Tool grip calibration for robotic surgery
US10595946B2 · kind B2 · utility
Assignee
Inventor
Key dates
| Filing date | Jan 22, 2018 |
| Grant date | Mar 24, 2020 |
| Priority date | — |
| Expiry date | May 13, 2038 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY10S901/46
- WIPO fieldMedical technology
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.