Torque compensation
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid W. Weir, Melody Wu, Gabriel F. Brisson, Kevin Durant, Grant Duque
Life of this patent
Estimating the term…
Abstract
Techniques for torque compensation include a system include actuating means coupled to a clamping means and processing means. The processing means is configured to acquire an initial torque limit for the clamping means; adjust the initial torque limit based on an angle of a wrist of the clamping means to obtain an adjusted torque limit; and drive, subject to the adjusted torque limit, the actuating means to cause the clamping means to clamp a material.
Claims20
A system for controlling a clamping means, the system comprising:
- actuating means coupled to the clamping means;
- and
- processing means configured to:
- acquire an initial maximum torque limit for the clamping means;
- adjust the initial maximum torque limit based on an angle of a wrist of the clamping means to configure an adjusted maximum torque limit;
- and
- drive the actuating means, wherein an actual torque used to drive the actuating means to cause the clamping means to clamp a material is limited by the adjusted maximum torque limit.
A system for controlling a clamping means, the system comprising:
- actuating means coupled to the clamping means;
- and
- processing means configured to:
- acquire an initial maximum torque limit for the clamping means;
- adjust the initial maximum torque limit based on one or more of a lifetime of the actuating means or a lifetime of the clamping means to obtain an adjusted maximum torque limit;
- and
- drive the actuating means, wherein an actual torque used to drive the actuating means to cause the clamping means to clamp a material is limited by the adjusted maximum torque limit.
A system for controlling a stapling means, the system comprising:
- actuating means coupled to the stapling means;
- and
- processing means configured to:
- acquire an initial maximum torque limit for the stapling means;
- adjust the initial maximum torque limit based on one or more parameters to determine an adjusted maximum torque limit, the one or more parameters being selected from the group consisting of:
- a lifetime of the actuating means, a lifetime of the stapling means, a type of a staple cartridge inserted into the stapling means, and an angle of a wrist of the stapling means;
- and
- drive the actuating means, wherein an actual torque used to drive the actuating means to cause the stapling means to fire one or more staples through a material is limited by the adjusted maximum torque limit.
Dependencies are inferred from the claim text.