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Tool grip calibration for robotic surgery

  • US 8,452,447 B2
  • Filed: 09/27/2011
  • Issued: 05/28/2013
  • Est. Priority Date: 05/04/2004
  • Status: Active Grant
First Claim
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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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