In one implementation, a method is disclosed in which a lock sensing mode is entered for a robotic surgical instrument. In the lock sensing mode, the degrees of freedom of movement in the robotic surgical instrument are switchably reduced. Further in the lock sensing mode, one or more end effectors of the robotic surgical instrument are switchably clamped together in the robotic surgical instrument. An increased level of torque may also be applied to the end effectors to increase a gripping force applied by the one or more end effectors in response to the reduced degrees of freedom of movement in the robotic surgical instrument.

Claims

17 · 4 independent · depth 3

17 granted claims

›1.independentA user interface system for a robotic surgical instrument having a number of degrees of freedom of movement, the user interface system comprising:na d…+7

›2.↳ 1The user interface system of claim 1, whereinnthe predetermined number of actions is two closure cycles of the control input mechanism.d2

›3.↳ 1The user interface system of claim 1, whereinnthe state machine to further increase a gripping force of one or more end effectors of the robotic surgi…d2

›4.↳ 1The user interface system of claim 1, whereinnthe state machine to further hold a gripping force of one or more end effectors of the robotic surgical …d2

›5.↳ 1The user interface system of claim 1, whereinnthe control input mechanism is a master grip of a touch sensitive handle in a master control console.d2

›6.↳ 1The user interface system of claim 1, whereinnthe predetermined period of time is a lock mode threshold time.d2

›7.↳ 1The user interface system of claim 1, further comprising:na mode selection switch in communication with the state machine, the mode selection switch t…d2

›8.↳ 1The user interface system of claim 1, whereinnthe elements of the system are controlled by instructions stored on a computer readable medium and perfo…d2

›9.independentA method for a robotic surgical instrument comprising:nentering a lock sensing mode for a robotic surgical instrument; andin the lock sensing mode,nsw…+2

›12.independentA method for a robotic surgical instrument comprising:nentering a lock sensing mode for a robotic surgical instrument; andin the lock sensing mode,nsw…+2

›15.independentA method for a robotic surgical instrument comprising:nentering a lock sensing mode for a robotic surgical instrument; andin the lock sensing mode,nsw…+2

Classifications

3 codes

IPC · International Patent Classification

Section A — Human necessities

A61B19/00

USPC · US Patent Classification

606/130700/245

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Pendency

4.5 y

1,635 days filing → grant

Office actions

non-final + final

Responses

2 RCE

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Examiner

Rodney P King

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Citations: 26 back · 0 forward

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Priority chain

2 priority documents

Priority

30 Sep 2007

earliest claimed

›Priority documents — 2

Type	Document	Date
provisional	US 60976460	30 Sep 2007
related publication	US 20090088774 A1	2 Apr 2009

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