Patent Application: US-27998207-A

Abstract:
a modular , scalable , layerable balloon actuator or actuator array . the miniaturized actuator array can be mounted on the hand controls of a surgical robotic system , and pressure or force input is applied to the surgeon &# 39 ; s fingers . the input to the fingers is proportional to the applied force or pressure that is sensed on a separate sensor array , which is mounted on the surfaces of the object to be physically manipulated . the force is translated to pressure using a control system , which includes electronic and pneumatic components . the novel enhanced haptic feedback system enables the detection of force and tactile information on tissues and sutures with high spatial and temporal resolution . this technology shortens the learning curve for mis training , expands the application of mis techniques in surgery , and enhances telementoring and teiesurgery applications . the actuator is modular scalable , iayerable , compact , configurable , flexible , and conformable . it is therefore designed such that it can be adapted to future surgical robotic systems , and can be applied to prosthetics , orthotics , and persons with sensory neuropathy , as well as other robotic applications , simulating machines and apparatus and user - interfacing systems for video - gaming .

Description:
it will be understood that various details of the presently disclosed subject matter may be changed without departing from the scope of the presently disclosed subject matter . furthermore , the foregoing description is for the purpose of illustration only , and not for the purpose of limitation . artisans will readily grasp use of the instant teachings in their respective fields , from minimally invasive surgery to robotics to filmed entertainment and video - gaming . the present inventors have discovered that lack of haptic , or force , feedback limits the surgeon &# 39 ; s ability to apply robotically assisted surgical systems and complex laparoscopic techniques to technically demanding procedures . without haptic feedback , surgeons must rely primarily on visual cues , and are thus deprived of their tactile senses when tying sutures and manipulating tissues . this has delayed advancement of the field , and underscores the need for improved user interface systems which “ feel ” like the process they are replacing . likewise , those involved in simulations , video gaming , filmed entertainment and related industries have needs addressed by the instant system . artisans will understand readily how to use the instant system for applications in their respective field of use . for example , virtual reality - based gaming systems allowing users to “ sense ” based on their actions have needed better haptic feedback for some time . during robotic surgery , surgeons must rely on visual cues alone . this likely contributes to longer learning curves for mis procedures , and decreases the surgeon &# 39 ; s ability to detect tissue characteristics , which can lead to inadvertent tissue damage and surgical errors . addition of haptic feedback capabilities to complex laparoscopic and robot - assisted surgical systems improves the quality and safety of surgical procedures and allows for expansion of these techniques to other applications . to address the feedback limitations of current robot - assisted surgical systems , the development of an adaptable , reliable , scalable , and affordable haptic feedback system is offered for consideration by the instant systems . the concept of haptic feedback and its application to mis have previously been investigated ; however , current technologies have limited applicability to existing laparoscopic and robotic tool systems . these limitations include excessive manufacturing costs , bulky and complicated designs , and long learning curves . previously developed haptic feedback devices for robotic surgical systems require redesigning and reengineering of the systems themselves , greatly increasing cost and complexity of the final integrated system designs . a pneumatic balloon - based haptic feedback system has previously been proposed by another group for laparoscopic surgery ; however the actuator design is impractical for attachment onto laparoscopic or robotic tools due to its bulky design and lack of modularity , scalability , uniformity , and layerability as has been detailed in the literature . artisans can access hundreds of articles explaining the shortcomings of known systems , thus , further detail regarding the same is omitted from this discussion . however , exemplary references are listed for this purpose . key benefits of the instant system , according to embodiments of the present invention include scalability and adaptability to various laparoscopic and robotic surgical tools , as well being easily and practically combined with other robotic or prosthetic applications . by developing a scalable and modular wireless haptic feedback system , complicated system redesigns and high system integration costs can be avoided and teaming curves are shortened . referring to fig1 through fig4 , a flexiforce ( tekscan , inc .) a201 piezoresistive sensor 11 has been selected as an exemplary force sensor , according to an illustrative , but not limiting , embodiment . upon application of a force or pressure to the sensor surface , a proportional voltage change is detectable . a microcontroller unit 13 has been programmed to translate the voltage input from sensor 11 to a proportional pressure output , which will actuate a pneumatic balloon . various prototype balloon actuators have been manufactured from , for example , soda clear dragon skin brand of silicone rubber film ( smooth - on ®, inc .) and macromolded polydimethylsiloxane ( pdms ) base . testing has demonstrated a maximum actuation pressure of 15 psi over 75 actuation cycles for a 300 μm thick membrane . investigators in research groups were able to consistently distinguish between three actuation levels over the 15 psi range . artisans readily understand these parameters , and how they relate to the instant systems ; as shown in fig4 , user interface 3 allows the operator to react and to act on forces transmitted through various depicted system embodiments . membranes have been fabricated with thicknesses ranging from 100 μm to 500 μm , either in a single or multi - layer configuration . substrates have been fabricated with various arrays , channels , and tubing configurations and dimensions — all a result of the modularity and scalability of the actuator design . surgeons have already mastered use of the instant system and use it for numbers of procedures , in addition to training and education applications developed . fig2 and fig3 shows an alternate design which is a more complex prototype consisting of multi - element sensor 11 and actuator arrays 16 , 17 . this added complexity improves the resolution of the system and will also allow the force sensor to act as a slip sensor , measuring shear as well as compressive forces ; that is , the detection of objects or tissues slipping from the grasper , in one embodiment . the end result being that the instant system has a “ hand ” or “ feel ” allowing the user to operate the system as if there were nothing between the user and the object to be manipulated . referring now to fig3 , also the skilled in the art will understand based upon the foregoing discussion , figures and the claims which are appended hereto , how input from sensor becomes output from sensor traveling through chip 22 , which may be any customized or designed element as is available to then transfers output as depicted . according to embodiments , for example , like that shown in fig2 , micro fabrication of the instant teachings using micro - electro - mechanical systems ( mems ) technology has been accomplished . psychomotor testing validated and enables the team to optimize the balloon array characteristics , including the balloon diameter , spacing , inflation pressure and maximum deflection . in their way , surgery , telementoring has become possible with use of interface 3 . according to embodiments of these inventions , an optimized haptic feedback system is effective to be retrofitted onto the robotic surgical instruments for in vitro and in vivo clinical testing , on an ongoing basis . it is respectfully proposed that the instant improvements over the state of the art constitute progress in science and the useful arts , and permit users to have haptic input making many tasks easier . while the apparatus and method have been described in terms of what are presently considered to be the most practical and preferred embodiments , it is to be understood that the disclosure need not be limited to the disclosed embodiments . it is intended to cover various modifications and similar arrangements included within the spirit and scope of the claims , the scope of which should be accorded the broadest interpretation so as to encompass all such modifications and similar structures . the present disclosure includes any and all embodiments of the following claims . the references listed below are incorporated herein by reference only as appropriate under national law , per the paris convention to the extent that they supplement , explain , provide a background for or teach methodology , techniques and / or processes employed herein . all cited publications referred to in this application are herein expressly incorporated by reference , as appropriate under national law mindful that those skilled in the art are aware of those systems described and how the present invention relates to and interfaces with them . feussner , h ., siewert , j r ., “ reduction of surgical access trauma : reliable advantages .” chirug 2001 march 72 ( 3 ): 236 - 44 . jacobs , j k , goldstein , r e , “ laparoscopic adrenalectomy : a new standard of care ” annals of surgery 1997 may ; 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