US 11,813,093 B2
Surgical patient side cart with drive system and method of moving a patient side cart
Paul G. Griffiths, Santa Clara, CA (US); Arjang M. Hourtash, San Francisco, CA (US); Paul W. Mohr, Mountain View, CA (US); David W. Robinson, Los Altos, CA (US); Nitish Swarup, Sunnyvale, CA (US); John W. Zabinski, Fremont, CA (US); and Mark W. Zimmer, Fremont, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Dec. 16, 2020, as Appl. No. 17/123,232.
Application 17/123,232 is a continuation of application No. 16/196,610, filed on Nov. 20, 2018, granted, now 10,881,479.
Application 16/196,610 is a continuation of application No. 14/808,639, filed on Jul. 24, 2015, granted, now 10,136,947, issued on Nov. 27, 2018.
Application 14/808,639 is a continuation of application No. 14/209,239, filed on Mar. 13, 2014, granted, now 9,101,348, issued on Oct. 2, 2014.
Claims priority of provisional application 61/895,249, filed on Oct. 24, 2013.
Claims priority of provisional application 61/791,889, filed on Mar. 15, 2013.
Prior Publication US 2021/0169600 A1, Jun. 10, 2021
Int. Cl. A61B 50/10 (2016.01); B25J 5/00 (2006.01); A61B 50/18 (2016.01); A61B 50/13 (2016.01); G05D 1/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 50/10 (2016.02) [A61B 50/13 (2016.02); A61B 50/18 (2016.02); B25J 5/007 (2013.01); G05D 1/0011 (2013.01); A61B 34/30 (2016.02); A61B 2050/185 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A cart, comprising:
a base comprising a plurality of wheels, the plurality of wheels comprising at least one drive wheel configured to rotate to move the base of the cart over a ground surface;
a steering interface comprising a handle configured to be grasped to steer the base of the cart;
a sensor system arranged at the handle, the sensor system configured to detect force components associated with fore, aft, and turning movement of the cart in response to the handle being grasped and force applied to move the cart;
a switch on the steering interface, the switch being configured to transition between a first state and a second state; and
a controller configured to:
receive from the sensor system an input signal corresponding to the force components detected by the sensor system in response to the force applied to the handle to move the cart;
amplify the input signal received from the sensor system;
correlate the input signal with a desired movement of the cart;
on the condition the input signal is received, and the switch is in the first state, output a drive command based on a correlation of the input signal with the desired movement to rotate the drive wheel to produce the desired movement, the desired movement being within a range of velocities; and
on the condition the input signal is received, and the switch is in the second state, output a stop command to stop the drive wheel.