Systems and Methods For Sensing Hand Motion By Measuring Remote Displacement

• US 20100069941A1
• Filed: 09/15/2008
• Published: 03/18/2010
• Est. Priority Date: 09/15/2008
• Status: Active Grant

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Cohen, Robert F., Meents, Mark S.
• Granted Patent: US 9,679,499 B2
• Time in Patent Office: Days
• US Class Current: 606/170
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

Systems and methods for sensing hand motion by measuring remote displacement are disclosed. For example, one disclosed apparatus includes a first surface configured to engage a first distal member of a surgical tool and a second surface configured to engage a second distal member of the surgical tool, the second surface coupled to the first surface at a pivot point. The apparatus further includes a sensor configured to detect a relative movement of the first surface and the second surface about the pivot point and to generate a signal based at least in part on the relative movement.

Claims

1. An apparatus, comprising:

a first surface configured to engage a first distal member of a surgical tool,

a second surface configured to engage a second distal member of the surgical tool, the second surface coupled to the first surface at a pivot point; and

a sensor configured to detect a relative movement of the first surface and the second surface about the pivot point and to generate a signal based at least in part on the relative movement.

2. The apparatus of claim 1, further comprising a processor in communication with the sensor and configured to receive the signal from the sensor.

3. The apparatus of claim 1, further comprising a flexure to apply a force about the pivot point.

4. The apparatus of claim 1, further comprising an anchor configured to secure the apparatus about a shaft of the surgical tool.

5. The apparatus of claim 4, wherein the anchor comprises a first anchoring surface and a second anchoring surface.

6. The apparatus of claim 5, wherein the first anchoring surface and the second anchoring surface are spring loaded.

7. The apparatus of claim 6, wherein the first anchoring surface and the second anchoring surface are configured to accept a plurality of surgical tools, each of the plurality of surgical tools having a different diameter.

8. The apparatus of claim 1, further comprising an actuator.

9. The apparatus of claim 1, wherein the surgical tool is configured to operate asymmetrically.

10. The apparatus of claim 1, wherein the surgical tool comprises a laparoscopic tool, a gynecological tool, forceps, or scissors.

11. The apparatus of claim 1, wherein the first distal member and the second distal member are configured to move symmetrically.

12. The apparatus of claim 1, wherein the first distal member and the second distal member are configured to move asymmetrically.

13. The apparatus of claim 1, wherein the sensor comprises a potentiometer, an optical encoder, electrical encoder, magnetic encoder, or a hall effect sensor.

14. The apparatus of claim 1, wherein the sensor is configured to communicate with a simulation device.

15. The apparatus of claim 1, wherein the apparatus is configured to minimally impede the operation of the surgical tool.

16. A method, comprising:

engaging a first distal member of a surgical tool at a first surface;

engaging a second distal member of the surgical tool at a second surface, the second surface coupled to the first surface at a pivot point;

determining a relative movement of the first surface and the second surface; and

outputting a signal based at least in part on the relative movement of the first surface and the second surface.

17. The method of claim 16, further comprising:

providing haptic feedback to the laparoscopic tool based at least in part on the signal.

18. The method of claim 16, further comprising:

securing an apparatus around the laparoscopic tool, the apparatus comprising the first surface, the second surface, and a sensor configured to determine the relative movement of the first distal member and the second distal member.

19. An apparatus configured to detect the relative motion of a laparoscopic tool, the apparatus comprising:

an assembly, comprising

an anchor comprising a top surface and a bottom surface, the top surface coupled to a first spring, the bottom surface coupled to a second spring, the anchor configured to secure a shaft of the laparoscopic tool;

a first surface configured to engage a first distal member of the laparoscopic tool,

a second surface configured to engage a second distal member of the laparoscopic tool, the first surface coupled to the second surface at a pivot point,

a sensor configured to measure the relative movement of the first surface and the second surface and transmit a movement signal based at least in part on the relative movement of the top surface and the bottom surface to a laparoscopic simulator device;

a processor in communication with the sensor and configured to receive the movement signal from the sensor and transmit an actuator signal based at least in part on the movement signal; and

an actuator in communication with the sensor and configured to receive the actuator signal and provide vibrotactile feedback to the assembly, the vibrotactile feedback based at least in part on the relative movement of the first surface and the second surface.