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Tool grip calibration for robotic surgery

  • US 20050251110A1
  • Filed: 05/04/2004
  • Published: 11/10/2005
  • Est. Priority Date: 05/04/2004
  • Status: Active Grant
First Claim
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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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