Systems and methods for grasp adjustment based on grasp properties

1. A computer-assisted device, the device comprising:

an image processing unit configured to:

receive imaging data of a two-jawed end effector supported by the device; and

process the imaging data to recognize the two-jawed end effector and a material grasped by the two-jawed end effector;

wherein the device is configured to:

adjust a force magnitude limit or a torque magnitude limit used to limit actuation of the two-jawed end effector based on the received imaging data.

2. The device of claim 1 , wherein the image processing unit is further configured to determine one or more of a position, an orientation, a size, or a shape of the material based on the received imaging data.

3. The device of claim 1 , wherein:

at least one jaw of the two jawed end effector includes fiducial indicia;

the image processing unit is configured to recognize the fiducial indicia in the received imaging data; and

the image processing unit is configured to determine one or more of a position, an orientation, a size, or a shape of the material based at least on the fiducial indicia.

4. The device of claim 1 , wherein the image processing unit is further configured to determine a confidence level to which a position, an orientation, a size, or a shape of the grasped material relative to the two jawed end effector is determined.

5. The device of claim 4 , wherein the device is further configured to:

compare the confidence level to a predetermined threshold; and

apply a default force magnitude limit or a default torque magnitude limit used to limit actuation of the two-jawed end effector in response to the confidence level being below the predetermined threshold.

6. The device of claim 1 , wherein the image processing unit is further configured to:

determine, based on the processed imaging data, a position of a proximal end of jaws of the two jawed end effector where the jaws pivot relative to each other;

determine, based on the processed imaging data, a position of at least one distal end of at least one jaw; and

determine, based on the processed imaging data, a position of a grasping zone, wherein the grasping zone is where the at least one jaw and the grasped material are in contact.

7. The device of claim 1 , wherein the image processing unit is further configured to:

determine, based on the processed imaging data, one or more of:

a first length between a proximal end of jaws of the two-jawed end effector and a proximal end of a grasping zone, wherein the grasping zone is where at least one jaw and the grasped material are in contact;

a second length corresponding to a length of the grasping zone;

a third length between a distal end of the grasping zone and the distal end of the at least one jaw; and

an angle between the jaws of the two-jawed end effector.

8. The device of claim 7 , wherein the device is further configured to adjust the force magnitude limit or the torque magnitude limit based at least on a function of one or more parameters the first length, the second length, the third length, and the angle.

9. A method of operating a computer-assisted device, the method comprising:

receiving, by an image processing unit executing on one or more processors, imaging data of a two jawed end effector;

processing the imaging data to recognize the two jawed end effector and a material grasped by the two jawed end effector;

determining a position, an orientation, a size, or a shape of the material relative to the two jawed end effector;

determining whether the position, the orientation, the size, or the shape is determined with confidence; and

adjusting, when the position, the size, or the shape determination is with confidence, a force magnitude limit or a torque magnitude limit used to limit actuation of the two jawed end effector or applying, when the position determination is without confidence, a default force magnitude limit or a default torque magnitude limit used to limit actuation of the two jawed end effector.

10. The method of claim 9 , wherein:

at least one jaw of the two jawed end effector includes fiducial indicia; and

the method further comprises:

recognizing the fiducial indicia in the received imaging data; and

determining one or more of the position, an orientation, the size, or the shape of the material based at least on the fiducial indicia.

11. The method of claim 9 , further comprising:

determining a confidence level to which the position, the size, or the shape of the grasped material relative to the two-jawed end effector is determined;

comparing the confidence level to a predetermined threshold; and

applying a default force magnitude limit or a default torque magnitude limit to limit the actuation of the two-jawed end effector in response to the confidence level being below the predetermined threshold.

12. The method of claim 9 , further comprising:

determining, based on the processed imaging data, a position of a proximal end of jaws of the two jawed end effector where the jaws pivot relative to each other;

determining, based on the processed imaging data, a position of at least one distal end of at least one jaw; and

determining, based on the processed imaging data, a position of a grasping zone, wherein the grasping zone is where the at least one jaw and the grasped material are in contact.

13. The method of claim 9 , further comprising:

determining, based on the processed imaging data, one or more of:

a first length between a proximal end of jaws of the two-jawed end effector and a proximal end of a grasping zone, wherein the grasping zone is where at least one jaw and the grasped material are in contact;

a second length corresponding to a length of the grasping zone;

a third length between a distal end of the grasping zone and the distal end of the at least one jaw; and

an angle between the jaws of the two-jawed end effector.

14. The method of claim 13 , further comprising adjusting the force magnitude limit or the torque magnitude limit based at least on a function of one or more parameters the first length, the second length, the third length, and the angle.

15. A non-transitory machine-readable medium having stored thereon machine-readable instructions executable to cause a machine to perform a method comprising:

receiving, by an image processing unit executing on one or more processors, imaging data of a two jawed end effector;

processing the imaging data to recognize the two jawed end effector and a material grasped by the two jawed end effector;

determining a position, an orientation, a size, or a shape of the material relative to the two jawed end effector;

determining whether the position, the orientation, the size, or the shape is determined with confidence; and

adjusting, when the position, the size, or the shape determination is with confidence, a force magnitude limit or a torque magnitude limit used to limit actuation of the two jawed end effector or applying, when the position determination is without confidence, a default force magnitude limit or a default torque magnitude limit used to limit actuation of the two jawed end effector.

16. The non-transitory machine-readable medium of claim 15 , wherein the method further comprises:

recognizing fiducial indicia in the received imaging data; and

determining one or more of the position, an orientation, the size, or the shape of the material based at least on the fiducial indicia.

17. The non-transitory machine-readable medium of claim 15 , wherein the method further comprises:

determining a confidence level to which the position, the size, or the shape of the grasped material relative to the two-jawed end effector is determined;

comparing the confidence level to a predetermined threshold; and

applying a default force magnitude limit or a default torque magnitude limit to limit the actuation of the two-jawed end effector in response to the confidence level being below the predetermined threshold.

18. The non-transitory machine-readable medium of claim 15 , wherein the method further comprises:

determining, based on the processed imaging data, a position of a proximal end of jaws of the two jawed end effector where the jaws pivot relative to each other;

determining, based on the processed imaging data, a position of at least one distal end of at least one jaw; and

determining, based on the processed imaging data, a position of a grasping zone, wherein the grasping zone is where the at least one jaw and the grasped material are in contact.

19. The non-transitory machine-readable medium of claim 15 , wherein the method further comprises:

determining, based on the processed imaging data, one or more of:

a first length between a proximal end of jaws of the two-jawed end effector and a proximal end of a grasping zone, wherein the grasping zone is where at least one jaw and the grasped material are in contact;

a second length corresponding to a length of the grasping zone;

a third length between a distal end of the grasping zone and the distal end of the at least one jaw; and

an angle between the jaws of the two-jawed end effector.

20. The non-transitory machine-readable medium of claim 19 , wherein the method further comprises adjusting the force magnitude limit or the torque magnitude limit based at least on a function of one or more parameters the first length, the second length, the third length, and the angle.