Robotic surgical controls having feedback capabilities

{
  "publication_number": "US11490981B2",
  "country": "US",
  "kind": "B2",
  "title": "Robotic surgical controls having feedback capabilities",
  "abstract": "An input control device is disclosed. The input control device can be configured to operate in different modes depending on proximity data provided by a proximity detection system. The input control device can include a feedback generator configured to generate feedback in response to the input control device switching between operational modes, the proximity data provided by the proximity detection system, and/or other conditions of the surgical procedure, robotic surgical tool, surgical site, and/or patient. The input control device can include a variable resistance assembly for resisting input control motions applied to an actuator thereof. Additionally or alternatively, the input control device can include an end effector actuator assembly for repositioning the end effector actuator based on feedback from a paired robotic surgical tool.",
  "claims": [
    "1. A control system for a robotic surgical system, the control system comprising: a surgical tool movable with respect to a tissue of a patient; an input control device comprising a base and a forearm support, wherein the forearm support is movable relative to the base within a first zone upon receipt of a precision input control motion to the forearm support, wherein the forearm support is moveable relative to the base within a second zone upon receipt of a gross input control motion to the forearm support, and wherein the input control device further comprises a feedback generator; and a control circuit configured to: receive an input control signal indicative of the precision input control motion and the gross input control motion; provide an output control signal to the surgical tool based on the input control signal; and provide a feedback signal to the feedback generator in response to the forearm support transitioning between the first zone and the second zone.",
    "2. The control system of claim 1, further comprising a proximity detection system configured to detect a distance between the surgical tool and the tissue, wherein the gross input control motion is ignored by the control circuit when the distance between the surgical tool and the tissue is less than a threshold distance.",
    "3. The control system of claim 1, wherein the first zone and the second zone comprise concentric zones, and wherein the first zone is surrounded by the second zone.",
    "4. The control system of claim 1, wherein the first zone comprises: a first inner boundary; a first outer boundary; and a first radial width spanning from the first inner boundary to the first outer boundary; wherein the second zone comprises: a second inner boundary collinear with the first outer boundary; a second outer boundary; and a second radial width spanning from the second inner boundary to the second outer boundary, wherein the second radial width is less than the first radial width.",
    "5. The control system of claim 1, wherein the input control device further comprises a detent arrangement positioned to provide tactile feedback to a user of the input control device when the user applies the gross input control motion to move the forearm support from the first zone to the second zone.",
    "6. The control system of claim 1, wherein the feedback generator is embedded in the forearm support.",
    "7. The control system of claim 1, wherein the input control device further comprises a shaft extending distally from the forearm support, and wherein the feedback generator is embedded in the shaft."
  ],
  "description_excerpt": "Surgical systems often incorporate an imaging system, which can allow the clinician(s) to view the surgical site and/or one or more portions thereof on one or more displays such as a monitor. The display(s) can be local and/or remote to a surgical theater. An imaging system can include a scope with a camera that views the surgical site and transmits the view to a display that is viewable by a clinician. Imaging systems can be limited by the information that they are able to recognize and/or convey to the clinician(s). For example, certain concealed structures, physical contours, and/or dimensions within a three-dimensional space may be unrecognizable intraoperatively by certain imaging systems. Additionally, certain imaging systems may be incapable of communicating and/or conveying certain information to the clinician(s) intraoperatively.\n\nRobotic systems can be actuated or remotely-controlled by one or more clinicians positioned at control consoles. Input motions at the control console(s) can correspond to actuations of a robotic arm and/or a robotic tool coupled thereto. In various instances, the robotic system and/or the clinician(s) can rely on views and/or information provided by an imaging system to determine the desired robotic actuations and/or the corresponding suitable input motions. The inability of certain imaging systems to provide certain visualization data and/or information may present challenges and/or limits to the decision-making process of the clinician and/or the controls for the robotic system.",
  "cpc": [
    "A61B 34/74",
    "A61B 1/00006",
    "A61B 1/00042",
    "A61B 1/00149",
    "A61B 1/00193",
    "A61B 1/04",
    "A61B 1/0605",
    "A61B 17/29",
    "A61B 2034/2059",
    "A61B 2034/301",
    "A61B 2034/305",
    "A61B 2034/742",
    "A61B 2090/061",
    "A61B 2090/064",
    "A61B 2090/066",
    "A61B 2090/371",
    "A61B 2090/373",
    "A61B 2090/378",
    "A61B 34/35",
    "A61B 34/37",
    "A61B 34/76",
    "A61B 90/06",
    "A61B 90/361",
    "A61B 90/37",
    "G06T 7/50"
  ],
  "ipc": [
    "A61B 90/60",
    "A61B 17/29",
    "A61B 34/00",
    "A61B 34/35",
    "A61B 90/00",
    "G06T 7/50",
    "G05B 15/00",
    "G05B 19/00"
  ],
  "assignees": [
    "Cilag GmbH International"
  ],
  "inventors": [
    "Clinton W. Denlinger",
    "Gregory W. Johnson",
    "Charles J. Scheib",
    "Jeffrey S. Swayze"
  ],
  "filing_date": "2019-03-15",
  "publication_date": "2022-11-08",
  "grant_date": "2022-11-08",
  "priority_date": "2019-03-15",
  "application_number": "US-201916354474-A",
  "family_id": "72423992",
  "cited_by_count": 14,
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