Patent ID: 9387045
Filing Date: 2016-07-12
CPC Classification: A61B

Claim Text:
1. A method for controlling grip force of an end effector of a surgical instrument, the method comprising: receiving a first input signal indicative of a commanded position of first and second gripping elements of the surgical instrument end effector; outputting an actuation signal to apply a changing grip actuation force to actuate the first and second gripping elements to exert a grip force, wherein the actuation signal is based at least in part on the first input signal, an actual position of the first and second gripping elements, and a mechanical advantage of the surgical instrument end effector corresponding to the actual position of the first and second gripping elements, the mechanical advantage of the surgical instrument varying with the actual position of the first and second gripping elements; and in response to the actuation signal, actuating the first and second gripping elements to exert the grip force.