System and method for controlling force applied to and manipulation of medical instruments

• US 7,819,799 B2
• Filed: 10/27/2005
• Issued: 10/26/2010
• Est. Priority Date: 03/16/2000
• Status: Expired due to Term

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Merril, Gregory L., Cohen, Robert F., Feldman, Philip G., Cunningham, Richard L., Brown, J. Michael
• Primary Examiner(s): Leubecker; John P
• Application Number:
  US11/262,321
• Publication Number:
  US 20060161045A1
• Time in Patent Office: 1,825 Days
• Field of Search: 600/117, 600/118, 600/106, 600/104, 434/267, 606/1
• US Class Current: 600/118
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61M 2025/0008 having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type

Abstract

Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and/or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.

Claims

1. An endoscope comprising:

an endoscope body defining a first channel having a longitudinal axis, the first channel adapted to receive an elongated member having a first end and a second end, the first end operable by a user; and

a haptic feedback system coupled to the endoscope body and defining a second channel, the second channel oriented along the longitudinal axis and adapted to receive the elongated member, the haptic feedback system comprising;

an actuator adapted to contact the elongated member;

a first sensor coupled to the actuator and adapted to sense a first rotational force applied to the elongated member about the longitudinal axis; and

a second sensor coupled to the actuator and adapted to sense a rotational movement of the elongated member about the longitudinal axis, wherein the actuator is configured to apply a second rotational force about the longitudinal axis to the elongated member based on the first rotational force and the rotational movement, and

wherein the second sensor is proximal to an end of the endoscope body.

2. The endoscope of claim 1 further comprising a programmable controller coupled to the actuator and the first and second sensors and adapted to control the second force.

3. The endoscope of claim 1 further comprising a second actuator adapted to be in contact with the elongated member, wherein the second actuator is adapted to apply a third force to the elongated member in a translational degree of freedom.

4. The endoscope of claim 1 further comprising a third sensor, wherein the third sensor is adapted to detect movement of the elongated member in the channel in a translational degree of freedom and output a movement signal based on the sensed movement, the actuator adapted to apply a corresponding longitudinal force to the elongated member based on the movement signal.

5. The endoscope of claim 1 wherein the actuator is configured to apply the second rotational force in a direction opposite of the first rotational force.

6. The endoscope of claim 1 wherein the second rotational force is additive to the first rotational force.

7. The endoscope of claim 1 further comprising a second actuator adapted to be in contact with the elongated member, wherein the second actuator is adapted to apply a third force to the elongated member.

8. A surgical instrument comprising:

of

a body defining a channel having a longitudinal axis, the first channel adapted to receive an elongated member;

a haptic feedback system coupled to the body and defining a second channel the second channel oriented along the longitudinal axis and adapted to receive the elongated member, the haptic feedback system comprising;

an actuator adapted to be in contact with the elongated member;

a first sensor coupled to the actuator and adapted to track a movement of the elongated member in the channel;

a second sensor coupled to the actuator and adapted to detect a first force applied to the elongated member, the actuator adapted to apply a second force to the elongated member based on the first force and the movement, and

wherein the second sensor is proximal to an end of the body.

9. The surgical instrument of claim 8 further comprising a programmable controller adapted to control the second force applied to the elongated member in response to the movement of the elongated member.

10. The surgical instrument of claim 8 wherein the actuator is adapted to apply the second force to the elongated member moving in a translational degree of freedom.

11. The surgical instrument of claim 8 wherein the actuator is adapted to apply the second force to the elongated member moving in a rotational degree of freedom.

12. The surgical instrument of claim 8 wherein the detected force is a longitudinally directed force applied to the elongated member.

13. The surgical instrument of claim 8 wherein the detected force is a rotationally directed force applied to the elongated member.

14. The surgical instrument of claim 8 wherein the actuator is adapted to apply the second force in a direction opposite to the first force.

15. The surgical instrument of claim 8 further comprising a second actuator adapted to be in contact with the elongated member, wherein the second actuator is adapted to apply a third force to the elongated member.

16. The endoscope of claim 8 wherein the second force is additive to the first force.

17. A surgical instrument comprising:

a body defining a first channel having a longitudinal axis, the first channel adapted to receive an elongated member;

a haptic feedback system coupled to the body and defining a second channel the second channel oriented along the longitudinal axis and adapted to receive the elongated member, the haptic feedback system comprising;

a first actuator adapted to apply a first force to the elongated member in a degree of freedom;

first means for sensing a movement of the elongated member in the channel; and

second means for sensing an externally applied force to the elongated member, wherein the first actuator applies the first force based on the movement and the externally applied force, and

wherein the second means for sensing is proximal to an end of the body.

18. The surgical instrument of claim 17 further comprising a second actuator adapted to apply a second force to the elongated member along a second degree of freedom based on the movement and the externally applied force .

19. The surgical instrument of claim 17 further comprising a programmable controller coupled to the first actuator and the first and second means for sensing.

20. The surgical instrument of claim 17 further comprising a second actuator adapted to be in contact with the elongated member, wherein the second actuator is adapted to apply a second force to the elongated member.

21. The surgical instrument of claim 17 wherein the actuator is configured to apply the first force in a direction opposite of the externally-applied force.

22. The surgical instrument of claim 17 wherein the first force is additive to the externally-applied force.