US 12,257,015 B1
Robotic surgical systems having handheld controllers for releasably coupling interchangeable dexterous end-effectors
Keshav Iyengar, London (GB); George Dwyer, London (GB); Emmanouil Dimitrakakis, London (GB); and Dimitrios Psychogyios, London (GB)
Assigned to Panda Surgical Limited, London (GB)
Filed by Panda Surgical Limited, London (GB)
Filed on Aug. 1, 2024, as Appl. No. 18/792,535.
Claims priority of provisional application 63/570,158, filed on Mar. 26, 2024.
Claims priority of application No. 24386010 (EP), filed on Feb. 2, 2024.
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 34/37 (2016.01)
CPC A61B 34/71 (2016.02) [A61B 17/00234 (2013.01); A61B 34/37 (2016.02); A61B 2017/00398 (2013.01); A61B 2017/00424 (2013.01); A61B 2017/00464 (2013.01); A61B 2034/742 (2016.02)] 28 Claims
OG exemplary drawing
 
1. A handheld controller for releasably coupling to an interchangeable instrument having an end-effector, the handheld controller comprising:
a connection portion configured to be releasably coupled to the interchangeable instrument having the end-effector for performing surgery;
a handle portion rotatably coupled to the connection portion via a joint, the handle portion sized and shaped to be held in a user's palm;
an interface disposed on the handle portion, the interface configured to be actuated to move the end-effector in one or more degrees of freedom when the interchangeable instrument is releasably coupled to the handheld controller; and
a compression spring configured to bias the handle portion towards the connection portion to thereby maintain a position of the handle portion relative to the connection portion,
wherein the handle portion is configured to be selectively rotated relative to the connection portion at predefined increments to ergonomically align the interface with the user's thumb.