Variable sweeping for input devices

Patent metadata

Field	Value
Publication number	US-2018296286-A1
Application number	US-201615766929-A
Country	US
Kind code	A1
Filing date	Oct 20, 2016
Priority date	Oct 22, 2015
Publication date	Oct 18, 2018
Grant date	—

Abstract

A method for controlling a robotic tool of a robotic surgical system includes pivoting a first control arm of a controller of a user interface of the robotic surgical system with respect to a shaft of the controller and moving a first jaw of the robotic tool of the robotic surgical system a first distance in a first direction relative to a tool axis defined by the robotic tool and moving a second jaw of the robotic tool in response to the pivoting of the first control arm. The second jaw moves the first distance in a second direction opposite the first direction.

First claim

What is claimed:

1 . A method of controlling a robotic tool of a robotic surgical system, the method comprising:
pivoting a first control arm of a controller of a user interface of the robotic surgical system with respect to a shaft of the controller; and moving a first jaw of a robotic tool of the robotic surgical system a first distance in a first direction relative to a tool axis defined by the robotic tool and moving a second jaw of the robotic tool, the first distance, in a second direction opposite the first direction in response to the pivoting of the first control arm.

2 . The method according to claim 1 , further comprising transmitting a signal in response to pivoting of the first control arm.

3 . The method according to claim 2 , further comprising:
generating a control signal within a processing unit in response to receiving the signal indicative of pivoting the first control arm; and transmitting the control signal to a robotic system to move the first jaw in the first direction and to move the second jaw in the second direction.

4 . The method according to claim 1 , wherein pivoting the first control arm with respect to the shaft of the controller includes maintaining a second control arm of the controller in position with respect to the shaft.

5 . The method according to claim 1 , wherein pivoting the first control arm with respect to the shaft of the controller includes pivoting a second control arm of the controller with respect to the shaft, the first control arm and the second control arm defining an arm angle therebetween, and wherein moving the first jaw the first distance and moving the second jaw the second distance is proportional to a change in the arm angle in response to moving the first and second control arms.

6 . The method according to claim 1 , wherein pivoting the first control arm with respect to the shaft includes depressing a switch to actuate a function of the robotic tool.

7 . The method according to claim 6 , wherein actuating a function of the robotic tool includes at least one of ejecting a staple from one of the first or second jaws, delivering electrosurgical energy with the tool, or advancing a knife of the tool.

8 . The method according to claim 6 , wherein pivoting the first control arm with respect to the shaft includes receiving tactile feedback in response to abutting the switch before depressing the switch to actuate a function of the tool.

9 . A robotic surgical system comprising:
a processing unit; a robotic system in communication with the processing unit and including a robotic tool supported on a shaft that defines a longitudinal tool axis, the robotic tool having first and second jaws moveable relative to one another between an open configuration and an approximated configuration, the first jaw defining a first jaw angle relative to the longitudinal tool axis and the second jaw defining a second jaw angle relative to the longitudinal tool axis; a user interface including a controller and being in communication with the processing unit to manipulate the robotic tool of the robotic system in response to manipulation of the controller, the controller having a controller shaft, a first control arm, and a second control arm, the first and second control arms pivotally coupled to an end of the shaft, the first control arm defining a first arm angle with the controller shaft and the second control arm defining a second arm angle with the control shaft, the first and second control arms each pivotable between an open position and an approximated position relative to the shaft, wherein a sum of the first and second arm angles is operatively associated with a sum of the first and second jaw angles such that the first and second jaw angles remain equal to one another.

10 . The robotic surgical system according to claim 9 , wherein the first and second jaws each pivot relative to one another in response to movement of the first arm.

11 . The robotic surgical system according to claim 9 , wherein the first and second jaws each pivot relative to one another in response to movement of the second arm.

12 . The robotic surgical system according to claim 9 , wherein the first and second jaws remain stationary in response to a change in the first arm angle and a change in the second arm angle.

13 . The robotic surgical system according to claim 12 , wherein the change in the first arm angle is a decrease in the first arm angle and the change in the second arm angle is an increase in the second arm angle.

14 . The robotic surgical system according to claim 13 , wherein the decrease in the first arm angle is equal to the increase in the second arm angle.

15 . The robotic surgical system according to claim 9 , wherein the controller includes a first button positioned between the first arm and the control shaft and a second button positioned between the second arm and the control shaft, and wherein the robotic system is configured to actuate a function of the robotic tool when the first and second buttons are depressed.

16 . The robotic surgical system according to claim 15 , wherein the first and second buttons are disposed on the control shaft.

17 . The robotic surgical system according to claim 16 , wherein at least one of the first and second buttons are configured to provide tactile feedback when the first and second control arms engage the first and second buttons, respectively.

18 . The robotic surgical system according to claim 15 , wherein the first button is disposed on the first arm and the second button is disposed on the second arm.

19 . The robotic surgical system according to claim 18 , wherein at least one of the first and second buttons are configured to provide tactile feedback when the first and second buttons engage the control shaft.

Assignees

• Covidien Lp

Inventors

• Peine William
• Farlow Jared
• Blanco Matthew

Classifications

• A61B34/35

  for telesurgery · CPC title

• A61B18/1442

  Probes having pivoting end effectors, e.g. forceps · CPC title

• A61B34/76

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

• A61B34/37 Primary

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

• A61B34/73

  Manipulators for magnetic surgery · CPC title