US 12,242,662 B2
Hand presence sensing at control input device
Lawton N. Verner, San Jose, CA (US); Jason W. Hemphill, Los Gatos, CA (US); Brian Luptak, Santa Clara, CA (US); Ashwinram Suresh, San Jose, CA (US); Clifford N. Bargar, San Francisco, CA (US); and Hsien-Hsin Liao, Sunnyvale, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/766,592
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Oct. 7, 2020, PCT No. PCT/US2020/054558
§ 371(c)(1), (2) Date Apr. 5, 2022,
PCT Pub. No. WO2021/071933, PCT Pub. Date Apr. 15, 2021.
Claims priority of provisional application 62/912,536, filed on Oct. 8, 2019.
Prior Publication US 2022/0382364 A1, Dec. 1, 2022
Int. Cl. G06F 3/01 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); G06F 3/03 (2006.01); G06F 3/0338 (2013.01); G06F 3/0346 (2013.01); G06F 3/0362 (2013.01); G06F 3/038 (2013.01)
CPC G06F 3/011 (2013.01) [A61B 34/37 (2016.02); A61B 34/74 (2016.02); G06F 3/0338 (2013.01); G06F 3/038 (2013.01); G06F 3/0304 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A control input device comprising:
a base member;
a handle coupled to the base member and configured to be manually contacted at a grip portion of the handle and moved by a hand of a user in one or more degrees of freedom;
one or more control input sensors configured to detect positions or orientations of the handle in the one or more degrees of freedom; and
a presence sensing system coupled to the base member, the presence sensing system including a presence sensor having a sensing field, and at least a portion of the sensing field being located proximate to the handle, wherein a signal generated by the presence sensing system comprises a parameter, the parameter comprising a value that indicates:
a direction of motion of the hand in the sensing field relative to the presence sensor, or
a velocity of the hand in the sensing field, wherein the velocity includes the direction of motion of the hand in the sensing field relative to the presence sensor.