Disabling surgical tools due to manual bailout
US12178536B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 9, 2023 |
| Grant date | Dec 31, 2024 |
| Priority date | — |
| Expiry date | Nov 9, 2043 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/371
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A surgical tool includes a drive housing removably coupled to a tool driver of a robotic surgical system, a shaft extending from the drive housing, an end effector arranged at an end of the shaft, and a computer system. The computer system is programmed to send a command signal to a motor of the tool driver to drive rotation of a drive shaft mounted within the drive housing, monitor torque and rotational motion of the motor with a torque sensor and a rotary encoder, respectively, in communication with the computer system, measure an unexpected change in the torque or the rotational motion of the motor with the torque sensor or the rotary encoder when the surgical tool is manually bailed out by manually rotating the drive shaft and backdriving the motor, report the unexpected change as a bailout signal, and disable the surgical tool once the bailout signal is received.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.