US 11,723,742 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 Aug. 17, 2021, as Appl. No. 17/404,289.
Application 17/404,289 is a continuation of application No. 16/195,095, filed on Nov. 19, 2018, granted, now 11,129,688.
Application 16/195,095 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 Aug. 11, 2015.
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 2022/0031417 A1, Feb. 3, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 50/10 (2016.01); A61B 50/13 (2016.01); A61B 50/18 (2016.01); B25J 5/00 (2006.01); G05D 1/00 (2006.01)
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)] 19 Claims
OG exemplary drawing
 
1. A teleoperated surgical system cart comprising:
a base;
a manipulator supported by the base, the manipulator configured to removably couple a medical instrument to the cart, the manipulator being adjustable to different configurations to change a position of an instrument coupled to the manipulator;
a drive wheel operably coupled to the base and configured to rotate to impart movement to the base;
a steering interface having a grasping portion configured to be manipulated by a user to steer the cart;
a sensor mechanism arranged to detect force components of a force applied to the steering interface in response to the grasping portion being manipulated to steer the cart, the force components associated with fore, aft, and turning movement of the cart; and
a controller configured to:
receive a signal from the sensor mechanism based on the force components detected by the sensor mechanism,
correlate the signal from the sensor mechanism with a desired velocity of the cart, and
output a signal to rotate the drive wheel to drive the cart with the desired velocity.