GRIP FORCE CONTROL IN A ROBOTIC SURGICAL INSTRUMENT
First Claim
1. A minimally invasive robotic surgical assembly comprising:
- an end effector including a jaw operable to grip a patient tissue; and
a spring assembly including an output link drivingly coupled with the jaw, an input link drivingly coupled with an articulation source, and a spring coupled with the input and output links to transfer an articulation force from the input link to the output link, the spring being preloaded to inhibit relative movement between the input link and the output link while the transferred articulation force is below a predetermined level and so as to allow relative movement between the input link and the output link when the transferred articulation force is above the predetermined level.
1 Assignment
0 Petitions
Accused Products
Abstract
Surgical assemblies, instruments, and related methods are disclosed that control tissue gripping force. A surgical assembly includes an end effector including a jaw operable to grip a patient tissue and a spring assembly. The spring assembly includes an output link drivingly coupled with the jaw, an input link drivingly coupled to an articulation source, and a spring coupled with the input and output links to transfer an articulation force from the input link to the output link. The spring is preloaded to inhibit relative movement between the input link and the output link while the transferred articulation force is below a predetermined level and so as to allow relative movement between the input link and the output link when the transferred articulation force is above the predetermined level.
367 Citations
22 Claims
-
1. A minimally invasive robotic surgical assembly comprising:
-
an end effector including a jaw operable to grip a patient tissue; and a spring assembly including an output link drivingly coupled with the jaw, an input link drivingly coupled with an articulation source, and a spring coupled with the input and output links to transfer an articulation force from the input link to the output link, the spring being preloaded to inhibit relative movement between the input link and the output link while the transferred articulation force is below a predetermined level and so as to allow relative movement between the input link and the output link when the transferred articulation force is above the predetermined level. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. A method for controlling grip force in a robotic surgical instrument, the method comprising:
-
actuating an input link of a spring assembly; transferring an actuation force from the input link to an output link of the spring assembly; inhibiting relative movement between the input link and the output link when the transferred actuation force is below a predetermined level with a preloaded spring of the spring assembly; moving the input link relative to the output link by deforming the preloaded spring when the transferred actuation force increases above the predetermined level; and actuating a grip mechanism via the output link so as to grip a patient tissue. - View Dependent Claims (13, 14, 15, 16, 17, 18)
-
-
19. A surgical instrument for use with a robotic manipulator of a minimally invasive surgical system, the robotic manipulator having a holding fixture, the surgical instrument comprising:
-
an instrument shaft extending between a distal end and a proximal end; an end effector supported by the distal end and including a jaw operable to grip a patient tissue; a drive element drivingly coupled with the jaw; a chassis disposed at the proximal end, the chassis including a frame supporting the instrument shaft, a spring assembly including an output link drivingly coupled with the drive element, an input link, and a spring coupled with the input and output links to transfer an articulation force from the input link to the output link, the spring being preloaded so as to inhibit relative movement between the input link and the output link while the transferred articulation force is below a predetermined level and so as to allow relative movement between the input link and the output link when the transferred articulation force is above the predetermined level, and an input coupler drivingly coupled with the input link and configured to drivingly interface with a corresponding output coupler of the robotic manipulator. - View Dependent Claims (20, 21, 22)
-
Specification