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. 17, 2023
Filed:
Oct. 08, 2020
Cmr Surgical Limited, Cambridge, GB;
Gordon Thomas Deane, Cambridge, GB;
Graham John Veitch, Cambridge, GB;
CMR SURGICAL LIMITED, Cambridge, GB;
Abstract
A control system configured to control manipulation of a surgical instrument in response to manipulation of a remote surgeon input device. The surgical instrument comprises opposable first and second end effector elements connected to a shaft by an articulated coupling. The articulated coupling comprises a first joint driveable by a first pair of driving elements so as to permit the first end effector element to rotate, and a second joint driveable by a second pair of driving elements so as to permit the second end effector element to rotate. The control system: responds to a closing motion of the surgeon input device by commanding maximum forces to be applied to the first and second pairs of driving elements, so as to cause the first and second end effector elements to rotate in opposing rotational directions towards each other with a maximum closing force; and on detecting that the closing motion of the surgeon input device has ceased, commanding a reduction in the force applied to the first and second pairs of driving elements, thereby enabling both the first and second end effector elements to be rotated in the same rotational direction in response to a yawing motion of the surgeon input device.