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US 11,058,498 B2Granted
Cooperative surgical actions for robot-assisted surgical platforms
AssigneeCilag GmbH International
InventorsFrederick E. Shelton, IV, Jason L. Harris
Life of this patent
Estimating the term…
Abstract
Various robotic surgical systems are disclosed. A robotic surgical system comprises: a first robotic arm comprising a first force sensor, a second robotic arm comprising a second force sensor, and a control unit. The control unit comprises a processor and a memory communicatively coupled to the processor. The memory stores instructions executable by the processor to receive a first input from the first force sensor, to receive a second input from the second force sensor, and to effect cooperative movement of the first robotic arm and the second robotic arm based on the first input from the first force sensor and the second input from the second force sensor in a load control mode.
Claims14
A robotic surgical system, comprising:
- a first robotic arm comprising a first force sensor;
- a second robotic arm comprising a second force sensor;
- and
- a control unit comprising a processor and a memory communicatively coupled to said processor, wherein said memory stores instructions executable by said processor to:
- receive a first input from said first force sensor;
- receive a second input from said second force sensor;
- effect cooperative movement of said first robotic arm and said second robotic arm based on the first input from said first force sensor and the second input from said second force sensor in a load control mode;
- and
- switch from the load control mode to a position control mode upon movement of a surgical tool mounted to one of said robotic arms outside a defined boundary.
6 more elements
A robotic surgical system, comprising:
- a first robotic arm comprising a first force sensor;
- a second robotic arm comprising a second force sensor;
- and
- a control unit comprising a processor and a memory communicatively coupled to said processor, wherein said memory stores instructions executable by said processor to:
- receive a first input from said first force sensor;
- receive a second input from said second force sensor;
- and
- effect cooperative movement of said first robotic arm and said second robotic arm based on the first input from said first force sensor and the second input from said second force sensor in a load control mode;
- wherein said processor is communicatively coupled to a situational awareness module configured to determine, from cartridge data, the type of tissue being stapled and to recommend a surgical function based on the type of tissue being stapled, the first input received from said first force sensor, and the second input received from said second force sensor.
6 more elements
A robotic surgical system, comprising:
- a first robotic arm comprising a first sensor;
- a second robotic arm comprising a second sensor;
- and
- a control unit comprising a processor and a memory communicatively coupled to said processor, wherein said memory stores instructions executable by said processor to:
- receive a first input from said first sensor;
- receive a second input from said second sensor;
- and
- effect cooperative movement of said first robotic arm and said second robotic arm based on the first input from said first sensor and the second input from said second sensor;
- wherein said processor is communicatively coupled to a situational awareness module configured to determine, from cartridge data, the type of tissue being stapled and to recommend a surgical function based on the type of tissue, the first input received from said first sensor, and the second input received from said second sensor.
6 more elements
A non-transitory computer readable medium storing computer readable instructions which, when executed, cause a machine to:
- receive a first input from a first force sensor;
- receive a second input from a second force sensor;
- and
- effect cooperative movement of a first robotic arm and a second robotic arm based on the first input from the first force sensor and the second input from the second force sensor in a load control mode;
- wherein the machine is operably configured to switch from the load control mode to a position control mode upon movement of a surgical tool mounted to one of the robotic arms outside a defined boundary.
2 more elements
A non-transitory computer readable medium storing computer readable instructions which, when executed, cause a machine to:
- receive a first input from a first force sensor;
- receive a second input from a second force sensor;
- and
- effect cooperative movement of a first robotic arm and a second robotic arm based on the first input from the first force sensor and the second input from the second force sensor in a load control mode;
- further comprising a situational awareness module configured to determine, from cartridge data, the type of tissue being stapled and to recommend a surgical function based on the type of tissue, the first input received from the first force sensor, and the second input received from the second force sensor.
2 more elements
A non-transitory computer readable medium storing computer readable instructions which, when executed, cause a machine to:
- receive a first input from a first force sensor;
- receive a second input from a second force sensor;
- effect cooperative movement of a first robotic arm and a second robotic arm based on the first input from the first force sensor and the second input from the second force sensor in a load control mode;
- determine if the first robotic arm and the second robotic arm are activated;
- and
- stop communicating with the first force sensor and the second force sensor when the first robotic arm and the second robotic arm are inactive.
3 more elements
A robotic surgical system, comprising:
- a first robotic arm comprising a first sensor;
- a second robotic arm comprising a second sensor;
- and
- a control circuit configured to:
- receive a first input from said first sensor;
- receive a second input from said second sensor;
- effect cooperative movement of said first robotic arm and said second robotic arm based on the first input from said first sensor and the second input from said second sensor;
- and
- receive a suggested surgical function from a situational awareness module configured to synthesize data from multiple sources to determine the suggested surgical function, wherein the suggested surgical function is at least based on the first input, the second input, and the type of tissue being stapled determined from cartridge data by the situational awareness module.
6 more elements
A robotic surgical system, comprising:
- a first robotic arm adapted to manipulate a surgical tool;
- a second robotic arm;
- and
- a control circuit configured to:
- in a load control mode, effect cooperative movement of said first robotic arm and said second robotic arm based on forces detected by said first robotic arm and said second robotic arm;
- in a position control mode, effect cooperative movement of said first robotic arm and said second robotic arm based on positions of said first robotic arm and said second robotic arm;
- and
- switch from the load control mode to the position control mode upon movement of the surgical tool outside a defined boundary.
5 more elements
A robotic surgical system, comprising:
- a first robotic arm comprising a first sensor;
- a second robotic arm comprising a second sensor;
- and
- a control circuit configured to:
- receive a first input from said first sensor;
- receive a second input from said second sensor;
- effect cooperative movement of said first robotic arm and said second robotic arm based on the first input from said first sensor and the second input from said second sensor;
- determine if said first robotic arm and said second robotic arm are inactive;
- and
- stop communicating with said first sensor and said second sensor when said first robotic arm and said second robotic arm are inactive.
7 more elements
Dependencies are inferred from the claim text.