Fingers-driven haptic interface for robot-assisted surgical system
Inventors
Brasset, Damien • Maghini, Stefano • Pozzato, Riccardo
Assignees
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Publication Number
US-11751967-B2
Publication Date
2023-09-12
Expiration Date
Abstract
A haptic interface for a robot-assisted surgical system makes use of a plurality of sensors and a plurality of bladders each mountable to fingers a human hand. A processor receives user input from the sensors in response to movement of the fingers and, in response to the input, causing movement or actuation of a surgical instrument on a robotic manipulator. The processor also receives force input from force sensors of the surgical system corresponding to forces against the surgical instrument, and in response to the force input causing fluid to move into one or more of the bladders.
Core Innovation
The invention relates to a haptic interface for a robot-assisted surgical system that includes a manipulator, a surgical instrument on the manipulator, and one or more force sensors positioned to detect forces against the surgical instrument. The interface uses a plurality of sensors mountable to a human hand, including accelerometers, gyroscopes, or IMUs, to receive user input in response to movement of the fingers and hand, and the received user input is used to cause movement or actuation of the surgical instrument.
The haptic interface further includes a plurality of bladders mountable to fingers of the human hand. In response to force input from the force sensors corresponding to forces against the surgical instrument, fluid is caused to move into one or more of the bladders, and the fluid movement provides tactile feedback to the human hand corresponding to the forces against the surgical instrument.
The described embodiments also include finger-mounted linkages with joints, where the linkages move relative to the joints in response to articulating of a corresponding finger and sensors measure movement of the linkages. In another implementation, a second plurality of sensors comprising accelerometers, gyroscopes, or IMUs detects movement of the hand in roll, pitch, or yaw, and the detected motions are mapped to surgical instrument movement.
Claims Coverage
The partial content provides two independent claims. Across these claims, the inventive features center on hand-mountable motion sensing for user input, finger-mounted bladders driven by received forces to provide tactile feedback, and processor-executable logic mapping sensor inputs to surgical instrument motion or actuation.
Hand-mountable accelerometers, gyroscopes, or IMUs for finger motion input
A plurality of sensors mountable to a human hand, wherein the plurality of sensors includes accelerometers, gyroscopes, or IMUs.
Finger-mountable bladders driven by fluid motion from force input
A plurality of bladders mountable to fingers of the human hand; in response to force input corresponding to forces against the surgical instrument, fluid is caused to move into one or more of the bladders to provide tactile feedback to the human hand corresponding to the forces against the surgical instrument.
Processor instructions to receive finger sensor input and actuate a surgical instrument
At least one processor and at least one memory storing instructions executable to receive user input from the sensors in response to movement of the fingers and, in response to the input, cause movement or actuation of a surgical instrument.
Linkages positionable on fingers with sensors measuring linkage motion
A plurality of linkages positionable on fingers of a human hand, the linkages including joints, the linkages movable relative to the joints in response to articulating of a corresponding finger, and sensors mountable to a human hand positioned to measure movement of the linkages.
Second plurality of accelerometers, gyroscopes, or IMUs for roll, pitch or yaw hand movement
A second plurality of sensors comprising accelerometers, gyroscopes, or IMUs positioned to detect movement of the hand in roll, pitch, or yaw.
Processor instructions mapping first and second sensor inputs to specific instrument motion or actuation
Instructions executable to receive user input from the first plurality of sensors in response to articulation of the linkages resulting from movement of the fingers and, in response to the input, cause movement or actuation of a surgical instrument in jaw actuation or instrument articulation, and to receive user input from the second plurality of sensors and, in response to the input, cause movement or actuation of a surgical instrument in at least one of axial roll, pitch, and yaw.
Across independent claim 1 and independent claim 9, the claim coverage centers on a hand-based haptic interface that receives user input from finger-mounted sensors and uses processor-executable logic to actuate or move a surgical instrument, while using force sensing and fluid-inflated finger bladders to provide tactile feedback corresponding to forces against the surgical instrument.
Stated Advantages
Provide tactile feedback to the human hand corresponding to the forces against the surgical instrument.
Enable user-controlled actuation or movement of a surgical instrument based on finger movement and/or hand movement signals received from sensors.
Documented Applications
Not explicitly described in patent.
Interested in licensing this patent?