Electrosurgical tool having tactile feedback

Patent metadata

Field	Value
Publication number	US-9579143-B2
Application number	US-201113206955-A
Country	US
Kind code	B2
Filing date	Aug 10, 2011
Priority date	Aug 12, 2010
Publication date	Feb 28, 2017
Grant date	Feb 28, 2017

Abstract

A surgical tool system including a laparoscopic surgical tool for heating, ablating, sealing, and/or dissecting tissue, a control system for monitoring impedance of the tissue during treatment thereof, and a tactile feedback system integrated onto a handle of the tool that generates relevant feedback from the control system in at least the form of haptic effects to the user. The tactile feedback alerts the tool user of changes in tissue properties, i.e., when the impedance of the tissue indicates that the treatment procedure is complete. In addition, the tactile feedback provided may supply information relating to the operating status of the control system to the user.

First claim

What is claimed is:

1. A surgical tool comprising:
a handle;
an electrical tissue contact element operable to ablate tissue mounted on a distal portion of the tool, wherein the distal portion is connected to the handle via a shaft;
a power source electrically connected to the tissue contact element;
an impedance analyzer electrically connected to the tissue contact element, wherein the impedance analyzer receives impedance measurement signals from the tissue contact element and calculates tissue impedance;
a tactile mapping logic electrically connected to the impedance analyzer, wherein the tactile mapping logic receives calculated impedance information from the impedance analyzer and processes the information into signal commands; and
a feedback system including one or more haptic actuators coupled to the handle and electrically connected to the tactile mapping logic, wherein the tactile mapping logic communicates the signal commands to the feedback system and the feedback system uses the signal commands to generate a first haptic feedback relating to the calculated impedance information to the handle, and
wherein the feedback system separately communicates information to a user about operating parameters of the power source as a second haptic feedback generated by the feedback system, wherein the operating parameters include a frequency setting and an amplitude setting of the power source which are mapped into a set of vibrotactile alerts to provide confirmation that the power source is in a correct operating mode before the power source engages in electrosurgical activity and wherein at least one of an amplitude, a frequency, and a duration of the vibrotactile alerts vary based on changing levels of the operating parameters as the power source engages in electrosurgical activity, and
wherein the second haptic feedback is generated separate from the first haptic feedback.

2. The surgical tool of claim 1 , wherein the haptic feedback generated by the feedback system informs a user of the formation of a transmural lesion.

3. The surgical tool of claim 2 , wherein the formation of a transmural lesion is associated with a tissue impedance change of approximately 10 ohms.

4. The surgical tool of claim 2 , wherein the feedback system generates a vibrotactile or kinesthetic alert upon the formation of a transmural lesion.

5. The surgical tool of claim 1 , wherein the tactile mapping logic further communicates signal commands to the power source.

6. The surgical tool of claim 5 , wherein the tactile mapping logic outputs a signal command to shut down the power source upon formation of a transmural lesion.

7. The surgical tool of claim 1 , wherein the first and second haptic feedback generated by the feedback system each include at least one of vibratory feedback, kinesthetic feedback, texture feedback, and heat feedback.

8. The surgical tool of claim 1 , wherein the feedback system uses the signal commands to further generate audio or visual feedback relating to the calculated impedance information.

9. The surgical tool of claim 1 , wherein the feedback system is operable to provide feedback in a continuous manner.

10. The surgical tool of claim 1 , wherein the feedback system is operable to provide feedback as an alert to notify the user when a particular condition is satisfied.

11. The surgical tool of claim 1 , wherein the tissue contact element is a radiofrequency electrode and the power source is a radiofrequency generator.

12. The surgical tool of claim 1 , wherein the power source, impedance analyzer, and tactile mapping logic are combined into an integral, external component that is spaced apart from the surgical tool.

13. The surgical tool of claim 1 , wherein at least one of the power source, impedance analyzer, and tactile mapping logic are mounted within or on the handle.

14. The surgical tool of claim 1 , wherein the tactile mapping logic utilizes a lookup table to process the calculated impedance information into signal commands.

15. The surgical tool of claim 1 , wherein the tactile mapping logic utilizes an algorithm to process the calculated impedance information into signal commands.

16. A method of providing feedback to a user during an ablation surgical procedure, the method comprising the steps of:
monitoring impedance of tissue during the ablation surgical procedure via a radiofrequency electrode mounted on a distal portion of a surgical tool, wherein the surgical tool includes a power source electrically connected to the radiofrequency electrode;
processing the impedance information to determine the formation of a transmural lesion;
communicating a first haptic feedback to a handle of the surgical tool, wherein the first haptic feedback informs a user of the formation of a transmural lesion; and
separately communicating a second haptic feedback relating to operating parameters of the power source to the handle of the surgical tool, wherein the operating parameters include a frequency setting and an amplitude setting of the power source which are mapped into a set of vibrotactile alerts to provide confirmation that the power source is in a correct operating mode before the power source engages in electrosurgical activity and wherein at least one of an amplitude, a frequency, and a duration of the vibrotactile alerts vary based on changing levels of the operating parameters as the power source engages in electrosurgical activity.

17. The surgical tool of claim 16 , wherein the first and second haptic feedback generated by the feedback system each include at least one of vibratory feedback, kinesthetic feedback, texture feedback, and heat feedback.

18. A surgical apparatus comprising:
a surgical tool having a tissue contact element mounted on a distal portion thereof, wherein the surgical tool includes a power source electrically connected to the tissue contact element;
a control system electrically connected to the tissue contact element, wherein the control system receives impedance measurement signals from the tissue contact element, calculates tissue impedance, and processes the calculated impedance information into signal commands; and
a feedback system including one or more haptic actuators coupled to a handle of the surgical tool and electrically connected to the control system, wherein the control system communicates the signal commands to the feedback system and the feedback system uses the signal commands to generate a first haptic feedback relating to the calculated impedance information to the handle, and
wherein the feedback system separately communicates information to a user about operating parameters of the power source as a second haptic feedback generated by the feedback system, wherein the operating parameters include a frequency setting and an amplitude setting of the power source which are mapped into a set of vibrotactile alerts to provide confirmation that the power source is in a correct operating mode before the power source engages in electrosurgical activity and wherein at least one of an amplitude, a frequency, and a duration of the vibrotactile alerts vary based on changing levels of the operating parameters as the power source engages in electrosurgical activity, and
wherein the second haptic feedback is generated separate from the first haptic feedback.

Assignees

• Ullrich Christopher
• Gregorio Pedro
• Immersion Corp

Inventors

• Ullrich Christopher
• Gregorio Pedro

Classifications

• A61B18/1442

  Probes having pivoting end effectors, e.g. forceps · CPC title

• A61B2018/00303

  active, e.g. with a motor creating vibrations · CPC title

• A61B2018/00875

  Resistance or impedance · CPC title

• A61B18/1206

  Generators therefor · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title