公开(公告)号：US20240341757A1

公开(公告)日：2024-10-17

申请号：US18658550

申请日：2024-05-08

Applicant: Covidien LP

Inventor： Christopher Kelly Evans ,  Thomas Wingardner

IPC: A61B17/068 ,  A61B17/00 ,  A61B17/072 ,  A61B17/115 ,  A61B17/28

CPC classification number: A61B17/068 ,  A61B17/115 ,  A61B17/282 ,  A61B2017/00221 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/00464 ,  A61B2017/00473 ,  A61B2017/00486 ,  A61B2017/00734 ,  A61B2017/07257 ,  A61B2017/07271

Abstract: A powered handheld electromechanical surgical device includes a motor configured to drive extension and retraction of a drive component, a sensor configured to sense force exerted on the drive component during extension of the drive component, and a controller including a processor and a non-transitory computer-readable storage medium storing instructions that, when executed by the processor, cause the processor to receive the sensed force from the sensor, control a speed of the motor during extension of the drive component in accordance with the sensed force, determine a speed profile or a force profile during extension of the drive component, and control a speed of the motor during retraction of the drive component in accordance with the speed profile or the force profile.

公开(公告)号：US12048473B2

公开(公告)日：2024-07-30

申请号：US16697320

申请日：2019-11-27

Applicant: Covidien LP

Inventor： Amarsinh D. Jadhav

IPC: A61B18/12 ,  A61B18/14 ,  A61B17/00 ,  A61B17/29 ,  A61B18/00

CPC classification number: A61B18/1445 ,  A61B2017/00367 ,  A61B2017/00393 ,  A61B2017/00407 ,  A61B2017/2923 ,  A61B2018/00202 ,  A61B2018/00208 ,  A61B2018/00428 ,  A61B2018/00607 ,  A61B2018/0063 ,  A61B2018/1422 ,  A61B2018/1455 ,  A61B2018/1475

Abstract: A surgical instrument includes an end effector assembly and a deployment mechanism for deploying a proximal hub associated with an energizable member between proximal and distal positions. The deployment mechanism includes a rotatable shaft, a cord including a proximal end engaged to the rotatable shaft and a distal end engaged to the proximal hub, a biasing member positioned to bias the proximal hub towards the distal position, and a gear assembly operably coupled to the rotatable shaft. The gear assembly is configured to move the proximal hub from the distal position to the proximal position against the bias of the biasing member by rotating the rotatable shaft relative to the cord to at least partially wind-up the cord about the rotatable shaft.

公开(公告)号：US12042147B2

公开(公告)日：2024-07-23

申请号：US18210297

申请日：2023-06-15

Applicant: Cilag GmbH International

Inventor： Daniel L. Baber ,  Jeffrey S. Swayze ,  Andrew T. Beckman ,  Frederick E. Shelton, IV

IPC: H02H3/00 ,  A61B5/00 ,  A61B17/00 ,  A61B17/064 ,  A61B17/068 ,  A61B17/072 ,  A61B17/10 ,  A61B17/115 ,  A61B17/32 ,  A61B90/00 ,  A61B90/70 ,  A61B90/92 ,  A61B90/98 ,  G01R33/07 ,  G06F1/26 ,  G06F1/28 ,  G06F1/30 ,  G06F1/3215 ,  G06F1/3287 ,  H02H1/06 ,  H02H3/06 ,  H02H3/087 ,  H02H3/18 ,  H02H3/20 ,  H02H3/24 ,  H02H7/20 ,  H02H11/00 ,  H02J1/10 ,  H02J7/00 ,  A61B5/06 ,  A61B5/107 ,  A61B8/00 ,  A61B8/12 ,  A61B17/29 ,  A61B18/00 ,  A61B90/30 ,  A61B90/90 ,  A61B90/94 ,  A61B90/96 ,  H02H3/02 ,  H02H3/04

CPC classification number: A61B17/07207 ,  A61B5/6847 ,  A61B17/00 ,  A61B17/0644 ,  A61B17/068 ,  A61B17/072 ,  A61B17/07292 ,  A61B17/105 ,  A61B17/1155 ,  A61B17/32 ,  A61B90/06 ,  A61B90/70 ,  A61B90/92 ,  A61B90/98 ,  G01R33/072 ,  G06F1/266 ,  G06F1/28 ,  G06F1/30 ,  G06F1/305 ,  G06F1/3215 ,  G06F1/3287 ,  H02H1/06 ,  H02H3/06 ,  H02H3/087 ,  H02H3/18 ,  H02H3/202 ,  H02H3/207 ,  H02H3/243 ,  H02H7/20 ,  H02H11/002 ,  H02J1/10 ,  H02J7/0068 ,  A61B5/067 ,  A61B5/1076 ,  A61B5/6885 ,  A61B8/12 ,  A61B8/4483 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00026 ,  A61B2017/00039 ,  A61B2017/00061 ,  A61B2017/00066 ,  A61B2017/00075 ,  A61B2017/00106 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2017/00199 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/0046 ,  A61B2017/00477 ,  A61B2017/00725 ,  A61B2017/00734 ,  A61B2017/00876 ,  A61B2017/07214 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07285 ,  A61B2017/2927 ,  A61B2018/00648 ,  A61B2090/061 ,  A61B2090/064 ,  A61B2090/065 ,  A61B2090/0803 ,  A61B2090/0806 ,  A61B2090/0807 ,  A61B2090/0808 ,  A61B2090/081 ,  A61B2090/0811 ,  A61B2090/0814 ,  A61B2090/0818 ,  A61B2090/304 ,  A61B2090/309 ,  A61B2090/702 ,  A61B90/90 ,  A61B90/94 ,  A61B90/96 ,  A61B2505/05 ,  A61B2562/0223 ,  A61B2562/0247 ,  A61B2562/0257 ,  A61B2562/0261 ,  A61B2562/029 ,  A61B2562/043 ,  A61B2562/06 ,  A61B2562/223 ,  H02H3/02 ,  H02H3/04

Abstract: An end effector for use with a surgical stapling instrument is disclosed. The end effector comprises a first jaw, a second jaw movable relative to the first jaw to grasp tissue therebetween, and a staple cartridge. The staple cartridge comprises staples deployable into the tissue. The end effector further comprises a magnetic sensor configured to measure a parameter indicative of an identifying characteristic of the staple cartridge, an impedance sensor configured to measure a parameter indicative of an impedance of the tissue, and a processing unit in communication with the impedance sensor. The processing unit is configured to determine a property of the tissue based on an output of the impedance sensor.

公开(公告)号：US11937864B2

公开(公告)日：2024-03-26

申请号：US16677124

申请日：2019-11-07

Applicant: DFine, Inc.

Inventor： Joshua Defosset ,  Nate Shirley ,  Eric Wong ,  Craig Purdy ,  Oleg Yurchak ,  Jimmy Chi-Yun Chan ,  Robert D. Poser

IPC: A61B18/12 ,  A61B17/00 ,  A61B18/00 ,  A61B18/14 ,  G06F3/0482 ,  G06F3/0488 ,  A61B90/00

CPC classification number: A61B18/14 ,  A61B18/1206 ,  G06F3/0482 ,  G06F3/0488 ,  A61B2017/00115 ,  A61B2017/00212 ,  A61B2017/00393 ,  A61B2018/00339 ,  A61B2018/00577 ,  A61B2018/0072 ,  A61B2018/00821 ,  A61B2018/00875 ,  A61B2018/00916 ,  A61B2090/376

Abstract: The invention relates to a magnetic-navigation joint type puncture needle which comprises a head section and needle sections, wherein, the head section is made of stainless steel material with high magnetic conductivity and is connected with the following needle sections coaxially mounted with the head section through a flexible joint; two needle sections are also coaxially connected with each other through a flexible joint; the needle sections are made of non-magnetic stainless steel material; the flexible joints adopts serpentine tubes formed by melting and engraving cobalt-chromium alloy through laser; and both the head section and the needle sections can be bent, but the flexibility of the head section and that of the needle sections are smaller than the flexibility of the flexible joints. According to the invention, an extra magnetic field force is used to cause the head section of the needle to deflect, so that the following purposes can be achieved that the insertion direction of the needle can be changed, and the other needle sections also deflect with the deflection of the head section; accurate navigation for and control over puncture path and puncture position when the puncture needle performs a non-direct channel puncture in a human body; the puncture needle provided by the invention can reach niduses which other types of puncture needles can not reach; the application scope of minimally invasive surgery is expanded; iatrogenic injuries can be reduced; and patients can be benefited.

公开(公告)号：US11925373B2

公开(公告)日：2024-03-12

申请号：US16112168

申请日：2018-08-24

Applicant: Cilag GmbH International

Inventor： Andrew C. Deck ,  Frederick E. Shelton, IV ,  Gregory J. Bakos ,  Nicholas M. Morgan ,  Gregory G. Scott ,  Asaad Hossain

IPC: A61B17/04 ,  A61B17/00 ,  A61B17/06 ,  A61B17/10 ,  A61B17/128 ,  A61B17/28 ,  A61B17/29 ,  A61B17/062 ,  A61B17/068 ,  A61B17/285 ,  A61B17/295 ,  A61B17/32 ,  A61B17/3201 ,  A61B17/34 ,  A61B18/00 ,  A61B18/12 ,  A61B18/14 ,  A61B34/00 ,  A61B34/30 ,  A61B90/00 ,  A61B90/98 ,  B33Y80/00 ,  F16D27/00 ,  F16D27/108 ,  F16D27/12 ,  G06F3/147 ,  G09G3/34 ,  G09G3/36 ,  G09G3/38

CPC classification number: A61B17/2909 ,  A61B17/00 ,  A61B17/105 ,  A61B17/1285 ,  A61B17/282 ,  A61B17/2841 ,  A61B17/29 ,  A61B2017/00017 ,  A61B2017/00026 ,  A61B2017/0003 ,  A61B2017/00039 ,  A61B2017/00057 ,  A61B2017/00061 ,  A61B2017/00075 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00128 ,  A61B2017/00212 ,  A61B2017/00221 ,  A61B2017/00327 ,  A61B2017/00367 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/00407 ,  A61B2017/00424 ,  A61B2017/00438 ,  A61B2017/0046 ,  A61B2017/00464 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/00526 ,  A61B2017/00734 ,  A61B17/0469 ,  A61B17/0482 ,  A61B17/0483 ,  A61B17/0491 ,  A61B17/06004 ,  A61B2017/06052 ,  A61B17/06066 ,  A61B2017/06076 ,  A61B17/06114 ,  A61B17/06133 ,  A61B17/062 ,  A61B17/0625 ,  A61B17/068 ,  A61B17/128 ,  A61B2017/2825 ,  A61B17/2833 ,  A61B2017/2845 ,  A61B17/285 ,  A61B2017/2902 ,  A61B2017/2903 ,  A61B2017/2911 ,  A61B2017/2923 ,  A61B2017/2925 ,  A61B2017/2926 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2931 ,  A61B2017/2943 ,  A61B2017/2945 ,  A61B17/295 ,  A61B2017/320044 ,  A61B17/3201 ,  A61B17/3421 ,  A61B17/3468 ,  A61B2018/00077 ,  A61B2018/00083 ,  A61B2018/00136 ,  A61B2018/00178 ,  A61B2018/00208 ,  A61B2018/00404 ,  A61B2018/00577 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/0063 ,  A61B2018/00642 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2018/00696 ,  A61B2018/00702 ,  A61B2018/00708 ,  A61B2018/0072 ,  A61B2018/00767 ,  A61B2018/00827 ,  A61B2018/00875 ,  A61B2018/00892 ,  A61B18/1206 ,  A61B2018/1253 ,  A61B2018/126 ,  A61B2018/1266 ,  A61B18/1445 ,  A61B2018/1452 ,  A61B2018/1457 ,  A61B2018/146 ,  A61B34/30 ,  A61B34/76 ,  A61B90/03 ,  A61B2090/035 ,  A61B2090/0811 ,  A61B90/98 ,  B33Y80/00 ,  F16D27/004 ,  F16D27/108 ,  F16D27/12 ,  G06F3/147 ,  G09G3/344 ,  G09G3/3648 ,  G09G3/38 ,  G09G2380/08

Abstract: A surgical suturing system is disclosed. The surgical suturing system comprises a shaft comprising a shaft diameter, a firing drive, and an end effector extending distally from the shaft. The end effector comprises a needle track and a needle comprising suturing material attached thereto, wherein the needle is configured to be guided by the needle track and actuated by the firing drive through a firing stroke, and wherein the needle is movable along a needle path comprising a maximum capture width which is greater than the shaft diameter.

公开(公告)号：US11826048B2

公开(公告)日：2023-11-28

申请号：US17832873

申请日：2022-06-06

Applicant: Cilag GmbH International

Inventor： Frederick E. Shelton, IV ,  Jason L. Harris

IPC: A61B17/072 ,  A61B17/29 ,  A61B18/14 ,  A61B34/30 ,  A61B90/00 ,  A61B17/00 ,  A61B18/00

CPC classification number: A61B17/07207 ,  A61B17/29 ,  A61B18/1442 ,  A61B18/1445 ,  A61B34/30 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/0046 ,  A61B2017/00389 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/00407 ,  A61B2017/00464 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/00734 ,  A61B2017/00862 ,  A61B2017/07214 ,  A61B2017/07221 ,  A61B2017/07228 ,  A61B2017/07242 ,  A61B2017/07257 ,  A61B2017/07264 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2017/07285 ,  A61B2017/2902 ,  A61B2017/2903 ,  A61B2017/2925 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2932 ,  A61B2017/2933 ,  A61B2017/2939 ,  A61B2017/2943 ,  A61B2017/2946 ,  A61B2018/0063 ,  A61B2090/0801

Abstract: A surgical instrument is disclosed comprising a shaft, an end effector, an articulation joint rotatably connecting the end effector to the shaft, an axially movable articulation driver, and an articulation lock system. The articulation lock system comprises a lock gear and a lock element. The lock gear comprises a first annular array of first lock teeth in meshing engagement with a longitudinal array of driver lock teeth on the axially movable articulation driver and a second annular array of second lock teeth. The lock element comprises a third annular array of third lock teeth. The lock element is movably supported relative to the lock gear such that the third lock teeth meshingly engage the second lock teeth as a closure element moves through a closure stroke to prevent rotation of the lock gear and prevent the axially movable articulation driver from moving axially.

公开(公告)号：US11759224B2

公开(公告)日：2023-09-19

申请号：US16112109

申请日：2018-08-24

Applicant: Cilag GmbH International

Inventor： Frederick E. Shelton, IV ,  Jason L. Harris ,  Chester O. Baxter, III

IPC: A61B5/05 ,  A61B17/3205 ,  A61B17/29 ,  A61B17/00 ,  A61B17/128 ,  A61B17/28 ,  A61B17/10 ,  A61B18/14 ,  B33Y80/00 ,  A61B90/00 ,  A61B17/32 ,  A61B18/00 ,  A61B18/12 ,  F16D27/00 ,  F16D27/108 ,  F16D27/12 ,  G09G3/34 ,  G09G3/36 ,  G09G3/38 ,  A61B17/04 ,  A61B17/06 ,  A61B34/30 ,  A61B17/3201 ,  A61B90/98 ,  A61B17/062 ,  A61B17/068 ,  A61B17/285 ,  A61B17/295 ,  A61B17/34 ,  G06F3/147 ,  A61B34/00

CPC classification number: A61B17/2909 ,  A61B17/00 ,  A61B17/105 ,  A61B17/1285 ,  A61B17/282 ,  A61B17/2841 ,  A61B17/29 ,  A61B17/0469 ,  A61B17/0482 ,  A61B17/0483 ,  A61B17/0491 ,  A61B17/062 ,  A61B17/06004 ,  A61B17/068 ,  A61B17/0625 ,  A61B17/06066 ,  A61B17/06114 ,  A61B17/06133 ,  A61B17/128 ,  A61B17/285 ,  A61B17/2833 ,  A61B17/295 ,  A61B17/3201 ,  A61B17/3421 ,  A61B17/3468 ,  A61B18/1206 ,  A61B18/1445 ,  A61B34/30 ,  A61B34/76 ,  A61B90/03 ,  A61B90/98 ,  A61B2017/0003 ,  A61B2017/00017 ,  A61B2017/00026 ,  A61B2017/00039 ,  A61B2017/0046 ,  A61B2017/00057 ,  A61B2017/00061 ,  A61B2017/00075 ,  A61B2017/00115 ,  A61B2017/00119 ,  A61B2017/00128 ,  A61B2017/00212 ,  A61B2017/00221 ,  A61B2017/00327 ,  A61B2017/00367 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/00407 ,  A61B2017/00424 ,  A61B2017/00438 ,  A61B2017/00464 ,  A61B2017/00473 ,  A61B2017/00477 ,  A61B2017/00526 ,  A61B2017/00734 ,  A61B2017/06052 ,  A61B2017/06076 ,  A61B2017/2825 ,  A61B2017/2845 ,  A61B2017/2902 ,  A61B2017/2903 ,  A61B2017/2911 ,  A61B2017/2923 ,  A61B2017/2925 ,  A61B2017/2926 ,  A61B2017/2927 ,  A61B2017/2929 ,  A61B2017/2931 ,  A61B2017/2943 ,  A61B2017/2945 ,  A61B2017/320044 ,  A61B2018/0063 ,  A61B2018/0072 ,  A61B2018/00077 ,  A61B2018/00083 ,  A61B2018/00136 ,  A61B2018/00178 ,  A61B2018/00208 ,  A61B2018/00404 ,  A61B2018/00577 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/00642 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2018/00696 ,  A61B2018/00702 ,  A61B2018/00708 ,  A61B2018/00767 ,  A61B2018/00827 ,  A61B2018/00875 ,  A61B2018/00892 ,  A61B2018/126 ,  A61B2018/1253 ,  A61B2018/1266 ,  A61B2018/146 ,  A61B2018/1452 ,  A61B2018/1457 ,  A61B2090/035 ,  A61B2090/0811 ,  B33Y80/00 ,  F16D27/004 ,  F16D27/108 ,  F16D27/12 ,  G06F3/147 ,  G09G3/344 ,  G09G3/3648 ,  G09G3/38 ,  G09G2380/08

Abstract: A surgical instrument system comprising a first motor, a second motor, and a third motor is disclosed. The surgical instrument system comprises a first handle comprising a first number of controls, a second handle comprising a second number of controls, and a shaft assembly. The shaft assembly is attachable to the first handle in a first orientation in order to engage one of the motors. The shaft assembly is attachable to the second handle in a second orientation to engage a different motor. The surgical instrument system is configured to perform a different function of an end effector in the first orientation and the second orientation.

公开(公告)号：US11642134B2

公开(公告)日：2023-05-09

申请号：US16727317

申请日：2019-12-26

Applicant: Cilag GmbH International

Inventor： Brian F. DiNardo ,  Rodney V. Clingaman ,  Charles J. Scheib ,  Frederick E. Shelton, IV ,  Richard F. Schwemberger ,  William R. Stager

IPC: A61B17/115 ,  A61B17/11 ,  A61B17/064 ,  A61B17/068 ,  A61B17/00 ,  A61B90/00 ,  A61B17/29

CPC classification number: A61B17/1155 ,  A61B17/068 ,  A61B17/0644 ,  A61B17/1114 ,  A61B2017/00017 ,  A61B2017/0042 ,  A61B2017/00389 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/00734 ,  A61B2017/2913 ,  A61B2090/0811 ,  A61B2090/0814

Abstract: A method for resetting a stapling apparatus includes providing an apparatus with a cam member in a fired position. A circuit of the apparatus is then changed from a first polarity state to a second polarity state. A motor of the apparatus is then activated to rotate the cam member from a fired position back to a home position while the circuit is in the second polarity state.

公开(公告)号：US20190217060A1

公开(公告)日：2019-07-18

申请号：US16240400

申请日：2019-01-04

Applicant: Cryterion Medical, Inc.

Inventor： Chadi Harmouche

IPC: A61M25/01 ,  A61B18/14 ,  A61M25/10

CPC classification number: A61M25/0136 ,  A61B18/02 ,  A61B18/1492 ,  A61B2017/00199 ,  A61B2017/00212 ,  A61B2017/00393 ,  A61B2018/0022 ,  A61B2018/00357 ,  A61B2018/00375 ,  A61B2018/00577 ,  A61B2018/00744 ,  A61B2018/00886 ,  A61B2018/00928 ,  A61B2018/00958 ,  A61B2018/0212 ,  A61B2018/0262 ,  A61M25/0116 ,  A61M25/10184 ,  A61M25/104

Abstract: A hand control assembly for an intravascular catheter system includes a controller and a plurality of spaced apart hand-actuated members. The intravascular catheter system includes a control console that is configured to be positioned on a support surface. Each hand-actuated member is configured to be manually actuated and is positioned away from the control console and support surface. The hand control assembly controls varying stages of an ablation procedure, including an inflation stage, ablation stage, thawing stage and/or time to isolation. Each hand-actuated member sends at least one (i) initiation signal to the controller to initiate at least one of the inflation stage, ablation stage and/or a calculation of time to isolation, and/or (ii) termination signal to the controller to terminate at least one of the inflation stage, ablation stage and/or thawing stage.

公开(公告)号：US20190201145A1

公开(公告)日：2019-07-04

申请号：US15940683

申请日：2018-03-29

Applicant: Ethicon LLC

Inventor： Frederick E. Shelton, IV ,  Jason L. Harris

IPC: A61B34/35 ,  A61B34/00

CPC classification number: A61B34/35 ,  A61B1/045 ,  A61B17/07207 ,  A61B17/1155 ,  A61B17/320068 ,  A61B17/320092 ,  A61B18/00 ,  A61B18/1206 ,  A61B18/14 ,  A61B18/1442 ,  A61B18/1445 ,  A61B34/20 ,  A61B34/25 ,  A61B34/30 ,  A61B34/32 ,  A61B34/37 ,  A61B34/76 ,  A61B34/77 ,  A61B90/30 ,  A61B90/361 ,  A61B90/37 ,  A61B90/53 ,  A61B90/90 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00026 ,  A61B2017/00039 ,  A61B2017/00044 ,  A61B2017/00084 ,  A61B2017/00119 ,  A61B2017/00123 ,  A61B2017/00199 ,  A61B2017/00221 ,  A61B2017/00225 ,  A61B2017/00393 ,  A61B2017/00398 ,  A61B2017/00442 ,  A61B2017/00464 ,  A61B2017/00477 ,  A61B2017/00818 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2017/07285 ,  A61B2017/2927 ,  A61B2017/320074 ,  A61B2017/320093 ,  A61B2018/00541 ,  A61B2018/00595 ,  A61B2018/00601 ,  A61B2018/00607 ,  A61B2018/00613 ,  A61B2018/0063 ,  A61B2018/00642 ,  A61B2018/00827 ,  A61B2018/00875 ,  A61B2018/00892 ,  A61B2018/00982 ,  A61B2018/00994 ,  A61B2018/126 ,  A61B2018/1273 ,  A61B2034/2051 ,  A61B2034/2059 ,  A61B2034/254 ,  A61B2034/302 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2090/061 ,  A61B2090/064 ,  A61B2090/066 ,  A61B2090/0808 ,  A61B2090/0811 ,  A61B2090/3945 ,  A61B2090/3975 ,  A61B2217/005 ,  A61B2217/007 ,  A61B2218/002 ,  A61B2218/007 ,  A61B2218/008 ,  A61N1/0412 ,  A61N1/327 ,  G16H20/30 ,  G16H20/40 ,  G16H40/63

Abstract: Various robotic surgical systems are disclosed. A robotic surgical system comprises: a first robotic arm comprising a first force sensor, a second robotic arm comprising a second force sensor, and a control unit. The control unit comprises a processor and a memory communicatively coupled to the processor. The memory stores instructions executable by the processor to receive a first input from the first force sensor, to receive a second input from the second force sensor, and to effect cooperative movement of the first robotic arm and the second robotic arm based on the first input from the first force sensor and the second input from the second force sensor in a load control mode.