The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Oct. 13, 2020
Filed:
Nov. 04, 2016
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
David W. Robinson, Sunnyvale, CA (US);
Gabriel F. Brisson, Sunnyvale, CA (US);
Amir Chaghajerdi, Sunnyvale, CA (US);
Pushkar Hingwe, Sunnyvale, CA (US);
Donald F. Wilson, Jr., Santa Clara, CA (US);
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Abstract
Systems and related methods control movement of an end effector. A method of controlling movement of an end effector includes receiving, by a controller, a command to close or open an end effector that includes a first jaw member, a second jaw member, a wrist, and an instrument shaft. In response to the command, the controller controls movement of the end effector to simultaneously move the first jaw member relative to the second jaw member and actuate the wrist to orient the end effector so that at least one of a position and an orientation of a reference aspect of the end effector is substantially maintained in space.