公开(公告)号：US20240358468A1

公开(公告)日：2024-10-31

申请号：US18767482

申请日：2024-07-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Angelica RUSZKOWSKI ,  Gabriel F. BRISSON ,  Craig R. GERBI ,  Jason HEMPHILL ,  Mathew NUSSBAUM ,  Harsukhdeep Singh RATIA

IPC: A61B90/00 ,  A61B18/00 ,  A61B18/08 ,  A61B18/14

CPC classification number: A61B90/03 ,  A61B18/085 ,  A61B18/1445 ,  A61B2018/0063 ,  A61B2018/00642 ,  A61B2018/00678 ,  A61B2018/00875 ,  A61B2090/031 ,  A61B2090/066

Abstract: Systems and methods for grip adjustment during energy delivery include an instrument comprising an end effector having a first jaw and a second jaw. Each of the first jaw and the second jaw have a corresponding electrode. One or more control units are configured to operate the first and second jaws in a first mode subject to a first force or torque limit to grip a material; and in response to determining that the first and second jaws are being operated in the first mode, switch to operating the first and seconds jaw in a second mode before applying electrical or thermal energy to the material using the corresponding electrodes. The operating in the second mode is subject to a second force or torque limit, lower than the first force or torque limit, that can be applied by the first and second jaws to grip the material.

公开(公告)号：US20220218406A1

公开(公告)日：2022-07-14

申请号：US17610411

申请日：2020-05-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Adrit LATH ,  Jason HEMPHILL ,  Iman KHALAJI ,  Scott E. MANZO ,  Duane W. MARION ,  Mathew NUSSBAUM ,  Adam ROSS ,  Jignesh SHAH ,  Benjamin J. SCHOETTGEN

IPC: A61B18/14 ,  A61B34/30 ,  A61B34/10

Abstract: Systems and methods of controlled grasping and energy delivery include a computer-assisted device. The computer-assisted device includes an end effector and one or more processors. The end effector includes a first jaw, a second jaw, and a plurality of electrodes for delivering energy. The one or more processors are configured to grasp a material using the first jaw and the second jaw, determine characteristics of the grasp, determine characteristics of the material, and control one or more of the grasp or energy delivery by the plurality of electrodes based on the determined characteristics of the grasp and the determined characteristics of the material. According to some embodiments, the characteristics of the material include one or more of thermal, dielectric, or stiffness of the material. In some embodiments, the characteristics of the grasp include one or more of applied pressure, jaw angle, jaw separation, force, torque, or wrist articulation.