# US 11,026,755 B2 · Systems and methods for operating an end effector > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,026,755 B2 - Document ID: US11026755B2 - Status: Granted - Kind: B2 - Application number: 16/009,014 - Filed: 2018-06-14 - Published: 2018-11-15 - Granted: 2021-06-08 - Earliest claimed: 2011-02-15 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: David W. Weir; Grant Duque; Kevin Durant; Patrick Flanagan; Margaret M. Nixon; David W. Robinson; John W. Zabinski - Web page: https://patentgrep.com/patent/US11026755B2 ## CPC - A61B 34/25: {User interfaces for surgical systems} - A61B 17/00: Surgical instruments, devices or methods (A61B18/00 takes precedence; dental tools A61C3/00; eye surgery A61F9/007; ear surgery A61F11/20) - A61B 17/07207: {the staples being applied sequentially} - A61B 17/28: Surgical forceps (biopsy forceps A61B10/06; {for holding suture needles or materials A61B17/0483; for removing or smashing calculi A61B17/221; surgical scissors A61B17/3201;} obstetrical forceps A61B17/44) - A61B 17/29: Forceps for use in minimally invasive surgery - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 90/06: {Measuring instruments not otherwise provided for} - A61B 90/08: {Accessories or related features not otherwise provided for} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - G06F 3/14: Digital output to display device {; Cooperation and interconnection of the display device with other functional units} - A61B 34/30: Surgical robots - A61B 2017/00115: {with audible or visual output} - A61B 2017/00132: {Setting operation time of a device (A61B2017/00123 takes precedence)} - A61B 2017/2808: {Clamp, e.g. towel clamp} - A61B 2034/254: {being adapted depending on the stage of the surgical procedure} - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - G06F 3/016: {Input arrangements with force or tactile feedback as computer generated output to the user} - G06F 3/16: Sound input; Sound output (speech processing G10L) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract Systems and methods for operating an end effector include a first jaw, a second jaw, a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force, and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force. The second actuation mechanism is different from the first actuation mechanism. In some embodiments, the first actuation mechanism includes a first pull cable configured to increase an angle between the first jaw and the second jaw and a second pull cable configured to decrease the angle between the first jaw and the second jaw. In some embodiments, the second actuation mechanism includes a lead screw. ## Claims ### Claim 1 A device comprising: an end effector comprising: a first jaw; a second jaw; a first actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a first force; and a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force, the second actuation mechanism being different from the first actuation mechanism; and a processor configured to: actuate, using the first actuation mechanism, the first jaw and the second jaw to grasp a material at the first force; measure a separation between the first jaw and the second jaw while grasping the material with the first force; and determine, based on the measured separation, a prediction of success or failure in clamping the material at the second force using the second actuation mechanism. ### Claim 2 (depends on 1) The device of claim 1, wherein the end effector further comprises: a pivot pin; wherein the first jaw is configured to rotate about the pivot pin relative to the second jaw. ### Claim 3 (depends on 1) The device of claim 1, wherein: the first jaw is fixed; and the second jaw is configured to pivot relative to the first jaw. ### Claim 4 (depends on 1) The device of claim 1, wherein the first actuation mechanism comprises: a first pull cable configured to increase an angle between the first jaw and the second jaw; and a second pull cable configured to decrease the angle between the first jaw and the second jaw. ### Claim 5 (depends on 4) The device of claim 4, wherein the first pull cable and the second pull cable are configured to be operated via coordinated actuation. ### Claim 6 (depends on 4) The device of claim 4, wherein the end effector further comprises: a first pulley; and a second pulley; wherein: the first pull cable is wrapped around the first pulley; and the second pull cable is wrapped around the second pulley. ### Claim 7 (depends on 1) The device of claim 1, wherein the second actuation mechanism comprises a lead screw. ### Claim 8 (depends on 7) The device of claim 7, wherein the end effector further comprises: a cam configured to be moved laterally along the lead screw with rotation of the lead screw; wherein: the first jaw comprises: a first proximal side having a first recessed area defining a first cam mating surface; and a second proximal side opposite the first proximal side having a second recessed area defining a second cam mating surface; and proximal motion of the cam is configured to bring the cam in contact with the first and second cam mating surfaces to provide the second force. ### Claim 9 (depends on 8) The device of claim 8, wherein the cam is coated with TiN. ### Claim 10 (depends on 7) The device of claim 7, wherein the end effector further comprises a proximal bearing configured to support the lead screw within a cam slot of the end effector. ### Claim 11 (depends on 10) The device of claim 10, wherein the end effector further comprises a distal bearing configured to further support the lead screw within the cam slot. ### Claim 12 (depends on 7) The device of claim 7, wherein the end effector further comprises: a cam slot, the lead screw being located in the cam slot; and a receptacle at a distal end of the cam slot, the receptacle being configured to receive a journal surface of the lead screw. ### Claim 13 A method comprising: actuating, by a processor using a first actuation mechanism, a first jaw of an end effector and a second jaw of the end effector toward each other with a first force; measuring, by the processor, a separation between the first jaw and the second jaw while grasping a material with the first force; and determining, by the processor, based on the measured separation, a prediction of success or failure in clamping the material using a second actuation mechanism configured to actuate the first jaw and the second jaw toward each other with a second force greater than the first force, the second actuation mechanism being different from the first actuation mechanism. ### Claim 14 (depends on 13) The method of claim 13, wherein: the first jaw is fixed; and the method further comprises pivoting the second jaw relative to the first jaw. ### Claim 15 (depends on 13) The method of claim 13, wherein actuating using the first actuation mechanism comprises: pulling a first cable configured to increase an angle between the first jaw and the second jaw; and pulling a second cable configured to decrease the angle between the first jaw and the second jaw. ### Claim 16 (depends on 15) The method of claim 15, wherein the pulling of the first cable and the second cable is coordinated. ### Claim 17 (depends on 13) The method of claim 13, wherein actuating using the second actuation mechanism comprises rotating a lead screw. ### Claim 18 (depends on 17) The method of claim 17, wherein: rotating the lead screw causes a cam to move laterally along the lead screw; and proximal motion of the cam causes the cam to come in contact with a first recessed area of a first proximal side of the first jaw and causes the cam to come in contact with a second recessed area of a second proximal side of the first jaw opposite the first proximal side; and contact between the cam and the first recessed area and the second recessed area causes the second force. ### Claim 19 (depends on 17) The method of claim 17, further comprising supporting, using a proximal bearing, the lead screw within a cam slot of the end effector. ### Claim 20 (depends on 19) The method of claim 19, further comprising supporting, using a distal bearing, the lead screw within the cam slot.