US 11,717,363 B2
High precision instrument control mode for robotic surgical systems
William Peine, Ashland, MA (US)
Assigned to COVIDIEN LP, Mansfield, MA (US)
Appl. No. 16/644,875
Filed by Covidien LP, Mansfield, MA (US)
PCT Filed Sep. 6, 2018, PCT No. PCT/US2018/049634
§ 371(c)(1), (2) Date Mar. 5, 2020,
PCT Pub. No. WO2019/051005, PCT Pub. Date Mar. 14, 2019.
Claims priority of provisional application 62/556,100, filed on Sep. 8, 2017.
Prior Publication US 2020/0281674 A1, Sep. 10, 2020
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/77 (2016.02); A61B 90/361 (2016.02); A61B 2017/00977 (2013.01); A61B 2034/742 (2016.02); A61B 2090/373 (2016.02)] 23 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a surgical robot including a tool and a camera; and
a user console in communication with the surgical robot, the user console including:
an input handle; and
a foot pedal including:
a base plate; and
a foot plate pivotally coupled to the base plate, the foot plate having:
an uncompressed position in which movement of the input handle is scaled to movement of the tool by a first scaling factor,
a first compressed position in which movement of the input handle is scaled to movement of the tool by a second scaling factor different from the first scaling factor,
a second compressed position between the first compressed and fully compressed positions, and wherein movement of the input handle moves the camera when the foot plate is between the second compressed and fully compressed positions, and
a fully compressed position in which movement of the input handle is scaled to movement of the camera.