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. 25, 2023
Filed:
Jul. 08, 2021
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Andrew D. Wilson, Hamden, CT (US);
Amir Chaghajerdi, San Jose, CA (US);
David W. Weir, San Carlos, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
End effector position set point adjustment includes an instrument and a control unit. The instrument includes an end effector and a drive mechanism for actuating the end effector. The control unit is configured to actuate the end effector using the drive mechanism, determine an actual position of the end effector, identify an expected position associated with the determined actual position of the end effector, determine a position offset based on the expected position and the determined actual position of the end effector, adjust a position set point based on the position offset, and actuate the end effector to the adjusted position set point using the drive mechanism.