Patent ID: 9244524
Filing Date: 2016-01-26
CPC Classification: A61B,B25J,G06F,Y10S,Y10T

Claim Text:
1. A surgical instrument comprising: an end effector that is opened and closed; a manipulation unit which has an opening and closing member that is capable of opening and closing and which is configured to open and close the end effector by manipulating the opening and closing member in a first direction by a user so that the end effector applies an acting force to a target; a grip detecting unit configured to acquire an information to determine whether the end effector applies the acting force to the target; a driving unit configured to drive the end effector to be opened and closed; and a control unit configured to control the driving unit based on the information input to the manipulation unit, wherein when the control unit determines that the end effector applies the acting force to the target based on the information acquired by the grip detecting unit, the control unit: