Surgical Instrument Providing Haptic Feedback
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Abstract
A surgical instrument is disclosed having a distal end connected to a handle via an elongated mechanical linkage. The handle includes a first grip portion and a second grip portion pivotably coupled such that the distal end is controllable by manipulation of the handle. At least one sensor is coupled to the distal end of the surgical instrument, wherein the sensor detects a condition at the distal end. An actuator is coupled to one of the first and second grip portions is configured to provide haptic effects to the one of the first and second grip portions. A controller is electrically coupled to the sensor and electrically coupled to the actuator, wherein the controller controls operation of the actuator such that the haptic effects are feedback relating to the sensed condition.
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Citations
40 Claims
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1-20. -20. (canceled)
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21. A surgical instrument comprising:
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a handle having a first grip portion and a second grip portion pivotably coupled to the first grip portion at a pivot point; a distal end connected to the handle via an elongated mechanical linkage, wherein the distal end is controllable by manipulation of the handle; and an actuator coupled to one of the first and second grip portions and configured to provide haptic effects to a user, wherein the haptic effects includes a force about the pivot point applied to the one of the first and second grip portions. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28, 29, 30)
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31. A surgical instrument comprising:
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a distal end connected to a handle via an elongated mechanical linkage, wherein the handle includes a first grip portion and a second grip portion pivotably coupled to the first grip portion and the distal end is controllable by manipulation of the handle; at least one sensor coupled to the distal end, wherein the sensor detects a condition at the distal end; an actuator coupled to one of the first and second grip portions and configured to provide haptic effects to the one of the first and second grip portions; and a controller electrically coupled to the sensor and electrically coupled to the actuator, wherein the controller controls operation of the actuator such that the haptic effects are feedback relating to the sensed condition. - View Dependent Claims (32, 33, 34, 35, 36, 37, 38, 39, 40)
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Specification