Back to results
US 7,373,219 B2Granted
Grip strength with tactile feedback for robotic surgery
AssigneeIntuitive Surgical, Inc.
InventorsWilliam C. Nowlin, Gary S. Guthart, Robert G. Younge, Tom G. Cooper, Craig Gerbi, Steven J. Blumenkranz, Dean F. Hoornaert
Life of this patent
Estimating the term…
Abstract
Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
Claims14
A method for controlling movement of end effectors, comprising:
- receiving an input signal indicative of a squeezing together of first and second grip members;
- generating a control signal to command movement of first and second end effector elements in response to the input signal according to a control relationship;
- and
- altering the control relationship when the input signal indicates that the grip members are near a closed configuration.
1 more element
Dependencies are inferred from the claim text.