公开(公告)号：US20240004369A1

公开(公告)日：2024-01-04

申请号：US18254963

申请日：2021-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Varun AGRAWAL ,  Hsien-Hsin LIAO ,  Angel Jeremy PEREZ ROSILLO ,  Korissa A. REYES ,  Lawton N. VERNER ,  Keith J. WATZA

IPC: G05B19/4155 ,  A61B34/00 ,  A61B34/30 ,  A61B18/14 ,  B25J13/02 ,  B25J9/16

CPC classification number: G05B19/4155 ,  A61B34/76 ,  A61B34/30 ,  A61B18/1442 ,  B25J13/025 ,  B25J9/1689 ,  A61B2018/00589

Abstract: Systems and methods of providing a haptic barrier for an instrument include a computer-assisted device. The computer-assisted device includes a grip input control, a repositionable arm configured to support an instrument, and one or more processors. The one or more processors are configured to detect a position of the grip input control in a first direction of a degree of freedom having In a first region, a second region, and a third region between the first and second regions; in response to determining that the detected position is in the first region, operate the instrument according to a first mode; in response to determining that the detected position is in the third region, provide a haptic barrier to resist movement of the grip input control through the third region; and in response to determining that the detected position is in the second region, operate the instrument according to a second mode.