Automated rotation of a needle in a computer-assisted system
AssigneeIntuitive Surgical Operations, Inc.
InventorsAndrew D. Wilson, Gabriel F. Brisson, Robert C. Reid
Life of this patent
Estimating the term…
Abstract
Techniques for automated rotation of a needle in a computer-assisted system include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path and a control unit coupled to the drive mechanism. The control unit is configured to, in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path, and, in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path.
Claims20
A computer-assisted device comprising:
- an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path;
- and
- a control unit coupled to the drive mechanism;
- wherein the control unit is configured to:
- in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path;
- and
- in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path,
- wherein the second preset rotation amount differs from the first preset rotation amount.
A method comprising:
- in response to receiving a first input, causing, by a control unit, a drive mechanism of an end effector of a computer-assisted device to rotationally actuate a curved needle coupled to the drive mechanism by a first preset rotation amount along an arcuate path;
- and
- in response to receiving a second input, causing, by the control unit, the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path,
- wherein the second preset rotation amount differs from the first preset rotation amount.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors are adapted to cause the one or more processors to perform a method comprising:
- in response to receiving a first input, causing a drive mechanism of an end effector of a computer-assisted device to rotationally actuate a curved needle coupled to the drive mechanism by a first preset rotation amount along an arcuate path;
- and
- in response to receiving a second input, causing the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path,
- wherein the second preset rotation amount differs from the first preset rotation amount.
Dependencies are inferred from the claim text.