Abstract: A haptic system for a minimally invasive, hand-held surgical instrument and the system's various parts including a graphical user haptic interface, one or more haptic interfaces associated with a hand-held handle used to control a sensorized end-effector of the surgical instrument or inserted catheters, associated hardware, and an operating system. The system enables users to acquire, read, modify, store, write, and download sensor-acquired data in real time. The system can provide: an open, universally compatible platform capable of sensing or acquiring physiological signals/data in any format; processing of the sensor acquired data within an operating system; and outputting the processed signals to hardware which generates tangible sensations via one or more haptic interfaces. These tangible sensations can be modified by the user in real time as the system ensures the temporal relationship of sensed fiducial events are not altered or shifted relative to the generated and displayed haptic signals.

Abstract: Cardiac tissue motion characteristics acquired by novel cardiac sensors are analyzed and processed for the derivation of physiological indices. The indices are output to a hand held local or remote volumetric haptic display and enable an operator to obtain motion related dynamic characteristics of cardiac tissues. The ability to tactually sense the motion of cardiac tissue and the affect on such motion from inserted cardiovascular instrumentation enhances the operator's performance of procedures including the positioning and placement of implanted catheters/sensors, extraction of permanently implanted leads and delivery of cardiovascular therapies. Optimal haptic rendering is achieved by using computational techniques to reconstruct the physically and perceptually relevant aspects of acquired signals and bridge the gap between the inserted catheter and operator's hand/catheter handle.

Abstract: A family of minimally-invasive surgical (MIS) cardiac interventional tools with tactile feedback based upon cardiac mechanical data and physiologic parameters derived from sensors positioned upon the tools are configurable for optimal placement of an end-effector to provide acute cardiac resuscitation and/or remote cardiovascular intervention for a subject. A haptic interface (e.g., a haptic handle, haptic glove or a simulated haptic heart) provides a clinician with real, not virtual, interaction with the cardiovascular anatomy (including intrathoracic organs) of the subject to optimize end-effector placement. The MIS tools optionally include webbed blade portions for exploration of extracardiac or intrathoracic spaces.

Abstract: Cardiac tissue motion characteristics acquired by novel cardiac sensors are analyzed and processed for the derivation of physiological indices. The indices are output to a hand held local or remote volumetric haptic display and enable an operator to obtain motion related dynamic characteristics of cardiac tissues. The ability to tactually sense the motion of cardiac tissue and the affect on such motion from inserted cardiovascular instrumentation enhances the operator's performance of procedures including the positioning and placement of implanted catheters/sensors, extraction of permanently implanted leads and delivery of cardiovascular therapies. Optimal haptic rendering is achieved by using computational techniques to reconstruct the physically and perceptually relevant aspects of acquired signals and bridge the gap between the inserted catheter and operator's hand/catheter handle.