Patents Assigned to VIRTAMED AG
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Publication number: 20220151701Abstract: A method is proposed to simulate a moving rod with a changing orientation such as bending or twisting in a real-time surgical threading simulation application. A Projective Dynamics local-global solver is adapted with discretized Cosserat object position and orientation constraints and potentials for the local and global solving steps. Rotatable rigid or deformable bodies may be simulated accordingly, such as for instance rods, with potential weights accounting for the material parameters and geometric properties of the objects, such as the radius, the mass density, the length, and/or, for elastic thin objects, the Young's modulus, thus enabling realistic simulation for different values. Furthermore, the proposed methods converge after a small number of iterations, independently from the mesh resolution, enabling fast implementation in a diversity of computer graphics simulation applications.Type: ApplicationFiled: February 4, 2022Publication date: May 19, 2022Applicant: VIRTAMED AGInventors: Carlota SOLER ARASANZ, Tobias MARTIN
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Publication number: 20220139260Abstract: A compact and versatile mixed reality simulator system and methods may comprise a mixed reality processing engine and a haptic control engine to control a linear electromagnetic motor (LEM) of 1 degree of freedom made of a handheld instrument replicate and a trocar-like instrument hosting duct. The compact and versatile mixed reality simulator system may comprise multiple interchangeable instrument hosting ducts and handheld instrument replicates and the mixed reality processing engine may automatically detect, from sensors, which instrument replicate has been inserted in which duct. The mixed reality processing engine may detect a virtual contact between the handheld instrument replicate and a virtual object in a mixed reality scenario.Type: ApplicationFiled: January 13, 2020Publication date: May 5, 2022Applicant: VIRTAMED AGInventors: Christopher HENSCHEL, Ivo LEIBACHER, Daniel CHOFEN, Stefan TUSCHSCHMID, Markus OELHAFEN, Carolyn MATTES-O'BRIEN
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Publication number: 20210074182Abstract: Anatomy mannequins, models and medical simulation systems may facilitate training by rendering a realistic tactile feedback when the end user manipulates the anatomy model with a handheld tool. An anatomy model may comprise various inexpensive material arrangements to replicate the side-to-side motion friction and resistance against the insertion and manipulation of a surgical instrument in a living body soft body tissue, such as muscle or ligament layers, while ensuring sustainability of the corresponding simulator parts over at least thousands of training sessions. A mesh layer may be arranged as an interlinked mesh of elastomer strands. A soft body layer may also be arranged as a grid of flexible protruding elements. The instrument may be inserted and manipulated through the crossings of the interlinked elastomer strands and/or the recesses or channels between the flexible protruding elements to provide a tactile feedback similar to that of real surgery tool handheld manipulation.Type: ApplicationFiled: September 4, 2020Publication date: March 11, 2021Applicant: Virtamed AGInventors: Gudrun Kristin EINARSDOTTIR, Erika BEUDEKER, Daniel JIROUDEK
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Patent number: 10565900Abstract: Stochastic ray-tracing methods such as Monte-Carlo ray-tracing may be adapted to provide more efficient and more realistic ultrasound imaging systems and methods. Many random ray paths that are perturbed according to a probability distribution may be generated until they converge to the correct solution. New surface thickness and roughness models enable to reproduce complex ultrasound interactions such as multiple reflections and refractions. The contribution of each ray path may be further weighted to better simulate a beamformed ultrasound signal. Tracing many individual rays per transducer element is easily parallelizable on modern GPU computing architectures.Type: GrantFiled: September 6, 2017Date of Patent: February 18, 2020Assignee: VIRTAMED AGInventors: Oliver Mattausch, Orcun Goksel, Maxim Makhinya
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Patent number: 10453360Abstract: An ultrasound simulation method for rendering an ultrasound image of an anatomy model, comprises acquiring, with at least one model sensor, a position and/or orientation of the model; acquiring, with at least one probe replicate sensor, a position and/or orientation of an ultrasound imaging probe replicate, the ultrasound imaging probe replicate interacting with low friction with at least one anatomy model surface, the model surface being deformed by the pressure of the ultrasound imaging probe replicate; aligning a VR/AR model to the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate; interpolating a 2D ultrasound slice by sampling through a standard reconstructed 3D ultrasound volume, as a function of the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate.Type: GrantFiled: October 14, 2016Date of Patent: October 22, 2019Assignee: VIRTAMED AGInventors: Erika Beudeker, Basil Fierz, Sebastian Martin, Carolyn O'Brien, Stefan Tuchschmid, Maxim Makhinya, Orcun Goksel
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Publication number: 20190108300Abstract: A method is proposed to simulate a moving object with a changing orientation such as bending or twisting in a real-time computer graphics application. A Projective Dynamics local-global solver is adapted with discretized Cosserat object position and orientation constraints and potentials for the local and global solving steps. Rotatable rigid or deformable bodies may be simulated accordingly, such as for instance rods, with potential weights accounting for the material parameters and geometric properties of the objects, such as the radius, the mass density, the length, and/or, for elastic thin objects, the Young's modulus, thus enabling realistic simulation for different values. Furthermore, the proposed methods converge after a small number of iterations, independently from the mesh resolution, enabling fast implementation in a diversity of computer graphics simulation applications.Type: ApplicationFiled: October 9, 2018Publication date: April 11, 2019Applicant: VIRTAMED AGInventors: Carlota SOLER ARASANZ, Tobias Martin
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Publication number: 20180301063Abstract: An ultrasound simulation method for rendering an ultrasound image of an anatomy model, comprises acquiring, with at least one model sensor, a position and/or orientation of the model; acquiring, with at least one probe replicate sensor, a position and/or orientation of an ultrasound imaging probe replicate, the ultrasound imaging probe replicate interacting with low friction with at least one anatomy model surface, the model surface being deformed by the pressure of the ultrasound imaging probe replicate; aligning a VR/AR model to the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate; interpolating a 2D ultrasound slice by sampling through a standard reconstructed 3D ultrasound volume, as a function of the tracked position and orientation of the anatomy model and the ultrasound imaging probe replicate.Type: ApplicationFiled: October 14, 2016Publication date: October 18, 2018Applicants: VIRTAMED AG, EIDGENOESSISCHE TECHNISCH HOCHSCHULE ZURICH (ETHZ)Inventors: Erika BEUDEKER, Basil FIERZ, Sebastian MARTIN, Carolyn O'BRIEN, Stefan TUCHSCHMID, Maxim MAKHINYA, Orcun GOKSEL
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Publication number: 20180055570Abstract: Anatomy mannequins, models and medical simulation systems described herein may facilitate various medical procedure training by rendering a realistic passive haptic touch when the end user manipulates the anatomy model with a handheld tool. An anatomy tissue model may comprise at least one fabric layer arranged over at least one foam layer to replicate the low-friction, elasticity and hardness of a living body anatomy tissue, such as the vagina wall, without requiring the use of lubricant in the medical simulation training procedure. The anatomy tissue model may be attached as an insert to a body structure model. A diversity of anatomy tissue models may be adapted with different fabric layer and/or foam layer designs, each design corresponding to a different haptic touch, so they can be interchanged in a medical training simulator system to realistically replicate different medical training scenarios.Type: ApplicationFiled: August 22, 2017Publication date: March 1, 2018Applicant: Virtamed AGInventors: Carolyn O'BRIEN, Kelly WETTENGEL
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Publication number: 20170110032Abstract: Embodiments of flexible ultrasound simulation devices, methods, and systems described herein may facilitate various medical procedure training by rendering realistic ultrasound images in accordance with the end user interaction with an anatomy model, an ultrasound probe replica and a medical tool. An ultrasound probe replica may be adapted with a low friction tip, such as a roller ball. A data processing unit may compute and display an accurate Virtual Reality/Augmented Reality (VR/AR) model and an ultrasound image in accordance with the position and orientation tracking of the VR/AR ultrasound simulator elements. The VR/AR ultrasound simulator may be adapted to realistically render the VR/AR model and the ultrasound image as a function of the user interaction with the VR/AR simulator elements.Type: ApplicationFiled: October 14, 2016Publication date: April 20, 2017Applicant: VIRTAMED AGInventors: Carolyn O'BRIEN, Erika BEUDEKER
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Patent number: 9424761Abstract: Simulation systems and methods may enable medical training. A manufacturing unit may receive data from a configuration unit indicating identification and manufacturing parameters for an anatomy model. A data processing unit may receive data from the configuration unit identifying the anatomy model, and data from a calibration unit indicating a position and/or orientation of a position and orientation sensor relative to the anatomy model. The data processing unit may also receive data from the position and orientation sensor indicating a position and/or orientation of the anatomy model. The data processing unit may generate a virtual image using the data from the position and orientation sensor, the data from the calibration unit, and the data from the configuration unit. The data processing unit may render the virtual image to a display.Type: GrantFiled: July 16, 2015Date of Patent: August 23, 2016Assignee: VIRTAMED AGInventors: Stefan Tuchschmid, Carolyn O'Brien, Daniel Bachofen, Matthias Harders, Jonas Spillmann
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Patent number: 9330502Abstract: Mixed reality simulation in general, and more specifically to mixed reality simulation devices and systems for training purposes, for example in the medical field, may be provided. For example, a mixed reality simulation method for rendering on a display a mixed reality scenario of a virtual environment adapted to a physical environment, may comprise acquiring, with a sensor, a position of a physical environment object; identifying a mismatch between a physical environment surface and a virtual environment surface, the mismatch depending on the physical environment object position and a mixed reality scenario parameter; and computing a mapping displacement for a virtual environment surface based on the identified mismatch.Type: GrantFiled: September 11, 2013Date of Patent: May 3, 2016Assignees: EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZURICH (ETH ZURICH), VIRTAMED AGInventors: Stefan Tuchschmid, Jonas Spillmann, Matthias Harders
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Patent number: 9142145Abstract: Simulation systems and methods may enable virtual imaging. A data processing unit may receive data from a calibration unit indicating a position and/or orientation of a position and orientation sensor relative to a physical model. The data processing unit may also receive data from the position and orientation sensor indicating a position and/or orientation of the physical model. The data processing unit may generate a virtual image using the data from the position and orientation sensor and the data from the calibration unit. The data processing unit may render the virtual image to a display.Type: GrantFiled: February 6, 2015Date of Patent: September 22, 2015Assignees: VIRTAMED AG, EIDGENOSSISCHE TECHNISCHE HOCHSCHULE ZURICHInventors: Stefan Tuchschmid, Daniel Bachofen, Matthias Harders, Jonas Spillman
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Patent number: 8992230Abstract: Simulation systems and methods may enable virtual imaging. A data processing unit may receive data from a calibration unit indicating a position and/or orientation of a position and orientation sensor relative to a physical model. The data processing unit may also receive data from the position and orientation sensor indicating a position and/or orientation of the physical model. The data processing unit may generate a virtual image using the data from the position and orientation sensor and the data from the calibration unit. The data processing unit may render the virtual image to a display.Type: GrantFiled: January 2, 2013Date of Patent: March 31, 2015Assignees: Virtamed AG, Eidgenossische Technische Hochschule ZurichInventors: Stefan Tuchschmid, Daniel Bachofen, Matthias Harders, Jonas Spillmann
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Publication number: 20140071165Abstract: Mixed reality simulation in general, and more specifically to mixed reality simulation devices and systems for training purposes, for example in the medical field, may be provided. For example, a mixed reality simulation method for rendering on a display a mixed reality scenario of a virtual environment adapted to a physical environment, may comprise acquiring, with a sensor, a position of a physical environment object; identifying a mismatch between a physical environment surface and a virtual environment surface, the mismatch depending on the physical environment object position and a mixed reality scenario parameter; and computing a mapping displacement for a virtual environment surface based on the identified mismatch.Type: ApplicationFiled: September 11, 2013Publication date: March 13, 2014Applicants: EIDGENOESSISCHE TECHNISCHE HOCHSCHULE ZURICH (ETH ZURICH), VIRTAMED AGInventors: Stefan TUCHSCHMID, Jonas SPILLMANN, Matthias HARDERS
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Publication number: 20130189663Abstract: Simulation systems and methods may enable virtual imaging. A data processing unit may receive data from a calibration unit indicating a position and/or orientation of a position and orientation sensor relative to a physical model. The data processing unit may also receive data from the position and orientation sensor indicating a position and/or orientation of the physical model. The data processing unit may generate a virtual image using the data from the position and orientation sensor and the data from the calibration unit. The data processing unit may render the virtual image to a display.Type: ApplicationFiled: January 2, 2013Publication date: July 25, 2013Applicants: EIDGENOSSISCHE TECHNISCHE HOCHSCHULE ZURICH, VIRTAMED AGInventors: VIRTAMED AG, EIDGENOSSISCHE TECHNISCHE HOCHSCHULE ZURICH