US 11,883,122 B2
Robotic visualization and collision avoidance
David C. Yates, West Chester, OH (US); Jason L. Harris, Lebanon, OH (US); Frederick E. Shelton, IV, Hillsboro, OH (US); and Chad E. Eckert, Milford, OH (US)
Assigned to Cilag GmbH International, Zug (CH)
Filed by Cilag GmbH International, Zug (CH)
Filed on Jun. 7, 2021, as Appl. No. 17/340,226.
Application 17/340,226 is a continuation of application No. 16/552,428, filed on Aug. 27, 2019, granted, now 11,039,896.
Application 16/552,428 is a continuation of application No. 15/237,902, filed on Aug. 16, 2016, granted, now 10,413,373.
Prior Publication US 2021/0290327 A1, Sep. 23, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 34/30 (2016.01); A61B 17/072 (2006.01); A61B 90/00 (2016.01); A61B 17/32 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 17/07207 (2013.01); A61B 17/32 (2013.01); A61B 34/30 (2016.02); A61B 90/06 (2016.02); A61B 2017/00017 (2013.01); A61B 2017/00119 (2013.01); A61B 2017/07271 (2013.01); A61B 2017/07278 (2013.01); A61B 2017/07285 (2013.01); A61B 2090/061 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/3937 (2016.02)] 15 Claims
OG exemplary drawing
 
1. A robotic system, comprising:
a tool housing having a plurality of gear assemblies, each gear assembly being configured to couple to a motor;
an elongate shaft extending distally from the tool housing;
an end effector having first and second jaws pivotably coupled to a distal end of the elongate shaft;
at least one visual indicator on the end effector;
at least one camera configured to visually monitor the visual indicator; and
a controller configured to provide a declared action of the end effector and configured to compare the declared action with an actual action of the end effector based on detection of the visual indicator by the at least one camera.