# US 12,213,755 B2 · Actuated grips for controller

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- Number: US 12,213,755 B2
- Document ID: US12213755B2
- Status: Granted
- Kind: B2
- Application number: 18/189,651
- Filed: 2023-03-24
- Published: 2023-08-03
- Granted: 2025-02-04
- Earliest claimed: 2016-12-15
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Matthew Cavalier; Brian Luptak; Gregory W. Dachs, II
- Web page: https://patentgrep.com/patent/US12213755B2

## CPC

- A61B 34/00: Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B 34/35: for telesurgery
- A61B 34/32: operating autonomously
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- B25J 9/1689: {Teleoperation}
- B25J 13/02: 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)}
- A61B 34/74: {Manipulators with manual electric input means}
- A61B 2034/2059: {Mechanical position encoders}
- A61B 2034/742: {Joysticks}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The controller of claim 1, wherein the shaft extends parallel to the central axis.

### Claim 3 (depends on 1)

The controller of claim 1, wherein movement of the grip member in the grip degree of freedom includes movement of at least a portion of the grip member toward or away from the central member.

### Claim 4 (depends on 1)

The controller of claim 1, 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.

### Claim 5 (depends on 1)

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

### Claim 6 (depends on 1)

The controller of claim 1, wherein the actuator is a linear actuator and the actuator forces are linear forces output to the shaft along a longitudinal axis of the shaft.

### Claim 7 (depends on 1)

The controller of claim 1, wherein the actuator is a rotary actuator and the actuator forces are rotational forces that are converted to linear forces applied along a longitudinal axis of the shaft.

### Claim 8 (depends on 7)

The controller of claim 7, further comprising a transmission coupled between the rotary actuator and the shaft, wherein the transmission includes one of:
a ballscrew mechanism; or
a crank and a linkage, the crank coupled to the actuator, the linkage including two rotatably linked members and coupled between the crank and the shaft.

### Claim 9 (depends on 1)

The controller of claim 1, wherein the grip member is a first grip member, the grip degree of freedom is a first grip degree of freedom, and the axis is a first axis, and further comprising:
a second grip member coupled to the central member and to the shaft, wherein the second grip member is rotatable in a second grip degree of freedom about a second axis different than the central axis.

### Claim 10 (depends on 9)

The controller of claim 9, 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.

### Claim 11 (depends on 9)

The controller of claim 9, 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.

### Claim 12 (depends on 11)

The controller of claim 11, 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.

### Claim 13 (depends on 1)

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.

### Claim 14 (depends on 1)

The controller of claim 1, wherein the grip degree of freedom is a first grip degree of freedom, and wherein the grip member has a second grip degree of freedom different than the first grip degree of freedom.

### Claim 15 (depends on 14)

The controller of claim 14, wherein the second grip degree of freedom includes rotation of the grip member and the central member about a longitudinal axis of the shaft.

### Claim 16 (depends on 15)

The controller of claim 15, wherein the actuator is a first actuator, and the controller further comprises:
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 second grip degree of freedom about the longitudinal axis of the shaft.

### Claim 17

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.

### Claim 18 (depends on 17)

The method of claim 17, wherein the shaft extends parallel to the central axis, and wherein the one or more positions of the grip member in the grip degree of freedom are included in movement of at least a portion of the grip member toward or away from the central member.

### Claim 19 (depends on 17)

The method of claim 17, wherein the grip member is a first grip member and the controller further includes a second grip member rotatably coupled to the central member and to the shaft, wherein the first grip member and second grip member are provided in a pincher configuration and are movable simultaneously toward each other or away from each other.

### Claim 20 (depends on 17)

The method of claim 17, wherein the grip member is a first grip member, the grip degree of freedom is a first grip degree of freedom, and the grip axis is a first grip axis, wherein the controller further includes a second grip member coupled to the central member and to the shaft, wherein the second grip member is rotatable in a second grip degree of freedom about a second grip axis different than the central axis.