Gentle touch surgical instrument and method of using same

• US 20070078484A1
• 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, Mihai, Dan
• Application Number:
  US11/242,304
• Publication Number:
  US 20070078484A1
• Time in Patent Office: Days
• US Class Current: 606/205
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2017/00119 alarm; indicating an abnormal situation
• CPC Class Codes: A61B 2017/00199 with a console, e.g. a control panel with a display
• 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

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. A surgical feedback system is also provided. The surgical feedback system comprises a surgical grasper capable of taking a force measurement and a data concentrator coupled to the grasper via a wired or wireless interface using a first data transmission protocol with internal storage. A method for obtaining surgical feedback is also provided. The method comprises the steps of: providing a surgical grasper capable of taking a force measurement; and, providing a data concentrator coupled to the grasper via a wired or wireless interface using a first data transmission protocol with internal storage.

Claims

1. A surgical grasper comprising:

a shaft;

two jaws at a distal end of the shaft; and

,

a strain gauge sensor that uses the Hall Effect to measure a force being applied by the jaws.

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

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

a microprocessor and a non-volatile memory chip for at least one of calibration parameter storage and forensic storage.

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

a handle operably connected to the jaws, wherein the jaws can be actuated by the handle.

5. The surgical grasper of claim 4 wherein the strain gauge sensor is located on or inside the handle.

6. The surgical grasper of claim 1 wherein the strain gauge sensor is located on an inner surface of one or both of the jaws.

7. The surgical grasper of claim 1 for use in robotic surgery wherein the jaws can be actuated in response to a robot command.

8. The surgical grasper of claim 1 wherein the strain gauge sensor is located on or inside the shaft.

9. The surgical grasper of claim 7 wherein the strain gauge sensor is located at an actuator.

10. The surgical grasper of claim 7 wherein the strain gauge sensor is located on a wrist of a robot arm.

11. The surgical grasper of claim 7 wherein the measured force is fed back to the robot for use in adjusting the amount of force being applied by the jaws.

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

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

13. A surgical grasper comprising:

a shaft;

two jaws at a distal end of the shaft; and

,

a MEMS sensor.

14. The surgical grasper of claim 13 wherein the MEMS sensor is integrated with signal-conditioning electronics into a single chip or a single package sealed module.

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

a microprocessor and a non-volatile memory chip for at least one of calibration parameter storage and forensic storage.

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

a handle operably connected to the jaws, wherein the jaws can be actuated by the handle.

17. The surgical grasper of claim 16 wherein the MEMS sensor is located on or inside the handle.

18. The surgical grasper of claim 13, wherein the MEMS sensor is located on an inner surface of one or both of the jaws.

19. The surgical grasper of claim 13 for use in robotic surgery, wherein the jaws can be actuated in response to a robot command.

20. The surgical grasper of claim 13, wherein the MEMS sensor is located on or inside the shaft.

21. The surgical grasper of claim 19, wherein the MEMS sensor is located at an actuator.

22. The surgical grasper of claim 19, wherein the MEMS sensor is located on a wrist of a robot arm.

23. The surgical grasper of claim 19 wherein a measured value is fed back to the robot for use in adjusting the amount of force being applied by the jaws.

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

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

25. A surgical feedback system comprising:

a surgical grasper capable of taking a force measurement, the grasper comprising;

a shaft, two jaws at a distal end of the shaft, and a sensor; and

,

a data concentrator coupled to the grasper via a wired or wireless interface using a first data transmission protocol with internal storage.

26. The surgical feedback system of claim 25 wherein the first data transmission protocol is selected from the group consisting of RS-232C, USB, Ethernet, Optical Fiber, Wireless USB, Wireless Ethernet, Firewire, Wi-Fi, 802.11B, 802.11g, Wi-Max, Wireless Telemetry and Bluetooth.

27. The surgical feedback system of claim 25 wherein the data concentrator is wireless and the force measurement is transmitted via the first data transmission protocol at least once every 100 milliseconds to the data concentrator.

28. The surgical feedback system of claim 25 wherein the data concentrator multiplexes a plurality of surgical graspers on a single data link to a monitoring station.

29. The surgical feedback system of claim 25, further comprising:

a visualizing display, a patient monitoring system, or a Hospital Information System coupled to the data concentrator via a wired or wireless interface and a second data transmission protocol for real-time and historical data transmission from the surgical grasper.

30. The surgical feedback system of claim 29 wherein the visualizing display, the patient monitoring system, or the Hospital Information System is selected from the group consisting of Analog, DVI, HDMI, Ethernet, Wireless Telemetry, Wi-Fi, Wi-Max, TCP/IP, Web Service, and HL7.

31. The surgical feedback system of claim 25 wherein the data concentrator stores a history of the force measurements for up to a given time of continuous operation for forensic purposes.

32. 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 shaft and two jaws;

providing a strain gauge sensor; and

,

providing for using the Hall Effect to measure an amount of force being applied to the strain gauge sensor.

33. The method of claim 32 wherein the strain gauge sensor is integrated with signal-conditioning electronics into a single chip or a single package sealed module.

34. The method of claim 32, 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 strain gauge sensor.

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

providing for visually displaying the calculated pressure.

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

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

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

providing a microprocessor and a non-volatile memory chip;

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

,

providing for storing the history of time-stamped transmitted data in the memory chip over a useful life of the grasper.

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

providing a handle operably connected to the jaws, wherein the jaws can be actuated by the handle and the strain gauge sensor is provided on or inside the handle.

39. The method of claim 32 wherein the grasper is provided for use in robotic surgery and the jaws can be actuated responsive to a robot command.

40. The method of claim 39 wherein the strain gauge sensor is provided on or inside the shaft, on an inner surface of one or both of the jaws, at an actuator, or on a wrist of a robot arm.

41. The method of claim 39, further comprising the step of:

providing a feedback to the robot of the measured amount of force being applied to the strain gauge sensor for use in adjusting the amount of force being applied by the jaws.

42. 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 shaft and two jaws; and

, providing a MEMS sensor.

43. The method of claim 42 wherein the MEMS sensor is integrated with signal-conditioning electronics into a single chip or a single package sealed module.

44. The method of claim 42, 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 MEMS sensor.

45. The method of claim 44, further comprising the step of:

providing for visually displaying the calculated pressure.

46. The method of claim 42, further comprising the step of:

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

47. The method of claim 42, further comprising the step of:

providing a microprocessor and a non-volatile memory chip;

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

,

providing for storing the history of time-stamped transmitted data in the memory chip over a useful life of the grasper.

48. The method of claim 42, further comprising the step of:

providing a handle operably connected to the jaws, wherein the jaws can be actuated by the handle and the MEMS sensor is provided on or inside the handle.

49. The method of claim 42 wherein the grasper is provided for use in robotic surgery and the jaws can be actuated responsive to a robot command.

50. The method of claim 49 wherein the MEMS sensor is provided on or inside the shaft, on an inner surface of one or both of the jaws, at an actuator, or on a wrist of a robot arm.

51. The method of claim 49, further comprising the step of:

providing a feedback to the robot of the measured amount of force being applied to the MEMS sensor for use in adjusting the amount of force being applied by the jaws.

52. A method for obtaining surgical feedback, the method comprising the steps of:

providing a surgical grasper capable of taking a force measurement, the grasper comprising;

a shaft, two jaws at a distal end of the shaft, and a sensor; and

,

providing a data concentrator coupled to the grasper via a wired or wireless interface using a first data transmission protocol with internal storage.

53. The method of claim 52 wherein the first data transmission protocol is selected from the group consisting of RS-232C, USB, Ethernet, Optical Fiber, Wireless USB, Wireless Ethernet, Firewire, Wi-Fi, 802.11B, 802.11g, Wi-Max, Wireless Telemetry and Bluetooth.

54. The method of claim 52 wherein the data concentrator is wireless and the first data transmission protocol is capable of transmitting the force measurement to the data concentrator at least once every 100 milliseconds.

55. The method of claim 52 wherein the data concentrator is capable of multiplexing a plurality of surgical graspers on a single data link to a monitoring station.

56. The method of claim 52, further comprising the step of:

providing that the data concentrator is capable of being coupled to a visualizing display, a patient monitoring system, or a Hospital Information System via a wired or wireless interface and a second data transmission protocol for real-time and historical data transmission from the surgical grasper.

57. The method of claim 56 wherein the visualizing display, the patient monitoring system, or the Hospital Information System is selected from the group consisting of Analog, DVI, HDMI, Ethernet, Wireless Telemetry, Wi-Fi, Wi-Max, TCP/IP, Web Service, and HL7.

58. The method of claim 52 wherein the data concentrator stores a history of the force measurements for up to a given time of continuous operation for forensic purposes.