US 12,073,013 B2
Interaction between user-interface and master controller
Ehsan Noohi Bezanjani, Los Gatos, CA (US); Keith Watza, Campbell, CA (US); Ashwinram Suresh, San Jose, CA (US); Brandon D. Itkowitz, San Jose, CA (US); Sean Duffy, San Jose, CA (US); and Sarthak Ghosh, Santa Clara, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 18/039,706
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Nov. 22, 2021, PCT No. PCT/US2021/060400
§ 371(c)(1), (2) Date May 31, 2023,
PCT Pub. No. WO2022/119740, PCT Pub. Date Jun. 9, 2022.
Claims priority of provisional application 63/187,879, filed on May 12, 2021.
Claims priority of provisional application 63/120,202, filed on Dec. 1, 2020.
Prior Publication US 2024/0111357 A1, Apr. 4, 2024
Int. Cl. G06F 3/01 (2006.01)
CPC G06F 3/011 (2013.01) [G06F 3/016 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method to control actuation of a click event by a hand-actuated selector moveably mounted to a mount structure, comprising:
using one or more sensors to sense amount of displacement distance of the hand-actuated selector from a neutral position;
in response to the hand-actuated sensor at a displacement distance less than a first threshold distance from the neutral position, controlling one or more motors according to a first control state to impart a maintaining force;
in response to sensing the hand-actuated sensor at a displacement distance between a first threshold distance from the neutral position neutral position and a second threshold distance from the neutral position, controlling one or more motors according to a second control state to impart a haptic force to the hand-actuated selector that increases as a function of increasing displacement of the hand-actuated selector from the neutral displacement position;
in response to sensing the hand-actuated sensor has met the second threshold distance from the neutral position,
imparting a click event signal to cause an occurrence of the click event at a display system, and
controlling the one or more motors according to a third control state to reduce magnitude of the haptic force imparted to the hand-actuated selector to a reduced magnitude that is less than a maximum magnitude of the haptic force imparted during the second control state, wherein the haptic force decreases in magnitude to the reduced magnitude as a function of increasing displacement of the hand-actuated selector from the neutral displacement position.