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Surgical tool

A tool, surgical technique, used in the manufacture of tools, surgical robots, computer-aided surgery, etc.

Pending Publication Date: 2022-04-22
VERB SURGICAL INC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Challenges related to detection of engagement or synchronization of engagement arise, for example, when performing engagement, and challenges related to back-off and safety procedures during subsequent manipulation of surgical tools

Method used

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  • Surgical tool
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Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0037] Surgical Robotic System

[0038] figure 1 is a diagram illustrating an exemplary operating room environment with surgical robotic system 100 . Such as figure 1 As shown, the surgical robotic system 100 includes a user console 110, a control tower 130, and a surgical robot 120 having one or more surgical robotic arms 122 mounted on a surgical platform 124 (e.g., table or bed, etc.), wherein A surgical tool with an end effector is attached to the distal end of the robotic arm 122 for performing the surgical procedure. The robotic arm 122 is shown table mounted, but in other configurations the robotic arm may be mounted in a cart, ceiling, side wall, or other suitable support surface.

[0039] Generally, a user (such as a surgeon or other operator) may sit at the user console 110 to remotely manipulate the robotic arm 122 and / or surgical instruments (eg, teleoperate). User console 110 may be located in the same operating room as robotic system 100, such asfigure 1 sh...

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PUM

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Abstract

The disclosed embodiments relate to systems and methods for surgical tools or surgical robotic systems. The tool driver is coupled to the distal end of the robotic arm and includes a rolling drive disk driven by a rotating motor. One or more processors are configured to detect attachment of a surgical tool to the tool driver. The surgical tool includes a rolling tool disk engaged with the rolling drive disk of the tool driver, actuating the rolling drive disk by the rotary electric machine, determining that a measured torque of the rotary electric machine exceeds a preset torque threshold for a preset period of time since the actuation, and reporting a successful engagement between the rolling drive disk and the rolling tool disk.

Description

technical field [0001] The present disclosure relates to engagement, calibration and / or additional control of surgical robotic tools having one or more actuators. Background technique [0002] Surgical robotic systems give an operator or user, such as an operating surgeon, the ability to perform one or more actions of a surgical procedure. In this surgical robotic system, surgical tools or instruments (such as endoscopes, clamps, cutting tools, spreaders, needles, energy transmitters, etc.) are mechanically coupled to a robotic joint of a surgical robotic arm such that movement of the robotic joint Or actuation directly causes rotation, pivoting or linear movement of a part of the tool. Once a tool is attached to (eg, contacts) a tool driver in the arm, operator commands may cause movement and activate functions of the attached tool. [0003] Due to the different nature of surgical procedures, different surgical tools or instruments can be selectively attached to the same ...

Claims

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Application Information

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IPC IPC(8): A61B90/00A61B34/35A61B34/30
CPCA61B90/08A61B34/74A61B90/06A61B34/71A61B34/25A61B34/35A61B34/77A61B90/03A61B34/30A61B2034/742A61B2034/301A61B2090/0807A61B2090/0809A61B2034/305A61B2090/031A61B2090/066A61B2090/0811A61B2090/035A61B2090/067A61B2034/2055A61B2034/2059A61B90/96A61B90/98A61B2017/00725A61B2017/00477A61B34/70B25J9/12B25J9/1641A61B2017/00398A61B34/37
Inventor A·阿萨迪恩A·哈里里A·达道
Owner VERB SURGICAL INC
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