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Surgical system with haptic feedback based upon quantitative three-dimensional imaging

  • US 10,555,788 B2
  • Filed: 09/28/2016
  • Issued: 02/11/2020
  • Est. Priority Date: 03/28/2014
  • Status: Active Grant
First Claim
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1. A system to provide haptic feedback during a medical procedure comprising:

  • a surgical instrument;

    a quantitative three-dimensional (Q3D) endoscope having an imaging sensor array comprising at least three coplanar imaging sensors having coplanar overlapping fields of view, wherein each imagining sensor includes a pixel array that is separate from the pixel arrays of other imaging sensors, wherein the Q3D endoscope is operable to capture Q3D information indicative of deformation distance of different locations of a tissue structure placed in contact with the surgical instrument within the fields of view;

    wherein the surgical instrument is operable to move across a tissue surface structure to contact and impart a force to deform different tissue surface locations of the tissue structure placed within the overlapping fields of view;

    at least one processor configured to produce a Q31) model that provides a map of measures of tissue structure deformation for the contact between the instrument and the tissue surface at the different locations of the tissue structure surface, based upon the captured Q3D information; and

    a haptic user interface device configured to produce haptic feedback indicative of the map of the measures of tissue structure deformation at the contact locations of the tissue structure surface.

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