Back to results
US 12,582,429 B2Granted
Medical apparatus with optical sensing, and related devices and methods
AssigneeIntuitive Surgical Operations, Inc.
InventorsNatalie Burkhard, John Ryan Steger
Life of this patent
Estimating the term…
Abstract
A method comprises grasping material between a pair of jaw members of a medical instrument; sensing light transmitted from the material grasped between the pair of jaw members to a location exterior to the pair of jaw members; and altering a grasping force exerted by the pair of jaw members on the material being grasped based on the sensing of the light transmitted.
Claims10
A method comprising:
- grasping material between a pair of jaw members of a medical instrument;
- sensing, by a sensor positioned at a location exterior to the pair of jaw members, light transmitted from the material grasped between the pair of jaw members to the location exterior to the pair of jaw members, the sensor outputting image data in response to sensing the light;
- processing, by a controller, the image data to detect deformation or slip of the material;
- and
- altering, by the controller, a grasping force applied by the pair of jaw members on the material being grasped in response to detecting deformation or slip based on the processing of the image data.
2 more elements
A method comprising:
- grasping material between a pair of jaw members of a medical instrument, the pair of jaw members comprising a first jaw member and a second jaw member;
- sensing, by a sensor, light transmitted through a transparent portion of the first jaw member of the pair of jaw members, the sensor outputting image data in response to sensing the light;
- processing, by a controller, the image data to detect deformation or slip of the material;
- and
- altering, by the controller, a grasping force applied by the pair of jaw members on the material being grasped in response to detecting in response to detecting deformation or slip based on the processing of the image data.
2 more elements
Dependencies are inferred from the claim text.