US 10,716,639 B2Granted

Measuring health of a connector member of a robotic surgical system

AssigneeCovidien LP

InventorsJaimeen Kapadia, Brian Rockrohr

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Abstract

A robotic surgical system includes a controller, a surgical instrument supporting an end effector, and one or more connector members coupled to the end effector and movable to operate the end effector. Memory is operably coupled to the controller and is configured to maintain reference data of the one or more connector members. A sensor is secured to the one or more connector members and is disposed in electrical communication with the controller. The sensor is configured to register real-time data of the one or more connector members and communicate the real-time data to the controller. The controller is configured to compare the real-time data to the reference data and provide an output signal in response to a comparison of the real-time data to the reference data. A pair of connector members may be coupled to the end effector to impart three outputs.

Claims7

Dependent claims

A method of determining health of at least one connector member of a robotic surgical system, the at least one connector member operably coupled to an end effector of the robotic surgical system and movable to operate the end effector, the method comprising:

storing reference data of the at least one connector member prior to an initial use of the at least one connector member including an initial linear stretching distance of the at least one connector member, the at least one connector member having an initial health;
measuring real-time data of the at least one connector member subsequent to the initial use of the at least one connector member including a subsequent linear stretching distance of the at least one connector member;
and
comparing the reference data of the at least one connector member with measured real-time data of the at least one connector member to determine a real-time health of the at least one connector member relative to the initial health of the at least one connector member.

1 more element

Dependencies are inferred from the claim text.

Facts

Application: 15/548,866Filed 8 Mar 2016 · us provisional application
Priority: 10 Mar 2015
Published: US 2018/0064498 A18 Mar 2018
Granted: 21 Jul 2020
Term ends: Not estimatedThe source records don’t support an estimate.

Classification19 codes

A61B 34/71
Manipulators specially adapted for use in surgery: manipulators operated by drive cable mechanisms
A61B 34/30
Computer-aided surgery; Manipulators or robots specially adapted for use in surgery: surgical robots
A61B 34/35
Surgical robots: for telesurgery
A61B 34/76
Manipulators specially adapted for use in surgery: manipulators having means for providing feel, e.g. force or tactile feedback