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CLOSED LOOP VELOCITY CONTROL OF CLOSURE MEMBER FOR ROBOTIC SURGICAL INSTRUMENT

  • US 20190000447A1
  • Filed: 06/29/2017
  • Published: 01/03/2019
  • 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; and

    control the actual velocity of the closure member based on the set point velocity.

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