How Surgical Tools Give Haptic Feedback Near Operation Limits

This patent describes a surgical instrument that uses a motor to move a tool, continuously tracking its position and providing a tactile vibration or haptic feedback to the surgeon as the tool approaches the end of its movement, improving precision and safety.

What it covers

This surgical instrument includes a shaft and an end effector, which has a first and second jaw that move relative to each other. A motor-driven 'driver' moves these jaws through a specific action, like closing or firing staples. A control circuit continuously monitors the driver's position throughout this movement. As the driver gets close to the end of its motion, the control circuit delivers a feedback to the user, such as a tactile vibration (Claim 2) or a haptic signal (Claim 5), to indicate that the limit of the surgical function is approaching. For example, a surgeon using a motorized stapler might feel a specific vibration pattern in the handle as the staples are almost fully deployed, preventing them from over-compressing tissue.

What it doesn't cover

• —Does not cover surgical instruments that provide only visual or auditory feedback without any tactile or haptic component.
• —Does not cover feedback systems that only alert the user *after* the driver has already reached or exceeded its limit position.
• —Does not cover surgical instruments where the driver's movement is not motorized.
• —Does not cover feedback based on factors other than the driver's position or status throughout its motion.
• —Does not cover surgical instruments where the end effector does not include a first and second jaw movable relative to each other.

The clever bit

The clever bit is the continuous monitoring of the driver's position and the delivery of a *modulating signal profile* (Claim 4) for haptic feedback *as the driver approaches* the conclusion of its motion. This provides a nuanced, anticipatory warning, allowing the surgeon to react proactively rather than just being alerted when a hard stop is hit.

Why it matters

In surgery, precision and avoiding tissue damage are critical. This patent aims to enhance surgeon control and patient safety by providing real-time, anticipatory feedback. This can help prevent errors like over-clamping, over-stapling, or improper articulation in complex procedures, especially in minimally invasive surgery where direct tactile feel is often reduced.

Real-world examples

• 1.Motorized surgical staplers
• 2.Advanced laparoscopic instruments with power assist
• 3.Robotic surgery systems providing haptic feedback to the surgeon's console
• 4.Powered articulation joints in endoscopic tools