Systems and Methods for Minimally Invasive Surgical Tools with Haptic Feedback

• US 20110178508A1
• Filed: 01/14/2011
• Published: 07/21/2011
• Est. Priority Date: 01/15/2010
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Ullrich, Christopher J.
• Granted Patent: US 9,358,072 B2
• Time in Patent Office: Days
• US Class Current: 606/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/30 Surgical robots
• 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
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/0205 Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/7455 characterised by tactile indication, e.g. vibration or electrical stimulation
• CPC Class Codes: A61M 25/01 Introducing, guiding, advancing, emplacing or holding catheters A61M25/10 takes precedence
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0116 self-propelled, e.g. autonomous robots A61M25/0122 takes precedence

Abstract

Systems and methods for minimally invasive surgical tools with haptic feedback are disclosed. One disclosed embodiment of a system includes an insertion sheath configured to be partially inserted within a patient'"'"'s body, the insertion sheath configured to receive a surgical tool; a roller disposed at least partially within the insertion sheath, the roller configured to contact a surgical tool inserted within the insertion sheath; and an actuator coupled to the roller, the actuator configured to receive an actuator signal and to output a haptic effect based on the actuator signal.

Claims

1. A system, comprising:

an insertion sheath configured to be partially inserted within a patient'"'"'s body, the insertion sheath configured to receive a surgical tool; and

an actuator coupled to the insertion sheath, the actuator configured to output a haptic effect to the insertion sheath.

2. The system of claim 1, further comprising:

a roller disposed at least partially within the insertion sheath, the roller configured to contact a surgical tool inserted within the insertion sheath; and

wherein the actuator is coupled to the roller, the actuator configured to receive an actuator signal and to output a haptic effect based on the actuator signal.

3. The system of claim 2, further comprising a second actuator coupled to the insertion sheath, the second actuator configured to receive a vibrotactile actuator signal and to output a vibrotactile effect based on the vibrotactile actuator signal.

4. The system of claim 1, further comprising:

a sensor configured to generate a sensor signal indicating a movement of the surgical tool.

5. The system of claim 4, further comprising a host processor in communication with the actuator and the sensor, the host processor configured to:

receive the sensor signal;

generate the actuator signal based on the sensor signal; and

transmit the actuator signal to the actuator.

6. The system of claim 1, further comprising:

wherein the surgical tool has a distal end and comprising;

a sensor disposed at the distal end of the surgical tool, the sensor configured to generate a sensor signal;

a host processor in communication with the actuator and the sensor, the host processor configured to;

receive the sensor signal;

generate the actuator signal based on the sensor signal; and

transmit the actuator signal to the actuator.

7. The system of claim 6, wherein the sensor is configured to detect a force.

8. The system of claim 7, wherein the sensor signal comprises a sensed force associated with a contact force between the surgical tool and an obstacle, and wherein the actuator is configured to output a force configured to maintain a contact force between a first threshold and a second threshold.

9. The system of claim 6, wherein the sensor is configured to detect one of a voltage, a temperature, a fluid flow, or a viscosity.

10. The system of claim 9, further comprising a second actuator coupled to the insertion sheath, the second actuator configured to receive a vibrotactile actuator signal and to output a vibrotactile effect based on the vibrotactile actuator signal,

wherein the processor is further configured to:

generate the vibrotactile actuator signal based on the sensor signal, and

transmit the vibrotactile actuator signal to the vibrotactile actuator.

11. The system of claim 1, wherein the surgical tool comprises:

a guide wire having a handle configured to be manipulated by a surgeon;

a second actuator coupled to the handle, the second actuator configured to output a haptic effect to the handle.

12. The system of claim 11, wherein the handle comprises a trigger and a third actuator, the third actuator configured to output a haptic effect to the trigger.

13. The system of claim 11, wherein the handle and the second actuator are configured to be removed from the guide wire and discarded following a surgical procedure.

14. The system of claim 1, wherein the surgical tool comprises:

a therapeutic surgical tool; and

a power supply coupled to the therapeutic surgical tool, the power supply configured to control an intensity of a therapeutic effect provided by the therapeutic surgical tool, the power supply comprising;

a trigger, and

a second actuator coupled to the trigger, the second actuator configured to receive a second actuator signal and to output a trigger haptic effect to the trigger based on the second actuator signal.

15. The system of claim 14, wherein the trigger haptic effect comprises a vibration.

16. The system of claim 14, wherein the trigger haptic effect comprises a kinesthetic force configured to resist movement of the trigger.

17. The system of claim 1, further comprising:

a sensor, the sensor configured to be coupled to a patient to sense a status of the patient;

a vibrotactile actuator configured to output a vibrotactile effect to the surgical tool; and

a host processor in communication with the vibrotactile actuator and the sensor, the host processor configured to;

receive the sensor signal;

generate a vibrotactile actuator signal based on the sensor signal; and

transmit the vibrotactile actuator signal to the vibrotactile actuator.

18. The system of claim 17, wherein the sensor comprises a blood pressure monitor or a heart rate monitor.

19. A system, comprising:

an insertion sheath configured to be partially inserted within a patient'"'"'s body, the insertion sheath configured to receive a surgical tool; and

an non-contact inductive actuator coupled to the insertion sheath, the inductive actuator configured to receive an actuator signal and to output a haptic effect to the surgical tool based on the actuator signal.

20. The system of claim 19, wherein the haptic effect comprises a kinesthetic force configured to assist or resist movement of the surgical tool within the insertion sheath.

21. A computer-implemented method, comprising:

receiving a sensor signal from a sensor coupled to a surgical tool, the surgical tool configured to be at least partially inserted within a patient'"'"'s body;

generating an actuator signal based at least in part on the sensor signal, the actuator signal configured to cause the actuator to output a haptic effect; and

transmitting the actuator signal to an actuator coupled to the surgical tool.

22. The method of claim 21, wherein the sensor comprises a voltage sensor and wherein the actuator comprises a vibrotactile actuator and is configured to output a vibrotactile haptic effect based at least in part on the actuator signal.

23. The method of claim 22, wherein the frequency of the vibrotactile effect is proportional to the magnitude of the sensed voltage.

24. The method of claim 21, wherein the sensor signal comprises a sensed force associated with a contact force between the surgical tool and an obstacle, and wherein the actuator is configured to output a force configured to maintain a contact force between a first threshold and a second threshold.