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US 12,213,755 B2Granted
Actuated grips for controller
AssigneeIntuitive Surgical Operations, Inc.
InventorsMatthew Cavalier, Brian Luptak, Gregory W. Dachs, II
Life of this patent
Estimating the term…
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.
Claims20
A controller comprising:
- a central member having a central axis;
- a grip member rotatably coupled to the central member, wherein the grip member is rotatable in a grip degree of freedom about an axis different than the central axis;
- a shaft coupled to the grip member;
- and
- an actuator coupled to the shaft and operative to output actuator forces to the shaft, wherein the actuator forces are output based on control signals received by the actuator and the actuator forces are transmitted via the shaft to the grip member in the grip degree of freedom.
2 more elements
A method comprising:
- sensing, with one or more sensors, one or more positions of a grip member of a controller in a grip degree of freedom of the grip member about a grip axis, the grip member rotatably coupled to a central member and to a shaft of the controller, the central member having a central axis different than the grip axis, wherein the one or more positions are used to control movement of an end effector of a device in communication with the controller;
- and
- applying forces to the grip member by controlling an actuator coupled to the shaft to output the actuator forces to the shaft, wherein the actuator forces are transmitted via the shaft to the grip member in the grip degree of freedom by sending control signals to the actuator.
Dependencies are inferred from the claim text.