Multi-functional foot pedal assembly for controlling a robotic surgical system

• US 10,368,955 B2
• Filed: 03/31/2017
• Issued: 08/06/2019
• Est. Priority Date: 03/31/2017
• Status: Active Grant

• Current Assignee: Verb Surgical Inc. (Johnson & Johnson)
• Original Assignee: Johnson & Johnson Services Incorporated (Johnson & Johnson)
• Inventors: Cone, Taylor Joseph, Savall, Joan
• Primary Examiner(s): Sample, Jonathan L
• Application Number:
  US15/476,454
• Publication Number:
  US 20180280099A1
• Time in Patent Office: 858 Days
• Field of Search: 700245-264
• CPC Class Codes: A61B 2017/00477 Coupling A61B2017/0046 takes precedence
• CPC Class Codes: A61B 2017/00876 magnetic
• CPC Class Codes: A61B 2017/00973 pedal-operated
• CPC Class Codes: A61B 2034/2055 Optical tracking systems
• CPC Class Codes: A61B 2034/2059 Mechanical position encoders
• CPC Class Codes: A61B 2090/061 for measuring dimensions, e.g. length
• CPC Class Codes: A61B 2090/067 for measuring angles
• 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 90/361 Image-producing devices, e.g. surgical cameras
• CPC Class Codes: B25J 13/04 Foot-operated control means
• CPC Class Codes: G05G 1/305 Compound pedal co-operating with two or more controlled members
• CPC Class Codes: G05G 1/445 about a central fulcrum
• CPC Class Codes: H01H 3/14 adapted for operation by a part of the human body other than the hand, e.g. by foot

Abstract

A foot pedal assembly for controlling a robotic surgical system includes a foot pedal assembly base including an axle, a foot pedal slidably and pivotally coupled to the axle, and a sensor arrangement configured to detect an axial position of the foot pedal along the axle and a pivoted position of the foot pedal around the axle. Different combinations of different detected axial positions and detected pivoted positions are correlateable to different functions of the robotic surgical system.

Claims

1. A foot pedal assembly for controlling a robotic surgical system, comprising:

a foot pedal assembly base comprising an axle;

a foot pedal slidably and pivotally coupled to the axle; and

a sensor arrangement configured to detect an axial position of the foot pedal along the axle and a pivoted position of the foot pedal around the axle,

wherein different combinations of different detected axial positions and detected pivoted positions are correlateable to different functions of the robotic surgical system.

2. The foot pedal assembly of claim 1, wherein the axle is a horizontal axle, and the foot pedal assembly is self-contained.

3. The foot pedal assembly of claim 1, wherein the detected axial position is correlateable to control of a user-selected instrument.

4. The foot pedal assembly of claim 3, wherein the detected pivoted position is correlateable to control of a function of the user-selected instrument.

5. The foot pedal assembly of claim 4, wherein the foot pedal is slidable between a first axial position and a second axial position, and pivotable between a first pivoted position and a second pivoted position.

6. The foot pedal assembly of claim 5, wherein the foot pedal is bi-stable between the first and second axial positions.

7. The foot pedal assembly of claim 5, wherein the foot pedal further comprises a third axial position between the first and second axial positions, wherein the third axial position corresponds to a safety lock-out function of the robotic surgical system.

8. The foot pedal assembly of claim 7, further comprising at least one biasing element urging the foot pedal to the third axial position.

9. The foot pedal assembly of claim 5, further comprising at least one biasing element urging the foot pedal to a third pivoted position between the first and second pivoted positions.

10. The foot pedal assembly of claim 1, further comprising an intermediate component interspersed between the foot pedal assembly base and foot pedal.

11. The foot pedal assembly of claim 10, wherein the intermediate component is pivotally coupled to the axle.

12. The foot pedal assembly of claim 10, wherein the foot pedal is laterally movable relative to the intermediate component.

13. The foot pedal assembly of claim 1, wherein the foot pedal is pivotally coupled to the axle at a location farther from a first foot pedal end than a second foot pedal end opposite the first pedal end.

14. The foot pedal assembly of claim 1, wherein the sensor arrangements comprises one or more switches.

15. The foot pedal assembly of claim 1, wherein the foot pedal is coupled to the axle such that the axle is farther from a first foot pedal end than from a second foot pedal end opposite the first foot pedal end.

16. The foot pedal assembly of claim 15, wherein the foot pedal comprises a positional reference located farther from the first pedal end than from the second pedal end.

17. The foot pedal assembly of claim 1, further comprising a second foot pedal assembly base comprising a second axle, and a second foot pedal pivotally coupled to a second axle.

18. A method for controlling a robotic surgical system, the method comprising:

detecting a translated position of a foot pedal along a horizontal axle coupled to a foot pedal assembly base, wherein the foot pedal and the foot pedal assembly base are in a self-contained foot pedal assembly;

detecting a pivoted position of the foot pedal relative to the foot pedal assembly base; and

controlling the robotic surgical system in response to a combination of the detected translated position and the detected pivoted position of the foot pedal.

19. The method of claim 18, wherein different combinations of different detected translated positions and detected pivoted positions are correlateable to control of different functions of the robotic surgical system.

20. The method of claim 18, wherein the foot pedal is translatable between a first translated position and a second translated position, and pivotable between a first pivoted position and a second pivoted position.

21. The method of claim 20, wherein when the detected translated position is the first translated position, controlling the robotic surgical system comprises controlling a first function of a first surgical instrument if the detected pivoted position is the first pivoted position, and controlling a second function of the first surgical instrument if the detected pivoted position is the second pivoted position.

22. The method of claim 20, wherein when the detected translated position is the second translated position, controlling the robotic surgical system comprises controlling a first function of a second surgical instrument if the detected pivoted position is the first pivoted position, and controlling a second function of the second surgical instrument if the detected pivoted position is the second pivoted position.

23. The method of claim 20, wherein the foot pedal is further translatable to a third translated position between the first and second translated positions.

24. The method of claim 23, wherein when the detected translated position is the third translated position, controlling the robotic surgical system comprises inhibiting control of one or more functions of a surgical instrument.

25. The method of claim 18, wherein controlling the robotic surgical system comprises controlling an instrument clutch mode in response to the combination of the detected translated position and the detected pivoted position of the foot pedal.

26. The method of claim 18, wherein controlling the robotic surgical system comprises designating one or more surgical instruments for control in response to a combination of the detected translated position and the detected pivoted position of the foot pedal.