# US 12,004,773 B2 · Sensorizing robotic surgical system access ports > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,004,773 B2 - Document ID: US12004773B2 - Status: Granted - Kind: B2 - Application number: 17/024,900 - Filed: 2020-09-18 - Published: 2021-01-07 - Granted: 2024-06-11 - Earliest claimed: 2014-10-24 - Assignees: Covidien LP - Applicants: Covidien LP - Inventors: Dwight Meglan - Web page: https://patentgrep.com/patent/US12004773B2 ## CPC - A61B 17/3423: {Access ports, e.g. toroid shape introducers for instruments or hands (access sites for liquids A61M39/0247)} - A61B 34/30: Surgical robots - A61B 34/35: for telesurgery - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 2034/302: {specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B 2090/065: {for measuring contact or contact pressure} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A robotic surgical system includes an access port having a plurality of sensors incorporated therein and a surgical instrument having an end effector for use with, and connection to a robot arm. The sensors measure a loading parameter between tissue and the access port when the shaft is inserted through the access port. The sensors wirelessly transmit signals indicative of the loading parameter to a processing unit. The estimated loads at the tip of the end effector of the surgical instrument are provided in real-time to a haptic feedback interface for communicating haptic feedback to a user. The haptic feedback increases or decreases in intensity in response to a specific event, occurrence, or operational characteristic related to the estimated loads. ## Claims ### Claim 1 A method of estimating a load at a tip of an end effector of a surgical instrument mounted on a robot arm of a robotic surgical system, the method comprising: quantifying an access port load of a surgical instrument access port from sensor data received from a sensor located between a tissue of a surgical patient, in contact with the surgical instrument access port, and a shaft of the surgical instrument in the access port, wherein the access port load is related to at least one of a force or a torque applied at the tip of the end effector of the surgical instrument; adjusting a determined tip load, at the end effector of the surgical instrument, based at least in part on the measured access port load; and quantifying at least one of a force or a torque on the surgical instrument attached to the robot arm of the robotic surgical system from sensor data of a second sensor in the robot arm of the robotic surgical system, wherein quantifications received from the first and second sensors are combined to compute an estimated load at the tip of the end effector of the surgical instrument. ### Claim 2 (depends on 1) The method according to claim 1, further comprising wirelessly transmitting signals indicative of the access port load from the first sensor to a processing unit of the robotic surgical system. ### Claim 3 (depends on 2) The method according to claim 2, wherein wireless transmission of the signals occurs continuously and in real-time. ### Claim 4 (depends on 1) The method according to claim 1, wherein the estimated load at the tip of the end effector of the surgical instrument is provided in real-time to a haptic feedback interface for communicating haptic feedback to a user. ### Claim 5 (depends on 4) The method according to claim 4, wherein the haptic feedback increases or decreases in intensity in response to a specific event, occurrence, or operational characteristic related to the estimated load. ### Claim 6 (depends on 1) The method according to claim 1, further comprising detecting a presence of the shaft of the surgical instrument in the access port. ### Claim 7 A method of estimating a load at a tip of an end effector of a surgical instrument mounted on a robot arm of a robotic surgical system, the method comprising: quantifying an access port load of a surgical instrument access port, secured within tissue of a patient, from sensor data received from a plurality of sensors embedded within a body member of the access port, the plurality of sensors configured to measure at least one loading parameter exerted thereon by the access port when in contact with the tissue, wherein the plurality of sensors include: a distal sensor located proximate the distal end of the body member; a proximal sensor located proximate the proximal end of the body member; and an intermediate sensor located between the distal sensor and the proximal sensor, wherein the access port load is related to at least one of a force or a torque applied at the tip of the end effector of the surgical instrument; adjusting a determined tip load, at the end effector of the surgical instrument, based at least in part on the measured access port load; and quantifying at least one of a force or a torque on the surgical instrument attached to the robot arm of the robotic surgical system from sensor data of a sensor located in the robot arm of the robotic surgical system, wherein quantifications received from the plurality of sensors and the sensor located in the robot arm are combined to compute an estimated load at the tip of the end effector of the surgical instrument. ### Claim 8 (depends on 7) The method according to claim 7, further comprising wirelessly transmitting signals indicative of the access port load from the plurality of sensors to a processing unit of the robotic surgical system. ### Claim 9 (depends on 8) The method according to claim 8, wherein wireless transmission of the signals occurs continuously and in real-time. ### Claim 10 (depends on 7) The method according to claim 7, further comprising securing the access port in the tissue of the patent such that at least the distal sensor of the plurality of sensors is disposed within a body cavity of a patient. ### Claim 11 (depends on 10) The method according to claim 10, further comprising securing the access port in the tissue of the patient such that at least the proximal sensor of the plurality of sensors is disposed external of the body cavity of the patient. ### Claim 12 (depends on 7) The method according to claim 7, wherein the estimated load at the tip of the end effector of the surgical instrument is provided in real-time to a haptic feedback interface for communicating haptic feedback to a user. ### Claim 13 (depends on 12) The method according to claim 12, wherein the haptic feedback increases or decreases in intensity in response to a specific event, occurrence, or operational characteristic related to the estimated load. ### Claim 14 (depends on 7) The method according to claim 7, further comprising detecting a presence of a shaft of the surgical instrument in the access port.