MUMBAI, India, Sept. 26 -- Intellectual Property India has published a patent application (202527060609 A) filed by Medical Microinstruments, Inc., Wilmington, U.S.A., on June 25, for 'method for controlling an articulated end effector actuated by one or more actuation tendons of a surgical instrument of a robotic system for surgery, with compensation of the elastoplastic elongation of the tendons, and related robotic system.'
Inventor(s) include Tanzini, Matteo; Ruffaldi, Emanuele; Di Guardo, Antonio; and Simi, Massimiliano.
The application for the patent was published on Sept. 26, under issue no. 39/2025.
According to the abstract released by the Intellectual Property India: "There is described a method for controlling an articulated end effector 40 actuated by one or more actuation tendons of a surgical instrument 20 of a robotic surgical system, to be performed during an operating phase of the surgical instrument. The method is applied to a robotic surgical system comprising an articulated end effector 40 and at least one actuation tendon 31, 32, 33, 34, 35, 36, configured to actuate the articulated end effector 40, and also comprising control means 9 and at least one motorized actuator 11, 12, 13, 14, 15, 16, operatively connectable to a respective one of the aforesaid at least one actuation tendons 31, 32, 33, 34, 35, 36 to impart an action to the respective actuation tendon, controlled by the control means 9. The method comprises, during the aforesaid operating phase, when the at least one motorized actuator 11, 12, 13, 14, 15, 16 is in contact with the respective at least one actuation tendon 31, 32, 33, 34, 35, 36, the following steps: - estimating a desired target force F(?X) associated with an expected elastic elongation of the at least one actuation tendon 31, 32, 33, 34, 35, 36 at and/or as a function of a respective known stroke and/or known position Ax imparted by the control means 9 to the at least one motorized actuator 11, 12, 13, 14, 15, 16 with respect to a reference zero position; - detecting an actual force F exerted by at least one of the aforesaid one or more motorized actuators; - estimating and/or calculating, based on the difference between the aforesaid detected actual force F and the aforesaid desired target force F(?X), a length variation ?i of the aforesaid at least one actuation tendon 31, 32, 33, 34, 35, 36, due to plastic or elastoplastic elongation of the actuation tendon. The method further provides using the estimated and/or calculated length variation ?i, due to plastic or elastoplastic elongation of the actuation tendon, as a compensation input for a control of the at least one motorized actuator 11, 12, 13, 14, 15, 16. A robotic system for surgery configured to carry out and/or to be controlled by the aforesaid method is further described."
The patent application was internationally filed on Dec. 27, 2023, under International application No.PCT/IB2023/063282.
Disclaimer: Curated by HT Syndication.
