Note: Descriptions are shown in the official language in which they were submitted.
MODULAR APPARATUS FOR SIMULATING THE INSERTION OF A MEDICAL
INSTRUMENT INTO A SUBJECT
TECHNICAL FIELD
The present invention relates to the field of medical simulators, and more
particularly to
medical apparatuses for simulating the insertion of a medical instrument into
a subject.
BACKGROUND
In order to train medical practitioners to train on medical procedures in
which an elongated
instrument such a catheter has to be introduced into a human body, simulation
system have
been developed. Such systems usually comprise a medical simulator into which
the catheter
has to be introduced and a simulation computer. The medical apparatus tracks
the position
and/or orientation of the distal end of the catheter and the simulation
computer generates
images including a representation of the distal end of the catheter according
to the
measured positon and/or orientation.
Usually, the position tracking sensor used for tracking the distal end of the
catheter is a
mechanical sensor to which the distal end is secured. However, guidewires
having a
diameter 0.014" to 0.035" for example cannot be tracked because they cannot be
secured to
the position tracking sensor.
Furthermore, medical simulators are usually cumbersome, thereby preventing the
simulation from being easily portable. In addition, medical simulators ae
usually designed
to receive elongated instruments having a diameter comprised within a given
range.
Therefore, the number and types of elongated instruments that may be used with
a medical
simulator is limited.
Therefore, there a need for a medical simulator that overcome at least one of
the above-
identified drawback.
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SUMMARY
According a first broad aspect, there is provided a modular apparatus for
simulating an
insertion of an elongated instrument into a subject, comprising: at least one
of: a proximal
module comprising a proximal frame extending longitudinally between a first
proximal
face and a first distal face each provided with a module aperture
therethrough; and a distal
module comprising a distal frame extending longitudinally between a second
proximal face
and a second distal face, the second proximal face being provided with a hole
therethrough;
and a measurement module comprising a measurement frame extending
longitudinally
between a third proximal face and a third distal face each provided with a
measurement
aperture, the measurement module being removably securable to at least one of
the
proximal module and the distal module so that the measurement apertures of the
measurement modules and at least one of the module apertures of the proximal
module and
the hole of the distal module be aligned to form a passageway through which
the elongated
instrument is insertable; a motion sensing unit contained in the measurement
module, the
motion sensing unit comprising a processing unit and at least one sensor and
being
configured for measuring a displacement of the elongated instrument along the
passageway; and a communication unit for outputting the measured displacement
of the
elongated instrument.
In one embodiment, the motion sensing unit is configured for measuring the
displacement
of the elongated instrument only when a cross-sectional size of the elongated
instrument is
comprised within a predefined range.
In one embodiment, the motion sensing unit comprises a first sensor for
detecting the
elongated instrument and measuring the cross-sectional size of the elongated
instrument,
and a second sensor for measuring the displacement of the elongated instrument
In one embodiment, the processing unit is configured for: receiving the
measured cross-
sectional size from the first sensor; comparing the measured cross-sectional
size to the
given range; and if the measured cross-sectional size is within the predefined
range,
activating the second sensor for measuring the displacement of the elongated
instrument.
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In one embodiment, the first and second sensors are optical sensors.
In one embodiment, the measurement module further comprises a hollow guiding
body
extending between the measurement holes
In one embodiment, the hollow guiding body comprises a body aperture for
allowing the
motion sensing unit to measure the displacement of the elongated instrument.
In one embodiment, the hollow guiding body has a varying cross-sectional
dimensional
along a portion of a length thereof.
In one embodiment, the proximal module comprises a first hollow body extending
between
the module apertures for receiving and guiding the elongated instrument
therein.
In one embodiment, the distal module comprises a second hollow body extending
from the
hole for receiving and guiding the elongated instrument therein.
In one embodiment, the measurement module is mechanically securable to at
least one of
the proximal module and the distal module.
In one embodiment, the measurement module is magnetically securable to at
least one of
the proximal module and the distal module.
In one embodiment, the apparatus comprises the proximal module and the distal
module,
the measurement module being removably securable between the proximal and
distal
modules.
In one embodiment, the proximal module is further removably securable to the
distal
module.
In one embodiment, the proximal and distal modules are magnetically securable
together.
In one embodiment, the proximal and distal modules are mechanically securable
together.
In one embodiment, lateral faces of the measurement module are each provided
with a
respective additional aperture, the additional aperture having a size
different than the
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measurement aperture so that a first elongated instrument having a first cross-
sectional
dimension be insertable through the measurement apertures and a second
elongated
instrument having a second and different cross-sectional dimension be
insertable through
the measurement apertures.
In one embodiment, the motion sensing unit is positioned for measuring a
displacement of
the first elongated instrument and the measurement module further comprises a
displacement sensing unit for measuring a displacement of the second elongated
instrument
In one embodiment, the measurement apertures define a first path along which
the first
elongated instrument is movable and the additional apertures define a second
and different
path along which the second elongated instrument is movable, the motion
sensing unit
being positioned within the measurement module so as to measure a displacement
of the
first and second elongated members at an intersection of the first and second
paths.
In one embodiment, the measurement module further comprises a hollow structure
having a
first hollow body extending between the measurement apertures and a second
hollow body
extending between the additional apertures, the first and second hollow bodies
intersecting
one another at an intersection section of the hollow structure.
In one embodiment, the intersection section is provided with at least one
measurement hole,
the motion sensing unit being positioned within the measurement module so as
to measure
a displacement of the first and second elongated instruments through the at
least one
measurement hole.
In one embodiment, the motion sensing unit is further configured for measuring
a rotation
of the elongated instrument
In one embodiment, the communication unit is contained within the measurement
module.
In one embodiment, the communication unit is contained within the proximal
module, the
proximal module further comprising a processor.
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In one embodiment, the proximal module is further provided with a first
connector
connected to the processor and the measurement module is provided with a
second
connector connected to the processing unit, the first and second connectors
being
connectable together upon removably securing the measurement module to the
proximal
module for transmitting the displacement of the elongated instrument to the
processor.
In one embodiment, the apparatus comprises the proximal module and the distal
module
and further comprising an intermediary module and a sensing module, the
measurement
module being removably securable to the proximal module and the intermediary
module
and the sensing module being removably securable to the intermediary module
and the
distal module, wherein the intermediary module comprises an intermediary frame
extending longitudinally between a fourth proximal face and a fourth distal
face each
provided with an intermediary aperture therethrough; the sensing module
comprises a
sensing frame extending longitudinally between a fifth proximal face and a
fifth distal face
each provided with a sensing aperture and a displacement sensing unit
contained in the
sensing frame, the motion sensing unit comprising a processing unit and at
least one sensor
and being configured for measuring a displacement of the elongated instrument;
and the
removable securing of the proximal, measurement, intermediary, sensing and
distal
modules together allows an alignment of the module apertures of the proximal
module, the
measurement apertures of the measurement modules, the intermediary apertures
of the
intermediary module, the sensing apertures of the sensing module and the hole
of the distal
module to form the passageway through which the elongated instrument is
insertable.
In one embodiment, the sensing aperture of the sensing module has a different
size than the
measurement aperture of the measurement module so that a first elongated
instrument
having a first cross-sectional dimension be insertable through the sensing
aperture of the
sensing module and a second elongated instrument having a second and different
cross-
sectional dimension be insertable through the measurement apertures of the
measurement
module.
According to another broad aspect, there is provided an apparatus for
simulating an
insertion of an elongated instrument into a body, comprising: a frame
extending along a
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longitudinal axis between a proximal face and a distal face, the proximal face
being
provided with an insertion aperture for receiving therein the elongated
instrument, the
elongated instrument being movable along a path within the frame; a first
optical sensor
positioned within the frame for measuring a cross-sectional dimension of the
elongated
instrument; a second optical sensor positioned within the frame for measuring
a
displacement of the elongated instrument within the frame; and a control unit
in
communication with the first and second optical sensors and configured for:
comparing the
measured cross-sectional dimension of the elongated instrument to at least one
reference
dimension; upon positive comparison, triggering an activation of the second
optical sensor;
and outputting the measured displacement of the elongated instrument.
In one embodiment, the at least one reference dimension comprises a given
dimension.
In one embodiment, the control unit is configured for triggering the
activation of the second
optical sensor when the measured cross-sectional dimension is greater than the
given
dimension.
In one embodiment, the control unit is configured for triggering the
activation of the second
optical sensor when the measured cross-sectional dimension is less than the
given
dimension.
In one embodiment, the at least one reference dimension comprises two given
dimensions
forming a predefined dimension range.
In one embodiment, the control unit is configured for triggering the
activation of the second
optical sensor when the measured cross-sectional dimension is within the
predefined
dimension range.
In one embodiment, the first optical sensor comprises a light source for
emitting a light
beam and a light detector for detecting the light beam, the light source and
the light detector
facing each other on opposite sides of the path so that the elongated
instrument at least
partially blocks the light beam when inserted between the light source and the
light
detector.
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In one embodiment, the light detector is configured for measuring an optical
intensity of the
light beam.
In one embodiment, the control unit is configured for comparing the measured
optical
intensity to at least one reference intensity.
In one embodiment, the at least one reference intensity comprises a given
intensity.
In one embodiment, the control unit is configured for triggering the
activation of the second
optical sensor when the measured optical intensity is greater than the given
intensity.
In one embodiment, the control unit is configured for triggering the
activation of the second
optical sensor when the measured optical intensity dimension is less than the
given
intensity.
In one embodiment, the at least one reference intensity comprises two given
intensities
forming a predefined intensity range.
In one embodiment, the control unit is configured for triggering the
activation of the second
optical sensor when the measured optical intensity is within the predefined
intensity range.
In one embodiment, the apparatus further comprises a guiding structure
installed within the
frame and extending from the insertion aperture for receiving and guiding the
elongated
instrument.
In one embodiment, the guiding structure comprises a hollow guiding device.
In one embodiment, the hollow guiding device comprising at least one first
aperture for
allowing the first optical sensor to measure the cross-sectional dimension of
the elongated
instrument and a second aperture for allowing the second optical sensor to
measure the
displacement of the elongated instrument within the frame.
In one embodiment, the second optical sensor is further configured for
measuring a rotation
of the elongated instrument about a longitudinal thereof, the control unit
being further
configured for outputting the measured rotation of the elongated instrument.
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In one embodiment, the second optical sensor comprises a digital image
correlation and
tracking sensor.
According to a further broad aspect, there is provided an apparatus for
simulating an
insertion of an elongated instrument into a subject, comprising: a frame
defining an
enclosure, the frame extending between two ends along a first axis and two
lateral walls
along a second axis, one of the two end walls being provided with an insertion
aperture and
one of the two lateral walls being provided an insertion hole, the insertion
aperture defining
a first passageway within the frame for the elongated instrument and the
insertion hole
defining a first passageway within the frame for the elongated instrument, the
first and
second passageways intersecting each other at an intersection point; and a
sensing unit
contained within the frame and configured for measuring at least one of a
displacement of
the elongated member and a rotation of the elongated member, the sensing unit
being
positioned adjacent to the intersection point for performing the measurement
of the at least
one of the displacement and the rotation at the intersection point.
In one embodiment, the insertion aperture and the insertion hole have
different sizes for
receiving therein elongated instruments having different cross-sectional
dimensions.
In one embodiment, the apparatus further comprises a first guiding structure
extending
form the insertion aperture along the first passageway for receiving and
guiding the
elongated instrument inserted through the insertion aperture, and a second
guiding structure
extending form the insertion hole along the second passageway for receiving
and guiding
the elongated instrument inserted through the insertion hole.
In one embodiment, the first guiding structure comprises a first hollow
guiding device for
receiving the elongated instrument therein and the second guiding structure
comprises a
second hollow device for receiving the elongated instrument therein.
In one embodiment, the first hollow guiding device comprises a first tube and
the second
hollow guiding device comprises a second tube.
In one embodiment, the first and second hollow guiding devices are
transparent.
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In one embodiment, the sensing unit comprises at least one camera for imaging
the
elongated instrument at an intersection of the first hollow guiding device and
the second
hollow guiding device, the sensing unit being further configured for
determining the at least
one of the displacement and the rotation using images taken by the at least
one camera.
In one embodiment, the first hollow guiding device comprises a first aperture
and the
second hollow guiding device comprises a second aperture, the first and second
apertures
forming a sensing aperture located at an intersection between the first hollow
guiding
device and the second hollow guiding device.
In one embodiment, the sensing unit comprises at least one optical sensor for
measuring the
at least one of the displacement and the rotation of the elongated instrument.
In one embodiment, the at least one optical sensor comprises at least one
digital image
correlation and tracking sensor.
In one embodiment, the sensing unit comprises at least one mechanical sensor
for
measuring the at least one of the displacement and the rotation of the
elongated instrument.
In one embodiment, the at least one mechanical sensor comprises a ball
rotatably
engageable with the elongated instrument and two rotary sensors each for
measuring a
rotation of the ball about a respective rotation axis.
In one embodiment, each one of the two rotary sensor comprises a roller
rotatably
connected to the ball and an encode for measuring a rotation of the roller.
In one embodiment, each one of the two rotary sensors comprise an optical
sensor.
In one embodiment, the optical sensor comprises a digital image correlation
and tracking
sensor.
In one embodiment, the at least one mechanical sensor comprises two rollers
each rotatably
engageable with the elongated instrument and two encoders each for measuring a
rotation
of a respective one of the two rollers.
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BRIEF DESCRIPTION OF THE DRAWINGS
Further features and advantages of the present invention will become apparent
from the
following detailed description, taken in combination with the appended
drawings, in which:
Figure 1 is a perspective view of a modular medical apparatus for simulating
the insertion
of an elongated instrument into a subject, the modular medical apparatus
comprising a
proximal module, a distal module, two sensing modules and an intermediary
module
removably secured together, in accordance with an embodiment;
Figure 2 is a perspective exploded view of the modular medical apparatus of
Figure 1;
Figure 3 is a perspective view of two modules mechanically connectable
together, in
accordance with an embodiment;
Figure 4 is a top of the two modules of Figure 3 once connected together;
Figure 5 is a perspective view of two modules magnetically connectable
together, in
accordance with an embodiment;
Figure 6 is a top of the two modules of Figure 4 once connected together;
Figure 7a and 7b schematically illustrate a mechanical sensor comprising a
ball for
measuring a displacement and/or a rotation of an elongated instrument, in
accordance with
an embodiment;
Figure 8a and 8b schematically illustrate a mechanical sensor comprising two
rollers for
measuring a displacement and/or a rotation of an elongated instrument, in
accordance with
an embodiment;
Figure 9 is a perspective exploded view of a sensing module provided with all
optical
detection, in accordance with an embodiment;
Figure 10 is cross-sectional view of the sensing module of Figure 9;
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Figures 11 a and 1 lb schematically illustrate an optical sensor for
determining the diameter
of an elongated instrument, in accordance with an embodiment;
Figure 12 is a perspective view of a sensing module provided with an
identification mark
thereon, in accordance with an embodiment;
Figures 13a-13d each illustrates a respective identification mark for a
sensing module, in
accordance with an embodiment;
Figure 14 is a cross-sectional view of a cross-channel medical apparatus
comprising two
passageways for different elongated instruments, in accordance with an
embodiment;
Figure 15 illustrates a modular system for simulating the insertion of an
elongated
instrument into a subject, the modular system comprising three cross-channel
sensing
modules, in accordance with an embodiment;
Figure 16 is a perspective exploded view of an intermediary module, in
accordance with an
embodiment;
Figure 17 is a cross-sectional view of the intermediary module of Figure 16;
Figure 18 is a front perspective view of a proximal module, in accordance with
an
embodiment;
Figure 19 is rear perspective view of the proximal module of Figure 18 with
the frame
made transparent; and
Figure 20 is a perspective view of a modular medical apparatus for simulating
the insertion
of an elongated instrument into a subject, the modular medical apparatus
comprising a
proximal module, a distal module, three sensing modules and two intermediary
modules
removably secured together, in accordance with an embodiment.
It will be noted that throughout the appended drawings, like features are
identified by like
reference numerals.
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DETAILED DESCRIPTION
There is described an apparatus that may be used for simulating medical
interventions
relying on insertion of a medical instrument into an anatomical structure of a
patient such
as veins, arteries and other tubular anatomical structures. The medical
instrument may be a
guidewire, a lead wire, a catheter, a delivery tube, or the like. For example,
the present
apparatus may be used for simulating the implantation of a micro-pacemaker
small enough
to be delivered with minimally invasive techniques through a catheter, and
implanted
directly into the heart. Transcatheter pacemaker implantations are generally
performed
through an opening realized in the femoral artery in the groin region although
other entry
points may be used. Training of such a procedure may be done as a sequence of
procedures,
for example an initial guidewire insertion up to the heart, a catheter
insertion up to the
heart, fine manipulation of the implant inside the heart before final
attachment, or as
complete procedure encompassing all the manipulations required for a complete
implantation process. The present apparatus thus allows training medical
professionals on a
sequence of procedures of the complete procedure with improved realistic
feedback feeling.
The apparatus is configured for tracking the position of the distal end of the
medical
instrument once inserted into the apparatus. The apparatus is connectable to a
computer
machine, such as a laptop, that is used for simulating medical images of the
subject which
are displayed on a display. The simulated images further comprise a
representation of the
medical instrument according to the position of the distal end of the medical
instrument
within the apparatus.
Figures 1 and 2 illustrate one embodiment of a modular apparatus 10 for
simulating an
insertion of a medical elongated instrument 12 into a subject. The apparatus
10 may be used
for training a medical practitioner to the insertion of the elongated
instrument 12 into a
subject.
The apparatus 10 comprises a plurality of modules removably connectable
together, i.e. a
proximal module 14, an intermediary module 16, a distal module 18, a first
measurement or
sensing module 20 and a second measurement or sensing module 22. As
illustrated in
Figure 1, when the modules 14-22 are removably assembled together, the first
sensing
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module 20 is positioned between the proximal module 14 and the intermediary
module 16
while the second sensing module 22 is located between the intermediary module
16 and the
distal module 18.
As illustrated in Figure 2, each module 14-22 is independent from one another
and can be
removed from the assembly. The proximal, intermediary and distal modules 14,
16 and 18
are used for each providing a given length of insertion for the elongated
instrument 14
while the sensing modules 20 and 22 are used for measuring the displacement or
translation
length of the elongated instrument 14 within the apparatus 10. Optionally, the
sensing
modules 20 and 22 may be further configured for measuring a rotation of the
elongated
instrument 12 about its longitudinal axis.
The proximal module 14 comprises a frame extending longitudinally between a
proximal
wall 30 and a distal wall 32 and also comprises a top wall 34 and a bottom
wall 36 and two
lateral walls 38 which extends between the proximal and distal walls 30 and
32. The
proximal and distal walls 30 and 32 are each provided with an aperture 39
sized and shaped
for receiving the elongated instrument 12 therein.
The intermediary module 16 comprises a frame extending longitudinally between
a
proximal wall 40 and a distal wall 42 and also comprises a top wall 44 and a
bottom wall
46 and two lateral walls 48 which extends between the proximal and distal
walls 40 and 42.
The proximal and distal walls 40 and 42 are each provided with an aperture 49
sized and
shaped for receiving the elongated instrument 12 therein.
The distal module 18 comprises a frame extending longitudinally between a
proximal wall
50 and a distal wall 52 and also comprises a top wall 54 and a bottom wall 56
and two
lateral walls 58 which extends between the proximal and distal walls 50 and
52. The
proximal and distal walls 50 and 52 are each provided with an aperture 59
sized and shaped
for receiving the elongated instrument 12 therein.
The first sensing module 20 comprises a frame extending longitudinally between
a
proximal wall 60 and a distal wall 62 and also comprises a top wall 64 and a
bottom wall
66 and two lateral walls 58 which extends between the proximal and distal
walls 60 and 62.
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The proximal and distal walls 60 and 62 are each provided with an aperture 69
sized and
shaped for receiving the elongated instrument 12 therein.
The second sensing module 22 comprises a frame extending longitudinally
between a
proximal wall 70 and a distal wall 72 and also comprises a top wall 74 and a
bottom wall
76 and two lateral walls 78 which extends between the proximal and distal
walls 70 and 72.
The proximal wall 70 is provided with an aperture 79 sized and shaped for
receiving the
elongated instrument 12 therein.
When the modules 14-22 are removably secured together as illustrated in Figure
1, the
apertures 39, 49, 59, 69 and 79 are aligned along an axis so that the
elongated instrument 12
may be inserted through all of the modules 14-22 from the aperture 39 up to
inside the
distal module 18.
It should be understood that any adequate means for removably securing the
modules 14-22
together may be used. For example, screws may be used.
In one embodiment, the proximal, intermediary and distal modules 14-18 are not
directly
securable together and are removably secured together via the sensing modules
20 and 22.
In another embodiment, the proximal, intermediary and distal modules 14-18 are
directly
and removably securable together, i.e. the proximal and intermediary modules
14 and 16
may be removably secured together and the intermediary and distal modules 14
and 18 may
be removably secured together. In this case, the first sensing module 20 is
further
removably secured to the proximal module 20 and/or the intermediary module 16,
and the
second sensing module 22 is removably secured to the intermediary module 16
and/or the
distal module 18.
Figures 3 and 4 illustrates one exemplary mechanical connection for removably
connecting
together modules 14-18. In this embodiment, the distal wall 32, 42 of the
proximal or
intermediary module 14, 16 is provided with a first connection plate 80 which
extends
therefrom adjacent to the bottom wall 36, 46. A second connection plate 82
projects from
the proximal wall 40, 50 of the intermediary or distal module 16, 18 adjacent
to the bottom
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wall 46, 56 thereof. The shape of the connection plates 80 and 82 match each
other so as to
create a mechanical connection. In the illustrated example, the first
connection plate 80 is
provided with a trapezoidal protrusion 84 and the second connection plate is
provided with
a trapezoidal recess 86 which mates with the protrusion 84. The modules 14, 16
and 16, 18
are removably secured together by inserting the protrusion 84 into the recess
86. In addition
to removably secure the modules 14, 16 and 16, 18 together, the protrusion 84
and the
recess 86 allows aligning the modules 14, 16 and 16, 18 so that the apertures
39, 49 and 49,
59 be aligned.
Figures 5 and 6 illustrates an exemplary magnetic connection for removably
securing
together the modules 14-18. In this embodiment, the distal wall 32, 42 of the
proximal or
intermediary module 14, 16 is provided with a first magnetized plate 90 which
protrudes
therefrom adjacent to the bottom wall 36, 46, A second magnetized plate 92
projects from
the proximal wall 40, 50 of the intermediary or distal module 16, 18 adjacent
to the bottom
wall 46, 56 thereof The polarity of the magnetized plates 90 and 92 so that
they attract
each other and thereby removably secure the modules 14, 16 and 16, 18
together. The
magnetized plate 90 is provided with an alignment protrusion 94 and the
magnetized plate
92 is provided with a mating alignment recess 96. The alignment protrusion and
recess 94
and 96 are designed for aligning the modules 14, 16 and 16, 18 so that the
apertures 39, 49
and 49, 59 be aligned.
In the illustrated embodiment, the distal wall 32 of the proximal module 14,
the walls 40
and 42 of the intermediary module 16 and the proximal wall of the distal
module 18 are
inclined so that a V-shaped receiving space or recess be present between two
adjacent
modules 14-16 once the modules 14-18 are removably secured together. The shape
and
dimension of the frame of the sensing modules 20 and 22 matches these of the V-
shaped
receiving recess present between two adjacent modules 14-18. For example, the
walls 60,70
and 62, 72 of the sensing module 20, 22 are inclined to match the inclined
walls of the
modules 14-18. As a result, when the modules 14-18 are removably connected
together,
two v-shaped recesses are created and a respective sensing module 20, 22 is
inserted into
each V-shaped recess formed between adjacent modules 14-18. As illustrated in
Figure 1
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and once the modules 14-22 have been assembled together, the top walls 34, 44,
54, 64 and
74 are coplanar to form a planar and substantially seamless surface.
Similarly, on each side
of the apparatus 10, the lateral walls 38, 48, 58, 68 and 78 are coplanar to
also form a
planar and substantially seamless surface.
In one embodiment, the distal wall 32 of the proximal module 14, the walls 40
and 42 of
the intermediary module 16 and the proximal wall of the distal module 18 are
each
provided with an alignment protrusion 100, as illustrated in Figures 3 and 5
for example,
and the walls 60, 62 and 70, 72 of the sensing modules 20 and 22 are each
provided with a
mating recess 102, as illustrated in Figure 2. The sensing modules 20 and 22
are then
aligned with respect to the modules 14-18 by inserting the alignment
protrusions 100 of the
modules 14-18 into the recesses 102 of the sensing modules 20-22, thereby
aligning the
apertures of all of the modules 14-22 to allow the translation of the
elongated instrument 12
within all of the modules 14-22.
In an embodiment in which the modules 14-18 are provided with magnetized
plates 90
and/or 92, the sensing modules 20 and 22 may be provided with two magnets on
its bottom
wall 66, 76 to magnetically and removably secure the sensing modules 20 and 22
to the
modules 14-22.
As mentioned above, the sensing module 20, 22 is configured for measuring the
displacement of the elongated instrument within the apparatus 10, and
optionally the
rotation of the elongated instrument 12 about its longitudinal axis (or the
angular position
of the elongated instrument 12). It should be understood that any adequate
device
configured for measuring the displacement of the elongated instrument 112 and
optionally
the rotation for the elongated instrument 12 may be used and integrated into
the sensing
modules 20, 22.
Figures 7a and 7b schematically illustrate a first exemplary mechanical sensor
unit 350 for
measuring both the longitudinal displacement and the rotation of an elongated
instrument
352. The sensing unit 350 may be integrated into the sensing module 20, 22.
The sensor
unit 350 comprises a ball 354 and two rotary sensors 356 and 358. The ball 354
is rotatably
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secured within the sensor unit 350 so as to rotate about at least two rotation
axes. In one
embodiment, the ball 354 may rotate in any direction. The rotary sensors 356
and 358 are
positioned at different positions around the ball 354 so as to measure the
rotation of the
ball 354 about two different rotation axes. As illustrated in Figure 7a, the
translation of the
elongated instrument 352 along its longitudinal axis triggers the rotation of
the ball 354
about a first rotation axis. As illustrated in Figure 7b, the rotation of the
elongated
instrument 352 about its longitudinal axis triggers the rotation of the ball
354 about a
second and different rotation axis. In the illustrated embodiment, the rotary
sensor 356 is
positioned so as to measure the rotation of the ball 354 about the first axis
caused by the
translation of the elongated instrument 352 while the second rotary sensor 358
is positioned
to measure the rotation of the ball 354 about the second rotation axis caused
by the rotation
of the elongated instrument 352 about its longitudinal axis. However, it
should be
understood that the first and second rotary sensors 356 and 358 may have
different positons
relative to the ball 354.
In one embodiment, a rotary sensor 356, 358 comprises a roller rotatably
secured to the ball
354 so that a rotation of the ball 354 triggers a rotation of the roller, and
an encoder such as
an optical encoder for measuring the rotation angle of the roller and
therefore the rotation
of the ball in the direction associated with the roller.
In another embodiment, the rotary sensor 356, 358 comprises an optical sensor
for
measuring the rotation of the ball 354. For example, the optical sensor may
comprise a
digital image correlation and tracking sensor, as known in the art.
Figures 8a and 8b schematically illustrate a second exemplary sensor unit 370
for
measuring both the longitudinal displacement and the rotation of an elongated
instrument
352. The sensor unit 370 comprises a first roller 372 and a second roller 374
which are each
rotatably connected to the elongated instrument 352 so that the rollers 372
and 374 may
rotate upon movement of the elongated instrument 352. The first roller 372 is
positioned
relative to the elongated instrument 352 so that a translation of the
elongated instrument
352 along its longitudinal axis triggers a rotation of the roller 372. The
second roller 374 is
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positioned relative to the elongated instrument 352 so that a rotation of the
elongated
instrument 352 about its longitudinal axis triggers a rotation of the roller
374.
The sensor unit 370 further comprises two encoders each operatively connected
to a
respective roller 372, 374 in order to measure the rotation of the respective
roller 372, 374.
The sensor unit 370 further comprises a control unit configured for
determining the
translation of the elongated instrument 352 and the rotation of the elongated
instrument 352
about its longitudinal axis using the rotation angles of the rollers 372 and
374, as known in
the art.
In one embodiment, the sensing modules 20, 22 comprises a contactless sensing
unit for
measuring the displacement of the elongated instrument 12, and optionally the
rotation of
the elongated instrument 12.
Figures 9 and 10 illustrates one embodiment of a sensing module 20, 22
comprising such as
contactless sensing unit. The sensing unit 20, 22 comprises a receiving body
110, a cover
112, a hollow guiding body 114 installed on a cradle 116, a first optical
sensor comprising a
light source 117 and a light detector 118, a second optical sensor 120 and a
control unit
122. The guiding body 114, the cradle 116, the first optical sensor 118, the
second optical
sensor 120 and the control unit 122 are enclosed within sensing module 20, 22
between the
receiving body 110 and the cover 112. The guiding body 114 is a hollow
structure which
defines a passageway for the elongated instrument. The guiding body 114 may
have a
tubular shape and is shaped and sized for receiving the elongated instrument
12 therein.
The guiding body 114 may be transparent or opaque. The control unit 122 is
provided with
a processing unit, a memory and communication means.
The guiding body 114 is secured to the cradle 116 which is designed so that
when it is
positioned within the sensing module 20, 22, the guiding body or tube 116 face
the
apertures 69, 79 present in the proximal and distal walls of the sensing
module 20, 22. The
guiding body 114 connects the apertures 69, 79 of the faces 60 and 62, 70 and
72 so that the
elongated instrument may cross the module 20, 22.
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In one embodiment, one of the two apertures of module 20, 22 may be omitted
and the
module 20, 22 may then be a stand-alone apparatus.
As illustrated in Figure 10, the guiding body 114 is provided with first
apertures 123 and
124 for allowing the first optical sensor to emit/receive light though the
apertures 123 and
124 up to the elongated instrument 12 when in the guiding body 114. The
guiding body 114
is further provided with a second aperture 126 for allowing the second optical
sensor 120 to
sense the elongated instrument 12 when received in the guiding body 114.
It should be understood the optical sensors 118 and 120 are controlled by the
control unit
122. It should also be understood that
The first optical sensor is configured for determining the presence the
elongated instrument
12 within the guiding body 114. Upon detection of the presence of the
elongated instrument
12, the control unit 122 activates the second optical sensor 120 which is
configured for
determining the longitudinal displacement of the elongated instrument 12
within the
guiding body 114.
In one embodiment, the first optical sensor is further configured for
determining the cross-
sectional size of the elongated instrument 12, such as its diameter or radius
if the elongated
instrument 12 is cylindrical or tubular. The control unit 122 compares the
measured cross-
sectional size to at least one predefined threshold or a predefined range and
activates the
second optical sensor 120 as a function of the comparison result. Upon
positive
comparison, the control unit 122 triggers the activation of the second sensor
120.
In one embodiment, if the cross-sectional size of the elongated instrument 12
is contained
within the predefined range, then the control unit 122 triggers the activation
of the second
optical sensor 120 which then determines the displacement of the elongated
instrument 12.
If the cross-sectional size of the elongated instrument 12 is not contained
within the
predefined range, then the control unit 122 does not activate the second
optical sensor 120
and the displacement of the elongated member 12 is not tracked.
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In another embodiment, the control unit 122 triggers the activation of the
second optical
sensor 120 only if the measured cross-sectional size is greater than a
predefined threshold.
In a further embodiment, the control unit 122 triggers the activation of the
second optical
sensor 120 only if the measured cross-sectional size is less than a predefined
threshold.
In one embodiment, the two optical sensors are secured to the cradle 116 and
the cradle 116
spring loads the assembly to reduce vibrations and any bending that could
affect the
measurement of the displacement of the elongated instrument 12.
As described above, the first optical sensor is configured for measuring the
cross-sectional
size of the elongated instrument inserted into the sensing module 20, 22. In
the illustrated
embodiment, the first optical sensor comprises the light source 117 and a
light detector 118.
It should be understood that the first optical sensor illustrated in Figures 9
and 10 is
exemplary only and that any adequate optical sensor configured for measuring
the cross-
sectional dimension of an elongated instrument such as instrument 12 may be
used. For
example, a camera may be used for determining the cross-sectional dimension of
the
elongated instrument 12.
Figures 1 la and lib schematically illustrate the principle of operation of
the first optical
sensor. The light source 117 is positioned on one side of the cradle 116 and
the light
detector 118 is positioned on the other side of the cradle 116. Both the light
source 117 and
the light detector 118 face the aperture 124 present in the cradle 116 so that
light emitted by
the light source 117 may be detected by the light detector 118 when no
elongated
instrument is present between the light source 117 and the light detector 118.
The light
detector is adapted to measure the amplitude, intensity or power of the light
incident
thereon.
As a result, the light source 117 emits a light beam 119 of which at least a
portion is
incident on the light detector 118. When it is positioned on the cradle 116,
an elongated
instrument such as elongated instrument 12a block the propagation of at least
a portion of
the light beam 119 emitted by the light source 117 so that the light detector
118 detects
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only a portion of the light beam 119 emitted by the light source 117. For
example, Figure
1 lb illustrates an elongated instrument 12b having a diameter than is less
than that of the
elongated instrument 12a illustrated in Figure 11a. As illustrated in Figures
11 a and 11b,
the amount of light reaching the light detector 118 is greater when the small-
diameter
instrument 12b is inserted between the light source 117 and the light detector
118 in
comparison to the scenario where the large diameter instrument 12a is inserted
between the
light source 117 and the light detector 118.
As illustrated in Figures 11 a and 11 b, the greater the cross-sectional
dimension of the
elongated instrument is, the less light propagates up to the light detector
118 and the less
light intensity is measured by the light detector 118. Therefore, the
intensity of the detected
light can be related to a given cross-sectional dimension for the elongated
instrument. For
example, the memory of the module 20, 22 may have stored thereon a database
containing
light intensity values and corresponding cross-sectional dimensions, or
predefined ranges of
light intensity values and corresponding cross-sectional dimensions.
Therefore, the control
unit 122 may receive the measured light intensity from the light detector 118
and retrieves
the corresponding cross-sectional dimension. The control unit 122 then uses
the retrieved
cross-sectional dimension to determine whether the second optical sensor 120
should be
activated, as described above.
In one embodiment, a cross-section dimension is represented by a light
intensity. In this
case, determining the cross-section of an elongated instrument is equivalent
to measuring
the light intensity when the elongated instrument is located between the light
source 117
and the light detector 118. The control unit 122 compares the measured light
intensity to a
predefined intensity threshold or a range of predefined to identify the
elongated instrument.
Regarding the second optical sensor 120, it should be understood that any
adequate optical
sensor configured for measuring the longitudinal displacement of an elongated
instrument
and/or the rotation angle of an elongated instrument may be used. For example,
digital
image correlation and tracking optical sensors may be used. Such a sensor
takes successive
images of the surface of the elongated instrument and determines the
longitudinal
displacement and/or rotation from the successive images.
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In an embodiment in which the guiding device 114 is transparent, the second
optical sensor
120 may comprise at least one camera for imaging the elongated instrument 12
through the
guiding device 114 and the control unit 122 is configured for determining the
displacement
and/or rotation of the elongated instrument 12. An example for such an optical
sensor is
described in US Patents Nos. 9,361,808 and 9,361,809.
In one embodiment, the sensing module 20, 22 further comprises comprising a
communication unit for transmitting the determined displacement of the
elongated
instrument 12, and optionally the rotation of the elongated instrument 12. The
communication unit may be a wireless communication unit for wirelessly
transmitting the
data to the simulation computer that will generate the image of the subject
comprising the
representation of the elongated instrument 12.
While the light detector 118 and the second optical sensor 120 are positioned
below the
guiding body 114 and the light source 117 is positioned on top of the guiding
body 114, it
should be understood that other configurations may be possible. For example,
the optical
sensors 118 and 120 could be positioned elsewhere relative to the guiding body
114. For
example, the light detector 118 and the second optical sensor 120 could be
positioned on
top of the guiding body 114 and the light source 117 could be positioned below
the guiding
body 114.
In one embodiment, the sensing module 20 and 22 may be configured to determine
the
displacement of elongated instruments having different cross-sectional sizes.
For example,
the first sensing module 20 may be adapted to measure the displacement of a
first elongated
member having a first diameter while the second sensing module 22 may be
configured for
determining the displacement of a second elongated instrument having a second
diameter
that is less than the given diameter. In this case, the sensing module 20 is
adapted to first
determine the diameter of an elongated instrument inserted into the guiding
body 114. If the
determined diameter corresponds to the first diameter, then the first sensing
module 20
measures the displacement of the elongated instrument present in its guiding
body 114.
However, if the determined diameter does not correspond to the first diameter,
then the
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sensing module 20 does not measure the displacement of the elongated
instrument within
the guiding body 114.
Similarly, the second sensing module 22 is adapted to first determine the
diameter of an
elongated instrument inserted into the guiding body 114. If the determined
diameter
corresponds to the second diameter, then the second sensing module 20 measures
the
displacement of the elongated instrument translating within its guiding body
114. However,
if the determined diameter does not correspond to the second diameter, then
the sensing
module 20 does not measure the displacement of the elongated instrument within
the
guiding body 114.
In one embodiment, the guiding body 114 of the sensing module 20, 22 has a
cross-
sectional dimension that varies along its length in order to prevent elongated
instruments
having a cross-sectional dimension greater than a predefined dimension from
reaching the
optical sensors. When the guiding body 114 has a tubular shape, the section of
the guiding
body 114 adjacent to its longitudinal ends may have a decreasing diameter.
It should be understood that a measured diameter may be considered as
corresponding to a
predefined diameter such as the first or second diameter when the measured
diameter is
comprised within a predefined range containing the target diameter. In this
case, each
sensing unit 20, 22 is configured for measuring the displacement of a
respective elongated
instrument of which the cross-sectional size is contained with a respective
predefined
range.
Therefore, when the sensing modules 20 and 22 are configured for tracking the
displacement of elongated instruments having different cross-sectional sizes,
the apparatus
10 provides the user with flexibility in the design of the apparatus 10. By
choosing
adequate sensing modules 20 and 22, the user may simulate the insertion of an
elongated
instrument into different bodies and/or the insertion of elongated instruments
having
different cross-sectional sizes while using the same modules 14-18.
In an embodiment in which sensing modules are configured for measuring the
displacement
of elongated instruments having different cross-sectional sizes, the sensing
modules may
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CA 3000159 2018-03-29
have an indication thereon to differentiate the different sensing modules. For
example, an
image 130 may be printed or engraved on the top wall 64, 74 of a sensing
module 20, 22, as
illustrated in Figure 12.
Figures 13a-13d illustrates exemplary images that may be used for
differentiate the sensing
modules as a function of the cross-section size of the elongated instrument
that they may
detect. The image representing a scale 132 and a dot 134 at the middle of the
scale 132 and
illustrated in Figure 13a may be used for identifying sensing modules
configured for
tracking the displacement of guidewires having a diameter comprised between
0.014" and
0.035". Figure 13b illustrates an image representing the scale 132 and a
circle 136 having a
first diameter, which may be used for identifying sensing modules configured
for tracking
the displacement of lead wires having a diameter comprised between 4Fr and
6Fr. Figure
13c illustrates an image representing the scale 132 and a circle 138 having a
second
diameter greater than the first diameter, which may be used for identifying
sensing modules
configured for tracking the displacement of catheters having a diameter
comprised between
7Fr and 9Fr. Figure 13d illustrates an image representing the scale 132 and a
circle 140
having a third diameter greater than the second diameter, which may be used
for identifying
sensing modules configured for tracking the displacement of delivery tubes
having a
diameter comprised between 15Fr and 18Fr, for example.
While in the above description, a sensing module 20, 22 comprises a single
passageway
defined between the two apertures 69, 79, Figure 14 illustrates a sensing
module 150 which
can be used for tracking the displacement of elongated instruments having
different cross-
sectional sizes. In the illustrated embodiment, the sensing module 150
comprises a frame
having a substantially cubic shape and defining two different passageways 152
and 154 for
elongated instruments having different cross-sectional sizes. The frame
comprises two sets
of lateral faces extending between a top face and a bottom face. The first set
of lateral faces
comprises the opposite faces 156 and 158 each provided with a respective
aperture 160.
The aperture 160 has a first dimension for receiving therein elongated
instruments having a
cross-sectional size at most equal to the dimension of the aperture 160.
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The second set of lateral faces comprises the opposite faces 162 and 164 each
provided
with a respective aperture 166. The aperture 160 has a second dimension
different form the
first dimension of the aperture 160, for receiving therein elongated
instruments having a
cross-sectional size at most equal to the second dimension of the aperture
166. In the
illustrated embodiment, the dimension of the aperture 160 is greater than that
of the
aperture 166 so that the passageway 152 may receive elongated instruments
having a
greater cross-sectional dimension than that of the elongated instruments that
may be
received in the passageway 154.
In one embodiment and as illustrated in Figure 14, the position of the
apertures 160 and 166
within their respective face 156, 158 and 162, 164 is chosen so that the
passageways 152
and 154 intersect one another. Indeed, the centers of the two apertures 160
and the centers
of the two apertures 166 are coplanar, i.e. the four centers belong to a same
plane. In this
case, the sensing module 150 may comprise a single sensing unit for measuring
the
displacement and/or rotation of an elongated instrument within the passageway
152 or the
passageway 154. The sensing unit is positioned adjacent to the intersection of
the
passageways 152 and 154. For example, the sensing unit may be positioned on
top of the
intersection between the passageways 152 and 154. In another example, the
sensing unit
may be positioned below the intersection between the passageways 152 and 154.
In one embodiment, the sensing module 150 further comprises a hollow guiding
body 170
extending between the lateral faces 156 and 158 within the frame of the
sensing module
150. The guiding body 170 is aligned with the apertures 160 present in the
faces 156 and
158 so that an elongated member may be introduced into the guiding body 170
via one of
the apertures 160. The sensing module 150 further comprises a hollow guiding
body 172
extending between the lateral faces 162 and 164 within the frame of the
sensing module
150. The guiding body 172 is aligned with the apertures 166 present in the
faces 162 and
164 so that an elongated member may be introduced into the guiding body 172
via one of
the apertures 166. The two guiding structures 170 and 172 intersect each other
at an
intersection zone 174 and the sensing unit for is positioned at the
intersection zone/point so
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as to measure the displacement of an elongated instrument moving in the
guiding body 170
or 172, and optionally the rotation of the elongated instrument.
It should be understood that the sensing unit contained in the sensing module
150 may be
any adequate sensor configured for measuring the longitudinal displacement
and/or rotation
of an elongated instrument inserted into one of the two passageways. For
example, the
sensing unit may be a mechanical sensor such as one of the mechanical sensor
presented
above. In another example, the sensing unit may be an optical sensor such as
one of the
optical sensors presented above.
In one embodiment, the guiding body 170, 172 comprises a plate extending
between the
faces 156 and 158, 162 and 164. The plate may be provided with rails extending
between
the faces 156 and 158, 162 and 164 on opposite lateral sides thereof. In this
case, the
sensing unit may be positioned on top of the intersection of the two guiding
bodies 170 and
172.
In one embodiment, the apertures 160 and 166 are circular. In this case, the
diameter of the
apertures 160 is larger than that of the apertures 166. In this case, the
guiding bodies 170
and 172 may each have a tubular shape. In this case, an aperture may be
present in the
guiding bodies 170 and 172 at the intersection thereof to allow the sensing
unit measuring
the displacement and/or rotation of an elongated instrument moving in the
guiding body
170 or 172. For example, the aperture may be present on the top of the guiding
bodies 170
and 172. In this case, the sensing unit is positioned on top of the
intersection point of the
guiding bodies 170 and 172. In another embodiment, the aperture may extend on
the
bottom portion of the guiding bodies 170 and 172 at an intersection thereof
and the sensing
unit is positioned below the intersection point between the guiding bodies 170
and 172.
It should be understood that the sensing module 150 may be provided with at
least a
processing unit and a communication unit for transmitting to a simulation
computer the
measured displacement and/or rotation of the elongated instrument.
In one embodiment, the sensing module 150 may be used in a modular apparatus
for
simulating the insertion of an elongated instrument within a subject. Figure
15 illustrates
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CA 3000159 2018-03-29
one embodiment of a modular apparatus 180 comprising three sensing modules
182, 184
and 186 and two intermediary modules 190 and 192. Each sensing module 182,
184, 186
may be similar to sensing module 150 and be provided with two passageways that
intersect
each other, have different size and extend between different faces.
The intermediary module 190, 192 is similar to the intermediary module 16 and
comprises
a frame that extends between two opposite end faces 194 and 196 along a
longitudinal axis.
Each end face 194 and 196 is provided with an aperture (not shown) sized and
shaped for
receiving therein the elongated instrument.
It should be understood that the position of the apertures on the faces of the
sensing
modules 182-186 and that of the apertures 194 and 196 on the end faces of the
intermediary
modules 190 and 192 are chosen so as to all be aligned along an axis when the
intermediary
modules 190 and 192 and the sensing modules 182, 184 and 186 are removably
securable
together, and thereby allow the elongated instrument to be moved through all
of the
modules.
The intermediary modules 190 and 192 and the sensing modules 182, 184 and 186
are
removably securable together. It should be understood that any adequate
securing means
adapted to allow a removable connection between a sensing unit and an
intermediary
module may be used.
In the illustrated embodiment, each end face 194, 196 of an intermediary
module 190, 192
is provided with a T-shaped protrusion while each lateral face of the sensing
module 182,
184, 186 is provided with a mating T-shaped recess such as recess 198
illustrated in Figure
14. A given intermediary module 190, 192 is removably secured to a given face
of a
sensing module 182, 184, 186 by inserting a T-shaped protrusion of the given
intermediary
module 190, 192 into a T-shaped recess of the given face of the given module
182, 184,
186.
It should be understood that the number of sensing modules 182, 184, 186 and
the number
of intermediary modules 190 and 192 may vary as along as the modular apparatus
180
comprises at least one sensing module and at least one intermediary module.
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The person skilled in the art will understand that the modular apparatus 180
allows
simulating the insertion of the elongated instruments having different cross-
sectional
dimensions such as different diameters while using the same sensing modules.
In another embodiment, the sensing module 150 may be a stand-alone apparatus
for
simulating the insertion of an elongated instrument into a body. In this case,
the sensing
module 150 may be referred to as the sensing device 150 and the T-shaped
recess present
on each face 156, 158, 162, 164 may be omitted. The dimension and shape of the
sensing
device 150 may be varied according to a desired range of translation for the
elongated
instrument.
Figures 16 and 17 illustrate an intermediary module 200 that may be used in
the modular
apparatus 10. The intermediary module 16 comprises a base plate 201, two end
walls 202
and 204 each provided with a respective aperture 205, a cover 206 and a
tubular body 208.
The base plate 201 extends along a longitudinal axis between two opposite ends
210 and
212. The end wall 202 projects transversely from the base plate 201 adjacent
to the end 210
of the base plate 201 and the end wall 204 projects transversely from the base
plate 201
adjacent to the end 212 of the base plate 201.
The tubular body 208 has an internal diameter that is equal to or greater than
the diameter
of the apertures 205. The tubular body 208 extends from the end wall 202 to
the end wall
204 and is positioned so that the centers of the apertures 205 are located on
the symmetry
axis of the tubular body 208. As a result, when it is inserted through one of
the two
apertures 205, an elongated instrument is received within the tubular body 208
and translate
inside the tubular body 208 up to the other aperture 205.
In one embodiment, the intermediary module 200 is provided with two electrical
pin
connectors 214 and 216 for allowing communication within the modular apparatus
in which
it is used, such as modular apparatus 10. In this case, the section of the
base plate 201
adjacent to the end 210 thereof comprises a plurality of holes 218 extending
through a
thickness thereof and the section of the base plate 201 adjacent to the end
212 is provided
with a plurality of holes 220 extending through a thickness thereof. The holes
218 are sized
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CA 3000159 2018-03-29
and shaped to each receive a respective pin of the pin connector 214 while the
holes 220 are
sized and shaped to each receive a respective pin of the pin connector 216. It
should be
understood that the connectors 214 and 216 are electrically connected together
so that data
may be transmitted form the connector 214 to the connector 216 and vice versa.
In one embodiment, a sensing module is provided with two connectors each
configured to
be connected to the connector of another module upon removable securing of the
sensing
module to the other module. For example, a sensing module may be provided with
two pin
connectors each connectable to a respective pin connector 214, 216 upon
removable
connection between the sensing module and the intermediary module 200.
Referring back to Figures 9 and 10, the sensing module 20, 22 comprises a
first pin
connector 220 comprising at least one pin 221 and a second pin connector 222
comprising
at least one pin 223. The pins 221 and 223 are secured to a plate 224 and
extend
downwardly therefrom. The bottom wall 66, 76 comprises at least one hole (not
shown)
extending therethrough adjacent to the wall 60, 70. Each hole is shaped and
sized for
receiving therein a respective pin 223. When the pins 223 are inserted into
their respective
hole, each pin 223 slightly projects form the bottom wall 66, 76. The bottom
wall 66, 76
further comprises at least one hole 226 extending therethrough adjacent to the
wall 62, 72.
Each hole 226 is shaped and sized for receiving therein a respective pin 221.
When the
pins 221 are inserted into their respective hole 226, each pin 223 slightly
projects form the
bottom wall 66, 76.
When the sensing module 20, 22 is removably connected to the module 200 for
example,
the pins 221 of the pin connector 220 are then each in physical contact with a
respective pin
of the pin connector 216 for example. Information may then be transmitted from
the
sensing module 20, 22 to the module 200 and vice versa.
Figure 18 and 19 illustrates one embodiment of a proximal module 14 provided
with a
processing unit, a memory and a communication unit. The processing unit
receives the
information collected by the sensing modules 20 and 22 and transmits the
collected
information to the simulation computer. In the illustrated embodiment, the
proximal
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module 14 is provided with USB ports 250 for communicating with the simulation
computer machine. The proximal module 14 is further provided with a human-
machine
interface for simulating the injection of air for inflating a balloon and the
injection of
contrast agent. The proximal module 14 comprises two ports 252 for connecting
thereto a
contrast delivery system and two pressure sensors 254 each connected to a
respective port
252 for measuring the pressure of the contrast agent. The proximal module is
further
provided with two ports 256 for connecting thereto a gas delivery system.
It should be understood that the above described modules 14, 16 and 18 may
each be
provided with an internal tubular body such as tubular body 208 for guiding
the elongated
instrument when inserted therein.
It should also be understood that the number of sensing units and the number
other modules
may vary as long as the apparatus comprises at least one sensing module and at
least
another embodiment such as a proximal module, a distal module or an
intermediary
module.
For example, the modular apparatus 300 illustrated in Figure 20 comprises
three sensing
modules 302, 304 and 306, a proximal module 308, two intermediary modules 310
and 312
and a distal module 314. The first sensing module 302 is removably inserted
between the
proximal module 308 and the first intermediary module 310. The second sensing
module
304 is removably secured between the first and second intermediary modules 310
and 312
while the third sensing module 306 is removably inserted between the second
intermediary
module 312 and the distal module 314.
It should be understood that the length of the modules may vary to simulate
different
bodies.
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It should be understood that a subject refers to a human being, an animal or
the like, or a
part thereof.
The embodiments of the invention described above are intended to be exemplary
only. The
scope of the invention is therefore intended to be limited solely by the scope
of the
appended claims.
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