US 12,484,983 B2
Drift detection of a haptic input device in a robotic surgical system
Colin Allen Wilson, Burlingame, CA (US); Daniel Aaron Soski, San Diego, CA (US); and Karan Handa, San Francisco, CA (US)
Assigned to Auris Health, Inc., Redwood City, CA (US)
Filed by Auris Health, Inc., Redwood City, CA (US)
Filed on Oct. 20, 2022, as Appl. No. 17/970,505.
Claims priority of provisional application 63/270,561, filed on Oct. 21, 2021.
Prior Publication US 2023/0126506 A1, Apr. 27, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 34/35 (2016.01)
CPC A61B 34/74 (2016.02) [A61B 34/35 (2016.02)] 18 Claims
OG exemplary drawing
 
1. A medical system comprising:
an input device for controlling operation of a robotic arm, the input device comprising a grasper comprising a first finger pad, wherein the first finger pad comprises a first set of two or more electrodes for determining a user presence at the first finger pad wherein the first set of two or more electrodes comprises:
an electrode layer comprising the two or more electrodes; and
a shield layer for reducing capacitance between the two or more electrodes with components of the grasper; and
a processor for modifying operation of the robotic arm in response to information from the input device in accordance with a determination of the user presence at the first finger pad.