APPARATUS AND METHOD OF USER INTERFACE WITH ALTERNATE TOOL MODE FOR ROBOTIC SURGICAL TOOLS
First Claim
1. A user interface system for a robotic surgical instrument having a number of degrees of freedom of movement, the user interface system comprising:
- a double click sensing process to detect a predetermined number of actions of a control input mechanism within a predetermined period of time;
a hard stop sensing process to detect a predetermined percentage of a hard stop in the movement of the control input mechanism, anda state machine operationally in communication with the double click sensing process and the hard stop sensing process, the state machine to switchably reduce the number of degrees of freedom of movement in the robotic surgical instrument in response to two closure cycles of the control input mechanism within the predetermined period of time and movement of the control input mechanism exceeding the predetermined percentage of the hard stop.
3 Assignments
0 Petitions
Accused Products
Abstract
In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.
-
Citations
40 Claims
-
1. A user interface system for a robotic surgical instrument having a number of degrees of freedom of movement, the user interface system comprising:
-
a double click sensing process to detect a predetermined number of actions of a control input mechanism within a predetermined period of time; a hard stop sensing process to detect a predetermined percentage of a hard stop in the movement of the control input mechanism, and a state machine operationally in communication with the double click sensing process and the hard stop sensing process, the state machine to switchably reduce the number of degrees of freedom of movement in the robotic surgical instrument in response to two closure cycles of the control input mechanism within the predetermined period of time and movement of the control input mechanism exceeding the predetermined percentage of the hard stop. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
-
-
9. A method for a robotic surgical instrument comprising:
-
entering a lock sensing mode for a robotic surgical instrument; and in the lock sensing mode, switchably reducing degrees of freedom of movement in the robotic surgical instrument, and switchably clamping one or more end effectors of the robotic surgical instrument. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
-
-
20-34. -34. (canceled)
-
35. A user interface system for a robotic surgical system, the user interface system comprising:
-
a first alternate sensing process to detect a first alternate user input of a control input mechanism to enter an alternate sensing mode for the robotic surgical system; a second alternate sensing process to detect a second alternate user input of a control input mechanism to enter an alternate tool mode, and a state machine operationally in communication with the first alternate sensing process and the second alternate sensing process, the state machine to control a robotic surgical tool in an alternate manner in response to the alternate tool mode. - View Dependent Claims (36, 37, 38, 39)
-
-
40-45. -45. (canceled)
Specification