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

Claim 14:
15. A surgical robotic system, comprising:
jaws of a gripper tool; and
a processor configured to:
determine, 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;
measure a grip force between the jaws while the jaws are closing in the position mode;
determine whether the measured grip force exceeds grip force threshold in the position mode;
generate 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;
generate an updated position command based on the grip force error; and
apply the updated position command to position the jaws, which limits the grip force to the grip force threshold.