Grip Force Control In A Surgical Robotic System

Abstract: A grip force controller is for controlling grip force of an instrument in a surgical robotic system. The surgical robotic system comprises a robot having a base and an arm extending from the base to a drive assembly for engaging with the instrument. The instrument has an end effector comprising a plurality of jaws and the drive assembly is for transferring drive to the plurality of jaws to drive the jaws relative to each other in a closing direction for gripping an object between the jaws and in an opening direction for releasing a gripped object. The grip force controller is configured to control movement of the jaws according to a demanded spread between the jaws; determine an occurrence of a gripping event as the jaws are driven relative to each other in the closing direction so as to apply a grip force between the jaws; determine a demanded spread between the jaws on determining the occurrence of the gripping event; set the determined demanded spread as a minimum spread limit for the jaws; and control movement of the jaws using the minimum spread limit so as to control grip force applied by the jaws.

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