US 12,357,306 B2
System and method for variable velocity surgical instrument
Matthew A. Wixey, San Jose, CA (US); Gabriel F. Brisson, Livermore, CA (US); William A. Burbank, Sandy Hook, CT (US); Patrick Flanagan, San Diego, CA (US); Pushkar Hingwe, Los Altos, CA (US); David W. Weir, San Carlos, CA (US); and Donald F. Wilson, Jr., Santa Clara, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 1, 2022, as Appl. No. 17/684,326.
Application 17/684,326 is a continuation of application No. 16/072,329, granted, now 11,291,442, previously published as PCT/US2017/015473, filed on Jan. 27, 2017.
Claims priority of provisional application 62/408,283, filed on Oct. 14, 2016.
Claims priority of provisional application 62/288,784, filed on Jan. 29, 2016.
Prior Publication US 2022/0183687 A1, Jun. 16, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05B 15/02 (2006.01); A61B 17/00 (2006.01); A61B 17/072 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01)
CPC A61B 17/07207 (2013.01) [A61B 17/00234 (2013.01); A61B 34/00 (2016.02); A61B 34/10 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/74 (2016.02); A61B 90/06 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00022 (2013.01); A61B 2017/00039 (2013.01); A61B 2017/00075 (2013.01); A61B 2017/00128 (2013.01); A61B 2017/00367 (2013.01); A61B 2017/00398 (2013.01); A61B 2017/0725 (2013.01); A61B 2017/07257 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2034/2059 (2016.02); A61B 34/25 (2016.02); A61B 2034/305 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02); G05B 15/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
an actuator; and
one or more processors;
wherein the computer-assisted device is configured to support an instrument having an end effector located at a distal end of the instrument;
wherein to perform an operation with the instrument, the one or more processors are configured to:
set a velocity set point of the actuator to a first velocity;
monitor a force or torque applied by the actuator;
in response to the applied force or torque being above a first threshold, decrease the velocity set point;
in response to the applied force or torque being below a second threshold, increase the velocity set point; and
drive the actuator based on the velocity set point.