US6594552B1 — Grip strength with tactile feedback for robotic s…

Claim 1

Independent Claim 87 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration; wherein the control relationship imposes a following force on the end effector elements with an actuator so that the following force varies in response to a misalignment between a grip separation and an end effector separation.

Claim 2

Independent Claim 87 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration; wherein the control relationship imposes a following force on the end effector elements with an actuator so that the following force varies in response to a misalignment between a grip separation and an end effector separation.

Claim 3

Dependent Claim 44 words

The method of claim 1 , further comprising measuring the grip separation and measuring the end effector separation, and wherein the moving step comprises comparing the measured grip separation and the measured end effector separation to produce an error signal indicating the separation misalignment.

Claim 4

Dependent Claim 47 words

The method of claim 2 , wherein the moving step further comprises transmitting an actuator signal to the actuators in response to the error signal, and wherein the altering step increases the actuator signal when the grip members reach a predetermined transition point near the closed configuration.

Claim 5

Dependent Claim 23 words

The method of claim 2 , wherein the error signal increasing step alters the measured grip separation signal below a predetermined grip separation.

Claim 6

Dependent Claim 42 words

The method of claim 4 , further comprising resisting the squeezing of the grip members with a mechanical biasing mechanism when the grip separation is less than the predetermined grip separation so as to indicated to the operator the enhanced following force.

Claim 7

Independent Claim 131 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration, wherein the control relationship altering step is performed so that an actuator imposes a first following force when the grip members are away from the closed position and a difference between a first grip separation and a first end effector separation defines a first separation misalignment, and so that the actuator imposes a second following force when the grip member are adjacent the closed position with the first misalignment, the second following force being different than the first following force.

Claim 8

Independent Claim 131 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration, wherein the control relationship altering step is performed so that an actuator imposes a first following force when the grip members are away from the closed position and a difference between a first grip separation and a first end effector separation defines a first separation misalignment, and so that the actuator imposes a second following force when the grip member are adjacent the closed position with the first misalignment, the second following force being different than the first following force.

Claim 9

Dependent Claim 44 words

The method of claim 6 , wherein the control relationship altering step is performed by decreasing a measured grip separation signal to generate a desired end effector separation signal, and subtracting the desired end effector separation signal from a measured end effector separation signal.

Claim 10

Dependent Claim 27 words

The method of claim 7 , wherein the measured grip separation signal altering step is performed according to an invertible function of the measured grip separation signal.

Claim 11

Independent Claim 98 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; altering the control relationship when the grip members are near a closed configuration, detaching the end effector elements from a servomechanism and attaching alternative first and second end effector elements, the alternative end effector elements having different strengths than the end effector elements; and revising the control relationship altering step in response to the strengths of the alternative end effector elements.

Claim 12

Independent Claim 98 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; altering the control relationship when the grip members are near a closed configuration, detaching the end effector elements from a servomechanism and attaching alternative first and second end effector elements, the alternative end effector elements having different strengths than the end effector elements; and revising the control relationship altering step in response to the strengths of the alternative end effector elements.

Claim 13

Independent Claim 114 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration, wherein the end effector elements comprise cooperating surgical instrument jaws defining the closed configuration by engagement therebetween, and wherein the control relationship altering step comprises imposing a greater following force against an object for a given separation misalignment when the jaws are near the closed configuration so as to allow the jaws to impose a maximum following force with a small tissue therebetween.

Claim 14

Independent Claim 114 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration, wherein the end effector elements comprise cooperating surgical instrument jaws defining the closed configuration by engagement therebetween, and wherein the control relationship altering step comprises imposing a greater following force against an object for a given separation misalignment when the jaws are near the closed configuration so as to allow the jaws to impose a maximum following force with a small tissue therebetween.

Claim 15

Dependent Claim 39 words

The method of claim 10 , wherein the gripping step changes an angular separation between the grip members, and wherein moving step maintains a jaw angle substantially equal to the grip angle when the jaws are free to move.

Claim 16

Independent Claim 88 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; altering the control relationship when the grip members are near a closed configuration; and moving the end effector elements in a workspace with uniform following forces in response to movement of the grip elements in a plurality of degrees of freedom substantially throughout associated ranges of motion of the end effector.

Claim 17

Independent Claim 88 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; altering the control relationship when the grip members are near a closed configuration; and moving the end effector elements in a workspace with uniform following forces in response to movement of the grip elements in a plurality of degrees of freedom substantially throughout associated ranges of motion of the end effector.

Claim 18

Independent Claim 68 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration; and applying a feedback following force against the grip separation members in response to the separation misalignment.

Claim 19

Independent Claim 68 words

A method comprising: squeezing first and second grip members together with a hand of an operator; moving first and second end effector elements in response to the squeezing of the grip members according to a control relationship; and altering the control relationship when the grip members are near a closed configuration; and applying a feedback following force against the grip separation members in response to the separation misalignment.

Claim 20

Dependent Claim 38 words

The method of claim 13 , wherein the control relationship altering step is performed according to a continuous invertible function of the grip separation, and wherein the feedback applying step is performed according to another continuous invertible function.

Claim 21

Independent Claim 87 words

A method of manipulating a surgical instrument comprising a first and second grip members, the method comprising: moving the first and second grip members towards each other; moving first and second end effector elements in response to the movement of the grip members according to a control relationship; and altering the control relationship between the end effector elements and grip members when the grip members reach a predetermined separation, wherein altering the control relationship between the end effector elements and grip members comprises changing the one-to-one correspondence.

Claim 22

Independent Claim 87 words

A method of manipulating a surgical instrument comprising a first and second grip members, the method comprising: moving the first and second grip members towards each other; moving first and second end effector elements in response to the movement of the grip members according to a control relationship; and altering the control relationship between the end effector elements and grip members when the grip members reach a predetermined separation, wherein altering the control relationship between the end effector elements and grip members comprises changing the one-to-one correspondence.

Claim 23

Dependent Claim 15 words

The method of claim 15 comprising supporting the surgical instrument with a robotic arm assembly.

Claim 24

Dependent Claim 39 words

The method of claim 15 wherein moving the first and second end effector elements in response to the movement of the grip members comprising moving the end effectors in a one-to-one correspondence to the movement of the grip members.

Claim 25

Dependent Claim 14 words

The method of claim 15 wherein the end effector elements comprise jaws or forceps.

Claim 26

Dependent Claim 12 words

The method of claim 15 wherein the end effector elements comprise scissors.

Claim 27

Dependent Claim 13 words

The method of claim 15 wherein the end effector elements comprise clip appliers.

Claim 28

Dependent Claim 12 words

The method of claim 15 wherein the end effector elements comprise clamps.

Claim 29

Independent Claim 91 words

A method of manipulating a surgical instrument comprising a first and second grip members, the method comprising: moving the first and second grip members towards each other; moving first and second end effector elements in response to the movement of the grip members according to a control relationship; and altering the control relationship between the end effector elements and grip members when the grip members reach a predetermined separation; wherein altering the control relationship between the end effector elements and grip comprises applying an altered gripping strength to the end effectors.

Claim 30

Independent Claim 91 words

A method of manipulating a surgical instrument comprising a first and second grip members, the method comprising: moving the first and second grip members towards each other; moving first and second end effector elements in response to the movement of the grip members according to a control relationship; and altering the control relationship between the end effector elements and grip members when the grip members reach a predetermined separation; wherein altering the control relationship between the end effector elements and grip comprises applying an altered gripping strength to the end effectors.

Claim 31

Dependent Claim 23 words

The method of claim 22 comprising providing tactile feedback to the grip members to indicate that the altered gripping strength is being applied.

Claim 32

Dependent Claim 31 words

The method of claim 22 wherein the end effectors comprise jaws or forceps, wherein past the predetermined separation the end effectors apply a maximum gripping force to the jaws or forceps.

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2006-07-14	2007-01-13	2007-07-15	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2010-07-14	2011-01-13	2011-07-15	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2014-07-14	2015-01-13	2015-07-15	$7700.00	Window Closed / Lapsed

Grip strength with tactile feedback for robotic surgery

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