Abstract: A surgical tool system includes an electrosurgical tool for sealing and transecting tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., when tissue located within jaws of the tool is completely sealed, when the tissue is ready to be cut, the cutting rate or speed, the quantity of tissue located within jaws of the tool, and whether a blood vessel is fully located within jaws of tool. In addition, the tactile feedback alerts the user to the operating status of energy application during the procedure.

Abstract: A surgical tool system includes a surgical tool for cutting and stapling tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., the type of tissue or other structures located within the jaws of the stapler, whether the quantity or thickness of tissue located within the jaws of the stapler is appropriate for the selected stapler cartridge, whether the proper length of staples has been fired based on the length of tissue located in the jaws, whether a blood vessel is located within the jaws of the stapler, whether the stapling process has successfully sealed the tissue located within the jaws of the stapler, the position of the cutting element, and/or when the stapling procedure or firing cycle is completed.

Abstract: A surgical tool such as a grasper or a pair of surgical scissors includes a hinge portion that spans between a handle proximal portion and a distal working portion to communicate mechanical actions of the handle proximal portion to the distal working portion. A programmable rotary module is coupled to the hinge portion and includes a sensor, an actuator, and a controller. The sensor, actuator, and controller may be enclosed in a common housing. The sensor measures rotation of the distal working portion and the actuator generates haptic effects to the proximal handle portion. A controller is electrically connected to the sensor and to the actuator. The controller receives the rotation measurements from the sensor and, based upon the rotation measurements, outputs a control signal to the actuator relating to the generation of haptic effects. The haptic effects may include force sensations such as detents and barriers.

Abstract: A surgical tool system includes an electrosurgical tool for sealing and transecting tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., when tissue located within jaws of the tool is completely sealed, when the tissue is ready to be cut, the cutting rate or speed, the quantity of tissue located within jaws of the tool, and whether a blood vessel is fully located within jaws of tool. In addition, the tactile feedback alerts the user to the operating status of energy application during the procedure.

Abstract: A surgical tool system includes a surgical tool for cutting and stapling tissue and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback in at least the form of haptic effects to the user. The tactile feedback alerts the user of tissue properties, i.e., the type of tissue or other structures located within the jaws of the stapler, whether the quantity or thickness of tissue located within the jaws of the stapler is appropriate for the selected stapler cartridge, whether the proper length of staples has been fired based on the length of tissue located in the jaws, whether a blood vessel is located within the jaws of the stapler, whether the stapling process has successfully sealed the tissue located within the jaws of the stapler, the position of the cutting element, and/or when the stapling procedure or firing cycle is completed.

Abstract: A surgical tool system including a laparoscopic surgical tool for heating, ablating, sealing, and/or dissecting tissue, a control system for monitoring impedance of the tissue during treatment thereof, and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback from the control system in at least the form of haptic effects to the user. The tactile feedback alerts the tool user of changes in tissue properties, i.e., when the impedance of the tissue indicates that the treatment procedure is complete. In addition, the tactile feedback provided may supply information relating to the operating status of the control system to the user.

Abstract: Movement of a graphical hand is constrained when the physical hand controlling the graphical hand does not have a similar physical constraint. An analysis of a revolute-joint-link-spring model in which an uncompressed/unextended spring position represents the corresponding measured joint angle or link position is used. Linear springs, non-linear springs, or the like may be employed to obtain the desired result of allowing a graphical joint or link to deviate from what the corresponding measured joint or link provides. If a graphical hand configuration causes a portion of the hand to penetrate a simulated graphical solid object, a mathematical determination is used to compute modified joint and link positions such that the graphical hand part will no longer penetrate the solid object. Such a constraint technique may include solving a spring model such that the various joint and link springs compress or extend to produce modified joint and link positions.

Abstract: Movement of a graphical hand is constrained when the physical hand controlling the graphical hand does not have a similar physical constraint. An analysis of a revolute-joint-link-spring model in which an uncompressed/unextended spring position represents the corresponding measured joint angle or link position is used. Linear springs, non-linear springs, or the like may be employed to obtain the desired result of allowing a graphical joint or link to deviate from what the corresponding measured joint or link provides. If a graphical hand configuration causes a portion of the hand to penetrate a simulated graphical solid object, a mathematical determination is used to compute modified joint and link positions such that the graphical hand part will no longer penetrate the solid object. Such a constraint technique may include solving a spring model such that the various joint and link springs compress or extend to produce modified joint and link positions.

Abstract: Movement of a graphical hand is constrained when the physical hand controlling the graphical hand does not have a similar physical constraint. An analysis of a revolute-joint-link-spring model in which an uncompressed/unextended spring position represents the corresponding measured joint angle or link position is used. Linear springs , non-linear springs, or the like may be employed to obtain the desired result of allowing a graphical joint or link to deviate from what the corresponding measured joint or link provides. If a graphical hand configuration causes a portion of the hand to penetrate a simulated graphical solid object, a mathematical determination is used to compute modified joint and link positions such that the graphical hand part will no longer penetrate the solid object. Such a constraint technique may include solving a spring model such that the various joint and link springs compress or extend to produce modified joint and link positions.

Abstract: Object simulation and interaction of and between computer-generated or graphical objects in a virtual space includes neutral scene graphs, data structures and procedures for using such graphs and data structures.

Abstract: An apparatus, system, method, and computer program and computer program product are provided for constraining the movement of a graphical hand when the physical hand controlling the graphical hand does not have a similar physical constraint. The constraining technique may comprise use and analysis of a revolute-joint-link-spring model. In such a model, an uncompressed/unextended spring position represents the corresponding measured joint angle or link position. In addition to linear springs which follow Hook's Law, i.e., F=k*x, non-linear springs or other non-linear force functions may be employed to obtain the desired result of allowing a graphical joint or link to deviate from what the corresponding measured joint or link provides.