Portable Medical Insertion Simulator with Haptic Feedback
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Solution Overview
Problem
Current medical simulation systems for minimally invasive procedures are complex, cumbersome, expensive, and lack realistic haptic feedback, making them difficult to transport and use outside training centers.
Innovation Solution
A portable simulation apparatus with a casing, pulley, and feedback force actuator that simulates the insertion of an elongated instrument into a structure, providing adjustable resistive force and realistic tactile feedback through a tether and control unit, allowing for training on procedures like transcatheter pacemaker implantation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If complex simulation systems with realistic haptic feedback are used, then training realism is improved, but device complexity and portability are worsened
Solution Approach 1:
The simulation system is divided into separate functional modules: a portable haptic feedback device that can be easily transported, and a separate computing system that processes simulation data. The portable device includes essential components (actuator, pulley, sensor) that provide core haptic functionality independently, while complex processing occurs externally.
Solution Approach 2:
A tether acts as an intermediary element connecting the user's manual input to the pulley mechanism. The tether transmits force and motion while allowing the system to simulate resistance and haptic feedback without requiring direct mechanical coupling between all components, simplifying the overall system architecture.
2Reliability
If complex simulation systems with realistic haptic feedback are used, then training realism is improved, but portability is worsened
Solution Approach 1:
The system separates portable components (casing, pulley, actuator, sensor) from non-portable components (computing system, display). The portable portion weighs significantly less than complete simulation systems of prior art, enabling transport in carry-on luggage while maintaining essential haptic feedback functionality.
Solution Approach 2:
Complex computing and display functions are extracted from the portable device and performed by an external computing system. This extraction allows the portable device to maintain minimal weight and size while still providing realistic haptic feedback through the actuator and sensor combination.
3Reliability
If adjustable resistive force is applied through feedback actuator, then tactile feedback realism is improved, but device complexity is worsened
Solution Approach 1:
The sensor detects the position or motion of the pulley in real-time and feeds this information back to the actuator control system. The actuator then adjusts the resistive force applied to the tether based on this feedback, creating realistic haptic sensations that respond dynamically to user input without requiring complex predictive control algorithms.
Solution Approach 2:
The system uses the user's own input force and motion to generate the appropriate resistive feedback. The actuator responds directly to the sensor data from pulley movement, creating a self-regulating haptic feedback loop that adapts to user actions without requiring external intervention or complex control programming.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The apparatus offers a compact, portable solution for realistic medical training, providing improved tactile feedback and enabling training of medical professionals in minimally invasive procedures, such as transcatheter pacemaker implantation, with a system that fits in a carry-on luggage.
Implementation Method 1
a pulley having an outer tether receiving groove on a peripheral portion thereof and an anchoring element therein for anchoring a distal end of the tether extending through the aperture of the casing, the pulley being rotatably mounted in the casing for rotating according to a longitudinal translation of the tether relatively to the casing
Implementation Method 2
a feedback force actuator connected to an axle of the pulley for applying an adjustable resistive force to a rotation of the pulley according to the sensed angular position and resistance characteristics of the structure
Data Source
AI summary
The present disclosure relates to an apparatus for simulating insertion of an elongated instrument attached to a tether into a structure. The apparatus comprises a casing having an aperture for receiving a distal end of the tether therethrough. The apparatus has a pulley having an outer tether receiving groove on a peripheral portion and an anchoring element therein for anchoring the distal end of the tether, the pulley rotating according to a longitudinal translation of the tether relatively to the casing. The apparatus has a sensing arrangement for sensing an angular position of the pulley representative of a relative longitudinal position of the elongated instrument. The apparatus has a feedback force actuator for applying an adjustable resistive force to a rotation of the pulley according to the sensed angular position and resistance characteristics of the structure. The present disclosure also relates to a medical insertion simulator comprising such an apparatus.