公开(公告)号：US20230320786A1

公开(公告)日：2023-10-12

申请号：US18333939

申请日：2023-06-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Julie L. BERRY ,  Melissa D. LIPPIATT ,  Daniel P. SARALIEV ,  Melody WU

IPC: A61B34/00 ,  A61B18/14 ,  A61B34/30 ,  A61B17/285 ,  A61B17/32

CPC classification number: A61B34/00 ,  A61B18/1445 ,  A61B34/30 ,  A61B17/285 ,  A61B17/320016 ,  A61B2018/1455 ,  A61B2090/067

Abstract: Techniques for reducing blade exposures include a computer-assisted device having one or more processors and a drive system comprising one or more drive units configured to be coupled to a cutting instrument. The one or more processors are configured to: measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument; measure, using one or more second sensors, a roll of a shaft of the cutting instrument; correct the jaw angle based on the roll of the shaft; determine a restriction on a cutting operation to be performed using the instrument based on the corrected jaw angle; and perform or prevent the cutting operation according to the restriction.

公开(公告)号：US20200337718A1

公开(公告)日：2020-10-29

申请号：US16930239

申请日：2020-07-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： David W. WEIR ,  Julie L. BERRY ,  Melissa D. LIPPIATT ,  Daniel P. SARALIEV ,  Melody WU

IPC: A61B17/285 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B17/32

Abstract: Techniques for reducing blade exposures include one or more processors and a drive system configured to be coupled to a cutting instrument. The cutting instrument includes an end effector located at a distal end of the cutting instrument, the end effector comprising opposable gripping jaws and a cutting blade, a shaft configured to be coupled to the drive system, an articulated wrist coupling the end effector to the shaft and one or more drive mechanisms in the shaft for coupling force or torque from the drive system to the end effector and the articulated wrist. The one or more processors are configured to measure a jaw angle between the gripping jaws, measure articulation of the articulated wrist, correct the jaw angle based on the articulation of the articulated wrist, determine a cutting length based on the corrected jaw angle, and perform a cutting operation according to the cutting length.