Gentle touch surgical instrument and method of using same

• US 20070074584A1
• Filed: 10/03/2005
• Published: 04/05/2007
• Est. Priority Date: 10/03/2005
• Status: Abandoned Application

• Current Assignee: Telesurgix Corporation
• Original Assignee: Telesurgix Corporation
• Inventors: Rathburn, Douglas, Talarico, Joseph
• Application Number:
  US11/242,452
• Publication Number:
  US 20070074584A1
• Time in Patent Office: Days
• US Class Current: 73/856
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2034/305 Details of wrist mechanisms at distal ends of robotic arms
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/30 Surgical robots

Abstract

A surgical grasper is provided. The grasper comprises a handle, two jaws operably connected to the handle, which jaws can be actuated by the handle, and a sensor. A surgical grasper for use in robotic surgery is also provided. The grasper comprises a shaft, two jaws at a distal end of the shaft, which jaws can be actuated in response to a robot command, and a sensor. A method for measuring an amount of force being applied by a jaw of a grasper is also provided. The method comprises the steps of: providing a grasper comprising a handle and two jaws operably connected to the handle, which jaws can be actuated by the handle; providing a sensor on the grasper; and, providing for measuring an amount of force being applied to the sensor. A method for measuring an amount of force being applied by a jaw of a grasper for use in robotic surgery is also provided. The method comprises the steps of: providing a grasper for use in robotic surgery, the grasper comprising a shaft and two jaws at a distal end of the shaft, which jaws can be actuated responsive to a robot command; providing a sensor; and, providing for measuring an amount of force being applied to the sensor.

Claims

1. A surgical grasper comprising:

a handle;

two jaws operably connected to the handle, which jaws can be actuated by the handle; and

,

a sensor.

2. The surgical grasper of claim 1 wherein the sensor is located on or inside the handle, on or inside a shaft, or on an inner surface of one or both of the jaws.

3. The surgical grasper of claim 1 wherein the sensor is a piezoelectric sensor or crystal.

4. The surgical grasper of claim 3, further comprising:

a resistor having a fixed resistance connected in series with the piezoelectric sensor or crystal, wherein a voltage drop is measurable across the fixed resistor, which voltage drop corresponds to an amount of change in force being applied to the piezoelectric sensor or crystal.

5. The surgical grasper of claim 1 wherein the sensor is a resistive strain gauge.

6. The surgical grasper of claim 1 wherein the sensor is a strain gauge sensor and a change in electrical resistance in the strain gauge sensor can be measured using a Wheatstone bridge.

7. The surgical grasper of claim 1 wherein the sensor is selected from the group consisting of a thin film sensor, a photosensor, an optical proximity sensor, a fiber optic sensor, a nanosensor, a variable capacitance sensor, and an electronic pressure scanner.

8. The surgical grasper of claim 1 wherein the sensor is integrated with signal-conditioning electronics into a single chip or single package sealed module.

9. The surgical grasper of claim 1, further comprising:

an audio alert or a visual signal corresponding to an amount of force being applied to the sensor.

10. The surgical grasper of claim 1, further comprising:

a microprocessor; and

,

a non-volatile memory chip for calibration parameter storage.

11. A surgical grasper for use in robotic surgery comprising:

a shaft;

two jaws at a distal end of the shaft, which jaws can be actuated in response to a robot command; and

,

a sensor.

12. The surgical grasper of claim 11 wherein the sensor is located on an inner surface of one or both of the jaws, on or inside the shaft, at an actuator, or on or inside a wrist of a robot arm.

13. The surgical grasper of claim 11 wherein the sensor is a piezoelectric sensor or crystal.

14. The surgical grasper of claim 13, further comprising:

a resistor having a fixed resistance connected in series with the piezoelectric sensor or crystal, wherein a voltage drop is measurable across the fixed resistor, which voltage drop corresponds to an amount of change in force being applied to the piezoelectric sensor or crystal.

15. The surgical grasper of claim 14 wherein the measured voltage drop is fed back to the robot for use in adjusting the amount of force being applied by the jaws.

16. The surgical grasper of claim 11 wherein the sensor is a resistive strain gauge.

17. The surgical grasper of claim 11 wherein the sensor is a strain gauge sensor and a change in electrical resistance in the strain gauge sensor can be measured using a Wheatstone bridge.

18. The surgical grasper of claim 11 wherein the sensor is selected from the group consisting of a thin film sensor, a photosensor, an optical proximity sensor, a fiber optic sensor, a nanosensor, a variable capacitance sensor, and an electronic-pressure scanner.

19. The surgical grasper of claim 11 wherein the sensor is integrated with signal-conditioning electronics into a single chip or single package sealed module.

20. The surgical grasper of claim 11, further comprising:

a visual or audio signal corresponding to an amount of force being applied to the sensor.

21. The surgical grasper of claim 11, further comprising:

a microprocessor; and

,

a non-volatile memory chip for calibration parameter storage.

22. A method for measuring an amount of force being applied by the jaws of a grasper, the method comprising the steps of:

providing a grasper comprising a handle and two jaws operably connected to the handle, which jaws can be actuated by the handle;

providing a sensor on the grasper; and

,

providing for measuring an amount of force being applied to the sensor.

23. The method of claim 22 wherein the sensor is a piezoelectric sensor or crystal.

24. The method of claim 23, further comprising the steps of:

providing a resistor having a fixed resistance connected in series with the piezoelectric sensor or crystal; and

,

measuring a voltage drop across the fixed resistor, which voltage drop corresponds to an amount of change in force being applied to the piezoelectric sensor or crystal.

25. The method of claim 22 wherein the sensor is a resistive strain gauge.

26. The surgical grasper of claim 22 wherein the sensor is a strain gauge sensor and a change in electrical resistance in the strain gauge sensor can be measured using a Wheatstone bridge.

27. The surgical grasper of claim 22 wherein the sensor is selected from the group consisting of a thin film sensor, a photosensor, an optical proximity sensor, a fiber optic sensor, a nanosensor, a variable capacitance sensor, and an electronic pressure scanner.

28. The method of claim 22 wherein the sensor is provided integrated with signal-conditioning electronics into a single chip or single package sealed module.

29. The method of claim 22, further comprising the step of:

providing for calculating a pressure being applied by the jaws from the measured amount of force being applied to the sensor.

30. The method of claim 29, further comprising the step of:

providing for visually displaying the calculated pressure.

31. The method of claim 22, further comprising the step of:

providing for the sounding of an audio alert corresponding to the amount of force being applied to the sensor.

32. The method of claim 22, further comprising the step of:

providing a microprocessor;

providing a non-volatile memory chip; and

,

providing for storing calibration parameters in the memory chip at manufacturing time.

33. A method for measuring an amount of force being applied by the jaws of a grasper, the method comprising the steps of:

providing a grasper for use in robotic surgery, the grasper comprising a shaft and two jaws at a distal end of the shaft, which jaws can be actuated responsive to a robot command;

providing a sensor; and

,

providing for measuring an amount of force being applied to the sensor.

34. The method of claim 33, further comprising the step of:

providing a feedback to the robot of the measured amount of force being applied to the sensor.

35. The method of claim 33 wherein the sensor is a piezoelectric sensor or crystal located on the grasper or the robot.

36. The method of claim 35, further comprising the steps of:

providing a resistor having a fixed resistance connected in series with the piezoelectric sensor or crystal; and

,

providing for measuring a voltage drop across the fixed resistor, which voltage drop corresponds to an amount of change in force being applied to the piezoelectric sensor or crystal.

37. The method of claim 33 wherein the sensor is a resistive strain gauge.

38. The surgical grasper of claim 33 wherein the sensor is a strain gauge sensor and a change in electrical resistance in the strain gauge sensor can be measured using a Wheatstone bridge.

39. The surgical grasper of claim 33 wherein the sensor is selected from the group consisting of a thin film sensor, a photosensor, an optical proximity sensor, a fiber optic sensor, a nanosensor, a variable capacitance sensor, and an electronic pressure scanner.

40. The method of claim 33 wherein the sensor is provided integrated with signal-conditioning electronics into a single chip or single package sealed module.

41. The method of claim 33, further comprising the step of:

providing a microprocessor;

providing a non-volatile memory chip; and

,

providing for storing calibration parameters in the memory chip at manufacturing time.