Robotic visualization and collision avoidance
First Claim
Patent Images
1. A surgical robotic system, comprising:
- an electromechanical arm configured for movement in multiple axes;
an electromechanical tool configured to couple to the electromechanical arm and having an elongate shaft with an end effector coupled to a distal end thereof, the end effector having a cutting element configured to be advanceable therethrough;
a controller configured to control movement of the electromechanical arm and to control actuation of the end effector on the electromechanical tool;
wherein the electromechanical tool includes a first visual indicator thereon indicative of a length scale, the cutting element includes a second visual indicator thereon, the first and second visual indicators are effective to allow an action of the cutting element to be visually measured relative to the electromechanical tool, and the controller is configured to modify the action of the cutting element based on the visually measured action.
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Abstract
Methods and devices are provided for robotic surgery, and in particular for controlling various motions of a tool based on visual indicators. In general, a surgical tool can include an elongate shaft and an end effector coupled to a distal end of the elongate shaft and including first and second jaws. The tool can have at least one visual indicator disposed thereon and configured to indicate a size, position, or speed of movement of the tool or components of the tool.
603 Citations
20 Claims
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1. A surgical robotic system, comprising:
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an electromechanical arm configured for movement in multiple axes; an electromechanical tool configured to couple to the electromechanical arm and having an elongate shaft with an end effector coupled to a distal end thereof, the end effector having a cutting element configured to be advanceable therethrough; a controller configured to control movement of the electromechanical arm and to control actuation of the end effector on the electromechanical tool; wherein the electromechanical tool includes a first visual indicator thereon indicative of a length scale, the cutting element includes a second visual indicator thereon, the first and second visual indicators are effective to allow an action of the cutting element to be visually measured relative to the electromechanical tool, and the controller is configured to modify the action of the cutting element based on the visually measured action. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A surgical robotic system, comprising:
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an electromechanical arm configured for movement in multiple axes; an electromechanical tool removably coupled to the electromechanical arm, the electromechanical tool having an elongate shaft and an end effector, a first visual indicator being positioned on the electromechanical tool, and a second visual indicator being positioned on the end effector; at least one camera configured to visually monitor the first and second visual indicators; and a controller configured to control movement of the electromechanical arm and to control actuation of the end effector, the controller configured to determine a location of the end effector relative to the electromechanical tool based on the first and second visual indicators and to modify actuation of the end effector based on the location of the end effector relative to the electromechanical tool. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification