Robotic hand controller

Patent metadata

Field	Value
Publication number	US-10568707-B2
Application number	US-201715494740-A
Country	US
Kind code	B2
Filing date	Apr 24, 2017
Priority date	Aug 22, 2008
Publication date	Feb 25, 2020
Grant date	Feb 25, 2020

Abstract

A hand controller for enabling a user to perform an activity and method for controlling a robotic arm is provided. The hand controller includes a bar with a grip and a plurality of motors to provide a force feedback to the user in response to the movement of the plurality of mechanical arms. The method involves receiving input corresponding to the manipulation of a bar and providing a force feedback in response to the movement of the plurality of mechanical arms.

First claim

What is claimed is:

1. A console for controlling at least one mechanical arm to perform a medical activity, the console comprising:
a hand controller configured to be operated by a user and operatively coupled to the mechanical arm;
a position sensing device configured to sense a presence of a hand of the user on the hand controller for preventing accidental movement of the mechanical arm;
a clutch mechanism configured to allow a movement of the hand controller to re-center the hand controller without a corresponding movement of the mechanical arm; and
a force feedback device operatively coupled to the hand controller, the force feedback device configured to receive a signal associated with a movement of the mechanical arm in a plurality of degrees of freedom and generate force feedback at the hand controller based on the signal corresponding to the movement.

2. The console according to claim 1 , wherein at least one medical tool is attached at a distal end of the mechanical arm.

3. The console according to claim 2 , wherein the medical tool comprises at least one of forceps, scissors, a needle driver, and an imaging device.

4. The console according to claim 1 , wherein the mechanical arm includes one or more sensors, the one or more sensors configured to sense a force acting on the mechanical arm, the signal being based on the force acting on the mechanical arm.

5. The console according to claim 1 , wherein the hand controller is configured to be operated ambidextrously.

6. The console according to claim 1 , wherein the hand controller is dimensioned to be held by multiple users having at least one of a different hand size, different palm size and different finger size.

7. The console according to claim 1 , wherein the force feedback generated at the hand controller is a tactile force feedback.

8. The console according to claim 1 , wherein the force feedback generated allows the user to operate the hand controller based on the force feedback.

9. The console according to claim 1 , further comprising a lever pivotally coupled to and spaced from a bar of the hand controller to effect a pinching motion, the lever including a finger ring configured to receive and engage a user's index finger such that movement of the index finger toward the bar causes the finger ring and thereby the lever to move toward the bar to effect the pinching motion.

10. A console for controlling at least one mechanical arm assembly to perform a medical activity, the console comprising:
a hand controller configured to be operated by a user and operatively coupled to the mechanical arm assembly, the mechanical arm assembly comprising a plurality of mechanical arms, the hand controller configured to control a first one of the plurality of mechanical arms;
a position sensing device configured to sense a presence of a hand of the user on the hand controller for preventing accidental movement of the plurality of mechanical arms;
a clutch mechanism configured to allow a movement of the hand controller to re-center the hand controller without a corresponding movement of any one of the plurality of mechanical arms; and
a force feedback device operatively coupled to the hand controller, the force feedback device configured to receive a signal associated with a movement of the first one of the plurality of mechanical arms in a plurality of degrees of freedom and generate force feedback corresponding to the movement at the hand controller based on the signal.

11. The console according to claim 10 , wherein a medical tool is mounted at a distal end of each of the plurality of mechanical arms.

12. The console according to claim 11 , wherein each medical tool comprises at least one of forceps, scissors, a needle driver, and an imaging device.

13. The console according to claim 11 , wherein the medical tool comprises one or more sensors, the one or more sensors configured to sense a force acting on the medical tool, the signal being based on the force acting on the medical tool of the first one of the plurality of mechanical arms.

14. The console according to claim 10 , wherein the plurality of mechanical arms comprises one or more sensors, the one or more sensors configured to sense a force acting on the plurality of mechanical arms, the signal being based on the force acting on the first one of the plurality of mechanical arms.

15. The console according to claim 10 , wherein the hand controller is configured to be operated ambidextrously.

16. The console according to claim 10 , wherein the hand controller is dimensioned to be held by multiple users having at least one of a different hand size, different palm size and different finger size.

17. The console according to claim 10 , wherein the force feedback generated at the hand controller is a tactile force feedback.

18. The console according to claim 10 , wherein the force feedback generated is such that the user is capable of operating the hand controller based on the force feedback generated to control the first one of the plurality of mechanical arms.

19. The console according to claim 10 , further comprising a lever pivotally coupled to and spaced from a bar of the hand controller to effect a pinching motion, the lever including a finger ring configured to receive and engage a user's index finger such that movement of the index finger toward the bar causes the finger ring and thereby the lever to move toward the bar to effect the pinching motion.

20. A method for performing a medical activity, the method comprising:
receiving a signal associated with a movement of a mechanical arm, the signal received by a force feedback device, the mechanical arm configured to move in a plurality of degrees of freedom;
generating a force feedback at a hand controller based on the signal by the force feedback device, the force feedback being generated in one or more of the plurality of degrees of freedom; and
enabling a user to operate the hand controller based on the force feedback generated to control the mechanical arm to perform the medical activity, wherein enabling comprises sensing a presence of a hand of the user on the hand controller using a position sensing device for preventing accidental movement of the mechanical arm, and wherein enabling comprises allowing a movement of the hand controller, in response to the use of a clutch mechanism, to re-center the hand controller without a corresponding movement of the mechanical arm.

21. The method according to claim 20 , further comprising selectively actuating a lever pivotally coupled to and spaced from a bar of the hand controller to effect a pinching motion, the lever including a finger ring configured to receive and engage a user's index finger such that movement of the index finger toward the bar causes the finger ring and thereby the lever to move toward the bar to effect the pinching motion.

Assignees

• Titan Med Inc

Inventors

• Schaible Uwe
• Brocilo Drazena
• Harmen John

Classifications

• G05B2219/35419

  Four and more-DOF hand controller, joystick, manipulandum · CPC title

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title

• G05B2219/40144

  Force sensation feedback from follower · CPC title

• A61B34/76

  Manipulators having means for providing feel, e.g. force or tactile feedback · CPC title

• A61B34/37

  Leader-follower robots (A61B34/35 takes precedence) · CPC title