US 11,701,190 B2
Selectable variable response of shaft motion of surgical robotic systems
Clinton W. Denlinger, Cincinnati, OH (US); Gregory W. Johnson, Minneapolis, MN (US); Charles J. Scheib, Loveland, OH (US); and Jeffrey S. Swayze, West Chester, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Mar. 15, 2019, as Appl. No. 16/354,461.
Prior Publication US 2020/0289222 A1, Sep. 17, 2020
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); A61B 1/00 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 1/000094 (2022.02); A61B 34/74 (2016.02); A61B 34/77 (2016.02); B25J 9/1664 (2013.01); B25J 9/1694 (2013.01); B25J 13/085 (2013.01); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 2017/00973 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02); A61B 2034/742 (2016.02); A61B 2090/061 (2016.02); A61B 2090/065 (2016.02)] 21 Claims
OG exemplary drawing
 
15. A robotic surgical system for treating a patient, the robotic surgical system comprising:
a surgical tool;
a multi-dimensional space joint positioned about a central portion and configured to rotate about a first rotational axis, wherein the multi-dimensional space joint is configured to cause the surgical tool to move relative to the patient in response to user input forces; and
a wrist configured to define an input control for a rolling motion of the surgical tool, wherein the wrist is offset from the multi-dimensional space joint by a shaft extending along a second rotational axis that extends transverse the first rotational axis;
a second joint configured to allow a rotation of the wrist relative to a joystick of the multi-dimensional space joint about the second rotational axis; and
a control circuit configured to:
receive a first motion control signal from the multi-dimensional space joint indicative of a first user input force;
receive a second motion control signal from the multi-dimensional space joint indicative of a second user input force different than the first user input force;
cause the surgical tool to be moved at a predetermined rate of motion in response the first motion control signal; and
cause the surgical tool to be moved at the predetermined rate of motion in response the second motion control signal.