U.S. patent application number 13/011880 was filed with the patent office on 2011-05-19 for surgical instrument providing haptic feedback.
This patent application is currently assigned to IMMERSION CORPORATION. Invention is credited to David W. Bailey, Pedro Gregorio, Neil T. Olien, Steven P. Vassallo.
Application Number | 20110118779 13/011880 |
Document ID | / |
Family ID | 26892157 |
Filed Date | 2011-05-19 |
United States Patent
Application |
20110118779 |
Kind Code |
A1 |
Olien; Neil T. ; et
al. |
May 19, 2011 |
Surgical Instrument Providing Haptic Feedback
Abstract
A surgical instrument is disclosed having a distal end connected
to a handle via an elongated mechanical linkage. The handle
includes a first grip portion and a second grip portion pivotably
coupled such that the distal end is controllable by manipulation of
the handle. At least one sensor is coupled to the distal end of the
surgical instrument, wherein the sensor detects a condition at the
distal end. An actuator is coupled to one of the first and second
grip portions is configured to provide haptic effects to the one of
the first and second grip portions. A controller is electrically
coupled to the sensor and electrically coupled to the actuator,
wherein the controller controls operation of the actuator such that
the haptic effects are feedback relating to the sensed
condition.
Inventors: |
Olien; Neil T.; (Montreal,
CA) ; Gregorio; Pedro; (Verdun, CA) ; Bailey;
David W.; (Redwood City, CA) ; Vassallo; Steven
P.; (Redwood City, CA) |
Assignee: |
IMMERSION CORPORATION
San Jose
CA
|
Family ID: |
26892157 |
Appl. No.: |
13/011880 |
Filed: |
January 22, 2011 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
10196717 |
Jul 15, 2002 |
7877243 |
|
|
13011880 |
|
|
|
|
60305958 |
Jul 16, 2001 |
|
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Current U.S.
Class: |
606/205 |
Current CPC
Class: |
A61B 34/70 20160201;
A61B 2017/00398 20130101; A61B 2017/00017 20130101; A61B 34/74
20160201; G09B 23/285 20130101; A61B 2090/064 20160201; A61B
2017/00367 20130101; A61B 34/76 20160201; G06F 3/016 20130101; A61B
17/00 20130101 |
Class at
Publication: |
606/205 |
International
Class: |
A61B 17/00 20060101
A61B017/00 |
Claims
1-20. (canceled)
21. A surgical instrument comprising: a handle having a first grip
portion and a second grip portion pivotably coupled to the first
grip portion at a pivot point; a distal end connected to the handle
via an elongated mechanical linkage, wherein the distal end is
controllable by manipulation of the handle; and an actuator coupled
to one of the first and second grip portions and configured to
provide haptic effects to a user, wherein the haptic effects
includes a force about the pivot point applied to the one of the
first and second grip portions.
22. The surgical instrument of claim 21, further comprising: at
least one sensor coupled to the distal end, wherein the sensor
detects a condition at the distal end; and a controller
electrically coupled to the sensor and electrically coupled to the
actuator, wherein the controller controls operation of the actuator
such that the haptic effects are feedback relating to the sensed
condition.
23. The surgical instrument of claim 22, wherein the sensor is one
of a force sensor and a pressure sensor attached to the opposing
jaws to detect forces or pressures applied thereto.
24. The surgical instrument of claim 22, wherein the haptic effects
includes at least one of kinesthetic or vibrotactile feedback.
25. The surgical instrument of claim 21, wherein the distal end
includes opposing jaws that may be opened and closed by
manipulation of the handle.
26. The surgical instrument of claim 21, wherein the force about
the pivot point moves the first grip portion and the second grip
portion apart into an open position in order to reduce the force a
user applies to the first and second grip portions.
27. The surgical instrument of claim 21, wherein the force about
the pivot point moves the first grip portion and the second grip
portion together into a closed position in order to assist a user
in applying forces to the first and second grip portions.
28. The surgical instrument of claim 21, wherein the actuator is
coupled to both the first and second grip portions.
29. The surgical instrument of claim 28, wherein the actuator
comprises a rotary motor.
30. The surgical instrument of claim 21, wherein the actuator
comprises a braking mechanism.
31. A surgical instrument comprising: a distal end connected to a
handle via an elongated mechanical linkage, wherein the handle
includes a first grip portion and a second grip portion pivotably
coupled to the first grip portion and the distal end is
controllable by manipulation of the handle; at least one sensor
coupled to the distal end, wherein the sensor detects a condition
at the distal end; an actuator coupled to one of the first and
second grip portions and configured to provide haptic effects to
the one of the first and second grip portions; and a controller
electrically coupled to the sensor and electrically coupled to the
actuator, wherein the controller controls operation of the actuator
such that the haptic effects are feedback relating to the sensed
condition.
32. The surgical instrument of claim 31, wherein the sensor is one
of a force sensor and a pressure sensor attached to the opposing
jaws to detect forces or pressures applied thereto.
33. The surgical instrument of claim 31, wherein the haptic effects
includes at least one of kinesthetic or vibrotactile feedback.
34. The surgical instrument of claim 31, wherein the distal end
includes opposing jaws that may be opened and closed by
manipulation of the handle.
35. The surgical instrument of claim 31, wherein the actuator is
coupled to both the first and second grip portions.
36. The surgical instrument of claim 31, wherein the actuator
comprises a rotary motor.
37. The surgical instrument of claim 31, wherein the actuator
comprises a braking mechanism.
38. The surgical instrument of claim 31, wherein the controller is
located on the surgical instrument.
39. The surgical instrument of claim 31, wherein the actuator is
configured to apply a force about a pivot point that moves the
first grip portion and the second grip portion apart into an open
position.
40. The surgical instrument of claim 31, wherein the actuator is
configured to apply a force about a pivot point that moves the
first grip portion and the second grip portion together into a
closed position.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 10/196,717, filed Jul. 15, 2002, now U.S. Pat. No. 7,877,243,
which claims the benefit of U.S. Provisional Patent Application
Ser. No. 60/305,958, filed Jul. 16, 2001, each of which is hereby
incorporated by reference in its entirety for all purposes.
FIELD OF THE INVENTION
[0002] The present invention relates to surgical tools for treating
tissue, and in particular embodiments hereof relate to a surgical
tool in which haptic effects are provided to a handle of the
surgical tool.
BACKGROUND OF THE INVENTION
[0003] Users interface with electronic and mechanical devices in a
variety of applications, and the need for a more natural,
easy-to-use, and informative interface is a constant concern. In
the context of the present invention, a user interfaces with
computer devices for a variety of applications. One such
application is interacting with computer-generated environments,
such as virtual reality environments, including surgical
simulations, games, actual surgeries and other application program
generated environments. Computer input devices such as mice and
trackballs are often used to control a cursor within a graphical
environment and provide input in these applications.
[0004] In some interface devices, force feedback and/or tactile
feedback is also provided to the user, collectively known herein as
"haptic feedback." For example, haptic versions of joysticks, mice,
gamepads, steering wheels, or other types of devices may output
forces to the user based on events or interactions occurring within
the graphical environment, such as in a game or other application
program. In a computer simulation, it is often desirable to
graphically represent a user or a portion of the user in the
graphical environment and to allow the user to realistically
interact with the graphical environment.
SUMMARY OF THE INVENTION
[0005] The present invention provides a computer interface for use
with a computer simulation system. The interface includes a first
grip portion and a second grip portion pivotably coupled to the
first grip portion. An actuator is coupled to at least one of the
two grip portions and is configured to provide feedback to a
user.
[0006] In accordance with one aspect of the present invention, the
actuator is coupled to both the first and second grip portions.
[0007] In accordance with another aspect of the present invention,
the actuator comprises a rotary motor.
[0008] In accordance with a further aspect of the present
invention, the actuator is coupled to the first grip portion and
comprises a rotary motor, a rotating shaft that extends into the
second grip portion and a cable coupled to the rotating shaft and
the second grip portion.
[0009] In accordance with another aspect of the present invention,
the computer interface further includes a spring coupled to both
the first and second grip portions.
[0010] In accordance with a further aspect of the present
invention, the computer interface includes at least one sensor for
sensing angular rotation of a pivot coupling the first and second
grip portions.
[0011] In accordance with yet a further aspect of the present
invention, the feedback is at least one of a group comprising
pushing the grip portions apart, pulling the grip portions
together, vibration, torque and noise.
[0012] In accordance with another aspect of the present invention,
the interface comprises a practice tool comprising an elongated
portion and a handle. The handle includes the first and second grip
portions and the actuator is coupled to at least one of the two
grip portions.
[0013] In accordance with another aspect of the present invention,
a sensor is provided that senses at least one of motion and
position of the elongated portion.
[0014] In accordance with another aspect of the present invention,
a method of providing feedback within a practice tool during
computerized simulation includes providing a practice tool
comprising an elongated portion and a handle, the handle comprises
a first grip portion at a proximal portion of the elongated
portion, a second grip portion at a proximal portion of the
elongated portion and pivotably coupled to the first grip portion,
and an actuator coupled to at least one of the first and second
grip portions. Feedback is provided with the actuator to a
user.
[0015] Other features and advantages of the present invention will
be understood upon reading and understanding the description of the
preferred exemplary embodiments, found herein below, in conjunction
with reference to the drawings, in which like numerals represent
like elements.
BRIEF DESCRIPTION OF THE DRAWINGS
[0016] FIG. 1 is a schematic diagram of a computer interface system
according to the present invention.
[0017] FIG. 2 is a schematic diagram of a computer interface system
according to the present invention comprising an instrument with a
pivoting handle.
[0018] FIG. 3 is a schematic diagram of an embodiment of a haptic
interface device according to the present invention.
[0019] FIG. 4 is a schematic diagram of another embodiment of a
haptic interface device according to the present invention.
[0020] FIG. 5 is a schematic diagram of another embodiment of a
haptic interface device according to the present invention.
[0021] FIG. 6 is a schematic diagram of another embodiment of a
haptic interface device according to the present invention.
[0022] FIG. 7 is a schematic diagram of another embodiment of a
haptic interface device according to the present invention.
[0023] FIG. 8 is a schematic diagram of another embodiment of a
haptic interface device according to the present invention.
[0024] FIGS. 9-11 are additional views of the haptic interface
device of FIG. 8.
[0025] FIG. 12 is a schematic side view of an instrument with a
sensor and an actuator.
DESCRIPTION OF EXEMPLARY EMBODIMENTS OF THE INVENTION
[0026] The present invention relates to computer simulations and
more particularly to computer simulations involving the control of
a graphical image, such as a graphical image that is a graphical
representation of an instrument being manipulated by a user.
Although the process is illustrated at least partly in the context
of a surgical simulation interface, the present invention may be
used in other simulation and computer interactive processes and/or
to control other graphical images and should not be limited to the
examples provided herein.
[0027] FIG. 1 is a schematic illustration of a computer interface
system 100 according to the invention. The computer interface
system 100 is capable of generating a computer generated or virtual
reality environment. A display 105 provides a graphical environment
110 to a user. Within the graphical environment 110 is a graphical
image 115. The graphical image 115 may be, for example, a cursor or
other graphical object, the position, movement, and/or shape of
which is controllable. For example, the graphical image 115 may be
a pointer cursor, a character in a game, a surgical instrument, a
view from the end of a surgical instrument, a representative
portion of the user, or the like. Also within the graphical
environment is a graphical object 120 such as a round object, as
shown, or any other graphical representation including another
graphical image that may be controlled by the user or by another
user. A controller 125 in communication with the display 105 is
capable of generating and/or controlling the graphical environment
110, for example by executing program code including an application
program related to a simulation. A user object 130 is manipulatable
by a user, and the manipulation of the user object 130 controls the
position, orientation, shape and/or other characteristic of the
graphical image 115 within the graphical environment 110, for
example by directly correlating a position of the user object 130
with a displayed position and/or shape of the graphical image 115
or by correlating a position of the user object 130 with a rate of
movement and/or change of shape of the graphical image 115. Either
the entire user object 130 may be manipulatable by the user or a
portion of the user object 130 may be manipulatable relative to
another portion of the user object 130. For example, the user
object may be a surface that is engaged by one or more hands of a
user, such as a joystick, a mouse, a mouse housing, a stylus, a
knob, an elongated rigid or flexible member, an instrumented glove,
or the like and may be moveable in from one to six degrees of
freedom.
[0028] Optionally, haptic feedback may be provided to the user to
increase the realism of the virtual reality environment. For
example, when a predetermined event occurs within the graphical
environment 110, such as an interaction of the graphical image 115
with the graphical object 120, the controller 125 may cause an
actuator 135 to output a haptic sensation to the user. In the
version shown, the actuator 135 outputs the haptic sensation to the
user object 130 through which the sensation is provided to the
user. The actuator 135 and the user object 130 may be part of a
haptic interface device 140. The actuator 135 may be positioned in
the haptic interface device 140 to apply a force to the user object
130 or to a portion of the user object.
[0029] The actuator 135 may provide the haptic sensation actively
or passively. For example, the actuator 135 may comprise one or
more motors coupled to the user object 130 to apply a force to the
user or to the user object 130 in one or more degrees of freedom.
Alternatively or additionally, the actuator 135 may comprise one or
more braking mechanisms coupled to the user object to inhibit
movement of the user or the user object 130 in one or more degrees
of freedom. By haptic sensation it is meant any sensation provided
to the user that is related to the user's sense of touch. For
example, the haptic sensation may comprise kinesthetic force
feedback and/or tactile feedback. By kinesthetic force feedback it
is meant any active or passive force applied to the user to
simulate a force that would be experienced in the graphical
environment 110, such as a grounded force applied to the user or
the user object 130 to simulate a force experienced by at least a
portion of the graphical image 115. For example, if the graphical
image 115 is positioned against a surface, a barrier or an
obstruction, the actuator 135 may output a force against the user
object 130 preventing or retarding movement of the user or the user
object 130 in the direction of the barrier or obstruction. By
tactile feedback it is meant any active or passive force applied to
the user to provide the user with a tactile indication of a
predetermined occurrence within the graphical environment 110. For
example, a vibration, click, pop, or the like may be output to the
user when the graphical image 115 interacts with a graphical object
120. Additionally, tactile feedback may comprise a tactile
sensation applied to approximate or give the illusion of a
kinesthetic force. For example, by varying the frequency and/or the
amplitude of an applied vibration, variations in surface textures
of different graphical objects may be simulated or by providing a
series of clicks when a graphical image penetrates an object,
resistance to the penetration may be simulated. For example, in one
version a kinesthetic force sensation, such as a spring force, may
be applied to the user whenever the graphical image 115 engages the
graphical object 120 to simulate a selectively deformable surface.
Alternatively or additionally, a tactile sensation, such as a pop,
may be applied to the user when the graphical image 115 is moved
across a surface of the graphical object 120 to simulate a texture
of the graphical object 120.
[0030] The controller 125 may be a computer 150, or the like, such
as the computer shown in FIG. 2. In one version, the computer 150
may comprise a processor and may be able to execute program code.
For example, the computer may be a personal computer or
workstation, such as a PC compatible computer or Macintosh personal
computer, or a Sun or Silicon Graphics workstation. The computer
150 may be operable under the Windows.TM., MacOS, Unix, or MS-DOS
operating system or similar. Alternatively, the computer 150 may be
one of a variety of home video game console systems commonly
connected to a television set or other display, such as systems
available from Nintendo, Sega, or Sony. In other embodiments, the
computer 150 may be a "set top box" which may be used, for example,
to provide interactive television functions to users, or a
"network-" or "internet-computer" which allows users to interact
with a local or global network using standard connections and
protocols such as used for the Internet and World Wide Web. The
computer 150 may include a host microprocessor, random access
memory (RAM), read only memory (ROM), input/output (I/O) circuitry,
and/or other components of computers well-known to those skilled in
the art. The computer 150 may implement an application program with
which a user is interacting via peripherals, such as haptic
interface device 140 and/or user object 130. For example, the
application program may be a simulation program, such as a medical
procedure simulation program, a game, a computer aided design or
other graphic design program, an operating system, a word processor
or spreadsheet, a Web page or browser that implements, for example,
HTML or VRML instructions, a scientific analysis program, or other
application program that may or may not utilize haptic feedback.
Herein, for simplicity, operating systems such as Windows.TM.,
MS-DOS, MacOS, Linux, Be, etc. are also referred to as "application
programs." The application program may comprise an interactive
graphical environment, such as a graphical user interface (GUI) to
allow the user to input information to the program. Typically, the
application provides images to be displayed on a display screen 155
and/or outputs other feedback, such as auditory signals. The
computer 150 is capable of generating a graphical environment 110,
which may be a graphical user interface, game, simulation, such as
those described above, or other visual environment. The computer
150 displays graphical objects 120, such as graphical
representations and graphical images, or "computer objects," which
are not physical objects, but are logical software unit collections
of data and/or procedures that may be displayed as images by the
computer on display screen 155, as is well known to those skilled
in the art. The application program checks for input signals
received from the electronics and sensors of the user object 130,
and outputs force values and/or commands to be converted into
haptic output for the actuator 135. Suitable software drivers which
interface such simulation software with computer input/output (I/O)
devices are available from Immersion Corporation of San Jose,
Calif. Display screen 155 may be included in the computer and may
be a standard display screen (LCD, CRT, flat panel, etc.), 3-D
goggles, or any other visual output device.
[0031] In one version of the computer interface system 100, the
user object 130 comprises a handle of at least a portion of a real
or mock instrument 160, such as a surgical instrument used in
laparoscopic surgery. In the version shown in FIG. 2, the
instrument 160 comprises a handle having a first grip 165 and a
second grip 170. The first grip 165 and the second grip 170 are
relatively pivotable about a pivot 175. Manipulation of the handle
may be detected by one or more sensors in, on, or in communication
with the user object 130. A signal indicative of the detected
manipulation is provided to the computer 150, optionally through
sensor interface 180, to control the position, orientation, and/or
shape of the graphical image 115. For example, the sensors may
detect the motion or position of an elongated portion 185 of the
instrument 160 in from one to six or more degrees of freedom to
control the displayed position of the graphical image 115, as
disclosed in U.S. Pat. Nos. 5,623,582; 5,821,920; 5,731,804; and
5,828,197 each of which is incorporated herein by reference in its
entirety. Alternatively or additionally, one or more sensors may be
positioned to detect manipulation of the first grip 165 relative to
the second grip 170, for example by sensing the amount of rotation
about pivot 175. The sensed pivoting may then be used to control
the shape of the displayed graphical image 115. For example, in the
version shown, pivoting the first grip 165 relative to the second
grip 170 may result in an opening or closing of jaws 190 on the
distal end of the graphical image 115. In this way, a user may be
able to manipulate the instrument 160 to cause the graphical image
115 to grasp or otherwise engage the graphical object 120.
[0032] In use, a user contacts the instrument 160 to interact with
the graphical environment 110. In the version shown in FIG. 2, the
user grasps the handle including the first grip 165 and the second
grip 170 and manipulates the instrument 160 by causing rotation of
the grips and optionally by manipulating the instrument 160 in
additional degrees of freedom. For example, the user may cause the
instrument 160 to move to his or her left and downwardly to cause
the graphical image 115 to be rendered so as to appear to touch the
graphical object 120. In addition, the user may rotate the grips to
make the graphical jaws 190 appear to grasp the graphical object
120.
[0033] The realism of the graphical environment interaction may be
increased by providing an actuator 135 adapted to provide one or
more haptic sensations to the user during the user's interaction
with the graphical environment 110. The actuator may either provide
the haptic sensation directly to the user or may apply the haptic
sensation to the user through the user object, for example by
applying a force to the user through the instrument 160. This
allows the user to not only visualize the graphical image 115
contacting the graphical object 120, but also to receive an
indication through the user's sense of touch that the object has
been contacted, thereby providing a more immersive experience. In
one version, the actuator 135 may be positioned to provide a haptic
sensation to the first grip 165 and/or to the second grip 170 to
simulate gripping forces associated with the relative rotation of
the grips. It has been discovered that by providing a haptic
sensation to the user simulating the griping forces, the user's
perception of realistic interaction with a graphical object 120 is
enhanced. For example, a haptic sensation may be provided to the
grips in coordination with the graphical jaws 190 grasping the
graphical object 120 to simulate an actual grasping of an object.
Accordingly, in the version of FIG. 2, the computer 150 controls
the output of a haptic sensation to the instrument 160 by providing
a signal, optionally though actuator interface 195, to cause the
palm forcing mechanism to be actuated.
[0034] A version of a haptic interface 140 is shown in FIG. 3. One
or more angle sensors 200 may be positioned to detect the angular
rotation about the pivot 175. In a relatively simple version, a
single digital or analog sensor detects either an open condition or
a closed condition of the grips, and the computer 150
correspondingly displays the graphical jaws 190 either as being
open or as being closed or grasping an object in the graphical
environment 110. In another version, the angle sensor 200 may
comprise a sensor that provides a variable signal by which the
display of the graphical jaws 190 may be controlled. The joint
angle sensor may comprise one or more of an optical, electrical, or
magnetic encoder, a strain gage, a fiber optic sensor, a
potentiometer, or the like. The actuator 135 may be positioned to
force apart and/or to bring together the first grip 165 and the
second grip 170.
[0035] An ungrounded version of a haptic interface 140 is shown in
FIG. 4. In this version, the actuator 135 is housed in or on the
second grip 170. The actuator is capable of actuating the first
grip 165 toward or away from the second grip 170. With this
version, the instrument 160 need not be grounded in order to
provide haptic sensations related to rotation of the grips.
[0036] The actuator 135 may comprise a rotary motor 135a, as shown
for example in the version of FIG. 5. In this version, the first
grip 165 comprises an extension 205 and the second grip 170
comprises an extension 215. The extensions 205, 215 overlap one
another as shown in FIG. 5. The extension 215 of the second grip
170 includes a recessed portion 220 which receives the rotary motor
actuator 135a and which grounds the motor 135a to the second grip
170. The motor 135a is capable of rotating a shaft 225 extending
therefrom. The shaft 225 extends into a recessed portion 210 in the
first grip extension 205. A cable 230 is fixed to the first grip
165, for example, by being fixed to the wall of the recessed
portion 210 of the extension 205. The other end of the cable 230 is
fixed to the rotatable shaft 225, for example by being fixed within
a through bore 235 in the shaft 225. Rotation of the shaft 225 in
the direction of the arrow causes the cable 230 to wrap around the
shaft 225 and pulls the first grip 165 toward the second grip 170.
Accordingly, actuation of the motor 135a may cause a grasping force
to be applied to the instrument 160. This grasping force may be a
haptic sensation related to interactions in the graphical
environment. Additionally or alternatively, the grasping force may
be used to augment, amplify or reduce the force the user is
applying to the interface device 165. Optionally, a spring 240
which biases the grips toward an open position may be used to
counteract the grasping force generated by the actuator 135a.
[0037] Alternatively, the rotary motor actuator 135a may be used to
generate a force opposing the closing of the grips, as shown in
FIG. 6. In the version of FIG. 6, the cable 230 is fixed to the
opposite side of the recess 210 in the extension 205 of the first
grip 165. Thus, as the shaft 225 is rotated in the direction of the
arrow in FIG. 6, the first grip 165 and the second grip 170 are
forced apart. This generated force may also be used for haptic
sensations. For example, when the graphical jaws 190 contact the
graphical object 120 a force may be output to the user preventing
or inhibiting the closing of the grips in relation to the displayed
activity. Alternatively or additionally, the applied force may be
used to augment, amplify or reduce the force applied by the user,
as discussed above. In the version of the FIG. 6, the spring 240 is
optionally provided to bias the grips towards one another.
[0038] Another version of the haptic interface 140 is shown in FIG.
7. In this version, the rotary motor actuator 135a and rotatable
shaft 225 are able to actively apply either a closing or an opening
force to the grips. In the version of FIG. 7, the rotatable shaft
225 is used as a capstan-type device. One end of the cable 230 is
fixed to one side of the recess 210 and the other end of the cable
230 is fixed to the other side of the recess 210. The cable is
wrapped around the rotatable shaft 225 and extends through the
through bore 235. Thus, rotation of the rotatable shaft 225 in one
direction causes an opening force to be applied to the grips and
rotation in the other direction causes a closing force to be
applied to the grips.
[0039] FIG. 8 shows a version similar to the version of FIG. 7 but
with a tapered rotatable shaft 225. The tapered rotatable shaft 225
allows for a greater range of motion between the grips. The taper
allows the uptake of the amount of cable on the shaft to be
substantially the same as the amount of cable discharged from the
shaft throughout the range of travel of the shaft within the recess
210. In this way, the amount of slack in the cable is reduced which
reduces backlash and which maintains tight contact of the cable on
the shaft. In one version, the tapered shaft 225 is conically
shaped. In a particularly useful version, the sides of the
conically shaped shaft 225 are shaped such that an extension
thereof would result in the sides intersecting substantially at the
pivot 175. In another version, the shaft may be stepped.
[0040] FIGS. 9 and 10 show top and side perspective views of the
haptic interface device 140 of FIG. 8. FIG. 11 shows the haptic
interface device 140 of FIG. 8 with a cover 250 covering the motor
135a.
[0041] FIG. 12 shows a version in which an actual surgical
instrument 160 is the user object 130 and haptic interface device
140. The surgical instrument 160, which is a laparoscopic
instrument in the version shown, may include a distal end 191 that
is controllable by manipulation of a handle 161. For example, the
distal end 191 may comprise opposing jaws 190a that may be opened
and closed by opening and closing the first and second grips 165,
170 of the handle 161. The surgical instrument handle 161 may also
comprise an actuator 135, such as one of the actuating mechanisms
discussed above, for forcing the first and second grips 165, 170
open or closed. The actuator 135 may be used to assist the user in
applying forces or may be used to reduce the force a user applies
to the first and second grips 165, 170. In one embodiment, actuator
135 is capable of moving first grip 165 toward or away from second
grip 170. More particularly, the haptic effects provided by
actuator 135 includes a force about pivot point 175 that moves
first grip 165 towards second grip 170 into a closed position in
order to assist the user in applying forces to the first and second
grips and/or moves first grip 165 away or apart from second grip
170 into an open position in order to reduce the force a user
applies to the first and second grips. In another embodiment
hereof, actuator 135 may be used to apply a haptic sensation or
effect to the user which is feedback relating to a sensed
condition. More particularly, a sensor 260 may be provided to
detect a condition at the distal end 191 of the surgical instrument
160. For example, a pressure or force sensor 260 may be positioned
to detect the pressure or forces applied to one or more of the jaws
190a. The sensed condition may be provided to the controller 125
which may be a separate controller or may be a controller or logic
on the surgical instrument. The controller 125 may then control the
operation of the actuator 135 in relation to the sensed condition.
For example, often elongated portion or mechanical linkage 185 of
surgical instrument 160 is insufficient to communicate to the user
that the jaws 190a have interacted with an object. Thus, the sensor
260 may be sufficiently sensitive to detect a predetermined
interaction, and the controller 125 may cause a haptic response to
be applied to the user to indicate the interaction. Additional
interactions are discussed in U.S. Pat. No. 6,817,973 to Merril et
al., which is incorporated by reference herein in its entirety.
[0042] While this invention has been described in terms of several
preferred embodiments, it is contemplated that alterations,
permutations and equivalents thereof will become apparent to those
skilled in the art upon a reading of the specification and study of
the drawings. For example, when used with a simulation system,
laparoscopic techniques other than those discussed above may be
simulated. For example, other techniques are disclosed in the
following U.S. patents, all of which are incorporated herein by
reference in their entireties: U.S. Pat. Nos. 5,735,874; 5,514,156;
5,163,945; 5,980,510; 5,632,432; 6,168,605; 5,258,004; 5,307,976;
5,447,513; 5,681,324; 6,090,120; and 5,846,254. Additionally, the
simulation may comprise surgical applications other than
laparoscopic procedures. Furthermore, the interface device may be
used for non-surgical simulations. For example, an application
program may be responsive to a shear interface and may comprise
instructional program code on how to correctly prune a rose bush or
a game environment may use pivotal grip haptic feedback.
Additionally, the forcing mechanisms disclosed may be used to apply
forces to relatively pivoting parts in any environment.
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