Control of advancement rate and application force based on measured forces
First Claim
1. A robotic surgical system comprising:
- a first robotic arm;
a first tool assembly coupled to the first robotic arm, the first tool assembly comprisinga first shaft extending distally from a first housing;
a first end effector coupled to a first distal end of the first shaft, the first end effector being configured to manipulate a tissue of a patient; and
a first sensor operatively coupled to the first end effector and configured to sense a first force applied to the first end effector by the tissue;
a second robotic arm;
a second tool assembly coupled to the second robotic arm, the second tool assembly comprisinga second shaft extending distally from a second housing;
a second end effector coupled to a second distal end of the second shaft, the second end effector being configured to treat the tissue; and
a control system configured to control, based on the sensed first force applied to the first end effector, a velocity of movement of the second end effector.
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Accused Products
Abstract
A robotic surgical system including a control system that controls the movement of a robotic arm is described. The robotic arm can be coupled to a tool assembly that includes an end effector positioned at a distal end of a shaft. The control system can assist with controlling the movement of the end effector and any tooling (e.g., cutting tool, boring tool, jaws, etc.) associated with the end effector, such as for either cutting through tissue or controlling a tension in the tissue. The tool assembly can include one or more sensors that measure a variety of forces or velocities associated with either the robotic arm or end effector. The control system can collect and monitor such sensed forces and velocities to determine and control one or more appropriate movement parameters associated with the robotic arm thereby controlling the cutting of tissue and preventing unwanted cutting of tissue. Furthermore, movement parameters associated with more than one robotic arm can be controlled by the control system.
244 Citations
19 Claims
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1. A robotic surgical system comprising:
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a first robotic arm; a first tool assembly coupled to the first robotic arm, the first tool assembly comprising a first shaft extending distally from a first housing; a first end effector coupled to a first distal end of the first shaft, the first end effector being configured to manipulate a tissue of a patient; and a first sensor operatively coupled to the first end effector and configured to sense a first force applied to the first end effector by the tissue; a second robotic arm; a second tool assembly coupled to the second robotic arm, the second tool assembly comprising a second shaft extending distally from a second housing; a second end effector coupled to a second distal end of the second shaft, the second end effector being configured to treat the tissue; and a control system configured to control, based on the sensed first force applied to the first end effector, a velocity of movement of the second end effector. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method comprising:
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securing a part of a tissue of a patient to a first end effector of a first tool assembly coupled to a first robotic arm of a robotic surgical system; sensing, with a first sensor operatively coupled to the first end effector, a tension in the tissue; controlling, based on the sensed tension, a velocity of movement of a second tool assembly coupled to a second robotic arm of the robotic surgical system. - View Dependent Claims (15, 16, 17, 18, 19)
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Specification