Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus
US6377011B1 · kind B1 · utility
Assignee
Inventor
Key dates
| Filing date | Jan 26, 2000 |
| Grant date | Apr 23, 2002 |
| Priority date | — |
| Expiry date | Jan 26, 2020 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/506
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A handle module actuates handles of a user interface for various applications, including minimally invasive surgery (“MIS”). A modified MIS tool handle has two shafts that translate relative to each other upon relative motion of the handles. They also can rotate relative to each other. A housing engages both. The first is translationally fixed and rotatably free relative to the housing. An actuator actuates rotation of the first shaft. The second shaft is coupled to the housing such that it is rotationally fixed about and translatable along the axis of its elongation. The second shaft is fixed to a cartridge that is a linear capstan and translates relative to the housing, in response to relative translation of the shafts. A jaw action actuator is coupled to the cartridge through a cable drive, and can actuate the relative translation of the shafts, and thus, the handles. The jaw action actuator can actuate jaw action of a tool in a tool environment, either virtual, or actual. The first actuator can actuate rotation of the tool in a tool environment. The handle module can actuate both the jaw action of a jawed tool, as well as rotation around the long axis of the shafts.…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.