Systems and methods for operating an end effector

Patent metadata

Field	Value
Publication number	US-11026755-B2
Application number	US-201816009014-A
Country	US
Kind code	B2
Filing date	Jun 14, 2018
Priority date	Feb 15, 2011
Publication date	Jun 8, 2021
Grant date	Jun 8, 2021

Abstract

Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw.

First claim

What is claimed is:

1. A device comprising:
an end effector comprising:
a first jaw;
a second jaw;
a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force; and
a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force, the second actuation mechanism being different from the first actuation mechanism; and

a processor configured to:
actuate, using the first actuation mechanism, the first jaw and the second jaw to grasp a material at the first force;
measure a separation between the first jaw and the second jaw while grasping the material with the first force; and
determine, based on the measured separation, a prediction of success or failure in clamping the material at the second force using the second actuation mechanism.

2. The device of claim 1 , wherein the end effector further comprises:
a pivot pin;
wherein the first jaw is configured to rotate about the pivot pin relative to the second jaw.

3. The device of claim 1 , wherein:
the first jaw is fixed; and
the second jaw is configured to pivot relative to the first jaw.

4. The device of claim 1 , wherein the first actuation mechanism comprises:
a first pull cable configured to increase an angle between the first jaw and the second jaw; and
a second pull cable configured to decrease the angle between the first jaw and the second jaw.

5. The device of claim 4 , wherein the first pull cable and the second pull cable are configured to be operated via coordinated actuation.

6. The device of claim 4 , wherein the end effector further comprises:
a first pulley; and
a second pulley;
wherein:
the first pull cable is wrapped around the first pulley; and
the second pull cable is wrapped around the second pulley.

7. The device of claim 1 , wherein the second actuation mechanism comprises a lead screw.

8. The device of claim 7 , wherein the end effector further comprises:
a cam configured to be moved laterally along the lead screw with rotation of the lead screw;
wherein:
the first jaw comprises:
a first proximal side having a first recessed area defining a first cam mating surface; and
a second proximal side opposite the first proximal side having a second recessed area defining a second cam mating surface; and

proximal motion of the cam is configured to bring the cam in contact with the first and second cam mating surfaces to provide the second force.

9. The device of claim 8 , wherein the cam is coated with TiN.

10. The device of claim 7 , wherein the end effector further comprises a proximal bearing configured to support the lead screw within a cam slot of the end effector.

11. The device of claim 10 , wherein the end effector further comprises a distal bearing configured to further support the lead screw within the cam slot.

12. The device of claim 7 , wherein the end effector further comprises:
a cam slot, the lead screw being located in the cam slot; and
a receptacle at a distal end of the cam slot, the receptacle being configured to receive a journal surface of the lead screw.

13. A method comprising:
actuating, by a processor using a first actuation mechanism, a first jaw of an end effector and a second jaw of the end effector toward each other with a first force;
measuring, by the processor, a separation between the first jaw and the second jaw while grasping a material with the first force; and
determining, by the processor, based on the measured separation, a prediction of success or failure in clamping the material using a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force, the second actuation mechanism being different from the first actuation mechanism.

14. The method of claim 13 , wherein:
the first jaw is fixed; and
the method further comprises pivoting the second jaw relative to the first jaw.

15. The method of claim 13 , wherein actuating using the first actuation mechanism comprises:
pulling a first cable configured to increase an angle between the first jaw and the second jaw; and
pulling a second cable configured to decrease the angle between the first jaw and the second jaw.

16. The method of claim 15 , wherein the pulling of the first cable and the second cable is coordinated.

17. The method of claim 13 , wherein actuating using the second actuation mechanism comprises rotating a lead screw.

18. The method of claim 17 , wherein:
rotating the lead screw causes a cam to move laterally along the lead screw; and
proximal motion of the cam causes the cam to come in contact with a first recessed area of a first proximal side of the first jaw and causes the cam to come in contact with a second recessed area of a second proximal side of the first jaw opposite the first proximal side; and
contact between the cam and the first recessed area and the second recessed area causes the second force.

19. The method of claim 17 , further comprising supporting, using a proximal bearing, the lead screw within a cam slot of the end effector.

20. The method of claim 19 , further comprising supporting, using a distal bearing, the lead screw within the cam slot.

Assignees

• Intuitive Surgical Operations

Inventors

• Weir David W
• Duque Grant
• Durant Kevin
• Flanagan Patrick
• Nixon Margaret M
• Robinson David W
• Zabinski John W

Classifications

• A61B17/00

  Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) · CPC title

• A61B34/30

  Surgical robots · CPC title

• A61B2034/301

  for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes · CPC title

• A61B34/25 Primary

  User interfaces for surgical systems · CPC title

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title