Grip strength with tactile feedback for robotic surgery
First Claim
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1. In a medical robotic system, a handle coupled to first and second end effector elements through a processor so as to manipulate a separation between the first and second end effector elements through operator manipulation of the handle, the handle comprising:
- first and second grip elements coupled together at conjoining ends of the first and second grip elements and defining a separation between free ends of the first and second grip elements; and
at least one spring coupled to at least one of the first and second grip elements, wherein the at least one spring exhibits a first spring constant while the separation exceeds a separation transition point that corresponds to the free end of the first end effector element making contact with the free end of the second end effector element and exhibits a second spring constant greater than the first spring constant when the separation is less than the separation transition point.
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Abstract
Surgical robots and other telepresence systems have enhanced grip actuation for manipulating tissues and objects with small sizes. A master/slave system is used in which an error signal or gain is artificially altered when grip members are near a closed configuration.
371 Citations
8 Claims
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1. In a medical robotic system, a handle coupled to first and second end effector elements through a processor so as to manipulate a separation between the first and second end effector elements through operator manipulation of the handle, the handle comprising:
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first and second grip elements coupled together at conjoining ends of the first and second grip elements and defining a separation between free ends of the first and second grip elements; and at least one spring coupled to at least one of the first and second grip elements, wherein the at least one spring exhibits a first spring constant while the separation exceeds a separation transition point that corresponds to the free end of the first end effector element making contact with the free end of the second end effector element and exhibits a second spring constant greater than the first spring constant when the separation is less than the separation transition point. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification