Clamping instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid W. Weir, Melody Wu, Kevin Durant, Grant Duque
Life of this patent
Estimating the term…
Abstract
Embodiments of a clamping instrument are disclosed. In some embodiments, a clamping device with calibrated parameters and a calibration process for the clamping device is presented. A method of calibrating a clamping instrument can include acquiring a data set of clamping torque as a function of tip deflection data for the clamping instrument; determining a torque limit from the data set; and storing the torque limit in the clamping instrument.
Claims20
A method, comprising:
- acquiring, by electronics coupled to a memory, tip deflection data for a clamping instrument, the clamping instrument including a clamping end effector comprising a first jaw and a second jaw;
- determining a torque limit based on the tip deflection data, the torque limit corresponding to a limit on current provided to one or more motors used to actuate the clamping instrument;
- and
- operating the clamping instrument based on the torque limit and a threshold separation between the first jaw and the second jaw of the clamping end effector.
A end effector, comprising:
- a clamping end effector comprising a first jaw and a second jaw;
- electronics coupled to a memory and the clamping end effector, the electronics being configured to:
- acquire tip deflection data for the end effector;
- determine a torque limit based on the tip deflection data, the torque limit corresponding to a limit on current provided to one or more actuators used to actuate the end effector;
- and
- operate the end effector based on the torque limit and a threshold separation between the first jaw and the second jaw of the clamping end effector.
A non-transitory computer-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a clamping instrument are adapted to cause the one or more processors to perform a method comprising:
- acquiring tip deflection data for the clamping instrument, the clamping instrument including a clamping end effector comprising a first jaw and a second jaw;
- determining a torque limit based on the tip deflection data, the torque limit corresponding to a limit on current provided to one or more motors used to actuate the clamping instrument;
- and
- operating the clamping instrument based on the torque limit and a threshold separation between the first jaw and the second jaw of the clamping end effector.
Dependencies are inferred from the claim text.