Actuated grips for controller

Patent metadata

Field	Value
Publication number	US-11633246-B2
Application number	US-201716470114-A
Country	US
Kind code	B2
Filing date	Dec 14, 2017
Priority date	Dec 15, 2016
Publication date	Apr 25, 2023
Grant date	Apr 25, 2023

Abstract

Implementations relate to actuated grips for a controller. In some implementations, a controller includes a central member, a grip member coupled to the central member and moveable in a grip degree of freedom, a shaft coupled to the grip member, and an actuator coupled to the shaft and operative to output an actuator force on the shaft. The actuator force causes a grip force to be applied via the shaft to the grip member in the grip degree of freedom.

First claim

What is claimed is:

1. A controller comprising:
a central member;
a grip member coupled to the central member and moveable in a grip degree of freedom;
a shaft coupled to the grip member;
an actuator coupled to the shaft and operative to output actuator forces to the shaft, wherein the actuator is a rotary actuator and the actuator forces are rotational forces, wherein the actuator forces are output based on control signals received by the actuator; and
a transmission coupled between the rotary actuator and the shaft, wherein the transmission comprises a mechanism configured to convert the rotational forces to linear forces applied along a longitudinal axis of the shaft,
wherein the actuator forces are transmitted via the shaft to the grip member in the grip degree of freedom, and the shaft is decoupled in rotation from the actuator.

2. The controller of claim 1 wherein the grip degree of freedom is a rotary degree of freedom, and wherein the shaft is coupled to the grip member via at least one rotary coupling such that the grip member is rotatable relative to the shaft.

3. The controller of claim 1 wherein the actuator is a motor or voice coil that outputs the actuator forces.

4. The controller of claim 1 wherein the transmission includes one of:
a ballscrew mechanism; and
a crank and a linkage, the crank coupled to the actuator, the linkage coupled between the crank and the shaft.

5. The controller of claim 1 wherein the transmission includes a capstan drum coupled to the actuator and a carriage coupled to the shaft, wherein the capstan drum is coupled to the carriage by a cable.

6. The controller of claim 1 wherein the grip member is a first grip member and the grip degree of freedom is a first grip degree of freedom, and further comprising:
a second grip member coupled to the central member and to the shaft, wherein the second grip member is moveable in a second grip degree of freedom.

7. The controller of claim 6 wherein the actuator forces are transmitted via the shaft to the first grip member in the first grip degree of freedom and to the second grip member in the second grip degree of freedom.

8. The controller of claim 6 wherein the first and second grip members are coupled to the shaft by one or more link members, and wherein the one or more link members are configured to cause the first and second grip members to simultaneously move in the first and second grip degrees of freedom, respectively, in directions toward each other or away from each other.

9. The controller of claim 8 wherein the one or more link members include:
a first link member having a first rotary coupling between a first end of the first link member and the shaft and having a second rotary coupling between a second end of the first link member and the first grip member, and
a second link member having a first rotary coupling between a first end of the second link member and the shaft and having a second rotary coupling between a second end of the second link member and the second grip member.

10. The controller of claim 9 ,
wherein the first link member and the second link member each rotate in a respective plane of two parallel planes,
wherein the first end of the first link member is coupled to the shaft at a first location of the shaft that is spaced farther from the first grip member than a second location of the shaft, and
wherein the first end of the second link member is coupled to the shaft at the second location of the shaft that is spaced farther from the second grip member than the first location of the shaft.

11. The controller of claim 1 wherein the actuator is a first actuator, the shaft is a first shaft, the actuator forces are first actuator forces, and the grip degree of freedom is a first grip degree of freedom, the controller further comprising:
a second grip member coupled to the central member, wherein the second grip member is moveable in a second grip degree of freedom;
a second shaft coupled to the second grip member; and
a second actuator coupled to the second shaft and operative to output second actuator forces to the second shaft, wherein the second actuator forces are transmitted via the second shaft to the second grip member in the second grip degree of freedom.

12. The controller of claim 1 further comprising a spring coupled between one end of the shaft and the central member, wherein the spring is configured to compress in response to the grip member moving in a first direction in the grip degree of freedom and decompress in response to the grip member moving in a second direction in the grip degree of freedom.

13. The controller of claim 1 wherein the grip member has an additional grip degree of freedom, wherein the additional grip degree of freedom includes rotation of the grip member and the central member about a longitudinal axis of the shaft, and wherein the actuator is a first actuator, the controller further comprising:
a second actuator coupled to the central member and operative to output second actuator forces to cause the rotation of the grip member and the central member in the additional grip degree of freedom about the longitudinal axis of the shaft,
wherein the rotation in the additional grip degree of freedom is decoupled in rotation from the first actuator.

14. A method comprising:
sensing, with one or more sensors, one or more positions of one or more grip members of a controller in one or more respective grip degrees of freedom of the one or more grip members, the one or more grip members coupled to a central member and to a shaft of the controller, wherein the one or more positions are used to control movement of an end effector of a slave device in communication with the controller; and
applying forces to the one or more grip members by controlling one or more actuators coupled to the shaft to output the forces to the shaft, wherein the forces are output in the respective grip degrees of freedom of the one or more grip members by sending control signals to the one or more actuators, and wherein the forces are applied based on at least one force profile associated with a type of the end effector controlled by the one or more grip members,
wherein the one or more actuators are one or more rotary actuators and the forces are rotational forces,
wherein a transmission coupled between the one or more actuators and the shaft comprises a mechanism that converts the rotational forces to linear forces applied to the shaft along a longitudinal axis of the shaft, and
wherein the forces are transmitted via the shaft to the one or more grip members in the one or more grip degrees of freedom, and the shaft is decoupled in rotation from the one or more actuators.

15. The method of claim 14 wherein at least one of the one or more respective grip degrees of freedom of the one or more grip members is a rotary degree of freedom.

16. The method of claim 14 wherein the one or more grip members are two grip members provided in a pincher configuration, wherein the two grip members move simultaneously toward each other or away from each other.

17. The method of claim 14 wherein the one or more actuators include at least one motor or at least one voice coil.

18. The method of claim 14 further comprising selecting the at least one force profile from a plurality of force profiles associated with a plurality of types of end effectors usable with the slave device, wherein each of the plurality of force profiles indicates a different respective set of forces to be output by providing associated respective control

Assignees

• Intuitive Surgical Operations

Inventors

• Cavalier Matthew
• Luptak Brian
• Dachs Ii Gregory W

Classifications

• A61B34/76

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

• A61B34/74

  Manipulators with manual electric input means · CPC title

• B25J13/02

  Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} · CPC title

• A61B2034/2059

  Mechanical position encoders · CPC title

• A61B34/37

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