Patent ID: 6096004
Filing Date: 2000-08-01
Classification: A61B,A61M

Abstract:
Apparatus for manipulating a generally cylindrical medical tool having a longitudinal axis and being adapted for insertion in a patient in a minimally invasive medical procedure, comprising:at least one generally cylindrical control having a longitudinal axis, wherein the control may be manipulated by a user so as to cause translation of the control along the axis and rotation of the control about the axis;a first actuator comprising sensors coupled to the control and motors mechanically engaging the control, the first actuator being operative to generate first electrical sensor signals indicative of the translational and rotational movement of the control in response to the translation and rotation of the control with respect to the axis thereof by the user, the first actuator also being operative to cause translation and rotation of the control with respect to the axis thereof in response to selective application of first electrical motor drive signals to the motors;a second actuator comprising sensors adapted to be coupled to the tool and motors mechanically engaging the tool, the second actuator being operative to generate second electrical sensor signals indicative of the translational and rotational movement of the tool with respect to the axis thereof, the second actuator also being operative to cause translation and rotation of the tool with respect to the axis thereof in response to selective application of second electrical motor drive signals to the motors; andan electronic interface operative to receive the first and second electrical sensor signals as inputs and to generate the first and second motor drive signals to cause movement of the tool in response to movement of the control by the user and to provide haptic feedback to the user via the control in response to movement of the tool inside the patient.