Tool grip calibration for robotic surgery
First Claim
1. An apparatus comprising:
- an input handle having a first grip member movable relative to a second grip member;
an end effector comprising a first end effector element movable relative to a second end effector element;
a processor configured to generate a commanded torque to move the first end effector element relative to the second end effector element in response to the first grip member being moved relative to the second grip member, and further to monitor a nominal position of the first end effector element relative to the second end effector element; and
a memory storing an offset between an actual mutual engagement between the first and second end effector elements and a nominal mutual engagement between the first end second end effector elements;
wherein the processor is configured to map a position of mutual engagement between the first and second grip members to an actual position of mutual engagement between the first and second end effector elements using said stored offset.
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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.
350 Citations
14 Claims
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1. An apparatus comprising:
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an input handle having a first grip member movable relative to a second grip member; an end effector comprising a first end effector element movable relative to a second end effector element; a processor configured to generate a commanded torque to move the first end effector element relative to the second end effector element in response to the first grip member being moved relative to the second grip member, and further to monitor a nominal position of the first end effector element relative to the second end effector element; and a memory storing an offset between an actual mutual engagement between the first and second end effector elements and a nominal mutual engagement between the first end second end effector elements; wherein the processor is configured to map a position of mutual engagement between the first and second grip members to an actual position of mutual engagement between the first and second end effector elements using said stored offset. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. An apparatus comprising:
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an input handle having a first grip member movable relative to a second grip member; a manipulator operable to drive a releasably coupleable surgical instrument, the instrument comprising a first end effector element movable relative to a second end effector element; a processor coupled to the manipulator, the processor configured to generate a commanded torque to move the first end effector element relative to the second end effector element in response to the first grip member being moved relative to the second grip member, and further to monitor a nominal position of the first end effector element relative to the second end effector element; and a memory storing an offset between an actual mutual engagement between the first and second end effector elements and a nominal mutual engagement between the first end second end effector elements; wherein the processor is configured to map a position of mutual engagement between the first and second grip members to an actual position of mutual engagement between the first and second end effector elements using said stored offset. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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Specification