Robotic system for engaging a fastener with body tissue
DC CAFCFirst Claim
1. A robotic system for engaging a fastener with a body tissue, the system comprising:
- a robotic mechanism including an adaptive arm, the robotic mechanism configured to position a fastener relative to the body tissue, the robotic mechanism having first and second force transmitting portions configured to apply at least one of an axial force and a transverse force relative to the fastener;
a computer configured to control the robotic mechanism; and
an adaptive arm interface coupled to the adaptive arm and the computer, the adaptive arm interface configured to operate the computer,wherein a magnitude of the at least one axial force and transverse force applied to the fastener is limited by the computer.
1 Assignment
Litigations
1 Petition
Accused Products
Abstract
An improved apparatus and method of securing body tissue may be performed with a robotic mechanism. The robotic mechanism may be utilized to tension a suture with a predetermined force and urge a suture retainer toward body tissue with a predetermined force. Ultrasonic vibratory energy may be transmitted to the suture retainer to effect a gripping of the suture by the suture retainer. The body tissue may be secured with a staple. Legs of the staple may be bonded together to secure the staple. The legs of the staple may be bonded together by transmitting ultrasonic vibratory energy to the legs of the staple. A tissue positioning assembly may be used to hold the body tissue in a desired position. Images of the body tissue being secured may be obtained using various known devices including one or more endoscopes, a fluoroscope, a magnetic resonance imaging device, and/or other known imaging devices.
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Citations
20 Claims
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1. A robotic system for engaging a fastener with a body tissue, the system comprising:
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a robotic mechanism including an adaptive arm, the robotic mechanism configured to position a fastener relative to the body tissue, the robotic mechanism having first and second force transmitting portions configured to apply at least one of an axial force and a transverse force relative to the fastener; a computer configured to control the robotic mechanism; and an adaptive arm interface coupled to the adaptive arm and the computer, the adaptive arm interface configured to operate the computer, wherein a magnitude of the at least one axial force and transverse force applied to the fastener is limited by the computer. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A robotic system for engaging a fastener with a body tissue, the system comprising:
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a robotic mechanism including an adaptive arm, the robotic mechanism configured to position the fastener having first and second legs, the robotic mechanism having first and second force transmitting portions configured to apply at least one of an axial force and a transverse force to move the first and second legs toward each other; a computer configured to control the robotic mechanism and limit a magnitude of the at least one axial force and transverse force; and an adaptive arm interface coupled to the adaptive arm and the computer, the adaptive arm interface configured to operate the computer, wherein the first and second legs are configured to engage the fastener with the body tissue. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17)
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18. A robotic system for engaging a fastener with first and second body tissue sections, the system comprising:
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a robotic mechanism including an adaptive arm, the robotic mechanism configured to position the fastener relative to first and second body tissue sections, the robotic mechanism having first and second force transmitting portions configured to apply at least one of an axial force and a transverse force to urge the first and second body tissue sections together; a computer configured to control the robotic mechanism and limit a magnitude of the at least one axial force and transverse force; and an adaptive arm interface coupled to the adaptive arm and the computer, the adaptive arm interface configured to operate the computer. - View Dependent Claims (19, 20)
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Specification