公开(公告)号：US11633185B2

公开(公告)日：2023-04-25

申请号：US17370818

申请日：2021-07-08

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. Wilson ,  Amir Chaghajerdi ,  David W. Weir

IPC: A61B17/072 ,  A61B34/35 ,  A61B17/00

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.

公开(公告)号：US11642127B2

公开(公告)日：2023-05-09

申请号：US16760895

申请日：2018-11-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Andrew D. Wilson ,  Amir Chaghajerdi ,  David W. Weir

IPC: A61B17/072 ,  A61B34/35 ,  A61B17/00

CPC classification number: A61B17/07207 ,  A61B34/35 ,  A61B2017/00017 ,  A61B2017/00367 ,  A61B2017/07271

Abstract: End effector position set point correction includes an instrument having an end effector and a control unit. In some embodiments, the control unit actuates the end effector to a first position, determines an actuation level, determines an offset based on the actuation level, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point. In some embodiments, the control unit actuates the end effector, determines an actuation level, and determines whether the actuation level is above a threshold. In response to determining that the actuation level is above the threshold, the control unit determines a position of the end effector, identifies a nominal position associated with the determined position, determines an offset based on the nominal position and the determined position, adjusts a position set point based on the offset, and actuates the end effector to the adjusted position set point.