# US 9,872,692 B2 · Motion-compensated micro-forceps system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,872,692 B2 - Document ID: US9872692B2 - Status: Granted - Kind: B2 - Application number: 14/261,264 - Filed: 2014-04-24 - Published: 2015-10-29 - Granted: 2018-01-23 - Earliest claimed: 2014-04-24 - Assignees: The Johns Hopkins University - Applicants: The Johns Hopkins University - Inventors: Jin U. Kang; Peter L. Gehlbach - Web page: https://patentgrep.com/patent/US9872692B2 ## CPC - A61B 17/28: Surgical forceps (biopsy forceps A61B10/06; {for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201;} obstetrical forceps A61B17/44) - A61B 3/102: {for optical coherence tomography [OCT]} - A61B 17/30: Surgical pincettes, i.e. surgical tweezers {without pivotal connections (for holding suture needles or materials A61B17/0483)} - A61B 34/75: {Manipulators having means for prevention or compensation of hand tremors} - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 2017/2918: {flexible handles} - A61B 2017/305: {Tweezer like handles with tubular extensions, inner slidable actuating members and distal tools, e.g. microsurgical instruments} - A61B 2090/3735: {Optical coherence tomography [OCT]} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A motion-compensated micro-forceps system, including a manually-operable micro-forceps assembly having a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system having an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremor and for hand-action-induced motions. ## Claims ### Claim 1 A motion-compensated micro-forceps system, comprising: a manually-operable micro-forceps assembly comprising a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system comprising an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps assembly, wherein the optical detection system is configured to output a signal for the determination of a distance of the plurality of moveable grasping elements of the micro-forceps assembly to a target during operation, and wherein the motor controller is configured to provide feedback control signals to the motor assembly for motion compensation for both hand tremor and for a micro-forceps motion during grasping motions of the micro-forceps assembly, the grasping motions of the micro-forceps assembly being distinct from the hand tremor. ### Claim 2 (depends on 1) The motion-compensated micro-forceps system according to claim 1, wherein the optical detection system is further configured to determine an axial velocity and acceleration of the manually-operable micro-forceps assembly relative to an object of interest, and wherein the motor controller is further configured to provide feedback control signals to the motor assembly to compensate for predicted hand-action-induced motions using the axial velocity and acceleration determined from the optical detection system. ### Claim 3 (depends on 2) The motion-compensated micro-forceps system according to claim 2, wherein the motor controller is further configured to provide feedback control signals to the motor assembly based on an algorithm that sets a safety barrier distance and modifies the axial velocity proportional to a distance offset between the safety barrier distance and the distal-most ends of the plurality of moveable grasping elements. ### Claim 4 (depends on 3) The motion-compensated micro-forceps system according to claim 3, wherein the algorithm modifies the axial velocity to decrease as the distance offset decreases and to become zero when the distance offset becomes zero. ### Claim 5 (depends on 1) The motion-compensated micro-forceps system according to claim 1, wherein the optical detection system is a common path optical coherence tomography system. ### Claim 6 (depends on 5) The motion-compensated micro-forceps system according to claim 5, wherein the common path optical coherence tomography system comprises a swept laser source. ### Claim 7 (depends on 1) The motion-compensated micro-forceps system according to claim 1, wherein the motion-compensated micro-forceps system has a size and shape to be hand-operable during use. ### Claim 8 (depends on 1) The motion-compensated micro-forceps system according to claim 1, wherein the micro-forceps assembly comprises fingers and wherein the micro-forceps assembly is modified to reduce a height difference between the micro-forceps assembly and a surface, wherein the height difference is a result of at least one of the fingers of the micro-forceps assembly moving between an open position and a closed position of the micro-forceps assembly. ### Claim 9 A method of performing motion compensation for a micromanipulation system, comprising: detecting a distance of a distal-most end of the micromanipulation system to an object of interest; detecting an axial velocity of the distal-most end of the micromanipulation system to the object of interest; setting a safety barrier distance for the distal-most end of the micromanipulation system to the object of interest; and modifying the axial velocity proportional to a distance offset between the safety barrier distance and the distal-most end of the micromanipulation system using feedback control with a motor controller and a motor system, wherein the modifying the axial velocity is adapted to provide motion compensation for both hand tremor and for the micromanipulation system motion during grasping motions of the micromanipulation system, the grasping motions of the micromanipulation system being distinct from the hand tremor; wherein the micromanipulation system comprises a hand-operable, motion-compensated micro-forceps system. ### Claim 10 (depends on 9) The method of performing motion compensation for a micromanipulation system according to claim 9, wherein the modifying the axial velocity decreases the axial velocity as the distance offset decreases to become zero when the distance offset becomes zero. ### Claim 11 (depends on 9) The method of performing motion compensation for a micromanipulation system according to claim 9, wherein detecting said distance of said distal-most end of the micromanipulation system to said object of interest is detecting said distance of said distal-most end of the micromanipulation system. ### Claim 12 (depends on 11) The method of performing motion compensation for a micromanipulation system according to claim 11, wherein detecting said distance of said distal-most end of the micromanipulation system to said object of interest is detecting said distance of said distal-most end of the hand-operable, motion-compensated micro-forceps system that comprises: a manually-operable micro-forceps assembly comprising a plurality of moveable grasping elements; a motor assembly operatively connected to the plurality of moveable grasping elements; an optical detection system comprising an optical fiber attached to the manually-operable micro-forceps assembly at a fixed axial distance relative to a distal-most end of the plurality of moveable grasping elements; and a motor controller configured to communicate with the optical detection system and the motor assembly to provide motion compensation of the plurality of moveable grasping elements of the manually-operable micro-forceps assembly . ### Claim 13 (depends on 12) The method of performing motion compensation for a micromanipulation system according to claim 12, further comprising outputting a signal from the optical detection system for the determination of the axial velocity of the manually-operable micro-forceps assembly relative to the object of interest, and providing feedback control signals from the motor controller to the motor assembly to compensate for hand-action-induced motions using the axial velocity determined from the optical detection system. ### Claim 14 (depends on 12) The method of performing motion compensation for a micromanipulation system according to claim 12, wherein detecting said distance of said distal-most end of the micromanipulation system to said object of interest is detecting said distance of said distal-most end of the hand-operable, motion-compensated micro-forceps system that comprises a common path optical coherence tomography system. ### Claim 15 (depends on 14) The method of performing motion compensation for a micromanipulation system according to claim 14, wherein detecting said distance of said distal-most end of the micromanipulation system to said object of interest is detecting said distance of said distal-most end of the hand-operable, motion-compensated micro-forceps system that comprises the common path optical coherence tomography system comprises a swept laser source. ### Claim 16 (depends on 9) The method of performing motion compensation for a micromanipulation system according to claim 9, wherein the micro-forceps system comprises fingers, the method further comprising: modifying a configuration of the fingers of the micro-forceps system to reduce a height difference between the micro-forceps system and a surface, wherein the height difference is a result of at least one of the fingers moving between an open position and a closed position of the micro-forceps system.