Automatic rotation of a needle in a computer-assisted system

Abstract

Techniques for automatic 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 cause the drive mechanism to rotationally actuate the curved needle along the arcuate path by a first preset rotation amount in response to receiving a first input, and to cause the drive mechanism to rotationally actuate the curved needle along the arcuate path by a second preset rotation amount in response to receiving a second input.

Description

[0001] Cross-reference to related applications

[0002] This application claims priority to U.S. Provisional Patent Application No. 63 / 009,961, filed April 14, 2020, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure generally relates to the operation of devices having actuable instruments, and more specifically to the automatic rotation of needles in computer-aided systems. Background Technology

[0004] Compared to traditional open-site surgery, minimally invasive surgery can be performed using appropriately configured devices that can be introduced into the workspace through small openings such as ports, orifices, and / or incision sites. In some medical cases, minimally invasive surgery helps reduce trauma and disability, helps reduce the chance of infection, and / or shortens recovery time. Because minimally invasive surgery involves inserting and manipulating instruments through ports, small incisions, and / or natural orifices, the work site within the workspace is not as easily accessible as in open-site surgery. Therefore, manipulating such instruments can be clumsy, especially when the operator is performing complex tasks such as patching materials or suturing sutures. Furthermore, the human hand often experiences slight tremors, which can further complicate certain minimally invasive tasks.

[0005] To address the limitations of minimally invasive surgery, computer-aided devices have been developed. During surgeries using computer-aided devices, the operator's dexterity is enhanced when using instruments inserted into the workspace. Instruments with end effectors for performing various tasks include forceps, needle drivers, applicators, retractors, cauterization instruments, suturing devices, etc., which can be actuated to grasp, cut, cauterize, suture, and / or otherwise precisely manipulate materials, such as tissue and / or other objects. However, even with the improved dexterity offered by such computer-aided devices, the suturing of materials (e.g., tissue) and the setting of knots are often difficult and time-consuming processes due to the complex movements involved and the limited space available for end effector movement within the workspace.

[0006] Therefore, there is a need for improved methods and systems for suture materials during minimally invasive surgery. Summary of the Invention

[0007] Consistent with some embodiments, a computer-aided device includes an end effector and a control unit. The end effector has a drive mechanism configured to be coupled to and configured to actuate the bending needle rotationally along an arcuate path. The control unit is coupled to the drive mechanism. The control unit is configured to actuate the bending needle rotationally along the arcuate path by a first preset rotation amount in response to receiving a first input, and to actuate the bending needle rotationally along the arcuate path by a second preset rotation amount in response to receiving a second input.

[0008] Consistent with some embodiments, a computer-aided device includes an end effector and a control unit. The end effector has a drive mechanism configured to be coupled to and configured to rotatably actuate the bending needle along an arcuate path. The control unit is coupled to the drive mechanism. The control unit is configured to receive an operator input signal, determine the arc of rotation of the bending needle along the arcuate path corresponding to the operator input signal based on a mapping of the operator input signal to the amount of rotation of the bending needle, and rotatably actuate the drive mechanism to pass the bending needle through the arcuate path.

[0009] Consistent with some embodiments, in a computer-aided device including an end effector, a method includes, in response to receiving a first input, causing a drive mechanism of the end effector to actuate a bending needle coupled to the drive mechanism along an arcuate path by a first preset rotation amount, and in response to receiving a second input, causing the drive mechanism to actuate the bending needle along the arcuate path by a second preset rotation amount.

[0010] Consistent with some embodiments, in a computer-aided device including an end effector having a drive mechanism configured to couple to a bending needle and to rotatably actuate the bending needle along an arcuate path, a method includes receiving an operator input signal, determining the arc of rotation of the bending needle along an arcuate path corresponding to the operator input signal based on a mapping of the operator input signal to the amount of rotation of the bending needle, and rotatably actuating the drive mechanism to pass the bending needle through the arc of rotation along the arcuate path.

[0011] Consistent with some embodiments, 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 one or more processors to perform any of the methods described herein. Attached Figure Description

[0012] Figure 1 This is a simplified diagram of a computer-aided system according to some embodiments.

[0013] Figure 2 This is a schematic diagram of an end effector according to some embodiments.

[0014] Figure 3 Elements of a drive mechanism for an end effector according to some embodiments are shown.

[0015] Figure 4 and Figure 5 Illustrations are shown according to some embodiments Figure 3 Other components of the drive mechanism.

[0016] Figure 6 Elements of a drive mechanism for an end effector according to some embodiments are shown.

[0017] Figure 7 This is a simplified diagram of an automatic needle rotation method in a computer-aided system according to some embodiments.

[0018] Figure 8 This is a simplified diagram of an automatic needle rotation method in a computer-aided system according to some embodiments.

[0019] Figure 9 These are schematic diagrams of graphical user interfaces for interacting with computer-aided devices according to various embodiments.

[0020] Figure 10 This is a simplified diagram of an automatic needle rotation method in a computer-aided system according to some embodiments.

[0021] Figure 11 This is a simplified diagram of an automatic needle rotation method in a computer-aided system according to some embodiments.

[0022] Figure 12 This is a simplified diagram of an automatic needle rotation method in a computer-aided system according to some embodiments.

[0023] In the accompanying drawings, elements with the same name have the same or similar functions. Detailed Implementation

[0024] Specific details are set forth in this specification to describe some embodiments consistent with this disclosure. Numerous specific details are set forth to provide a thorough understanding of some embodiments. However, it will be apparent to those skilled in the art that some embodiments may be practiced without some or all of these specific details. The specific embodiments disclosed herein are illustrative and not restrictive. Those skilled in the art will recognize other elements within the scope and spirit of this disclosure, although not specifically described herein. Furthermore, to avoid unnecessary repetition, one or more features shown and described in connection with one embodiment may be incorporated into other embodiments unless otherwise specifically described or if one or more features would render the embodiment inoperable.

[0025] Furthermore, the terminology used in this specification is not intended to limit the invention. For example, spatially relative terms (e.g., “below,” “under,” “below,” “above,” “over,” “near,” “far”, etc.) may be used to describe the relationship of one element or feature to another element or feature shown in the figures. In addition to the orientations and orientations shown in the figures, these spatially relative terms are intended to cover different orientations (i.e., positions) and orientations (i.e., rotational arrangements) of elements or their operation. For example, if the content of one of the figures is flipped, an element described as “below” or “under” other elements or features will be “above” or “on” other elements or features. Thus, for example, the term “below” can cover both above and below orientations. Devices may be oriented in other ways (e.g., rotated 90 degrees or in other orientations) and the spatially relative descriptors used herein are interpreted accordingly. Similarly, descriptions of movement along and around various axes include various specific element orientations and orientations. Furthermore, unless the context otherwise requires, the singular forms “a,” “an,” and “the” are also intended to include the plural forms. Furthermore, the terms "comprising," "including," "containing," etc., specify the presence of the said features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups. Components described as coupled may be electrically or mechanically directly coupled, or they may be indirectly coupled through one or more intermediate components.

[0026] Elements described in detail with reference to one embodiment, implementation, or module may, where feasible, be included in other embodiments, implementations, or modules that are not specifically shown or described therein. For example, if an element is described in detail with reference to one embodiment and not with reference to a second embodiment, that element may still be required to be included in the second embodiment. Therefore, to avoid unnecessary repetition in the following description, one or more elements shown and described in association with one embodiment, implementation, or application may be incorporated into other embodiments, implementations, or aspects unless specifically described otherwise, unless one or more elements would render the embodiment or implementation inoperable, or unless two or more elements provide conflicting functionality.

[0027] In some cases, well-known methods, procedures, components, and circuits have not been described in detail to avoid unnecessarily obscuring aspects of the embodiments.

[0028] This disclosure describes various devices, components, and parts of computer-aided devices and components according to their state in three-dimensional space. As used herein, the term "orientation" refers to the position of a component or part of a component in three-dimensional space (e.g., three translational degrees of freedom along Cartesian x, y, and z coordinates). As used herein, the term "orientation" refers to the rotational orientation of a component or part of a component (three rotational degrees of freedom—e.g., roll, pitch, and yaw, angle-axis, rotation matrix, quaternion representation, etc.). As used herein, the term "pose" refers to the six-degree-of-freedom (DOF) spatial orientation and orientation of a component or part of a component. As used herein, the term "shape" refers to a set of orientations and / or orientations measured along the component. As used herein, for a computer-aided device with a repositionable arm, the term "proximal" refers to the direction along its kinematic chain toward the base of the computer-aided device, while the term "distal" refers to the direction along the kinematic chain away from the base.

[0029] Various aspects of this disclosure are described with reference to computer-aided systems and devices, which may include remotely operated, remotely controlled, autonomous, semi-autonomous, robotic, and other such systems and devices. Furthermore, various aspects of this disclosure are described in accordance with embodiments using surgical systems, such as the da... (The sentence is incomplete and requires more context to translate accurately). Surgical systems. However, those skilled in the art will understand that the inventive aspects disclosed herein can be embodied and implemented in various ways, including robotic and (if applicable) non-robotic embodiments and implementations. The implementations of surgical systems are merely examples and should not be construed as limiting the scope of the invention disclosed herein. In some embodiments, the instruments, systems, and methods described herein are applicable to, for example, surgical procedures, remotely operated surgical procedures, diagnostic, therapeutic, or biopsy procedures. Although some embodiments of such procedures are provided herein, any references to medical or surgical instruments and medical or surgical methods are intended to be non-limiting. Thus, the instruments, systems, and methods described herein can be used for human, animal, or partial human or animal anatomy, non-surgical diagnostics, and for industrial systems, general-purpose robots, or remote operating systems. As further examples, the instruments, systems, and methods described herein can be used for non-medical purposes, including industrial use, general-purpose robotic use, sensing or manipulating non-tissue artifacts, cosmetic enhancements, imaging of human or animal anatomy, collecting data from human or animal anatomy, establishing or dismantling systems, training medical or non-medical personnel, etc. Other example applications include procedures for removing tissue from human or animal anatomy (without returning the human or animal anatomy) and procedures for human or animal cadavers. Furthermore, these techniques can also be used in medical therapeutic or diagnostic procedures, with or without surgical aspects.

[0030] Figure 1 This is a simplified diagram of a computer-aided system 100 according to some embodiments. For example... Figure 1 As shown, the computer-assisted system 100 includes a device 110 having one or more movable or repositionable arms 120. Each of the one or more repositionable arms 120 can support and drive one or more end effectors 121. In some examples, the device 110 may be a computer-assisted surgical device. The one or more repositionable arms 120 each provide support and drive for surgical instruments, imaging equipment, etc. The end effector 121 may be located at the distal portion of a surgical instrument. In some embodiments, computer-assisted surgical devices with other configurations, fewer or more articulated arms, etc., may be used with the computer-assisted system 100.

[0031] In some embodiments, device 110 may be mounted near or adjacent to an operating table or surgical table, or device 110 may be mounted directly onto the operating table, or mounted onto a track or integral part of the operating table structure coupled to the operating table. In some embodiments, device 110 may be a movable trolley (e.g., a patient-side trolley). The movable trolley may be detached from and spaced apart from the operating table in the operating room and may move independently relative to the operating table. In some embodiments, the movable trolley may dock at or be attached to the operating table. In some embodiments, device 110 may be mounted to the ceiling, floor, and / or walls of the operating room. In some embodiments having multiple devices 110, each device may be mounted to any structure or in any manner as described above. For example, one device 110 may be mounted on the surgical table, while another device 110 may be mounted to the ceiling.

[0032] Device 110 may be further coupled to an operator workstation (not shown), which may include one or more master controllers 180 for selectively manipulating device 110, one or more repositionable arms 120, and / or end effectors. Master controller 180 is an input device that enables the operator to manipulate the end effector 121 and, in some embodiments, the repositionable arm 120. Specifically, when the operator executes a program by manipulating one or more master controllers 180, control unit 130 causes one or more servo manipulators to manipulate the corresponding repositionable arm 120 and / or end effector 121. In some embodiments, the motion of master controller 180 and associated devices is scaled, which can facilitate the execution of complex programs more easily than conventional open-site procedures. Master controller 180 may include one or more continuous motion input devices 181 and / or one or more digital input devices 182. In some embodiments, device 110, operator workstation, and control unit 130 may correspond to the DA commercially available from Intuitive Surgical Operations Inc., Sunnyvale, California. Surgical system.

[0033] One or more continuous motion input devices 181 are configured to enable an operator to generate inputs that vary along a continuous value, such as from 0% to 100% of a specific input range. Therefore, each of the one or more continuous motion input devices 181 may include any one or more of a variety of input devices, such as joysticks, gloves, trigger guns, manual controllers (grippers, sliders, knobs, rotary inputs, etc.), and / or similar devices. Alternatively or additionally, in some embodiments, one or more continuous motion input devices 181 may be configured to enable an operator to generate multiple inputs, each varying along a corresponding continuous value. For example, in one embodiment, a particular continuous motion input device 181 includes different continuous input generators for each degree of freedom of the end effector 121 currently associated with the particular continuous motion input device 181.

[0034] One or more digital input devices 182 are configured to enable an operator to generate digital or binary input. Thus, each of the one or more digital input devices 182 enables the operator to switch between a first mode and a second mode, select and deselect specific control options of device 110, etc. For example, in one embodiment, a first actuation of a particular digital input device 182 by the operator energizes an energy delivery device contained in an end effector 121, and a second actuation of the particular digital input device 182 by the operator de-energizes the energy delivery device. Suitable examples of digital input devices 182 include foot pedals, manual or foot-operated buttons, switches, levers, etc.

[0035] Device 110 is coupled to control unit 130 via an interface. This interface may include one or more cables, connectors, and / or buses, and may also include one or more networks (e.g., wired and / or wireless networks) with one or more network switching and / or routing devices. Control unit 130 includes a processor 140 coupled to memory 150. Operation of control unit 130 is controlled by processor 140. Although control unit 130 is shown as having only one processor 140, it should be understood that processor 140 may represent one or more central processing units, multi-core processors, microprocessors, microcontrollers, digital signal processors, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), tensor processing units (TPUs), etc., within control unit 130. Control unit 130 may be implemented as a separate subsystem and / or board added to a computing device, or may be implemented as a virtual machine. In some embodiments, control unit may be included as part of and / or operate independently of the operator workstation but in coordination with it.

[0036] Memory 150 may be used to store software executed by control unit 130 and / or one or more data structures used during operation of control unit 130. Memory 150 may include one or more types of machine-readable media. Some common forms of machine-readable media may include floppy disks, flexible disks, hard disks, magnetic tape, any other magnetic media, CD-ROMs, any other optical media, punched cards, paper tape, any other physical media with a perforated pattern, RAM, PROM, EPROM, FLASH-EPROM, any other memory chips or cassette tapes, and / or any other media suitable for reading by a processor or computer.

[0037] As shown in the figure, memory 150 includes a motion control application 160 that can be used to support autonomous and / or semi-autonomous control of device 110. The motion control application 160 may include one or more application programming interfaces (APIs) for receiving orientation, movement, and / or other sensor information from device 110, exchanging orientation, movement, and / or collision avoidance information with other control units regarding other devices (e.g., surgical tables and / or imaging equipment), and / or planning and / or assisting in planning the movement of device 110, repositionable arm 120, and / or end effector 121 of device 110. Although the motion control application 160 is described as a software application, it may be implemented using hardware, firmware, software, and / or combinations thereof, any of which interact with or are otherwise executed by processor 140.

[0038] In some embodiments, memory 150 also includes a mapping 170 that maps the value of a proportional input signal from continuous motion input device 181 to a specific amount of rotational arc (e.g., a rotary drive mechanism in an end effector). Mapping 170 may include any technically feasible mapping from the proportional input signal to the amount of rotational arc.

[0039] For example, in an embodiment where the continuous motion input device 181 includes a clamping controller, mapping 170 maps the value of the proportional input signal from the clamping controller to a corresponding value of the rotational arc of the drive mechanism included in the end effector 121. In one such embodiment, the proportional input signal value corresponding to 0% clamping motion is mapped to a 0-degree rotational arc, the proportional input signal value corresponding to 100% clamping motion is mapped to a 180-degree rotational arc, and the proportional input signal value corresponding to clamping motion between 0% and 100% clamping motion is distributedly mapped to corresponding rotational arcs between 0 and 180 degrees. In another embodiment, the proportional input signal value corresponding to 0% clamping motion is mapped to a 0-degree rotational arc, the proportional input signal value corresponding to 100% clamping motion is mapped to a 360-degree rotational arc, and the proportional input signal value corresponding to clamping motion between 0% and 100% clamping motion is distributedly mapped to corresponding rotational arcs between 0 and 360 degrees. In some embodiments, the clamping motion of the clamping controller can move continuously between a fully open state (e.g., corresponding to 0% clamping motion) and a fully closed state (e.g., corresponding to 100% clamping motion), and vice versa. In some embodiments, the clamping motion can be distributedly mapped from a 0-degree rotational arc to a rotational arc of less than 180 degrees during 100% clamping motion. In some embodiments, the mapping between the fully open and fully closed states can be reversed; for example, the fully open state corresponds to 100% clamping motion, and the fully closed state corresponds to 0% clamping motion. In some embodiments, the clamping motion can be limited to a range smaller than that of the fully open and fully closed states.

[0040] Alternatively, in embodiments where the continuous motion input device 181 includes a rotary input device (e.g., a knob), mapping 170 maps the value of a proportional input signal from the rotary input device to a corresponding value of the rotational arc of the drive mechanism included in the end effector 121. In one such embodiment, the proportional input signal value has a 1:1 mapping between the rotation of the rotary input device and the rotational arc of the drive mechanism. Thus, in such an embodiment, 0% rotation of the rotary input device is mapped to a signal resulting in a 0-degree rotational arc of the drive mechanism, while 100% (e.g., 360 degrees) rotation of the rotary input device is mapped to a signal resulting in a full 360-degree rotation of the drive mechanism. In some embodiments, the rotary input device is configured to move continuously only in one rotational direction (e.g., clockwise), and in some embodiments, the rotary input device is configured to move continuously in both clockwise and counterclockwise directions. In some embodiments, the rotary input device is configured with a hard stop limiting movement in one direction, such as the rotational direction of a reciprocating drive mechanism. In some embodiments, the rotary input device is configured to provide feedback (e.g., haptic feedback) to the operator based on the rotational orientation of the drive mechanism, such as indicating when a bent needle driven by the drive mechanism is commanded to a certain position, such as when the bent needle extends out of the housing of the end effector 121, or when the needle is fully retracted into such a housing.

[0041] In another embodiment, mapping 170 includes a first mapping of the proportional input signal value from a first proportional input signal from the continuous motion input device 181 and a second mapping of the proportional input signal value from a second proportional input signal from the same continuous motion input device 181, wherein the first and second mappings are mapped to corresponding values ​​of the rotational arc of the drive mechanism included in the end effector 121. In such an embodiment, the first proportional input signal from the continuous motion input device 181 may be generated by movement or actuation of the continuous input device 181 in a first direction, and the second proportional input signal from the continuous motion input device 181 may be generated by movement or actuation of the continuous input device 181 in a second direction different from the first direction. The orientation of the clamping controller when closed (e.g., when the clamping movement of the clamping controller moves from an open state to a closed state) may correspond to the proportional input signal allocated by a first preset rotation amount. Furthermore, the orientation of the clamping controller when open (e.g., when the clamping movement of the clamping controller moves from a closed state to an open state) may correspond to the proportional input signal allocated by a second preset rotation amount. For example, in some embodiments where the continuous input device 181 is a clamping controller, a first mapping may map a proportional input signal value generated by the clamping controller when closed. The first mapping may be mapped to a corresponding rotational arc between 0 and 180 degrees of rotation of the drive mechanism included in the end effector 121. Similarly, a second mapping may map a proportional input signal value generated by the clamping controller when open. In some embodiments, the drive mechanism may be configured to continuously reciprocate about a 360-degree rotational arc. In such embodiments, the second mapping may be mapped to a corresponding rotational arc between 180 and 360 degrees of rotation of the drive mechanism. Alternatively, the drive mechanism may be configured to reciprocate about a rotational arc less than 360 degrees. For example, the drive mechanism may be configured with a 180-degree rotational arc, wherein the first mapping may be mapped to a rotational arc between 0 and 180 degrees of the drive mechanism, while the second mapping may be mapped to a corresponding rotational arc between 180 and 0 degrees of the drive mechanism (i.e., the opposite of the first mapping). In some embodiments, the drive mechanism may be configured with 180-degree rotational actuation. In such an embodiment, the second mapping can be mapped to the reverse stroke of the drive mechanism, where the drive mechanism returns from a 180-degree rotation to a 0-degree rotation.

[0042] In some embodiments, the memory 150 also includes a graphical user interface (GUI) 190 to facilitate operation of the device 110 (including the repositionable arm 120 and / or end effector 121). In some embodiments, the GUI 190 presents to the operator one or more visual elements for interacting with the device 110, such as icons, menus, graphical panels, graphical buttons, etc. Figure 8 An embodiment of GUI 190 is further described.

[0043] In some embodiments, the computer-aided system 100 may be found in the operating room and / or interventional suite. And although... Figure 1 A computer-aided system 100 with a device 110 having two repositionable arms 120 is depicted, but those skilled in the art will understand that the computer-aided system 100 may include any number of devices having repositionable arms and / or end effectors 121 with designs similar to and / or different from those of device 110. In some examples, each device may include fewer or more repositionable arms and / or end effectors 121.

[0044] According to various embodiments, one or more of the end effectors 121 are configured to rotatably actuate a needle (e.g., a suture needle) of a suturing or mending device. An operator can control the rotational actuation of the needle by using continuous motion input devices (e.g., continuous motion input device 181), by using digital inputs (e.g., digital motion input device 182, such as by pressing a button, foot pedal, lever, etc.), and / or any combination thereof. In one example, continuous motion of the continuous motion input device is mapped to rotational motion of the needle relative to the axis of a needle path (e.g., a curved needle path) on the device, such that continuous changes in the motion of the input device (e.g., continuous changes in the orientation of the input device) result in corresponding rotational motion of the needle. In another example, actuation of the digital input results in autonomous rotational actuation of the needle. For example, pressing a foot pedal or a button can cause the needle to automatically rotate through a 180° or 360° arc. Thus, an operator can command the execution of a complete suturing by properly positioning the needle near the target material to be mended (e.g., tissue in a medical example) and then actuating the digital input (e.g., by pressing a foot pedal, a button, etc.). This process allows for the rapid and accurate creation of multiple complete patches. Therefore, it simplifies the large sequences of individual needle operations typically used to create patches. The following section combines... Figures 2-6 Various embodiments of the end effector 121 are described.

[0045] In some embodiments, the bending needle may be coupled to a drive mechanism included in the end effector 121. This drive mechanism is configured to rotate the bending needle about a rotational arc, such as about a bending needle path. This drive mechanism can be controlled by an operator through manipulation of continuous motion input devices, digital inputs, and / or any combination thereof.

[0046] Figure 2 This is a schematic diagram of an end effector 200 of an instrument configured according to some embodiments. The end effector 200 is part of a suturing device configured to perform minimally invasive suturing and can be used as... Figure 1The end effector 121. The end effector 200 is located near the distal end of the instrument shaft and includes a suture hole 201 and a bent needle 202 (which is hidden in...). Figure 2 (Shown in dashed lines) and a drive mechanism (not shown). As described in further detail below, the bent needle 202 can move along an arcuate needle path. In some embodiments, the bent needle 202 moves about an axis 203 along an arcuate needle track within the end effector 200. The arcuate needle track defines the arcuate needle path along which the bent needle 202 moves. The drive mechanism is configured to be coupled to the bent needle 202 and actuate the bent needle 202 rotatably about the arcuate needle track along the arcuate path. In some embodiments, the bent needle 202 is formed as part of a circle; however, the bent needle 202 may have other shapes. In some embodiments, the axis 203 includes or passes through the center point of the circle defined by the arcuate needle track, and in some embodiments, the axis 203 may be located within the stitch hole 201. The axis 203 is oriented substantially perpendicular to the longitudinal axis 211 of the end effector 200, thus in Figure 2 The middle part is displayed as a dot.

[0047] In operation, sewing material or thread (not shown) is attached to the curved needle 202, for example, through an attachment opening or other feature, and the drive mechanism of the end effector 200 drives the curved needle 202 in a curved path about axis 203. In some embodiments, the drive mechanism drives the curved needle 202 about an arcuate needle path via two drive slots 205 and 206, both formed on the outer surface of the curved needle 202, for example, spaced approximately 180 degrees apart. Drive slot 205 may be located near the tail end of the curved needle 202 and drive slot 206 may be located near the tip end of the curved needle 202. The tip end of the curved needle 202 may have a sharpened tip. (The following is a continuation of the previous paragraph.) Figures 3-6 An embodiment of the drive mechanism is described in more detail.

[0048] Figure 3 Elements of the drive mechanism 300 of an end effector 200 configured according to some embodiments are shown. For clarity, Figure 3 The housing of the drive mechanism 300 is omitted. Figure 3 In the illustrated embodiment, the drive mechanism 300 includes a driven pulley 302, a drive pulley 304, and a drive pulley 303, wherein the drive pulley 303 is in... Figure 3The driven pulley 302 is shielded by the drive pulley 304. As shown, the driven pulley 302 and the drive pulley 304 are rotatably coupled to each other via connectors 305, which are partially wound around the driven pulley 302 and the drive pulley 304. The connectors 305 can be belts, cables, etc. The drive pulley 303 is coupled to the drive pulley 304, and both rotate about the same axis 307. In an alternative embodiment, the driven pulley 302 may be coupled to the drive pulley 304 via the connector 305. In operation, the driven pulley 302, the drive pulley 304, and the drive pulley 303 are configured to rotate synchronously together, for example, on an arc of rotation of approximately 190 degrees. The synchronous rotation of the driven pulley 302 and the drive pulleys 303 and 304 causes the actuator arm 311 to rotate and drive the bending needle 202. As described in further detail below, actuator arm 311 includes a pawl 312 configured to releasably engage drive slots 205 and 206 on the bent needle 202 to drive the bent needle 202 through a 360-degree rotational arc. Pawl 312 engages drive slot 205 to drive the needle 202 through an arc of approximately 180 degrees, releases from drive slot 205, and then engages drive slot 206 to drive the needle 202 through another arc of approximately 180 degrees.

[0049] Figure 4 and Figure 5 Other elements of the drive mechanism 300 of the end effector 200 configured according to some embodiments are shown. The drive mechanism 300 further includes cables 484 and 486, which may be made of stainless steel or any other suitable material. Cable 484 ( Figure 5 (As shown) is connected to drive pulley 304, while cable 486 ( Figure 4 (As shown) is connected to the drive pulley 303. Attached to the proximal end 405 of the drive mechanism 300 is a portion 408 containing a part of the drive mechanism 300, which includes two idler pulleys 480 and cables 484 and 486. Figure 4 The drive mechanism 300 is shown, with drive pulley 303 in place (and drive pulley 304 hidden in the view) and cable 486 passing around idler wheel 480 and wound around drive pulley 303. Figure 5 A drive mechanism 300 is shown, wherein the drive pulley 303 is removed and the cable 484 passes around the idler pulley 480 and is wound around the drive pulley 304. The cable 484 passes from the drive pulley 303 through the instrument shaft connected to the proximal end of the end effector 200 to a suitable drive mechanism disposed in the proximal portion of the instrument shaft.

[0050] The bent needle 202 is configured to move between an initial orientation (home position) and an engagement orientation, wherein in the initial orientation the needle 202 is retracted into the housing of the drive mechanism 300, and in the engagement orientation the needle 202 extends from the housing and through the hole 201 to engage with tissue. In some embodiments, the engagement orientation may correspond to a rotation of the bent needle approximately 180 degrees relative to the initial orientation. To drive the bent needle 202, an actuator arm 311 is configured to move along an arcuate path within the housing. In various examples, the actuator arm 311 may be configured to move along an arcuate radius of approximately 180 degrees, approximately 190 degrees, etc. In some embodiments, the actuator arm may move along a needle drive orientation corresponding to an approximately 6 o'clock rotation orientation (e.g., ...). Figures 4-5 The movement follows an arc-shaped path between the needle drive position (shown) and the needle end position, which corresponds to a rotational position at approximately 12 o'clock. The rotational position is provided as an example, and various other rotational positions are possible for both the needle drive position and the needle end position.

[0051] In an exemplary embodiment, a cable tensioning device (not shown) connected to cable 484 provides a force to rotate the bending needle 202 from its initial orientation to its engagement orientation. Therefore, in order to rotate the bending needle 202 from its initial orientation (such as...) Figure 4 and Figure 5 As shown, the needle 202 is rotatably actuated to the engagement position where it extends from the housing. The operator performs the appropriate input action using the input device as described herein, and the cable tensioning device connected to cable 484 causes the drive pulley 304 to rotate counterclockwise (relative to the direction of the input device). Figure 4 and Figure 5(As shown in the orientation). Counterclockwise rotation of the drive pulley 304 drives the actuator arm 311 from the needle drive position to the needle end position. The bent needle 202 moves accordingly through an arc of approximately 180 degrees of rotation via the engagement of the actuator arm 311 with the drive slot 205, causing the bent needle 202 to move through the hole 201. As the actuator arm 311 rotates counterclockwise from the needle drive position to the needle end position to drive the bent needle 202, the actuator arm 311 disengages from the bent needle 202. The actuator arm 311 can then return to the needle drive position without driving the bent needle 202. To rotatably actuate the bent needle 202 from the engagement position to the initial position, the operator performs a suitable input action using the input device described herein, and the cable tensioning device connected to the cable 484 causes the drive pulley 304 to rotate counterclockwise again. In this configuration, the counterclockwise rotation of the drive pulley 304 drives the actuator arm 311 from the needle drive position to the needle end position, thereby moving the bent needle 202 through an approximately 180-degree rotational arc via the engagement of the actuator arm 311 with the drive slot 206. The orientation of the bent needle 202 relative to the housing and the counterclockwise movement of the actuator arm 311 from the needle drive position to the needle end position are merely examples. In an alternative embodiment, the needle orientation can be reversed, allowing the needle and actuator arm 311 to move clockwise from the needle drive position to the needle end position.

[0052] In an exemplary embodiment, the force that moves the actuator arm 311 from the needle end position to the needle drive position is provided by a cable tensioning device (not shown) connected to the cable 486. Therefore, to rotatably return the actuator arm 311 from the needle end position to the needle drive position, the operator performs a suitable input action using an input device as described herein. In response, the cable tensioning device connected to the cable 486 causes the drive pulley 303 to rotate clockwise by approximately 180 degrees. In this way, the actuator arm 311 is returned to the needle drive position. Figure 4 and Figure 5 The needle drive orientation is shown.

[0053] In operation, the mending cycle is completed in four steps. First, with the actuator arm 311 in the needle drive position and the pawl 312 engaged with the drive slot 205 of the bent needle 202, tension in the cable 484 causes the driven pulley 302, drive pulley 304, and drive pulley 303 to rotate counterclockwise by approximately 180 degrees to drive the actuator arm 311 to the needle end position and drive the bent needle 202 from the initial position to the engagement position. Second, tension in the cable 486 causes the driven pulley 302, drive pulley 304, and drive pulley 303 to rotate clockwise by approximately 180 degrees, which disengages the pawl 312 from the drive slot 205 of the bent needle 202 and repositions the actuator arm 311 to the needle drive position, causing the pawl 312 to engage the drive slot 206 of the bent needle 202. Third, the tension in cable 484 causes driven pulleys 302, 304, and 303 to rotate counterclockwise by approximately 180 degrees, thereby moving actuator arm 311 back to the needle end position and driving the bent needle 202 from the engagement position back to the initial position via drive slot 206. Fourth, the tension in cable 486 causes driven pulleys 302, 304, and 303 to rotate clockwise by approximately 180 degrees, which disengages pawl 312 from drive slot 206 and repositions actuator arm 311 to the needle drive position, causing pawl 312 to re-engage drive slot 205.

[0054] In the above embodiments, a cable is used to rotate the drive mechanism 300 to actuate the bent needle 202. In other embodiments, any other technically feasible actuation device may be used to rotate the drive mechanism 300 to actuate the bent needle 202. For example, in one such embodiment, one or both of the driven pulley 302 and the drive pulley 304 and / or the additional drive pulley 303 are motorized. Additionally or alternatively, in one such embodiment, a belt drive and / or gears are used in the drive mechanism 300 to rotate the bent needle 202 to supplement or replace the cables 484 and 486. A more detailed description of the configuration and operation of the bent needle and the end effector of the drive mechanism for minimally invasive suturing can be found in U.S. Patent No. 8,123,764, the entire contents of which are incorporated herein by reference.

[0055] Figure 6 Elements of the drive mechanism 600 of an end effector 200 configured according to some embodiments are shown. For clarity, Figure 6 The housing of the drive mechanism 600 is omitted. Figure 6 In the illustrated embodiment, the drive mechanism 600 includes a driven pulley 602, a drive pulley 604, and a linkage arm 605 connecting the driven pulley 602 and the drive pulley 604. Figure 6In this embodiment, the drive pulley 602 is configured as a pulley element having a connector arm that replaces the disc-shaped body. In other embodiments, the drive pulley 602 may be configured with a disc-shaped body. The drive pulley 604 may be connected to a single cable 684, for example, via a crimp connector 609. Alternatively, the drive pulley 604 may be connected to two cables (e.g., tensioned in opposite directions). Alternatively, the cable 684 may be implemented as one or more belts. Figure 3 Similar to the drive mechanism 300, the driven pulley 602 and drive pulley 604 are rotatably coupled and thus rotate synchronously together, causing the actuator arm 611 to alternately engage the drive slot 205 or 206 on the bent needle 202 with the pawl 312. Specifically, a 180-degree counterclockwise rotation of the driven pulley 602 and drive pulley 604 drives the bent needle 202 through the drive slot 205 or 206 in a 180-degree rotation arc. Conversely, a 180-degree clockwise rotation of the driven pulley 602 and drive pulley 604 disengages the pawl 312 from the drive slot 205 or 206 and returns the actuator arm 611 to its original position. Figure 6 The needle drive orientation is shown.

[0056] In the operation of the drive mechanism 600, the stitching cycle is completed in four steps by reciprocating the actuator arm 611 around the needle path while keeping the actuator arm 611 away from the stitching hole 201. First, with the actuator arm 611 in the needle drive position and the pawl 312 engaged with the drive slot 205 of the bent needle 202, the tension 621 in the cable 684 causes the driven pulley 602 and the drive pulley 604 to rotate counterclockwise by approximately 180 degrees. The actuator arm 611 then moves to the needle end position, and the bent needle 202 is driven from the initial position to the engagement position. Secondly, the tension 622 in cable 684 causes the driven pulley 602 and drive pulley 604 to rotate clockwise by approximately 180 degrees. This disengages the pawl 312 from the drive slot 205 of the bent needle 202 and repositions the actuator arm 611 from the needle end position to the needle drive position, causing the pawl 312 to engage the drive slot 206 of the bent needle 202. Thirdly, the tension 621 in cable 684 causes the driven pulley 602 and drive pulley 604 to rotate counterclockwise by approximately 180 degrees. This causes the actuator arm 611 to move to the needle end position and, through the drive slot 206, move the bent needle 202 from the engagement position back to the initial position. Fourth, the tension 622 in the cable 684 causes the driven pulley 602 and the drive pulley 604 to rotate clockwise by about 180 degrees, which disengages the pawl 312 from the drive slot 206 and repositions the actuator arm 611 back to the needle drive position, so that the pawl 312 re-engages the drive slot 205.

[0057] Optionally, in some embodiments, drive mechanisms 300, 600 may include one or more gears coupling drive pulleys 303, 304, 604 to corresponding driven pulleys 302, 602. Referring as an example to drive mechanism 600, drive pulley 604 and driven pulley 602 may be coupled to each other via one or more gears instead of linkage arm 605. For example, drive pulley 604 may be coupled to a first gear having an axis of rotation coinciding with the axis of rotation of drive pulley 604, and driven pulley 602 may be coupled to a second gear having an axis of rotation coinciding with the axis of rotation of driven pulley 602. The first and second gears may mesh with each other or may be coupled via one or more intermediate gears. In operation, drive pulley 604 may be driven by cable 684, and rotation of drive pulley 604 causes rotation of the first gear, which in turn causes rotation of the second gear and driven pulley 602 (which may be driven by one or more intermediate gears).

[0058] Figure 7 This is a simplified diagram of a method 700 for automatic needle rotation in a computer-aided system according to some embodiments. One or more of the processes 710-770 of method 700 may be implemented, at least in part, in the form of executable code stored on a non-transient tangible machine-readable medium, which, when run by one or more processors (e.g., processor 140 in control unit 130), causes one or more processors to execute one or more of processes 710-770. In some embodiments, method 700 may be executed by control unit 130 and an application such as motion control application 160.

[0059] At process 710, an input signal (e.g., input) is received from an input device (e.g., a continuous motion input device 181 or a digital input device 182).

[0060] At process 720, it is determined whether the input received at process 710 is a proportional input signal or a digital input signal. If the received input signal is generated by a continuous motion input device 181 (e.g., a clamping controller or rotation controller), the input signal is determined to be a proportional input signal and method 700 proceeds to process 730. If the received input signal is generated by a digital input device 182, such as a foot pedal or button, the input signal is determined to be a digital input signal and method 700 proceeds to process 750. In the case of receiving both a digital input signal and a continuous input signal simultaneously, input priority can indicate which of the two signals to respond to. For example, in some embodiments, digital input signals are given higher priority than concurrent continuous input signals, such that digital input signals are active while continuous input signals are inactive.

[0061] At process 730, the arc of rotation of the bent needle 202 is determined based on mapping 170 and the proportional input signal. For example, in an embodiment where the continuous motion input device 181 is a clamping controller, the value of the received input signal is proportional to the degree to which the operator has closed the clamping controller. Thus, in such an embodiment, when the operator closes the clamping controller 25%, the proportional input signal has a value representing 25% of the maximum available value. In some embodiments, the maximum available value is 180-degree rotational actuation of the bent needle 202. In such an embodiment, when the proportional input signal has a value corresponding to 25% of the clamping motion performed by the operator, the arc of rotation determined in process 730 is 45 degrees, and when the proportional input signal has a value corresponding to 100% of the clamping motion performed by the operator, the arc of rotation determined in process 730 is 180 degrees. In other embodiments, the maximum available value is 360-degree rotational actuation of the bent needle 202. Therefore, in such an embodiment, when the proportional input signal has a value corresponding to 25% of the clamping motion performed by the operator, the rotation arc determined in process 730 is 90 degrees, and when the proportional input signal has a value corresponding to 100% of the clamping motion performed by the operator, the rotation arc determined in process 730 is 360 degrees.

[0062] At process 740, the drive mechanism 300 is rotated to actuate the bending needle 202 through the rotational arc determined in process 730. Then process 700 returns to process 710.

[0063] At process 750, it is determined whether the current orientation of actuator arm 311 is in the needle drive orientation. If it is "yes", then process 700 proceeds to process 760; if it is "no", then process 700 proceeds to process 770.

[0064] At process 760, the drive mechanism 300 rotatably actuates the bending needle 202 through a preset rotational arc, such as 180 degrees or 360 degrees. In some embodiments, the preset rotational arc is selected based on which digital input device 182 generates the input signal received in process 710. For example, in one embodiment, pressing a first pedal generates a digital input signal associated with a 180-degree rotational actuation of the bending needle 202, while pressing a second pedal generates a digital input signal associated with a 360-degree rotational actuation of the bending needle 202. After process 760 completes, method 700 returns to the beginning of method 700.

[0065] In one example, to induce a 180-degree rotational actuation, the driven pulleys 302, 304, and 303 of the drive mechanism 300 are rotated counterclockwise by approximately 180 degrees, for example, by tension in cable 484. The combined motion of the actuator arm 311 (i.e., from the needle drive position to the needle end position) drives the bent needle 202 from its initial position to its engagement position. The driven pulleys 302, 303, and 304 of the drive mechanism 300 are then rotated clockwise by approximately 180 degrees, for example, by tension in cable 486. The combined motion of the actuator arm 311 (i.e., from the needle end position to the needle drive position) disengages the pawl 312 from the drive slot 205 of the bent needle 202, repositions the actuator arm 311 to the needle drive position without repositioning the bent needle 202, and engages the pawl 312 with the drive slot 206 of the bent needle 202.

[0066] In another example, to induce a 360-degree rotational actuation, as described above, driven pulley 302, drive pulley 304, and drive pulley 303 are rotated counterclockwise by approximately 180 degrees, and then clockwise by approximately 180 degrees. This process is then repeated such that the bent needle 202 is driven back from the engagement position to the initial position through the drive slot 206, and the actuator arm 311 is repositioned back to the needle drive position.

[0067] At process 770, the drive mechanism 300 completes the remaining portion of the rotational actuation of the bent needle 202 by a predetermined amount of rotation about axis 203, for example, when the actuator arm 311 is not in the needle drive orientation. For example, in one case, the predetermined amount of rotation about axis 203 is 180 degrees. Furthermore, in response to receiving a proportional input signal, a certain rotational actuation of the drive mechanism 300 occurs (e.g., 45 degrees), and the bent needle 202 is driven through a portion of the predetermined amount of rotation about axis 203. In this case, when a digital input signal is subsequently received at process 710, process 770 then occurs, in which the drive mechanism 300 completes the remaining portion of the rotational actuation of the bent needle 202 associated with that digital input signal (i.e., 135 degrees in this example).

[0068] Therefore, at process 770, when actuator arm 311 is not positioned in the needle drive orientation (e.g., due to a previously received proportional input signal) and receives a digital input signal associated with the rotation of the bent needle 202 by a preset amount of rotation, drive mechanism 300 rotatably drives the bent needle 202 through the remaining portion of the preset amount of rotation in response to the digital input signal. In this way, after process 770 is completed, the bent needle 202 is driven to the initial orientation or engagement orientation and does not remain in an intermediate orientation in between. After process 770 is completed, method 700 returns to the beginning of method 700.

[0069] Figure 8This is a simplified diagram of a method 800 for automatic needle rotation in a computer-assisted surgical system according to some embodiments. One or more of the processes 810-840 of method 800 may be implemented, at least in part, in the form of executable code stored on a non-transient tangible machine-readable medium, which, when run by one or more processors (e.g., processor 140 in control unit 130), causes one or more processors to execute one or more of processes 810-840. In some embodiments, method 800 may be executed by an application such as motion control application 160.

[0070] At process 810, an input signal is received from an input device (e.g., digital input device 182).

[0071] At process 820, it is determined whether the input received at process 810 is a digital input signal from a first digital input device 182 or a second digital input device 182. In some embodiments, the first digital input device 182 is a first foot pedal or floor button and the second digital input device 182 is a second foot pedal or floor button. When the received input is from the first digital input device 182, method 800 proceeds to process 830; when the received input is from the second digital input device 182, method 800 proceeds to process 840.

[0072] At process 830, the drive mechanism 300 is rotatably actuated to bend the needle 202 through a first predetermined rotational arc, for example, 180 degrees. In some embodiments, process 840 is substantially similar to... Figure 7 The process described in process 760 actuates the bending needle 202 by 180 degrees. At process 830, the preset rotation arc is selected based on which digital input device 182 generates the input signal received in process 810. After process 830 completes, method 800 returns to the beginning of method 800.

[0073] At process 840, the drive mechanism 300 rotatably actuates the bending needle 202 through, for example, a second predetermined rotational arc of 360 degrees. In some embodiments, process 840 is substantially similar to... Figure 7 The process described in process 760 causes the bending needle 202 to rotate 360 ​​degrees. At process 840, a preset rotation arc is selected based on which digital input device 182 generates the input signal received in process 810. After process 840 completes, method 800 returns to the beginning of method 800.

[0074] In some embodiments, the GUI 190 includes one or more visual elements that facilitate interaction between the operator and the computer-aided device. The following is in conjunction with... Figure 9 Describe one such embodiment. Figure 9 This is a schematic diagram of a GUI 900 for interacting with a computer-aided device according to various embodiments. In some embodiments, the computer-aided device may correspond to... Figure 1 The computer-aided device 110. In some embodiments, some or all features of the GUI 900 are implemented as a screen or window separate from other screens used by the operator during use of the computer-aided device. Alternatively or additionally, in some embodiments, some or all features of the GUI 900 are implemented as visual elements that are incorporated into or overlaid on information typically displayed to the operator. Figure 9 In the GUI 900, it is depicted as a single window.

[0075] As shown in the figure, the GUI 900 includes one or more icons 920 indicating which needle actuation controls an operator can use. For example, in some embodiments, a half-rotation icon 921 indicates whether the digital input device 182 can be used to rotate the bent needle 202 180 degrees; a full-rotation icon 922 indicates whether the digital input device 182 can be used to rotate the bent needle 202 360 degrees; and / or a proportional motion icon 923 indicates whether the operator can use a proportional input signal from the continuous motion input device 181.

[0076] In some embodiments, the GUI 900 includes one or more icons 930 indicating current status information associated with a mending operation being performed by the operator, such as a rotation indicator icon 931, a needle engagement icon 932, and / or a needle position image 933. In some embodiments, the rotation indicator icon 931 or other indicators display information indicating the current rotation progress or the completed rotation arc. In such embodiments, the displayed information may be based on a drive mechanism (e.g., Figure 3 The current rotational displacement of either the driven pulley 302 or the drive pulley 304. In some embodiments, a needle engagement icon 932 or other indicator displays information indicating that the bent needle 202 is currently at least partially engaged with material (e.g., tissue in a medical example). In such embodiments, the displayed information may be based on electrical and / or mechanical feedback that occurs when the bent needle 202 has engaged with the material. In some embodiments, a needle position image 933 or other indicator is superimposed on an image of the current working site, for example to indicate the current position of the bent needle 202 when engaged with the material and is not visible to the operator. In such embodiments, the displayed needle position information may be based on a drive mechanism (e.g., Figure 3 The current rotational displacement of either the driven pulley 302 or the driving pulley 304.

[0077] In some embodiments, the device (e.g., Figure 1The drive mechanism of the end effector in device 110 is configured to provide a retraction (e.g., backward) rotational motion of the bending needle in addition to providing a forward rotational motion. Therefore, in such an embodiment, the mechanical coupling between the rotary actuation element of the drive mechanism and the bending needle can, for example, push and pull the bending needle via a pawl or other features coupled to the bending needle. Furthermore, in such an embodiment, the continuous motion input device (e.g., Figure 1 The continuous motion input device 181 is configured to move continuously in two opposite directions and generate corresponding proportional input signals. As a non-limiting example, the bending needle may have an initial orientation and an engagement orientation, in which the bending needle is completely within the housing of the drive mechanism, and in the engagement orientation, the bending needle extends from the housing and passes through the hole 201 (e.g., ...). Figure 2 (As shown) to engage tissue. In some embodiments, the engagement orientation may correspond to a rotation of the bent needle approximately 180 degrees relative to the initial orientation. The embodiments described herein enable the operator to actuate the bent needle in one direction via a continuous motion input device to "peek" from the initial orientation and into the tissue gap region of the end effector (e.g., Figure 2 (See the suture hole 201 shown). The needle probing can correspond to the needle leading edge orientation between the initial orientation and the joining orientation. Therefore, operator visualization of the bent needle can be achieved before establishing the loop using digital input. In such an embodiment, the operator can retract the bent needle back to the initial orientation by actuating a continuous motion input device in the opposite direction before inducing autonomous rotation of the bent needle via digital input.

[0078] In embodiments where the continuous motion device 181 is implemented as a rotary input device, the continuous motion device 181 is configured to move continuously in both clockwise and counterclockwise directions. In such embodiments, a proportional input signal from the clockwise-actuated continuous motion device 181 indicates either a forward rotational movement or a retraction rotational movement of the bent needle, and a proportional input signal from the clockwise-actuated continuous motion device 181 indicates the opposite rotational movement of the bent needle. In some embodiments, a retraction rotational movement of the bent needle beyond its initial orientation can be indicated by the rotation of the rotary input device beyond a corresponding "0" orientation. In such embodiments, the proportional input signal from the continuous motion device 181 can indicate a negative value (e.g., -25%), which causes the bent needle to retract further beyond its initial orientation. In such embodiments, the mapping 170 from the proportional input signal from the rotary input device to the amount of rotation of the bent needle can include such negative values.

[0079] In an embodiment where the continuous motion device 181 is implemented as a clamping controller, the continuous motion device 181 is configured to continuously move from a 0% open clamping orientation to a 100% closed clamping orientation. In such an embodiment, a proportional input signal from the continuous motion device 181 actuated in the clamping direction indicates a forward rotational movement of the bent needle, and a proportional input signal from the continuous motion device 181 actuated in the opening direction indicates a retraction rotational movement of the bent needle. Thus, in such an embodiment, the clamping controller can be mapped between fully open (0% of the stroke) and fully closed (100% of the stroke). The operator can partially close or actuate the clamping controller from the initial orientation (e.g., 25% closed) to rotate the bent needle to a corresponding partial rotation orientation (e.g., 25% of a 180-degree or 360-degree rotation), for example, "peeking" the needle outward from the housing by a desired amount but less than the engagement orientation. The operator can then return the bent needle to the initial orientation by opening the clamping controller back to 0% closed. In such an embodiment, the mapping 170 from the proportional input signal from the clamping controller to the rotational arc of the bending needle can be implemented independently of the rotational direction of the bending needle.

[0080] In embodiments where the end effector's drive mechanism is configured to provide forward and retractable rotational motion of the bending needle, automatic rotation of the needle can be performed after the operator has probed the interstitial region of the end effector, for example, performing a 180-degree or 360-degree rotation of the bending needle.

[0081] In some embodiments of probing, the bent needle can be returned to its initial position by the operator or continued to the engagement position by the continuous motion device 181 before automatic rotation of the bent needle is performed. Optionally, in some embodiments, automatic rotation can be disabled when the needle is probing into the interstitial region. For example, the operator can actuate the continuous motion device 181 to the needle probing position (e.g., by actuating the clamping controller to 10% of the clamping controller travel). When in the needle probing position, the automatic rotation of the bent needle can optionally be disabled. However, automatic rotation can be re-enabled when the needle returns to the initial position of the continuous motion device 181 (e.g., 0% of the clamping controller travel or fully open). Alternatively, the user can re-enable automatic rotation by moving the needle to the engagement position (100% of the clamping controller travel or fully closed) using the continuous motion device 181. In such an embodiment, the automatic rotation of the bending needle does not occur unless the clamping controller (or other continuous motion device 181) returns to or near the non-actuated position, or moves to or near the engagement position. (The following is in conjunction with...) Figure 10 Describe one such embodiment.

[0082] Figure 10This is a simplified diagram of a method for automatically rotating a needle in a computer-aided system according to some embodiments. One or more of processes 1010-1070 of method 1000 may be implemented, at least in part, in the form of executable code stored on a non-transient tangible machine-readable medium. When run by one or more processors (e.g., processor 140 in control unit 130), the executable code may cause one or more processors to execute one or more of processes 1010-1070. In some embodiments, method 1000 may be executed by control unit 130 and an application such as motion control application 160.

[0083] At process 1010, an input signal (e.g., input) is received from an input device (e.g., a continuous motion input device 181, a digital input device 182, or a combination of both). It should be noted that when a combination of a digital input signal and a proportional input signal is received at process 1010, the digital input signal is typically received as an additional input signal, while the proportional input signal has already been received. For example, when the operator actuates the continuous motion input device 181 to a certain position (e.g., closes the clamping controller 25%), and then actuates the digital input device 182 simultaneously with actuating the continuous motion device (and thus maintaining the proportional input signal), a combination of the digital input signal and the proportional input signal is received at process 1110.

[0084] At process 1020, it is determined whether the input received at process 1010 is a proportional input signal, a digital input signal, or a combination of both. If the received input signal is generated by a continuous motion input device 181 (e.g., a clamping controller or a rotation controller), the input signal is determined to be a proportional input signal, and method 1000 proceeds to process 1030. If the received input signal is generated by a digital input device 182, such as a foot pedal or button, the input signal is determined to be a digital input signal, and method 1000 proceeds to process 1050. If both a digital input signal and a continuous input signal are received simultaneously, method 1000 proceeds to process 1050.

[0085] At process 1030, the rotation arc of the bending needle 202 is determined based on mapping 170 and the proportional input signal. In some embodiments, process 1030 is substantially similar to... Figure 7 Method 700, process 730.

[0086] At process 1040, the drive mechanism 300 is rotatably actuated to move the bending needle 202 through the rotational arc determined in process 1030. In some embodiments, process 1040 is substantially similar to... Figure 7 Method 700 returns to procedure 740. Then method 1000 returns to procedure 1010.

[0087] At process 1050, it is determined whether the current orientation of actuator arm 311 is in the needle drive orientation (or within a predetermined tolerance from the needle drive orientation). If "yes", process 1000 proceeds to process 1060; if "no", process 1000 proceeds to process 1070.

[0088] At process 1060, the drive mechanism 300 rotatably actuates the bending needle 202 through a predetermined rotational arc, such as 180 degrees or 360 degrees. In some embodiments, process 1060 is substantially similar to... Figure 7 Method 700 is in procedure 760. After procedure 1060 completes, method 1000 returns to the beginning of method 1000.

[0089] At process 1070, the operator is alerted. For example, in some embodiments, the alert may be provided to the operator via one or more of a visual display (via icons and / or text), playback of an audio message, and / or haptic feedback. In some embodiments, the alert instructs the bent needle 202 to be actuated by a predetermined rotational arc until the current orientation of the actuator arm 311 is in the needle drive orientation (e.g., the initial orientation) (or within a predetermined tolerance from the needle drive orientation). Alternatively or additionally, in some embodiments, the alert prompts the operator to actuate the continuous motion input device 181 to 0% of its input range. In some embodiments, the alert may alternatively or additionally inform the user that actuation of the continuous motion input device 181 to 100% of its input range is permitted (e.g., corresponding to the engagement orientation). Method 1000 then returns to process 1010.

[0090] As described above, in some embodiments, the drive mechanism of the end effector is configured to provide forward and retractive rotational motion of the bending needle, and can perform automatic rotation of the needle, such as performing a 180-degree or 360-degree rotation, after the operator has probing the bending needle into the tissue gap region of the end effector. In some embodiments, automatic rotation of the bending needle begins while the bending needle is still positioned in the tissue gap of the end effector. Thus, in such embodiments, automatic rotation of the bending needle is performed even before the clamping controller (or other continuous motion device 181) has returned to or near the non-actuated position or to the engaged position. The following is in conjunction with... Figure 11 Describe one such embodiment.

[0091] Figure 11This is a simplified diagram of a method for automatically rotating a needle in a computer-aided system according to some embodiments. One or more of processes 1110-1170 of method 1100 may be implemented, at least in part, in the form of executable code stored on a non-transient tangible machine-readable medium, which, when run by one or more processors (e.g., processor 140 in control unit 130), causes one or more processors to execute one or more of processes 1110-1170. In some embodiments, method 1100 may be executed by control unit 130 and an application such as motion control application 160.

[0092] At process 1110, an input signal (e.g., input) is received from an input device (e.g., a continuous motion input device 181, a digital input device 182, or a combination of both). It should be noted that when a combination of a digital input signal and a proportional input signal is received at process 1110, the digital input signal is typically received as an additional input signal, while the proportional input signal has already been received. For example, when the operator actuates the continuous motion input device 181 to a certain position (e.g., closes the clamping controller 25%), and then actuates the digital input device 182 simultaneously with actuating the continuous motion device (and thus maintaining the proportional input signal), a combination of the digital input signal and the proportional input signal is received at process 1110.

[0093] At process 1120, it is determined whether the input received at process 1110 is a proportional input signal, a digital input signal, or a combination of both. If the received input signal is generated by a continuous motion input device 181 (e.g., a clamping controller or a rotation controller), the input signal is determined to be a proportional input signal, and method 1100 proceeds to process 1130. If the received input signal is generated by a digital input device 182, such as a foot pedal or button, the input signal is determined to be a digital input signal, and method 1100 proceeds to process 1170. If both a digital input signal and a continuous input signal are received simultaneously, method 1100 proceeds to process 1170.

[0094] At process 1130, the rotation arc of the bending needle 202 is determined based on mapping 170 and the proportional input signal. In some embodiments, process 1130 is substantially similar to... Figure 7 Method 700, process 730.

[0095] At process 1140, the drive mechanism 300 is rotatably actuated to move the bending needle 202 through a rotational arc defined at process 1130. In some embodiments, process 1140 is substantially similar to... Figure 7 Method 700 is followed by procedure 740. Then method 1100 returns to procedure 1110.

[0096] At process 1170, the drive mechanism 300 is actuated to rotate the bending needle 202 through a predetermined arc of rotation, for example, 180 degrees or 360 degrees. In some embodiments, process 1170 is substantially similar to Figure 7 The process 760 and / or 770 of method 700. In some embodiments, at process 1170, the drive mechanism 300 completes the remaining portion of the rotational actuation of the bending needle 202. In such embodiments, the completion of the rotational actuation of the bending needle 202 requires the remaining portion of rotational actuation by a preset amount of rotation about axis 203, for example, when the actuator arm 311 is not in its initial orientation. Therefore, in such embodiments, the digital input received at process 1110 results in a rotation amount less than the preset amount of rotation about axis 203, for example, the preset amount of rotation about axis 203 minus the amount of rotational actuation performed by the bending needle after completing process 1140. Method 1100 then returns to process 1110.

[0097] In some embodiments, the autonomous rotational actuation of the bent needle 202 and the operator's (via actuation of the continuous motion input device 181) probing of the bent needle 202 from its initial orientation are facilitated by remapping the value of the proportional input signal from the continuous motion input device 181. In such an embodiment, the operator may probe the bent needle 202 into the interstitial region of the end effector via the continuous motion input device 181, and then cause a digital input signal to be generated via the digital input device 182 while maintaining the same orientation of the continuous motion input device 181. In such an embodiment, the digital input motion causes autonomous rotational actuation of the bent needle 202, causing the bent needle 202 to rotate about axis 203 until a preset rotation amount, such as 180 degrees or 360 degrees, is completed. In such an embodiment, a remapping of the proportional input signal from the continuous motion input device 181 is performed, wherein the remaining continuous motion travel available to the continuous motion input device 181 is mapped to 0% to 100% of the travel of the bent needle 202. Therefore, in such an embodiment, after the autonomous rotational actuation of the bent needle 202 occurs and the bent needle 202 rotates until a preset amount of rotation is completed, the operator can again probe the bent needle 202 into the interstitial region of the end effector via the continuous motion input device 181 without first resetting the continuous motion input device 181 back to the 0% closure (e.g., initial) position. For example, in an embodiment where the continuous motion input device 181 is implemented as a clamping controller, the operator can close the clamping controller to the 10% closure position to probe the bent needle 202 into the interstitial region and induce autonomous rotational actuation of the bent needle 202 using the digital input device 182 while continuing to hold the clamping controller in the 10% closure position. In response to receiving a digital input signal from the digital input device 182 while the clamping controller is held in the 10% closure position, a modified mapping containing the values ​​in the mapping 170 is generated. In some embodiments, mapping 170 is modified to include a modified mapping of the value of a proportional input signal from continuous motion input device 181 to a rotational arc value of the bent needle 202, the rotational arc value being based on the proportional input signal received when receiving a digital input signal from digital input device 182. Thus, in one example, in mapping 170, the value of the proportional input signal corresponding to 10% to 100% closure of the clamping controller is mapped to a value corresponding to a preset rotational amount of 0% to 100% of the bent needle 202. Therefore, in such an example, 10% closure of the clamping controller is mapped to the bent needle 202 positioned at 0% (initial) orientation. Based on the modified mapping, the operator can then close the clamping controller from the 10% closure orientation to the 20% closure orientation to again probe the bent needle 202 into the tissue space (e.g., to 11% of the preset rotational amount) and again use digital input device 182 to induce autonomous rotational drive of the bent needle 202 while continuing to hold the clamping controller in the 20% closure orientation.In response to receiving a digital input signal from digital input device 182 while the clamp controller is held at 20% closure orientation, another modified mapping of the values ​​included in mapping 170 is generated. This process can continue until the operator resets the mapping of the proportional input signal from continuous motion input device 181 by opening the clamp controller to 0% closure orientation (where the point values ​​included in mapping 170 are reset to the original mapping). See below for further details. Figure 12 Describe one such embodiment.

[0098] Figure 12 This is a simplified diagram of a method for automatically rotating a needle in a computer-aided system according to some embodiments. One or more of processes 1210-1290 of method 1200 may be implemented, at least in part, in the form of executable code stored on a non-transient tangible machine-readable medium, which, when run by one or more processors (e.g., processor 140 in control unit 130), causes one or more processors to execute one or more of processes 1210-1290. In some embodiments, method 1200 may be executed by control unit 130 and an application such as motion control application 160.

[0099] At process 1210, an input signal (e.g., an input) is received from an input device (e.g., a continuous motion input device 181, a digital input device 182, or a combination of both). In some embodiments, process 1210 is substantially similar to Figure 11 Method 1100, process 1110.

[0100] At process 1220, it is determined whether the input received at process 1210 is a proportional input signal, a digital input signal, or a combination of both. If the received input signal is generated by a continuous motion input device 181 (e.g., a clamping controller or a rotation controller), the input signal is determined to be a proportional input signal, and method 1200 proceeds to process 1230. If the received input signal is generated by a digital input device 182, such as a foot pedal or button, the input signal is determined to be a digital input signal, and method 1200 proceeds to process 1250. If both a digital input signal and a continuous input signal are received simultaneously, method 1200 proceeds to process 1280.

[0101] At procedure 1230, determine whether temporary remapping of mapping 170 has been enabled. If "yes", procedure 1200 proceeds to procedure 1240; if "no", procedure 1200 proceeds to procedure 1250.

[0102] At process 1240, it is determined whether the proportional input signal received in process 1210 indicates a return to zero or initial orientation. If "yes", process 1200 proceeds to process 1270; if "no", process 1200 proceeds to process 1250.

[0103] At process 1270, mapping 170 returns to the original mapping from the value of the proportional input signal received from the continuous motion input device 181 to a specific amount of rotation arc. In some embodiments, the original mapping maps the value of the entire input range of the proportional input signal (e.g., 0% to 100%) to the value of a preset amount of rotation arc of the bending needle, such as 180 degrees or 360 degrees of rotation. Thus, in such an embodiment, the value corresponding to a 0% proportional input signal (e.g., the clamping controller is 0% closed) is mapped to 0% of the preset amount of rotation arc (e.g., 0 degrees of rotation of the bending needle 202), and the value corresponding to a 100% proportional input signal (e.g., the clamping controller is 100% closed) is mapped to 100% of the preset amount of rotation arc (e.g., 180 degrees or 350 degrees of rotation of the bending needle 202). Method 1200 then returns to process 1210.

[0104] At process 1250, the rotation arc of the bending needle 202 is determined based on mapping 170 and the proportional input signal. In some embodiments, process 1250 is substantially similar to... Figure 11 The process 1130 in method 1100 differs in that a modified mapping 170 can be used instead of the original mapping 170.

[0105] At process 1260, the drive mechanism 300 is rotatably actuated to move the bending needle 202 through a rotational arc defined in process 1250. In some embodiments, process 1260 is substantially similar to... Figure 11 Method 1100 returns to procedure 1140. Then method 1200 returns to procedure 1210.

[0106] At process 1280, in response to the proportional input signal received in conjunction with the digital input signal, mapping 170 is temporarily modified. Specifically, the value of the proportional input signal from the continuous motion input device 181 is remapped to a different amount of rotation arc. In some embodiments, the value of the proportional input signal received in conjunction with the digital input signal is remapped to 0 rotation arc and the maximum available value of the proportional input signal received in conjunction with the digital input signal (e.g., 100% clamping motion) is mapped to a preset amount of rotation about axis 203, such as 180 degrees or 360 degrees. Method 1200 then returns to process 1210.

[0107] At process 1290, the drive mechanism 300 rotatably actuates the bending needle 202 through a predetermined rotational arc, for example, 180 degrees or 360 degrees. In some embodiments, process 1290 is substantially similar to Figure 11 In method 1100, process 1170. In some embodiments, at process 1290, the drive mechanism 300 is prompted to complete the remainder of the rotational actuation of the bent needle 202. In such embodiments, completing the rotational actuation of the bent needle 202 requires the remainder of rotational actuation through a predetermined amount of rotation about axis 203, for example, when the actuator arm 311 is not in its initial orientation when a digital signal is received. Method 1200 then returns to process 1210.

[0108] Some examples of control units, such as control unit 130, may include non-transient tangible machine-readable media comprising executable code that, when run by one or more processors (e.g., processor 140), can cause one or more processors to perform the processes of method 700 and / or 800. Some common forms of machine-readable media that may include processes of method 700 and / or 800 are, for example, floppy disks, flexible disks, hard disks, magnetic tapes, any other magnetic media, CD-ROMs, any other optical media, punched cards, paper tapes, any other physical media with a perforated pattern, RAM, PROMs, EPROMs, FLASH-EPROMs, any other memory chips or cassette tapes, and / or any other media suitable for reading by a processor or computer.

[0109] 1. In some embodiments, a method in a computer-aided device including an end effector includes: in response to receiving a first input, causing a drive mechanism of the end effector to rotatably abduct a bending needle coupled to the drive mechanism along an arcuate path by a first preset rotation amount; and in response to receiving a second input, causing the drive mechanism to rotatably abduct the bending needle along an arcuate path by a second preset rotation amount.

[0110] 2. The method according to Clause 1, wherein the arcuate path includes a circular path, and the drive mechanism is configured to actuate the bending needle in a rotational manner about an axis including the center point of the circular path.

[0111] 3. The method according to Clause 2, wherein the first preset rotation amount is a 180-degree rotation of the bent needle about the axis.

[0112] 4. The method according to Clause 2, wherein the second preset rotation amount is a 360-degree rotation of the bent needle around the axis.

[0113] 5. The method according to Clause 1, wherein a first input is received from a first input device, and a second input is received from a second input device other than the first input device.

[0114] 6. The method according to Clause 1, wherein both the first input and the second input are received from the same input device.

[0115] 7. The method according to Clause 5, wherein the first input device includes a first foot pedal and the second input device includes a second foot pedal.

[0116] 8. The method according to Clause 5, wherein the first input device includes a first numeric keypad and the second input device includes a second numeric keypad.

[0117] 9. The method according to Clause 1, wherein the computer-aided device is a surgical device and the curved needle is a curved suture needle.

[0118] 10. The method according to Clause 1, wherein the end effector is configured to be mounted near the distal end of the repositionable arm.

[0119] 11. The method according to any one of clauses 1 to 10, wherein the control unit is further configured to, in response to receiving a digital input signal from a second input device, cause the drive mechanism to perform rotational actuation of the bending needle about the axis by a preset amount of rotation.

[0120] 12. The method according to Clause 11, wherein both operator input signals and digital input signals are received simultaneously.

[0121] 13. The method according to Clause 11 further includes actuating the drive mechanism to complete the rotation of the bending needle by a preset amount of rotation, actuating the drive mechanism to actuate the bending needle by a first amount of rotation, the first amount of rotation being less than or greater than the preset amount of rotation.

[0122] 14. The method according to Clause 13, wherein the first rotation amount is based on the rotation amount corresponding to the operator input signal received simultaneously with the digital input signal.

[0123] 15. The method according to Clause 13, wherein the first rotation amount is based on the difference between a preset rotation amount and a rotation amount corresponding to an operator input signal received simultaneously with the digital input signal.

[0124] 16. The method according to Clause 13, further comprising generating a modified mapping of an operator input signal, wherein the modified mapping maps the value of the operator input signal to the value of a rotational arc of the bending needle, the rotational arc being less than a preset rotational amount.

[0125] 17. The method according to Clause 16, wherein the value of the rotational arc of the bent needle, which is less than a preset rotation, is based on an operator input signal received simultaneously with the digital input signal.

[0126] 18. The method according to Clause 16, further comprising: in response to receiving an operator input signal corresponding to the fully open orientation of the clamping controller of the computer-aided device after generating the modified mapping, resetting the mapping of the operator input signal to the original mapping of the operator input signal value to the rotation arc value of the bending needle.

[0127] 19. The method according to Clause 16, further comprising, in response to receiving a second operator input signal after receiving a digital input signal: determining a rotational arc of the bending needle along an arcuate path corresponding to the second operator input signal based on a modified mapping; and rotatably actuating the driving mechanism to pass the bending needle along the rotational arc of the arcuate path corresponding to the second operator input signal.

[0128] 20. The computer-aided device according to any one of Clauses 1 to 10, further comprising, in response to receiving a digital input signal from a second input device: determining that the drive mechanism is not positioned within a certain distance of the initial orientation; and preventing the drive mechanism from completing a rotational actuation of the bent needle about the axis by a preset amount of rotation.

[0129] 21. In some embodiments, a method in a computer-aided device including an end effector having a drive mechanism configured to couple to a bending needle and configured to rotatably actuate the bending needle along an arcuate path, the method comprising: receiving an operator input signal; determining a rotation arc of the bending needle along an arcuate path corresponding to the operator input signal based on a mapping of the operator input signal to a rotation arc of the bending needle; and rotatably actuating the drive mechanism to pass the bending needle through the rotation arc along the arcuate path.

[0130] 22. The method according to Clause 21, wherein the operator input signal is received from a continuous motion input device.

[0131] 23. The method according to Clause 22, wherein the continuous motion input device includes a rotary input device of a computer-aided system.

[0132] 24. The method according to Clause 23, wherein the mapping maps one rotation of the rotary input device to a 360-degree rotation of the bent needle.

[0133] 25. The method according to Clause 22, wherein the operator input signal is received from the clamping controller of the computer-aided system.

[0134] 26. The method according to Clause 25, wherein the mapping maps the movement of the clamping controller from open to closed to a 180-degree or 360-degree rotation of the bending needle.

[0135] 27. The method according to Clause 21, wherein the arcuate path includes a circular path and the drive mechanism is configured to actuate the bending needle in a rotational manner about an axis including the center point of the circular path.

[0136] 28. The method according to Clause 27, wherein the axis is located at the center of the circle defined by the curve of the bent needle.

[0137] 29. The method according to Clause 21, wherein the computer-aided device is a surgical device and the curved needle is a curved suture needle.

[0138] 30. The method according to Clause 21, wherein the end effector is configured to be mounted near the distal end of the repositionable arm.

[0139] 31. The method according to Clause 21, wherein the mapping includes a first mapping of a first proportional input signal generated by actuating the continuous motion input device in a first direction, and a second mapping of a second proportional input signal generated by actuating the continuous motion input device in a second direction.

[0140] 32. The method according to Clause 31, wherein the first mapping maps the value of the first proportional input signal to the value of the first rotational arc of the drive mechanism, and the second mapping maps the value of the second proportional input signal to the value of the second rotational arc of the drive mechanism.

[0141] 33. The method according to Clause 11, further comprising, in response to receiving a digital input signal from a second input device, causing the drive mechanism to perform rotational actuation of the bending needle about an axis by a preset amount of rotation.

[0142] 34. The method according to Clause 33, wherein the second input device includes a digital input device.

[0143] 35. The method according to Clause 33, wherein the second input device includes a foot pedal.

[0144] 36. The method according to Clause 33, wherein the preset rotation amount is a 180-degree or 360-degree rotation of the bent needle about the axis.

[0145] 37. 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 one or more processors to perform the method described in any one of clauses 1 to 36.

[0146] Although some illustrative embodiments have been shown and described, it should be understood that such embodiments are merely illustrative of the broad inventive concept and not limiting. Extensive modifications, alterations, and substitutions are contemplated in the foregoing disclosure, and in some cases, some features of the embodiments may be employed without correspondingly using other features. Many variations, substitutions, and modifications will be recognized by those skilled in the art. Therefore, the scope of the invention should be limited only by the appended claims and their equivalents.

Claims

1. A computer-aided device, comprising: An end effector having a drive mechanism configured to be coupled to a bending needle and configured to actuate the bending needle rotationally along an arcuate path; as well as A control unit coupled to the drive mechanism; The control unit is configured as follows: In response to receiving a first input, the drive mechanism actuates the bending needle to rotate along the arc path by a first preset rotation amount; and In response to receiving a second input, the drive mechanism actuates the bending needle to rotate along the arc-shaped path by a second preset amount of rotation. The second preset rotation amount is different from the first preset rotation amount.

2. The computer-aided device of claim 1, wherein the arcuate path comprises a circular path, and the drive mechanism is configured to actuate the bending needle in a rotational manner about an axis including the center point of the circular path.

3. The computer-aided device according to claim 2, wherein the first preset rotation amount is a 180-degree rotation of the bending needle around the axis.

4. The computer-aided device according to claim 2, wherein the second preset rotation amount is a 360-degree rotation of the bending needle around the axis.

5. The computer-aided device of claim 1, wherein the first input is received from a first input device, and the second input is received from a second input device different from the first input device.

6. The computer-aided device of claim 1, wherein the first input and the second input are both received from the same input device.

7. The computer-aided device of claim 5, wherein the first input device includes a first foot pedal, and the second input device includes a second foot pedal.

8. The computer-aided device according to claim 5, wherein the first input device includes a first numeric button, and the second input device includes a second numeric button.

9. The computer-aided device according to any one of claims 1 to 8, wherein the computer-aided device is a surgical device and the curved needle is a curved suture needle.

10. The computer-aided device according to any one of claims 1 to 8, wherein the end effector is configured to be mounted near the distal end of the repositionable arm.

11. 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, the control unit causes the drive mechanism of the end effector of the computer-aided device to rotate the bent needle coupled to the drive mechanism along an arc path by a first preset amount of rotation. as well as In response to receiving the second input, the control unit causes the drive mechanism to rotate the bending needle along the arc path by a second preset rotation amount. The second preset rotation amount is different from the first preset rotation amount.

12. The non-transitory machine-readable medium of claim 11, wherein the arcuate path comprises a circular path, and the drive mechanism is configured to actuate the bending needle in a rotational manner about an axis including the center point of the circular path.

13. The non-transitory machine-readable medium according to claim 12, wherein: The first preset rotation amount is 180 degrees of rotation of the bent needle around the axis; and The second preset rotation amount is the 360-degree rotation of the bent needle around the axis.

14. The non-transitory machine-readable medium of claim 11, wherein the first input is received from a first input device, and the second input is received from a second input device other than the first input device.

15. The non-transitory machine-readable medium of claim 11, wherein both the first input and the second input are received from the same input device.

16. The non-transitory machine-readable medium according to claim 14, wherein: The first input device includes a first foot pedal, and the second input device includes a second foot pedal; or The first input device includes a first numeric keypad, and the second input device includes a second numeric keypad.

17. The non-transitory machine-readable medium of claim 11, wherein the end effector is configured to be mounted near the distal end of a repositionable arm.

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