WO1998024017A3 - Moyen de commande - Google Patents

Moyen de commande 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
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/GB1997/003166
Other languages
English (en)
Other versions
WO1998024017A2 (fr
Inventor
Mansel Valmond Griffiths
Peter Nigel Brett
Giuseppe Tritto
Rhodri Simon Watcyn Stone
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
University of Bristol
Original Assignee
University of Bristol
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 University of Bristol filed Critical University of Bristol
Publication of WO1998024017A2 publication Critical patent/WO1998024017A2/fr
Publication of WO1998024017A3 publication Critical patent/WO1998024017A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; 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—Leader-follower 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"

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Robotics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Veterinary Medicine (AREA)
  • General Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

L'invention concerne un moyen de commande et des actionneurs (1) munis de capteurs de réaction (5) et pouvant être utilisés dans des systèmes commandés à distance, en particulier des instruments chirurgicaux et des endoscopes. Une membrane (9) est soumise à une flexion suivant le doigt d'un opérateur et un capteur (20) réagit à une flexion longitudinale de la membrane en émettant un signal de sortie, selon la position du doigt. La membrane (9) recouvre le doigt comme un gant et s'étend le long du dos de la main. Le capteur (20) comprend, de préférence, une fibre optique (13). L'actionneur (1) fonctionne par commande de fluide et comprend un tube annelé (7) équipé d'un élément modérateur de la longueur (8) sur un côté, ce qui fait que le tube se courbe lorsqu'il est déployé sous l'effet de la pression de fluide interne. Un capteur de réaction (5) réagit à la position du tube (7) et/ou à la force latérale imprimée au tube (7) lorsque celui-ci vient au contact d'un objet extérieur. Un signal de réaction émanant du capteur (5) déclenche un générateur de force (3) de réaction au contact du doigt de l'opérateur.
PCT/GB1997/003166 1996-11-26 1997-11-26 Moyen de commande Ceased WO1998024017A2 (fr)

Applications Claiming Priority (2)

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

Publications (2)

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

Family

ID=10803442

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1997/003166 Ceased WO1998024017A2 (fr) 1996-11-26 1997-11-26 Moyen de commande

Country Status (2)

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

Families Citing this family (20)

* 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
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
US8888688B2 (en) 2000-04-03 2014-11-18 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US6858005B2 (en) 2000-04-03 2005-02-22 Neo Guide Systems, Inc. Tendon-driven endoscope and methods of insertion
US6610007B2 (en) 2000-04-03 2003-08-26 Neoguide Systems, Inc. Steerable segmented endoscope and method of insertion
ES2310186T3 (es) * 2000-07-20 2009-01-01 Kinetic Surgical, Llc Dispositivo quirurgico articulado a mano.
US6748281B2 (en) * 2000-09-29 2004-06-08 Gunilla Alsio Wearable data input interface
US7338505B2 (en) 2002-01-09 2008-03-04 Neoguide Systems, Inc. Apparatus and method 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 (de) 2004-02-25 2005-12-22 Siemens Ag Vorrichtung zur von Hand fernsteuerbaren Navigation einer in einen menschlichen Körper einführbaren Sonde
EP1956962B1 (fr) 2005-11-22 2020-09-16 Intuitive Surgical Operations, Inc. SYSTèME DE DéTERMINATION DE LA FORME D'UN INSTRUMENT PLIABLE
US20070161856A1 (en) * 2005-11-23 2007-07-12 Neoguide Systems, Inc. Steering aid
US8083879B2 (en) 2005-11-23 2011-12-27 Intuitive Surgical Operations, Inc. Non-metallic, multi-strand control cable for steerable instruments
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 (zh) * 2016-06-20 2016-10-12 深圳市罗伯医疗科技有限公司 机器人在手术中反馈触摸力的方法和机器人
CN118259759B (zh) * 2024-05-28 2024-08-16 南昌虚拟现实研究院股份有限公司 力触觉反馈装置

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 (fr) * 1987-03-24 1988-10-06 Vpl Research, Inc. Detecteur de mouvement
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 (fr) * 1987-03-24 1988-10-06 Vpl Research, Inc. Detecteur de mouvement
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
WO1998024017A2 (fr) 1998-06-04
GB9624486D0 (en) 1997-01-15

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