Haptic feedback controls for a robotic surgical system interface

Patent metadata

Field	Value
Publication number	US-10835336-B2
Application number	US-201916717235-A
Country	US
Kind code	B2
Filing date	Dec 17, 2019
Priority date	Oct 30, 2015
Publication date	Nov 17, 2020
Grant date	Nov 17, 2020

Abstract

A gimbal for a robotic surgical system includes a support link, an input link, and a vibration assembly. The input link extends from the support link and the vibration assembly is mounted to the support link. The vibration assembly includes a central support, an end cap, and a voice coil. The end cap is moveable relative to the central support. The voice coil has an inner member that is fixed to the central support and an outer member that is fixed to the end cap. The voice coil is configured to vibrate the gimbal in response to a voltage being applied to one of the inner or outer members.

First claim

What is claimed:

1. A surgeon user interface for a surgical robotic system, the surgeon user interface comprising:
a gimbal, including:
at least one support link;
an input link extending from the at least one support link; and
a vibration assembly mounted to the at least one support link, the vibration assembly including:
a central support including a central portion and a flange extending radially from the central portion;
an end cap moveable relative to the central support; and
a voice coil having an inner member fixed to the central support and an outer member fixed to the end cap, the voice coil configured to vibrate the gimbal in response to a voltage being applied to one of the inner or outer members.

2. The surgeon user interface according to claim 1 , wherein the vibration assembly includes an inner plate positioned about the central portion of the central support with the flange of the central portion positioned between the end cap and the inner plate.

3. The surgeon user interface according to claim 2 , wherein the inner plate and the end cap of the vibration assembly are made from a non-magnetic metal.

4. The surgeon user interface according to claim 2 , wherein the inner plate and the end cap of the vibration assembly are made from a plastic.

5. The surgeon user interface according to claim 2 , wherein the inner plate of the vibration assembly is fixed relative to the end cap.

6. The surgeon user interface according to claim 2 , wherein the vibration assembly includes a first dampening ring positioned between the end cap and the flange of the central portion.

7. The surgeon user interface according to claim 6 , wherein the first dampening ring of the vibration assembly is positioned about the outer member of the voice coil.

8. The surgeon user interface according to claim 6 , wherein the first dampening ring of the vibration assembly is bonded to the end cap and to the flange.

9. The surgeon user interface according to claim 6 , wherein the vibration assembly includes a second dampening ring positioned between the flange of the central portion and the inner plate.

10. The surgeon user interface according to claim 9 , wherein the second dampening ring of the vibration assembly is positioned about the inner member of the voice coil.

11. The surgeon user interface according to claim 9 , wherein the second dampening ring of the vibration assembly is bonded to the flange and to the inner plate.

12. The surgeon user interface according to claim 9 , wherein the first and second dampening rings of the vibration assembly are made from an elastomeric material.

13. A user interface for a surgical robotic system, the user interface comprising:
a gimbal including:
at least one support link;
an input link extending from the at least one support link; and
a vibration assembly mounted to the at least one support link, the vibration assembly including:
a central support;
an end cap moveable relative to the central support; and
a voice coil having an inner member fixed to the central support and an outer member fixed to the end cap, the voice coil configured to vibrate the gimbal in response to a voltage being applied to one of the inner or outer members, wherein the inner member of the voice coil includes a conductive coil and the outer member of the voice coil is a magnet.

14. The user interface according to claim 13 , wherein the outer member of the vibration assembly:
moves in a first direction relative to the inner member thereof when a first voltage is applied to the conductive coil; and
moves in a second direction opposite the first direction when a second voltage is applied to the conductive coil.

15. The user interface according to claim 13 , wherein the first voltage is a positive voltage and the second voltage is a negative voltage.

Assignees

• Covidien Lp

Inventors

• Vokrot Peter
• Peine William
• Blanco Matthew

Classifications

• B25J3/04

  involving servo mechanisms (servo-actuated heads B25J15/02) · CPC title

• G05G2009/04766

  providing feel, e.g. indexing means, means to create counterforce · CPC title

• B25J13/025

  comprising haptic means · CPC title

• A61B34/37

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

• G06F3/0346

  with detection of the device orientation or free movement in a three-dimensional [3D] space, e.g. 3D mice, 6-DOF [six degrees of freedom] pointers using gyroscopes, accelerometers or tilt-sensors · CPC title