Feedback devices for surgical control systems

• US 10,335,183 B2
• Filed: 03/20/2017
• Issued: 07/02/2019
• Est. Priority Date: 06/29/2012
• Status: Active Grant

• Current Assignee: Cilag Gmbh International (Johnson & Johnson)
• Original Assignee: Ethicon, LLC (Johnson & Johnson)
• Inventors: Worrell, Barry C., Strobl, Geoffrey S., Trees, Gregory A., Batross, Jonathan T., Molitor, Nicholas G., Shoger, Kristen T., Norvell, David K., Andreyko, Michael J., Johnson, Gregory W., Snyder, Shawn C.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US15/463,526
• Publication Number:
  US 20170319228A1
• Time in Patent Office: 834 Days
• CPC Class Codes: A61B 17/320092 with additional movable means for clamping or cutting tissue, e.g. with a pivoting jaw
• CPC Class Codes: A61B 18/12 by passing a current through the tissue to be heated, e.g. high-frequency current
• CPC Class Codes: A61B 18/1442 Probes having pivoting end effectors, e.g. forceps
• CPC Class Codes: A61B 2017/320093 additional movable means performing cutting operation
• CPC Class Codes: A61B 2017/320094 additional movable means performing clamping operation
• CPC Class Codes: A61B 2017/320095 with sealing or cauterizing means
• CPC Class Codes: A61B 2018/00303 active, e.g. with a motor creating vibrations
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/37 Master-slave robots A61B34/35 takes precedence
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: A61B 34/76 Manipulators having means for providing feel, e.g. force or tactile feedback
• CPC Class Codes: A61B 34/77 Manipulators with motion or force scaling
• CPC Class Codes: A61B 90/90 Identification means for patients or instruments, e.g. tags

Abstract

A control system for a surgical robot is disclosed. The control system includes a controller, a sensor, a feedback device, a first socket, and a stand-alone input device. The handheld user interface may control a function of a robotic surgical system and is coupled to the sensor and the controller. The sensor is coupled to the controller. The feedback device is coupled to the controller and is configured to provide feedback associated with the robotic surgical system to a user. The controller is communicatively coupleable to the robotic surgical system and is configured to send robot control signals to the robotic surgical system, to receive feedback signals from the robotic surgical system, and to send feedback control signals to the feedback device to control the feedback provided to the user. The controller is configured to couple to a stand-alone input device through the first socket.

Claims

1. A control system for a surgical robot, the control system comprising:

a controller;

a sensor coupled to the controller;

a handheld surgical user interface coupled to the sensor and the controller;

a feedback device coupled to the controller; and

a first socket coupled to the controller, wherein the controller is configured to couple to a stand-alone input device through the first socket.

2. The control system of claim 1, further comprising a surgical instrument compatibility logic configured to produce a signal indicative of compatibility of a surgical instrument with the handheld surgical user interface.

3. The control system of claim 1, wherein the sensor comprises a six-degrees-of-freedom input device.

4. The control system of claim 3, wherein the sensor is configured to convert movement of the handheld surgical user interface into electrical signals, wherein the electrical signals correspond to movement of the surgical robot.

5. The control system of claim 1, wherein the handheld surgical user interface is configured to provide control signals to the controller to control at least one function of a surgical instrument connected to a robotic surgical control system.

6. The control system of claim 5, wherein the at least one function comprises at least one of delivering energy to tissue, applying a force to the tissue, clamping the tissue, cutting the tissue, or manipulating the surgical instrument with respect to the tissue.

7. The control system of claim 1, wherein the stand-alone input device comprises at least one feedback device.

8. A control system for a surgical robot, the control system comprising:

a controller;

a sensor coupled to the controller;

a handheld surgical user interface coupled to the sensor and the controller;

a feedback device coupled to the controller; and

a first socket coupled to the controller, wherein the controller is configured to couple to a robotic surgical control system through a stand-alone input device, and wherein the stand-alone input device comprises a second socket to communicate with the first socket.

9. The control system of claim 8, further comprising a surgical instrument compatibility logic configured to produce a signal indicative of compatibility of a surgical instrument with the handheld surgical user interface.

10. The control system of claim 8, wherein the sensor comprises a six-degrees-of-freedom input device.

11. The control system of claim 10, wherein the sensor is configured to convert movement of the handheld surgical user interface into electrical signals, wherein the electrical signals correspond to movement of the surgical robot.

12. The control system of claim 8, wherein the handheld surgical user interface is configured to provide control signals to the controller to control at least one function of a surgical instrument connected to the robotic surgical control system.

13. The control system of claim 12 wherein the at least one function comprises at least one of delivering energy to tissue, applying a force to the tissue, clamping the tissue, cutting the tissue, or manipulating the surgical instrument with respect to the tissue.

14. The control system of claim 8, wherein the stand-alone input device comprises at least one feedback device.