| 发明名称 |
GRIP FORCE NORMALIZATION FOR SURGICAL INSTRUMENT |
| 摘要 |
A teleoperated surgical system includes a surgical instrument with an end effector and a master input device. A servomechanism may be operatively coupled to the end effector to apply a force to the end effector, and at least one processor may operatively couple the servomechanism to the master input device to apply a grip force with the first and second gripping elements in response to input at the master input device. The applied grip force may be based at least in part on a mechanical advantage of the surgical instrument end effector. |
| 申请公布号 |
US2014343569(A1) |
申请公布日期 |
2014.11.20 |
| 申请号 |
US201414276934 |
申请日期 |
2014.05.13 |
| 申请人 |
INTUITIVE SURGICAL OPERATIONS, INC. |
发明人 |
TURNER Michael |
| 分类号 |
A61B19/00;A61B17/28 |
主分类号 |
A61B19/00 |
| 代理机构 |
|
代理人 |
|
| 主权项 |
1. A method for controlling grip force of an end effector of a surgical instrument, the method comprising:
receiving a first input signal indicative of a commanded position of first and second gripping elements of the surgical instrument end effector; and outputting an actuation signal to apply a grip force with the first and second gripping elements, wherein the actuation signal is based at least in part on the first input signal, an actual position of the first and second gripping elements, and a mechanical advantage of the surgical instrument end effector. |
| 地址 |
Sunnyvale CA US |
