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Systems and methods for providing vibration feedback in robotic systems

  • US 9,333,039 B2
  • Filed: 02/08/2011
  • Issued: 05/10/2016
  • Est. Priority Date: 02/09/2010
  • Status: Active Grant
First Claim
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1. A robotic surgery system comprising:

  • an armature configured for manipulating a surgical tool;

    a control station, positioned remote from the armature, having a control handle configured for operating the armature;

    a sensor positioned to sense a vibration of the surgical tool, the sensor configured to sense the vibration of the surgical tool along three different axes;

    an actuator positioned to provide a vibration to the control handle of the control station; and

    a controller in communication with the sensor and the actuator, the controller being configured to receive data from the sensor corresponding to a sensed vibration, the controller being further configured to actuate the actuator based on the received data such that the actuator provides a vibration to the control handle when the sensor senses the vibration of the surgical tool,wherein the controller is configured to sum the vibrations sensed along the three different axes to generate a single vibration, and is configured to actuate the actuator such that the actuator provides the single vibration to the control handle along a single axis.

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