Systems and methods for minimally invasive surgical tools with haptic feedback

• US 9,358,072 B2
• Filed: 01/14/2011
• Issued: 06/07/2016
• Est. Priority Date: 01/15/2010
• Status: Expired due to Fees

• Current Assignee: Immersion Corporation
• Original Assignee: Immersion Corporation
• Inventors: Ullrich, Christopher J.
• Primary Examiner(s): Crandall, Lynsey
• Assistant Examiner(s): PAHAKIS, MANOLIS Y
• Application Number:
  US13/007,251
• Publication Number:
  US 20110178508A1
• Time in Patent Office: 1,971 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: A61B 17/00234 for minimally invasive surgery A61B17/0218, A61B17/0469, A61B17/12013, A61B17/1285, A61B17/29, A61B17/320016 take precedence
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• CPC Class Codes: A61B 34/30 Surgical robots
• 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 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 5/0084 for introduction into the body, e.g. by catheters A61B5/1459 takes precedence
• CPC Class Codes: A61B 5/0205 Simultaneously evaluating both cardiovascular conditions and different types of body conditions, e.g. heart and respiratory condition
• CPC Class Codes: A61B 5/283 Invasive
• CPC Class Codes: A61B 5/7455 characterised by tactile indication, e.g. vibration or electrical stimulation
• CPC Class Codes: A61M 25/01 Introducing, guiding, advancing, emplacing or holding catheters A61M25/10 takes precedence
• CPC Class Codes: A61M 25/0113 Mechanical advancing means, e.g. catheter dispensers
• CPC Class Codes: A61M 25/0116 self-propelled, e.g. autonomous robots A61M25/0122 takes precedence

Abstract

Systems and methods for minimally invasive surgical tools with haptic feedback are disclosed. One disclosed embodiment of a system includes an insertion sheath configured to be partially inserted within a patient'"'"'s body, the insertion sheath configured to receive a surgical tool; a roller disposed at least partially within the insertion sheath, the roller configured to contact a surgical tool inserted within the insertion sheath; and an actuator coupled to the roller, the actuator configured to receive an actuator signal and to output a haptic effect based on the actuator signal.

Claims

1. A system comprising:

a surgical tool;

an insertion sheath configured to be partially inserted within a patient'"'"'s body and to receive the surgical tool;

a first actuator coupled to the insertion sheath, the first actuator configured to receive a first actuator signal and, responsive to the first actuator signal, output a haptic effect to the insertion sheath;

a second actuator and a roller coupled to the insertion sheath, the roller configured to contact the surgical tool and to translate the surgical tool through the insertion sheath;

a sensor configured to be positioned externally in relation to the patient'"'"'s body and to detect a physiological status of the patient, the sensor being separate from the surgical tool; and

a processor in communication with the first actuator, the second actuator, and the sensor, the processor configured to;

receive a sensor signal from the sensor, the sensor signal indicating a warning condition associated with the physiological status of the patient;

generate a second actuator signal based on the sensor signal; and

transmit the second actuator signal to the second actuator, the second actuator signal configured to cause the second actuator to rotate the roller to translate the surgical tool through the insertion sheath.

2. The system of claim 1, further comprising:

a second sensor coupled to a distal end of the surgical tool and configured to generate a second sensor signal.

3. The system of claim 2, wherein the processor is in communication with the second sensor and configured to:

receive the second sensor signal;

generate the second actuator signal based in part on the second sensor signal; and

transmit the second actuator signal to the second actuator.

4. The system of claim 2, wherein the second sensor is configured to detect a force.

5. The system of claim 4, wherein the second sensor signal comprises a sensed force associated with a contact force between the surgical tool and an obstacle, and wherein the second actuator is configured to output a force configured to maintain the contact force between a first threshold and a second threshold.

6. The system of claim 2, wherein the second sensor is configured to detect a fluid flow or a viscosity.

7. The system of claim 2, wherein the surgical tool comprises:

a handle configured to be manipulated;

a third actuator coupled to the handle, the third actuator configured to output a third haptic effect to the handle in response to a third actuator signal.

8. The system of claim 7, wherein the handle comprises a trigger and a fourth actuator, the fourth actuator configured to output a trigger haptic effect to the trigger.

9. The system of claim 7, wherein the handle and the third actuator are removably coupled to the surgical tool, the handle configured to be removed and discarded following a surgical procedure.

10. The system of claim 2, wherein the surgical tool comprises:

a therapeutic surgical tool; and

a power supply coupled to the therapeutic surgical tool, the power supply configured to control an intensity of a therapeutic effect provided by the therapeutic surgical tool, the power supply comprising;

a trigger, and

a third actuator coupled to the trigger, the third actuator configured to receive a third actuator signal and to output a trigger haptic effect to the trigger based on the third actuator signal.

11. The system of claim 10, wherein the trigger haptic effect comprises a vibration.

12. The system of claim 10, wherein the trigger haptic effect comprises a kinesthetic force configured to resist movement of the trigger.

13. The system of claim 1, wherein the sensor comprises a blood pressure monitor, an oxygen sensor, or a blood gas sensor.

14. The system of claim 7, wherein the third haptic effect comprises a vibration and is based at least in part on the second sensor signal.

15. The system of claim 1, wherein the second actuator and the roller are positioned within a subassembly that is releasably coupled to the insertion sheath, the subassembly configured to be removed from the insertion sheath following a surgical procedure.

16. The system of claim 1, wherein the first actuator comprises a piezoelectric actuator.

17. The system of claim 2, further comprising a third sensor directly positioned on the insertion sheath, wherein the processor is further configured to:

receive the second sensor signal from the second sensor, the second sensor signal indicative of a first parameter;

receive a third sensor signal from the third sensor, the third sensor signal indicative of a second parameter;

determine a difference between the first parameter and the second parameter; and

transmit the first actuator signal or the second actuator signal based on the difference between the first parameter and the second parameter.

18. The system of claim 17, wherein the first parameter comprises a first location of the surgical tool, the second parameter comprises a second location of the insertion sheath, and the difference comprises a distance between the first location and the second location.

19. The system of claim 1, wherein the processor is further configured to generate the first actuator signal, the first actuator signal indicating a passage of time.

20. The system of claim 1, further comprising:

a third actuator coupled to the surgical tool and configured to receive a third actuator signal and output a third haptic effect.

21. The system of claim 20, wherein the surgical tool is a first surgical tool that is configured to receive a second surgical tool, the system further comprising:

the second surgical tool, wherein the second surgical tool comprises a handle; and

a fourth actuator coupled to the handle of the second surgical tool and configured to receive a fourth actuator signal and output a fourth haptic effect to the handle.

22. The system of claim 21, wherein the handle comprises:

a trigger; and

a fifth actuator configured to output a fifth haptic effect to the trigger.

23. A system, comprising:

a surgical tool;

an insertion sheath configured to be partially inserted within a patient'"'"'s body, the insertion sheath configured to receive the surgical tool;

a non-contact inductive actuator having a cylindrical shape, the inductive actuator coupled to the insertion sheath and configured to allow the surgical tool to pass through the inductive actuator and to translate the surgical tool through the insertion sheath;

a sensor configured to be positioned externally in relation to the patient'"'"'s body and to detect a physiological status of the patient, the sensor being separate from the surgical tool; and

a processor in communication with the non-contact inductive actuator and the sensor, the processor configured to;

receive a sensor signal from the sensor, the sensor signal indicating a warning condition associated with the physiological status of the patient;

generate an actuator signal based on the sensor signal; and

transmit the actuator signal to the inductive actuator, the actuator signal configured to cause the inductive actuator to translate the surgical tool through the insertion sheath via electromagnetic induction forces.

24. The system of claim 23, wherein the inductive actuator is configured to translationally assist or resist movement of the surgical tool though the insertion sheath.