Grip strength with tactile feedback for robotic surgery
First Claim
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1. A robotic system comprising:
- a master controller having a biasing system and first and second grip members defining a grip separation, the biasing system urging the grip members apart and defining a predetermined grip separation;
a slave having first and second end effector elements and defining an end effector separation;
a servomechanism operatively coupling the end effector elements to the grip elements, the servomechanism applying a following force to the end effector elements, the servomechanism applying a first following force when the grip separation is greater than the predetermined grip separation, the servomechanism applying a second following force when the grip separation is less than the predetermined grip separation so that the biasing system provides tactile indication of an altered gripping force.
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Abstract
Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
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Citations
32 Claims
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1. A robotic system comprising:
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a master controller having a biasing system and first and second grip members defining a grip separation, the biasing system urging the grip members apart and defining a predetermined grip separation;
a slave having first and second end effector elements and defining an end effector separation;
a servomechanism operatively coupling the end effector elements to the grip elements, the servomechanism applying a following force to the end effector elements, the servomechanism applying a first following force when the grip separation is greater than the predetermined grip separation, the servomechanism applying a second following force when the grip separation is less than the predetermined grip separation so that the biasing system provides tactile indication of an altered gripping force. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A robotic system comprising:
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a master controller producing a master position signal in response to a position of the master along a first degree of freedom;
a slave end effector producing a slave position signal in response to a position of the end effector along a first degree of freedom, the slave having a constraint limiting movement in the first degree of freedom, the end effector moving in response to an error signal or an error signal gain, the error signal and error signal gain defined at least in part by a difference between the master position signal and the slave position signal; and
a processor operatively coupling the master to the slave, the processor altering the error signal or the error signal gain when the slave is adjacent the constraint. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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22. A robotic system comprising:
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a master controller having a biasing system and first and second grip members defining a grip separation, the biasing system urging the grip members apart and providing a tactile indication of a transition between a first grip separation range and a second grip separation range;
an end effector having first and second end effectors with an end effector separation, the end effector operatively coupled to an actuator; and
a processor operatively coupling the master controller to the actuator so that the end effector separation varies with the grip separation according to a first control relationship when the grip separation is in the first grip separation range, and according to a second control relationship when the grip separation is in the second grip separation range. - View Dependent Claims (23, 24, 25, 26, 27)
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28. A surgical robotic system comprising:
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a master controller comprising first and second grip members defining a grip separation;
an end effector having first and second end effectors, at least one of said end effectors coupled to an actuator such that actuation of said coupled end effector decreases said end effector separation; and
a processor operatively coupling the master controller to the actuator such that when the amount of end effector separation is above a certain separation value, decreasing the grip separation of the master controller controls the amount of end effector separation, and such that said end effector separation reaching a certain separation value, further decreasing the grip separation controls the amount of force applied by the end effector. - View Dependent Claims (29, 30)
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31. A surgical robotic system comprising:
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a master controller comprising first and second grip members defining a grip separation;
an end effector having first and second end effectors and an end effector separation between said first and second end effectors, at least one of said end effectors coupled to an actuator such that actuation of said coupled end effector decreases said end effector separation; and
a processor operatively coupling the master controller to the actuator such that when the amount of end effector separation is above a certain separation value, decreasing the grip separation of the master controller controls the amount of end effector separation, and such that upon said grip separation reaching a certain separation value, further decreasing the grip separation controls the amount of force applied by the end effector. - View Dependent Claims (32)
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Specification