End effector force feedback to master controller
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United States of America Patent
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-
Jun 6, 2023
Grant Date -
Jul 30, 2020
app pub date -
Oct 2, 2018
filing date -
Oct 2, 2017
priority date (Note) -
In Force
status (Latency Note)
Importance
Abstract
A teleoperated surgical system is provided that includes a surgical instrument that includes an end effector mounted for rotation about a slave pivot axis; a master control input includes a mount member, first and second master grip rotatably secured at the mount member for rotation about a master pivot axis; sensor to produce a sensor signal indicative of a slave grip counter-force about the slave pivot axis; one or more motors to impart a shear force to the mount member, perpendicular to the master pivot axis; one or more processors to convert the sensor signal to motor control signals to cause the motors to impart the feedback shear force to the first and second master grip members.
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