System and method for controlling force applied to and manipulation of medical instruments

• US 20060161045A1
• Filed: 10/27/2005
• Published: 07/20/2006
• Est. Priority Date: 03/16/2000
• Status: Active Grant

• Current Assignee: Immersion Medical Inc (Immersion Corporation)
• Original Assignee: Immersion Medical Inc (Immersion Corporation)
• Inventors: Cohen, Robert F., Feldman, Philip G., Cunningham, Richard L., Merril, Gregory L., Brown, J. Michael
• Granted Patent: US 7,819,799 B2
• Time in Patent Office: Days
• US Class Current: 600/117
• CPC Class Codes: A61B 1/018 for receiving instruments
• CPC Class Codes: A61B 17/29 Forceps for use in minimally invasive surgery
• CPC Class Codes: A61B 17/3417 Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating syringe needles A61M5/32; dilators A61M29/00
• CPC Class Codes: A61B 17/3421 Cannulas
• CPC Class Codes: A61B 2017/003 Steerable
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2090/064 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61B 2090/065 for measuring contact or contact pressure
• 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 90/03 Automatic limiting or abutting means, e.g. for safety
• CPC Class Codes: A61M 2025/0008 having visible markings on its surface, i.e. visible to the naked eye, for any purpose, e.g. insertion depth markers, rotational markers or identification of type

Abstract

Apparatus for controlling force applied to and for manipulation of a surgical instrument. Movement and/or forces applied to the surgical instrument are preferably sensed within the apparatus. An actuator is preferably used to apply force to the surgical instrument for control and manipulation of the instrument. The apparatus applies variable force feedback to apply force to the surgical instrument in one or more degrees of freedom to provide an enhanced haptic experience to the user.

Claims

1. An endoscope comprising:

a endoscope body including a channel adapted to receive an elongated member configured to engage tissue in a body;

a haptic feedback system coupled to the channel portion further comprising;

an actuator adapted to be in contact with the elongated member; and

a sensor coupled to the actuator and adapted to sense a first force applied to the elongated member, wherein the actuator applies a second force to the elongated member based on the sensed first force.

2. The endoscope of claim 1 further comprising a programmable controller coupled to the actuator and the sensor and adapted to control the second force.

3. The endoscope of claim 1 wherein the actuator is adapted to apply the second force to the elongated member moving in a translational degree of freedom.

4. The endoscope of claim 1 wherein the actuator is adapted to apply the second force to the elongated member moving in a rotational degree of freedom.

5. The endoscope of claim 1 wherein the sensor detects a longitudinally directed force applied to the elongated member.

6. The endoscope of claim 1 wherein the sensor detects a rotationally directed force applied to the elongated member.

7. The endoscope of claim 1 wherein the sensor is adapted to detect movement of the elongated member in the channel in a degree of freedom and output a movement signal based on the sensed movement, the actuator adapted to apply a corresponding force to the elongated member based on the movement signal.

8. The endoscope of claim 1 wherein the actuator is configured to apply the second force in a direction opposite of the first force.

9. The endoscope of claim 1 wherein the applied second force is additive to the first force applied to the elongated member.

10. A surgical instrument comprising:

a body having a channel adapted to receive an elongated member configured to engage tissue in a body;

an actuator adapted to be in contact with the elongated member; and

a sensor coupled to the actuator and adapted to sense movement of the elongated member in the channel, the actuator adapted to apply force to the elongated member based on the sensed movement of the elongated member.

11. The surgical instrument of claim 10 further comprising a programmable controller adapted to control the force applied to the elongated member in response to the sensed movement of the elongated member.

12. The surgical instrument of claim 10 wherein the actuator is adapted to apply the second force to the elongated member moving in a translational degree of freedom.

13. The surgical instrument of claim 10 wherein the actuator is adapted to apply the second force to the elongated member moving in a rotational degree of freedom.

14. The surgical instrument of claim 10 wherein the sensor is adapted to detect a longitudinally directed force applied to the elongated member.

15. The surgical instrument of claim 10 wherein the sensor is adapted to detect a rotationally directed force applied to the elongated member.

16. The surgical instrument of claim 10 wherein the sensor is adapted to detect a first force applied to the elongated member in a degree of freedom and output a force signal based on the sensed first force, the actuator adapted to apply a second force to the elongated member in response to the force signal.

17. The surgical instrument of claim 10 wherein the actuator is adapted to apply the force in a direction opposite to the sensed movement of the elongated member.

18. A surgical instrument comprising:

a body having a channel adapted to receive an elongated member configured to engage tissue in a body;

a first actuator adapted to apply a first force to the elongated member along a first degree of freedom; and

means for sensing at least one of

     1) a movement of the elongated member and

     2) an externally applied force to the elongated member, wherein the first actuator applies the first force based on a sensing signal from the means for sensing.

19. The surgical instrument of claim 18 further comprising a second actuator adapted to apply a second force to the elongated member along a second degree of freedom in response to the sensing signal.

20. The surgical instrument of claim 18 further comprising a programmable controller coupled to the first actuator and the means for sensing.