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CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT
CLOSED LOOP VELOCITY CONTROL TECHNIQUES BASED ON SENSED TISSUE PARAMETERS FOR ROBOTIC SURGICAL INSTRUMENT
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机译:基于传感组织参数的机器人手术器械闭环速度控制技术
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摘要
The present disclosure provides a robotic surgical system that includes a control circuit configured to detect a condition at an end effector during a closure phase. The control circuit detects a condition at an end effector during a closure phase. The control sets command velocity of a motor coupled to a displacement member coupled to the end effector based on the detected condition at the end effector during the closure phase. The control circuit fires the displacement member at the set command velocity and detects a condition at the end effector during a firing phase. The control circuit sets command velocity of the motor based on the condition detected at the end effector during the firing phase.
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