Systems and methods for providing vibration feedback in robotic systems

• US 9,333,039 B2
• Filed: 02/08/2011
• Issued: 05/10/2016
• Est. Priority Date: 02/09/2010
• Status: Active Grant

• Current Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Original Assignee: Trustees Of The University Of Pennsylvania (University of Pennsylvania)
• Inventors: Kuchenbecker, Katherine J., Standish, Dorsey, McMahan, William, Gewirtz, Jamie
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Moyer, Dale
• Application Number:
  US13/577,581
• Publication Number:
  US 20120310257A1
• Time in Patent Office: 1,918 Days
• US Class Current: 1/1
• CPC Class Codes: A61B 2018/0088 Vibration
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback

Abstract

Systems and methods for providing vibration feedback in robotic systems are disclosed. A system for configuring a robotic surgery system to provide vibration feedback during robot-assisted surgery includes a sensor, an actuator, and a controller. The sensor is coupled to the robotic surgery system such that the sensor senses a vibration of a surgical tool. The actuator is coupled to the surgery system such that the actuator provides a vibration to a user at a control station. The controller is electrically coupled with the sensor and the actuator. The controller is configured to receive data corresponding to a sensed vibration from the sensor. The controller is further configured to actuate the actuator based on the received data such that the actuator provides a vibration to the user when the sensor senses the vibration of the tool. The above system may be configured to provide tactile and/or audio feedback.

Claims

1. A robotic surgery system comprising:

an armature configured for manipulating a surgical tool;

a control station, positioned remote from the armature, having a control handle configured for operating the armature;

a sensor positioned to sense a vibration of the surgical tool, the sensor configured to sense the vibration of the surgical tool along three different axes;

an actuator positioned to provide a vibration to the control handle of the control station; and

a controller in communication with the sensor and the actuator, the controller being configured to receive data from the sensor corresponding to a sensed vibration, the controller being further configured to actuate the actuator based on the received data such that the actuator provides a vibration to the control handle when the sensor senses the vibration of the surgical tool,

wherein the controller is configured to sum the vibrations sensed along the three different axes to generate a single vibration, and is configured to actuate the actuator such that the actuator provides the single vibration to the control handle along a single axis.

2. The robotic surgery system of claim 1, wherein a frequency of the vibration provided to the control handle by the actuator is maintained between about 10 Hz and about 1000 Hz.

3. The robotic surgery system of claim 1, wherein a frequency of the vibration provided to the control handle by the actuator substantially corresponds in magnitude to a frequency of the vibration of the surgical tool.

4. The robotic surgery system of claim 1, wherein the sensor is mounted to the armature.

5. The robotic surgery system of claim 1, wherein the sensor is mounted in an area outside of a sterile area of the robotic surgery system.

6. The robotic surgery system of claim 1, further comprising an amplitude controller configured to control an amplitude of the vibration provided to the control handle by the actuator.

7. The robotic surgery system of claim 1, wherein the sensor is configured to sense an audio signal generated by the surgical tool, a speaker is configured to provide an audio signal, and the controller is further configured to actuate the speaker based on the received data such that the speaker provides an audio signal to an operator of the control handle when the sensor senses the audio signal generated by the tool.

8. A method for providing vibration feedback during robot-assisted surgery, comprising the steps of:

operating an armature of a robotic surgical system using a control handle of a remotely positioned control station of the robotic surgical system;

sensing a vibration of a surgical tool along three different axes with a sensor while the surgical tool is coupled to the armature of the robotic surgical system; and

actuating an actuator to provide a vibration to the control handle of the control station of the robotic surgical system when the sensor senses the vibration of the tool,

wherein the actuating step comprises summing the vibrations along the three different axes to generate a single vibration and actuating the actuator to provide the single vibration to the control handle along a single axis.

9. The method of claim 8, the actuating step comprising providing a frequency of the vibration to the control handle between about 10 Hz and about 1000 Hz.

10. The method of claim 8, the actuating step comprising providing a frequency of the vibration to the control handle substantially corresponds to a frequency of the vibration of the surgical tool.

11. The method of claim 8, wherein the step of sensing a vibration of the surgical tool comprises sensing a vibration of the surgical tool with a sensor mounted to the armature.

12. The method of claim 8, wherein the step of sensing a vibration of the surgical tool comprises sensing a vibration of the surgical tool with a sensor mounted in an area outside of a sterile area of the robotic surgery system.

13. The method of claim 8, further comprising the step of controlling an amplitude of the vibration provided to the control handle by the actuator with an amplitude controller.

14. The method of claim 8, further comprising the steps of:

sensing a signal generated by the surgical tool with the sensor; and

actuating the actuator such that the actuator provides an audio signal to an operator of the control handle when the sensor senses the audio signal generated by the tool.

15. A robotic surgery system comprising:

an armature configured for manipulating a surgical tool;

a control station positioned remote from the armature and having a control handle configured for operating the armature;

a sensor positioned to sense a vibration generated by the surgical tool, the sensor configured to sense the vibration of the surgical tool along three different axes;

an actuator positioned to provide an audio signal to an operator of the control handle; and

a controller in communication with the sensor and the actuator, the controller being configured to receive data corresponding to a sensed signal from the sensor, the controller being further configured to actuate the actuator based on the received data such that the actuator provides an audio signal to an operator of the control handle when the sensor senses the signal generated by the tool,

wherein the controller is configured to sum the vibrations sensed for the three axes to generate a single vibration, and is configured to actuate the actuator such that the actuator provides an audio signal to the control handle based on the single vibration.

16. The robotic surgery system of claim 15, wherein a frequency of the audio signal provided to the operator of the control handle by the actuator substantially corresponds in magnitude to a frequency of a sound generated by the surgical tool.

17. The robotic surgery system of claim 15, further comprising an amplitude controller configured to control an amplitude of the audio signal provided to the operator of the control handle by the actuator.

18. A method for performing robot-assisted surgery, comprising the steps of:

manipulating a surgical tool coupled to a robotic armature of a robotic surgery system using a control handle of a control station positioned remotely from the robotic armature, thereby generating a vibration of the surgical tool, the generated vibration being generated along three different axes of the surgical tool; and

receiving a vibration at the control handle of the control station, the received vibration at the control handle corresponding to the generated vibration of the surgical tool,

wherein the received vibration constitutes a single vibration that is a sum of the vibrations generated along the three different axes of the surgical tool, and the received vibration is received along a single axis.

19. A robotic surgery system comprising:

an armature configured for manipulating a surgical tool;

a control station, positioned remote from the armature, having a control handle configured for operating the armature;

a sensor positioned to sense a vibration of the surgical tool, the sensor configured to sense the vibration of the surgical tool along three different axes;

an actuator positioned to provide a vibration at the control station; and

a controller in communication with the sensor and the actuator, the controller being configured to receive data from the sensor corresponding to a sensed vibration, the controller being further configured to actuate the actuator based on the received data such that the actuator provides a vibration at the control station,

wherein the controller is configured to sum the vibrations along the three different axes to generate a single vibration, and the controller is configured to actuate the actuator such that the actuator provides the single vibration at the control station along a single axis.

20. The robotic surgery system of claim 19, wherein a frequency of the vibration provided at the control station by the actuator substantially corresponds in magnitude to a frequency of the vibration of the surgical tool.

21. The robotic surgery system of claim 19, further comprising an amplitude controller configured to control an amplitude of the vibration provided at the control station.

22. The robotic surgery system of claim 19, wherein the actuator is positioned to provide a vibration to a control handle at the control station.

23. The robotic surgery system of claim 19, wherein the actuator is a speaker configured to provide audio signals at the control station.

24. A method for providing vibration feedback during robot-assisted surgery, comprising the steps of:

operating an armature of a robotic surgical system from a remotely positioned control station of the robotic surgical system;

sensing a vibration of a surgical tool along three different axes with a sensor while the surgical tool is coupled to the armature of the robotic surgical system; and

actuating an actuator to provide a vibration at the control station of the robotic surgical system when the sensor senses the vibration of the tool,

wherein the actuating step comprises summing the vibrations along the three different axes to generate a single vibration and actuating the actuator to provide the single vibration at the control station along a single axis.

25. The method of claim 24, wherein the actuating step comprises providing a frequency of the vibration at the control station that substantially corresponds to a frequency of the vibration of the surgical tool.

26. The method of claim 24, further comprising the step of controlling an amplitude of the vibration provided at the control station by the actuator with an amplitude controller.

27. The method of claim 24, wherein the actuating step comprises providing a vibration to a control handle at the control station.

28. The method of claim 24, wherein the actuating step comprises actuating a speaker to provide audio signals at the control station.