US 12,268,408 B2
Haptic feedback devices for surgical robot
Barry C. Worrell, Centerville, OH (US); Geoffrey S. Strobl, Williamsburg, OH (US); Gregory A. Trees, Loveland, OH (US); Jonathan T. Batross, Cincinnati, OH (US); Nicholas G. Molitor, Milford, OH (US); Kristen T. Shoger, Cincinnati, OH (US); David K. Norvell, Monroe, OH (US); Michael J. Andreyko, Cincinnati, OH (US); Gregory W. Johnson, Minneapolis, MN (US); Shawn C. Snyder, Greendale, IN (US); and Chad P. Boudreaux, Cincinnati, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Mar. 29, 2021, as Appl. No. 17/215,158.
Application 17/215,158 is a continuation of application No. 16/422,415, filed on May 24, 2019, granted, now 10,966,747.
Application 16/422,415 is a continuation of application No. 15/463,526, filed on Mar. 20, 2017, granted, now 10,335,183, issued on Jul. 2, 2019.
Application 15/463,526 is a continuation of application No. 14/921,430, filed on Oct. 23, 2015, granted, now 9,737,326, issued on Aug. 22, 2017.
Application 14/921,430 is a continuation of application No. 13/539,096, filed on Jun. 29, 2012, granted, now 9,198,714, issued on Dec. 1, 2015.
Prior Publication US 2021/0282804 A1, Sep. 16, 2021
Int. Cl. A61B 17/32 (2006.01); A61B 18/00 (2006.01); A61B 18/12 (2006.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/90 (2016.01)
CPC A61B 17/320092 (2013.01) [A61B 18/1442 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 90/90 (2016.02); A61B 2017/320093 (2017.08); A61B 2017/320094 (2017.08); A61B 2017/320095 (2017.08); A61B 2018/00303 (2013.01); A61B 18/12 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical system, comprising:
a surgical instrument comprising an end effector, wherein the end effector is configured to perform a surgical function on tissue at a surgical site; and
a user interface operably coupled to the surgical instrument, wherein the user interface comprises:
a handheld controller, wherein movement of the surgical instrument is based on movement of the handheld controller; and
a control knob configured to control a ratio of the movement of the handheld controller to the movement of the surgical instrument.