US 12,082,901 B2
Controlling a laparoscopic instrument
Alireza Mirbagheri, Tehran (IR); Golchehr Amirkhani, Tehran (IR); Seiedmuhammad Yazdian, Tehran (IR); Farzam Farahmand, Tehran (IR); and Saeed Sarkar, Tehran (IR)
Assigned to SINA ROBOTICS AND MEDICAL INNOVATORS CO., LTD., Tehran (IR)
Filed by Alireza Mirbagheri, Tehran (IR); Golchehr Amirkhani, Tehran (IR); Seiedmuhammad Yazdian, Tehran (IR); Farzam Farahmand, Tehran (IR); and Saeed Sarkar, Tehran (IR)
Filed on Mar. 27, 2020, as Appl. No. 16/832,439.
Claims priority of provisional application 62/824,327, filed on Mar. 27, 2019.
Prior Publication US 2020/0222113 A1, Jul. 16, 2020
Int. Cl. A61B 34/00 (2016.01); A61B 18/00 (2006.01); A61B 34/37 (2016.01)
CPC A61B 34/77 (2016.02) [A61B 2018/00636 (2013.01); A61B 2018/00916 (2013.01); A61B 34/37 (2016.02); A61B 34/75 (2016.02); A61B 34/76 (2016.02)] 9 Claims
OG exemplary drawing
 
1. A method for controlling a laparoscopic instrument, the method comprising:
grasping a target utilizing the laparoscopic instrument by applying an initial trigger force to a trigger of the laparoscopic instrument;
obtaining an updated trigger force based on a first pinch force, a second pinch force, and a state of the laparoscopic instrument, the first pinch force applied to the target by an upper jaw of the laparoscopic instrument and the second pinch force applied to the target by a lower jaw of the laparoscopic instrument, the first pinch force equal to or larger than the second pinch force, obtaining the updated trigger force based on the first pinch force, the second pinch force,
and the state of the laparoscopic instrument comprising:
measuring, utilizing a force sensor, a pull force applied to the target responsive to applying the initial trigger force, the pull force comprising a magnitude and a direction,
the pull force associated with objects connected to the target;
extracting, utilizing one or more processors, a lower limit for the second pinch force and an upper limit for the first pinch force utilizing a three-zone grasp model associated with the magnitude of the pull force and the direction of the pull force;
setting, utilizing the one or more processors, a magnitude of the second pinch force equal to the lower limit;
calculating, utilizing the one or more processors, a magnitude of the first pinch force based on the second pinch force, the magnitude of the pull force, and the direction of the pull force;
generating, utilizing the one or more processors, a warning alarm responsive to the magnitude of the first pinch force equal to or larger than the upper limit;
calculating, utilizing the one or more processors, an average pinch force based on the first pinch force and the second pinch force responsive to the magnitude of the first pinch force smaller than the upper limit; and
calculating, utilizing the one or more processors, the updated trigger force based on an inverse force model associated with the average pinch force and the state of the laparoscopic instrument; and
grasping the target utilizing the laparoscopic instrument by applying the updated trigger force to the laparoscopic instrument.