US 11,998,292 B2
Control of computer-assisted tele-operated systems
Ryan Charles Abbott, San Jose, CA (US); John Ryan Steger, Sunnyvale, CA (US); Daniel H. Gomez, Los Gatos, CA (US); Ian E. McDowall, Woodside, CA (US); and Amy Kerdok, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Sep. 14, 2021, as Appl. No. 17/474,419.
Application 17/474,419 is a continuation of application No. 16/484,280, granted, now 11,154,373, previously published as PCT/US2018/015302, filed on Jan. 25, 2018.
Claims priority of provisional application 62/456,262, filed on Feb. 8, 2017.
Prior Publication US 2021/0401518 A1, Dec. 30, 2021
Int. Cl. A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 90/57 (2016.01); G16H 40/60 (2018.01)
CPC A61B 34/35 (2016.02) [A61B 34/76 (2016.02); A61B 2017/00464 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/715 (2016.02); A61B 2090/065 (2016.02); A61B 2090/066 (2016.02); A61B 2090/0809 (2016.02); A61B 2090/571 (2016.02); G16H 40/60 (2018.01)] 21 Claims
OG exemplary drawing
 
1. An instrument system comprising:
a instrument comprising:
a first engagement member disposed at a proximal portion of the instrument,
a second engagement member disposed at the proximal portion,
a third engagement member disposed at the proximal portion,
an end effector disposed at a distal portion of the instrument, and
a flexible tensioning member extending between the distal portion and the proximal portion;
a drive system comprising:
a first drive mechanism configured to engage with the first engagement member,
a second drive mechanism configured to engage with the second engagement member,
a third drive mechanism configured to engage with the third engagement member;
a sensor configured to generate a signal indicative of a force applied by the drive system or by the end effector; and
a controller operably coupled to the first drive mechanism, the second drive mechanism, the third drive mechanism, and the sensor, wherein the controller is configured to:
operate the first, second, and third drive mechanisms to apply a desired tension to the flexible tensioning member, the signal being generated by the sensor while the first, second, and third drive mechanisms are operated to apply the desired tension, and
determine whether a malfunction associated with the flexible tensioning member exists based on at least the signal.