Patent ID: 8942828
Filing Date: 2015-01-27
Classification: A61B,A61H,A61N

Abstract:
1. A minimally invasive surgical (MIS) instrument configured to provide mechanical and electrical support and acquire sensor-based physiologic signals from an intrathoracic organ of a patient while providing haptic feedback to an operator, comprising: an end-effector system adapted for transthoracic insertion into the patient and having a collapsed configuration for deployment and retraction, an expanded working configuration wherein the expanded working configuration provides a receiving location, and a partially-collapsed deployment configuration that compresses a portion of the intrathoracic organ disposed in the receiving location; a plurality of transducers coupled to the end-effector system, each transducer providing at least one output signal therefrom; a haptic interface operably coupled to the plurality of transducers, said haptic interface including at least one processor configured to transform the output signals from the plurality of transducers into a haptic response that provides the operator with feedback that the operator utilizes to position the receiving location of the end-effector system and monitor or adjust control of the end-effector system; and a control circuit configured to increase and decrease a volume of fluid in the end-effector system, wherein the control circuit senses electrical or mechanical activity of a heart or a lung as sensed activity and, in response, the control circuit periodically increases and decreases the volume or pressure of fluid disposed within the end-effector system based at least in part upon the sensed activity.