公开(公告)号：US20220313349A1

公开(公告)日：2022-10-06

申请号：US17642205

申请日：2020-09-10

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Adrit LATH ,  Brian D. SOE

IPC: A61B18/14 ,  A61B34/30 ,  A61B34/00

Abstract: Systems and methods of dithering to maintain grasp force include a computer-assisted device. The computer-assisted device includes an instrument having a first jaw and a second jaw configured to grasp a material, one or more actuators configured to actuate the first and second jaws to apply force to the grasped material, and a controller coupled to the one or more actuators. The controller is configured to determine that actuation of the one or more actuators should be dithered and in response to the determination, dither one or more control signals to the one or more actuators so as to cause variations in a force or torque applied by the one or more actuators. In some embodiments, the one or more control signals correspond to a force setpoint, a torque setpoint, a current setpoint, or a position setpoint for the one or more actuators.

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.