Granted Patent
B2
US 12,268,408 · App. 17/215,158 · Granted Apr 8, 2025
Haptic feedback devices for surgical robot
Inventors:
Barry C. Worrell (Centerville, OH); Geoffrey S. Strobl (Williamsburg, OH); Gregory A. Trees (Loveland, OH); Jonathan T. Batross (Cincinnati, OH); Nicholas G. Molitor (Milford, OH); Kristen T. Shoger (Cincinnati, OH); David K. Norvell (Monroe, OH); Michael J. Andreyko (Cincinnati, OH); Gregory W. Johnson (Minneapolis, MN); Shawn C. Snyder (Greendale, IN); Chad P. Boudreaux (Cincinnati, OH)
Assignee:
Cilag GmbH International
A61B17/320092A61B18/1442A61B34/30A61B34/37A61B34/74A61B34/76A61B34/77A61B90/90A61B2017/320093A61B2017/320094A61B2017/320095A61B2018/00303A61B18/12
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Abstract
Various embodiments of surgical robot control systems are disclosed. In one example embodiment, the surgical robot control system comprises a housing. A controller is located within the housing and is coupled to a socket. The socket receives a handheld surgical user interface therein to control a surgical instrument. The surgical instrument is connected to the surgical robot and comprises an end effector and a mechanical interface to manipulate the end effector. The mechanical interface is coupled to the controller. At least one sensor is coupled to the controller and the socket to convert movement of the handheld surgical user interface into electrical signals corresponding to the movement of the surgical instrument. At least one feedback device is coupled to the controller to provide feedback to a user. The feedback is associated with a predetermined function of the surgical instrument.
Claims (34)
1. A surgical system, comprising:
a surgical instrument comprising an end effector, wherein the end effector is configured to perform a surgical function on tissue at a surgical site; and
a user interface operably coupled to the surgical instrument, wherein the user interface comprises:
a handheld controller, wherein movement of the surgical instrument is based on movement of the handheld controller; and
a control knob configured to control a ratio of the movement of the handheld controller to the movement of the surgical instrument.
2. The surgical system of claim 1 , wherein the control knob is configured to control a ratio of longitudinal movement of the handheld controller to longitudinal movement of the surgical instrument.
3. The surgical system of claim 1 , wherein the control knob is configured to control a ratio of movement of the handheld controller about a pivot point to lateral movement of the surgical instrument.
4. The surgical system of claim 1 , wherein the control knob is configured to set the ratio of the movement of the handheld controller to the movement of the surgical instrument to 1:1.
5. The surgical system of claim 1 , wherein the control knob is configured to set the ratio of the movement of the handheld controller to the movement of the surgical instrument to different than 1:1.
6. The surgical system of claim 5 , wherein the control knob is configured to set the ratio of the movement of the handheld controller to the movement of the surgical instrument to 4:1.
7. The surgical system of claim 1 , wherein the user interface further comprises a display configured to display the surgical site, and wherein the user interface further comprises a second control knob configured to adjust a view seen through the display.
8. The surgical system of claim 7 , wherein adjusting the view seen through the display comprises changing a magnification of the view.
9. The surgical system of claim 7 , wherein adjusting the view seen through the display comprises changing an angle of the view.
10. The surgical system of claim 7 , wherein adjusting the view seen through the display comprises changing a location being viewed.
11. The surgical system of claim 1 , wherein the handheld controller comprises a shaft extending therefrom.
12. The surgical system of claim 11 , wherein the user interface further comprises a socket, and wherein movement of the surgical instrument is based on movement of the shaft relative to the socket.
13. The surgical system of claim 12 , wherein the shaft is mechanically couplable with the socket.
14. The surgical system of claim 12 , wherein the shaft is wirelessly couplable with the socket.
15. A surgical system, comprising:
a surgical instrument comprising an end effector, wherein the end effector is configured to perform a surgical function on tissue at a surgical site; and
a user interface operably coupled to the surgical instrument, wherein the user interface comprises:
an input device, wherein movement of the surgical instrument is based on movement of the input device; and
a first control member configured to adjust a ratio of longitudinal movement of the input device to longitudinal movement of the surgical instrument.
16. The surgical system of claim 15 , wherein the user interface further comprises a second control member configured to adjust a ratio of movement of the input device about a pivot point to lateral movement of the surgical instrument.
17. The surgical system of claim 15 , wherein the first control member is configured to adjust the ratio of the longitudinal movement of the input device to the longitudinal movement of the surgical instrument to different than 1:1.
18. The surgical system of claim 15 , wherein the input device comprises a shaft extending therefrom, wherein the user interface further comprises a socket, and wherein movement of the surgical instrument is based on movement of the shaft relative to the socket.
19. A robotic surgical system, comprising:
a robotic arm cart, comprising:
a robotic arm; and
a surgical instrument extending from the robotic arm; and
a user interface wirelessly coupled to the robotic arm cart, wherein the user interface comprises:
a first input device, wherein movement of the robotic arm is based on movement of the first input device; and
a movement control system comprising a second input device that is adjustable to a set a ratio of the movement of the first input device to the movement of the robotic arm.
20. The robotic surgical system of claim 19 , wherein the surgical instrument comprises an end effector, and wherein the input device comprises an actuator configured to actuate the end effector.
Assignments (5)
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Sep 3, 2021
From: WORRELL, BARRY C.; STROBL, GEOFFREY S.; TREES, GREGORY A.; BATROSS, JONATHAN T.; SHOGER, KRISTEN T.; NORVELL, DAVID K.; ANDREYKO, MICHAEL J.; JOHNSON, GREGORY W.; SNYDER, SHAWN C.; BOUDREAUX, CHAD P.
To: ETHICON LLC
Reel/Frame 057378/0927 →
CHANGE OF NAME
Recorded Sep 3, 2021
From: ETHICON ENDO-SURGERY, LLC
To: ETHICON LLC
Reel/Frame 057379/0102 →
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Sep 3, 2021
From: MOLITOR, NICHOLAS G.
To: ETHICON ENDO-SURGERY, INC.
Reel/Frame 057379/0213 →
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Sep 3, 2021
From: ETHICON ENDO-SURGERY, INC.
To: ETHICON ENDO-SURGERY, LLC
Reel/Frame 057405/0472 →
ASSIGNMENT OF ASSIGNOR'S INTEREST
Recorded Jul 6, 2021
From: ETHICON LLC
To: CILAG GMBH INTERNATIONAL
Reel/Frame 056983/0569 →
Continuity (5)
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