US 10,743,949 B2Granted

Methods, systems, and devices relating to force control surgical systems

AssigneeBoard of Regents of the University of Nebraska

InventorsShane Farritor, Tom Frederick, Kearney Lackas, Joe Bartels, Jacob Greenburg

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Abstract

The various embodiments herein relate to robotic surgical systems and devices that use force and/or torque sensors to measure forces applied at various components of the system or device. Certain implementations include robotic surgical devices having one or more force/torque sensors that detect or measure one or more forces applied at or on one or more arms. Other embodiments relate to systems having a robotic surgical device that has one or more sensors and an external controller that has one or more motors such that the sensors transmit information that is used at the controller to actuate the motors to provide haptic feedback to a user.

Claims20

Dependent claims

A robotic surgical system comprising:

(a) a robotic surgical device comprising:
(i) a device body configured to be positioned through an incision into a cavity of a patient;
(ii) a first shoulder component operably coupled to the device body;
(iii) a first arm operably coupled to the first shoulder component, wherein the first arm is configured to be positioned entirely within the cavity of the patient;
and
(iv) a sensor operably coupled to the device;
(b) a processor operably coupled to the sensor;
and
(c) a user controller operably coupled to the processor, the user controller comprising:
(i) a base;
(ii) a controller upper arm component operably coupled to the base at a shoulder joint;
(iii) a controller forearm component operably coupled to the controller upper arm component at an elbow joint;
(iv) a grasper operably coupled to the controller forearm component at a wrist joint;
and
(v) at least one actuator operably coupled to the processor,
wherein the sensor is configured to sense force or torque at the robotic surgical device and transmit force or torque information to the processor, and
wherein the processor is configured to calculate the force or torque being applied at the robotic surgical device and transmit instructions to actuate at least one of the at least one actuator based on the force or torque, thereby providing haptic feedback at the controller.

14 more elements

A robotic surgical system comprising:

(a) a robotic surgical device comprising:
(i) a device body configured to be positioned through an incision into a cavity of a patient;
(ii) a first arm operably coupled to the device body, the first arm comprising an arm actuator disposed within the first arm, wherein the first arm is configured to be positioned entirely within the cavity of the patient;
(iii) a sensor operably coupled to the arm actuator;
and
(iv) an end effector operably coupled to the arm actuator, the end effector positioned at a distal end of the first arm;
(b) a processor operably coupled to the sensor;
and
(c) a user controller operably coupled to the processor, the user controller comprising:
(i) a base;
(ii) a controller upper arm component operably coupled to the base at a shoulder joint;
(iii) a controller forearm component operably coupled to the forearm upper arm component at an elbow joint;
(iv) a controller grasper operably coupled to the controller forearm component at a wrist joint;
and
(v) at least one actuator operably coupled to the processor,
wherein the sensor is configured to sense force or torque at the robotic surgical device and transmit force or torque information to the processor,
wherein the processor is configured to calculate the force or torque being applied at the robotic surgical device and transmit instructions to actuate at least one of the at least one actuator based on the force or torque, thereby providing haptic feedback at the controller.

14 more elements

Dependencies are inferred from the claim text.

Facts

Application: 15/894,489Filed 12 Feb 2018 · continuation
Priority: 14 Mar 2013
Published: US 2018/0161115 A114 Jun 2018
Granted: 18 Aug 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification17 codes

A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 34/76
Manipulators specially adapted for use in surgery: manipulators having means for providing feel, e.g. force or tactile feedback
B25J 9/1602
Program controls: characterised by the control system, structure, architecture
B25J 9/1633
Characterised by the control loop: compliant, force, torque control, e.g. combined with position control

Family

Application61/781,594Us provisional application · filed 14 Mar 2013
Application14/210,934Parent of this continuation · filed 14 Mar 2014
US 2018/0161115 A1Pre-grant publication · published 14 Jun 2018
US 9,888,966 B2Parent of this continuation
US 2014/0371762 A1Published application
US 10,743,949 B2This patent

From the US filing history. Foreign family members aren’t listed.