USER INTERFACE METHODS FOR ALTERNATE TOOL MODES FOR ROBOTIC SURGICAL TOOLS
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Abstract
In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.
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Citations
52 Claims
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1-19. -19. (canceled)
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20. A method for a robotic surgical system comprising:
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sensing for a first mode selection signal to enter a lock sensing mode; in response to the lock sensing mode, sensing for a first hard stop in a first control input mechanism to enter a lock mode for a robotic surgical tool; in response to the lock mode, sensing for a second hard stop in the flat control input mechanism to exit the lock mode for the robotic surgical tool; and in response to the lock sensing mode, sensing for a second mode selection signal to exit the lock sensing mode. - View Dependent Claims (21, 23, 24, 25, 26, 27, 28, 29, 30)
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22. (canceled)
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31-34. -34. (canceled)
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35-39. -39. (canceled)
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40. A method for a robotic surgical system comprising:
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sensing for a first time for a first alternate user input signal from a first user controlled input mechanism to enter an alternate tool mode; alternatively controlling a robotic surgical tool in response to the alternative tool mode being sensed for a first time; and in the alternate tool mode, further sensing for the first alternate user input signal from the first user controlled input mechanism for a second time to exit the alternate tool mode. - View Dependent Claims (41, 42, 43, 45, 46, 47, 48, 49, 50, 51, 52)
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44. (canceled)
Specification