen Modell ist der zu manipulierende Gegenstand, im Beispiel nach (Fig. B) die Mageninnenwand einschließlich pathologischer Veränderun­ gen exakt nachgebildet. In der Bilddatenbank können natür­ lich sämtliche relevanten Teile des menschlichen Körpers gespeichert sein. Aufgrund der Sensorinformationen errechnet der Rechner das dem Ort der Sensorspitze zugehörige Bild und stellt es über eine Datenleitung in Realzeit auf dem Sicht­ system dar, das im Diagnostik- und Therapieinstrument inte­ griert sein kann oder auch separat angeordnet ist.A diagnostic and therapeutic instrument, in the present example an endoscope (A) is shown through the mouth for gastric examination. It is a slightly modified original instrument from medical practice. At this sem sensors ( 1 ) are attached which, in interaction with the sensors ( 2 ) on the body replica (B and neckline) for measuring lengths, angles and rotation, are able to determine the spatial location of the tip of the diagnostic and the therapy instrument in the replica of the human body (B) to be determined exactly. The proximal end including the control devices available here serves as information transmitter. This information is transmitted to the computer as input signals and processed there. The computer is a real-time computer for image processing. In the memory of this system, in the database, or in the realistic model, the object to be manipulated, in the example according to ( FIG. B), the inner stomach wall including pathological changes is exactly reproduced. All relevant parts of the human body can of course be stored in the image database. Based on the sensor information, the computer calculates the image associated with the location of the sensor tip and displays it in real time on the viewing system via a data line, which can be integrated in the diagnostic and therapeutic instrument or can also be arranged separately.

Die Nachbildung des menschlichen Körpers besteht - wie ange­ deutet - aus flexiblem Material und dient im wesentlichen nur dazu, das Diagnostik- und Therapieinstrument in die relevan­ ten Körperöffnungen einführen zu können und mit Hilfe der dort angebrachten Sensorik zusammen mit den ggfs. im Instru­ ment vorhandenen Sensoren den Ort der Untersuchungsspitze eindeutig zu bestimmen. The replica of the human body exists - as indicated indicates - made of flexible material and essentially only serves to the diagnostic and therapeutic instrument in the relevant body openings and with the help of sensors installed there together with the possibly in the instru existing sensors the location of the probe tip to be clearly determined.  

Ein weiteres wichtiges Teil ist eine rechnergestützte Arre­ tier- und/oder Bremseinrichtung (3). Sie simuliert den Wider­ stand, der dem Diagnostik- und/oder Therapieinstrument bei der Untersuchung entgegengesetzt wird. Die beschriebene Bremsvorrichtung (3) wird dann wirksam, wenn bei der Simula­ tion erkannt wird, daß das diagnostisch-therapeutische "In­ strument" von dem zu untersuchenden Medium (z. B. Speise­ röhre, Knochen) berührt wird.Another important part is a computer-based locking device and / or braking device ( 3 ). It simulates the resistance that is opposed to the diagnostic and / or therapeutic instrument during the examination. The braking device ( 3 ) described is effective when it is recognized in the simulation that the diagnostic-therapeutic "instrument" is touched by the medium to be examined (e.g. esophagus, bone).

Software-SystemSoftware system

Das Software-System ist in der Lage, Bilder entsprechend den Sensorinformationen und/oder den Informationen aus dem realisti­ schen Modell aus der Bilddatentechnik aufzubauen und daraus die ent­ sprechenden Bildinformationen verarbeitet oder unverarbeitet zur Darstellung zu bringen.The software system is able to match the images Sensor information and / or the information from the realisti to build the model from image data technology and the ent speaking image information processed or unprocessed for Bring representation.

Wesentlich dabei ist, daß die Bilddatenbank durch den Rechner verändert werden kann (z. B. Krankheitsbilder erzeugen).It is essential that the image database by the computer can be changed (e.g. generate clinical pictures).

Weiterhin hat das System Komponenten, die Statistik- und Fehler­ analysen der Simulationen gestatten.The system also has components, statistics and errors allow analysis of the simulations.

Weiterhin können dem "Schüler" durch das System "erfolgreiche" Untersuchungsabläufe vorgespielt werden, um in die neuesten Unter­ suchungsmethoden und deren Durchführung einzuführen.Furthermore, the system enables the "student" to "successfully" Investigation procedures are auditioned to get into the latest sub introduce search methods and their implementation.

Weiterhin kann das System so gestaltet werden, daß auch neue Ope­ rationsmethoden vermittels Simulation erforscht und erprobt wer­ den können.Furthermore, the system can be designed so that new operas ration methods are researched and tested by means of simulation that can.

Claims (5)

1. System zur rechnergestützten Simulation von diagnosti­ schen und/oder therapeutischen Eingriffen im menschlichen Körper, dadurch gekennzeichnet, daß eine Nachbildung eines menschlichen Körpers mit einer Sensorik im zur Simulation vorgesehenen Bereich ausgestattet ist, daß diese Sensorik und Sensoren eines Diagnostik- und/oder Therapieinstrumentes Meßwerte in Form von Sensorinformationen an einen Rechner mit Bilddatentechnik wei­ terleitet, und daß der Rechner die Sensorinformationen und die Informationen aus den Bedienereingaben im Abgleich mit der Bilddatenbank über einen Bildaufbau in visuelle Bilder auf einem Sichtsystem umsetzt.1. System for computer-aided simulation of diagnostic and / or therapeutic interventions in the human body, characterized in that a replica of a human body is equipped with sensors in the area provided for simulation, that these sensors and sensors of a diagnostic and / or therapeutic instrument Measured values in the form of sensor information are forwarded to a computer with image data technology, and that the computer converts the sensor information and the information from the operator inputs into visual images on a vision system in comparison with the image database via an image structure. 2. System nach Anspruch 1, dadurch gekennzeichnet, daß die Sensorik austauschbar ist, und daß die dazu erforderlichen Aufnahmen in der menschlichen Nachbildung vorgesehen sind.2. System according to claim 1, characterized in that the Sensor technology is interchangeable, and that the necessary Recordings in human replica are provided. 3. System nach Anspruch 2, dadurch gekennzeichnet, daß die Sensorik mit einer Kodierung versehen ist, die den entspre­ chenden Bereich der Bilddatenbank im Rechner ansteuert.3. System according to claim 2, characterized in that the Sensor technology is provided with a coding that corresponds to the controls the corresponding area of the image database in the computer. 4. System nach einem der Ansprüche 1 bis 3, dadurch gekenn­ zeichnet, daß das Sichtsystem im Diagnostik- und/oder The­ rapiegerät integriert ist.4. System according to any one of claims 1 to 3, characterized records that the vision system in the diagnostic and / or The therapy device is integrated. 5. System nach einem der Ansprüche 1 bis 4, dadurch gekenn­ zeichnet, daß das Diagnostik- und/oder Therapiegerät mit zumindest einem Zusatzsensor zur Simulation von Zusatzein­ richtungen versehen ist.5. System according to any one of claims 1 to 4, characterized records that the diagnostic and / or therapy device with at least one additional sensor for simulating additional ones directions is provided.
DE19893937035 1989-11-07 1989-11-07 SYSTEM FOR COMPUTER SIMULATION OF INTERVENTIONS IN HUMAN BODY Withdrawn DE3937035A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE19893937035 DE3937035A1 (en) 1989-11-07 1989-11-07 SYSTEM FOR COMPUTER SIMULATION OF INTERVENTIONS IN HUMAN BODY
PCT/DE1990/000839 WO1991006935A1 (en) 1989-11-07 1990-11-07 System for computerized simulation of operations on the human body

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE19893937035 DE3937035A1 (en) 1989-11-07 1989-11-07 SYSTEM FOR COMPUTER SIMULATION OF INTERVENTIONS IN HUMAN BODY

Publications (1)

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DE3937035A1 true DE3937035A1 (en) 1991-05-08

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Cited By (1)

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WO1999038141A1 (en) * 1998-01-26 1999-07-29 Simbionix Ltd. Endoscopic tutorial system

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FR2687821A1 (en) * 1992-02-21 1993-08-27 Refait Denis APPARATUS FOR SIMULATING PHYSIOLOGICAL AND PHYSIOPATHOLOGICAL STATES.
DE4212908A1 (en) * 1992-04-18 1993-10-21 Martin Neumann Surgical simulation model, including methods for practicing training operations, performing success checks, or the like
US5731804A (en) 1995-01-18 1998-03-24 Immersion Human Interface Corp. Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems
US5623582A (en) 1994-07-14 1997-04-22 Immersion Human Interface Corporation Computer interface or control input device for laparoscopic surgical instrument and other elongated mechanical objects
US7819799B2 (en) 2000-03-16 2010-10-26 Immersion Medical, Inc. System and method for controlling force applied to and manipulation of medical instruments
IL143255A (en) 2001-05-20 2015-09-24 Simbionix Ltd Endoscopic ultrasonography simulation
US7056123B2 (en) 2001-07-16 2006-06-06 Immersion Corporation Interface apparatus with cable-driven force feedback and grounded actuators
US7505030B2 (en) 2004-03-18 2009-03-17 Immersion Medical, Inc. Medical device and procedure simulation

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US4726772A (en) * 1986-12-01 1988-02-23 Kurt Amplatz Medical simulator
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DE3741833C1 (en) * 1987-12-10 1989-04-20 Wolf Gmbh Richard Device for monitoring the operating conditions of supply devices for endoscopes
DE3834553A1 (en) * 1988-10-11 1990-04-12 Siegfried Dr Med Kubin Coloscopy simulator

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DE2245037A1 (en) * 1972-09-14 1974-03-21 Klaus Prof Dr Med Heinkel EXERCISE DEVICE FOR ENDOSCOPY AND ENDOSCOPIC BIOPSY
US4360345A (en) * 1980-07-14 1982-11-23 American Heart Association, Inc. Health education system
US4459113A (en) * 1981-08-31 1984-07-10 Boscaro Gatti Antonino E Device for specializing in the use of endoscopes
FR2592514A1 (en) * 1985-12-27 1987-07-03 Beer Gabel Marc Simulation apparatus for study of endoscopy
DE3638192A1 (en) * 1986-11-08 1988-05-19 Laerdal Asmund S As SYSTEM AND METHOD FOR TESTING A PERSON IN CARDIOPULMONARY RESURRECTION (CPR) AND EVALUATING CPR EXERCISES
US4726772A (en) * 1986-12-01 1988-02-23 Kurt Amplatz Medical simulator
DE3741833C1 (en) * 1987-12-10 1989-04-20 Wolf Gmbh Richard Device for monitoring the operating conditions of supply devices for endoscopes
DE3834553A1 (en) * 1988-10-11 1990-04-12 Siegfried Dr Med Kubin Coloscopy simulator

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1999038141A1 (en) * 1998-01-26 1999-07-29 Simbionix Ltd. Endoscopic tutorial system
US6857878B1 (en) 1998-01-26 2005-02-22 Simbionix Ltd. Endoscopic tutorial system

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