18971310. TECHNIQUES FOR CONROLLING AN END EFFECTOR (INTUITIVE SURGICAL OPERATIONS, INC.)

TECHNIQUES FOR CONROLLING AN END EFFECTOR

Organization Name

INTUITIVE SURGICAL OPERATIONS, INC.

Inventor(s)

J. Scot Hart of San Carlos CA US

TECHNIQUES FOR CONROLLING AN END EFFECTOR

This abstract first appeared for US patent application 18971310 titled 'TECHNIQUES FOR CONROLLING AN END EFFECTOR

Original Abstract Submitted

Techniques for controlling an end effector include a computer-assisted device having a drive system configured to actuate a moveable element of an end effector and a control unit coupled to the drive system. The control unit is configured to actuate, using the drive system, the moveable element to a first commanded position; and in response to the moveable element reaching the first commanded position: determine, based on an amount of force or torque applied to actuate the moveable element to the first commanded position, a force or torque limit to be applied when actuating the moveable element to a second commanded position; and further actuate the moveable element to the second commanded position while limiting a force or torque applied by the drive system to the determined force or torque limit.