# US 10,369,045 B2 · Micromanipulation systems and methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,045 B2 - Document ID: US10369045B2 - Status: Granted - Kind: B2 - Application number: 14/810,277 - Filed: 2015-07-27 - Published: 2016-02-04 - Granted: 2019-08-06 - Earliest claimed: 2014-07-29 - Assignees: The Johns Hopkins University; Carnegie Mellon University - Applicants: The Johns Hopkins University; Carnegie Mellon University - Inventors: Berk Gonenc; Iulian Iordachita; Russell H. Taylor; Cameron Riviere; Peter Gehlbach; James Handa - Web page: https://patentgrep.com/patent/US10369045B2 ## CPC - A61F 9/00736: {Instruments for removal of intra-ocular material or intra-ocular injection, e.g. cataract instruments (A61F9/008 takes precedence)} - A61B 5/065: {Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe} - A61B 17/2909: {Handles} - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/72: {Micromanipulators} - A61B 34/75: {Manipulators having means for prevention or compensation of hand tremors} - G01L 1/246: {using integrated gratings, e.g. Bragg gratings} - G01L 5/226: {to manipulators, e.g. the force due to gripping} - G01L 25/00: Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency - A61B 5/489: {Blood vessels} - A61B 5/6848: {Needles} - A61B 2017/2902: {characterized by features of the actuating rod} - A61B 2017/2912: {transmission of forces to actuating rod or piston} - A61B 2017/305: {Tweezer like handles with tubular extensions, inner slidable actuating members and distal tools, e.g. microsurgical instruments} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - G01L: MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE (weighing G01G) ## Abstract A micromanipulation system includes a micromanipulator that includes a handpiece, and a micromanipulation tool that includes a tool shaft and is operatively connected to the handpiece. The micromanipulator further includes an actuator assembly connected to the micromanipulation tool to provide manual control of the micromanipulation tool, and a force sensing system comprising a force sensor attached to the tool shaft. The force sensing system is configured to provide an output signal that indicates a force imposed on the tool shaft. The micromanipulation system also includes a processor that is in communication with the force sensing system, and is configured to receive the output signal and compensate for forces due to actuation of the micromanipulation tool to determine a force due to interaction of the micromanipulation tool with a region of interest. The processor outputs an indication of at least one of a magnitude and a direction of the determined force. ## Claims ### Claim 1 A micromanipulation system, comprising: a micromanipulator, comprising: a handpiece; an actuator assembly coupled to the micromanipulator; and a tool vibrating system comprising a vibrator assembly and a vibration controller; a micromanipulation tool operatively connected to said handpiece, the micromanipulation tool comprising: a tool shaft comprising a connecting end for coupling the micromanipulation tool to the handpiece and a manipulation end; wherein the actuator assembly is further connected to said micromanipulation tool to provide manual control of said micromanipulation tool during use; and a force sensing system comprising a force sensor attached to said tool shaft of said micromanipulation tool, said force sensing system being configured to provide an output signal that indicates a force imposed on the manipulation end of said tool shaft, and indicate a force imposed along the tool shaft; and a processor in communication with said force sensing system, wherein said processor is configured to receive said output signal from said force sensing system and compensate for forces due to actuation of said micromanipulation tool to determine a force due to interaction of said micromanipulation tool with a region of interest, wherein the vibration controller is configured to communicate with said processor to receive an indication of at least one of a magnitude and a direction of said force due to interaction of said micromanipulation tool with a region of interest and to cause said vibration controller to impose a vibration to said tool shaft along said direction of said force due to interaction of said micromanipulation tool with a region of interest imposed on said tool shaft, wherein said vibration to said tool shaft facilitates a function of the manipulation end of the micromanipulation tool to manipulate an object; and wherein said processor is further configured to output the indication of at least one of a magnitude and a direction of said force due to interaction of said micromanipulation tool with a region of interest. ### Claim 2 (depends on 1) The micromanipulation system according to claim 1, wherein said force sensor takes the form of a fiber optic sensor. ### Claim 3 (depends on 1) The micromanipulation system according to claim 1, wherein said micromanipulator further comprises a tremor cancellation system comprising a motor within said handpiece, said motor being operatively attached to said micromanipulation tool to provide active cancellation of tremor on said micromanipulator during use independently of vibrations from said tool vibrating system. ### Claim 4 (depends on 1) The micromanipulation system according to claim 1, further comprising a position detection system configured to detect a position of said micromanipulator and transmit a signal to said processor indicating said detected position. ### Claim 5 (depends on 4) The micromanipulation system according to claim 4, wherein said micromanipulation tool is a microneedle, wherein said processor is configured to detect a puncture of said region of interest by said microneedle based on said signal indicating said detected position and said force due to interaction of said micromanipulator with said region of interest, and provide an indication of said puncture. ### Claim 6 (depends on 5) The micromanipulation system according to claim 5, wherein said indication of said puncture is a type of user feedback. ### Claim 7 (depends on 5) The micromanipulation system according to claim 5, wherein said micromanipulator further comprises a position holding system comprising a motor within said handpiece, said motor being operatively attached to said micromanipulation tool to maintain a position of said microneedle with respect to said puncture of said region of interest. ### Claim 8 (depends on 7) The micromanipulation system according to claim 7, wherein said position holding system is configured to receive said indication of said puncture from said processor and automatically maintain said position of said microneedle with respect to said puncture. ### Claim 9 (depends on 7) The micromanipulation system according to claim 7, wherein said actuator assembly comprises a motor operatively coupled to said tool shaft, wherein said motor changes a position of said tool shaft with respect to said handpiece to actuate said micromanipulation tool. ### Claim 10 (depends on 1) The micromanipulation system according to claim 1, wherein said actuator assembly is an electro-mechanical actuator assembly. ### Claim 11 (depends on 1) The micromanipulation system according to claim 1, wherein said actuator assembly comprises modular components for retrofitting micromanipulation tools. ### Claim 12 (depends on 1) The micromanipulation system according to claim 1, wherein said micromanipulation tool comprises a removable and replaceable component. ### Claim 13 (depends on 1) The micromanipulation system according to claim 1, wherein said micromanipulation tool is a surgical tool comprising one of a forceps, a needle, a pick, or a scalpel. ### Claim 14 (depends on 1) The micromanipulation system according to claim 1, wherein said micromanipulator is a manually operable smart tool. ### Claim 15 (depends on 1) The micromanipulation system according to claim 1, wherein said micromanipulator is adapted to be used with a cooperative control robotic system. ### Claim 16 (depends on 1) The micromanipulation system according to claim 1, wherein said micromanipulator is adapted to be used with a teleoperated robotic system. ### Claim 17 A method of performing a micromanipulation, comprising: actuating a manual operation of a micromanipulation tool comprising a tool shaft, the tool shaft comprising a manipulation end to manipulate an object, wherein the micromanipulation tool is coupled to a micromanipulator; detecting a force imposed on the manipulation end of the tool shaft of said micromanipulation tool as a result of said manipulation; detecting a force imposed along the tool shaft of said micromanipulation tool as a result of said manipulation; determining a force due to interaction of said micromanipulation tool with said object based on the detected force imposed on the manipulation end of the tool shaft and the detected force imposed along the tool shaft and compensating for forces due to actuation of said micromanipulation tool; providing an indication of at least one of a magnitude and a direction of said force due to interaction of said micromanipulation tool with said object; and vibrating the tool shaft along the direction of the determined force due to interaction of said micromanipulation tool with said object, wherein said vibrating said tool shaft facilitates a function of the manipulation end of the micromanipulation tool to manipulate said object. ### Claim 18 (depends on 17) The method of performing a micromanipulation according to claim 17, further comprising: detecting a tremor on said micromanipulation tool; and cancelling said detected tremor using an automatic tremor cancellation system, wherein said cancelling said tremor is independent of said imposing said vibration to permit simultaneous tremor cancellation and vibrating of said micromanipulation tool. ### Claim 19 (depends on 18) The method of performing a micromanipulation according to claim 18, further comprising: wherein said actuating said manual operation of said micromanipulation tool comprising actuating using an electro-mechanical actuation system, wherein said actuating said manual operation of said micromanipulation tool is independent of said imposing said vibration and independent of said cancelling said tremor to permit simultaneous manual actuation, tremor cancellation and vibrating of said micromanipulation tool.