Robotic hand controller

Patent metadata

Field	Value
Publication number	US-10993774-B2
Application number	US-201916432231-A
Country	US
Kind code	B2
Filing date	Jun 5, 2019
Priority date	Aug 22, 2008
Publication date	May 4, 2021
Grant date	May 4, 2021

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 hand controller for controlling an end-effector of a surgical tool in a robotic surgical system, comprising:
a support bar that has an upper portion that extends along a first axis;
a finger support member movably coupled to the support bar and configured to support an index finger of a user, the finger support member having a ring configured to receive at least a portion of the index finger therein, the ring defined about a second axis that extends generally in a same direction as the first axis; and
a clutch actuator disposed on or in the support bar, the clutch actuator selectively actuatable by the user to enable movement of the hand controller without corresponding movement of the surgical tool,
wherein the finger support member is configured to be moved toward the support bar by the index finger of the user and relative to a thumb of the user's hand to simulate a pinching motion to effect a pinching or grasping operation with the surgical tool.

2. The hand controller of claim 1 , wherein the clutch actuator is positioned such that it is selectively actuatable with a second finger of the user different than the index finger.

3. The hand controller of claim 1 , wherein the support bar is configured to be gripped by the user's hand.

4. The hand controller of claim 1 , wherein the clutch actuator is a button.

5. The hand controller of claim 1 , further comprising one or more sensors configured to sense a presence of at least a portion of the user's hand.

6. The hand controller of claim 1 , further comprising a button actuatable to switch association of the hand controller between different robotic arms of the robotic surgical system.

7. The hand controller of claim 1 , further comprising one or more force feedback actuators configured to provide force feedback to the user.

8. The hand controller of claim 7 , wherein the one or more force feedback actuators provide a tactile force feedback configured to convey a textural effect.

9. The hand controller of claim 7 , wherein the one or more force feedback actuators provide force feedback to the user via the finger support member.

10. The hand controller of claim 7 , wherein the one or more force feedback actuators are vibration motors that provide vibration feedback to the user.

11. The hand controller of claim 10 , wherein the one or more vibration motors are operable to provide a vibration sufficient to allow the user to interpolate a pressure being applied by an end-effector operated by the hand controller.

12. The hand controller of claim 1 , wherein at least a portion of the finger support member is spaced apart from the support bar and movable relative to the support bar.

13. A hand controller for controlling an end-effector of a surgical tool in a robotic surgical system, comprising:
a support bar that has an upper portion that extends along a first axis;
a finger support member movably coupled to the support bar and configured to at least partially support an index finger of a user via a slot thereof configured to receive at least a portion of the index finger, the slot defined about a second axis that extends generally in a same direction as the first axis; and
a clutch actuator disposed on or in the support bar, the clutch actuator selectively actuatable by the user to enable movement of the hand controller without corresponding movement of the end-effector,
wherein the finger support member is configured to be moved toward the support bar by the index finger of the user and relative to a thumb of the user's hand to simulate a pinching motion to effect a pinching or grasping operation with the surgical tool.

14. The hand controller of claim 13 , wherein the slot is defined by a ring into which at least a portion of the index finger of the user is received.

15. The hand controller of claim 13 , wherein the clutch actuator is a button.

16. The hand controller of claim 13 , further comprising a button actuatable to switch association of the hand controller between different robotic arms of the robotic surgical system.

17. The hand controller of claim 13 , further comprising one or more force feedback actuators configured to provide force feedback to the user.

18. The hand controller of claim 17 , wherein the one or more force feedback actuators are one or more vibration motors operable to provide a tactile force feedback to the user.

19. The hand controller of claim 17 , wherein the one or more force feedback actuators provide force feedback to the user via the slot.

20. The hand controller of claim 13 , wherein at least a portion of the finger support member is spaced apart from the support bar and movable relative to the support bar.

Assignees

• Titan Med Inc

Inventors

• Schaible Uwe
• Brocilo Drazena
• Harmen John

Classifications

• B25J9/1689 Primary

  Teleoperation · CPC title

• A61B90/50

  Supports for surgical instruments, e.g. articulated arms · CPC title

• G05B2219/39439

  Joystick, handle, lever controls manipulator directly, manually by operator · CPC title

• A61B34/74

  Manipulators with manual electric input means · CPC title

• B25J9/1633

  compliant, force, torque control, e.g. combined with position control · CPC title