Tool grip calibration for robotic surgery
First Claim
1. An apparatus comprising:
- a processor;
a robotic manipulator configurable to support a mounted end effector, the robotic manipulator movable in a plurality of degrees of freedom, the robotic manipulator transmitting a signal to the processor in response to the end effector being mounted on the manipulator;
wherein the processor is configured to calibrate the end effector in response to receiving the signal indicating mounting of the end effector onto the robotic manipulator.
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Accused Products
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.
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Citations
18 Claims
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1. An apparatus comprising:
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a processor; a robotic manipulator configurable to support a mounted end effector, the robotic manipulator movable in a plurality of degrees of freedom, the robotic manipulator transmitting a signal to the processor in response to the end effector being mounted on the manipulator; wherein the processor is configured to calibrate the end effector in response to receiving the signal indicating mounting of the end effector onto the robotic manipulator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification