Techniques for controlling grasping
AssigneeIntuitive Surgical Operations, Ing
InventorsDavid W. Weir, Kevin Durant, Patrick Flanagan, David W. Robinson
Life of this patent
Estimating the term…
Abstract
Techniques for controlling grasping include a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw; a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw; and a processor. The processor is configured to monitor a force or torque applied by the drive system to cause the end effector to grasp the material and in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.
Claims20
A system comprising:
- a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw;
- a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw;
- and
- a processor configured to:
- monitor a force or torque applied by the drive system to cause the end effector to grasp the material;
- and
- in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.
A method comprising:
- monitoring, by a processor, a force or torque applied by a drive system to cause an end effector to grasp a material between a first jaw and a second jaw of the end effector;
- and
- in response to determining that the applied force or torque is below a lower limit of an acceptable range of force or torque, reversing a direction of the applied force or torque.
Dependencies are inferred from the claim text.