Apparatus for controlling force for manipulation of medical instruments
First Claim
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1. An apparatus, comprising:
- an elongated member having a distal portion configured to engage tissue in a body and having a manipulable proximal portion, said elongated member configured to be moved in a degree of freedom;
a sensor configured to detect a position of the elongated member and output a position signal based on the position;
a controller coupled to the sensor, the controller configured to output a force signal based on the position signal; and
an actuator configured to apply a haptic feedback to the elongated member based on the force signal, the haptic feedback operative to indicate when the distal portion of the elonaated member has been translated to an end of a working channel that guides the elongated member.
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Abstract
Apparatus and method for controlling force applied to and for manipulation of medical instruments. An elongated member of a medical instrument can be sensed, and an actuator can be used to apply force to the medical instrument for control and manipulation of the instrument. Via use of the applied forces, the instrument can be moved to a desired position in a working channel, haptic indications of position can be output to the user, and/or user control over the instrument can be enhanced.
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Citations
26 Claims
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1. An apparatus, comprising:
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an elongated member having a distal portion configured to engage tissue in a body and having a manipulable proximal portion, said elongated member configured to be moved in a degree of freedom;
a sensor configured to detect a position of the elongated member and output a position signal based on the position;
a controller coupled to the sensor, the controller configured to output a force signal based on the position signal; and
an actuator configured to apply a haptic feedback to the elongated member based on the force signal, the haptic feedback operative to indicate when the distal portion of the elonaated member has been translated to an end of a working channel that guides the elongated member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus, comprising;
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an elongated member having a distal portion configured to engage tissue in a body and a manipulable proximal portion, said proximal portion configured to be moved in a degree of freedom;
a sensor configured to detect a first force applied to the elongated member in the degree of freedom and to output a sensor signal based on the first force;
a controller in communication with the sensor and the actuator, the controller configured to output a force signal based on the sensor signal; and
an actuator configured to apply a second force to the elongated member in the degree of freedom based on the force signal, the second force being operative to indicate when the distal portion of the elongated member has been translated to an end of a working channel that guides the elongated member. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25)
a second sensor configured to detect a rotational force being applied to the elongated member; and
a second actuator configured to apply a rotational force to the elongated member.
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26. An apparatus, comprising:
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an elongated member having a distal portion configured to engage tissue in a body and a manipulable proximal portion, said proximal portion configured to be moved in a degree of freedom;
a sensor configured to detect a first force applied to the elongated member in the degree of freedom and to output a sensor signal based on the first force;
a controller in communication with the sensor and the actuator, the controller configured to output a force signal based on the sensor signal; and
an actuator configured to apply a second force to the elongated member in the degree of freedom based on the force signal, the second force being operative to indicate when the distal portion of the elongated member has been translated to an end of a working channel that guides the elongated member, the second force being additive to the first force applied to the elongated member.
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Specification