Patent ID: 6939138

Claim:
A system for performing a simulated medical urological endoscopy procedure, comprising: (a) at least a portion of a simulated urological organ system; (b) a simulated endoscope for performing the simulated medical urological endoscopy procedure on said at least a portion of said simulated urological organ system; (c) a locator for determining a location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system; (d) a visual processing and display system for displaying images according to said location of said simulated endoscope within said simulated at least a portion of a simulated urological organ system for providing visual feedback, such that said images simulate actual visual data received during an actual medical procedure as performed on an actual subject; and (e) a plurality of mathematical models for modeling said at least a portion of a simulated urological organ system according to a corresponding at least a portion of an actual urological organ system, wherein each mathematical model features a plurality of connected branched paths, each path being modeled with at least one spline, path corresponding to a branch of an actual urological organ system, wherein said paths comprise at least a first path for a bladder, two paths for ureters, connected to a spline for modeling a urethra as an entry structure, and wherein said visual processing and display system selects a mathematical model according to said location of said simulated endoscope and selects said images according to said mathematical model.