System and method for variable velocity surgical instrument
US10973519B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Jan 27, 2017 |
| Grant date | Apr 13, 2021 |
| Priority date | — |
| Expiry date | Oct 19, 2037 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B15/02
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.