Tool grip calibration for robotic surgery

Patent metadata

Field	Value
Publication number	US-9085083-B2
Application number	US-201414272862-A
Country	US
Kind code	B2
Filing date	May 8, 2014
Priority date	May 4, 2004
Publication date	Jul 21, 2015
Grant date	Jul 21, 2015

Abstract

Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.

First claim

What is claimed is:

1. An apparatus comprising:
input grip handles;
a biasing element for increasing resistance to gripping of the input grip handles beginning at a nominal closed position;
a processor;
a memory storing instructions for causing the processor to:
identify mounting of an end effector on a manipulator controlled by the processor, the end effector comprising end effector elements;
drive one or more motors of the manipulator with a commanded torque to move th…

Assignees

• Intuitive Surgical Operations

Inventors

• Nixon Tom

Classifications

• A61B2090/066

  Human Necessities · mapped topic

• A61B2017/00477

  Human Necessities · mapped topic

• A61B2017/00017

  Human Necessities · mapped topic

• Y10S901/45

  Cross-Sectional Technologies · mapped topic

• A61B34/71

  Human Necessities · mapped topic