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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
First Claim
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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.

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