US 11,690,685 B2
User interface devices for use in robotic surgery
Joan Savall, Palo Alto, CA (US); Allegra Anna Lenta Shum, San Francisco, CA (US); Jose Luis Cordoba, Malaga (ES); and Yiqi Zeng, San Jose, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Jul. 26, 2021, as Appl. No. 17/385,830.
Application 17/385,830 is a continuation of application No. 16/888,335, filed on May 29, 2020, granted, now 11,096,746.
Application 16/888,335 is a continuation of application No. 15/836,420, filed on Dec. 8, 2017, granted, now 10,736,701, issued on Aug. 11, 2020.
Claims priority of provisional application 62/432,538, filed on Dec. 9, 2016.
Prior Publication US 2022/0015839 A1, Jan. 20, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05B 19/04 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); B25J 13/02 (2006.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/25 (2016.02) [A61B 34/00 (2016.02); A61B 34/20 (2016.02); A61B 34/30 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); B25J 13/02 (2013.01); A61B 17/00234 (2013.01); A61B 90/361 (2016.02); A61B 2017/00207 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A handheld user interface device for controlling a robotic system, the handheld user interface device comprising:
a flexible housing having an inner housing wall and an outer housing wall and is at least partially disposed around a lumen, and is configured to be held in a hand of a user; and
a capacitive sensor that detects the user squeezing the flexible housing by sensing deformation of the inner housing wall, the sensed deformation is an input for controlling the robotic system.