US 12,070,282 B2
Methods, systems, and devices relating to force control surgical systems
Shane Farritor, Lincoln, NE (US); Tom Frederick, Gretna, NE (US); Kearney Lackas, Lincoln, NE (US); Joe Bartels, Pittsburgh, PA (US); and Jacob Greenburg, Lincoln, NE (US)
Assigned to Board of Regents of the University of Nebraska, Lincoln, NE (US)
Filed by Board of Regents of the University of Nebraska, Lincoln, NE (US)
Filed on Jul. 7, 2020, as Appl. No. 16/922,560.
Application 16/922,560 is a continuation of application No. 15/894,489, filed on Feb. 12, 2018, granted, now 10,743,949.
Application 15/894,489 is a continuation of application No. 14/210,934, filed on Mar. 14, 2014, granted, now 9,888,966, issued on Feb. 13, 2018.
Claims priority of provisional application 61/781,594, filed on Mar. 14, 2013.
Prior Publication US 2020/0330172 A1, Oct. 22, 2020
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 34/76 (2016.02); B25J 9/1602 (2013.01); B25J 9/1633 (2013.01); A61B 2090/064 (2016.02); G05B 2219/36432 (2013.01); G05B 2219/39181 (2013.01); G05B 2219/39194 (2013.01); G05B 2219/39321 (2013.01); G05B 2219/40619 (2013.01); G05B 2219/45117 (2013.01); Y10S 901/27 (2013.01); Y10S 901/46 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
(a) a robotic surgical device comprising:
(i) an elongate tubular body sized and shaped to be positioned into a cavity of a patient such that a distal portion is disposed within the cavity of the patient and a proximal portion is disposed externally to the cavity of the patient;
(ii) a shoulder component coupled to the elongate tubular body at the distal portion of the elongate tubular body;
(iii) an arm operably coupled to the shoulder component, the shoulder component and the arm being configured to be positioned entirely within the cavity of the patient;
(iv) a sensor operably coupled to the device; and
(v) an end effector operably coupled to the arm, the end effector positioned at a distal end of the arm;
(b) a processor operably coupled to the sensor; and
(c) a user controller operably coupled to the processor, the user controller comprising:
(i) a base;
(ii) a controller arm operably coupled to the base;
(iii) a grasper operably coupled to the controller arm; and
(iv) at least one actuator associated with the user controller, the at least one actuator operably coupled to the processor,
wherein the sensor is configured to sense force or torque at the robotic surgical device and transmit force or torque information to the processor, and
wherein the processor is configured to calculate the force or torque being applied at the robotic surgical device and transmit instructions to actuate at least one of the at least one actuator based on the force or torque, thereby providing haptic feedback at the controller.