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US 10,687,904 B2Granted
Robotics tool exchange
AssigneeEthicon, Inc.
InventorsJason L. Harris, Michael J. Vendely, Nichole Y. Kwee, Frederick E. Shelton, IV
Life of this patent
Estimating the term…
Abstract
An electromechanical robotic arm is provided having a distal end with a tool engaging member configured to mate with an electromechanical tool and a trocar holding member configured to mate with a trocar. The trocar holding member can have at least one engagement mechanism configured to engage and orient a trocar to mate the trocar to the trocar holding member in a desired orientation.
Claims15
A surgical system, comprising:
- a trocar holding member configured to mate with a trocar, the trocar holding member having an engagement portion configured to engage and orient a trocar to mate the trocar to the trocar holding member in a desired orientation, and first and second grasper arms coupled to the engagement portion, at least one of the first and second grasper arms having at least one magnet configured to automatically orient the trocar into the desired orientation when the trocar holding member is positioned in proximity to the trocar, wherein the trocar holding member includes at least one rotatable wheel disposed thereon and configured to allow rotation of the trocar engaged by the trocar holding member.
A surgical system, comprising:
- a trocar holding member configured to engage and orient a trocar in a desired orientation, the trocar holding member including
- a first engagement portion having a first end and a second end opposite the first end,
- a second engagement portion pivotally coupled to the first end of the first engagement portion, and
- a third engagement portion pivotally coupled to the second end of the first engagement portion,
- wherein at least one of the first, second, and third engagement portions includes a magnet configured to automatically orient the trocar into the desired orientation, and wherein at least one of the first, second, and third engagement portions includes at least one rotatable wheel disposed thereon and configured to allow rotation of the trocar engaged by the trocar holding member.
2 more elements
Dependencies are inferred from the claim text.