US 10,376,276 B2
Calibration of a robotic surgical tool
Mark D. Overmyer, Cincinnati, OH (US); Jeffrey S. Swayze, West Chester, OH (US); and Andrew Beckman, Cincinnati, OH (US)
Assigned to Ethicon LLC, Guaynabo, PR (US)
Filed by Ethicon LLC, Guaynabo, PR (US)
Filed on Feb. 2, 2017, as Appl. No. 15/422,963.
Prior Publication US 2018/0214167 A1, Aug. 2, 2018
Int. Cl. A61B 17/29 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 18/14 (2006.01); A61B 18/00 (2006.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01)
CPC A61B 17/29 (2013.01) [A61B 34/30 (2016.02); A61B 18/14 (2013.01); A61B 18/1402 (2013.01); A61B 2017/00725 (2013.01); A61B 2017/2901 (2013.01); A61B 2018/00202 (2013.01); A61B 2018/00988 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/302 (2016.02); A61B 2090/067 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A surgical tool, comprising:
an elongate shaft configured to be coupled to an electromechanical arm of a robotic surgical system and having an end effector coupled to a distal end thereof, the elongate shaft being rotatable about a longitudinal axis of the elongate shaft; and
at least one target associated with the elongate shaft and configured to be non-independently movable with respect to the elongate shaft, wherein a position of the target is detected using at least one sensor disposed on the electromechanical arm of the robotic surgical system such that the elongate shaft is able to move independently of the sensor, and wherein the detected position is used to determine a rotational angle of the elongate shaft.