US 12,213,755 B2
Actuated grips for controller
Matthew Cavalier, San Jose, CA (US); Brian Luptak, Santa Clara, CA (US); and Gregory W. Dachs, II, San Mateo, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Mar. 24, 2023, as Appl. No. 18/189,651.
Application 18/189,651 is a continuation of application No. 16/470,114, granted, now 11,633,246, previously published as PCT/US2017/066465, filed on Dec. 14, 2017.
Claims priority of provisional application 62/434,904, filed on Dec. 15, 2016.
Prior Publication US 2023/0240775 A1, Aug. 3, 2023
Int. Cl. A61B 34/35 (2016.01); A61B 34/00 (2016.01); A61B 34/32 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/32 (2016.02); A61B 34/76 (2016.02); A61B 2034/2059 (2016.02); A61B 34/74 (2016.02)] 20 Claims
OG exemplary drawing
 
17. A method comprising:
sensing, with one or more sensors, one or more positions of a grip member of a controller in a grip degree of freedom of the grip member about a grip axis, the grip member rotatably coupled to a central member and to a shaft of the controller, the central member having a central axis different than the grip axis, wherein the one or more positions are used to control movement of an end effector of a device in communication with the controller; and
applying forces to the grip member by controlling an actuator coupled to the shaft to output the actuator forces to the shaft, wherein the actuator forces are transmitted via the shaft to the grip member in the grip degree of freedom by sending control signals to the actuator.