JP5921195B2 - 器具のハンドルへの触覚フィードバックの提供 - Google Patents
器具のハンドルへの触覚フィードバックの提供 Download PDFInfo
- Publication number
- JP5921195B2 JP5921195B2 JP2011546271A JP2011546271A JP5921195B2 JP 5921195 B2 JP5921195 B2 JP 5921195B2 JP 2011546271 A JP2011546271 A JP 2011546271A JP 2011546271 A JP2011546271 A JP 2011546271A JP 5921195 B2 JP5921195 B2 JP 5921195B2
- Authority
- JP
- Japan
- Prior art keywords
- instrument
- user
- handle
- haptic
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
Description
Claims (8)
- ユーザの手の1本又は複数本の指と接触するように構成されるフィードバック部分を有するハンドル(12、56)と、
対象付近に、又は該対象と接触して位置決めされると共に、特性を測定するように構成されるセンサー(20、34)と、
前記ハンドル(12、56)の前記フィードバック部分内に分散しており、前記測定した特性に基づいて作動し、前記ユーザへフィードバックを提供するように構成される複数の触覚作動装置(44、58)と、
を備え、
前記フィードバック部分は、前記ユーザの手の1本又は複数本の指を収容するように構成される受け部(22、22−1、22−2、22−3、24)であり、
前記複数の触覚作動装置(44、58)は、前記受け部内に位置づけられる前記ユーザの手の1本又は複数本の指を囲むように、該受け部(22、22−1、22−2、22−3、24)の内面の周りに配置され、
前記複数の触覚作動装置のうち、作動する触覚作動装置は、前記センサーが測定した脈や血流に応じて、経時的に変化する、器具。
- 前記受け部内に位置決めされる前記触覚作動装置(44、58)の1つ又は複数は、一部では前記センサー(20、34)が配向される対応する方向に基づいて作動される、請求項1に記載の器具。
- 前記センサー(20、34)は、前記ハンドル(12、56)と前記器具(10)の遠位端部(16)とを接続するシャフト(14)に対して垂直な方向に配向されるように構成される、請求項1に記載の器具。
- ユーザの手の1本又は複数本の指と接触するように構成されるフィードバック部分を有するハンドル(12、56)と、
前記ハンドル(12、56)と前記器具(10)の遠位端部(16)とを接続するシャフト(14)と、
対象付近に、又は該対象と接触して位置決めされると共に、特性を測定するように構成されるセンサー(20、34)であって、該センサー(20、34)は、前記シャフト(14)に対して垂直な方向に配向される複数の感知要素(40)を備え、該感知要素(40)はそれぞれ、前記対象の特性を測定するように構成される、センサー(20、34)と、
前記ハンドル(12、56)の前記フィードバック部分内に分散しており、前記測定した特性に基づいて作動し、前記ユーザへフィードバックを提供するように構成される複数の触覚作動装置(44、58)と、
を備え、
前記フィードバック部分は、前記ユーザの手の1本又は複数本の指を収容するように構成される受け部(22、22−1、22−2、22−3、24)であり、
前記複数の触覚作動装置(44、58)は、前記受け部内に位置づけられる前記ユーザの手の1本又は複数本の指を少なくとも部分的に囲むように、該受け部(22、22−1、22−2、22−3、24)の内面の周りに配置されており、
前記受け部内に位置決めされる前記触覚作動装置(44、58)の1つ又は複数は、一部では前記器具の前記シャフト(14)に対して対応する位置に位置決めされる1つ又は複数の感知要素(40)それぞれの感知した特性に基づいて作動され、
前記複数の触覚作動装置のうち、作動する触覚作動装置は、前記センサーが測定した脈や血流に応じて、経時的に変化する、器具。
- 前記センサー(20、34)は、把持装置に取り付けられる複数の感知要素(40)を含み、前記複数の触覚作動装置(44、58)は、前記把持装置のジョーに対する前記対象の一部の位置を伝えるように構成される、請求項1に記載の器具。
- 前記受け部(22、22−1、22−2、22−3、24)は、前記ユーザの親指を収容するように構成され、前記複数の触覚作動装置は、該親指が該受け部(22、22−1、22−2、22−3、24)内に位置決めされている間に前記測定した特性を前記ユーザの親指に伝えるように構成される、請求項1に記載の器具。
- 前記器具(10)は外科用器具であり、前記対象は患者である、請求項1に記載の器具。
- 前記受け部(22、22−1、22−2、22−3、24)はユーザの親指を収容するように構成される、請求項1に記載の器具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/354,302 US8216212B2 (en) | 2009-01-15 | 2009-01-15 | Providing haptic feedback to the handle of a tool |
US12/354,302 | 2009-01-15 | ||
PCT/US2010/020010 WO2010083060A1 (en) | 2009-01-15 | 2010-01-04 | Providing haptic feedback to the handle of a tool |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012515048A JP2012515048A (ja) | 2012-07-05 |
JP2012515048A5 JP2012515048A5 (ja) | 2013-01-17 |
JP5921195B2 true JP5921195B2 (ja) | 2016-05-24 |
Family
ID=41728010
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011546271A Active JP5921195B2 (ja) | 2009-01-15 | 2010-01-04 | 器具のハンドルへの触覚フィードバックの提供 |
Country Status (4)
Country | Link |
---|---|
US (1) | US8216212B2 (ja) |
EP (1) | EP2303140B1 (ja) |
JP (1) | JP5921195B2 (ja) |
WO (1) | WO2010083060A1 (ja) |
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EP2417925B1 (en) | 2010-08-12 | 2016-12-07 | Immersion Corporation | Electrosurgical tool having tactile feedback |
WO2012047626A1 (en) * | 2010-09-27 | 2012-04-12 | University Of Pittsburgh - Of The Commonwealth System Of Higher Education | Portable haptic force magnifier |
US10660695B2 (en) | 2010-11-05 | 2020-05-26 | Ethicon Llc | Sterile medical instrument charging device |
US9000720B2 (en) | 2010-11-05 | 2015-04-07 | Ethicon Endo-Surgery, Inc. | Medical device packaging with charging interface |
CN103298424A (zh) * | 2010-11-05 | 2013-09-11 | 伊西康内外科公司 | 通过外科器械的手持件进行的使用者反馈 |
US9421062B2 (en) | 2010-11-05 | 2016-08-23 | Ethicon Endo-Surgery, Llc | Surgical instrument shaft with resiliently biased coupling to handpiece |
US9161803B2 (en) | 2010-11-05 | 2015-10-20 | Ethicon Endo-Surgery, Inc. | Motor driven electrosurgical device with mechanical and electrical feedback |
US20120116265A1 (en) | 2010-11-05 | 2012-05-10 | Houser Kevin L | Surgical instrument with charging devices |
US9381058B2 (en) | 2010-11-05 | 2016-07-05 | Ethicon Endo-Surgery, Llc | Recharge system for medical devices |
US9017849B2 (en) | 2010-11-05 | 2015-04-28 | Ethicon Endo-Surgery, Inc. | Power source management for medical device |
US9597143B2 (en) | 2010-11-05 | 2017-03-21 | Ethicon Endo-Surgery, Llc | Sterile medical instrument charging device |
US9649150B2 (en) | 2010-11-05 | 2017-05-16 | Ethicon Endo-Surgery, Llc | Selective activation of electronic components in medical device |
US9375255B2 (en) | 2010-11-05 | 2016-06-28 | Ethicon Endo-Surgery, Llc | Surgical instrument handpiece with resiliently biased coupling to modular shaft and end effector |
US9510895B2 (en) | 2010-11-05 | 2016-12-06 | Ethicon Endo-Surgery, Llc | Surgical instrument with modular shaft and end effector |
US10959769B2 (en) | 2010-11-05 | 2021-03-30 | Ethicon Llc | Surgical instrument with slip ring assembly to power ultrasonic transducer |
US9017851B2 (en) | 2010-11-05 | 2015-04-28 | Ethicon Endo-Surgery, Inc. | Sterile housing for non-sterile medical device component |
US9782215B2 (en) | 2010-11-05 | 2017-10-10 | Ethicon Endo-Surgery, Llc | Surgical instrument with ultrasonic transducer having integral switches |
US10881448B2 (en) | 2010-11-05 | 2021-01-05 | Ethicon Llc | Cam driven coupling between ultrasonic transducer and waveguide in surgical instrument |
US9089338B2 (en) | 2010-11-05 | 2015-07-28 | Ethicon Endo-Surgery, Inc. | Medical device packaging with window for insertion of reusable component |
US9247986B2 (en) | 2010-11-05 | 2016-02-02 | Ethicon Endo-Surgery, Llc | Surgical instrument with ultrasonic transducer having integral switches |
US20120116381A1 (en) | 2010-11-05 | 2012-05-10 | Houser Kevin L | Surgical instrument with charging station and wireless communication |
US9039720B2 (en) | 2010-11-05 | 2015-05-26 | Ethicon Endo-Surgery, Inc. | Surgical instrument with ratcheting rotatable shaft |
US9011471B2 (en) | 2010-11-05 | 2015-04-21 | Ethicon Endo-Surgery, Inc. | Surgical instrument with pivoting coupling to modular shaft and end effector |
US9072523B2 (en) | 2010-11-05 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Medical device with feature for sterile acceptance of non-sterile reusable component |
US9782214B2 (en) | 2010-11-05 | 2017-10-10 | Ethicon Llc | Surgical instrument with sensor and powered control |
US9526921B2 (en) | 2010-11-05 | 2016-12-27 | Ethicon Endo-Surgery, Llc | User feedback through end effector of surgical instrument |
US10085792B2 (en) | 2010-11-05 | 2018-10-02 | Ethicon Llc | Surgical instrument with motorized attachment feature |
EP2645943A1 (en) | 2010-12-02 | 2013-10-09 | Agile Endosurgery, Inc. | Surgical tool |
US8523043B2 (en) | 2010-12-07 | 2013-09-03 | Immersion Corporation | Surgical stapler having haptic feedback |
US8801710B2 (en) | 2010-12-07 | 2014-08-12 | Immersion Corporation | Electrosurgical sealing tool having haptic feedback |
US8942828B1 (en) | 2011-04-13 | 2015-01-27 | Stuart Schecter, LLC | Minimally invasive cardiovascular support system with true haptic coupling |
US8845667B2 (en) * | 2011-07-18 | 2014-09-30 | Immersion Corporation | Surgical tool having a programmable rotary module for providing haptic feedback |
US8768435B2 (en) | 2011-09-07 | 2014-07-01 | Saint Louis University | Foreign body location and retrieval device |
DE102012200597A1 (de) * | 2012-01-17 | 2013-07-18 | Robert Bosch Gmbh | Vorrichtung zum Signalisieren von Informationen an den Fahrer eines Fahrrads |
US10013082B2 (en) | 2012-06-05 | 2018-07-03 | Stuart Schecter, LLC | Operating system with haptic interface for minimally invasive, hand-held surgical instrument |
US9443401B2 (en) | 2013-09-06 | 2016-09-13 | Immersion Corporation | Automatic remote sensing and haptic conversion system |
US11096663B2 (en) * | 2014-03-31 | 2021-08-24 | Koninklijke Philips N.V. | Haptic feedback for ultrasound image acquisition |
US9880046B2 (en) * | 2014-05-15 | 2018-01-30 | Texas Instruments Incorporated | Method, apparatus and system for portable device surface and material analysis |
US10136938B2 (en) | 2014-10-29 | 2018-11-27 | Ethicon Llc | Electrosurgical instrument with sensor |
US10613629B2 (en) | 2015-03-27 | 2020-04-07 | Chad Laurendeau | System and method for force feedback interface devices |
KR102016063B1 (ko) * | 2018-05-09 | 2019-08-29 | 건국대학교 글로컬산학협력단 | 복강경 그래스퍼의 촉감 압력 피드백을 제공하는 장치 및 그 구동 방법 |
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CN112120791B (zh) * | 2020-09-30 | 2021-12-31 | 中国科学院深圳先进技术研究院 | 一种血管介入手术机器人主端操控装置 |
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-
2009
- 2009-01-15 US US12/354,302 patent/US8216212B2/en not_active Expired - Fee Related
-
2010
- 2010-01-04 WO PCT/US2010/020010 patent/WO2010083060A1/en active Application Filing
- 2010-01-04 JP JP2011546271A patent/JP5921195B2/ja active Active
- 2010-01-04 EP EP10701044.9A patent/EP2303140B1/en not_active Not-in-force
Also Published As
Publication number | Publication date |
---|---|
US20100179587A1 (en) | 2010-07-15 |
EP2303140A1 (en) | 2011-04-06 |
JP2012515048A (ja) | 2012-07-05 |
US8216212B2 (en) | 2012-07-10 |
WO2010083060A1 (en) | 2010-07-22 |
EP2303140B1 (en) | 2015-03-25 |
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