CPC A61B 18/1482 (2013.01) [A61B 18/1206 (2013.01); A61B 18/1233 (2013.01); A61B 18/14 (2013.01); A61B 34/30 (2016.02); A61B 2017/00141 (2013.01); A61B 2017/00154 (2013.01); A61B 2018/00083 (2013.01); A61B 2018/00178 (2013.01); A61B 2018/00589 (2013.01); A61B 2018/00601 (2013.01); A61B 2018/00607 (2013.01); A61B 2018/00773 (2013.01); A61B 2018/00875 (2013.01); A61B 2018/00886 (2013.01); A61B 2018/00928 (2013.01); A61B 2018/00958 (2013.01); A61B 2034/302 (2016.02); A61B 2034/306 (2016.02)] | 20 Claims |
1. A method of activating an electrosurgical instrument attached to a surgical robot arm, the method comprising:
periodically generating, at a surgical robot arm control unit, a token comprising information indicating a time at which the token was generated;
for each generated token:
transmitting the token from the surgical robot arm control unit to an external computing device;
receiving the token at the external computing device;
in response to the external computing device receiving input indicating that the electrosurgical instrument is to be activated, transmitting a modified version of the received token to the surgical robot arm control unit, the modified version of the token indicating that the electrosurgical instrument is to be activated; and
if the surgical robot arm control unit receives the modified version of the token within a threshold amount of time from when the token was generated, outputting one or more signals that cause the electrosurgical instrument to be activated.
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