Remote manipulator with eyeballs

• US 7,601,119 B2
• Filed: 04/25/2006
• Issued: 10/13/2009
• Est. Priority Date: 04/25/2006
• Status: Expired due to Fees

• Current Assignee: Hrayr Kamig Shahinian
• Original Assignee: Hrayr Kamig Shahinian
• Inventors: Shahinian, Hrayr Kamig
• Primary Examiner(s): Leubecker; John P
• Application Number:
  US11/410,578
• Publication Number:
  US 20070249932A1
• Time in Patent Office: 1,267 Days
• Field of Search: 600/111, 600/166, 600/104, 600/106, 600/173, 600/182, 600/144, 348/45, 348/65
• US Class Current: 600/111
• CPC Class Codes: A61B 1/00087 Tools A61B17/00234 takes precedence
• CPC Class Codes: A61B 1/00183 for variable viewing angles
• CPC Class Codes: A61B 1/00193 adapted for stereoscopic vision
• CPC Class Codes: A61B 1/00194 adapted for three-dimensional imaging
• CPC Class Codes: A61B 1/05 characterised by the image sensor, e.g. camera, being in the distal end portion
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/371 with simultaneous use of two cameras
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery

Abstract

A manipulator includes a distal end having a manipulating instrument configured for manipulation at a manipulation site, and a proximate end connectable to an interface. A pair of detectors is configured to capture stereoscopic images of the manipulation site. The pair of detectors and manipulating instrument are connected to the interface, by at least a flexible guide and a wired and/or wireless communication link. The detectors are co-locatable at the manipulation site with the manipulating instrument and may be removable attached to manipulating instrument. A force detector may also be removable attached to manipulating instrument.

Claims

1. A manipulator comprising:

a distal end having a manipulating instrument configured for manipulation at a manipulation site;

a proximate end connectable to an interface;

detectors configured to capture stereoscopic images of said manipulation site;

said

detectors being configured for a first connection to said interface, and said manipulating instrument being further configured for a second connection to said interface; and

a force detector for detecting a force at said distal end;

wherein said detectors are co-locatable at said manipulation site with said manipulating instrument;

wherein at least one of said first connection and said second connection includes at least one guide having a flexible state and a rigid state; and

wherein said interface is configured to change flexibility of the at least one guide in response to said force.

2. The manipulator of claim 1, wherein said detectors are removably attachable to said manipulating instrument.

3. The manipulator of claim 1, wherein said at least one guide is configured for being in said flexible state for advancing at least one of said detectors and said manipulating instrument toward said manipulation site, and wherein said at least one guide is configured for being in said rigid state for substantially holding said at least one of said detectors and said manipulating instrument in a desired position.

4. The manipulator of claim 1, further comprising a housing configured to facilitate providing said manipulating instrument and said detectors to said manipulation site;

said manipulating instrument and said detectors being extendable beyond said housing for reaching said manipulation site.

5. The manipulator of claim 1, further comprising a controller connectable to said interface;

said controller being configured to control movement of at least one of said manipulating instrument and said detectors.

6. The manipulator of claim 1, further comprising a controller connectable to said interface;

said controller being configured to process said stereoscopic images for display on a display device.

7. The manipulator of claim 6, wherein said display device includes at least one of a monitor, a heads-up display, a projector and eyeglasses.

8. The manipulator of claim 6, wherein said controller is configured to respond to commands from at least one of movement of a joystick and speech.

9. The manipulator of claim 1, wherein said interface is configured to allow manual manipulation of at least one of said manipulating instrument and said detectors by a user of said manipulator.

10. The manipulator of claim 1, further comprising additional detectors configured to capture three dimensional images of said manipulating instrument.

11. The manipulator of claim 10, wherein said three dimensional images are renderable as holographic images.

12. The manipulator of claim 1, wherein said force detector is removably attached to at least one of said detectors and said manipulating instrument.

13. The manipulator of claim 1, wherein said detectors are configured to move independently of each other to provide non-stereoscopic images and are configured to automatically return to a default predetermined distance between said detectors based on the rendered images.

14. The manipulator of claim 1, further comprising sensors configured to measure and calculate a distance between the detectors.

15. The manipulator of claim 1, wherein said interface is configured to change the flexibility when said force exceeds a predetermined threshold.

16. A manipulator comprising:

a distal end having a manipulating instrument configured for manipulation at a manipulation site;

a proximate end connectable to an interface;

a first detector configured to capture images of said manipulation site;

said first detector being configured for a first connection to said interface, and said manipulating instrument being configured for a second connection to said interface;

a second detector located at a predetermined distance from said first detector for providing a stereoscopic image of said manipulation site; and

a force detector for detecting a force at said distal end;

wherein said first detector and said second detector are co-locatable at said manipulation site with said manipulating instrument;

wherein at least one of said first connection and said second connection includes at least one guide having a flexible state and a rigid state; and

wherein said interface is configured to change flexibility of the at least one guide in response to said force.

17. The manipulator of claim 16, wherein said first detector is removably attachable to said manipulating instrument.

18. The manipulator of claim 16, wherein said at least one guide is configured for being in said flexible state for advancing at least one of said first detector and said manipulating instrument toward said manipulation site, and wherein said at least one guide is configured for being in said rigid state for substantially holding said at least one of said first detector and said manipulating instrument in a desired position.

19. The manipulator of claim 16, further comprising additional detectors configured to capture three dimensional images of said manipulating instrument.

20. The manipulator of claim 19, wherein said three dimensional images are renderable as holographic images.

21. The manipulator of claim 16, further comprising a housing configured to facilitate providing said manipulating instrument and said first detector to said manipulation site;

said manipulating instrument and said first detector being extendable beyond said housing for reaching said manipulation site.

22. The manipulator of claim 16, further comprising a controller connectable to said interface;

said controller being configured to control movement of at least one of said manipulating instrument and said first detector.

23. The manipulator of claim 16, wherein said interface is configured to allow manual manipulation of at least one of said manipulating instrument and said first detector by a user of said manipulator.

24. The manipulator of claim 16, further comprising a controller connectable to said interface;

said controller being configured to process said images for display on a display device.

25. The manipulator of claim 24, wherein said display device includes at least one of a monitor, a heads-up display, a projector and eyeglasses.

26. The manipulator of claim 24, wherein said controller is configured to respond to commands from at least one of movement of a joystick and speech.

27. The manipulator of claim 16, wherein said force detector is removably attached to at least one of said first detector and said manipulating instrument.

28. The manipulator of claim 16, wherein said detectors are configured to move independently of each other to provide non-stereoscopic images and are configured to automatically return to a default predetermined distance between said first detector and said second detector based on the rendered images.

29. The manipulator of claim 16, wherein said interface is configured to change the flexibility when said force exceeds a predetermined threshold.

30. A manipulation system comprising:

a manipulator having an interface at a proximal end, and a manipulating instrument and detectors at a distal end, said manipulating instrument being configured for manipulation at a manipulation site, and said detectors being separated by a predetermined distance to capture stereoscopic images of said manipulation site;

a controller connectable to said interface, said controller being configured to control movement of at least one of said manipulating instrument and said detectors;

a display device, wherein said controller is further configured to process said stereoscopic images for display on said display device; and

a force detector for detecting a force at said distal end;

wherein said detectors are extendable beyond a housing of said manipulator;

wherein at least one of said detectors is included on at least one guide having a flexible state and a rigid state; and

wherein said interface is configured to change flexibility of the at least one guide in response to said force.

31. The manipulation system of claim 30, wherein said force detector is removably attached to at least one of said detectors and said manipulating instrument.

32. The manipulation system of claim 30, wherein said detectors are configured to move independently of each other to provide non-stereoscopic images and are configured to automatically return to a default predetermined distance between said detectors based on the rendered images.

33. The manipulation system of claim 30, further comprising sensors configured to measure and calculate a distance between the detectors.

34. The manipulation system of claim 30, wherein said interface is configured to change the flexibility when said force exceeds a predetermined threshold.

38. The method of claim 34, wherein the increasing act increases the flexibility when said force exceeds a predetermined threshold.

39. The method of claim 34, wherein said force detector is removably attached to said manipulating instrument.

35. A method of remotely manipulating a manipulation site comprising the acts of:

providing a manipulating instrument at said manipulation site;

attaching detectors to at least one guide having a flexible state and a rigid state;

controlling said detectors to move and capture stereoscopic images of said manipulation site;

detecting a force with a force detector at a distal end of said manipulating instrument; and

increasing flexibility of the at least one guide in response to said force.

36. The method of claim 35, wherein said detectors are removably attached to said manipulating instrument.

37. The method of claim 35, wherein the controlling act automatically returns said detectors to a default predetermined distance between said detectors based on the rendered images.