Magnetoelectric surgical tools for minimally invasive surgery

• US 8,602,034 B2
• Filed: 09/24/2010
• Issued: 12/10/2013
• Est. Priority Date: 09/25/2009
• Status: Expired due to Fees

• Current Assignee: Virginia Commonwealth University
• Original Assignee: Virginia Commonwealth University
• Inventors: Sundaresan, Vishnu-Baba, Atulasimha, Jayasimha, Clarke, Joshua
• Primary Examiner(s): Matthews, Christine
• Assistant Examiner(s): LANNU, JOSHUA DARYL DEANON
• Application Number:
  US12/889,857
• Publication Number:
  US 20110077663A1
• Time in Patent Office: 1,173 Days
• Field of Search: 600 9- 15, 606/130
• US Class Current: 128/899
• CPC Class Codes: A61B 17/320725 with radially expandable cutting or abrading elements A61B17/32075 takes precedence
• CPC Class Codes: A61B 2017/00402 Piezo electric actuators
• CPC Class Codes: A61B 2017/00411 actuated by application of energy from an energy source outside the body
• CPC Class Codes: A61B 2017/320791 with cutter extending outside the cutting window
• CPC Class Codes: A61B 2034/102 Modelling of surgical devices, implants or prosthesis
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2034/2061 using shape-sensors, e.g. fiber shape sensors with Bragg gratings
• CPC Class Codes: A61B 2034/732 arranged around the patient, e.g. in a gantry
• CPC Class Codes: A61B 34/35 for telesurgery
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/73 Manipulators for magnetic surgery
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

A magnetoelectric element of a surgical tool positioned in the body of a subject is controllably bent or elongated under the influence of an applied magnetic field. A piezoelectric layer in the magnetoelectric element provides output that can be used to determine the actual amount of bending or elongation of the magnetoelectric element, and this actual amount is compared to a theoretical amount of bending or elongation which would result from the applied magnetic field. Any differences between the actual and theoretical amounts provide feedback to the surgeon for performing the surgical procedure. Preferably, tactile feedback is provided to the surgeon.

Claims

1. A surgical tool, comprising:

a magnetoelectric member attached to a catheter, wherein the magnetoelectric member includes at least one piezoelectric layer and at least one magnetostrictive layer, wherein said magnetoelectric member is configured to be inserted and deployed into a subject and is operable inside said subject to one or more of bend or elongate based on an applied magnetic field applied externally to said subject, wherein said at least one piezoelectric layer produces an electrical output;

a controller configured to determine a difference between an actual amount of bending or elongation of said magnetoelectric member based on said electrical output from said at least one piezoelectric layer and a theoretical amount of bending or elongation of said magnetoelectric member based on said applied magnetic field; and

a feedback member configured to provide feedback to a user of said surgical tool based on an amount of said difference determined by said controller.

2. The surgical tool of claim 1 further comprising a magnetized stabilizer connected to said magnetoelectric member which stabilizes said magnetoelectric member in said applied magnetic field.

3. The surgical tool of claim 1, wherein said feedback member includes a display for displaying one or more of an image, graph, or table which provides an indication of said difference determined by said controller.

4. The surgical tool of claim 1, wherein said feedback member provides tactile feedback based on said difference determined by said controller.

5. The surgical tool of claim 1, wherein said at least one magnetostrictive layer is selected from the group consisting of Galfenol (Iron Gallium), Terfenol-D (Terbium Dysprosium Iron), Cobalt Ferrite, Nickel Ferrite, Lithium Ferrite, Yttrium Iron Garnet, Copper Ferrite, Manganese Ferrite, LaCaMnO₃, LaSrMnO₃, SmFe₂, TbFe₂, Permendur (Iron Cobalt Vanadium), Ni2MnGa, Nickel, and Metglas.

6. The surgical tool of claim 1, wherein said at least one piezoelectric layer is selected from the group consisting of Lead Zirconate Titanate, Lead Magnesium Niobate-Lead Titanate, Polyvinylidine Fluoride, and Lead Zirconium Niobate-Lead Titanate.

7. A system for surgical operations, comprising:

a magnetic field generating device for generating an applied magnetic field external to a subject, wherein at least a portion of said applied magnetic field is capable of permeating said subject; and

a surgical tool comprising;

a magnetoelectric member attached to a catheter, wherein the magnetoelectric member includes at least one piezoelectric layer and at least one magnetostrictive layer, wherein said magnetoelectric member is configured to be inserted and deployed into a subject and is operable inside said subject to one or more of bend or elongate based on an applied magnetic field applied externally to said subject, wherein said at least one piezoelectric layer produces an electrical output;

a controller configured to determine a difference between an actual amount of bending or elongation of said magnetoelectric member based on said electrical output from said at least one piezoelectric layer and a theoretical amount of bending or elongation of said magnetoelectric member based on said applied magnetic field; and

a feedback member configured to provide feedback to a user of said surgical tool based on an amount of said difference determined by said controller.

8. The system of claim 7, wherein said feedback member includes a display for displaying one or more of an image, graph, or table which provides an indication of said difference determined by said controller.

9. The system of claim 7, wherein said feedback member provides tactile feedback based on said difference determined by said controller.

10. The system of claim 7 wherein said magnetic field generating device includes at least one electromagnet.

11. A surgical tool, comprising:

a magnetoelectric member including at least one piezoelectric layer and at least one magnetostrictive layer, wherein said magnetoelectric member is attached to a catheter, is configured to be inserted and deployed into a subject, undergoes elongation and bending due to an applied magnetic field applied externally to said subject, and is configured to perform surgical procedures;

a comparator configured to determine a difference between an actual elongation or bending of said magnetoelectric member and a theoretical elongation or bending of said magnetoelectric member for said applied magnetic field based on an electrical output from said at least one piezoelectric layer connected by a wire or by wireless communication with said comparator;

a controller incorporating said comparator, said controller configured to generate an electrical signal indicative of said difference;

an input device connected to said controller operated by a user, said input device configured to adjust said applied magnetic field and to provide a tactile feedback to said user through said input device based on said electrical signal generated by said controller; and

a computer connected to said input device, said computer configured to adjust said applied magnetic field to remotely perform said surgical procedures inside said subject based on said electrical signal generated by said controller.