WO2009009220A2 - Minimally invasive surgical tools with haptic feedback - Google Patents
Minimally invasive surgical tools with haptic feedback Download PDFInfo
- Publication number
- WO2009009220A2 WO2009009220A2 PCT/US2008/063561 US2008063561W WO2009009220A2 WO 2009009220 A2 WO2009009220 A2 WO 2009009220A2 US 2008063561 W US2008063561 W US 2008063561W WO 2009009220 A2 WO2009009220 A2 WO 2009009220A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- tool
- minimally invasive
- signal
- sensor
- haptic effect
- Prior art date
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00039—Electric or electromagnetic phenomena other than conductivity, e.g. capacity, inductivity, Hall effect
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
- A61B2017/00106—Sensing or detecting at the treatment site ultrasonic
-
- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/037—Automatic limiting or abutting means, e.g. for safety with a frangible part, e.g. by reduced diameter
-
- 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
-
- 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
Abstract
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2010516087A JP5550551B2 (en) | 2007-07-09 | 2008-05-14 | Minimally invasive surgical instrument using tactile feedback |
AT08755419T ATE553700T1 (en) | 2007-07-09 | 2008-05-14 | MINIMALLY INVASIVE OPERATIONAL INSTRUMENTS WITH HAPTIC FEEDBACK |
BRPI0814064-2A2A BRPI0814064A2 (en) | 2007-07-09 | 2008-05-14 | MINIMUM INVASIVE SURGICAL INSTRUMENT, METHOD OF OPERATING A MINIMALLY INVASIVE INSTRUMENT, AND MINIMALLY INVASIVE INSTRUMENT |
CN2008800239439A CN101730506B (en) | 2007-07-09 | 2008-05-14 | Minimally invasive surgical tools with haptic feedback |
EP08755419A EP2173255B1 (en) | 2007-07-09 | 2008-05-14 | Minimally invasive surgical tools with haptic feedback |
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US94861607P | 2007-07-09 | 2007-07-09 | |
US60/948,616 | 2007-07-09 | ||
US11/955,563 | 2007-12-13 | ||
US11/955,563 US20110046659A1 (en) | 2007-07-09 | 2007-12-13 | Minimally Invasive Surgical Tools With Haptic Feedback |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2009009220A2 true WO2009009220A2 (en) | 2009-01-15 |
WO2009009220A3 WO2009009220A3 (en) | 2009-03-12 |
Family
ID=39712208
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2008/063561 WO2009009220A2 (en) | 2007-07-09 | 2008-05-14 | Minimally invasive surgical tools with haptic feedback |
Country Status (7)
Country | Link |
---|---|
US (1) | US20110046659A1 (en) |
EP (1) | EP2173255B1 (en) |
JP (1) | JP5550551B2 (en) |
CN (2) | CN101730506B (en) |
AT (1) | ATE553700T1 (en) |
BR (1) | BRPI0814064A2 (en) |
WO (1) | WO2009009220A2 (en) |
Cited By (10)
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WO2009145632A1 (en) * | 2008-05-30 | 2009-12-03 | Nederlandse Organisatie Voor Toegepast-Natuurwetenschappelijk Onderzoek Tno | An instrument for minimally invasive surgery |
US20110178508A1 (en) * | 2010-01-15 | 2011-07-21 | Ullrich Christopher J | Systems and Methods for Minimally Invasive Surgical Tools with Haptic Feedback |
WO2012080910A1 (en) * | 2010-12-14 | 2012-06-21 | Khan, Aslam | Stylus and treatment head for use with a medical device |
EP2489317A1 (en) * | 2010-12-07 | 2012-08-22 | Immersion Corporation | Electrosurgical sealing tool having haptic feedback |
US8523043B2 (en) | 2010-12-07 | 2013-09-03 | Immersion Corporation | Surgical stapler having haptic feedback |
CH707626A1 (en) * | 2013-02-22 | 2014-08-29 | Musiden Gmbh | Hand-operated grab apparatus e.g. food product plier, has grab arm provided with activation element, which is designed as switch and sensor and activated for transmitting signal, where switch is formed in hand contact region |
US8845667B2 (en) | 2011-07-18 | 2014-09-30 | Immersion Corporation | Surgical tool having a programmable rotary module for providing haptic feedback |
US9579143B2 (en) | 2010-08-12 | 2017-02-28 | Immersion Corporation | Electrosurgical tool having tactile feedback |
WO2017172186A1 (en) * | 2016-04-01 | 2017-10-05 | Intel Corporation | Characterization and simulation of writing instruments |
EP3886747A4 (en) * | 2018-11-27 | 2022-10-05 | Covidien LP | Haptic feedback device for surgical instruments and robotic surgical systems |
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US9333039B2 (en) * | 2010-02-09 | 2016-05-10 | The Trustees Of The University Of Pennsylvania | Systems and methods for providing vibration feedback in robotic systems |
WO2011116332A2 (en) * | 2010-03-18 | 2011-09-22 | SPI Surgical, Inc. | Surgical cockpit comprising multisensory and multimodal interfaces for robotic surgery and methods related thereto |
US8981914B1 (en) * | 2010-09-27 | 2015-03-17 | University of Pittsburgh—of the Commonwealth System of Higher Education | Portable haptic force magnifier |
WO2012044753A2 (en) | 2010-10-01 | 2012-04-05 | Applied Medical Resources Corporation | Portable laparoscopic trainer |
US9990856B2 (en) | 2011-02-08 | 2018-06-05 | The Trustees Of The University Of Pennsylvania | Systems and methods for providing vibration feedback in robotic systems |
KR101963610B1 (en) | 2011-10-21 | 2019-03-29 | 어플라이드 메디컬 리소시스 코포레이션 | Simulated tissue structure for surgical training |
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KR102105979B1 (en) | 2012-09-26 | 2020-05-04 | 어플라이드 메디컬 리소시스 코포레이션 | Surgical training model for laparoscopic procedures |
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US10679520B2 (en) | 2012-09-27 | 2020-06-09 | Applied Medical Resources Corporation | Surgical training model for laparoscopic procedures |
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KR20150063143A (en) | 2012-09-28 | 2015-06-08 | 어플라이드 메디컬 리소시스 코포레이션 | Surgical training model for laparoscopic procedures |
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JP6482478B2 (en) | 2013-03-01 | 2019-03-13 | アプライド メディカル リソーシーズ コーポレイション | Surgical simulation system and method |
EP2967645A1 (en) | 2013-03-15 | 2016-01-20 | Smith & Nephew, Inc. | Surgical needle |
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US10198966B2 (en) | 2013-07-24 | 2019-02-05 | Applied Medical Resources Corporation | Advanced first entry model for surgical simulation |
KR102239454B1 (en) | 2013-07-24 | 2021-04-13 | 어플라이드 메디컬 리소시스 코포레이션 | First entry model |
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KR20230143198A (en) | 2015-02-19 | 2023-10-11 | 어플라이드 메디컬 리소시스 코포레이션 | Simulated tissue structures and methods |
KR20180008417A (en) | 2015-05-14 | 2018-01-24 | 어플라이드 메디컬 리소시스 코포레이션 | Synthetic tissue structure for electrosurgical training and simulation |
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Also Published As
Publication number | Publication date |
---|---|
WO2009009220A3 (en) | 2009-03-12 |
JP5550551B2 (en) | 2014-07-16 |
BRPI0814064A2 (en) | 2015-01-06 |
US20110046659A1 (en) | 2011-02-24 |
ATE553700T1 (en) | 2012-05-15 |
JP2010533032A (en) | 2010-10-21 |
CN101730506A (en) | 2010-06-09 |
EP2173255A2 (en) | 2010-04-14 |
EP2173255B1 (en) | 2012-04-18 |
CN101730506B (en) | 2013-11-20 |
CN103519853A (en) | 2014-01-22 |
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