Robotic surgical system with tool lift control
First Claim
1. A surgical system, comprising:
- an electromechanical arm configured for movement in multiple axes;
an electromechanical tool having an instrument shaft and an end effector formed thereon, the electromechanical tool being configured to be mounted on the electromechanical arm, and the electromechanical tool being configured to move relative to the electromechanical arm and apply ultrasonic energy to tissue held by the end effector;
a controller operatively coupled to the electromechanical arm and the electromechanical tool, the controller configured to;
receive, during an application of ultrasonic energy to the tissue, a plurality of measurements of an electrical impedance of the tissue;
detect, based on the received plurality of measurements, an increase in electrical impedance of the tissue, following a period of decreasing electrical impedance of the tissue; and
in response to detecting the increase in electrical impedance of the tissue, cause a lift of the electromechanical tool.
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Accused Products
Abstract
A robotic surgical system is provided that includes an electromechanical tool coupled to a surgical instrument such as an end effector adapted to apply ultrasound energy to tissue when the end effector holds the tissue. The electromechanical tool is mounted on an electromechanical arm and configured to move relative to the arm. A controller operatively coupled to the tool and the arm measures electrical impedance of tissue as ultrasound energy is applied to the tissue by the end effector. The controller determines, based on the tissue impedance measurements, that the tissue is fully cauterized. In response to the detection, the surgical system automatically lifts the end effector, either by lifting the arm to which it is coupled or independently from that arm, thereby the end effector cuts the cauterized tissue to complete the tissue cauterization/cutting. The controller also determines and controls a velocity with which the end effector is lifted.
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Citations
21 Claims
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1. A surgical system, comprising:
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an electromechanical arm configured for movement in multiple axes; an electromechanical tool having an instrument shaft and an end effector formed thereon, the electromechanical tool being configured to be mounted on the electromechanical arm, and the electromechanical tool being configured to move relative to the electromechanical arm and apply ultrasonic energy to tissue held by the end effector; a controller operatively coupled to the electromechanical arm and the electromechanical tool, the controller configured to; receive, during an application of ultrasonic energy to the tissue, a plurality of measurements of an electrical impedance of the tissue; detect, based on the received plurality of measurements, an increase in electrical impedance of the tissue, following a period of decreasing electrical impedance of the tissue; and in response to detecting the increase in electrical impedance of the tissue, cause a lift of the electromechanical tool. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method of operating a surgical instrument, comprising:
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applying ultrasonic energy to a tissue using a surgical instrument formed on an instrument shaft of an electromechanical tool, the electromechanical tool being configured to be mounted on the electromechanical arm; receiving, during an application of ultrasonic energy to the tissue, a plurality of measurements of an electrical impedance of the tissue; detecting, based on the received plurality of measurements, an increase in electrical impedance of the tissue, following a period of decreasing electrical impedance of the tissue; and in response to detecting the increase in electrical impedance of the tissue, causing a lift of the electromechanical tool. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method of operating a surgical instrument, comprising:
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applying ultrasonic energy to a tissue using a surgical instrument formed on an instrument shaft of an electromechanical tool, the electromechanical tool being configured to be mounted on the electromechanical arm; receiving, during an application of ultrasonic energy to the tissue, a plurality of measurements of an electrical impedance of the tissue; detecting, based on the received plurality of measurements, a target trajectory of the electrical impedance of the tissue; and in response to detecting the target trajectory, causing a lift of the electromechanical tool.
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Specification