Multifunctional handle for a medical robotic system
AssigneeIntuitive Surgical Operations, Inc.
InventorsDan Sanchez, Darrin Uecker
Life of this patent
Estimating the term…
Abstract
A handle used to control movement of a medical instrument. The medical instrument may be coupled to a robotic arm that is connected to a controller. The medical instrument may have a plurality of functions such as wrist locking and motion scaling. One of the functions may be selected through a graphical user interface operated by the end user. The handle may have a plurality of buttons. One of the buttons may allow the end user to control the selected function. For example, when wrist locking/unlocking is selected, depressing the button can toggle the medical instrument wrist between a locked state and an unlocked state.
Claims7
A method implemented in a controller for controlling movement of a medical device in a medical robotic system, comprising:
- receiving an indication that a user has selected motion scaling from among a plurality of user selectable functions;
- changing a motion scale factor to a next motion scale factor in a set of motion scale factors in response to each actuation of a user operated switch mechanism after the user has selected motion scaling, wherein the set of motion scale factors includes a plurality of motion scale factors of different non-zero magnitudes;
- receiving information of user movement of a control input device, wherein the control input device is gripped by a hand of the user and the switch mechanism is positioned relative to the control input device so as to be switchable by a digit of the hand without the hand releasing a grip of the control input device;
- and
- causing the medical device to be moved in response to the user movement of the control input device by applying the motion scale factor to the commanded movement.
A method implemented in a controller for providing multifunctional control of a medical device having a lockable wrist joint, wherein a control input device used for controlling movement of the medical device is gripped by a hand of a user, wherein a switch mechanism is positioned relative to the control input device so as to be switchable by a digit of the hand without the hand releasing a grip of the control input device, the method comprising:
- receiving an indication that the user has selected one of a plurality of user selectable functions, wherein the plurality of user selectable functions includes a motion scaling function and a wrist locking function;
- changing a motion scale factor to a next motion scale factor in a set of motion scale factors in response to each actuation of the switch mechanism if the selected one of the plurality of user selectable functions is the motion scaling function;
- and
- locking the lockable wrist joint in response to a first actuation of the switch mechanism if the selected one of the plurality of user selectable functions is the wrist locking function.
Dependencies are inferred from the claim text.