ACTIVE TREMOR CONTROL IN SURGICAL INSTRUMENTS
First Claim
1. A handheld or hand operated surgical instrument comprising:
- an elongated member having a longitudinal axis and a handle portion configured to be gripped or held by a user;
a working tip coupled to the elongated member;
a sensor configured to detect a user-imparted hand tremble motion of the elongated member;
a flexible beam element of the elongated member located in-between the handle portion and the working tip, and configured to reversibly bend, extend, or rotate with respect to the longitudinal axis;
an actuator physically coupled to the flexible beam element and configured to reversibly bend, extend, or rotate the flexible beam element with respect to the longitudinal axis; and
a controller configured to stabilize the working tip by activating the actuator in a manner responsive to the detected user-imparted hand tremble motion in at least one degree of freedom.
1 Assignment
0 Petitions
Accused Products
Abstract
Described embodiments include a handheld or hand operated surgical instrument. The instrument includes an elongated member having a longitudinal axis and a handle portion. The instrument includes a working tip coupled to the elongated member. The instrument includes a sensor configured to detect a user-imparted hand tremble motion. The instrument includes a flexible beam element of the elongated member located in-between the handle portion and the working tip, and configured to reversibly bend, extend, or rotate with respect to the longitudinal axis. The instrument includes an actuator physically coupled to the flexible beam element and configured to reversibly bend, extend, or rotate the flexible beam element with respect to the longitudinal axis. The instrument includes a controller configured to stabilize the working tip by activating the actuator in a manner responsive to the detected user-imparted hand tremble motion in at least one degree of freedom.
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Citations
62 Claims
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1. A handheld or hand operated surgical instrument comprising:
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an elongated member having a longitudinal axis and a handle portion configured to be gripped or held by a user; a working tip coupled to the elongated member; a sensor configured to detect a user-imparted hand tremble motion of the elongated member; a flexible beam element of the elongated member located in-between the handle portion and the working tip, and configured to reversibly bend, extend, or rotate with respect to the longitudinal axis; an actuator physically coupled to the flexible beam element and configured to reversibly bend, extend, or rotate the flexible beam element with respect to the longitudinal axis; and a controller configured to stabilize the working tip by activating the actuator in a manner responsive to the detected user-imparted hand tremble motion in at least one degree of freedom. - View Dependent Claims (2, 3)
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4. A handheld or hand operated surgical instrument comprising:
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an elongated member having a longitudinal axis and a handle portion configured to be gripped or held by a user; a working tip coupled to the elongated member; a flexible beam element of the elongated member configured to reversibly bend with respect to the longitudinal axis; a bending actuator physically coupled to the flexible beam element and configured to reversibly bend the flexible beam element; a sensor configured to detect user-imparted hand tremble motion of the elongated member; and a controller configured to stabilize the working tip by activating the bending actuator in response to the detected user-imparted hand tremble motion. - View Dependent Claims (5, 8, 9, 10, 11, 13, 15, 20, 22, 23, 29, 31, 32, 33, 34, 37, 38, 40, 41, 42, 43, 44, 49, 50)
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6. (canceled)
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7. (canceled)
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12. (canceled)
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14. (canceled)
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16-19. -19. (canceled)
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21. (canceled)
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24-28. -28. (canceled)
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30. (canceled)
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35. (canceled)
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36. (canceled)
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39. (canceled)
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45-48. -48. (canceled)
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51. A handheld or hand operated surgical instrument comprising:
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an elongated member having a longitudinal axis and having a handle portion configured to be gripped or held by a user; a working tip coupled to the elongated member; a flexible beam element of the elongated member located in-between the handle portion and the working tip and configured to reversibly lengthen or shorten along the longitudinal axis; a linear actuator configured to reversibly lengthen or shorten the flexible beam element along the longitudinal axis; a sensor configured to detect user-imparted hand tremble motion of the elongated member; and a controller configured to stabilize the working tip by activating the linear actuator in a direction counteracting the detected user-imparted hand tremble motion. - View Dependent Claims (52)
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53-55. -55. (canceled)
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56. A method comprising:
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detecting user-imparted hand tremble motion in a handheld or hand operated surgical instrument, the surgical instrument including an elongated member having a working tip and a handle portion configured to be gripped or held by a user; and stabilizing the working tip by activating an actuator in a manner responsive to the detected user-imparted hand tremble motion, the actuator physically coupled to or incorporated in a flexible beam element of the elongated member and configured to reversibly bend, extend, or rotate the flexible beam element with respect to a longitudinal axis of the elongated member. - View Dependent Claims (57, 58, 59, 60, 61, 62)
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Specification