Force sense display device and force sense display method

Patent metadata

Field	Value
Publication number	US-12303227-B2
Application number	US-202017438674-A
Country	US
Kind code	B2
Filing date	Feb 14, 2020
Priority date	Mar 15, 2019
Publication date	May 20, 2025
Grant date	May 20, 2025

Abstract

A medical robot system includes a memory and central processing unit that performs operations including receiving measurement signals of a gripping force, which is a force to grip an object by a surgical tool, and a dissecting force, which is a force to dissect the object by the surgical tool, generating image information for displaying information on the gripping force as a grip display mode and information on the dissecting force as a dissection display mode different from the grip display mode, based on the measurement signals, and outputting the image information to a display portion of a display that is configured to display the image information.

First claim

The invention claimed is:

1. A medical robot system comprising:
at least one memory storing computer code; and
at least one central processing unit (CPU) which accesses the at least one memory and executes the computer code to cause the at least one CPU to perform operations comprising:
receiving measurement signals of a gripping force, which is a force to grip an object by a surgical tool, and a dissecting force, which is a force to dissect the object by the surgical tool;
generating image information for displaying information on the gripping force as a grip display mode and information on the dissecting force as a dissection display mode different from the grip display mode, based on the measurement signals; and
outputting the image information to a display portion of a display device that is configured to display the image information.

2. The medical robot system according to claim 1 , wherein
the grip display mode and the dissection display mode are display modes, in which different colors or different hues are used based on a type of the surgical tool, and
the grip display mode is displayed in a first color or a first hue, and the dissection display mode is displayed in a second color or a second hue, different from the first color and the first hue respectively.

3. The medical robot system according to claim 1 , wherein
the grip display mode and the dissection display mode have lengths that are changed based on a magnitude of a force in the surgical tool, and
the at least one CPU generates the image information for setting the grip display mode to one of a mode having a short display length and a mode having a long display length as compared with a reference index having a specified length, and for setting the dissection display mode to the other one of the mode having the short display length and the mode having the long display length as compared with the reference index.

4. The medical robot system according to claim 3 , wherein
the grip display mode and the dissection display mode are rod-shaped or strip-shaped display modes having the lengths that are changed based on the magnitude of the force in the surgical tool.

5. The medical robot system according to claim 3 , wherein
the grip display mode and the dissection display mode are display modes, in which a color or a hue is changed based on the magnitude of a force in the surgical tool.

6. The medical robot system according to claim 1 , wherein
the grip display mode and the dissection display mode are display modes, in which an area of a displayed figure having a specified shape is changed based on a magnitude of a force in the surgical tool, and
the at least one CPU generates the image information for setting the grip display mode to a mode of displaying the displayed figure as a single figure including a reference line, and for setting the dissection display mode to a mode of displaying the displayed figure as two figures spaced apart across the reference line.

7. The medical robot system according to claim 6 , wherein the grip display mode and the dissection display mode are fan-shaped display modes having areas that are changed based on a magnitude of a force in the surgical tool.

8. A force sense display method comprising:
receiving, by at least one central processing unit (CPU), measurement signals of a gripping force, which is a force to grip an object by a surgical tool, and a dissecting force, which is a force to dissect the object by the surgical tool;
generating, by the at least one CPU, image information for displaying information on the gripping force as a grip display mode and information on the dissecting force as a dissection display mode different from the grip display mode, based on the measurement signals; and
outputting, by the at least one CPU, the image information to a display portion of a display device to display the image information.

9. An apparatus comprising:
at least one memory storing computer code; and
at least one central processing unit (CPU) which accesses the at least one memory and executes the computer code to cause the at least one CPU to perform operations comprising:
receiving measurement signals indicating a gripping force to grip an object by a surgical tool, and a dissecting force to dissect the object by the surgical tool;
generating image information for a gripping force image corresponding to the gripping force and a dissection force image corresponding to the dissecting force, based on the measurement signals; and
outputting the image information to a display device to display the gripping force image and the dissection force image.

10. The apparatus according to claim 9 , wherein
the gripping force image is displayed with a first color and the dissection force image is displayed with a second color different from the first color, or the gripping force image is displayed with a first hue and the dissection force image is displayed with a second hue different from the first hue.

11. The apparatus according to claim 9 , wherein the gripping force image has a length based on a magnitude of the gripping force, and the dissection force image has a length based on a magnitude of the dissecting force.

12. The apparatus according to claim 9 , wherein:
the gripping force image has a length based on a magnitude of the gripping force, and the dissection force image has a length based on a magnitude of the dissecting force,
the length of the gripping force image is one of a short display length and a long display length as compared with a reference index having a specified length, and
the length of the dissection force image is the other one of the short display length and the long display length.

13. The apparatus according to claim 12 , wherein the lengths comprises rods or strips.

14. The apparatus according to claim 11 , wherein the lengths comprises rods or strips.

15. The apparatus according to claim 9 , wherein
the gripping force image is displayed with a color indicating a magnitude of the gripping force and the dissection force image is displayed with a color indicating a magnitude of the dissecting force, or
the gripping force image is displayed with a hue indicating a magnitude of the gripping force and the dissection force image is displayed with a hue indicating a magnitude of the dissecting force.

16. The apparatus according to claim 9 , wherein
the gripping force image comprises a figure having a specified shape that is changed based on a magnitude of the gripping force, and
the dissection force image comprises a figure having a specified shape that is changed based on a magnitude of the dissection force.

17. The apparatus according to claim 16 , wherein:
the figure of the gripping force image comprises a single figure including a reference line, and
the figure of the dissection force image comprises two figures spaced apart across the reference line.

18. The apparatus according to claim 17 , wherein the specified shape of the gripping force image and the specified shape of the dissection force image are fan shapes.

Assignees

• Riverfield Inc

Inventors

• HARAGUCHI Daisuke
• Tanaka Yasushi
• Furusawa Yuki

Classifications

• G06F3/048

  Interaction techniques based on graphical user interfaces [GUI] · CPC title

• A61B17/29

  Forceps for use in minimally invasive surgery · CPC title

• A61B2090/064

  for measuring force, pressure or mechanical tension · CPC title

• A61B90/06

  Measuring instruments not otherwise provided for · CPC title

• A61B34/30

  Surgical robots · CPC title