Vascular simulator

Abstract

This system enables the visualization of endovascular procedures and provides a vascular simulator for visualizing and quantifying the forces applied to blood vessels during procedures. [Solution] The vascular simulator may include a vascular model system, which includes a base, a mounting point, a tube attached to the mounting point, a sensor, the mounting point being attached to the sensor, the sensor being attached to the base, and the sensor being configured to detect the force exerted on the tube from a guidewire moving through the tube, a camera, the camera being positioned to capture real-time images of the base, the mounting point, and the tube, and a controller being configured to produce a visual output of the real-time image with a display of the force exerted on the tube from the guidewire.

Description

Technical Field

[0001] This application generally relates to simulations of blood vessels for visualizing and quantifying the forces applied to blood vessels during procedures.

Background Art

[0002] Endovascular procedures are minimally invasive procedures that use catheters and other devices to diagnose, treat, or otherwise observe the condition within a patient's blood vessels. Various conditions are treated through endovascular procedures, and guidewires are often used to guide medical devices within a patient's blood vessels. The process of inserting a guidewire into a blood vessel is complex and difficult. Furthermore, this process requires training and experience.

[0003] Endovascular procedures are used to treat various conditions. However, tortuous tissue within the body can increase the difficulty of guiding a guidewire and / or an endovascular device to the target site. During endovascular medical procedures, inserting a guidewire and an endovascular device into a blood vessel is difficult and extremely important. Improper insertion of a guidewire and an endovascular device can cause serious injury to the patient. Obtaining such experience in endovascular procedures is necessary for the education of those involved, but it is difficult to provide such experience outside of live patients.

Summary of the Invention

[0004] Embodiments of the present disclosure relate to the simulation of a blood vessel for visualizing and quantifying the forces applied to the blood vessel during an endovascular procedure using a system that enables visualization of the endovascular procedure. An exemplary blood vessel simulator of the present disclosure may include a blood vessel model system, the blood vessel model system comprising: a substrate; at least one mounting point; a tube attached to at least one mounting point; at least one sensor, wherein at least one mounting point is attached to at least one sensor, at least one sensor is assembled to the substrate, and at least one sensor is configured to detect forces exerted on the tube from a guidewire traveling through the tube at at least one mounting point; a camera, the camera is positioned to capture real-time images of the substrate; at least one mounting point; and the tube; and a controller, the controller is configured to produce a visual output of a real-time image with a display of forces exerted on the tube from a guidewire traveling through the tube at at least one mounting point.

[0005] According to some embodiments, the display includes a force vector superimposed on one of at least one mounting points, and the force vector provides a representation of the force exerted on the tube from a guide wire traveling through the tube at at least one mounting point. According to certain embodiments, the force vector provides a representation of the direction of the force exerted on the tube from a guide wire traveling through the tube at at least one mounting point. In exemplary embodiments, the force vector defines a size, and the size of the force vector reflects the magnitude of the force exerted on the tube from a guide wire traveling through the tube at at least one mounting point.

[0006] According to some embodiments, the force vector defines a color, and the color of the force vector reflects the magnitude of the force exerted on the tube by a guide wire traveling through the tube at at least one mounting point. According to some embodiments, the color of the force vector is a first color in response to the magnitude of the force exerted on the tube by the guide wire traveling through the tube at at least one mounting point being below a threshold, and the color of the force vector is a second color in response to the magnitude of the force exerted on the tube by the guide wire traveling through the tube at at least one mounting point being above a threshold.

[0007] In some embodiments, at least one mounting point is rotatable with respect to at least one sensor. In some embodiments, at least one mounting point is connected to at least one sensor by a magnet. According to certain embodiments, at least one mounting point is repositionable within the substrate. In some embodiments, at least one mounting point and the tube attached to at least one mounting point are arranged to simulate the shape and size of blood vessels in the human vascular system. According to certain embodiments, at least one sensor comprises a pair of load cells configured to measure the force exerted on the tube by a guide wire traveling through the tube at the mounting point on two orthogonal axes.

[0008] Embodiments provided herein include a method for visualizing the force of a guidewire in a vascular model, the method comprising: arranging at least one mounting point on a substrate; attaching a tube to at least one mounting point; connecting a sensor between at least one mounting point and the substrate; using the sensor to measure the force exerted on the tube by a guidewire moving through the tube; capturing real-time images of the substrate, at least one mounting point, and the tube; and generating a visual output of the real-time image with a display of the force exerted on the tube by the guidewire moving through the tube.

[0009] Some embodiments of the method include providing a representation of the force exerted on the tube by a guide wire traveling through the tube at at least one mounting point as a force vector. According to some embodiments, the force vector provides a representation of the direction of the force exerted on the tube by a guide wire traveling through the tube at at least one mounting point. According to certain embodiments, the force vector defines a size, and the size of the force vector reflects the magnitude of the force exerted on the tube by a guide wire traveling through the tube at at least one mounting point.

[0010] In exemplary embodiments, the force vectors define a color, and the color of the force vectors reflects the magnitude of the force exerted on the tube by a guide wire traveling through the tube at at least one mounting point. According to some embodiments, the color of the force vector is a first color in response to the magnitude of the force exerted on the tube by the guide wire traveling through the tube at at least one mounting point being below a threshold, and the color of the force vector is a second color in response to the magnitude of the force exerted on the tube by the guide wire traveling through the tube at at least one mounting point being above a threshold.

[0011] In the exemplary embodiments, at least one mounting point is rotatable relative to the sensor. According to some embodiments, at least one mounting point is connected to the sensor by a magnet. The method of some embodiments further includes repositioning the at least one mounting point within the substrate. In the exemplary embodiments, the at least one mounting point and the tube to which the at least one mounting point is attached are positioned on the substrate to simulate the shape and size of blood vessels in the human vascular system. According to some embodiments, the sensor includes a pair of load cells configured to measure the force exerted on the tube by a guide wire traveling through the tube at the mounting point on two orthogonal axes.

[0012] Embodiments provided herein include a computer program product comprising at least one non-temporary computer-readable storage medium storing a computer-executable program code portion therein, the computer-executable program code portion comprising program code instructions, the program code instructions configured to measure, by at least one sensor, a force exerted on the tube from a guide wire traveling through the tube on a substrate at one or more mounting points, capture real-time images of the substrate, one or more mounting points, and the tube, and generate a visual output of the real-time image with a display of the force exerted on the tube from the guide wire traveling through the tube on one or more mounting points.

[0013] Some embodiments of the computer program product further include program code instructions that provide a representation of the force exerted on the tube by a guide wire traveling through the tube at one or more mounting points as a force vector. In exemplary embodiments, the force vector provides a representation of the direction of the force exerted on the tube by a guide wire traveling through the tube at one or more mounting points. In some embodiments, the force vector defines a size, and the size of the force vector reflects the magnitude of the force exerted on the tube by a guide wire traveling through the tube at one or more mounting points.

[0014] In exemplary embodiments, the force vectors define a color, and the color of the force vector reflects the magnitude of the force exerted on the tube by a guide wire traveling through the tube at one or more mounting points. According to some embodiments, the color of the force vector is a first color in response to the magnitude of the force exerted on the tube by the guide wire traveling through the tube at one or more mounting points being below a threshold, and the color of the force vector is a second color in response to the magnitude of the force exerted on the tube by the guide wire traveling through the tube at one or more mounting points being above a threshold.

[0015] Having described embodiments of this disclosure using general terminology, please now refer to the attached drawings. The attached drawings are not necessarily drawn to a fixed scale. [Brief explanation of the drawing]

[0016] [Figure 1] This figure shows an example of a system for visualizing forces for dynamic analysis of an object, according to an exemplary embodiment of the present disclosure. [Figure 2] This is a diagram of an exemplary embodiment of an image that may be presented on a display device, including force vectors indicated by arrows superimposed on a mounting point, according to an exemplary embodiment of the present disclosure. [Figure 3] Figure 2 shows a diagram of the system according to an exemplary embodiment of the present disclosure, in which the guidewire is further advanced into the tube. [Figure 4] This is a diagram of the system from a different viewpoint according to an exemplary embodiment of the present disclosure, showing a substrate to which mounting points are assembled. [Figure 5] This is a diagram of a substrate formed from a frame according to an exemplary embodiment of the present disclosure, with the work surface removed. [Figure 6] This figure shows an exemplary embodiment of a mounting point, including a stem and an adjustable fastener, according to an exemplary embodiment of the present disclosure. [Figure 7] This figure shows an exemplary embodiment of a controller for a system that provides blood vessel simulation and makes endovascular procedures, along with the forces experienced by the blood vessels during such procedures, as described in the exemplary embodiments of the present disclosure. [Figure 8] This flowchart illustrates an exemplary embodiment of the present disclosure of a method for providing a simulation of blood vessels and making an endovascular procedure, along with the forces experienced by the blood vessels during such a procedure, visualized. [Modes for carrying out the invention]

[0017] Next, some embodiments of this disclosure will be described more fully below with reference to the accompanying drawings illustrating some, but not all, embodiments of this disclosure. Similar reference figures refer to similar elements throughout the drawings. In fact, various embodiments of this disclosure may be embodied in numerous different forms and should not be construed as an limitation to the embodiments shown herein. Rather, these embodiments are provided so as to satisfy the applicable legal requirements of this disclosure.

[0018] As used herein, the term "or" is used in both its alternative and conjunctive sense unless otherwise noted. The term "alongside" and similarly used terms mean near or on an edge or other location referred to, but not necessarily directly on the edge or other location referred to. The terms "about," "generally," and "substantially" mean, unless otherwise noted, within the tolerances of the manufacturing and / or engineering design for the corresponding material and / or element. Therefore, the use of any such terms or similarly interchangeable terms should not be construed as limiting the spirit and scope of the embodiments of this disclosure.

[0019] As used herein, the terms “approximately” or “about” refer to measurable values—for example, length, width, height, distance, etc.—and mean to include variations of ±20%, ±10%, ±5%, ±1%, ±0.5%, or even ±0.1% of the specified quantity. The ranges provided herein for measurable values ​​may include any other ranges and / or individual values ​​within any other ranges.

[0020] Generally, various embodiments of the present disclosure provide an improved design for simulating the configuration of blood vessels in a patient's body in the form of a blood vessel model. The embodiments provide visualization of a guide wire or other device as it is advanced within the simulated blood vessel, while a sensor measures the force exerted by the guide wire as it is advanced along a complex path within the simulated blood vessel. In some embodiments, a camera captures real-time images of the procedure, while the measured force is overlaid on the real-time images and presented on a display device. By doing so, real-time feedback of the force exerted on the simulated blood vessel as the guide wire is advanced into the blood vessel model may be provided to the user. In this way, the user may be trained to more safely and accurately guide a guide wire through a tortuous environment.

[0021] It should be understood and appreciated that such a background is provided as an example and method of use of a blood vessel simulator that provides both visual feedback and force feedback to the user. The guide wire used herein is an example of a device that may be inserted into a blood vessel simulator. Such a guide wire may be used to guide other medical objects, such as a catheter, needle, or stent, through a blood vessel.

[0022] In various embodiments, an intravascular procedure is performed by guiding a guide wire through one or more blood vessels in order to position a medical object, such as a catheter, needle, stent, etc., within a target site where treatment is desired. However, the thin and tortuous tissue of the blood vessels can pose problems in accurately and safely guiding such a device to the target site. The vascular system is complex and involves various tortuous paths, making it a complex and difficult process to send a guide wire through a blood vessel. Furthermore, the guide wire needs to be flexible while also being rigid enough to be properly guided through the blood vessel, which is a contributing factor to the conflicting design parameters that limit the guide wire.

[0023] Guidewires are generally relatively flexible and provide significant torque transmission such that the guidewire can be fed into a patient's blood vessel and advanced along the path of such a blood vessel while traversing to a target position. Guidewires are available in various diameters and may be made from various materials. When inserting such a guidewire into a patient's blood vessel, the guidewire may be ideally guided along the path of the blood vessel. However, due to limitations in the degree of flexibility required to achieve a sufficiently rigid guidewire, it may be difficult to traverse a curved path of a blood vessel. Improper insertion of a guidewire can damage the blood vessel and cause injury to the patient.

[0024] Embodiments described herein provide devices, systems, and methods for measuring and visualizing forces exerted on a blood vessel by a guidewire. Understanding the reaction forces from a blood vessel in response to the insertion and guidance of a guidewire through the blood vessel is important to practitioners. Excessive force from the guidewire to the blood vessel can damage the blood vessel and lead to catastrophic results such as subarachnoid hemorrhage. Embodiments provide a system that individually shows and visualizes the reaction forces from the blood vessel to practitioners and engineers developing cardiovascular devices, enabling the practitioners and engineers to understand the dynamic characteristics of the procedure, differences in the devices used, and improve the skills of the practitioners.

[0025] According to an exemplary embodiment described herein, a medical practitioner may deliver an intravascular device through a blood vessel model while observing a display of the force as the guidewire used by the medical practitioner presses against the blood vessel wall and the force as the guidewire presses against or penetrates an occlusion. Any force exerted on the blood vessel by the intravascular device may be measured and visually presented to the user. Since these forces are used to deliver the device to a target blood vessel, retrieve a thrombus, or penetrate a chronic total occlusion (CTO), it is desirable that data related to such forces be known for the effectiveness of the intravascular device. Since these forces may cause rupture of the blood vessel wall, force information may be important for the safety of the device and the procedure by the intervention.

[0026] Figure 1 shows an example of a system 100 for visualizing forces for dynamic analysis of an object. As shown, the tube 110 is held in place using mounting points 120 of the system 100. The tube may be made of, for example, silicone or other material. According to some embodiments, the tube may be specially configured to have wall thickness and strength that may simulate a blood vessel wall. However, such a tube is not essential for understanding the forces acting on the simulated blood vessel, as force feedback does not depend on this. A guidewire 130 may be inserted into the tube 110 and guided along the tube, through bends in the tube. A series of mounting points 122, 124 and 126 may be assembled to the base 105 of the system 100, and force sensors are positioned between the mounting points and the base.

[0027] The force sensor is configured to detect the force acting on the mounting point. The force sensor may include a load cell, such as a highly sensitive load cell with an accuracy of 0.01 grams or less, to measure the force at the mounting point when the user manipulates the guidewire 130 through the tube 110. The force sensor may optionally include a pressure sensor, strain gauge, piezoelectric sensor, optical force sensor, inductive force sensor, magnetic force sensor, etc. The force sensor may measure forces acting in two dimensions, such as forces along the X and Y axes shown in Figure 1. Optionally, the force sensor may be configured to detect forces acting in three dimensions, such as in scenarios where the vascular simulator includes a vascular model with a Z-axis dimension. As shown in the figure, the first force indicated by arrow 140 may be acting within the tube 110, such as a force based on friction of the guidewire 130, and this force is involved on the side of the tube and is measured at the mounting point 122. The second force, indicated by arrow 150, may be exerted at the mounting point 124 within the tube 110, such as when the guide wire rotates around the bend at the mounting point.

[0028] For real-time visualization, the forces measured at each mounting point may be presented on a display device in the form of numerical force values, or, in some embodiments, as arrows superimposed on the video feed of system 100 at the respective locations of the force-measuring sensors. Such a bidirectional display device may provide real-time force feedback due to the dynamic interaction between the vessel wall and the guidewire during treatment. This allows the user to feel or tactilely the guidewire and understand what frictional force is acceptable and when the force becomes excessive.

[0029] Figure 2 shows an exemplary embodiment of an image that may be presented on a display device, including force vectors indicated by arrows superimposed on the mounting points. As shown, the force vector indicated by arrow 240 indicates the frictional force between the guidewire 130 and the neck of system 100 corresponding to the internal carotid artery (ICA), and a portion of the reaction force from the pyramidal and cavernous sinus regions measured at mounting point 122. The force vector indicated by arrow 250 on the right / upper portion of system 100 indicates the force from the cavernous sinus to the entrance of the middle cerebral artery (MCA), measured at mounting point 124. Both force vectors indicate that when the user pushes the guidewire 130, the blood vessel represented by tube 110 exerts counter-pressure on the wire. If the user releases the force before pushing the wire sufficiently deep, the wire will be "pushed back".

[0030] As the user pushes the guidewire 130 further, the force increases. A force sensor at the mounting point 126 in the upper left corner may detect the frictional force between the tip of the guidewire 130 and the blood vessel wall, indicated by the arrow 260 measured at the mounting point 126. Figure 3 shows the system of Figure 2, with the guidewire 130 pushed further into the tube 110. As shown in the figure, the tip of the guidewire 130 is twisted and coiled at 132, so that the tip pushes directly against the tube 110, resulting in a force that is easily noticeable, reflected by the larger arrow 260 at the mounting point 126.

[0031] Figure 4 shows the system 100 from a different viewpoint, showing the base 105 and mounting points 122, 124, and 126 attached to the base 105. A camera 300 is also shown, which is positioned on an arm 305 extending over the base 105. This camera 300 is used to capture real-time images of the tube and mounting points when the user inserts the guide wire into the tube, and the captured real-time images may be displayed on a display device 350 with force arrows superimposed on the real-time images. A work surface 310 is also shown in Figure 4. This work surface is typically a light color, such as white, so that the tube and mounting points are visible in the camera's field of view and the guide wire moving through the tube is visible due to the contrast.

[0032] Figure 5 shows the base 105 with the work surface removed. The base 105 is formed from a frame 400, which may be a structurally sound frame made from a material such as aluminum. Adjustable cross members 410 are located within the frame 400. These adjustable cross members may be rearranged within the frame, and the mounting points 122, 124, and 126 can be rearranged along the length of the cross members 410. This allows the mounting points to be adjusted to any position within the frame, making it possible to reproduce any shape and size of blood vessels.

[0033] The frame may also include a controller 420 which contains a circuit board to which load sensors are connected. The controller 420, further described below, may also include the function of receiving a video feed captured via the camera 300 and superimposing arrows representing the forces measured at each mounting point by each load sensor. The controller 420 then outputs the video feed to a display device, and the user may view a real-time image of the system 100 and the real-time forces measured at each of the mounting point force sensors on the display device. The controller 420 may be configured with a number of ports 422, each port enabling the connection of force sensors. Depending on the particular vascular model being simulated, more or fewer mounting points and corresponding force sensors may be used.

[0034] Figure 6 shows an exemplary embodiment of a mounting point 500 including a stem 510 and an adjustable fastener 520. The stem 510 is attached to the base via a force sensor (e.g., on a cross member) when it is mounted to the base. The adjustable fastener 520 secures the tube to the mounting point, and this adjustability allows for the use of tubes of various diameters.

[0035] The mounting point 500 may rotate so that the adjustable fastener 520 holds the tube in the correct orientation when attached to the base. Optionally, the adjustable fastener 520 may be freely rotatable on the stem 510 using a magnet, a rotatable fastener (e.g., a rivet), or other mechanism. Furthermore, although the adjustable fastener 520 shown is dark in color, the adjustable fastener may optionally be transparent to improve visibility inside the tube.

[0036] Mounting points in the work surface image, and mounting points themselves, may be identified by object recognition, thereby identifying the adjustable fastener 520 as a mounting point. The user may configure which sensor each recognized mounting point is associated with. Optionally, the user may identify mounting points in the image and associate them with corresponding sensors. This allows the controller 420 to appropriately position arrows that are superimposed on the image when displayed on the display device.

[0037] According to some embodiments, the controller 420 communicates with a user interface such as a display device via a communication interface or the like. The display device may be used to display images of the work surface, mounting points, guide wires, and superimposed force vectors. This may provide a display of the magnitude of the force received at each mounting point in response to the insertion and movement of the guide wire into the tube. The magnitude of the force received at each mounting point may be communicated by the size (length and / or width) of the force vector arrows. Optionally, a force threshold may be used to identify when the force is below a magnitude that could cause vascular damage. This may be communicated by the color of the force vector arrows, such as green. Optionally, another threshold may be used to identify when the force is approaching a magnitude that could cause vascular damage. This may be communicated by the color of the force vector arrows (e.g., yellow) and / or by a warning displayed on the display device. If the force received at a mounting point exceeds the threshold that could cause vascular damage, this may be communicated to the user by the color of the force vector arrows, such as red, and / or by a warning displayed on the display device.

[0038] The thresholds described above may be associated with the type of blood vessel represented by the tube, and different blood vessels may have varying strengths and capacities to withstand different forces. The thresholds may also be associated with patient characteristics. For example, since infants or elderly patients may have weaker blood vessels, the threshold for forces that could damage such vessels may be lower.

[0039] Figure 7 shows an exemplary embodiment of the system's controller 420, which provides a simulation of blood vessels and makes the intravascular procedures provided herein, along with the forces experienced by the blood vessels during such procedures, visualized. The controller 420, represented through the apparatus 600 in the schematic diagram of Figure 7, which is an example of the apparatus 600, is configured to perform the procedures described herein. The apparatus 600 may include a processor 610, a memory 620, a communication module 630, a user interface 640, and sensors 650, which may include the force sensors described above, or otherwise be able to communicate with these. Thus, in some embodiments, devices or elements are shown communicating with each other, but hereafter, such devices or elements should be considered as being able to be embodied within the same device or element, and therefore, devices or elements shown as communicating should be understood alternatively as parts of the same device or element.

[0040] In some embodiments, the processor 610 (and / or a coprocessor, or any other processing circuit that assists the processor or is otherwise associated with the processor) may communicate with the memory 620 via a bus that passes information between components of the device. The memory 620 may include, for example, one or more volatile and / or non-volatile memories. In other words, for example, the memory 620 may be an electronic storage device (e.g., a computer-readable storage medium) comprising gates configured to store data (e.g., bits) that may be extractable by a machine (e.g., a computing device such as a processor). The memory 620 may be configured to store information, data, content, applications, instructions, etc., that enable the device 600 to perform various functions according to exemplary embodiments of the present disclosure. For example, the memory 620 may be configured to buffer input data for processing by the processor 610. Furthermore or alternatively, the memory may be configured to store instructions for execution by the processor.

[0041] The processor 610 may be embodied in several different ways. For example, the processor 610 may be embodied as one or more of various hardware processing means such as a coprocessor, microprocessor, controller, digital signal processor (DSP), processing elements with or without a DSP, or various other processing circuits such as ASICs (Application-Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), microcontroller units (MCUs), hardware accelerators, and special-purpose computer chips. Thus, in some embodiments, the processor may include one or more processing cores configured to operate independently. A multicore processor may enable multiprocessing within a single physical package. Furthermore or alternatively, the processor 610 may include one or more processors configured to work together via a bus to enable independent instruction execution, pipeline, and / or multithreading.

[0042] In exemplary embodiments, the processor 610 may be configured to execute instructions stored in memory 620, or otherwise, instructions accessible to the processor 610. Alternatively or additionally, the processor 610 may be configured to perform hardcoded functions. Thus, whether configured by hardware or software methods, or a combination thereof, the processor 610 may represent an entity configured (e.g., physically embodied in a circuit) that performs operations according to embodiments of the present invention, while also being capable of performing operations according to embodiments thereof. For example, if the processor 610 is embodied as an ASIC, FPGA, etc., the processor 610 may be hardware specifically configured to perform the operations described herein. Alternatively, as another example, if the processor 610 is embodied as an execution device for software instructions, the instructions may specifically configure the processor 610 to perform the algorithms and / or operations described herein when the instructions are executed. However, in some cases, the processor 610 may be a processor in a particular device configured to use one embodiment of the present invention by further configuring the processor 610 with instructions that perform the algorithms and / or operations described herein. The processor 610 may include, among other things, a clock, an arithmetic unit (ALU), and logic gates configured to support the operation of the processor 610. In one embodiment, the processor 610 may also include user interface circuitry configured to control the functions of at least some of the elements of the user interface 640.

[0043] The communication module 630 may include various components, such as devices or circuits, which are embodied in either hardware or a combination of hardware and software configured to send and receive data for communicating data between the device 600 and various other entities, such as a remote display system. In this regard, the communication module 630 may include, for example, an antenna (or more antennas) and supporting hardware and / or software to enable wireless communication. Further or alternatively, the communication module 630 may include circuits that interact with the antenna(s) to cause the transmission of signals via the antenna(s) or to handle the reception of signals received via the antenna(s). For example, the communication module 630 may be configured to communicate wirelessly, such as via Wi-Fi (e.g., the vehicle Wi-Fi standard 802.11p), Bluetooth, mobile communication standards (e.g., 3G, 4G, or 5G), or other wireless communication technologies. In some cases, alternatively or further, the communication module 630 may support wired communication, which may involve communication with a separate transmitting device (not shown). Therefore, for example, the communication module 630 may include a communication modem and / or other hardware / software that supports communication via cable, digital subscriber line (DSL), universal serial bus (USB), or other mechanism. For example, the communication module 630 may be configured to communicate via wired communication with other components of the computing device.

[0044] The apparatus 600 may include a sensor 650 that corresponds to a load sensor used at a mounting point. The sensor 650 may include an image sensor in the form of a camera that captures an image of the system. Signals from the sensor 650 may be processed by the processor 610 to reflect the force measured by each sensor. The range of acceptable forces may be stored, for example, in memory 620. A user interface 640, which may include a display device, may provide an overlay of an image from the image sensor and a visual representation of the force measured by the force sensor. The vascular simulation system described herein may be implemented together with a software program, such as an application (e.g., a device app), that interfaces with the system and the display device.

[0045] Having described the exemplary vascular model system provided in this disclosure, the exemplary steps of this disclosure will now be described. It will be understood that the flowchart illustrates exemplary steps for fabricating and using the vascular model system described herein. Figure 8 shows a flowchart of the method according to the exemplary embodiment of this disclosure. It should be understood that many of the blocks in the flowchart, and combinations of blocks within the flowchart, may be carried out by various means such as hardware, firmware, processors, circuits, and / or other devices associated with the execution of software including one or more computer program instructions. For example, one or more of the steps described above may be embodied by computer program instructions. In this regard, computer program instructions that embodied the steps described above may be stored in the memory 620 of the apparatus using one embodiment of the present invention and executed by the processor 610 of the apparatus. As will be understood, any such computer program instructions may be loaded into a computer or other programmable device (e.g., hardware) that generates the machine, so that the resulting computer or other programmable device performs the functions specified in the flowchart blocks. These computer program instructions may be stored in computer-readable memory, which may instruct the computer or other programmable device to function in a particular manner, such that the instructions stored in computer-readable memory produce a product, the execution of which product performs a function specified in the flowchart block. The computer program instructions may be loaded into the computer or other programmable device, which may perform a series of operations on the computer or other programmable device, which may be executed on the computer or other programmable device, which may generate a process to be performed by the computer, such that the instructions executed on the computer or other programmable device produce an operation that performs a function specified in the flowchart block.

[0046] Therefore, the blocks in a flowchart support combinations of means for performing a specified function, and combinations of actions for performing a specified function. It should also be understood that one or more blocks in a flowchart, and combinations of blocks within a flowchart, may be performed by a dedicated hardware-based computer system, or by a combination of dedicated hardware and computer instructions, for performing the specified function.

[0047] The illustrated blocks illustrate the operation of each step. Such operations may be carried out in any of several ways, including, but not limited to, the order and manner described herein. In some embodiments, one or more blocks of any of the steps described herein occur between, before, or concurrently with one or more blocks of another step, and / or as a substep of a second step. Furthermore or alternatively, any step of the various embodiments includes some or all of the operation steps described and / or shown, including one or more arbitrary blocks in some embodiments. With respect to the flowcharts shown herein, one or more of the blocks(s) shown in some embodiments are optional in some or all embodiments of this disclosure. It should be understood that one or more operations in each flowchart may be combined and interchangeable and / or modified in other ways described herein.

[0048] As shown in Figure 8, at least one mounting point is located within the substrate as indicated by 710. The tube is attached to at least one mounting point at 720. A sensor is connected between at least one mounting point and the substrate as indicated by 730. At 740, the force exerted on the tube by a guide wire traveling through the tube is measured by the sensor. At 750, real-time images of the substrate, at least one mounting point, and the tube are captured. A visual output of the real-time image is generated, showing the force exerted on the tube by the guide wire traveling through the tube, as shown by 760.

[0049] In exemplary embodiments, an apparatus for carrying out the method of Figure 8 may include a processor (e.g., processor 610) configured at least partially to carry out some or each of the operations (710-760) described above. The processor may be configured to carry out the operations (710-760) by, for example, carrying out hardware-implemented logic functions, executing stored instructions, or executing algorithms that carry out each of the operations. Alternatively, the apparatus may include means for carrying out each of the operations described above. In this regard, according to exemplary embodiments, examples of means for carrying out operations 710-760 may include, for example, a processor 610 and / or a device or circuit that executes the instructions described above or an algorithm that processes information.

[0050] In some embodiments, certain operations of the above-described operations may be modified or further amplified. Furthermore, in some embodiments, additional optional operations may be included. Modifications, additions, and amplifications of the above operations may be carried out in any order and in any combination.

[0051] While some embodiments described herein relate to the insertion of a guidewire into a vascular model, those skilled in the art will understand that the teachings herein may also apply to a wide range of medical procedures and devices that can be inserted into and operated within tortuous environments. The embodiments described herein may be expandable to suit at least the above-described applications. Various components of the embodiments described herein may be added, removed, rearranged, modified, or duplicated in conjunction with the teachings herein as those found to be advantageous and / or necessary for carrying out a particular application. In some embodiments, certain features, properties, materials, components, and / or devices may be applied in conjunction with the teachings herein as those found to be advantageous and / or necessary for carrying out a particular application.

[0052] Furthermore, numerous modifications and other embodiments of the Disclosure shown herein, which belong to this Disclosure and are of interest to those skilled in the art, as presented in the above description and associated drawings, will be recalled by those skilled in the art. Therefore, it should be understood that this Disclosure is not limited to the specific embodiments disclosed, and that modifications and other embodiments are intended to be included within the scope of any appended claims. Furthermore, while the above description and associated drawings illustrate exemplary embodiments against the backdrop of specific exemplary combinations of elements and / or functions, it should be understood that various combinations of elements and / or functions may be provided by alternative embodiments without departing from the scope of any appended claims. In this regard, for example, combinations of elements and / or functions different from those explicitly described above are intended to be shown within the scope of any appended claims. Certain terms are used herein, but these terms are used only in a general and descriptive sense and not for restrictive purposes.

Claims

1. Substrate and, At least one mounting point, A tube attached to at least one of the aforementioned mounting points, At least one sensor, wherein the at least one mounting point is attached to the at least one sensor, the at least one sensor is assembled to the base, and the at least one sensor is configured to detect a force exerted on the tube by a guide wire traveling inside the tube at the at least one mounting point, A camera, wherein the camera is positioned to capture real-time images of the base, the at least one mounting point, and the tube. A controller, the controller is configured to generate a visual output of the real-time image, which includes a display of the force exerted on the tube by the guide wire traveling through the tube at at least one mounting point. A vascular model system equipped with the following features.

2. The vascular model system according to claim 1, wherein the display includes a force vector superimposed on one of the at least one mounting points, and the force vector provides a representation of the force exerted on the tube from the guide wire traveling through the tube at the at least one mounting point.

3. The vascular model system according to claim 2, wherein the force vector provides indication of the direction of the force exerted on the tube from the guide wire traveling through the tube at the at least one attachment point.

4. The vascular model system according to claim 3, wherein the force vector defines a size, and the size of the force vector reflects the magnitude of the force exerted on the tube from the guide wire traveling through the tube at the at least one attachment point.

5. The vascular model system according to claim 3, wherein the force vector defines a color, and the color of the force vector reflects the magnitude of the force exerted on the tube by the guide wire traveling through the tube at the at least one attachment point.

6. The vascular model system according to claim 5, wherein the color of the force vector is a first color in response to the magnitude of the force exerted on the tube by the guide wire moving through the tube at the at least one attachment point being below a threshold, and the color of the force vector is a second color in response to the magnitude of the force exerted on the tube by the guide wire moving through the tube at the at least one attachment point being above the threshold.

7. The vascular model system according to claim 1, wherein the at least one mounting point is rotatable with respect to the at least one sensor.

8. The vascular model system according to claim 7, wherein the at least one mounting point is connected to the at least one sensor by a magnet.

9. The vascular model system according to claim 1, wherein the at least one mounting point is repositionable within the base.

10. The vascular model system according to claim 9, wherein the at least one mounting point and the tubes attached to the at least one mounting point are arranged to simulate the shape and size of blood vessels in the human vascular system.

11. The vascular model system according to claim 1, wherein the at least one sensor comprises a pair of load cells, the pair of load cells configured to measure the force exerted on the tube by the guide wire traveling through the tube at the at least one mounting point along two orthogonal axes.

12. A method for visualizing the force of a guidewire in a vascular model, wherein the method is Place at least one mounting point on the base, Attach the tube to at least one of the aforementioned mounting points. A sensor is connected between the at least one mounting point and the base body. The sensor measures the force exerted on the tube by a guide wire moving inside the tube at at least one mounting point. Real-time images of the base, the at least one mounting point, and the tube are captured. A method for generating a visual output of the real-time image, which includes a representation of the force exerted on the tube by the guide wire traveling through the tube at at least one mounting point.

13. Furthermore, the method according to claim 12, wherein the force exerted on the tube by the guide wire traveling inside the tube at at least one mounting point is provided as a force vector.

14. The method according to claim 13, wherein the force vector provides indication of the direction of the force exerted on the tube from the guide wire traveling inside the tube at the at least one mounting point.

15. The method according to claim 14, wherein the force vector defines a size, and the size of the force vector reflects the magnitude of the force exerted on the tube by the guide wire traveling through the tube at the at least one mounting point.

16. The method according to claim 14, wherein the force vector defines a color, and the color of the force vector reflects the magnitude of the force exerted on the tube by the guide wire traveling through the tube at the at least one mounting point.

17. The method according to claim 16, wherein the color of the force vector is a first color in response to the magnitude of the force exerted on the tube by the guide wire traveling inside the tube at the at least one mounting point being below a threshold, and the color of the force vector is a second color in response to the magnitude of the force exerted on the tube by the guide wire traveling inside the tube at the at least one mounting point being above the threshold.

18. The method according to claim 12, wherein the at least one mounting point is rotatable relative to the sensor.

19. The method according to claim 18, wherein at least one mounting point is connected to the sensor by a magnet.

20. Furthermore, the method according to claim 12, wherein the at least one mounting point is rearranged within the base body.

21. The method according to claim 20, wherein the at least one mounting point and the tube attached to the at least one mounting point are arranged on the substrate to simulate the shape and size of blood vessels in the human vascular system.

22. The method according to claim 12, wherein the sensor comprises a pair of load cells, the pair of load cells configured to measure the force exerted on the tube by the guide wire traveling through the tube at the at least one mounting position in two orthogonal axes.

23. A computer program product comprising at least one non-temporary computer-readable storage medium storing a computer executable program code portion therein, wherein the computer executable program code portion comprises program code instructions, and the program code instructions are At least one sensor measures the force exerted on the tube by a guide wire traveling inside the tube at one or more attachment points to the substrate, Real-time images of the base, the one or more mounting points, and the tube are captured. A computer program product configured to generate a visual output of the real-time image, which includes a display of the force exerted on the tube by the guide wire traveling through the tube at one or more mounting points.

24. The computer program product according to claim 23, further comprising program code instructions that provide as force vectors an indication of the force exerted on the tube by the guide wire traveling inside the tube at one or more mounting points.

25. The computer program product according to claim 24, wherein the force vector provides an indication of the direction of the force exerted on the tube from the guide wire traveling through the tube at one or more mounting points.

26. The computer program product according to claim 25, wherein the force vector defines a size, and the size of the force vector reflects the magnitude of the force exerted on the tube from the guide wire traveling through the tube at one or more mounting points.

27. The computer program product according to claim 25, wherein the force vector defines a color, and the color of the force vector reflects the magnitude of the force exerted on the tube from the guide wire traveling through the tube at one or more mounting points.

28. The computer program product according to claim 27, wherein the color of the force vector is a first color in response to the magnitude of the force exerted on the tube by the guide wire traveling inside the tube at one or more mounting points being below a threshold, and the color of the force vector is a second color in response to the magnitude of the force exerted on the tube by the guide wire traveling inside the tube at one or more mounting points being above the threshold.

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