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GRIP FORCE CONTROL IN A ROBOTIC SURGICAL INSTRUMENT

  • US 20120310256A1
  • Filed: 05/30/2012
  • Published: 12/06/2012
  • Est. Priority Date: 05/31/2011
  • Status: Active Grant
First Claim
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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.

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