Patent ID: 11969297
Assignee: VERB SURGICAL INC.
Field: Medical technology (Instruments)
Classification: CPC A  G | IPC A  G

Claim 0:
1. A method for controlling grip force generated by jaws of a gripper tool of a surgical robotic system, comprising:
determining, by a processor, based on an input jaw angle between the jaws that the jaws are closing in a position mode, the position mode being characterized by using a position command to position the jaws at the input jaw angle;
measuring a grip force between the jaws while the jaws are closing in the position mode;
determining, by the processor, whether the measured grip force exceeds a grip force threshold in the position mode;
generating, by the processor, a grip force error in response to determining that the measured grip force exceeds the grip force threshold, wherein the grip force error comprises a difference between the measured grip force and the grip force threshold;
generating an updated position command based on the grip force error; and
applying the updated position command to position the jaws, which limits the grip force to the grip force threshold.