Haptic feedback controls for a robotic surgical system interface
AssigneeCovidien LP
InventorsPeter Vokrot, William Peine, Matthew Blanco
Life of this patent
Estimating the term…
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.
Claims18
A gimbal for a surgical robotic system, the gimbal comprising:
- 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.
A gimbal for a surgical robotic system, the gimbal comprising:
- 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.
A method of controlling a robotic surgical system with haptic feedback comprising:
- manipulating an input device coupled to a gimbal of a user interface of the robotic surgical system to manipulate a tool of a robot system of the robotic surgical system;
- receiving a feedback signal from a processing unit of the robotic surgical system with a vibration controller, the vibration controller in communication with a vibration assembly mounted to the gimbal of the user interface;
- and
- oscillating the vibration assembly in response to the feedback signal to vibrate the gimbal to provide an indication of a condition of the robotic surgical system, wherein the oscillating of the vibration assembly in response to the feedback signal includes vibrating the gimbal in a first manner in response to a first condition of the robotic surgical system and vibrating the gimbal in a second manner in response to a second condition of the robotic surgical system, the second manner different from the first manner.
Dependencies are inferred from the claim text.