Tool grip calibration for robotic surgery
First Claim
1. A telesurgical system comprising:
- an input handle having a first grip member movable relative to a second grip member in response to a hand gripping the handle;
a plurality of end effectors, each end effector comprising surgical jaws with a first end effector element movable relative to a second end effector element;
a manipulator transmitting a signal in response to mounting thereon of an end effector, the mounted end effector being from the plurality of end effectors; and
a processor coupling the input device to the manipulator, the processor configured to calibrate the mounted end effector and manipulator in response to the signal by effecting a calibration movement of at least one of the elements so as to bring the elements into mutual engagement, the processor configured to effect articulation of the jaws of the mounted end effector in response to the gripping of the handle per the calibration.
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Accused Products
Abstract
Telerobotic, telesurgical, and surgical robotic devices, systems, and methods selectively calibrate end effector jaws by bringing the jaw elements into engagement with each other. Commanded torque signals may bring the end effector elements into engagement while monitoring the resulting position of a drive system, optionally using a second derivative of the torque/position relationship so as to identify an end effector engagement position. Calibration can allow the end effector engagement position to correspond to a nominal closed position of an input handle by compensating for wear on the end effector, the end effector drive system, then manipulator, the manipulator drive system, the manipulator/end effector interfacing, and manufacturing tolerances.
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Citations
23 Claims
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1. A telesurgical system comprising:
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an input handle having a first grip member movable relative to a second grip member in response to a hand gripping the handle;
a plurality of end effectors, each end effector comprising surgical jaws with a first end effector element movable relative to a second end effector element;
a manipulator transmitting a signal in response to mounting thereon of an end effector, the mounted end effector being from the plurality of end effectors; and
a processor coupling the input device to the manipulator, the processor configured to calibrate the mounted end effector and manipulator in response to the signal by effecting a calibration movement of at least one of the elements so as to bring the elements into mutual engagement, the processor configured to effect articulation of the jaws of the mounted end effector in response to the gripping of the handle per the calibration. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A telerobotic system comprising:
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an input having a linkage supporting a handle, the handle having a first grip member that moves relative to a second grip member when a hand grips the handle, the linkage articulable for repositioning of the handle;
a plurality the end effectors, each end effector comprising articulable jaws with a first end effector element movable relative to a second end effector element;
a manipulator having a robotic arm movably supporting a mounted end effector from among the plurality of end effectors; and
a processor coupling the input device to the manipulator, the processor determining a calibration of the mounted end effector by effecting a calibration movement of the end effector elements into mutual engagement, the processor effecting articulation of the jaws of the mounted end effector in response to the gripping of the handle per the calibration.
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13. A telesurgical method comprising:
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mounting a first surgical end effector to a manipulator, the end effector comprising jaws with a first end effector element movable relative to a second end effector element;
calibrating the mounted first end effector and manipulator by moving at least one of the end effector elements so as to bring the elements into mutual engagement;
gripping a handle with a hand so that a first grip member moves relative to a second grip member;
computing an articulation signal in response to the gripping of the handle per the calibration; and
articulating the jaws in response to the articulation signal so that the jaws of the first end effector move in correlation with the gripping of the handle. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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Specification