Systems and methods for trocar simulation with admittance haptic feedback
AssigneeBoard of Regents, The University of Texas System
InventorsAnn Majewicz Fey, Kimberly Kho, Aldo Galvan, Marian Y. Williams-Brown
Life of this patent
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Abstract
Devices, systems and methods to provide an admittance haptic feedback in response to an external force input applied to an elongated member in order to simulate a trocar insertion. In certain embodiments, the admittance haptic feedback is configured to simulate penetration of and advancement through a plurality of layers of tissue of a patient, and in particular embodiments, the admittance haptic feedback is configured to simulate penetration of and advancement through a skin layer, a muscle and fat layer, and a peritoneum layer.
Claims18
A system for simulating insertion of a trocar, the system comprising:
- a planar member;
- an elongated member coupled to the planar member;
- a force transducer coupled to the elongated member and the planar member;
- a plurality of support members coupled to the planar member;
- and
- a plurality of actuators, wherein each actuator is coupled to a support member;
- a computer processor, wherein:
- the force transducer is configured to provide an admittance haptic feedback in response to an external force input applied to the elongated member;
- and
- the admittance haptic feedback is configured to simulate penetration of and advancement through a plurality of tissue layers, the plurality of tissue layers comprising:
- a skin layer, a muscle and fat layer, and a peritoneum layer.
A method of simulating insertion of a trocar, the method comprising:
- providing a system comprising:
- a planar member;
- an elongated member coupled to the planar member;
- a force transducer coupled to the elongated member and the planar member;
- a computer processor, and;
- providing the admittance haptic feedback in response to an external force input applied to the elongated member, wherein the admittance haptic feedback is configured to simulate penetration of and advancement through a plurality of layers of tissue of a patient, the plurality of layers of tissue comprising skin layer, a muscle and fat layer, and a peritoneum layer.
Dependencies are inferred from the claim text.