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
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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:
- receive an operator input signal;
- based on a mapping of values of the operator input signal to values of a rotational arc amount of the curved needle, determine an arc of rotation for the curved needle along the arcuate path corresponding to the operator input signal;
- cause the drive mechanism to rotationally actuate the curved needle through the arc of rotation along the arcuate path;
- and
- in response to receiving a digital input signal from a second input device, cause the drive mechanism to complete a rotational actuation of the curved needle through a preset rotation amount about an axis.
Dependencies are inferred from the claim text.