Reconfigurable end effector architecture

US10799306B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• David W. Robinson · Bay Ridge, US
• Gabriel F. Brisson · Albany, US
• Amir Chaghajerdi · San Jose, US
• Pushkar Hingwe · Los Altos, US
• Donald F. Wilson, Jr. · Santa Clara, US

Key dates

• Filing date: Nov 4, 2016
• Grant date: Oct 13, 2020
• Expiry date: Sep 19, 2037

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2034/305
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.