System and method for controlling force applied to and manipulation of medical instruments

• US 20030176770A1
• Filed: 03/19/2003
• Published: 09/18/2003
• Est. Priority Date: 03/16/2000
• Status: Abandoned Application

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Cohen, Robert F., Feldman, Philip G., Cunningham, Richard L., Merril, Gregory L., Brown, J. Michael
• Application Number:
  US10/390,715
• Publication Number:
  US 20030176770A1
• Time in Patent Office: Days
• US Class Current: 600/118
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2017/320069 for ablating tissue
• CPC Class Codes: A61B 2017/32007 with suction or vacuum means
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61M 2025/0008 having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type

Abstract

An endoscopic assembly having and elongated member with a distal end and a haptic-feedback housing having a passageway, the elongated member being removably disposed therein, the haptic-feedback housing being configured to provide variable force feedback as the distal end of the elongated member is proximate to a distal end of the haptic-feedback housing.

Claims

1. An apparatus, comprising:

an endoscope body having a channel portion including a channel;

an elongated member moveably disposed in the channel;

an actuator disposed in contact with the elongated member; and

a sensor positioned to detect a first force being applied to the elongated member, the actuator being adapted to apply a second force to the elongated member based on the first force applied to the elongated member.

2. The apparatus of claim 1, further comprising a controller in communication with the actuator and the sensor, the controller being configured to control the second force applied to the elongated member in response to the first force applied to the elongated member.

3. The apparatus of claim 2, wherein the controller is at least partially disposed within the channel, the controller being programmable.

4. The apparatus of claim 1, wherein the sensor is positioned to detect a longitudinally directed force applied to the elongated member.

5. The apparatus of claim 1, wherein the actuator resists undesired motions associated with the first force applied to the elongated member.

6. The apparatus of claim 1, further comprising a second sensor.

7. The apparatus of claim 6, wherein the second sensor is configured to detect torque applied to an elongated member.

8. The apparatus of claim 6, wherein the second sensor is located on a distal end of the elongated member.

9. The apparatus of claim 8, wherein the second sensor is configured to detect a soft tissue upon contact.

10. The apparatus of claim 8, wherein the actuator modifies the movements of the elongated member based on a predefined control characteristic.

11. An apparatus, comprising:

an endoscope body having a channel portion including a channel;

an elongated member moveably disposed in the channel;

an actuator disposed in contact with the elongated member; and

a sensor positioned to detect a movement of the elongated member, the actuator being adapted to apply force to the elongated member based on the movement of the elongated member.

12. The apparatus of claim 11, further comprising a controller in communication with the actuator and the sensor, the controller being configured to control the force applied to the elongated member in response to the movement of the elongated member.

13. The apparatus of claim 12, wherein the controller is at least partially disposed within the channel, the controller being programmable.

14. The apparatus of claim 12, wherein the sensor is an optical sensor, the elongated member has marks detectable by the optical sensor, and the marks are placed at predetermined distances along the elongated member.

15. The apparatus of claim 11, further comprising a second sensor.

16. The apparatus of claim 15, wherein the second sensor is configured to detect a torque applied to an elongated member.

17. The apparatus of claim 16, wherein the second sensor is located on a distal end of the elongated member.

18. The apparatus of claim 16, wherein the second sensor is configured to detect a soft tissue upon contact.

19. The apparatus of claim 16, wherein the actuator modifies the movements of the elongated member based on a predefined control characteristic.

20. An apparatus, comprising:

an endoscope body including a channel along at least a portion of the endoscope body;

a first actuator disposed within the channel and a second actuator disposed within the channel;

a first sensor positioned in the channel; and

a second sensor.

21. The apparatus of claim 20, further comprising a controller in communication with the first actuator, second actuator, first sensor and the second sensor, the controller being programmable and located at least partially within the channel.

22. The apparatus of claim 20, further comprising an elongated member, the first actuator being configured to apply a longitudinally directed force to the elongated member, the second actuator being configured to apply torque to the elongated member, the controller being configured to control the first actuator based the force detected in the first sensor, and the controller being configured to control the second actuator based on the force detected the second sensor.

23. The apparatus of claim 20, wherein the second sensor is disposed on a distal end of the endoscope body.

24. The apparatus of claim 20, further comprising an elongated member moveably disposed within the channel, the second sensor being disposed proximate to a distal end of the elongated member and configured to detect a soft tissue upon contact.

25. An endoscopic assembly, comprising:

an elongated member having a distal end; and

a haptic-feedback housing having a passageway, the elongated member being removably disposed therein, the haptic-feedback housing being configured to provide variable force feedback as the distal end of the elongated member is proximate to a distal end of the haptic-feedback housing.

26. The endoscopic assembly of claim 25, wherein the haptic-feedback housing is configured to limit the transmission of unwanted movements to the elongated member.

27. The endoscopic assembly of claim 25, wherein the haptic-feedback housing is configured to modify the movements of the elongated member based on an input force.

28. The endoscopic assembly of claim 25, wherein the haptic-feedback housing is configured to provide variable force feedback for longitudinal and torsional inputs to the elongated member.