SURGICAL STAPLER HAVING HAPTIC FEEDBACK

• US 20120138658A1
• Filed: 12/07/2010
• Published: 06/07/2012
• Est. Priority Date: 12/07/2010
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Ullrich, Christopher, Modarres, Ali, Gregorio, Pedro, Shimek, Cheryl
• Granted Patent: US 8,523,043 B2
• Time in Patent Office: Days
• US Class Current: 227/175.1
• CPC Class Codes: A61B 17/072 for applying a row of staples in a single action , e.g. the staples being applied simultaneously
• CPC Class Codes: A61B 2017/00022 Sensing or detecting at the treatment site
• 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 2017/00398 using powered actuators, e.g. stepper motors, solenoids
• CPC Class Codes: A61B 2017/07214 Stapler heads
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 2090/0807 Indication means
• CPC Class Codes: A61B 2090/378 using ultrasound
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A surgical tool system includes a surgical tool for cutting and stapling tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., the type of tissue or other structures located within the jaws of the stapler, whether the quantity or thickness of tissue located within the jaws of the stapler is appropriate for the selected stapler cartridge, whether the proper length of staples has been fired based on the length of tissue located in the jaws, whether a blood vessel is located within the jaws of the stapler, whether the stapling process has successfully sealed the tissue located within the jaws of the stapler, the position of the cutting element, and/or when the stapling procedure or firing cycle is completed.

Claims

1. A surgical tool system comprising:

a surgical tool operable to staple tissue, the tool including a distal portion including a tissue stapling mechanism connected to a handle via a shaft;

a sensor coupled to the surgical tool, wherein the sensor is configured to monitor a tissue property;

a control system electrically connected to sensor, wherein the control system calculates sensor information from signals received from the sensor and processes the sensor information into signal commands; and

a feedback system including one or more haptic actuators coupled to the handle and electrically connected to the control system, wherein the control system communicates the signal commands to the feedback system and the feedback system uses the signal commands to generate haptic feedback relating to the sensor information to the handle.

2. The surgical tool system of claim 1, wherein the sensor is selected from a group consisting of a current sensor coupled to a motor for driving the tissue stapling mechanism, RPM sensor coupled to a motor for driving the tissue stapling mechanism, and a pressure distribution sensor coupled to two opposing jaw members coupled to the distal portion of the tool and the haptic feedback generated by the feedback system informs a user of tissue anisotropy.

3. The surgical tool system of claim 1, further comprising a cutting element on the distal portion of the tool and a displacement sensor coupled to the cutting element, wherein the haptic feedback generated by the feedback system informs a user of the thickness of tissue located within two opposing jaw members coupled to the distal portion of the tool.

4. The surgical tool system of claim 3, wherein a firing trigger is coupled to the cutting element and the one or more haptic actuators include a kinesthetic actuator coupled to the trigger to enable variable resistance to motion as the haptic feedback.

5. The surgical tool system of claim 1, wherein the sensor is coupled to the distal portion of the tool and is selected from the group consisting of a pressure sensors and a displacement sensor and wherein the haptic feedback generated by the feedback system informs a user that a vessel is only partially located within two opposing jaw members coupled to the distal portion of the tool.

6. The surgical tool system of claim 1, wherein the sensor is coupled to the distal portion of the tool and is selected from the group consisting of a pressure sensors and a displacement sensor and wherein the haptic feedback generated by the feedback system informs a user that a vessel is completely sealed by the tissue stapling mechanism.

7. The surgical tool system of claim 1, wherein the sensor is coupled to the distal portion of the tool and is selected from the group consisting of a pressure sensors and a displacement sensor and wherein the haptic feedback generated by the feedback system informs a user of the length of tissue located within two opposing jaw members coupled to the distal portion of the tool.

8. The surgical tool system of claim 1, further comprising a cutting element on the distal portion of the tool and a displacement sensor coupled to the cutting element, and wherein the haptic feedback generated by the feedback system informs a user of the position of the cutting element.

9. The surgical tool system of claim 8, wherein the haptic feedback generated by the feedback system informs the user upon completion of the stapling procedure.

10. The surgical tool system of claim 1, wherein the haptic feedback generated by the feedback system includes at least vibratory or kinesthetic feedback.

11. The surgical tool system of claim 1, wherein the signal commands for generating haptic feedback are dependent upon a user'"'"'s level of experience.

12. A method of providing feedback to a user during a tissue stapling surgical procedure, the method comprising the steps of:

monitoring a tissue property during the tissue stapling surgical procedure via at least one sensor mounted on a distal portion of a surgical tool;

processing the sensor information; and

communicating haptic feedback to a handle of the surgical tool, wherein the haptic feedback relates to the sensor information.

13. The method of claim 12, wherein the property is tissue anisotropy and the haptic feedback generated by the feedback system informs a user of structures located within two opposing jaw members coupled to the distal portion of the tool.

14. The method of claim 12, wherein the tissue property is thickness and the haptic feedback informs a user that an inappropriate amount of tissue is located within two opposing jaw members coupled to the distal portion of the tool.

15. The method of claim 12, wherein the tissue property is vessel sensing and the haptic feedback informs a user that a vessel is only partially within two opposing jaw members coupled to the distal portion of the tool.

16. The method of claim 12, wherein the tissue property is length and the haptic feedback informs a user that an inappropriate length of tissue is located within two opposing jaw members coupled to the distal portion of the tool.

17. The method of claim 12, wherein the tissue property is pulsatility and the haptic feedback informs a user if the tissue is located within two opposing jaw members coupled to the distal portion of the tool is sealed.

18. The method of claim 12, wherein the haptic feedback generated by the feedback system includes at least one of vibratory feedback and kinesthetic feedback.

19. The method of claim 12, further comprising the steps of:

monitoring displacement of a cutting element on the distal portion of the surgical tool during the tissue stapling surgical procedure;

processing the displacement information; and

communicating haptic feedback to the handle of the surgical tool, wherein the haptic feedback relates to the displacement information and informs a user of the position of the cutting element.

20. The method of claim 19, wherein the haptic feedback generated by the feedback system informs the user upon completion of the stapling procedure.