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Uniform scaling of haptic actuators

An actuator, scaling factor technology, used in surgical robotics, medical science, surgery, etc., to solve problems such as user confusion

Active Publication Date: 2022-07-08
INTUITIVE SURGICAL OPERATIONS INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The user may be feeling a force in a given direction, but as the force applied to the user increases and reaches the torque limit of any motor associated with imparting force to the user, the direction of the force presented to the user begins to rotate, which is significant to the user. may be confusing and / or confusing for

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  • Uniform scaling of haptic actuators
  • Uniform scaling of haptic actuators
  • Uniform scaling of haptic actuators

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Embodiment Construction

[0016] In the following detailed description of various aspects of the present invention, numerous specific details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, it will be apparent to those skilled in the art that embodiments of the present disclosure may be practiced without these specific details. In other instances, well-known methods, procedures, components and circuits have not been described in detail so as not to unnecessarily obscure aspects of the embodiments of the invention. Furthermore, to avoid unnecessary repetition of description, one or more components or acts described in accordance with one illustrative embodiment may be used or omitted as appropriate for other illustrative embodiments.

[0017] To minimize the difference between the desired haptic force feedback direction (eg, sensed or modeled by the surgical system) and the actual haptic force feedback direction, whenever the command output of one or mor...

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Abstract

A surgical system is provided, comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller being configured to When the first command output is to fall outside the first predetermined operating range of the first actuator, applying a first scaling factor to the first command output of the first actuator and the second command output of the second actuator, respectively Command output, wherein the first scaling factor adjusts the first command output to within a first predetermined operating range.

Description

[0001] claim of priority [0002] This application claims the benefit of priority from US Provisional Patent Application No. 62 / 277,827, filed January 12, 2016, which is incorporated herein by reference in its entirety. technical field [0003] The present invention relates to systems and methods for providing haptic feedback to an operator of a surgical system, and more particularly to maintaining a user's intuitive haptic profile when a haptic feedback actuator reaches performance limits. Background technique [0004] Teleoperated surgical systems are generally designed to increase surgeon precision and / or reduce patient trauma during medical procedures. In such systems, the surgeon interacts with an input device (sometimes referred to as a "master device" or "master controller") to control surgical instruments that are actuated by a drive mechanism, such as a motor. Because the surgeon does not directly manipulate the surgical instrument, interaction forces are sometimes...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): A61B34/00A61B34/35
CPCA61B34/76A61B34/30A61B34/35A61B34/77A61B90/06A61B2090/064A61B90/03
Inventor L·N·维纳H-H·廖
Owner INTUITIVE SURGICAL OPERATIONS INC