Grip force normalization for surgical instrument

Patent Number: 9387045

Patent Date: 2016-07-12

Patent type: utility

A teleoperated surgical system includes a surgical instrument with an end effector and a master input device. A servomechanism may be operatively coupled to the end effector to apply a force to the end effector, and at least one processor may operatively couple the servomechanism to the master input device to apply a grip force with the first and second gripping elements in response to input at the master input device. The applied grip force may be based at least in part on a mechanical advantage of the surgical instrument end effector.


First Name Last Name City State Country
Michael Turner - - -


Section Class Sub Class Group Sub Group
G 05 B 15 00
G 05 B 19 00
A 61 B 19 00
A 61 B 17 28


Organization First Name Last Name City State Country
Intuitive Surgical Operations, Inc. - - - - -