ROBOTIC SURGICAL TOOLS FOR LASER MARKING AND LASER CUTTING
First Claim
1. A robotic surgical tool comprising:
- a mountable housing having a base and an actuator mounted to the base, the base to mount to a robotic surgical arm to actuate the actuator;
a hollow shaft having a first end rotatably coupled to the mountable base, the hollow shaft to extend into a surgical site;
a wristed joint having a first end coupled to a second end of the hollow shaft, a second end of the wristed joint to move in response to the actuator; and
an end effector coupled to the second end of the wristed joint to concurrently move with the second end of the wristed joint, the end effector includingan enclosure having an aperture,an imaging device mounted in the enclosure, the imaging device to capture images of a surgical site, anda laser-emitting device mounted in the enclosure near the aperture, the laser-emitting device to emit laser light out to the surgical site through the aperture.
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Accused Products
Abstract
In one embodiment of the invention, a robotic surgical system includes a combined laser imaging robotic surgical tool, a control console, and a laser generator/controller. The tool is mounted to a first robotic arm of a patient side cart. The tool has a wristed joint and an end effector coupled together. The end effector has a laser-emitting device to direct a laser beam onto tissue in a surgical site and an image-capturing device to capture images of the tissue in the surgical site. The control console, in communication with the tool, receives the captured images of tissue in the surgical site and displays the captured images on a display device to a user. The laser generator/controller is coupled to the tool and the control console to control the emission of the laser beam onto tissue of the surgical site.
499 Citations
25 Claims
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1. A robotic surgical tool comprising:
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a mountable housing having a base and an actuator mounted to the base, the base to mount to a robotic surgical arm to actuate the actuator; a hollow shaft having a first end rotatably coupled to the mountable base, the hollow shaft to extend into a surgical site; a wristed joint having a first end coupled to a second end of the hollow shaft, a second end of the wristed joint to move in response to the actuator; and an end effector coupled to the second end of the wristed joint to concurrently move with the second end of the wristed joint, the end effector including an enclosure having an aperture, an imaging device mounted in the enclosure, the imaging device to capture images of a surgical site, and a laser-emitting device mounted in the enclosure near the aperture, the laser-emitting device to emit laser light out to the surgical site through the aperture. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of using robotic surgical tools, the method comprising:
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capturing images of tissue in a surgical site with a first robotic surgical tool; displaying the images on a display device; overlaying a bulls-eye target onto the images displayed in the display device to target tissue with a laser light beam; and energizing a laser to emit the laser light beam out of the first robotic surgical tool and directing the laser light beam onto the targeted tissue in the surgical site in response to the bulls-eye target. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
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21. A robotic surgical system comprising:
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a combined laser imaging robotic surgical tool mounted to a first robotic arm of a patient side cart, the combined laser imaging robotic surgical tool having a wristed joint and an end effector coupled to the wristed joint, the ending effector having a laser emitting device to direct a laser beam onto tissue in a surgical site and an image capturing device to capture images of the tissue in the surgical site; a first control console in communication with the combined laser imaging robotic surgical tool to receive the captured images of tissue in the surgical site and display the captured images on a first display device to a first user; and a laser generator/controller coupled to the combined laser imaging robotic surgical tool and the first control console, the laser controller/generator to control the emission of the laser beam onto tissue of the surgical site by the combined laser imaging robotic surgical tool in response to a control signal. - View Dependent Claims (22, 23, 24, 25)
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Specification