Endoscope simulator

Abstract

The Invention provides a method of determining a position of an object in a virtual environment and for assessing a performance in the movement of said object. Preferred embodiments provide an improved endoscope simulator and means for assessing performance in the use of an endoscope.

The embodiments of the invention in which an exclusive property or privilege is claimed are defined as follows: 
     
         1 . A method of simulating the path of an endoscope in a human or animal passageway or cavity to assess the performance of a user manipulating an object in a virtual environment, the object having one or more preferred paths through the virtual environment, the method including:
 positioning at least first and second goals in the environment, the goals each being defined by a point or space within the environment and configured to be activated when the object enters said point s or spaces;   establishing one or more sequences in which to complete the goals;   monitoring the position and/or orientation of at least a portion of the object within the environment to determine a user's path; and   comparing the user's path to the one or more preferred paths.   
     
     
         2 . The method as claimed in  claim 1 , wherein the preferred path is established by an expert user guiding the object through the environment. 
     
     
         3 . The method as claimed in  claim 2 , wherein the goals are positioned to provide path segment(s) and the step of comparing is performed for each path segment. 
     
     
         4 . The method as claimed in  claim 3 , wherein the one or more sequences are established by arranging the segments into the form of a decision tree. 
     
     
         5 . The method as claimed in  claim 4 , wherein the comparing is performed to obtain a measure of variance of the user's path from the preferred path. 
     
     
         6 . The method as claimed in  claim 5 , including assessing the performance of the user manipulating the object. 
     
     
         7 . An engine having encoded instructions for:
 determining a position and/or orientation of an object in a virtual environment;   representing the object as a plurality of segments;   receiving input signals, said input signals based at least in part on commands of a user indicative of a desired motion of the object; and   determining a movement of said object in the virtual environment in response to the input signals, said determining including:
 determining a movement of at least a subset of the segments in response to the input signals; 
 detecting whether any of the segments of the subset impact a wall of the virtual environment; and 
 if so, determining a direction of motion of a said segment(s) following the impact by combining data representing each wall being impacted and resolving to determine an escape direction for the segment(s), 
   wherein said movement of the object is translated into the addition or subtraction of one or more segments at a tip thereof, and   assessing the performance of a user manipulating the object in the virtual environment according to the method of  claim 5 .   
     
     
         8 . A system for simulating the path of an endoscope in a human or animal passageway or cavity and/or for assessing the performance of a user manipulating the object in the virtual environment, the system including:
 the engine of  claim 7 ; and   a memory having stored therein data defining the virtual environment.   
     
     
         9 . The system of  claim 8 , including:
 a mock endoscope including a tube; and   sensor(s) for sensing movement of the tube,   wherein the engine or a processor communicatively coupled thereto is configured to translate movement of the tube detected by the sensor(s) into movement inside the virtual environment.   
     
     
         10 . The system as claimed in  claim 9 , including a display to display images of the virtual environment. 
     
     
         11 . The system of  claim 10 , wherein the engine is configured to generate the images based on a combination of the data defining the virtual environment and the determined movement such that the images change at least partly dependent on movement of the object. 
     
     
         12 . The system as claimed in  claim 11 , including actuator(s) for simulated control of other features of the object. 
     
     
         13 . The system as claimed in  claim 12 , including a memory for storing the simulated path and/or the inputs of a user and/or a record of the position of the object so that the images may be regenerated at a subsequent time. 
     
     
         14 . The system as claimed in  claim 13 , including a processor for determining parameter(s) associated with movement of the object in the simulated environment. 
     
     
         15 . The system of  claim 14 , wherein said parameter(s) include any one or more of:
 a speed of movement;   a speed immediately prior to a collision;   a length of time to insert and/or remove the object; and   information generated by the engine regarding collisions.   
     
     
         16 . The system as claimed in  claim 15 , including a processor for using the parameter(s) to measure a competency of operation by a user. 
     
     
         17 . An apparatus for use in determining a position and/ or orientation of an object in a virtual environment for simulating the path of an endoscope in a human or animal passageway or cavity with or incorporation in the system of  claim 16 , the apparatus comprising or including:
 a handset;   a tube coupleable to or slideably engageable with the handset;   sensor(s) for detecting movement of the tube; and   a memory for storing and/or a transmitter for transmitting data relating to the detected movement.   
     
     
         18 . The apparatus of  claim 17 , including an aperture for receiving the tube. 
     
     
         19 . The apparatus as claimed in  claim 18 , wherein the sensor(s) is configured to detect translational movement and/or rotational movement of the tube. 
     
     
         20 . The apparatus as claimed in  claim 19 , wherein the handset includes an actuator, whereby actuation of the actuator causes control signals to be generated. 
     
     
         21 . The method as claimed in  claim 6 , wherein a haptic means may be modified to provide the desired force feedback to the user. 
     
     
         22 . The apparatus as claimed in  claim 20 , wherein a haptic means may be modified to provide the desired force feedback to the user.