US 9,888,966 B2Granted

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

AssigneeBoard of Regents of the University of Nebraska

InventorsShane Farritor, Thomas 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 configured to be positioned into a cavity of a patient through an incision, the device comprising:
(i) a device body;
(ii) at least one arm operably coupled to the body, wherein the at least one arm is configured to be positioned entirely within the cavity of the patient;
and
(iii) at least one sensor operably coupled to the device;
(b) a processor operably coupled to the at least one sensor;
and
(c) a user controller operably coupled to the processor, the user controller comprising:
(i) a base;
(ii) an upper arm component operably coupled to the base at a shoulder joint, wherein the shoulder joint comprises a first actuator operably coupled to the processor;
(iii) a forearm component operably coupled to the upper arm component at an elbow joint, wherein the elbow joint comprises a second actuator operably coupled to the processor;
and
(iv) a grasper operably coupled to the forearm component at a wrist joint, wherein the wrist joint comprises a third actuator operably coupled to the processor,
wherein the at least one 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 first, second, or third actuator based on the force or torque, thereby providing haptic feedback at the controller.

12 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 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,
wherein the device body is configured to be disposed in the incision when the first arm is positioned within the cavity;
(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, wherein the shoulder joint comprises a first actuator operably coupled to the processor;
(iii) a controller forearm component operably coupled to the controller upper arm component at an elbow joint, wherein the elbow joint comprises a second actuator operably coupled to the processor;
and
(iv) a grasper operably coupled to the controller forearm component at a wrist joint, wherein the wrist joint comprises a third 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 first, second, or third 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, wherein the shoulder joint comprises a first actuator operably coupled to the processor;
(iii) a controller forearm component operably coupled to the forearm upper arm component at an elbow joint, wherein the elbow joint comprises a second actuator operably coupled to the processor;
and
(iv) a controller grasper operably coupled to the controller forearm component at a wrist joint, wherein the wrist joint comprises a third 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 first, second, or third actuator based on the force or torque, thereby providing haptic feedback at the controller.

13 more elements

Dependencies are inferred from the claim text.

Facts

Application: 14/210,934Filed 14 Mar 2014 · us provisional application
Priority: 14 Mar 2013
Published: US 2014/0371762 A118 Dec 2014
Granted: 13 Feb 2018
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