Surgical Instrument Providing Haptic Feedback
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.
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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 INVENTIONThe 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 INVENTIONUsers 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.
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 INVENTIONThe 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.
In accordance with one aspect of the present invention, the actuator is coupled to both the first and second grip portions.
In accordance with another aspect of the present invention, the actuator comprises a rotary motor.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
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.
The controller 125 may be a computer 150, or the like, such as the computer shown in
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
In use, a user contacts the instrument 160 to interact with the graphical environment 110. In the version shown in
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
A version of a haptic interface 140 is shown in
An ungrounded version of a haptic interface 140 is shown in
The actuator 135 may comprise a rotary motor 135a, as shown for example in the version of
Alternatively, the rotary motor actuator 135a may be used to generate a force opposing the closing of the grips, as shown in
Another version of the haptic interface 140 is shown in
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.
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.
Type: Application
Filed: Jan 22, 2011
Publication Date: May 19, 2011
Applicant: IMMERSION CORPORATION (San Jose, CA)
Inventors: Neil T. Olien (Montreal), Pedro Gregorio (Verdun), David W. Bailey (Redwood City, CA), Steven P. Vassallo (Redwood City, CA)
Application Number: 13/011,880