US 12,446,982 B2
Systems and methods for control of end effectors
Dinesh Rabindran, San Jose, CA (US); Ryan C. Abbott, San Jose, CA (US); Daniel H. Gomez, Los Gatos, CA (US); and John Ryan Steger, Los Gatos, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Apr. 9, 2024, as Appl. No. 18/630,337.
Application 18/630,337 is a continuation of application No. 16/971,277, granted, now 11,980,434, previously published as PCT/US2019/018648, filed on Feb. 19, 2019.
Claims priority of provisional application 62/632,841, filed on Feb. 20, 2018.
Prior Publication US 2024/0252267 A1, Aug. 1, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 18/12 (2006.01); A61B 17/29 (2006.01); A61B 17/3201 (2006.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); B25J 9/10 (2006.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); A61B 17/34 (2006.01); A61B 18/00 (2006.01); A61B 34/30 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 17/2909 (2013.01); A61B 17/3201 (2013.01); A61B 18/1445 (2013.01); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 90/06 (2016.02); B25J 9/104 (2013.01); B25J 9/1633 (2013.01); B25J 9/1641 (2013.01); B25J 13/085 (2013.01); A61B 17/3421 (2013.01); A61B 2018/00595 (2013.01); A61B 2034/301 (2016.02); A61B 2090/064 (2016.02); A61B 2090/066 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a first engagement member coupled to a first actuator;
a second engagement member coupled to a second actuator; and
a control unit coupled to the first actuator and the second actuator;
wherein the control unit is configured to:
engage the first engagement member with a third engagement member of an instrument, where movement of the third engagement member causes a movement of a degree of freedom of an end effector of the instrument in a first direction;
engage the second engagement member with a fourth engagement member of the instrument, where movement of the fourth engagement member causes a movement of the degree of freedom in a second direction opposite the first direction;
in response to engagement between the first engagement member and the third engagement member reaching a pre-tension level and engagement between the second engagement member and the fourth engagement member reaching the pre-tension level:
actuate the degree of freedom in the first direction to a first detectable position that corresponds to a collision between the end effector and a first side of a cannula in the first direction;
actuate the degree of freedom in the second direction to a second detectable position that corresponds to a collision between the end effector and a second side of the cannula in the second direction; and
actuate the degree of freedom to a third position between the first detectable position and the second detectable position.