WO2012127404A3 - Ergonomic handle for haptic devices - Google Patents

Ergonomic handle for haptic devices Download PDF

Info

Publication number
WO2012127404A3
WO2012127404A3 PCT/IB2012/051303 IB2012051303W WO2012127404A3 WO 2012127404 A3 WO2012127404 A3 WO 2012127404A3 IB 2012051303 W IB2012051303 W IB 2012051303W WO 2012127404 A3 WO2012127404 A3 WO 2012127404A3
Authority
WO
WIPO (PCT)
Prior art keywords
haptic devices
ergonomic handle
handle
ergonomic
spherical mechanism
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.)
Ceased
Application number
PCT/IB2012/051303
Other languages
French (fr)
Other versions
WO2012127404A2 (en
Inventor
Laura SANTOS CARRERAS
Ricardo Beira
Hannes Bleuler
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Ecole Polytechnique Federale de Lausanne EPFL
Original Assignee
Ecole Polytechnique Federale de Lausanne EPFL
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Ecole Polytechnique Federale de Lausanne EPFL filed Critical Ecole Polytechnique Federale de Lausanne EPFL
Publication of WO2012127404A2 publication Critical patent/WO2012127404A2/en
Publication of WO2012127404A3 publication Critical patent/WO2012127404A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • 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
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • A61B2017/0042—Surgical instruments, devices or methods with special provisions for gripping
    • A61B2017/00424—Surgical instruments, devices or methods with special provisions for gripping ergonomic, e.g. fitting in fist

Landscapes

  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • User Interface Of Digital Computer (AREA)
  • Position Input By Displaying (AREA)

Abstract

A ergonomic handle that can be added to existing haptic devices, composed by a spherical mechanism providing hand orientation and a grasping mechanism is shown. Both the proposed spherical mechanism and the handle have been ergonomically designed to avoid postures that could lead to physical discomfort or cumulative traumas such as carpal tunnel syndrome or tenosynovitis.
PCT/IB2012/051303 2011-03-18 2012-03-19 Ergonomic handle for haptic devices Ceased WO2012127404A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201161453972P 2011-03-18 2011-03-18
US61/453,972 2011-03-18

Publications (2)

Publication Number Publication Date
WO2012127404A2 WO2012127404A2 (en) 2012-09-27
WO2012127404A3 true WO2012127404A3 (en) 2012-11-22

Family

ID=45999902

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2012/051303 Ceased WO2012127404A2 (en) 2011-03-18 2012-03-19 Ergonomic handle for haptic devices

Country Status (1)

Country Link
WO (1) WO2012127404A2 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108472100B (en) * 2016-01-26 2021-06-11 索尼公司 Grip strength feedback device and stylus type force feedback device

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2715393T3 (en) * 2013-09-01 2019-06-04 Human Extensions Ltd Control unit for a medical device
DE102014115600A1 (en) 2014-10-27 2016-04-28 Karl Storz Gmbh & Co. Kg Surgical instrument with a manual control device
EP3034028A1 (en) * 2014-12-17 2016-06-22 Suzhou Kang Multi Robot Co Ltd A multi-degree of freedom surgical instrument for minimally invasive surgery
WO2017031132A1 (en) 2015-08-17 2017-02-23 Intuitive Surgical Operations, Inc. Unground master control devices and methods of use
AU2017275595B2 (en) * 2016-06-03 2021-04-29 Covidien Lp Control arm assemblies for robotic surgical systems
EP3658058B1 (en) 2017-07-27 2024-10-16 Intuitive Surgical Operations, Inc. Medical device handle
CN117860388A (en) 2017-10-02 2024-04-12 直观外科手术操作公司 End effector force feedback to main controller
EP3709924A4 (en) 2017-11-15 2021-12-15 Intuitive Surgical Operations, Inc. Master control device and methods therefor
US12419715B2 (en) * 2017-11-15 2025-09-23 Intuitive Surgical Operations, Inc. Master control device with multi-finger grip and methods therefor
US11998291B2 (en) 2018-02-02 2024-06-04 Covidien Lp Robotic surgical systems with user engagement monitoring
WO2019217882A1 (en) 2018-05-11 2019-11-14 Intuitive Surgical Operations, Inc. Master control device with finger grip sensing and methods therefor
WO2021071933A1 (en) 2019-10-08 2021-04-15 Intuitive Surgical Operations, Inc. Hand presence sensing at control input device
WO2021147264A1 (en) * 2020-01-23 2021-07-29 诺创智能医疗科技(杭州)有限公司 Operating assembly and surgical robot
GB2609134B (en) 2020-03-26 2024-10-23 Intuitive Surgical Operations Curved gimbal link geometry
USD1104267S1 (en) 2021-03-24 2025-12-02 Intuitive Surgical Operations, Inc. Surgeon control apparatus

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6368332B1 (en) * 1999-03-08 2002-04-09 Septimiu Edmund Salcudean Motion tracking platform for relative motion cancellation for surgery
US6406472B1 (en) * 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
US20050252329A1 (en) * 2004-05-13 2005-11-17 Jean-Guy Demers Haptic mechanism

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7594912B2 (en) 2004-09-30 2009-09-29 Intuitive Surgical, Inc. Offset remote center manipulator for robotic surgery

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6406472B1 (en) * 1993-05-14 2002-06-18 Sri International, Inc. Remote center positioner
US6368332B1 (en) * 1999-03-08 2002-04-09 Septimiu Edmund Salcudean Motion tracking platform for relative motion cancellation for surgery
US20050183532A1 (en) * 2004-02-25 2005-08-25 University Of Manitoba Hand controller and wrist device
US20050252329A1 (en) * 2004-05-13 2005-11-17 Jean-Guy Demers Haptic mechanism

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108472100B (en) * 2016-01-26 2021-06-11 索尼公司 Grip strength feedback device and stylus type force feedback device

Also Published As

Publication number Publication date
WO2012127404A2 (en) 2012-09-27

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