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WO2018205045A1 - Système haptique de simulation vestibulaire qui offre une expérience de simulation du comportement des phénomènes liés à l'équilibre humain pour l'entraînement de futurs professionnels dans le domaine de la santé - Google Patents

Système haptique de simulation vestibulaire qui offre une expérience de simulation du comportement des phénomènes liés à l'équilibre humain pour l'entraînement de futurs professionnels dans le domaine de la santé Download PDF

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Publication number
WO2018205045A1
WO2018205045A1 PCT/CL2017/000012 CL2017000012W WO2018205045A1 WO 2018205045 A1 WO2018205045 A1 WO 2018205045A1 CL 2017000012 W CL2017000012 W CL 2017000012W WO 2018205045 A1 WO2018205045 A1 WO 2018205045A1
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WO
WIPO (PCT)
Prior art keywords
simulation
vestibular
head
dummy
haptic
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Ceased
Application number
PCT/CL2017/000012
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English (en)
Spanish (es)
Inventor
Miguel Angel BUSTAMANTE SUBIABRE
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Individual
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Individual
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Priority to PCT/CL2017/000012 priority Critical patent/WO2018205045A1/fr
Publication of WO2018205045A1 publication Critical patent/WO2018205045A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
    • G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
    • G09B23/30—Anatomical models
    • G09B23/32—Anatomical models with moving parts

Definitions

  • the present invention is directed to the Vestibular Simulation Haptic System that provides an experience of simulation of the behavior of phenomena related to human balance for the training of future professionals in the area of health. Specifically, it is directed to a system that is composed of a phantom that comprises a head or a head and mannequin trunk that has the ability to rotate 360 ° with respect to its longitudinal axis and from a horizontal position to vertical (90 °) when The dummy is arranged on a stretcher and a sensor module that captures the movements applied on the dummy's head, and communicates this information to a Central Processing Unit, and then, through a specific software of the invention, the information captured by A sensor module is interpreted by the Central Processing Unit and reproduces these movements in real time in a three-dimensional model (3D model), anatomically correct of the inner ear and its semicircular canals. It also comprises a second sensor module connected to an embedded module that controls an engine module that allows simulating the movement of the eyes on the dummy.
  • diagrams and bibliography are used to learn the sense of balance and patient and / or student volunteers are needed to train the skills necessary for the evaluation of postural nystagmus, vertigo rehabilitation therapy and rehearsal vestibular system scanning procedures.
  • simulation equipment that covers the inner ear and balance systems, which support the learning and visualization of the biological process implicit in vestibular physiology and the vertigo phenomenon, with the exception of some models of Increased size of the inner ear composed of a transparent material inside which have a liquid with a density similar to that of the real fluid, in addition to containing spheres or cubes that resemble loose otoliths within the inner ear canals.
  • the internal ear posture adjustment monitoring system comprises a virtual reality unit, an internal ear posture capture unit and a central processing unit, in which the virtual reality unit is used to construct a reality image virtual posture of an inner ear of the human being;
  • the inner ear posture capture unit is used to obtain movement data when the inner ear posture of the human body changes;
  • the central processing unit is used to receive the motion data sent by the internal ear posture capture unit and to drive the virtual reality unit to adjust the virtual reality image of the human ear's internal body posture and a corresponding otolith movement path.
  • an individualized virtual reality model is generated in the inner ear on the basis of virtual reality, a somatosensory sensor is used to control the generated model, the spatial posture of the inner ear and the otolith movement of a individual in different position situations completely and specifically in real time, and a precise individualized guide is established for an otolith restoration method.
  • the system of the invention corresponds to a simulator in a phantom and that of publications in a kind of belt that has a sensor module incorporated to capture the movement of a person's inner ear.
  • the system of the invention has a sensor module comprising an accelerometer that is located on the head of a dummy, specifically in the zero sagittal section at the height of the ears.
  • patent publications are intended to be applied in specific clinical cases for each patient, instead the proposed invention to the pedagogical area for training future professionals in different simulated clinical cases through training in different replacement and release maneuvers of particles and, additionally, it is useful to inform patients about their treatment without them being moved before starting therapy.
  • patent publications require yes or yes of a patient from which to obtain the image of their inner ear, in addition to using it to place the sensors on their head and obtain the patient's movement. Unlike the foregoing, the invention does not require the use of patients since a phantom (dummy) is used. In the same way, patent publications use the information of the sensors to obtain the path of the otoliths in a virtual model of the specific inner ear for each patient.
  • the invention uses the information of the sensor module to recreate (in real time) the movement of the dummy's head, in a three-dimensional model of the inner ear where inside of this model are the otoliths that will move inside the semicircular canals depending on the movement of the three-dimensional model of the inner ear, and then Our, and unlike the cited patents, proceed to simulate on an screen the ocular response (nystagmic movements) of a person when subjected to the movements in each maneuver of replacement and release of particles.
  • the invention has the ability to represent in real time within the 3D model, the change in inclination of the vestibular sensors responsible for interpreting gravitational changes, linear and angular accelerations anatomical structures (3D model) or linear and angular velocity sensors typical of the vestibular system, which are the utricule and saccular macules, in addition to the vestibular blisters of each semicircular canal. This tilt shift is consistent with the direction of endolymphatic flow.
  • the invention has an ocular simulation sub-system that operates in conjunction with the simulation of the ear, which makes it unique in its kind.
  • the problem that the system of the invention intends to solve is to avoid the use of patients for the study of vertigo and its maneuvers of rehabilitation and testing of procedures of exploration of the vestibular system. Many times the schedules arranged for clinical practice do not coincide with patients with vertigo. , leaving the student without his corresponding practice. Moreover, the exam itself can only be carried out once per session for each person, which is why, if the student makes a mistake, he will not have another opportunity to observe a correct result in the same patient, and even worse, he can cause an even greater problem to the patient, because generally, other diseases are associated. From another point of view, the use of patients can only be carried out in clinical care centers, with prior permission by informed consent, so if a patient refuses attention by a student, they must be treated by a professional, undermining the opportunity for the student to learn.
  • Figure 1 Representative scheme of the 3D Vestibular Simulation System that is part of the invention.
  • Figure 2 Representative scheme of the Eye Simulation System that is part of the invention.
  • Figure 3 Representative scheme of the Compact Vestibular Simulation Haptic System which is a variation of the invention and fulfills the same functions.
  • Figure 4 Representative figure showing the components of the invention, with which the user interacts (dummy, stretcher and computer).
  • Figure 5 Corresponds to an illustration of how the 3D image of the ear on the dummy is displayed on the screen.
  • a Haptic Vestibular Simulation System that provides an experience of simulation of the behavior of phenomena related to human balance for the training of future professionals in the area of health. It consists of a 3D vestibular simulation sub-system (1) and an ocular simulation subsystem (2).
  • the Haptic Vestibular Simulation System comprises a phantom that is composed of a head or a head with a mannequin body (42) real size (either full body or half body comprising head and trunk, with or without arms) of a person adult arranged on a stretcher, desk or desk.
  • a mannequin body 42 real size (either full body or half body comprising head and trunk, with or without arms) of a person adult arranged on a stretcher, desk or desk.
  • the preferred mode is only the mannequin head, it is not placed on a stretcher, desk or work table, but is manipulated or taken directly by the user, allowing the learning maneuvers to be carried out without being limited to a fixed place.
  • This mannequin (in the case of the half body) is embedded in the stretcher, table or desk in an articulated form and its base sits on a pivot that allows it to rotate on its own axis up to 360 °, in addition, it can remain. in a vertical position (simulating a seated patient) and move up to 90 ° towards the feet of the stretcher and 90 ° towards the head of the same, being in a horizontal position (lying down).
  • the neck of the dummy (422) is articulated, which allows the user to move the head of the dummy forward, backward, left and right, besides being able to print 90 ° turns to the left and 90 ° to the right.
  • a vestibular simulation subsystem is installed inside the dummy's head, comprising a sensor module (11), which is made up of at least one sensor which can correspond to a single accelerometer or an accelerometer and a gyroscope or an accelerometer and A gyroscope and a compass.
  • This sensor module captures the movements applied on the head of the dummy and sends the information to a Central Processing Unit (12), which can be a computer outside the dummy, connected wired (USB cable) or wirelessly ( via a Wifi or Bluetooth module arranged on the dummy's head).
  • This sensor module can be connected to an embedded module to process the information of the sensors and send the information in quaternions to the Central Processing Unit (12).
  • the information sent by said sensor module (11) is interpreted by a Central Processing Unit (12) and reproduces these movements in real time in a three-dimensional model (3D model) anatomically correct of the inner ear and its semicircular canals, displayed on a screen (13) that will display the images (see figure 5) according to the movements applied on the head of the dummy.
  • This software also allows the user, in the same deployment, to practice the movements specific to the different maneuvers for the treatment of Benign Paroxysmal Postural Vertigo (for example: the Eplay Maneuver, Semont, lempert and Gufoni among others).
  • the Central Processing Unit (12) when the user chooses, in the Central Processing Unit (12), to practice a certain maneuver on the dummy, it will begin to perform the movements of the maneuver on the dummy and on the screen the real-time movement of the three-dimensional model and will indicate to the user if the movements applied to the dummy are performed correctly or not according to the selected maneuver, in addition to dynamically showing the movement of the otoliths and the ampules within the semicircular canals of the inner ear in the image 3D and in a two-dimensional image of the semicircular canal that is affected, in addition to showing the movement of the macules (utricular and saccular) and the nystagmic movement of the eyes as will be explained later, according to the steps corresponding to the maneuver that is practiced.
  • the sensor module in the dummy also allows the user to practice the acceleration movements that the expert delivers for the Cephalic Impulse Test (HIT) exams, delivering motion, speed and frequency graphs with which the movements on the dummy, allowing the user to compare the results of the movements he performs on the dummy with the expected results that should be applied to a real patient.
  • An ocular simulation sub-system (2) comprising a second sensor module (21), similar to the sensor module (11) used to create movement in the 3D model of the ear is also installed on the dummy's head internal.
  • This second sensor module (21) captures the movements applied to the dummy's head, and communicates this information to an embedded module (22) where there is also software specially created for the Vestibular Simulation Haptic System of the invention.
  • the ocular simulation sub-system (2) also includes a selector (25) used to select the type of test that will be performed on the dummy.
  • This selector (25) is also communicated with said embedded module (22) so that it processes all the information received and thus drives a motor module (23) (which can be composed of two or more motors) that control the movement of the eyes (411) of the dummy, which will move according to the natural response of the human eyes to each movement of the head if the maneuvers were applied for the treatment of Benign Paroxysmal Postural Vertigo or when practicing HIT.
  • a motor module (23) which can be composed of two or more motors
  • modules (11) and (21) work independently forming part of the Haptic Vestibular Simulation System of the invention, which allows the same to use all its functionalities when both systems are working at the same time.
  • modules (11) and (21) transmit the position information and acceleration of the dummy and send it to the Central Processing Unit (12) and to the embedded module (22) respectively, while the Central Processing Unit processes the information of the module (11) and uses it to move the 3D model in real time and the 2D model of the inner ear and the path of the otoliths in the semicircular canals
  • the embedded module (22) uses the information of the second module (21) and the information of the selector (25) to determine the speed and direction of rotation on the motor system (23) to perform the correct movement of the eyes according to the maneuver that is applied.
  • the Central Processing Unit processes the motion and acceleration information of the sensor module (11) and uses it to generate two-dimensional graphs that will be superimposed on each test and compared with the ideal movement, speed and frequency to perform the HIT, while the embedded module (22) uses the information from the second sensor module (21) and the selector information (25) to determine the speed and direction of rotation on the motor system (23) to perform the correct movement of the eyes (in terms of direction of movement) according to the acceleration and direction of rotation that is applied to the head of the dummy.
  • the Haptic Vestibular Simulation System is composed of the 3D vestibular simulation sub-system (1) and the Ocular simulation sub-system (2). These are separated to achieve a higher speed of analysis and response for the three-dimensional model and for eye movement. Now, if the Speed of analysis and response is not a major problem for development, there is the possibility of using a single system composed of the union of the sub-systems (1) and (2), this single system is called "Compact Vestibular Simulation Haptic System " (3).
  • This system uses a single sensor module (31) similar to the sensor module (11) and (21) that captures the movements applied to the dummy's head, and communicates this information to an embedded module (32), similar to the embedded module (22).
  • the embedded module (32) also receives information on the position of a selector (37).
  • the embedded module (32) processes all the information received and thus drives a motor system (38) (similar to the motor system (23)) that controls the movement of the eyes (411) of the dummy.
  • the embedded module (32) is responsible for sending to the Central Processing Unit (33) all the information received from the sensor module (31) and from the selector (37), if necessary, to move in real time the 3D model and the 2D model of the inner ear and the path of the otoliths in the semicircular canals.

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Abstract

L'invention concerne un système haptique de simulation vestibulaire qui offre une expérience de simulation du comportement des phénomènes liés à l'équilibre humain pour l'entraînement de futurs professionnels dans le domaine de la santé, lequel système comprend un avatar qui est composé d'une tête ou d'une tête et d'un corps de mannequin de taille réelle (que ce soit un corps entier ou un demi-corps comprenant une tête et un tronc, avec ou sans bras) d'une personne adulte disposée sur un brancard, un bureau ou une table de travail, un sous-système de simulation vestibulaire 3D et un sous-système de simulation oculaire, les deux sous-systèmes étant disposés dans la tête du mannequin et reliés à une unité de traitement centrale qui comporte au moins un logiciel spécifique, de manière que les informations captées par les deux sous-systèmes sont interprétées par ladite unité de traitement centrale et reproduisent en temps réel les mouvements dans un modèle tridimensionnel de l'oreille interne et de ses canaux semi-circulaires, en plus d'une représentation en temps réel du reflet vestibulo-oculaire à travers le mouvement d'un modèle 3D des yeux et du mouvement des yeux dudit mannequin, lequel est intégré dans un brancard, une table ou un bureau de manière articulée et sa base repose sur un pivot qui lui permet de tourner sur son propre axe jusqu'à 360°, en plus, il peut rester en position verticale (simulant un patient assis) et se déplacer jusqu'à 90° vers les pieds du brancard et 90° vers la tête de celui-ci, restant en position horizontale (en appui.)
PCT/CL2017/000012 2017-05-08 2017-05-08 Système haptique de simulation vestibulaire qui offre une expérience de simulation du comportement des phénomènes liés à l'équilibre humain pour l'entraînement de futurs professionnels dans le domaine de la santé Ceased WO2018205045A1 (fr)

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PCT/CL2017/000012 WO2018205045A1 (fr) 2017-05-08 2017-05-08 Système haptique de simulation vestibulaire qui offre une expérience de simulation du comportement des phénomènes liés à l'équilibre humain pour l'entraînement de futurs professionnels dans le domaine de la santé

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PCT/CL2017/000012 WO2018205045A1 (fr) 2017-05-08 2017-05-08 Système haptique de simulation vestibulaire qui offre une expérience de simulation du comportement des phénomènes liés à l'équilibre humain pour l'entraînement de futurs professionnels dans le domaine de la santé

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006065094A (ja) * 2004-08-27 2006-03-09 Giyourin Cho 眼球運動模擬システム、眼球運動模擬用ロボット及びバーチャルリアリティーを用いた眼球運動模擬システム
CN201285616Y (zh) * 2008-10-10 2009-08-05 崔勇 一种半规管耳石复位法演示模型
CN106128256A (zh) * 2016-07-25 2016-11-16 张扬 仿真半规管耳石全头模型

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006065094A (ja) * 2004-08-27 2006-03-09 Giyourin Cho 眼球運動模擬システム、眼球運動模擬用ロボット及びバーチャルリアリティーを用いた眼球運動模擬システム
CN201285616Y (zh) * 2008-10-10 2009-08-05 崔勇 一种半规管耳石复位法演示模型
CN106128256A (zh) * 2016-07-25 2016-11-16 张扬 仿真半规管耳石全头模型

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