Cardiovascular haptic handle system
First Claim
1. A method of simulating dynamic characteristics of moving biological tissue of a patient using tactile sensations in a haptic handle adapted to be held in the hand of a user, having one or more tactile elements and one or more corresponding actuators, comprising:
- providing a plurality of sensors adapted to acquire data from moving biological tissue of the patient;
using the acquired data to generate sensor signals indicative of dynamic characteristics of sensed biological tissue that occur over a plurality of cardiac cycles of the patient;
using a processor to receive and convert sensor signals to tactile signals; and
receiving tactile signals in the haptic handle, and in response to the tactile signals, causing the one or more tactile elements to provide a tactile rendering of a time-varying representation of the dynamic characteristics to a user via the haptic handle.
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Abstract
Cardiac tissue motion characteristics acquired by novel cardiac sensors are analyzed and processed for the derivation of physiological indices. The indices are output to a hand held local or remote volumetric haptic display and enable an operator to obtain motion related dynamic characteristics of cardiac tissues. The ability to tactually sense the motion of cardiac tissue and the affect on such motion from inserted cardiovascular instrumentation enhances the operator'"'"'s performance of procedures including the positioning and placement of implanted catheters/sensors, extraction of permanently implanted leads and delivery of cardiovascular therapies. Optimal haptic rendering is achieved by using computational techniques to reconstruct the physically and perceptually relevant aspects of acquired signals and bridge the gap between the inserted catheter and operator'"'"'s hand/catheter handle.
286 Citations
14 Claims
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1. A method of simulating dynamic characteristics of moving biological tissue of a patient using tactile sensations in a haptic handle adapted to be held in the hand of a user, having one or more tactile elements and one or more corresponding actuators, comprising:
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providing a plurality of sensors adapted to acquire data from moving biological tissue of the patient; using the acquired data to generate sensor signals indicative of dynamic characteristics of sensed biological tissue that occur over a plurality of cardiac cycles of the patient; using a processor to receive and convert sensor signals to tactile signals; and receiving tactile signals in the haptic handle, and in response to the tactile signals, causing the one or more tactile elements to provide a tactile rendering of a time-varying representation of the dynamic characteristics to a user via the haptic handle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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Specification