公开(公告)号：US20220331025A1

公开(公告)日：2022-10-20

申请号：US17763180

申请日：2019-09-24

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Christine E. Draper ,  Caroline A. Edwards ,  Ikeda Michael ,  Erasmo Lopez Calleros

IPC: A61B34/30 ,  A61B17/29

Abstract: A computer-assisted medical system includes a robotic manipulator arm configured to support an instrument. The instrument includes an instrument shaft and jaws disposed at a distal end of the instrument shaft. The computer-assisted medical system further includes a controller coupled to the manipulator arm. The controller includes a computer processor and is configured to track a movement of the instrument along an insertion axis of the instrument, and coordinate a size of a jaw aperture defined by the jaws with the movement of the instrument along the insertion axis to reach a target aperture.