Patent ID: 11969225
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 0:
1. A teleoperated surgical system comprising:
a surgical instrument including an end effector, the end effector having an end effector pivot axis;
a master tool manipulator operably coupled to the end effector, the master tool manipulator including a grip member movable along a first path; and
a control system operably coupled to the surgical instrument and the master tool manipulator, the control system including at least one processor;
wherein the control system performs a plurality of operations including:
moving the end effector about the end effector pivot axis in response to a movement of the grip member along the first path,
determining a magnitude of a moment about the end effector pivot axis resulting from the moving of the end effector, and
providing a feedback force to the master tool manipulator along a second path, the second path being different from the first path, and the feedback force being based at least in part on the magnitude of the moment about the end effector pivot axis.