US 11,666,401 B2
Input controls for robotic surgery
Clinton W. Denlinger, Cincinnati, OH (US); Gregory W. Johnson, Minneapolis, OH (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, Zug (CH)
Filed on Mar. 15, 2019, as Appl. No. 16/354,417.
Prior Publication US 2020/0289219 A1, Sep. 17, 2020
Int. Cl. A61B 34/37 (2016.01); B25J 9/16 (2006.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); B25J 13/06 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 17/29 (2013.01); A61B 34/74 (2016.02); B25J 9/1689 (2013.01); B25J 13/065 (2013.01); A61B 2034/302 (2016.02); A61B 2034/742 (2016.02)] 20 Claims
OG exemplary drawing
 
16. A control system for a surgical robot, the control system comprising:
a base;
a first non-clutched input comprising a floatably-supported joystick and a multi-axis force and torque sensor arrangement configured to detect user input forces and torques applied to the floatably-supported joystick, wherein the floatably-supported joystick is configured to float and the base is configured to remain stationary upon application of user input forces and torques;
a second input comprising a rotary joint and a rotary sensor configured to detect user input motions applied to the rotary joint;
a control unit configured to:
provide a first plurality of output signals to the surgical robot based on actuation of the first non-clutched input; and
provide a second plurality of output signals to the surgical robot based on actuation of the second input.