Control input accuracy for teleoperated surgical instrument
AssigneeIntuitive Surgical Operations, Inc.
InventorsGabriel F. Brisson, Niels Smaby, Melody Wu
Life of this patent
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Abstract
A method comprises driving, by a motor, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states. The camshaft defines a longitudinal axis and rotates about the longitudinal axis. The method further comprises engaging, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft. The method further comprises disengaging, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.
Claims20
A method, comprising:
- driving, by a motor, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states, wherein the camshaft defines a longitudinal axis and rotates about the longitudinal axis;
- engaging, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft;
- and
- disengaging, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.
A method, comprising:
- driving, by a controller, a camshaft of a transmission of a telesurgically operated instrument to a first rotational state of a plurality of rotational states, wherein the camshaft defines a longitudinal axis and rotates about the longitudinal axis, and wherein the controller comprises at least one processor for controlling the transmission;
- engaging, by the controller, in the first rotational state, a first input gear of a first effector drivetrain of the transmission with a first gear of the first effector drivetrain via a first power cam of the camshaft;
- and
- disengaging, by the controller, in the first rotational state, a first locker arm of the first effector drivetrain from the first gear via a first locker cam of the camshaft.
Dependencies are inferred from the claim text.