User interface for active drive apparatus with finite range of motion

• US 10,675,101 B2
• Filed: 02/06/2019
• Issued: 06/09/2020
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Auris Health, Inc. (Johnson & Johnson)
• Original Assignee: Auris Health, Inc. (Johnson & Johnson)
• Inventors: Walker, Sean Paul, Park, June
• Primary Examiner(s): Vu, Vu A
• Application Number:
  US16/268,798
• Publication Number:
  US 20190167361A1
• Time in Patent Office: 489 Days
• Field of Search: 700275
• CPC Class Codes: A61B 2034/301 for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
• CPC Class Codes: A61B 2034/302 specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
• CPC Class Codes: A61B 34/25 User interfaces for surgical systems
• CPC Class Codes: A61B 34/30 Surgical robots
• CPC Class Codes: A61B 34/74 Manipulators with manual electric input means
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 2219/39439 Joystick, handle, lever controls manipulator directly, manually by operator
• CPC Class Codes: G05B 2219/39541 Place fingers to reorient object while grasping

Abstract

A system may include a controller configured to determine a user interface status, wherein the user interface status includes user interaction of a user interface. The controller may also be configured to determine a drive mechanism location relative to a first limit and a second limit and select a clutching location based on the user interface status and drive mechanism location.

Claims

1. A system, comprising:

a drive mechanism comprising a gripper device configured to drive a medical instrument;

a controller configured to;

determine a user interface status;

determine a drive mechanism location of the gripper device relative to a first limit and a second limit;

select a clutching location of the gripper device based on the user interface status and the drive mechanism location; and

transmit an alert to a user interface device based on the user interface status and the selected clutch location,

wherein the user interface device is configured to provide an indication of the alert to a user, and wherein the alert comprises instructions that cause the user interface device to provide haptic feedback that is resistive.

2. The system of claim 1, wherein the alert comprises an indication of when the medical instrument is re-gripped by the gripper device.

3. The system of claim 1, wherein the alert comprises an indication of the onset of the gripper device re-gripping the medical instrument.

4. The system of claim 1, wherein the alert comprises an indication that the gripper device is actively clutching the medical instrument.

5. The system of claim 1, wherein the controller is configured to transmit the alert to a user interface device, and wherein the user interface device is further configured to provide an indication of the alert to a user.

6. The system of claim 5, wherein the haptic feedback facilitates preventing selection of the clutching location until the gripper device has clutched the medical instrument.

7. The system of claim 5, wherein the haptic feedback facilitates preventing selection of a clutching location while the gripper device is actively clutching the medical instrument.

8. The system of claim 5, wherein the haptic feedback facilitates preventing movement of the user interface device while the gripper device is actively clutching the medical instrument.

9. The system of claim 1, wherein the alert comprises a first alert indicative of clutching by the gripper device having started, and wherein the controller is further configured to transmit a second alert in response to the clutching by the gripper device being completed.

10. The system of claim 1, wherein the alert comprises an indication that the gripper device is nearing at least one of the first or second limit.

11. The system of claim 10, wherein the indication comprises a notification that the selection of the clutching location is required.

12. The system of claim 10, wherein the haptic feedback is configured to increase in intensity as the gripper device approaches the at least one of the first or second limit.

13. The system of claim 10, wherein the haptic feedback is configured to increase in intensity as the velocity of the gripper device increases.

14. The system of claim 1, wherein the alert comprises instructions that cause a user interface device to provide at least one of haptic feedback, visual feedback, and audible feedback based on at least one of the clutching location, the user interface status, and the drive mechanism location.

15. The system of claim 1, wherein the alert comprises instructions that cause a display of at least one of lights, pictures, and animation on at least one of a display device and a user interface device.

16. A method, comprising:

determining a user interface status;

determining a drive mechanism location of a gripper device relative to a first limit and a second limit, wherein the gripper device is configured to drive a medical instrument;

selecting a clutching location of the gripper device based on the user interface status and the drive mechanism location;

transmitting an alert to a user interface device based on the user interface status and the drive mechanism location; and

providing an indication of the alert via the user interface device, wherein the indication includes haptic feedback that is resistive.

17. The method of claim 16, wherein transmitting the alert comprises transmitting an indication of when the medical instrument is re-gripped by the gripper device.

18. The method of claim 16, wherein transmitting the alert comprises transmitting an indication of the onset of the gripper device re-gripping the medical device.

19. The method of claim 16, wherein transmitting the alert comprises transmitting an indication that the gripper device is actively clutching the medical device.