Robotic surgical tool, system, and method
First Claim
Patent Images
1. A robotic surgical tool, comprising:
- a housing configured to couple to a surgical robot;
an elongate shaft extending distally from the housing and having an end effector coupled to a distal end thereof, at least a portion of the elongate shaft being rotatable; and
a belt coupled to the elongate shaft, the belt being configured to indicate a rotational position of the elongate shaft with respect to an initial rotational position of the elongate shaft, the belt including a stop protrusion surrounding an outer perimeter of the belt and configured to prevent rotation of the elongate shaft beyond a preselected maximum rotation position.
2 Assignments
0 Petitions
Accused Products
Abstract
Methods and devices are provided for robotic surgery, and in particular for measuring a rotational position of elongate shafts of surgical tools. For example, a surgical tool is provided with an elongate shaft having an end effector at a distal end thereof. The elongate shaft is rotatable about a longitudinal axis of the shaft, and the surgical tool is configured to measure a rotational position of the shaft about the longitudinal axis relative to an initial position.
-
Citations
20 Claims
-
1. A robotic surgical tool, comprising:
-
a housing configured to couple to a surgical robot; an elongate shaft extending distally from the housing and having an end effector coupled to a distal end thereof, at least a portion of the elongate shaft being rotatable; and a belt coupled to the elongate shaft, the belt being configured to indicate a rotational position of the elongate shaft with respect to an initial rotational position of the elongate shaft, the belt including a stop protrusion surrounding an outer perimeter of the belt and configured to prevent rotation of the elongate shaft beyond a preselected maximum rotation position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
-
-
11. A surgical system, comprising:
a surgical tool including an elongate shaft having an end effector at a distal end thereof, the elongate shaft being rotatable about a longitudinal axis of the shaft, the surgical tool having a belt configured to indicate an initial position in which the shaft has been rotated 0 degrees and to indicate a rotational position of the shaft from the initial position to a position beyond 360 degrees of rotation about the longitudinal axis wherein a toothed gear is positioned on the shaft and is operably coupled to the belt. - View Dependent Claims (12, 13, 14, 15, 16)
-
17. A surgical method, comprising:
rotating a surgical tool about a longitudinal axis of an elongate shaft of the surgical tool to thereby rotate an end effector at a distal end of the surgical tool, the surgical tool having a belt and a sensor adjacent to the belt, rotation of the surgical tool causing corresponding rotation of the belt, and the sensor monitoring a plurality of indicators on the belt for indicating a rotational position of the shaft beyond 360 degrees of rotation about the longitudinal axis relative to an initial rotational position. - View Dependent Claims (18, 19, 20)
Specification