公开(公告)号：US20190038371A1

公开(公告)日：2019-02-07

申请号：US16072356

申请日：2017-01-27

申请人： INTUITIVE SURGICAL OPERATIONS, INC.

发明人： Matthew A. Wixey ,  Gabriel F. Brisson ,  William A. Burbank ,  Patrick Flanagan ,  Pushkar Hingwe ,  David W. Weir ,  Donald F. Wilson

IPC分类号： A61B34/00 ,  A61B17/00 ,  A61B34/35 ,  A61B34/10 ,  A61B17/072

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.