US20100137845A1 - Tool Having Multiple Feedback Devices - Google Patents

Abstract

Disclosed herein are systems and methods for managing how signals, which are sensed on a tool, are presented to an operator of the tool. According to one example of a method for managing signals, the method comprises allowing an operator to manipulate a tool having a plurality of output mechanisms mounted thereon. The method also includes sensing a property of an object located near or adjacent to a distal portion of the tool and processing the sensed property to obtain one or more output signals. Furthermore, the method includes applying the one or more output signals to one or more of the output mechanisms.

Description

TECHNICAL FIELD
• The embodiments of the present disclosure generally relate to hand tools and more particularly relate to sensing a property of an object in the vicinity of a hand tool and displaying the property in one or more output modes.
BACKGROUND
• As opposed to open surgery in which a surgeon cuts a relatively large incision in the skin of a patient for accessing internal organs, minimally invasive surgical procedures are performed by making relatively small incisions and then inserting tools through the incisions to access the organs. Minimally invasive surgery usually results in shorter hospitalization times, reduced therapy requirements, less pain, less scarring, and fewer complications.
• During minimally invasive surgery, the surgeon can introduce a miniature camera through an incision. The camera transmits images to a visual display, allowing the surgeon to see the internal organs and tissues and to see the effect of other minimally invasive tools on the organs and tissues. In this way, the surgeon is able to perform laparoscopic surgery, dissection, cauterization, endoscopy, telesurgery, etc. Compared to open surgery, however, minimally invasive surgery can present limitations regarding the surgeon's ability to see and feel the patient's organs and tissues.
SUMMARY
• The present disclosure describes a number of embodiments of systems and methods for managing how sensed signals are provided to an operator of a tool, which includes a sensor for sensing the signals. In one embodiment, for example, a method for managing signals includes allowing an operator to manipulate a tool having a plurality of output mechanisms mounted thereon. The method also includes sensing a property of an object located near or adjacent to a distal portion of the tool and processing the sensed property to obtain one or more output signals. The method also includes applying the one or more output signals to one or more of the output mechanisms.
• The embodiments described in the present disclosure may include additional features and advantages, which may not necessarily be expressly disclosed herein but will be apparent to one of ordinary skill in the art upon examination of the following detailed description and accompanying drawings. It is intended that these additional features and advantages be included and encompassed within the present disclosure.
BRIEF DESCRIPTION OF THE DRAWINGS
• The components of the following figures are illustrated to emphasize the general principles of the present disclosure and are not necessarily drawn to scale. Reference characters designating corresponding components are repeated as necessary throughout the figures for the sake of consistency and clarity.
• FIG. 1 is a diagram illustrating a side view of a surgical tool according to one embodiment.
• FIG. 2 is a diagram illustrating a rear perspective view of a surgical tool having a level meter mounted thereon, according to one embodiment.
• FIG. 3 is a diagram illustrating a rear perspective view of a surgical tool having an LCD screen mounted thereon, according to one embodiment.
• FIG. 4 is a diagram illustrating a side view of a surgical tool having a device for providing visual and haptic output to an operator, according to one embodiment.
• FIG. 5 is a diagram illustrating a side view of a surgical tool having a rotary device, according to one embodiment.
• FIG. 6 is a diagram illustrating a side view of a surgical tool having haptic actuating devices formed in the handle thereof, according to one embodiment.
• FIG. 7 is a block diagram of a system for communicating sensed properties to an operator, according to one embodiment.
• FIG. 8 is a flow diagram illustrating a method for controlling signals sensed by a sensor mounted on a tool, according to one embodiment.
DETAILED DESCRIPTION
• Although minimally invasive surgical procedures involving small incisions include many advantages over open surgery, minimally invasive surgery can still create challenges to a surgeon. For example, the surgeon must typically rely on a camera to view the patient's internal organs and see how the movement and operation of the tools affects the organs. To enhance the surgeon's experience, feedback can be provided to the surgeon to communicate information about how the body of the patient reacts to the tools. According to the teaching of the present disclosure, output can be provided to the surgeon in multiple ways, e.g., visually, audibly, tactilely, etc. Information regarding the status of feedback devices can also be provided to the surgeon as well.
• The present disclosure describes embodiments that include any type of tools that can be manipulated by an operator. More particularly, the tools described in the present disclosure include a handle portion that mechanically controls a distal portion of the tool. Mounted on the distal portion are one or more sensors configured to sense a parameter of an object that interacts with the tool. The sensed signals can be processed to obtain stimulation signals designed to be provided to one or more output mechanisms, such as, for example, haptic actuation devices, vibrotactile feedback devices, kinesthetic feedback devices, visual displays, speakers or other audio devices, etc.
• Although many of the examples described in the embodiments of the present disclosure relate to surgical tools, such as minimally invasive surgical tools, it should be understood that the present disclosure also encompasses other types of tools as well. In addition, although many of examples herein relate to surgical patients and how the organs and tissues of the patient interact with the surgical tools, it should also be understood that the present disclosure may also refer to other objects that are intended to interact with or react to the operations of the respective tools. Other features and advantages will be apparent to one of ordinary skill in the art upon reading and understanding the general principles of the present disclosure and are intended to be included herein.
• FIG. 1 is a diagram illustrating an embodiment of asurgical tool10. In this diagram,surgical tool10 is shown as a laparoscopic tool, which is configured to be inserted through a small incision in the abdomen of a patient.Surgical tool10 in this embodiment includes ahandle12, ashaft14, and adistal portion16. Shaft14 is designed to connecthandle12 to distalportion16 and to communicate mechanical actions ofhandle12 todistal portion16. Shaft14 is further designed to communicate electrical signals fromdistal portion16 back to handle12 as explained in more detail below.
• According to the embodiment ofFIG. 1,distal portion16 includes atip18 and asensing device20 formed ontip18. As shown,tip18 is a grasper. However, it should be understood thatdistal portion16 may include any suitable type of tip having any suitable functionality. Also, in other alternative embodiments,sensing device20 may be connected to any part ofdistal portion16 or even other parts oftip18. According to some examples of the embodiment ofFIG. 1,shaft14 may be about 20 cm to 30 cm in length andtip18 may be about 10 mm to 15 mm in length.
• According to the embodiment ofFIG. 1, handleportion12 ofsurgical tool10 further includes one ormore buttons22.Buttons22 can be configured using any suitable mechanism for allowing an operator to control the nature of the feedback that is provided to the operator.Buttons22 may include devices for allowing certain levels to be adjusted or certain selections to be made regarding the output presented to the operator. In some embodiments,buttons22 may be configured as switches, such as momentary toggle switches, allowing an operator to select different ways in which sensor information is mapped or provided to respective output devices.Buttons22 can be implemented as a rocker switch or as a one-dimensional control surface.
• Handle portion12 also includes aprocessing device24,haptic actuator26, and aspeaker28, which are shown through a cut out inhandle portion12.Processing device24,haptic actuator26, andspeaker28 can be mounted on a printed circuit board (not shown), which includes circuitry for electrically coupling the components. The circuitry on the printed circuit board may include any suitable amplification and attenuation type circuitry, power sources for providing and regulating power to each components, and other circuitry for proper operation ofprocessing device24 and other components as would be understood by one of ordinary skill in the art. In some embodiments,haptic actuator26 can be implemented as an inertial actuator to provide vibrotactile feedback to the operator.Haptic actuator26 may include an eccentric rotating mass (“ERM”) actuator, linear resonant actuator (“LRA”), piezoelectric actuator, shape memory alloy, electro-active polymer, or other suitable type of actuating device.
• In this embodiment ofFIG. 1,handle portion12 also supports alevel meter30. As illustrated,level meter30 is mounted on a back section ofhandle portion12, which is designed for normal conformity with the operator's thumb.Level meter30 may be a visual feedback device to show certain levels that can be adjusted by the operator. For example, by usingbuttons22, the operator can generally adjust how signals sensed by sensingdevice20 are processed and presented to the operator. According to one function ofbuttons22, the operator can enable or disable one or more output mechanisms by controlling whether or not output signals based on the sensed signals are provided to the respective output devices. Another function ofbuttons22 includes the ability to enable one or more output mechanisms. According toFIG. 1, the output mechanisms can include at leasthaptic actuator26,speaker28, andlevel meter30. In this regard, the operator can control if and how sensed signals are presented in a visual, auditory, and/or haptic fashion.
• The different output mechanisms may be used to cooperatively communicate a single property. In some embodiments, however, they can represent distinct components of the processed sensor signals or other parameters. In some cases, one or more of the output mechanisms may be configured to provide both sensor signal information and adjustment level information, depending on the particular application.
• Furthermore,buttons22 can be used to adjust the level, intensity, or amplitude at which the output mechanisms provide the respective output. For example, the operator may wish to disablehaptic actuator26, but enablespeaker28 and have its volume turned down low.
• By manipulatinghandle12, an operator can insertdistal portion16 into the abdomen of the patient andcontrol tip18 ofdistal portion16. Whendistal portion16 is inserted, the surgeon can further manipulatehandle12 to control the location and orientation oftip18 such thatsensing device20 is able to contact certain regions of the patient.Sensing device20 may include one or more sensors each configured to measure or test any desired parameter of the patient, such as pulse, for example. In some embodiments in whichsensing device20 does not necessarily need to contact a particular region of the patient,tip18 can be controlled to position sensingdevice20 to accomplish certain contactless sensing functions.
• Sensing device20 can be configured to sense any suitable property of the object under test. For instance,sensing device20 can be configured as pressure sensors using resistive or capacitive pressure sensing technologies. Alternatively,sensing device20 can include strain gauges, piezoelectric sensors, stiffness sensors, etc. As strain gauges,sensing device20 can provide additional information about contact force to finely tune a generally coarse measurement of force. As piezoelectric sensors,sensing devices20 can generate ultrasound signals that reflect off portions of the object. In this case, echo signals can be detected by sensingdevice20 to determine the location of objects.Sensing device20 can also be configured as stiffness sensors that can detect nodules, e.g., tumors, or other stiff regions.
• The features illustrated and described with respect toFIG. 1 may also be incorporated within the embodiments shown with respect toFIGS. 2-6 as described below. However, for the sake of brevity, many features shown in some drawings may not be shown in other drawings. Also, the description of similar elements in different drawings are not repeated. It should be appreciated, however, that although one or more embodiments may not include features described with respect to other embodiments, some or all of the features may still be included therein as would be recognized from an understanding of the present disclosure.
• FIG. 2 is a diagram showing an embodiment of asurgical tool40 from a rear perspective. In this diagram, only ahandle portion42 and a part of ashaft44 are shown ofsurgical tool40, which may further include other features, such as a sensing device at a distal end. On a back region ofhandle portion42,surgical tool40 in this embodiment includes alevel meter46.Level meter46 may include the same functionality aslevel meter30 shown inFIG. 1.Level meter46 can be configured to display any type of visual information to the operator. In particular,level meter46 may be designed, for example, to display values, levels, and/or percentages of properties of the object being sensed by a distal sensor.
• Level meter46 may be an interactive control surface allowing the user to adjust the properties of the output mechanisms.Level meter46 can receive touch information from the user to make adjustments. Also,level meter46 can display status information of one or more output mechanisms mounted onsurgical tool40. In this regard, the status information can include whether a respective output mechanism is enable or disabled, the level of intensity, strength, or magnitude of the signal supplied to the respective output mechanism, or other parameters of the respective output mechanisms. Regarding parameters with respect to visual display devices, for example, certain picture quality parameters can be adjusted. Regarding parameters with respect to audio devices, for example, frequency, fade time, and other auditory parameters can be adjusted. Regarding parameters with respect to haptic actuating devices, for example, frequency, intensity, and other various haptic parameters can be adjusted.
• FIG. 3 is a diagram showing an embodiment of asurgical tool50 from a rear perspective view. In this diagram, only ahandle portion52 and a part of ashaft54 are shown ofsurgical tool50, which may include other features, such as a sensing device at a distal end thereof. On a back region ofhandle portion52, surgical tool in this embodiment includes a liquid crystal display (LCD)screen56.LCD screen56 may be used to display visual information regarding the object sensed at a distal end ofsurgical tool50. In some embodiments, the sensor at the distal end may contain a camera or other type of image capture device. In this case, images can be presented onLCD screen56 to assist the surgeon to position the tool as needed.LCD screen56 may also be configured to show ultrasound, x-ray, or other types of radiation-based image information.
• LCD screen56 can include a touchscreen, which can be configured to present information, e.g., visual information, to the operator. Also, the touchscreen can also be configured to sense when the operator presses certain portions of the touchscreen. In this way, the touchscreen can act as a touchable user interface with graphical presentation capabilities. In some embodiments,LCD screen56 may be designed with a surface that changes shape or size based on signals being sensed. For example, the surface ofLCD screen56 may be able to adjust its topology to provide an indication of the topology or other feature of the object being sensed.
• LCD screen56 can include supplemental information, which may depend on the context of the particular surgical procedure being performed. Information may include, for example, pre-operative information, intra-operative information, radiology information, etc.LCD screen56 may include a graphical user device that enables the surgeon to select different feedback profiles, adjust sensor behavior, modify supplemental information, etc.
• LCD screen56 may also include acontrol slider device58, which can be designed to allow the operator to make adjustments to the image or contour information provided onLCD screen56. In other embodiments,control slider device58 may instead be configured using other types of control devices, such as buttons, switches, etc., for controlling image information.
• FIG. 4 is a diagram showing an embodiment of asurgical tool60 from a side view. This embodiment and other embodiments illustrated herein are particularly implemented for right-handed surgeons. It should be understood, however, that a reversed or mirror-image implementation can be obtained for use by left-handed surgeons. In this diagram, only ahandle portion62 and part of ashaft64 are shown ofsurgical tool60, which may include other features, such as a sensing device at a distal portion thereof. In this embodiment, handleportion62 supports adisplay device66.Display device66 may be configured to provide any type of indication of properties of the object under test. For example, various properties can be sensed by one or more distal sensors or can result from different algorithmic applications during processing of sensed signals.
• In the embodiment ofFIG. 4,display device66 provides information about pulse, lumen, and stiffness of the object. For example, pulse indication refers to a pulse of a blood vessel of a patient when this vital statistic is measured. The lumen indication refers to the presence or absence of a hollow tissue structure (lumen) such as a ureter, bile duct, or the like. The stiffness indication refers to the stiffness of an organ or tissues in contact with a sensor at the distal end ofsurgical tool60.
• Display device66 can provide indication of particular parameters by the use ofbar indicators68, where the length of the bar of eachrespective bar indicator68 represents an intensity or level of the respective parameter.Bar indicators68 ofdisplay device66 can be configured to provide output information both visually and haptically. For example, sincedisplay device66 is positioned on the side ofhandle portion62, the operator may be able to look at the side ofsurgical tool60 during use to seedisplay device66. In addition, the index finger of the operator can be placed on the surface ofdisplay device66 to hapticallysense display device66. In this respect,bar indicator68 includes any suitable haptic output device, shape changing device, etc., to communicate the particular information to the operator using the sense of touch. Therefore, the operator can feel the length ofbar indicators68 to receive the needed feedback signals as needed, even without visually observingdisplay device66.
• FIG. 5 is a diagram showing an embodiment of asurgical tool70 from a side view. In this diagram, only ahandle portion72 and part of ashaft74 are shown ofsurgical tool70, which may include other features, such as a sensing device at a distal portion thereof.Handle portion72, according to this embodiment, includes, among other things, arotary device76, which can be used as a “roll” control device.Rotary device76 is connected toshaft74 and, when rotated by operator, is configured to rotateshaft74 about its axis. Likewise, a sensor connected to a distal portion ofsurgical tool70 rotates in response to rotation ofrotary device76. In this way, the operator can control the positioning of the sensor to pick up various signals from different sensed regions of the patient.
• In this embodiment, vibrotactile, haptic, kinesthetic, and/or resistive feedback can be incorporated intorotary device76 to indicate directly certain information throughrotary device76 itself. According to one example, a vibrotactile actuator may vibraterotary device76 at an amplitude based on the stiffness of the region of the patient being sensed. In another example, a sensor can be mounted on a perpendicular face of the shaft axis or distal end and oriented toward the side. Using the roll control, the sensor sweeps around the axis to observe the surrounding tissue and identify vasculature, tumor masses, etc., using visual sensor, stiffness sensor, or other suitable sensors.
• FIG. 6 is a diagram showing an embodiment of asurgical tool80 from a side view. In this diagram, only ahandle portion82 and part of ashaft84 are shown ofsurgical tool80, which may include other features, such as a sensing device at a distal portion thereof. In this embodiment,surgical tool80 includeshaptic actuating devices86 incorporated in thehandle portion82 for providing haptic effects to the fingers and thumb of a hand of the surgeon.Haptic actuating devices86 may be configured to provide feedback signals based on signals sensed at the distal portion ofsurgical tool80.Haptic actuating devices86 may include ERM actuators, LRAs, shape memory alloys, electromagnetic motors, electro-active polymers that deform in response to signals, mechanism for changing stiffness, vibrotactile actuators, inertial actuators, piezoelectric actuators, etc. In one example, a grasping characteristic can be used to convey contact force, pressure, etc., onhaptic actuating devices86.
• Haptic actuating devices86 may be able to sense pressure applied by the user. In response to the pressure,haptic actuating devices86 may be configured to provide an alert that the user may be squeezinghandle portion82 too hard or too soft.Haptic actuating devices86 may also be configured to communicate sensed information to the user.
• FIG. 7 is a block diagram illustrating an embodiment of asystem94 for controlling how sensed signals are provided to an operator. In this embodiment,system94 includes one ormore sensors96, aprocessing device98, one or morehaptic actuators100, one or morevisual displays102, and one or moreaudio devices104.Sensor96 may be positioned on a portion of a tool, e.g., a distal end of a tool used for probing an object.Sensor96 is configured to include any type of sensing mechanisms to sense any suitable characteristic of the object.
• The sensed information from each of the one ormore sensors96 is communicated toprocessing device98, which is configured to process the information according to specific algorithms and operator selections.Processing device98, for example, may correspond toprocessing device24 shown inFIG. 1. Depending on the type of sensing mechanisms ofsensors96 and the type of properties being measured, the algorithms ofprocessing device98 can determine various characteristics of the object.Processing device98 also takes into account operator input regarding enabling or disabling one or more output mechanisms, adjusting of levels of the one or more output mechanisms, etc.Processing device98 may then communicate the processed information to one or more ofhaptic actuator100,visual display102, andaudio device104 according to which ones of these output mechanisms are enabled and how they are controlled to provide their respective outputs.Haptic actuator100,visual display102, andaudio device104 represent the output mechanisms that are designed to present the sensor information to the operator.
• Processing device98 may be a general-purpose or specific-purpose processor or microcontroller for processing the signals detected bysensor96. In some embodiments,processing device98 may include a plurality of processors for performing different functions with respect tosystem94. In some embodiments,processing device98 may be associated with a memory device (not shown) for storing data and/or instructions. In this regard, the memory may include one or more internally fixed storage units, removable storage units, and/or remotely accessible storage units, and the various storage units may include any combination of volatile memory and non-volatile memory. Logical instructions, commands, and/or code can be implemented in software, firmware, or both, and stored in memory. In this respect, the logic code may be implemented as one or more computer programs that can be executed by processing device34.
• In other embodiments, logical instructions, commands, and/or code can be implemented in hardware and incorporated inprocessing device98 using discrete logic circuitry, an application specific integrated circuit (“ASIC”), a programmable gate array (“PGA”), a field programmable gate array (“FPGA”), etc., or any combination thereof. In yet other embodiments, logical instructions, commands, and/or code can be implemented in both hardware inprocessing device98 and software/firmware stored in the memory.
• Each output device represented byhaptic actuator100,visual display102, andaudio device104 may include one or more of the respective output devices in any suitable form for providing haptic, visual, or audio outputs to the operator. Also, some output devices may be capable of providing multiple modes of communication in any combination. The output mechanisms may include any number of feedback mechanisms in any number of modes for providing any type of visual, audible, and/or tactile output to the operator. In the embodiments regarding surgical tools, the output mechanisms may be set up to provide feedback to the surgeon according to the surgeon's preferences. With feedback tailored to the surgeon's desires, the tool can provide feedback to supplement the operator experience for better operation and performance.
• FIG. 8 is a flow diagram of an embodiment of a method of operation of a tool having multiple modes of feedback. As indicated inblock110, an operator is allowed to manipulate a tool according to a normal use of the tool. For example, the operator may manipulate a handle, buttons, or other feature on the tool to control a functional portion of the tool. The controlled portion may be a portion that is positioned on an opposite end of the tool from the handle. The controlled portion can be probed around to contact an object being tested or to be placed in proximity to the object being tested, depending on the particular type of parameter being measured.
• As indicated inblock112, one or more properties of an object are sensed at a distal end of the tool. Particularly, the property or properties may be sensed by one or more sensing devices. The sensors may be positioned on or near the controlled portion of the tool. According to block114, the sensed properties are processed to obtain output signals. Based on the properties sensed and the types of output mechanisms incorporated in tool, output signals can be obtained for each particular output mechanism.
• As indicated inblock116, operator selected settings are retrieved. In particular, the settings are selected to define how the output mechanisms are to be used in response to sensed signal. For example, the operator selected settings may include whether each respective output mechanism is enable or disabled, or turned on or off. Also, the settings may include level adjustment for factors associated with the different types of modes of communication, such as a haptic mode, visual mode, auditory mode, etc.
• As indicated inblock118, the output signals are provided to the one or more output mechanisms. Thus, the sensed signals are communicated to the operator in one or more different output modes, depending on the modes selected by the operator. The outputs may be haptic outputs, vibrotactile effect outputs, visual outputs, auditory outputs, or any combination of these or other outputs.
• It should be understood that the routines, steps, processes, or operations described herein may represent any module or code sequence that can be implemented in software or firmware. In this regard, these modules and code sequences can include commands or instructions for executing the specific logical routines, steps, processes, or operations within physical components. It should further be understood that two or more of the routines, steps, processes, and/or operations described herein may be executed substantially simultaneously or in a different order than explicitly described, as would be understood by one of ordinary skill in the art.
• The embodiments described herein represent a number of possible implementations and examples and are not intended necessarily to limit the present disclosure to any specific embodiments. Instead, various modifications can be made to these embodiments as would be understood by one of ordinary skill in the art. Any such modifications are intended to be included within the spirit and scope of the present disclosure and protected by the following claims.

Claims (20)

1. A tool comprising:

a handle portion and a distal portion;

a sensor mounted on the distal portion, the sensor configured to generate sensor signals representing one or more characteristics of an object;

a processing device configured to process the sensor signals to generate one or more output signals; and

an output system mounted on the handle portion, the output system including one or more output mechanisms selected from the group consisting of a haptic device, a visual device, and an audio device;

wherein the processing device is further configured to apply the one or more output signals to the one or more output mechanisms.

2. The tool ofclaim 1, further comprising a shaft connecting the handle portion with the distal portion.

3. The tool ofclaim 2, further comprising a rotary device mounted on the handle portion, the rotary device configured to rotate the sensor about an axis formed by the shaft.

4. The tool ofclaim 1, further comprising a set of switches.

5. The tool ofclaim 4, wherein one or more of the switches is configured to enable an operator to select which ones of the output mechanisms are enabled.

6. The tool ofclaim 5, wherein one or more of the switches is configured to enable the operator to adjust output parameters of the enabled output mechanisms.

7. The tool ofclaim 6, further comprising a level meter mounted on the handle portion, the level meter being configured to indicate how the parameters of the enabled output mechanisms are adjusted.

8. The tool ofclaim 1, wherein one of the output mechanisms is a visual device, the visual device comprising a liquid crystal display (LCD) screen.

9. The tool ofclaim 1, wherein one of the output mechanisms includes a device configured to provide both visual and haptic outputs.

10. The tool ofclaim 1, wherein the tool is a surgical tool and the object is a patient.

11. The tool ofclaim 10, wherein the surgical tool is a laparoscopic tool.

12. A method comprising:

allowing an operator to manipulate a tool having a plurality of output mechanisms mounted thereon;

sensing a property of an object located near or adjacent to a distal portion of the tool;

processing the sensed property to obtain one or more output signals; and

applying the one or more output signals to one or more of the output mechanisms.

13. The method ofclaim 12, wherein the method further comprises allowing the operator to enable or disable each of the one or more output mechanisms.

14. The method ofclaim 12, wherein the method further comprises allowing the operator to adjust parameters associated with the operation of the output mechanisms.

15. The method ofclaim 12, wherein applying the one or more output signals further comprises applying at least one visual signal to a video display device, applying at least one audio signal to an audio device, and applying at least one haptic signal to a haptic actuator.

16. The method ofclaim 12, wherein applying the one or more output signals further comprises applying output signals related to both visual and haptic parameters to a single output mechanism configured to provide both visual and haptic outputs.

17. A surgical tool comprising:

means for obtaining a sensory signal indicative of a characteristic of a patient under observation, the obtaining means configured to obtain the sensory signal at a distal end of the surgical tool;

means for processing the characteristic to generate one or more output signals; and

means for providing the one or more output signals to one or more output devices configured to provide feedback information in multiple modes, wherein the multiple modes include at least a visual mode and a haptic mode.

18. The surgical tool ofclaim 17, wherein the means for obtaining the sensory signal is further configured to obtain multiple sensory signals, a first set of sensory signals comprising visual sensory signals and a second set of sensory signal comprising haptic sensory signals.

19. The surgical tool ofclaim 17, wherein the means for providing is further configured to provide the output signals in at least a visual mode, a haptic mode, and an auditory mode.

20. The surgical tool ofclaim 19, wherein the one or more output devices include at least one visual display device, at least one haptic actuator, and at least one audio device.

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