Systems and methods for sensing hand motion by measuring remote displacement

• US 9,679,499 B2
• Filed: 09/15/2008
• Issued: 06/13/2017
• Est. Priority Date: 09/15/2008
• Status: Expired due to Fees

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Cohen, Robert F., Meents, Mark S.
• Primary Examiner(s): Tyson, Melanie
• Assistant Examiner(s): COLELLO, ERIN L
• Application Number:
  US12/210,825
• Publication Number:
  US 20100069941A1
• Time in Patent Office: 3,193 Days
• Field of Search: 606208, 606170, 606130, 606211
• CPC Class Codes: A61B 2017/00725 Calibration or performance testing
• CPC Class Codes: A61B 2090/067 for measuring angles
• CPC Class Codes: A61B 34/70 Manipulators specially adapted for use in surgery
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 90/06 Measuring instruments not otherwise provided for
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas

Abstract

Systems and methods for sensing hand motion by measuring remote displacement are disclosed. For example, one disclosed apparatus includes a first surface configured to engage a first distal member of a surgical tool and a second surface configured to engage a second distal member of the surgical tool, the second surface coupled to the first surface at a pivot point. The apparatus further includes a sensor configured to detect a relative movement of the first surface and the second surface about the pivot point and to generate a signal based at least in part on the relative movement.

Claims

1. An apparatus, comprising:

a housing defining an interior cavity extending through an entire longitudinal length of the housing, the interior cavity configured to receive an elongated shaft of a laparoscopic tool;

wherein the laparoscopic tool comprises;

the elongated shaft, and

a surgical tool positioned at a distal end of the elongated shaft, the surgical tool comprising a first distal member coupled to a second distal member at a first pivot point on the laparoscopic tool, wherein the first distal member comprises a first inner surface configured to contact a body part during a surgical procedure and a first outer surface opposite the first inner surface, and the second distal member comprises a second inner surface configured to contact the body part during the surgical procedure and a second outer surface opposite the second inner surface;

the apparatus further comprising;

a first pivotable member and a second pivotable member coupled to each other at a second pivot point, wherein the first pivotable member is configured to engage and move with the first outer surface of the first distal member of the laparoscopic tool, and the second pivotable member is configured to engage and move with the second outer surface of the second distal member of the laparoscopic tool;

a first anchoring device coupled to the housing, the first anchoring device configured to secure the housing around the elongated shaft of the laparoscopic tool; and

a sensor coupled to the first pivotable member and the second pivotable member, the sensor configured to detect a relative movement of the first pivotable member and the second pivotable member about the second pivot point and to generate a signal based at least in part on the relative movement.

2. The apparatus of claim 1, further comprising a processor in communication with the sensor and configured to receive the signal from the sensor.

3. The apparatus of claim 1, further comprising a flexure to apply a force about the second pivot point.

4. The apparatus of claim 1, further comprising a second anchoring device coupled to the housing, the second anchoring device configured to secure the housing around the elongated shaft.

5. The apparatus of claim 4, wherein the first anchoring device is configured to secure the housing to the elongated shaft of the laparoscopic tool by applying pressure to the elongated shaft in response to a spring force applied by a spring coupled to the housing and the first anchoring device, and wherein the second anchoring device is configured to secure the housing to the elongated shaft by applying pressure to the elongated shaft in response to a different spring force applied by a different spring coupled to the housing and the second anchoring device.

6. The apparatus of claim 5, wherein the first anchoring device and the second anchoring device are configured to accept a plurality of surgical tools, each of the plurality of surgical tools having a different diameter.

7. The apparatus of claim 5, wherein a first position of the first anchoring device is adjustable independent of the second anchoring device, and a second position of the second anchoring device is adjustable independent of the first anchoring device.

8. The apparatus of claim 1, further comprising an actuator positioned on the apparatus and configured for providing vibrotactile feedback in response to an actuator signal.

9. The apparatus of claim 1, wherein the first distal member and the second distal member are configured to move symmetrically.

10. The apparatus of claim 1, wherein the first distal member and the second distal member are configured to move asymmetrically.

11. The apparatus of claim 1, wherein the sensor comprises a potentiometer, an optical encoder, electrical encoder, magnetic encoder, or a hall effect sensor.

12. The apparatus of claim 1, wherein the sensor is in communication with a medical simulation device.

13. The apparatus of claim 1, wherein the apparatus comprises a lightweight plastic or resin material.

14. The apparatus of claim 1, wherein the first pivotable member is configured to engage the first distal member of the laparoscopic tool by sliding over the first outer surface of the first distal member of the laparoscopic tool.

15. The apparatus of claim 1, wherein the first pivotable member comprises an open loop configured to slideably engage the first distal member of the laparoscopic tool such that the first distal member enters one side of the open loop and protrudes out another side of the open loop.

16. The apparatus of claim 1, wherein:

the first pivotable member is configured to contact the first outer surface of the first distal member of the laparoscopic tool;

the second pivotable member is configured to contact the second outer surface of the second distal member of the laparoscopic tool; and

the first inner surface and the second inner surface are configured to grasp the body part during the surgical procedure.

17. A method, comprising:

positioning at least a portion of an elongated shaft of a laparoscopic tool throughout an interior cavity traversing an entire longitudinal length of a housing of an apparatus;

wherein the laparoscopic tool comprises;

the elongated shaft, and

a surgical tool positioned at a distal end of the elongated shaft, the surgical tool comprising a first distal member coupled to a second distal member at a first pivot point on the laparoscopic tool, wherein the first distal member comprises a first inner surface configured to contact a body part during a surgical procedure and a first outer surface opposite the first inner surface, and the second distal member comprises a second inner surface configured to contact the body part during the surgical procedure and a second outer surface opposite the second inner surface;

engaging the first outer surface of the first distal member of the laparoscopic tool with a first pivotable member of the apparatus such that the first distal member and the first pivotable member move in unison;

engaging the second outer surface of the second distal member of the laparoscopic tool with a second pivotable member of the apparatus such that the second distal member and the second pivotable member move in unison, wherein the first pivotable member is coupled to the second pivotable member at a second pivot point on the apparatus;

securing, by an anchoring device coupled to the housing, the housing around the elongated shaft of the laparoscopic tool such that the elongated shaft extends through the entire longitudinal length of the housing;

determining, by a sensor coupled to the first and the second pivotable members, a relative movement of the first pivotable member and the second pivotable member; and

outputting, by the sensor, a signal based at least in part on the relative movement of the first pivotable member and the second pivotable member.

18. The method of claim 17, further comprising:

providing haptic feedback to the laparoscopic tool based at least in part on the signal.

19. An apparatus configured to detect the relative motion of a laparoscopic tool, the laparoscopic tool comprising:

an elongated shaft, and

a surgical tool positioned at a distal end of the elongated shaft, the surgical tool comprising a first distal member coupled to a second distal member at a first pivot point on the laparoscopic tool, wherein the first distal member comprises a first inner surface configured to contact a body part during a surgical procedure and a first outer surface opposite the first inner surface, and the second distal member comprises a second inner surface configured to contact the body part during the surgical procedure and a second outer surface opposite the second inner surface;

wherein the apparatus comprises;

a housing defining an interior cavity disposed through an entire longitudinal length of the housing, the interior cavity configured to receive the elongated shaft of the laparoscopic tool;

a first pivotable member and a second pivotable member coupled to each other at a second pivot point on the housing, wherein the first pivotable member is configured to engage and move with the first outer surface of the first distal member of the laparoscopic tool, and the second pivotable member is configured to engage and move with the second outer surface of the second distal member of the laparoscopic tool;

an anchoring device coupled to the housing, the anchoring device configured to secure the apparatus around the elongated shaft of the laparoscopic tool;

a sensor coupled to the first pivotable member and the second pivotable member and in communication with a laparoscopic simulator device, the sensor configured to measure a relative movement of the first pivotable member and the second pivotable member and transmit a movement signal based at least in part on the relative movement to the laparoscopic simulator device;

an actuator positioned on the apparatus and configured to output vibrotactile feedback; and

a processor positioned on the apparatus and in communication with the sensor and the actuator, the processor configured to receive the movement signal from the sensor and transmit an actuator signal to the actuator based at least in part on the movement signal, the actuator signal configured to cause the actuator to output the vibrotactile feedback.

20. A system, comprising:

a laparoscopic surgical tool comprising;

an elongated shaft; and

a surgical tool positioned at a distal end of the elongated shaft, the surgical tool comprising a first distal member coupled to a second distal member at a first pivot point on the laparoscopic tool, wherein the first distal member comprises a first inner surface configured to contact a body part during a surgical procedure and a first outer surface opposite the first inner surface, and the second distal member comprises a second inner surface configured to contact the body part during the surgical procedure and a second outer surface opposite the second inner surface; and

an apparatus comprising;

a housing defining an interior cavity disposed through an entire longitudinal length of the housing, wherein the elongated shaft of the laparoscopic tool is positioned through the entire longitudinal length of the housing;

a first pivotable member and a second pivotable member coupled to each other at a second pivot point on the housing, wherein the first pivotable member is configured to engage and move with the first outer surface of the first distal member of the laparoscopic tool, and the second pivotable member is configured to engage and move with the second outer surface of the second distal member of the laparoscopic;

an anchoring device coupled to the housing, the anchoring device configured to secure the apparatus around the elongated shaft of the laparoscopic surgical tool; and

a sensor coupled to the first pivotable member and the second pivotable member, the sensor configured to detect a relative movement of the first pivotable member and the second pivotable member about the second pivot point and to generate a sensor signal based at least in part on the relative movement.

21. The system of claim 20, wherein the laparoscopic surgical tool is configured to be hand-held.