Haptic laser surgical tool

Abstract

A haptic laser surgical tool and computer system that performs laser surgery, such as dental surgery or a medical procedure. The surgical tool is configured to be handheld and has a body with a laser projecting outwardly from the body and reflecting off a surface at a reflection point, and the operation of the laser having predetermined operational parameters, such as a duration and intensity of use. There is a distance measurement device at the first end of the body proximate to the laser that determines a predetermined distance for the reflection point of the laser. A vibration mechanism is within the body that gives haptic feedback to the user based upon the predetermined parameters of the operation of the laser. A control device can be internally held within the body of the surgical tool or externally thereto to control the vibration mechanism, the distance measurement device, and the laser.

Description

HAPTIC LASER SURGICAL TOOLCROSS-REFERENCE TO RELATED APPLICAITON

[0001] This application claims the benefit of US Provisional Patent Application No. 63 / 666,747, filed on July 2, 2024, the entirety of which is hereby incorporated herein by this reference.BACKGROUND OF THE INVENTION

[0002] 1 . Field of the Invention

[0003] The present invention generally relates to surgical devices. More particularly, the present invention relates to laser surgical tool with haptic feedback to the user.

[0004] 2. Description of the Related Art

[0005] Surgical lasers are instruments that use concentrated light to cut or treat tissue. Lasers are unique in their ability to deliver power and precision, which is why they are widely used in all kinds of surgical procedures and medical treatments. Their use can be minimally invasive and can complement robotic modalities of medical treatments. Several notable benefits of the use of lasers for invasive surgeries include reduced bleeding, better wound healing, and often reduced patient discomfort. Specific medical procedures that advantageously use lasers include tumor removal, breast surgeries, wound / scar treatments, dermatology procedures, and eye surgery to correct vision or to reshape the cornea. Surgical lasers include carbon dioxide (CO2) lasers, fiber lasers, and solid-state lasers, as well as innovative beam delivery optics.

[0006] A major advantage of the surgical laser is concurrent photocoagulation or a bloodless field of operation. This improves surgical outcomes in two ways: First, it reduces inadvertent damage as a clinician is able to visualize tissue separation and avoids inadvertent multiple manipulations. Second, the reduced bleeding enables reduced pain and improved healing post-surgery. The incredible precision of laser surgical procedures enables supreme surgical lateral and depth control. However, there are several limitations to this advanced technology. The use of visible and invisible wavelengths presents a unique biological hazard to eyes and skin that requires increased preventive equipment and practices. Further, a major limitation to laser surgical tool use is the minimal tactile feel in contact (diode) lasers, and lack ofany contact with other devices (Erbium or CCh) lasers makes training and deployment of these lasers more difficult.

[0007] Lasers have also been used in dentistry since the 1960s for several applications. There are “hard” lasers, such as, Carbon dioxide (CO2), Neodymium Yttrium Aluminum Garnet (NYAG), and Erbium YAG, that offer both hard tissue and soft tissue dental applications. Hard lasers, however, have high usage costs and a potential for thermal injury to tooth pulp and other features in the mouth. There are also “cold,” or soft lasers, based on semiconductor diode devices that are compact, low-cost devices used predominantly for applications called low-level laser therapy (LLLT) or biostimulation. Because of the ease, efficiency, specificity, comfort, and cost over the conventional modalities, soft lasers are indicated for a wide variety of procedures in dental practice.

[0008] The surgical use of lasers in medical and dental procedures can be extremely difficult for medical professionals to train on to learn the optimal practice with laser surgery, learning the optimal methods of intensity of the laser and duration of usage. Furthermore, there is a lack of active feedback for these parameters in actual use in procedures, which makes it challenging for current clinicians to optimally use laser surgical tools. Thus, there is an urgent need to develop new tools and strategies that provide efficient, realistic, and most importantly ethical alternatives to surgical laser training and operation. It is thus to improvements in laser training tools and surgical tools that the present invention is primarily directed.BRIEF SUMMARY OF THE INVENTION

[0009] Briefly described, the present invention is a haptic laser surgical tool with a supporting computer system that performs laser surgery, such as dental surgery or a medical procedure. The surgical tool is handheld with a laser projecting outwardly from a body and reflecting off a surface at a reflection point, the surgical tool can be in communication with other computer devices. The operation of the laser has predetermined operational parameters, such as duration and intensity of use.

[0010] There is a distance measurement device at the first end of the body proximate to the laser that determines a predetermined distance for the reflection point of the laser, and thus, point of treatment for the laser. A vibration mechanism is within the body of the surgical tool that gives haptic feedback to the user, i.e. physically vibrates, based upon the occurrence(s) of the predetermined parametersof the operation of the laser. A control device that coordination the components of the surgical tool can be internally held within the body of the surgical tool or be external thereto, and the control device controls and coordinates the vibration mechanism, the distance measurement device, and the laser.

[0011] In one embodiment, the invention includes a surgical tool that has a body with a first end and second end, and a laser is on the first end of the body and is selectively operable and projecting outwardly therefrom to reflect off a surface at a reflection point, such as a tooth or tissue. The operation of the laser has one or more predetermined parameters, such as duration or intensity. The body of the surgical tool has a vibration mechanism that selectively provides haptic feedback through vibration. A distance measurement device is also in the first end of the body, and the distance measuring device determines a predetermined distance for the reflection point. There is a data communication device within the body that selectively communicates data from at least the laser and vibration mechanism. Further, there is a control device that can be within the body and in communication with the vibration mechanism, the distance measurement device, and the laser, where the control device selectively activates the vibration mechanism to provide haptic feedback based upon one or more predetermined parameters of the operation of the laser.

[0012] In one embodiment, the body is a hollow cylinder configured to be handheld. Further, the distance measurement device can be an optical system determining the reflection point of the laser. Alternately, the distance measurement device is a second laser that aligns with the first laser at a predetermined reflection point. There can also be a camera at the first end of the body that provides visual data for the use of the laser.

[0013] The second end of the surgical tool can have a wired or wireless connection to one or more computer devices across a network, with a wireless transmitter to a network. There can also be a suction tube operatively attached to the body at the second end, and the first end of the body can be configured to selectively provide suction at the first end adjacent to the laser. The suction can be used to remove liquids and solids produced from use of the laser. Likewise, irrigation fluid or other liquids could be positively provided from a tube attached to the body, and the second end of the body can include an attachment point.

[0014] In an embodiment, the invention includes a system for laser surgery which include a surgical tool having a body with a first end and second end, a laser on the first end of the body, with the laser selectively operable and projecting outwardly from the first end of the body and reflecting off a surface at a reflection point. The operation of the laser has one or more predetermined parameters, such as duration or intensity. The surgical tool includes a vibration mechanism within the body and a distance measurement device is at the first end of the body, the distance measuring device determining a predetermined distance for the reflection point. The surgical tool also includes a data communication device within the body that selectively communicates data from at least the laser and vibration mechanism.

[0015] The system also includes a control device that is ultimately in communication with the vibration mechanism, the distance measurement device, and the laser. The control device selectively activates the vibration mechanism based upon one or more predetermined parameters of the operation of the laser. The control device can be remotely located from the surgical tool and in communication therewith.

[0016] In embodiments, the system can further include a laser control device in selective communication with the data communication device. Further, the surgical tool can be configured to be engaged in a surgical procedure, and the system further has a computer device in selective communication with the data communication device where the computer device provides an artificial intelligence model for the surgical procedure engaged in by the surgical tool. The system can also include a camera at the first end of the body of the surgical tool that selectively communicates visual data to the control device. The system can also include an augmented reality headset in selective communication with the control device.

[0017] In further embodiments, the system has a data store in selective communication with the control device, with the data store selectively storing and sending data to the control device. Further, the surgical tool can be configured to perform dental procedures or medical procedures. And the system can further include an audible alarm configured to selectively emit an audible alert, the audible alarm in communication with the control device that selectively activates the vibration mechanism based upon one or more predetermined parameters of the operation of the laser.

[0018] In one embodiment, the invention includes a method for performing laser surgery by the steps of providing a surgical tool configured to be held in the hand of a user, the surgical tool that has a body with a first end and second end, a laser on the first end that is selectively operable and projecting outwardly from the first end of the body and reflecting off a surface at a reflection point, with the operation of the laser having one or more predetermined parameters. The surgical tool also has a vibration mechanism within the body, a distance measurement device at the first end of the body, the distance measuring device configured to determine a predetermined distance for the reflection point, and a data communication device within the body that selectively communicates data from at least the laser and vibration mechanism. The method then continues with controlling the vibration mechanism, the distance measurement device, and the laser with a control device in communication operating the laser to perform a surgical procedure, and then selectively activating the vibration mechanism, with the control device, based upon one or more predetermined parameters of the operation of the laser.

[0019] The present invention therefore provides an advantageous surgical tool that can provide haptic feedback to a user thereof to assist in both training and actual use of the surgical tool during a procedure. The present invention also has industrial applicability in that it creates laser surgical instruments with haptic feedback capability. Other advantages and features of the present invention will be apparent to one of skill in the art after review of the present application.BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Fig. 1 is a perspective view of one embodiment of the surgical tool held within the hand of a clinician.

[0021] Fig. 2 is a perspective view of the surgical tool in Fig. 1 being used in a dental procedure.

[0022] Fig. 3 is a diagram of the components of a further embodiment of the surgical tool.

[0023] Fig. 4 is a diagram of one embodiment of a system for performing laser surgery with a haptic feedback laser surgical tool.

[0024] Fig. 5 is a flowchart of one process for performing laser surgery with a haptic feedback laser surgical tool system shown in Fig. 4.DETAILED DESCRIPTION OF THE INVENTION

[0025] With reference to the figures in which like numerals represent like elements throughout the several views, Fig.1 is a perspective view of one embodiment of the surgical tool 8 held within the hand 24 of a clinician Fig. 2 is a perspective view of the surgical tool 8 in Fig. 1 being used in a dental procedure in a mouth 32. Fig. 3 is a more detailed diagram of the components of a further embodiment of the surgical tool 48.

[0026] With reference to Figs. 1-3, in one embodiment, the surgical tool 8 that has a body 10 with a first end 12 and second end 14, and a laser 16 is on the first end 12 of the body 14 and is selectively operable and projecting outwardly therefrom to reflect off a surface at a reflection point 30 (point 72; Fig. 3), such as a tooth 70 or tissue. The operation of the laser 16 has one or more predetermined parameters, such as duration or intensity. Examples of surgical tool 8 could be a dental laser or laser scalpel for a medical procedure.

[0027] With particular reference to Fig. 3, the body 50 of the surgical tool 48 has a vibration mechanism 66 that selectively provides haptic feedback though vibration (Arrows A)(vibration 28; Fig. 2). A distance measurement device 56 is also in the first end 52 of the body, and the distance measuring device 56 determines a predetermined distance for the reflection point 72. There is a data communication device 60 within the body 50 that selectively communicates data from at least the laser 58 and vibration mechanism 66. Further, there is a control device 62 that can be within the body 50 and in communication with the vibration mechanism 66, the distance measurement device 56, and the laser 58, where the control device 62 selectively activates the vibration mechanism 66 to provide haptic feedback based upon one or more predetermined parameters of the operation of the laser 58. The surgical tool 48 can also include other secondary alert systems to alert a clinician, in addition to the vibration mechanism 66. For example, an audible alarm 78 can be configured to selectively emit an audible alert. Further, one embodiment of a camera 98 is shown that takes a picture from the first end 52 of the surgical tool 8.

[0028] In one embodiment shown in Figs. 1 , the body 10 is a hollow cylinder configured to be handheld. Further, the distance measurement device 56 can be an optical system determining the reflection point 74 of the laser 72, as shown in the embodiment of Fig. 3. The distance measurement system 56 can be embodied to use its own laser to establish the distance of the surface with the main surgical laserwill also have its reflection point 72. Alternately, as shown in Fig. 4, the distance measurement device 90 can be a second laser 92 that aligns with the first laser 94 at a predetermined reflection point 96. There can also be a camera 98 at the first end 12 of the body 10 that provides visual data (picture 100) for the use of the laser 16.

[0029] The second end 14 of the body 10 of the surgical tool 8 can have a wired 18 or wireless connection, such as through wireless data communication device 60 (wireless transmitter) to one or more computer devices (computer device 68) across a network, like wireless network 80 in Fig. 4. The wired 18 connection can also be a fiber optic connection, without or without any electrical wiring present. There can also be a suction tube 26 operatively attached to the body 10 at the second end 14, and the first end 12 of the body 10 can be configured to selectively provide suction at the first end 14 adjacent to the laser 16. The suction can be used to remove liquids and solids produced from use of the laser 16. Likewise, irrigation fluid or other liquids could be positively provided from a tube (not shown) attached to the body 10, and the second end 14 of the body can include an attachment point 20.

[0030] The audible alarm or other alert system will be in communication with the control device 62 that also selectively activates the vibration mechanism 66 based upon one or more predetermined parameters of the operation of the laser. The secondary alert system, such as audible alerts, can be triggered based on different operational parameters than the vibration mechanism 66.

[0031] With further reference to Fig. 2, which is a perspective view of the surgical tool in Fig. 1 being used in a dental procedure, in general, the body 10 is a stylusbased laser haptic device that can enhance the clinician's perceptual experience of receiving tactile feedback (in either a contact or non-contact surgical procedure), tactile guidance will be provided simultaneously in a precise way to ensure accuracy. The tactile feedback will be delivered to the clinician's fingertips during use. The produced tactile feedback will give the clinician a sense of realistic touch and allow them to feel the texture, depth, and -type of tissues (hard and soft) ) while performing procedures.

[0032] Fig. 4 illustrates one embodiment of a system 80 for laser surgery which includes the surgical tool in Figs. 1-2, with the control device 82 external to the surgical tool 8, and the control device 82 is a computer that is ultimately in communication, through a network 81 with the vibration mechanism 66, the distancemeasurement device 56, and the laser 58. The control device 82 selectively activates the vibration mechanism 66 based upon one or more predetermined parameters of the operation of the laser 58, such as duration, intensity, and temperature. The major components of system 80 should function synchronously.

[0033] Control device 82 can be configured with a mathematical algorithm tailored for real-time tactile rendering for surgical tool 8. The algorithm can be designed for tool-tissue interaction to account of parameters such as the distance between the laser 16 tip and the surface that is being targeted, such as laser 58 and tooth 70, the laser's wavelength intensity, and the spatial properties of the tissue. Further, the vibration itself (arrows A) can have modified parameters such as vibration frequency, amplitude, and duty cycle to allow a clinician to perceive the texture, stiffness, and type of tissues, and otherwise haptically communicate complex information. An advanced microcontroller can be used to facilitate faster and wireless communication between the components in Fig. 4

[0034] The system 80 can further include a separate laser control device 84 in selective communication with the control device 82 and ultimate to the surgical tool 48. Further, the surgical tool 48 can be configured to be engaged in a surgical procedure, and the system further has a computer device in selective communication with the wireless data communication device 60 where the computer device 82 provides an artificial intelligence model for a surgical procedure engaged in by the surgical tool 48. The system 80 can also include a camera 98 at the first end 12 of the body 10 of the surgical tool 8 to selectively communicate visual data to the control device 82. Further, the system 80 can include a user tracking system, such as camera-based tracking, will be used to track the device, and position of fingers when accessing the surgical tool 48. In an embodiment, a web camera-based tracking with artificial intelligence (Al) and Open-CV libraries can be used to maintain tracking resolution. Accordingly, the 3D visual scenarios can be designed using computer simulation techniques to replicate animal and human models and tissue used in dentistry or medicine to train a clinician in the usage of the surgical tool 48.

[0035] The system 80 can also include an augmented reality (AR) headset 88 in selective communication with the control device 82. The AR headset 88 can be worn by a clinician performing the surgical procedure or could be worn by someonewatching a procedure. The AR headset 88 can be an Oculus system, specialized goggles, or other publicly available AR systems currently on sale.

[0036] In a further embodiment, the system 80 can have a data store 86 in selective communication with the control device 82, with the data store 86 selectively storing and sending data to the control device. The data store 86 can store Al models for use by the control device 82, and also store all data from the components of the system 80. The data store 86 can be a physical device or cloud-based virtual resources available to the computer device 82.

[0037] Fig. 5 is a flowchart 108 of one embodiment of a process for performing laser surgery with a haptic feedback laser surgical tool system 80 shown in Fig. 4. Also with reference to Fig. 1 , the method for performing laser surgery begins with the step of providing a surgical tool 8 configured to be held in the hand 24 of a user, such as surgical tool 8 in Figs. 1-2, and surgical tool 48 in Fig.3 as described above. The step of determining whether the user has engaged with the surgical tool 8 is shown at decision 110. If the user has not engaged with the surgical tool 8 at decision 110, then the process iterates thereat.

[0038] Otherwise, if the user engages with surgical tool 8 at decision 110, then the method then continues with operating the laser 16 for a surgical procedure, as shown at step 112, and monitoring the operational parameters of the laser 16, as shown at step 114. The monitoring could be monitoring duration, intensity, wavelength, visual data, etc. In an embodiment, the control device 82 is thereby controlling the vibration mechanism 66, the distance measurement device 56, and the laser 16 to operate the laser 16 to perform a surgical procedure, such as a dental or medical procedure.

[0039] While monitoring the operation parameters of the laser 16, at step 114, a determination is then made as to whether a predetermined parameter has been met, e.g. a specific duration or intensity of laser, as shown at decision 116. If a predetermined parameter has not been met at decision 116, the process returns to monitor the operation parameters of the laser 16 at step 114. Otherwise, if the predetermined parameter has been met at decision 116, then the control device 82 selectively activates the vibration mechanism 66, which can be accomplished with communication with the control device 62 of the surgical tool 48, based upon one or more predetermined parameters of the operation of the laser 16.

[0040] The vibration mechanism 66 is activated with predetermined parameters of vibration, such as variation in duration, intensity, pulsation, etc., which can communicate various information to the user, as shown at step 118. Then the process returns to the determination of whether the user has engaged with the surgical tool at decision 110, which effectively determines if the user is still engaged in a surgical procedure. Other prompts to the user could also occur at this point to see if the user intends to change the surgical procedure being undertaken.

[0041] The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below, if any, are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The description of the present invention has been presented for purposes of illustration and description but is not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the invention. The embodiment was chosen and described in order to best explain the principles of one or more aspects of the invention and the practical application, and to enable others of ordinary skill in the art to understand one or more aspects of the invention for various embodiments with various modifications as are suited to the particular use contemplated.

Claims

CLAIMSWhat is claimed is:1 . A surgical tool, comprising: a body having a first end and second end; a laser on the first end of the body, the laser selectively operable and projecting outwardly from the first end of the body and reflecting off a surface at a reflection point, the operation of the laser having one or more predetermined parameters; a vibration mechanism within the body; a distance measurement device at the first end of the body, the distance measuring device configured to determine a predetermined distance for the reflection point; a data communication device within the body that selectively communicates data from at least the laser and vibration mechanism; and a control device within the body and in communication with the vibration mechanism, the distance measurement device, and the laser, the control device is configured to selectively activate the vibration mechanism based upon one or more predetermined parameters of the operation of the laser.

2. The surgical tool of claim 1 , wherein the body is a hollow cylinder configured to be handheld.

3. The surgical tool of claim 1 , wherein the distance measurement device is an optical system determining the reflection point of the laser.

4. The surgical tool of claim 1 , wherein the distance measurement device is a second laser that aligns with the first laser at a predetermined reflection point.

5. The surgical tool of claim 1 , wherein the second end further having a wired connection to one or more computer devices.

6. The surgical tool of claim 1 , wherein the body further including a wireless transmitter to a network.

7. The surgical tool of claim 1 , further including one or both of a suction tube or an irrigation tube operatively attached to the body, and the first end of the body configured to selectively provide suction or irrigation, or both, at the first end adjacent to the laser.

8. The surgical tool of claim 1 , wherein the surgical tool is configured as a dental tool.

9. The surgical tool of claim 1 , wherein the surgical tool is configured as a laser scalpel.

10. The surgical tool of claim 1 , further including a camera at the first end of the body.

11. A system for laser surgery, comprising: a surgical tool, comprising: a body having a first end and second end; a laser on the first end of the body, the laser selectively operable and projecting outwardly from the first end of the body and reflecting off a surface at a reflection point, the operation of the laser having one or more predetermined parameters; a vibration mechanism within the body; a distance measurement device at the first end of the body, the distance measuring device configured to determine a predetermined distance for the reflection point; and a data communication device within the body that selectively communicates data from at least the laser and vibration mechanism; a control device in communication with the vibration mechanism, the distance measurement device, and the laser, the control device configured to selectivelyactivate the vibration mechanism based upon one or more predetermined parameters of the operation of the laser.

12. The system of claim 11 , further including a laser control device in selective communication with the data communication device.

13. The system of claim 11 , wherein the surgical tool is configured to be engaged in a surgical procedure, and the system further including a computer device in selective communication with the data communication device, the computer device configured to provide an artificial intelligence model for the surgical procedure engaged in by the surgical tool.

14. The system of claim 11 , further including a camera at the first end of the body of the surgical tool, the camera selectively communicating visual data to the control device.

15. The system of claim 14, further including an augmented reality headset in selective communication with the control device.

16. The system of claim 11 , wherein the data communication device is a wireless transmitter to a network.

17. The system of claim 11 , further including data store in selective communication with the control device, the data store selectively storing and sending data to the control device.

18. The system of claim 13, wherein the surgical tool is configured to perform dental procedures.

19. The system of claim 11 , further including an audible alarm configured to selectively emit an audible alert, the audible alarm in communication with the control device, and wherein the control device further configured to selectivelyactivate the vibration mechanism based upon one or more predetermined parameters of the operation of the laser.

20. The system of claim 11 , wherein the control device configured to selectively activate the vibration mechanism based upon a predetermined parameter of duration of the operation of the laser.21 . The system of claim 11 , wherein the control device configured to selectively activate the vibration mechanism based a predetermined parameter of an intensity of the operation of the laser.

22. A method for performing laser surgery, comprising: providing a surgical tool configured to be held in a hand of a user, the surgical tool, comprising: a body having a first end and second end; a laser on the first end of the body, the laser selectively operable and projecting outwardly from the first end of the body and reflecting off a surface at a reflection point, the operation of the laser having one or more predetermined parameters; a vibration mechanism within the body; a distance measurement device at the first end of the body, the distance measuring device configured to determine a predetermined distance for the reflection point; and a data communication device within the body that selectively communicates data from at least the laser and vibration mechanism; controlling the vibration mechanism, the distance measurement device, and the laser with a control device in communication therewith; operating the laser to perform a surgical procedure; and selectively activating the vibration mechanism, with the control device, based upon one or more predetermined parameters of the operation of the laser.

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