# US 11,432,885 B2 · Sensing arrangements for robot-assisted surgical platforms > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,885 B2 - Document ID: US11432885B2 - Status: Granted - Kind: B2 - Application number: 15/940,711 - Filed: 2018-03-29 - Published: 2019-07-04 - Granted: 2022-09-06 - Earliest claimed: 2017-12-28 - Assignees: Cilag GmbH International - Applicants: Cilag GmbH International - Inventors: Frederick E. Shelton, IV; Jerome R. Morgan; Jason L. Harris; David C. Yates - Web page: https://patentgrep.com/patent/US11432885B2 ## CPC - A61B 34/25: {User interfaces for surgical systems} - A61B 34/35: for telesurgery - A61B 34/70: {Manipulators specially adapted for use in surgery} - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - B25J 9/1676: {Avoiding collision or forbidden zones} - B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion} - G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture - G16H 40/63: for local operation - A61B 34/77: {Manipulators with motion or force scaling} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 90/37: {Surgical systems with images on a monitor during operation} - A61B 2017/00199: {with a console, e.g. a control panel with a display} - A61B 2017/00221: {with wireless transmission of data, e.g. by infrared radiation or radiowaves} - A61B 2017/00225: {Systems for controlling multiple different instruments, e.g. microsurgical systems} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2034/254: {being adapted depending on the stage of the surgical procedure} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'} - A61B 2034/305: {Details of wrist mechanisms at distal ends of robotic arms} - G16H 40/60: for the operation of medical equipment or devices - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA ## Abstract Various surgical systems are disclosed. A surgical system comprises a robotic system. The robotic system comprises a control unit; a robotic arm comprising an attachment portion; a first sensor system in signal communication with the control unit; and a second sensor system. The first sensor system is configured to detect a position of the attachment portion. A surgical tool is removably attached to the attachment portion. The second sensor system is independent of the first sensor system and is configured to detect a position of the surgical tool. ## Claims ### Claim 1 A surgical system, comprising: a robotic system, comprising: a control unit; a robotic arm comprising an attachment portion; a first sensor system in signal communication with said control unit, wherein said first sensor system is configured to detect a position of said attachment portion; and a surgical tool removably attached to said attachment portion and comprising a motor-driven actuation system; and a second sensor system, comprising: a first sensor incorporated into said surgical tool; and a second sensor associated with a structure at a surgical site, wherein said second sensor system is independent of said first sensor system; wherein said control unit is configured to optimize control motions to said robotic arm to avoid unintentional collisions between said surgical tool and the structure based on position data from said second sensor system related to said surgical tool and the structure. ### Claim 2 (depends on 1) The surgical system of claim 1, wherein said second sensor system comprises: a magnetic field emitter; and a magnetic field sensor incorporated into said surgical tool. ### Claim 3 (depends on 2) The surgical system of claim 2, wherein the structure comprises a handheld, battery-powered surgical instrument comprising said second sensor. ### Claim 4 (depends on 3) The surgical system of claim 3, further comprising a real-time display configured to display a position of the surgical tool and a position of the handheld, battery-powered surgical instrument based on data from said second sensor system. ### Claim 5 (depends on 4) The surgical system of claim 4, wherein the handheld, battery-powered surgical instrument comprises an autonomous control unit. ### Claim 6 (depends on 1) The surgical system of claim 1, wherein the structure comprises a trocar comprising said second sensor. ### Claim 7 (depends on 6) The surgical system of claim 6, further comprising a real-time display configured to display a position of said surgical tool and a position of the trocar based on data from said second sensor system. ### Claim 8 (depends on 1) The surgical system of claim 1, wherein said second sensor is applied to a patient. ### Claim 9 (depends on 8) The surgical system of claim 8, further comprising a real-time display configured to display a position of said surgical tool and a position of the patient based on data from said second sensor system. ### Claim 10 A surgical system, comprising: a robotic system, comprising: a control unit; a robotic arm comprising a first portion, a second portion, and a joint intermediate said first portion and said second portion; a first sensor system configured to detect a position of said first portion and said second portion of said robotic arm; and a redundant sensor system configured to detect positions of a plurality of structures at a surgical site, wherein the plurality of structures comprises: said first portion and said second portion of said robotic arm; and a separate structure comprising a sensor; wherein said control unit comprises a processor and a memory communicatively coupled to said processor, wherein said memory stores instructions executable by said processor to compare the positions detected by said first sensor system and said redundant sensor system to optimize control motions of said robotic arm and avoid unintentional collisions. ### Claim 11 (depends on 10) The surgical system of claim 10, wherein said robotic arm comprises a motor, and wherein said first sensor system comprises a torque sensor on said motor. ### Claim 12 (depends on 10) The surgical system of claim 10, wherein said redundant sensor system comprises a magnetic field emitter and a plurality of magnetic sensors positioned on said robotic arm. ### Claim 13 A surgical system, comprising: a surgical robot, comprising: a control unit; and a robotic arm comprising a motor; a surgical tool removably attached to said robotic arm and comprising a motor-driven actuation system; a first sensor system in signal communication with said control unit, wherein said first sensor system comprises a torque sensor on said motor, and wherein said first sensor system is configured to detect a position of said surgical tool; and a second sensor system configured to independently detect a position of a first sensor incorporated into said surgical tool and a position of a second sensor associated with a structure at a surgical site to avoid unintentional collisions. ### Claim 14 (depends on 13) The surgical system of claim 13, wherein said second sensor system comprises: a magnetic field emitter; and a magnetic field sensor incorporated into said surgical tool. ### Claim 15 (depends on 14) The surgical system of claim 14, wherein the structure comprises a handheld, battery-powered surgical instrument comprising the second sensor. ### Claim 16 (depends on 14) The surgical system of claim 14, wherein the structure comprises a trocar comprising the second sensor. ### Claim 17 (depends on 14) The surgical system of claim 14, wherein the second sensor is applied to patient tissue. ### Claim 18 (depends on 14) The surgical system of claim 14, further comprising a real-time display configured to display one or more positions of said surgical tool based on data from said first sensor system and said second sensor system. ### Claim 19 (depends on 13) The surgical system of claim 13, further comprising a hub comprising a situational awareness system, wherein said first sensor system and said second sensor system comprise data sources for said situational awareness system. ### Claim 20 A surgical system, comprising: a robotic system, comprising: a control unit; a robotic arm comprising an attachment portion; and a first sensor system in signal communication with said control unit, wherein said first sensor system is configured to detect a position of said attachment portion; and a surgical tool removably attached to said attachment portion and comprising a motor-driven actuation system; and a second sensor system, comprising: a first sensor incorporated into said surgical tool; and a second sensor associated with a structure at a surgical site, wherein said second sensor system is independent of said first sensor system; and wherein said control unit is configured to optimize control motions to said robotic arm to avoid unintentional collisions between said surgical tool and the structure based on position data from said first sensor system related to said attachment portion and based on position data from said second sensor system related to said surgical tool and the structure.