WO1998024017A3 - Control means - Google Patents

Control means Download PDF

Info

Publication number
WO1998024017A3
WO1998024017A3 PCT/GB1997/003166 GB9703166W WO9824017A3 WO 1998024017 A3 WO1998024017 A3 WO 1998024017A3 GB 9703166 W GB9703166 W GB 9703166W WO 9824017 A3 WO9824017 A3 WO 9824017A3
Authority
WO
WIPO (PCT)
Prior art keywords
finger
sensor
tube
membrane
feedback
Prior art date
Application number
PCT/GB1997/003166
Other languages
French (fr)
Other versions
WO1998024017A2 (en
Inventor
Mansel Valmond Griffiths
Peter Nigel Brett
Giuseppe Tritto
Rhodri Simon Watcyn Stone
Original Assignee
Univ Bristol
Mansel Valmond Griffiths
Peter Nigel Brett
Giuseppe Tritto
Rhodri Simon Watcyn Stone
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Univ Bristol, Mansel Valmond Griffiths, Peter Nigel Brett, Giuseppe Tritto, Rhodri Simon Watcyn Stone filed Critical Univ Bristol
Publication of WO1998024017A2 publication Critical patent/WO1998024017A2/en
Publication of WO1998024017A3 publication Critical patent/WO1998024017A3/en

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G06F3/014—Hand-worn input/output arrangements, e.g. data gloves
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/741—Glove like input devices, e.g. "data gloves"

Abstract

This invention relates to control means and actuators (1) with feed-back sensors (5) suitable for use in tele-operated systems, especially surgical tools and endoscopes. A membrane (9) is provided to flex with an operator's finger, and a sensor (20) responsive to longitudinal flexing of the membrane produces an output signal dependent on the position of the finger. The membrane (9) covers the finger like a glove, and extends across the back of the hand. The sensor (20) preferably comprises an optic fibre (13). The actuator (1) is fluid-operated and comprises a corrugated tube (7) with a length-restraining member (8) along one side so that the tube curves when it is extended by internal fluid pressure. A feedback sensor (5) is responsive to the position of the tube (7) and/or lateral force experienced by the tube (7) when it engages an external object. A feedback signal from the sensor (5) operates a feedback force generator (3) in contact with the operator's finger.
PCT/GB1997/003166 1996-11-26 1997-11-26 Control means WO1998024017A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GBGB9624486.8A GB9624486D0 (en) 1996-11-26 1996-11-26 Control means
GB9624486.8 1996-11-26

Publications (2)

Publication Number Publication Date
WO1998024017A2 WO1998024017A2 (en) 1998-06-04
WO1998024017A3 true WO1998024017A3 (en) 1998-10-08

Family

ID=10803442

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1997/003166 WO1998024017A2 (en) 1996-11-26 1997-11-26 Control means

Country Status (2)

Country Link
GB (1) GB9624486D0 (en)
WO (1) WO1998024017A2 (en)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6468203B2 (en) 2000-04-03 2002-10-22 Neoguide Systems, Inc. Steerable endoscope and improved method of insertion
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US8517923B2 (en) 2000-04-03 2013-08-27 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US6610007B2 (en) 2000-04-03 2003-08-26 Neoguide Systems, Inc. Steerable segmented endoscope and method of insertion
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
EP1309277B1 (en) * 2000-07-20 2008-05-28 Kinetic Surgical, LLC Hand-actuated articulating surgical tool
US6748281B2 (en) * 2000-09-29 2004-06-08 Gunilla Alsio Wearable data input interface
EP1469781B1 (en) 2002-01-09 2016-06-29 Intuitive Surgical Operations, Inc. Apparatus for endoscopic colectomy
US8882657B2 (en) 2003-03-07 2014-11-11 Intuitive Surgical Operations, Inc. Instrument having radio frequency identification systems and methods for use
DE102004009135B3 (en) * 2004-02-25 2005-12-22 Siemens Ag Device for manually remotely controllable navigation of a probe insertable into a human body
JP2009516574A (en) 2005-11-22 2009-04-23 ネオガイド システムズ， インコーポレイテッド Method for determining the shape of a bendable device
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
US20070161856A1 (en) * 2005-11-23 2007-07-12 Neoguide Systems, Inc. Steering aid
US8568299B2 (en) 2006-05-19 2013-10-29 Intuitive Surgical Operations, Inc. Methods and apparatus for displaying three-dimensional orientation of a steerable distal tip of an endoscope
US9220398B2 (en) 2007-10-11 2015-12-29 Intuitive Surgical Operations, Inc. System for managing Bowden cables in articulating instruments
US8182418B2 (en) 2008-02-25 2012-05-22 Intuitive Surgical Operations, Inc. Systems and methods for articulating an elongate body
GB201321261D0 (en) 2013-12-02 2014-01-15 Univ Brunel Method and system for discriminating an attribute or state of an object
US9827060B2 (en) * 2014-07-15 2017-11-28 Synaptive Medical (Barbados) Inc. Medical device control interface
CN105997252A (en) * 2016-06-20 2016-10-12 深圳市罗伯医疗科技有限公司 Method for feeding back touch force through robot in operation of and robot

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4715235A (en) * 1985-03-04 1987-12-29 Asahi Kasei Kogyo Kabushiki Kaisha Deformation sensitive electroconductive knitted or woven fabric and deformation sensitive electroconductive device comprising the same
WO1988007659A1 (en) * 1987-03-24 1988-10-06 Vpl Research, Inc. Motion sensor
US4972074A (en) * 1989-04-10 1990-11-20 Scott M. Wright Optical attenuator movement detection system

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4715235A (en) * 1985-03-04 1987-12-29 Asahi Kasei Kogyo Kabushiki Kaisha Deformation sensitive electroconductive knitted or woven fabric and deformation sensitive electroconductive device comprising the same
WO1988007659A1 (en) * 1987-03-24 1988-10-06 Vpl Research, Inc. Motion sensor
US4972074A (en) * 1989-04-10 1990-11-20 Scott M. Wright Optical attenuator movement detection system

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
BERGAMASCO M ET AL: "ADVANCED INTERFACES FOR TELEOPERATED BIOMEDICAL ROBOTS", IMAGES OF THE TWENTY FIRST CENTURY, SEATTLE, NOV. 9 - 12, 1989, vol. PART 3, no. CONF. 11, 9 November 1989 (1989-11-09), YONGMIN KIM;SPELMAN F A, pages 912/913, XP000091935 *
SHIMOGA K B: "A SURVEY OF PERCEPTUAL FEEDBACK ISSUES IN DEXTEROUS TELEMANIPULATION: PART II FINGER TOUCH FEEDBACK", PROCEEDINGS OF THE VIRTUAL REALITY ANNUAL INTERNATIONAL SYMPOSIUM, SEATTLE, SEPT. 18 - 22, 1993, no. SYMP. 1, 18 September 1993 (1993-09-18), INSTITUTE OF ELECTRICAL AND ELECTRONICS ENGINEERS, pages 271 - 279, XP000457697 *
STURMAN D J ET AL: "A SURVEY OF GLOVE-BASED INPUT", IEEE COMPUTER GRAPHICS AND APPLICATIONS, vol. 14, no. 1, 1 January 1994 (1994-01-01), pages 30 - 39, XP000511085 *

Also Published As

Publication number Publication date
GB9624486D0 (en) 1997-01-15
WO1998024017A2 (en) 1998-06-04

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