US 11,937,841 B2
Surgical instrument control
David J. Rosa, San Jose, CA (US); and Salvatore J. Brogna, Los Gatos, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 18, 2021, as Appl. No. 17/205,483.
Application 17/205,483 is a continuation of application No. 16/292,947, filed on Mar. 5, 2019, granted, now 10,966,742.
Application 16/292,947 is a continuation of application No. 15/357,589, filed on Nov. 21, 2016, granted, now 10,265,092, issued on Apr. 23, 2019.
Application 15/357,589 is a continuation of application No. 14/866,268, filed on Sep. 25, 2015, granted, now 9,504,517, issued on Nov. 29, 2016.
Application 14/866,268 is a continuation of application No. 13/834,760, filed on Mar. 15, 2013, granted, now 9,144,456, issued on Sep. 29, 2015.
Claims priority of provisional application 61/621,974, filed on Apr. 9, 2012.
Prior Publication US 2021/0275207 A1, Sep. 9, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 17/32 (2006.01); A61B 18/12 (2006.01); A61B 18/14 (2006.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 18/00 (2006.01)
CPC A61B 17/320016 (2013.01) [A61B 18/1233 (2013.01); A61B 18/1445 (2013.01); A61B 18/1447 (2013.01); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 2017/00973 (2013.01); A61B 2018/00601 (2013.01); A61B 2018/0063 (2013.01); A61B 18/1206 (2013.01); A61B 2018/1455 (2013.01)] 19 Claims
OG exemplary drawing
 
1. An apparatus comprising:
a shaft comprising a proximal end portion and a distal end portion;
an end effector coupled to the distal end portion of the shaft, the end effector comprising:
a jaw mechanism moveable through a range of motion between an open position and a closed position;
a translating mechanism moveable between a proximal position and a distal position relative to the jaw mechanism;
a first user-actuated input mechanism;
a second user-actuated input mechanism; and
a controller configured to:
in response to a first input at the first user-actuated input mechanism, command the jaw mechanism to move from the open position to an intermediate closed position within the range of motion and command the translating mechanism to move from the proximal position to an intermediate position relative to the jaw mechanism, and
after a second input at the second user-actuated input mechanism and in response to a third input at the first user-actuated input mechanism, command the jaw mechanism to move to the closed position and command the translating mechanism to move from the intermediate position to the distal position relative to the jaw mechanism.