Closed loop velocity control of closure member for robotic surgical instrument

  • US 10,398,434 B2
  • Filed: 06/29/2017
  • Issued: 09/03/2019
  • Est. Priority Date: 06/29/2017
  • Status: Active Grant
First Claim
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1. A control system for a robotic surgical system, the control system comprising:

  • a control circuit configured to;

    determine actual closure force of a closure member;

    compare the actual closure force to a threshold closure force;

    determine a set point velocity to displace the closure member based on the comparison;

    control an actual velocity of the closure member based on the set point velocity; and

    wherein the threshold closure force comprises an upper threshold and a lower threshold, wherein the set point velocity is configured to advance the closure member distally when the actual closure force is less than the lower threshold, and wherein the set point velocity is configured to retract the closure member proximally when the actual closure force is greater than the lower threshold.

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