Robotic hand controller

Patent metadata

Field	Value
Publication number	US-11166771-B2
Application number	US-202117301710-A
Country	US
Kind code	B2
Filing date	Apr 12, 2021
Priority date	Aug 22, 2008
Publication date	Nov 9, 2021
Grant date	Nov 9, 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 contoured support bar configured to receive a user's hand thereon so that a thumb of the user's hand extends over a medial side of the support bar, an index finger of the user's hand extends relative to a lateral side of the support bar, and a palm of the user's hand between the thumb and index finger extends about a contoured rear surface of the support bar that joins the medial and lateral sides of the support bar; and
a lever movably coupled to the lateral side of the support bar, the lever having a ring configured to receive at least a portion of the index finger,
wherein the lever is configured to be moved toward the support bar by the index finger and relative to the thumb to simulate a pinching motion to effect a pinching, grasping or cutting operation with the surgical tool.

2. The hand controller of claim 1 , further comprising 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.

3. The hand controller of claim 1 , further comprising a control button on the medial side of the support bar and configured to be actuated by the thumb of the user's hand.

4. 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.

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

6. The hand controller of claim 5 , wherein the one or more force feedback actuators provide a tactile force feedback configured to convey a textural effect.

7. The hand controller of claim 5 , wherein the one or more force feedback actuators provide force feedback to the user via the lever.

8. The hand controller of claim 5 , wherein the one or more force feedback actuators are vibration motors that provide vibration feedback to the user.

9. The hand controller of claim 8 , 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.

10. 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.

11. A hand controller for controlling an end-effector of a surgical tool in a robotic surgical system, comprising:
a contoured support bar configured to receive a user's hand thereon so that a thumb of the user's hand extends over a medial side of the support bar, an index finger of the user's hand extends relative to a lateral side of the support bar, and a palm of the user's hand between the thumb and index finger extends about a contoured rear surface of the support bar that joins the medial and lateral sides of the support bar; and
an elongate lever pivotally coupled to the lateral side of the support bar, the elongate lever having a ring configured to receive at least a portion of the index finger,
wherein the elongate lever is configured to be pivoted toward the support bar by the index finger and relative to the thumb to simulate a pinching motion to effect a pinching, grasping or cutting operation with the surgical tool.

12. The hand controller of claim 11 , further comprising 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.

13. The hand controller of claim 11 , further comprising a control button on the medial side of the support bar and configured to be actuated by the thumb of the user's hand.

14. The hand controller of claim 11 , further comprising one or more sensors configured to sense a presence of at least a portion of the user's hand.

15. The hand controller of claim 11 , further comprising one or more force feedback actuators configured to provide force feedback to the user.

16. The hand controller of claim 15 , wherein the one or more force feedback actuators provide a tactile force feedback configured to convey a textural effect.

17. The hand controller of claim 16 , wherein the one or more force feedback actuators provide force feedback to the user via the elongate lever.

18. The hand controller of claim 16 , wherein the one or more force feedback actuators are vibration motors that provide vibration feedback to the user.

19. The hand controller of claim 18 , 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.

20. The hand controller of claim 11 , further comprising a button actuatable to switch association of the hand controller between different robotic arms of the robotic surgical system.

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

• G05B2219/45117

  Medical, radio surgery manipulator · CPC title

• G05B2219/35419

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

• G05B2219/39439

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