Grip force control for robotic surgical instrument end effector

Patent metadata

Field	Value
Publication number	US-9314307-B2
Application number	US-201213655999-A
Country	US
Kind code	B2
Filing date	Oct 19, 2012
Priority date	Oct 21, 2011
Publication date	Apr 19, 2016
Grant date	Apr 19, 2016

Abstract

Methods of controlling a gripping force of an end effector of a robotically-controlled surgical instrument are provided. The method includes receiving a first input signal indicative of a high grip level input at a master gripping mechanism that controls a slave gripping force of the end effector; receiving a second input signal indicative of a user's readiness to operate the surgical instrument to perform a surgical procedure; and outputting an actuation signal in response to receiving the first input signal and the second input signal together to increase the slave gripping force from a first level to a second level higher than the first level during the surgical procedure.

First claim

What is claimed is:

1. A method of controlling a gripping force of an end effector of a surgical instrument, the method comprising:
receiving a first input signal in response to grip input at a master grip input mechanism that controls slave gripping force of the end effector;
in response to receiving the first input signal, increasing the slave gripping force of the end effector to a first threshold level;
receiving a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input at a master input device, the procedure input being other than grip input at the master grip input mechanism, the procedure input causing actuation of the surgical instrument to perform a first surgical procedure; and
in response to receiving at least the second input signal while continuing to receive the first input signal, increasing the slave gripping force of the end effector from the first threshold level to a second level higher than the first threshold level during the first surgical procedure.

2. The method of claim 1 , further comprising:
outputting a locking signal in response to receiving the first input signal and the second input signal to lock one or more degrees of freedom of the surgical instrument during the first surgical procedure.

3. The method of claim 1 , wherein the first input signal is output when the grip input at the master grip input mechanism meets a squeezing force threshold.

4. The method of claim 3 , wherein the squeezing force threshold is reached at 80 percent or more of a fully actuated position of the master grip input mechanism to actuate the slave gripping force.

5. The method of claim 3 , wherein the master grip input mechanism comprises a biasing transition mechanism comprising a first biasing mechanism and a second biasing mechanism, wherein the first biasing mechanism provides haptic feedback to a user to indicate squeezing against a first level of resistance to indicate a lower gripping force, and wherein the second biasing mechanism provides haptic feedback to a user to indicate squeezing against a second level of resistance to indicate a higher gripping force.

6. The method of claim 5 , wherein the squeezing force threshold is reached at 80 percent or more of an amount of a fully compressed state of the second biasing mechanism.

7. The method of claim 1 , further comprising decreasing the slave gripping force of the end effector from the second level.

8. The method of claim 7 , wherein decreasing the slave gripping force occurs in response to a release of the master grip input mechanism exceeding a releasing threshold.

9. The method of claim 8 , wherein the releasing threshold is 20 percent or more of an amount the master grip input mechanism has been released after the grip input causes a compressing of the master grip input mechanism to actuate the slave gripping force.

10. The method of claim 8 , wherein the master grip input mechanism comprises a biasing transition mechanism comprising a first biasing mechanism and a second biasing mechanism, wherein the first biasing mechanism provides haptic feedback to a user to indicate squeezing against a first level of resistance to indicate a lower gripping force, and wherein the second biasing mechanism provides haptic feedback to a user to indicate squeezing against a second level of resistance to indicate a higher gripping force.

11. The method of claim 10 , wherein the releasing threshold is 20 percent or more of an amount the second biasing mechanism is released from a fully compressed state.

12. The method of claim 8 , wherein decreasing the slave gripping force comprises decreasing the slave gripping force from the second level to a zero gripping force level when the releasing threshold is exceeded.

13. The method of claim 7 , wherein decreasing the slave gripping force occurs in response to one or more of an indication that the first surgical procedure is to end or an indication that the first surgical procedure has ended.

14. The method of claim 13 , wherein decreasing the slave gripping force comprises decreasing the slave gripping force from the second level to the first level.

15. The method of claim 13 , wherein cessation of the second input signal indicates that the first surgical procedure is to end.

16. The method of claim 13 , wherein the indication that the first surgical procedure has ended is determined from one or more of information detected from tissue, a position of an element of the end effector, and an elapsed time from initiation of the first surgical procedure.

17. The method of claim 1 , wherein receiving the second input signal comprises receiving an arming input signal in response to an arming input to arm the surgical instrument to perform a cutting procedure.

18. The method of claim 17 , further comprising receiving a cutting input signal after the arming input signal, the cutting input signal indicating that the cutting procedure is to begin.

19. The method of claim 18 , further comprising decreasing the slave gripping force of the end effector between the arming of the surgical instrument and the cutting procedure.

20. The method of claim 18 , wherein the second level of the slave gripping force is maintained between the arming of the surgical instrument and the cutting procedure.

21. The method of claim 1 , further comprising receiving a third input signal, subsequent to completion of the first surgical procedure and in response to a subsequent procedure input at the master input device to actuate the surgical instrument to perform a subsequent surgical procedure, wherein the second level of the slave gripping force is maintained between the first surgical procedure and the subsequent surgical procedure.

22. The method of claim 1 , further comprising:
receiving a third input signal, subsequent to completion of the first surgical procedure and in response to a subsequent procedure input at the master input device to actuate the surgical instrument to perform a subsequent surgical procedure; and
decreasing the slave gripping force of the end effector between the first surgical procedure and the subsequent surgical procedure.

23. A surgical system, comprising:
a master grip input mechanism;
a surgical instrument comprising an end effector, wherein the end effector is configured to apply slave gripping force in response to grip input at the master grip input mechanism; and
a controller configured to:
receive a first input signal in response to grip input at the master grip input mechanism;
in response to receiving the first input signal, output a first actuation signal to increase slave gripping force of the end effector to a first threshold level;
receive a second input signal after receiving the first input signal, wherein the second input signal is received in response to a procedure input at a master input device, the procedure input being other than grip input at the master grip input mechanism and causing actuation of the surgical instrument to perform a first surgical procedure; and
output a second actuation signal, in response to receiving at least the second input signal while continuing to receive the first input signal, the second actuation signal causing the slave gripping force of the end effector to increase from the first threshold level to a second level higher than the first threshold level during the first surgical procedure.

24. The surgical

Assignees

• Intuitive Surgical Operations

Inventors

• Richmond Gregory F
• Guthart Gary S

Classifications

• A61B17/29

  Forceps for use in minimally invasive surgery · CPC title

• A61B2018/00601

  Cutting · CPC title

• A61B34/74 Primary

  Manipulators with manual electric input means · CPC title

• A61B17/285

  combined with cutting implements · CPC title

• A61B2018/1455

  having a moving blade for cutting tissue grasped by the jaws · CPC title