# US 12,213,758 B2 · Orientation of user-input devices for controlling surgical arms

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- Number: US 12,213,758 B2
- Document ID: US12213758B2
- Status: Granted
- Kind: B2
- Application number: 17/782,153
- Filed: 2020-12-04
- Published: 2023-01-05
- Granted: 2025-02-04
- Earliest claimed: 2019-12-05
- Assignees: Momentis Surgical Ltd
- Applicants: Memic Innovative Surgery Ltd.
- Inventors: Dvir Cohen; Yaron Levinson
- Web page: https://patentgrep.com/patent/US12213758B2

## CPC

- A61B 34/74: {Manipulators with manual electric input means}
- A61B 34/30: Surgical robots
- 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}
- A61B 90/50: Supports for surgical instruments, e.g. articulated arms
- B25J 3/04: involving servo mechanisms (servo-actuated heads B25J15/02)
- B25J 9/1689: {Teleoperation}
- B25J 13/025: {comprising haptic means}
- B25J 18/06: flexible
- A61B 2017/00017: {Electrical control of surgical instruments}
- A61B 2017/00398: {using powered actuators, e.g. stepper motors, solenoids}
- A61B 2017/0046: {with a releasable handle; with handle and operating part separable}
- A61B 2034/2061: {using shape-sensors, e.g. fiber shape sensors with Bragg gratings}
- A61B 2034/306: {Wrists with multiple vertebrae}
- A61B 2034/742: {Joysticks}
- G05B 2219/45119: Telesurgery with local assistent, voice communication
- 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})
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)

## Abstract

A surgical system comprises an articulated mechanical arm comprising arm segments connected serially by arm joints that flex and rotate, and first and second input-devices. The second input-device comprises a handle configurable to be oriented in any orientation in an x-y-z space, and the handle comprises segment members and joint members corresponding to the arm segments and arm joints of the arm. The arm joints can be actuatable by, and have the same degrees of freedom as, the handle joint member. A method of using the surgical system includes retroflecting the arm, transitioning control of the arm from the first input device to the second input device, and performing a surgical action, during which a displacement vector or a reorientation arc of the handle member through the x-y-z space is translated to a corresponding displacement vector or corresponding reorientation arc of the end effector in the same x-y-z space.

## Claims

### Claim 1

A method of operating a surgical system that comprises (i) an articulated mechanical arm having a surgical end effector at a distal end thereof, the arm comprising a plurality of arm joints having respective degrees of freedom, and (ii) an input-device array of one or more user-input devices configured to control flexing and rotating of arm joints, the method comprising:
a. in response to an electronic control-output from a first user-input device, retroflecting the distal end of the arm so as to deliver the end effector to a retroflex operating position, employing a first coordinate translation matrix defining a first x-y-z space to translate a user-input to a respective flexion and rotation of an arm joint;
b. in response to and contingent upon detecting that the end effector is in the retroflex operating position, transitioning to a second coordinate translation matrix defining a second x-y-z space that is based on the retroflex position of the end effector; and
c. after the transitioning and in response to an electronic control-output from a second user-input device, performing a surgical activity using the end effector, employing the second coordinate translation matrix to translate a user-input to a respective flexion and rotation of an arm joint.

### Claim 2 (depends on 1)

The method of claim 1, wherein the first and second input devices are the same input device, and the first and second coordinate translation matrices are not the same 3D-coordinate translation matrix.

### Claim 3 (depends on 1)

The method of claim 1, wherein the first and second input devices are not the same input device, and the first and second coordinate translation matrices are not the same 3D-coordinate translation matrix.

### Claim 4 (depends on 1)

The method claim 1, wherein before the transition and during the retroflecting, a proximal displacement of the first user-input device or a part thereof is translated to a proximal displacement of the end effector, and after the transition and with the end effector in the retroflex position, a proximal displacement of the second user-input device or a part thereof is translated to a distal displacement of the end effector.

### Claim 5 (depends on 1)

The method of claim 1, wherein the first input device is deactivated after the transition.

### Claim 6 (depends on 1)

The method of claim 1, wherein the second input-device comprises a handle member configured to be oriented in any one of a plurality of selectable orientations in an x-y-z space, the handle member comprising respective segment members and joint members that correspond, respectively, to the arm segments and arm joints of the arm, each of the respective arm joints actuatable by, and having the same degrees of freedom as, the corresponding joint member.

### Claim 7 (depends on 6)

The method of claim 6, wherein performing the surgical activity using the end effector includes reorienting the handle member to displace and reorient, respectively, the segment members and joint members, thereby causing respective displacement and reorientation of the corresponding arm segments and arm joints of the retroflected arm, the orientation of the handle member being such that a displacement vector or a reorientation arc of the handle member through the x-y-z space is translated to a corresponding displacement vector or corresponding reorientation arc of the end effector in the same x-y-z space.

### Claim 8 (depends on 6)

The method of claim 6, wherein the retroflecting in response to the electronic control-output from the first input device does not include reorienting the handle member from a selected orientation in the x-y-z space.

### Claim 9 (depends on 6)

The method of claim 6, wherein the retroflecting in response to the electronic control-output from the first input device does not include reorienting the handle member from a selected orientation in the x-y-z space by more than 90°.

### Claim 10 (depends on 1)

The method of claim 1, wherein the first input-device is disconnected from the arm after the transitioning.

### Claim 11 (depends on 1)

The method of claim 1, wherein
i. detecting that the end effector is in the retroflex operating position includes monitoring a shape-status of said mechanical arm to detect whether at least a portion thereof has a curve-shape that matches a pre-defined curve-shape, and
ii. the transitioning to the second coordinate translation matrix is in response to and contingent upon detecting that the curve-shape of the mechanical arm matches the pre-defined curve-shape.

### Claim 12 (depends on 11)

The method of claim 11, wherein detecting whether the curve-shape of the mechanical arm or of a portion thereof matches the pre-defined curve shape includes at least one of (i) detecting whether the curve-shape of the mechanical arm or a portion thereof matches a two-dimensional projection of the pre-defined curve shape, (ii) detecting whether a two-dimensional projection of the curve-shape of the mechanical arm or of a portion thereof matches the pre-defined curve-shape, and (iii) detecting whether a two-dimensional projection of the curve shape of the mechanical arm or of a portion thereof matches a two-dimensional projection of the pre-defined curve shape.

### Claim 13 (depends on 11)

The method of claim 11, wherein the pre-defined curve-shape or a two-dimensional projection thereof is an “S” curve-shape.

### Claim 14

A surgical system for use with a surgical end effector, the system comprising:
a. an array of one or more input devices; and
b. an articulated mechanical arm having a surgical end effector at a distal end thereof, the arm comprising a plurality of arm segments connected by a plurality of arm joints configured to flex and rotate in response to a control signal generated by an input device,
wherein the surgical system is configured to:
i. retroflect the distal end of the arm, in response to an electronic control-output from a first user-input device, so as to deliver the end effector to a retroflex operating position, employing a first coordinate translation matrix defining a first X-y-z space to translate the user inputs to respective flexions and rotations of an arm joint,
ii. transition to a second coordinate translation matrix that is based on a current orientation of the end effector, in response to and contingent upon a detection that said current orientation of the end effector corresponds to a current orientation of a second user-input device, and
iii. perform a surgical activity using the end effector after the transitioning and in response to an electronic control-output from the second user-input device, employing the second coordinate translation matrix defining a second x-y-z space to translate the user-inputs to respective flexions and rotation of an arm joint.