US 11,980,435 B2
User interface device having grip linkages
Joan Savall, Palo Alto, CA (US); and Allegra Anna Lenta Shum, San Francisco, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Sep. 28, 2021, as Appl. No. 17/488,209.
Application 17/488,209 is a continuation of application No. 16/010,054, filed on Jun. 15, 2018, granted, now 11,135,031.
Prior Publication US 2022/0015852 A1, Jan. 20, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 17/29 (2006.01); A61B 34/20 (2016.01); A61B 34/35 (2016.01)
CPC A61B 34/74 (2016.02) [A61B 17/29 (2013.01); A61B 34/20 (2016.02); A61B 34/35 (2016.02); A61B 2017/00039 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00199 (2013.01); A61B 2017/00212 (2013.01); A61B 2017/00221 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/2908 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2061 (2016.02); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A user interface device for manipulating a robotic surgical tool in a surgical robotic system, comprising:
a device body having a central axis;
a plurality of grip linkages distributed about the central axis, wherein each grip linkage is coupled to the device body by a slider at a prismatic joint; and
a grip linkage displacement sensor configured to determine an axial position of the slider along the device body based on energy reflected from the slider and generate, based on the axial position of the slider, a grip signal for controlling a grip motion of the robotic surgical tool.