Surgical Instrument Providing Haptic Feedback

Abstract

A surgical instrument is disclosed having a distal end connected to a handle via an elongated mechanical linkage. The handle includes a first grip portion and a second grip portion pivotably coupled such that the distal end is controllable by manipulation of the handle. At least one sensor is coupled to the distal end of the surgical instrument, wherein the sensor detects a condition at the distal end. An actuator is coupled to one of the first and second grip portions is configured to provide haptic effects to the one of the first and second grip portions. A controller is electrically coupled to the sensor and electrically coupled to the actuator, wherein the controller controls operation of the actuator such that the haptic effects are feedback relating to the sensed condition.

1 - 20 . (canceled) 
     
     
         21 . A surgical instrument comprising:
 a handle having a first grip portion and a second grip portion pivotably coupled to the first grip portion at a pivot point;   a distal end connected to the handle via an elongated mechanical linkage, wherein the distal end is controllable by manipulation of the handle; and   an actuator coupled to one of the first and second grip portions and configured to provide haptic effects to a user, wherein the haptic effects includes a force about the pivot point applied to the one of the first and second grip portions.   
     
     
         22 . The surgical instrument of  claim 21 , further comprising:
 at least one sensor coupled to the distal end, wherein the sensor detects a condition at the distal end; and   a controller electrically coupled to the sensor and electrically coupled to the actuator, wherein the controller controls operation of the actuator such that the haptic effects are feedback relating to the sensed condition.   
     
     
         23 . The surgical instrument of  claim 22 , wherein the sensor is one of a force sensor and a pressure sensor attached to the opposing jaws to detect forces or pressures applied thereto. 
     
     
         24 . The surgical instrument of  claim 22 , wherein the haptic effects includes at least one of kinesthetic or vibrotactile feedback. 
     
     
         25 . The surgical instrument of  claim 21 , wherein the distal end includes opposing jaws that may be opened and closed by manipulation of the handle. 
     
     
         26 . The surgical instrument of  claim 21 , wherein the force about the pivot point moves the first grip portion and the second grip portion apart into an open position in order to reduce the force a user applies to the first and second grip portions. 
     
     
         27 . The surgical instrument of  claim 21 , wherein the force about the pivot point moves the first grip portion and the second grip portion together into a closed position in order to assist a user in applying forces to the first and second grip portions. 
     
     
         28 . The surgical instrument of  claim 21 , wherein the actuator is coupled to both the first and second grip portions. 
     
     
         29 . The surgical instrument of  claim 28 , wherein the actuator comprises a rotary motor. 
     
     
         30 . The surgical instrument of  claim 21 , wherein the actuator comprises a braking mechanism. 
     
     
         31 . A surgical instrument comprising:
 a distal end connected to a handle via an elongated mechanical linkage, wherein the handle includes a first grip portion and a second grip portion pivotably coupled to the first grip portion and the distal end is controllable by manipulation of the handle;   at least one sensor coupled to the distal end, wherein the sensor detects a condition at the distal end;   an actuator coupled to one of the first and second grip portions and configured to provide haptic effects to the one of the first and second grip portions; and   a controller electrically coupled to the sensor and electrically coupled to the actuator, wherein the controller controls operation of the actuator such that the haptic effects are feedback relating to the sensed condition.   
     
     
         32 . The surgical instrument of  claim 31 , wherein the sensor is one of a force sensor and a pressure sensor attached to the opposing jaws to detect forces or pressures applied thereto. 
     
     
         33 . The surgical instrument of  claim 31 , wherein the haptic effects includes at least one of kinesthetic or vibrotactile feedback. 
     
     
         34 . The surgical instrument of  claim 31 , wherein the distal end includes opposing jaws that may be opened and closed by manipulation of the handle. 
     
     
         35 . The surgical instrument of  claim 31 , wherein the actuator is coupled to both the first and second grip portions. 
     
     
         36 . The surgical instrument of  claim 31 , wherein the actuator comprises a rotary motor. 
     
     
         37 . The surgical instrument of  claim 31 , wherein the actuator comprises a braking mechanism. 
     
     
         38 . The surgical instrument of  claim 31 , wherein the controller is located on the surgical instrument. 
     
     
         39 . The surgical instrument of  claim 31 , wherein the actuator is configured to apply a force about a pivot point that moves the first grip portion and the second grip portion apart into an open position. 
     
     
         40 . The surgical instrument of  claim 31 , wherein the actuator is configured to apply a force about a pivot point that moves the first grip portion and the second grip portion together into a closed position.