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1. WO2020112454 - HAPTIC FEEDBACK DEVICE FOR SURGICAL INSTRUMENTS AND ROBOTIC SURGICAL SYSTEMS

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[ EN ]

What is Claimed is:

1. A feedback patch for use with a surgical instrument or a robotic surgical system, the feedback patch comprising:

a substrate; and

a stimulator disposed on the substrate, the stimulator configured to receive a feedback signal from a sensor of the surgical instrument or the robotic surgical system and configured to stimulate a portion of an arm of a clinician interfacing with the surgical instrument or the robotic surgical system.

2. The feedback patch according to claim 1, wherein the substrate is a flexible substrate configured to be releasably secured to the skin of a clinician.

3. The feedback patch according to claim 1, wherein the substrate is configured to be secured to a handle of the surgical instrument or the robotic surgical system.

4. The feedback patch according to claim 1, wherein the stimulator is configured to mechanically vibrate skin of the portion of the arm of the clinician.

5. The feedback patch according to claim 1, wherein the stimulator is configured to electrically stimulate the portion of the arm of the clinician.

6. The feedback patch according to claim 5, wherein the stimulator includes an array of electrodes.

7. The feedback patch according to claim 1, wherein the stimulator is configured to vary a property of the stimulation of the portion of the arm in response to the received feedback signal.

8. The feedback patch according to claim 7, wherein the property is at least one of a frequency of the stimulation, a strength of the stimulation, an amplitude of the stimulation, or a pattern of the stimulation.

9. A surgical system comprising:

an end effector including a sensor configured to determine forces exerted on tissue by the end effector and configured to transmit feedback signals indicative of the forces exerted on tissue; and

a feedback patch including a substrate and a stimulator disposed on the substrate, the stimulator configured to receive the feedback signals from the sensor and configured to stimulate a portion of an arm of a clinician controlling the end effector.

10. The surgical system according to claim 9, further comprising a handheld surgical instrument having a handle assembly, the end effector operably coupled to the handle assembly of the surgical instrument.

11. The surgical system according to claim 10, wherein the feedback patch is secured to the handle assembly of the surgical instrument.

12. The surgical system according to claim 9, further comprising a robotic surgical system including a surgical robot, the end effector secured to an arm of the surgical robot.

13. The surgical system according to claim 12, wherein the robotic surgical system includes a user console configured to manipulate the surgical robot, the feedback patch is secured to an input handle of the user console.

14. The surgical system according to claim 9, wherein the substrate is a flexible substrate configured to be releasably secured to the skin of a clinician.

15. The surgical system according to claim 9, wherein the stimulator is configured to mechanically vibrate skin of the portion of the arm of the clinician.

16. The surgical system according to claim 9, wherein the stimulator is configured to electrically stimulate the portion of the arm of the clinician.

17. A method for providing feedback with a surgical system, the method comprising:

transmitting a feedback signal from a sensor associated with an end effector of a surgical instrument or a robotic surgical system indicative of forces the end effector applies to tissue; and receiving the feedback signals from the sensor at a feedback patch in contact with skin of a clinician manipulating the end effector; and

stimulating the skin of the clinician in response to the received feedback signals.

18. The method according to claim 17, wherein stimulating the skin of the clinician includes at least one of mechanically vibrating the skin of the clinician or electrically stimulating the skin of the clinician.

19. The method according to claim 17, further comprising manipulating the end effector to act on tissue with the robotic surgical system.

20. The method according to claim 17, further comprising manipulating the end effector to act on tissue with a handheld surgical instrument.