Surgical robotic tools, data architecture, and use
First Claim
1. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:
- a probe having a proximal end and a distal end;
a surgical end effector disposed adjacent the distal end of the probe;
an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with driving motors of the robotic surgical system tool holder; and
circuitry mounted on the probe, the circuitry transmitting a signal via the interface to the processor that indicates tool calibration offsets between the portion of the drive system and the surgical end effector.
2 Assignments
0 Petitions
Accused Products
Abstract
Robotic surgical tools, systems, and methods for preparing for and performing robotic surgery include a memory mounted on the tool. The memory can perform a number of functions when the tool is loaded on the tool manipulator: first, the memory can provide a signal verifying that the tool is compatible with that particular robotic system. Secondly, the tool memory may identify the tool-type to the robotic system so that the robotic system can reconfigure its programming. Thirdly, the memory of the tool may indicate tool-specific information, including measured calibration offsets indicating misalignment of the tool drive system, tool life data, or the like. This information may be stored in a read only memory (ROM), or in a nonvolatile memory which can be written to only a single time. The invention further provides improved engagement structures for coupling robotic surgical tools with manipulator structures.
1848 Citations
24 Claims
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1. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:
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a probe having a proximal end and a distal end;
a surgical end effector disposed adjacent the distal end of the probe;
an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with driving motors of the robotic surgical system tool holder; and
circuitry mounted on the probe, the circuitry transmitting a signal via the interface to the processor that indicates tool calibration offsets between the portion of the drive system and the surgical end effector.
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2. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:
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a probe having a proximal end and a distal end;
a surgical end effector disposed adjacent the distal end of the probe;
an interface disposed adjacent the proximal end of the probe, the interface releasably coupleable with the tool holder, circuitry mounted on the probe, the circuitry transmitting a signal via the interface to the processor so as to indicate a tool-type of the tool; and
at least one joint disposed between the interface and end effector, the joint defining a joint axis geometry, and wherein the signal indicates the joint geometry of the tool to the processor. - View Dependent Claims (3, 4, 5)
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6. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:
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a probe having a proximal end and a distal end;
a surgical end effector disposed adjacent the distal end of the probe;
an interface disposed adjacent the proximal end of the probe, the interface releasably coupleable with the tool holder;
circuitry mounted on the probe, the circuitry transmitting a signal via the interface to the processor so as to indicate a tool-type of the tool; and
wherein the end effector has a strength, and wherein the signal indicates the strength of the end effector to the processor. - View Dependent Claims (7, 8, 9, 10)
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11. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:
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a probe having a proximal end and a distal end;
a surgical end effector disposed adjacent the distal end of the probe;
an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with driving motors of the robotic surgical system; and
circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system;
wherein the end effector defines a field of view, the probe comprising an image capture device. - View Dependent Claims (12, 13, 14)
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15. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:
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a probe having a proximal end and a distal end;
a surgical end effector disposed adjacent the distal end of the probe;
an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with driving motors of the robotic surgical system; and
circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system;
wherein the probe comprises an elongate shaft suitable for distal insertion via a minimally invasive aperture to an internal surgical site of a patient body, and wherein the end effector is adapted for manipulating tissue, and further comprising a wrist joint coupling the end effector to the shaft for varying an orientation of the end effector within the internal surgical site. - View Dependent Claims (16, 17, 18)
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19. A robotic surgical tool for use in a robotic surgical system having a processor which directs movement of a tool holder, the tool comprising:
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a probe having a proximal end and a distal end;
a surgical end effector disposed adjacent the distal end of the probe;
an interface disposed adjacent the proximal end of the probe, the interface comprising a portion of a drive system that is releasably coupleable with the tool holder;
circuitry mounted on the probe, the circuitry defining a signal for transmitting to the processor so as to indicate compatibility of the tool with the system; and
a sterile adapter releasably mountable 10 the tool holder, the adapter configured to couple the tool holder to the interface, wherein the circuitry transmits the signal to the processor of the robotic surgical system via the adapter. - View Dependent Claims (20, 21, 22, 23, 24)
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Specification