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US 11,883,122 B2Granted
Robotic visualization and collision avoidance
AssigneeCilag GmbH International
InventorsDavid C. Yates, Jason L. Harris, Frederick E. Shelton, IV, Chad E. Eckert
Life of this patent
Estimating the term…
Abstract
Methods and devices are provided for robotic surgery, and in particular for controlling various motions of a tool based on visual indicators. In general, a surgical tool can include an elongate shaft and an end effector coupled to a distal end of the elongate shaft and including first and second jaws. The tool can have at least one visual indicator disposed thereon and configured to indicate a size, position, or speed of movement of the tool or components of the tool.
Claims15
A robotic system, comprising:
- a tool housing having a plurality of gear assemblies, each gear assembly being configured to couple to a motor;
- an elongate shaft extending distally from the tool housing;
- an end effector having first and second jaws pivotably coupled to a distal end of the elongate shaft;
- at least one visual indicator on the end effector;
- at least one camera configured to visually monitor the visual indicator;
- and
- a controller configured to provide a declared action of the end effector and configured to compare the declared action with an actual action of the end effector based on detection of the visual indicator by the at least one camera.
4 more elements
A robotic system comprising:
- an electromechanical arm;
- a tool driver coupled to the electromechanical arm, the tool driver having at least one motor configured to control actuation of an electromechanical tool extending from the tool driver, wherein the electromechanical tool has an elongate shaft with an end effector coupled to a distal end thereof and a first visual indicator thereon;
- a cutting element configured to be advanced through the end effector, the cutting element having a second visual indicator thereon;
- a camera configured to visually monitor the first and second visual indicators;
- and
- a controller configured to control movement of the electromechanical arm and to control actuation of the end effector via the tool driver, the controller configured to monitor and adjust actuation of the end effector based on information observed from the first and second visual indicators.
3 more elements
Dependencies are inferred from the claim text.