Haptic metering for minimally invasive medical procedures
First Claim
Patent Images
1. A method of providing spatially metered haptic sensations to a user, comprising:
- detecting motion of a surgical instrument within two degrees of freedom;
repeatedly determining whether the surgical instrument has moved by an incremental distance in a particular direction with respect to some portion of a patient'"'"'s body; and
imparting a discrete haptic sensation upon a user each time it is determined that the surgical instrument has moved by the incremental distance in a particular direction.
1 Assignment
0 Petitions
Accused Products
Abstract
A method of providing spatially metered haptic sensations to a user includes detecting motion of a surgical instrument within two degrees of freedom; repeatedly determining whether the surgical instrument has moved by an incremental distance in a particular direction with respect to some portion of a patient'"'"'s body; and imparting a discrete haptic sensation upon a user each time it is determined that the surgical instrument has moved by the incremental distance in a particular direction.
622 Citations
59 Claims
-
1. A method of providing spatially metered haptic sensations to a user, comprising:
-
detecting motion of a surgical instrument within two degrees of freedom;
repeatedly determining whether the surgical instrument has moved by an incremental distance in a particular direction with respect to some portion of a patient'"'"'s body; and
imparting a discrete haptic sensation upon a user each time it is determined that the surgical instrument has moved by the incremental distance in a particular direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
-
-
18. A method of providing spatially metered haptic sensations to a user, comprising:
-
defining a plurality of simulated spacing markers with an incremental distance between them;
detecting motion of an elongated flexible object;
repeatedly determining whether the elongated flexible object has moved past a simulated spacing marker; and
imparting a discrete haptic sensation upon a user each time it is determined that the elongated flexible object has moved past a simulated spacing marker in a particular direction. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
-
-
36. A haptic metering system, comprising:
-
at least one input transducer adapted to detect motion of a surgical instrument within at least two degrees of freedom and output a signal corresponding to the detected motion, the surgical instrument adapted to be moved at least linearly and rotatably under control of a user;
control electronics adapted to receive the signal output by the at least one input transducer, repeatedly determine whether the surgical instrument has moved by a defined incremental distance in a particular direction with respect to a reference, and output a control signal each time it is determined that the surgical instrument has moved by the defined incremental distance in the particular direction; and
an output transducer adapted to receive the control signals and impart a discrete haptic sensation upon the user based upon each of the received control signals. - View Dependent Claims (37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47)
-
-
48. A haptic metering system, comprising:
-
at least one input transducer adapted to detect linear motion of an elongated flexible object and output a signal corresponding to the detected linear motion, the elongated flexible object adapted to be moved under control of a user;
control electronics adapted to receive the signals output by the at least one input transducer, repeatedly determine whether the elongated flexible object has moved in a particular direction past one of a plurality of simulated spacing markers, and output a control signal when it is determined that the object has moved past a simulated spacing marker; and
an output transducer adapted to receive the control signals and impart a discrete haptic tick-mark sensation upon the user based on each of the received control signals. - View Dependent Claims (49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59)
-
Specification