Input device assemblies for robotic surgical systems

{
  "publication_number": "US11413105B2",
  "country": "US",
  "kind": "B2",
  "title": "Input device assemblies for robotic surgical systems",
  "abstract": "Methods and devices for controlling a robotic system includes receiving a signal in response to movement of an input device through an input distance, determining the position of a repositioning control disposed on the input device, and moving the tool of the robotic system in response to movement of the input device the input distance. The input device is coupled to an input shaft of an input arm. The robotic system moving the tool a first distance when the repositioning control is in a deactivated position and moves the tool a second distance when the repositioning control in an activated position. The first distance is greater than the second distance.",
  "claims": [
    "1. A method of controlling a tool of a robotic system, the method comprising: receiving a signal representative of a movement distance of an input device coupled to an input shaft of an input arm; determining a position of a repositioning control of an input device, wherein the repositioning control is supported on a body of the input device; scaling the movement distance based on a repositioning scaling factor or an operating scaling factor depending on the position of the repositioning control; moving the tool of the robotic system based on the scaled movement distance, the tool moving based on the operating scaling factor at least a lesser distance than based on the repositioning scaling factor; and scaling the movement distance based on the repositioning scaling factor when the repositioning control is in an active position and scaling the movement distance based on the operating scaling factor when the repositioning control is in an inactive position, wherein the repositioning control of the input device includes a petal extending radially from the body.",
    "2. The method according to claim 1, wherein the repositioning control includes a ring disposed about the body of the input device.",
    "3. The method according to claim 2, further comprising determining that the ring is in the active position when the ring is slid away from a neutral position along a longitudinal axis of the body of the input device and determining that the ring is in the inactive position when the ring is in the neutral position.",
    "4. The method according to claim 3, further comprising determining that the ring is in the active position when the ring is rotated away from a neutral position about a longitudinal axis of the body of the input device and determining that the ring is in the inactive position when the ring is in the neutral position.",
    "5. The method according to claim 1, further comprising determining that the petal is in the active position when the petal is moved away from a neutral position and determining that a ring is in the inactive position when the ring is in the neutral position, wherein engaging the petal of the input device includes pivoting the petal proximally.",
    "6. The method according to claim 5, wherein the petal is moved away from the neutral position when pivoted away from the neutral position.",
    "7. A method of controlling a tool of a robotic system, the method comprising: receiving a signal representative of a movement distance of an input device coupled to an input shaft of an input arm; determining a position of a repositioning control of an input device, wherein the repositioning control is supported on a body of the input device; scaling the movement distance based on a repositioning scaling factor or an operating scaling factor depending on the position of the repositioning control; moving the tool of the robotic system based on the scaled movement distance, the tool moving at least a lesser distance than based on the repositioning scaling factor; and scaling the movement distance based on the repositioning scaling factor when the repositioning control is in an active position and scaling the movement distance based on the operating scaling factor when the repositioning control is in an inactive position, wherein the repositioning control of the input device includes a petal extending radially from the body.",
    "8. The method according to claim 7, wherein the repositioning control includes a ring disposed about the body of the input device.",
    "9. The method according to claim 8, further comprising determining that the ring is in the active position when the ring is slid away from a neutral position along a longitudinal axis of the body of the input device and determining that the ring is in the inactive position when the ring is in the neutral position.",
    "10. The method according to claim 9, further comprising determining that the ring is in the active position when the ring is rotated away from a neutral position about a longitudinal axis of the body of the input device and determining that the ring is in the inactive position when the ring is in the neutral position.",
    "11. The method according to claim 7, further comprising determining that the petal is in the active position when the petal is moved away from a neutral position and determining that a ring is in the inactive position when the ring is in the neutral position, wherein engaging the petal of the input device includes pivoting the petal proximally.",
    "12. The method according to claim 11, wherein the petal is moved away from the neutral position when pivoted away from the neutral position.",
    "13. A method of controlling a tool of a robotic system, the method comprising: receiving a signal representative of a movement distance of an input device coupled to an input shaft of an input arm; determining a position of a repositioning control of an input device, wherein the repositioning control is supported on a body of the input device; scaling the movement distance based on a repositioning scaling factor or an operating scaling factor depending on the determined position of the repositioning control; moving the tool of the robotic system based on the scaled movement distance, the tool moving at least a lesser distance than based on the repositioning scaling factor; and scaling the movement distance: based on the repositioning scaling factor when the repositioning control is in an active position; or based on the operating scaling factor when the repositioning control is in an inactive position, wherein the repositioning control of the input device includes a petal extending radially from the body.",
    "14. The method according to claim 13, wherein the repositioning control includes a ring disposed about the body of the input device.",
    "15. The method according to claim 14, further comprising determining that the ring is in the active position when the ring is slid away from a neutral position along a longitudinal axis of the body of the input device and determining that the ring is in the inactive position when the ring is in the neutral position.",
    "16. The method according to claim 15, further comprising determining that the ring is in the active position when the ring is rotated away from a neutral position about a longitudinal axis of the body of the input device and determining that the ring is in the inactive position when the ring is in the neutral position.",
    "17. The method according to claim 13, further comprising determining that the petal is in the active position when the petal is moved away from a neutral position and determining that the ring is in the inactive position when the ring is in the neutral position, wherein engaging the petal of the input device includes pivoting the petal proximally.",
    "18. The method according to claim 17, wherein the petal is moved away from the neutral position when pivoted away from the neutral position."
  ],
  "description_excerpt": "Robotic surgical systems have been used in minimally invasive medical procedures. During such a medical procedure, the robotic surgical system is controlled by a surgeon interfacing with a user interface. The user interface allows the surgeon to manipulate an end effector that acts on a patient. The user interface includes an input controller or handle that is moveable by the surgeon to control the robotic surgical system.\n\nRobotic surgical systems typically use a scaling factor to scale down the motions of the surgeons hands to determine the desired position of the end effector within the patient so that the surgeon can more precisely move the end effector inside the patient. Since the input device handle has a fixed range of motion, for larger scaling factors the surgeon may reach an end of the range of motion of an input handle more often. The surgeon then has to “clutch” the handle to decouple the motion of the input handles from the end effector so that the surgeon could move the handles to a new position within the workspace of the user interface away from the end of the range of motion while the instruments remain stationary. Once the input handle was moved sufficiently away from the end of the range of motion, the surgeon “reclutches” the input handle with the end effector to recouple the motion of the input handle to motion of the end effector to complete the desired movement of the end effector. Typically, a foot pedal is used as to “clutch” the input handle.",
  "cpc": [
    "A61B 34/74",
    "A61B 2017/00477",
    "A61B 34/35",
    "A61B 34/37",
    "A61B 34/76",
    "A61B 34/77",
    "B25J 13/00",
    "B25J 9/1674",
    "B25J 9/1689",
    "G05B 2219/45119"
  ],
  "ipc": [
    "A61B 17/00",
    "A61B 34/00",
    "A61B 34/35",
    "A61B 34/37",
    "B25J 13/00",
    "B25J 9/16"
  ],
  "assignees": [
    "Covidien LP"
  ],
  "inventors": [
    "William Peine"
  ],
  "filing_date": "2020-02-19",
  "publication_date": "2022-08-16",
  "grant_date": "2022-08-16",
  "priority_date": "2015-03-26",
  "application_number": "US-202016794680-A",
  "family_id": "56977597",
  "cited_by_count": 0,
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}