Systems and methods for end effector position set point adjustment
AssigneeIntuitive Surgical Operations, Inc.
InventorsAndrew D. Wilson, Amir Chaghajerdi, David W. Weir
Life of this patent
Estimating the term…
Abstract
End effector position set point adjustment includes an instrument and a control unit. The instrument includes an end effector and a drive mechanism for actuating the end effector. The control unit is configured to actuate the end effector using the drive mechanism, determine an actual position of the end effector, identify an expected position associated with the determined actual position of the end effector, determine a position offset based on the expected position and the determined actual position of the end effector, adjust a position set point based on the position offset, and actuate the end effector to the adjusted position set point using the drive mechanism.
Claims20
A system for actuating an instrument, the system comprising:
- an instrument comprising an end effector and a drive mechanism for actuating the end effector;
- and
- a control unit configured to:
- actuate the end effector using the drive mechanism;
- determine an actual position of the end effector;
- identify an expected position associated with the determined actual position of the end effector;
- determine a position offset based on the expected position and the determined actual position of the end effector;
- adjust a position set point based on the position offset, the position set point corresponding to a desired position for the end effector;
- and
- actuate the end effector to the adjusted position set point using the drive mechanism.
A method of actuating an end effector of an instrument using a control unit, the method comprising:
- actuating the end effector using a drive mechanism;
- determining an actual position of the end effector;
- identifying an expected position associated with the determined actual position of the end effector;
- determining a position offset based on the expected position and the determined actual position of the end effector;
- adjusting a position set point based on the position offset, the position set point corresponding to a desired position for the end effector;
- and
- actuating the end effector to the adjusted position set point using the drive mechanism.
One or more non-transitory computer-readable media having stored thereon a plurality of machine-readable instructions that, when executed by one or more processors associated with a computer-assisted device, are adapted to cause the one or more processors to perform a method comprising:
- actuating an end effector using a drive mechanism;
- determining an actual position of the end effector;
- identifying an expected position associated with the determined actual position of the end effector;
- determining a position offset based on the expected position and the determined actual position of the end effector;
- adjusting a position set point based on the position offset, the position set point corresponding to a desired position for the end effector;
- and
- actuating the end effector to the adjusted position set point using the drive mechanism.
Dependencies are inferred from the claim text.