TOOL GRIP CALIBRATION FOR ROBOTIC SURGERY
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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
35 Claims
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1-23. -23. (canceled)
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24. A method for calibrating a robotic end effector, the end effector comprising first and second end effector members, the method comprising:
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applying a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member;
monitoring the applied torque;
monitoring the position of the first end effector member relative to the second end effector member versus the monitored applied torque;
determining a position corresponding to mutual engagement of the first and second end effector members; and
storing said position corresponding to mutual engagement in a memory. - View Dependent Claims (25, 26, 27, 28, 29, 30, 31)
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32. A system for calibrating a robotic end effector, the end effector comprising first and second end effector members, the system comprising:
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means for applying a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member;
means for monitoring the applied torque;
means for monitoring the position of the first end effector member relative to the second end effector member versus the monitored applied torque;
means for determining a position corresponding to mutual engagement of the first and second end effector members; and
means for storing said position corresponding to mutual engagement in a memory. - View Dependent Claims (33)
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34. A computer program product for calibrating a robotic end effector, the product comprising computer-readable medium comprising:
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code for causing a computer to apply a torque to at least one of the end effector members to move the first end effector member closer to the second end effector member;
code for causing a computer to monitor the applied torque;
code for causing a computer to monitor the position of the first end effector member relative to the second end effector member versus the monitored applied torque;
code for causing a computer to determine a position corresponding to mutual engagement of the first and second end effector members; and
code for causing a computer to store said position corresponding to mutual engagement in a memory. - View Dependent Claims (35)
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Specification