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:
Apr. 13, 2021
Filed:
Jan. 27, 2017
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
David W. Weir, San Carlos, CA (US);
Gabriel F. Brisson, Sunnyvale, CA (US);
William A. Burbank, Sandy Hook, CT (US);
Amir Chaghajerdi, San Jose, CA (US);
Patrick Flanagan, Santa Clara, CA (US);
Pushkar Hingwe, Los Altos, CA (US);
Andrew Wilson, Menlo Park, CA (US);
Donald F. Wilson, Jr., Santa Clara, CA (US);
Matthew A. Wixey, San Jose, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
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.