Grip force control for robotic surgical instrument end effector
作者： Gary S. Guthart , Gregory F. Richmond
DOI:
关键词: Robot end effector 、 Surgical instrument 、 Control theory 、 Mechanism (engineering) 、 Control (management) 、 Signal 、 Grip force 、 Engineering
摘要: Methods of controlling a gripping force an end effector robotically-controlled surgical instrument are provided. The method includes receiving first input signal indicative high grip level at master mechanism that controls slave the effector; second user's readiness to operate perform procedure; and outputting actuation in response together increase from higher than during procedure.
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