System and method for minimally invasive cutting instrument operation
AssigneeIntuitive Surgical Operations, Inc.
InventorsDavid W. WEIR, Michael WALDO, Melody WU
Life of this patent
Estimating the term…
Abstract
Techniques for operating an instrument include a computer-assisted device having one or more processors, a motor or other active actuator, and an articulated arm configured to support an instrument having a cutting blade. The one or more processors are configured to control the instrument using the motor or other active actuator to extend the cutting blade from a first position to a second position, retract the cutting blade from the second position to a third position between the first position and the second position, hold the cutting blade at the third position, and further retract the cutting blade to the first position.
Claims20
A computer-assisted device comprising:
- one or more processors;
- a motor or other active actuator;
- and
- an articulated arm configured to support an instrument having a cutting blade;
- wherein the one or more processors are configured to control the instrument using the motor or other active actuator to:
- extend the cutting blade from a first position to a second position;
- retract the cutting blade from the second position to a third position between the first position and the second position;
- hold the cutting blade at the third position;
- and
- further retract the cutting blade to the first position.
A method of operating a cutting instrument, the method comprising:
- extending, by a control unit using a motor or other active actuator, a cutting blade of the cutting instrument from a first position to a second position;
- retracting, by the control unit using the motor or other active actuator, the cutting blade from the second position to a third position between the first position and the second position;
- holding, by the control unit using the motor or other actuator, the cutting blade at the third position;
- and
- further retracting, by the control unit using the motor or other active actuator, the cutting blade to the first position.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device are adapted to cause the one or more processors to perform a method comprising:
- extending, using a motor or other active actuator, a cutting blade of an instrument from a first position to a second position;
- retracting, using the motor or other active actuator, the cutting blade from the second position to a third position between the first position and the second position;
- holding, using the motor or other actuator, the cutting blade at the third position;
- and
- further retracting, using the motor or other active actuator, the cutting blade to the first position.
Dependencies are inferred from the claim text.