Instrument for compensating for hand tremor during the manipulation of fine structures
First Claim
1. Instrument for the manual working of fine structures, comprising:
- (a) a handheld section, (b) a section which is movable in relation to the handheld section, (c) actuators, and where(d) the actuators are designed to effect relative movements between the handheld section and the movable section, which relative movements compensate at least partially for movements of the handheld section.
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Accused Products
Abstract
An instrument for the manipulation of fine structures, said instrument detecting hand tremor and compensating for this hand tremor by effecting counter-movements of the working tip. The main area of application will probably lie in the field of microsurgery, since the operations performed in said field can be made difficult by the hand tremor of the operating surgeon. Here, the tremor is detected by movement sensors, by repeated analysis of the position of the handheld part (1) of the instrument, or by deriving electromyographic signals from the forearm of the operator. Intentional and unintentional movements are differentiated from one another on the basis of one or more criteria, such as movement amplitude, speed, frequency and direction. To compensate for undesired movements, signals are sent to an arrangement of actuators (3) which cause deflections of the movable part (4) of the instrument, which deflections at the tip of the instrument compensate for the hand tremor. When the instrument is used as a needle holder in surgery, the actuators (3) can also be controlled by push button in such a way that, by oscillations, they facilitate the penetration of the suture needle into the area being worked on.
850 Citations
22 Claims
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1. Instrument for the manual working of fine structures, comprising:
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(a) a handheld section, (b) a section which is movable in relation to the handheld section, (c) actuators, and where (d) the actuators are designed to effect relative movements between the handheld section and the movable section, which relative movements compensate at least partially for movements of the handheld section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A method of performing work, comprising:
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providing an instrument having;
(a) a first section;
(b) a second section which is moveable relative to said first section;
(c) at least one actuator operatively connected between said first section and said second section;
performing work with said second section by imparting movement to said first section; and
preventing at least a portion of said movement from being transmitted to said second section by activating said at least one actuator;
wherein said imparting movement to said first section comprises imparting at least a first type and a second type of movement to said first section;
wherein said first type of movement comprises involuntary muscle movements;
wherein said second type of movement comprises voluntary muscle movements; and
wherein said preventing at least a portion of said movement from being transmitted comprises preventing said first type of movement from being transmitted and allowing said second type of movement to be transmitted. - View Dependent Claims (17, 18, 19, 20, 21, 22)
providing at least one sensor on said first section;
detecting said at least a portion of said movement with said at least one sensor; and
wherein said preventing at least a portion of said movement includes outputting a signal from said at least one sensor.
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18. The method of claim 17 wherein said detecting said at least a portion of said movement with said at least one sensor comprises sensing acceleration.
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19. The method of claim 16 and further comprising:
optically detecting the position of said instrument.
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20. The method of claim 19 and further comprising:
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providing a microscope; and
said optically detecting the position of said instrument is accomplished with said microscope.
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21. The method of claim 19 wherein said preventing at least a portion of said movement from being transmitted is based on said optically detecting the position of said instrument.
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22. The method of claim 16 and further comprising:
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electromyographically detecting potentials; and
wherein said preventing at least a portion of said movement from being transmitted to said second section by activating said at least one actuator is accomplished based upon said potentials.
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Specification