{
  "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.",
  "assignees": [
    "INTUITIVE SURGICAL OPERATIONS"
  ],
  "authors": [
    "AGRAWAL VARUN",
    "LIAO HSIEN-HSIN",
    "PEREZ ROSILLO ANGEL JEREMY",
    "REYES KORISSA A",
    "VERNER LAWTON N",
    "WATZA KEITH J"
  ],
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    "name": "Creative Commons Attribution 4.0 International",
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  "published_at": "2026-09-15T19:15:30.381307Z",
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  "source_date": "2026-02-17",
  "source_id": "US-12554250-B2",
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  "supersedes": null,
  "title": "Haptic profiles for input controls of a computer-assisted device",
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}