Providing haptic feedback to the handle of a tool

• US 8,216,212 B2
• Filed: 01/15/2009
• Issued: 07/10/2012
• Est. Priority Date: 01/15/2009
• Status: Active Grant

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Grant, Danny A., Ullrich, Christopher J., Cruz-Hernandez, Juan Manuel, Ramstein, Christophe
• Primary Examiner(s): SZMAL, BRIAN SCOTT
• Application Number:
  US12/354,302
• Publication Number:
  US 20100179587A1
• Time in Patent Office: 1,272 Days
• Field of Search: 606/1, 606/205, 251/65, 600/587
• US Class Current: 606/1
• CPC Class Codes: A61B 17/2909 Handles
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Tools, such as surgical tools, are normally designed to interact with an object, such as a patient. As disclosed herein, one particular tool is implemented such that it comprises a handle having a feedback portion configured to contact one or more digits of a user'"'"'s hand. The tool also includes a sensor positioned near or in contact with an object. The sensor is configured to measure a property of the object. Also, the tool includes a haptic output mechanism supported by the feedback portion of the handle. The haptic output mechanism is configured to communicate the measured property of the object to the user.

Claims

1. A tool comprising:

a handle having a receptacle configured to contact one or more digits of a user'"'"'s hand;

a shaft connecting the handle to a distal end of the tool;

a sensor positioned at a distal end of the tool and configured to measure a property of an object, wherein the sensor comprises a plurality of sensing elements each of which is oriented in a direction that faces away from the shaft with each sensing element facing in a different angular direction; and

a plurality of haptic actuating devices distributed in the receptacle to at least partially surround the one or more digits of a user'"'"'s hand positioned therein, the plurality of haptic actuating devices configured to be actuated based on the measured property to provide haptic feedback to the user,

wherein the plurality of haptic actuating devices are arranged in the receptacle in a manner corresponding to a manner in which the plurality of sensing elements are arranged such that each haptic actuating device is matched with a correspondingly located sensing element to be activated based on the sensed property of the correspondingly located sensing element.

2. The tool of claim 1, wherein the plurality of haptic actuating devices are arranged in the receptacle to surround the one or more digits of a user'"'"'s hand positioned therein.

3. The tool of claim 1, wherein one or more of the haptic actuating devices positioned in the receptacle are activated based in part on a direction that the correspondingly located sensing element is oriented.

4. The tool of claim 1, wherein the plurality of sensing elements are mounted on a grasper, and one or more of the haptic actuating devices are configured to be activated to communicate a position of a portion of the object with respect to a jaw of the grasper.

5. The tool of claim 1, wherein the plurality of haptic actuating devices are arranged around an inside surface of the receptacle.

6. The tool of claim 5, wherein the receptacle is configured to accommodate the user'"'"'s thumb, and wherein the plurality of haptic actuating devices are configured to communicate the measured property to the user'"'"'s thumb while the thumb is positioned within the receptacle.

7. The tool of claim 1, wherein the receptacle is configured to be grasped by the user'"'"'s hand and/or digits of the user'"'"'s hand, and wherein the plurality of haptic actuating devices are arranged around an outside surface of the receptacle.

8. The tool of claim 1, wherein the tool is a surgical tool and the object is a patient.

9. A surgical tool comprising:

means for sensing a property of a patient at a distal end of the surgical tool;

means for imposing a haptic effect on a handle portion of the surgical tool in response to the sensed property, the imposing means configured to impose the haptic effect at a plurality of distributed locations within a receptacle of the handle portion that is configured to accommodate a digit of a user'"'"'s hand, wherein the plurality of distributed locations surround the digit of the user'"'"'s hand when inserted therein.

10. The surgical tool of claim 9, wherein a position of each of the plurality of distributed locations within the receptacle corresponds to a location of a respective means for sensing a property of the patient.

11. The surgical tool of claim 9, wherein the receptacle is configured to accommodate the user'"'"'s thumb.

12. A method comprising:

sensing a property with a sensor disposed at a distal end of a tool;

determining a direction of orientation of the sensor configured to sense the property; and

activating one or more of a plurality of haptic actuating devices positioned in a receptacle of a handle of the tool whereby the one or more of a plurality of haptic actuating devices that are being activated are positioned in the receptacle in a location corresponding to the direction of orientation of the sensor,

wherein the one or more of a plurality of haptic actuating devices are activated to impose a haptic effect on one or more digits of a user'"'"'s hand positioned within the receptacle, and

wherein the plurality of haptic actuating devices are positioned in the receptacle to surround one or more digits of a user'"'"'s hand positioned therein.