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Tool grip calibration for robotic surgery

  • US 9,623,563 B2
  • Filed: 06/24/2015
  • Issued: 04/18/2017
  • Est. Priority Date: 12/06/2002
  • Status: Active Grant
First Claim
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1. A system comprising:

  • an input linkage comprising 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 robotic arm transmitting a signal in response to mounting the end effector on the robotic arm; and

    a processor coupling the input linkage to the robotic arm, the processor configured to calibrate the mounted end effector in response to the signal by bringing the first and second end effector elements into mutual engagement;

    wherein the input linkage and the robotic arm each have a plurality of degrees of freedom, the processor effecting movement of the robotic arm in response to articulation of the input linkage;

    wherein, between mounting of the end effector and starting a surgical procedure using the end effector, the processor does not effect a calibration movement of any degree of freedom of the input linkage or the robotic arm other than said mutual engagement of the first and second end effector elements.

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