Actuated cannula seal
AssigneeIntuitive Surgical Operations, Inc.
InventorsLawton N. Verner, Stephen J. Blumenkranz
Life of this patent
Estimating the term…
Abstract
Embodiments of an actuated cannula seal are disclosed In some embodiments, a cannula seal includes a base portion that engages with a cannula; and a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft. The actuation of the sealing portion can be accomplished by rotation or vibration of the sealing portion relative to the instrument shaft.
Claims40
A cannula seal, comprising:
- a base portion that engages with a cannula;
- and
- a seal portion integrally formed with the base portion, the sealing portion capable of engaging with an instrument shaft, the sealing portion capable of being actuated by an actuator so that the sealing portion is continually in motion relative to the instrument shaft.
A method of providing haptic feedback for motion along an instrument shaft, comprising:
- actuating a cannula seal such that a sealing portion of the cannula seal is in motion with respect to the instrument shaft;
- measuring a force along the instrument shaft;
- correcting the measured force for modeled cannula seal friction;
- and
- transmitting the corrected force data to controls operated by a surgeon.
A system, comprising:
- an actuated cannula seal that seals between a cannula and a surgical instrument;
- force sensors coupled to the surgical instrument, the force sensors sensing force along an axis of the surgical instrument;
- and
- a feedback system that receives force data from the force sensors and corrected the force data according to modeled cannula seal friction to form corrected force data.
A surgical system, comprising:
- a controller;
- an arm coupled to the controller;
- a surgical instrument coupled to the arm and controlled by the controller, the surgical instrument including an instrument shaft and a force sensor;
- a cannula coupled to the arm and receiving the instrument shaft of the surgical instrument;
- and
- an actuated cannula seal attached to the cannula and engaging the instrument shaft of the surgical instrument, the cannula seal including a base portion that engages with the cannula and a sealing portion integrally formed with the base portion that slidably engages with the instrument shaft such that the sealing portion is in motion relative to the instrument shaft,
- wherein the controller executes code that
- receives force measurements from the force sensor,
- corrects the force measurements for friction between the cannula seal and the instrument shaft, and
- transmits corrected force feedback to master tool manipulators on the controller.
Dependencies are inferred from the claim text.