US 12,440,298 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 Apr. 12, 2024, as Appl. No. 18/634,732.
Application 18/634,732 is a continuation of application No. 17/488,209, filed on Sep. 28, 2021, granted, now 11,980,435.
Application 17/488,209 is a continuation of application No. 16/010,054, filed on Jun. 15, 2018, granted, now 11,135,031, issued on Oct. 5, 2021.
Prior Publication US 2024/0268912 A1, Aug. 15, 2024
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)] 13 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 proximal end and a distal end formed by a device head having a surface extending around a central axis and defining a larger cross-sectional profile than the proximal end;
a plurality of grip linkages distributed uniformly about the central axis and configured to generate a grip signal for manipulating a grip motion of the robotic surgical tool; and
a finger clutch mounted on the device head, wherein the finger clutch includes a conductive pad extending around the central axis; and
a user interface device processor electrically coupled to the conductive pad, which is configured to generate a clutch signal in response to detecting a change in a capacitance of the conductive pad, and in response to the clutch signal, the user interface device is prevented from controlling a spatial motion of the robotic surgical tool.