18955586. TECHNIQUES FOR CONTROLLING GRASPING (INTUITIVE SURGICAL OPERATIONS, INC.)

TECHNIQUES FOR CONTROLLING GRASPING

Organization Name

INTUITIVE SURGICAL OPERATIONS, INC.

Inventor(s)

David W. Weir of San Carlos CA (US)

Kevin Durant of Honolulu HI (US)

Patrick Flanagan of San Diego CA (US)

David W. Robinson of Los Altos CA (US)

TECHNIQUES FOR CONTROLLING GRASPING

This abstract first appeared for US patent application 18955586 titled 'TECHNIQUES FOR CONTROLLING GRASPING

Original Abstract Submitted

Techniques for controlling grasping include a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw; a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw; and a processor. The processor is configured to monitor a force or torque applied by the drive system to cause the end effector to grasp the material and in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.