US 12,376,848 B2
Automated rotation of a needle in a computer-assisted system
Andrew D. Wilson, Hamden, CT (US); Gabriel F. Brisson, Livermore, CA (US); and Robert C. Reid, Fairfield, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 17/918,865
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Apr. 13, 2021, PCT No. PCT/US2021/027134
§ 371(c)(1), (2) Date Oct. 13, 2022,
PCT Pub. No. WO2021/211617, PCT Pub. Date Oct. 21, 2021.
Claims priority of provisional application 63/009,961, filed on Apr. 14, 2020.
Prior Publication US 2023/0190262 A1, Jun. 22, 2023
Int. Cl. A61B 17/04 (2006.01); A61B 17/00 (2006.01); A61B 17/06 (2006.01); A61B 34/00 (2016.01)
CPC A61B 17/0482 (2013.01) [A61B 34/71 (2016.02); A61B 2017/00137 (2013.01); A61B 2017/00973 (2013.01); A61B 2017/0608 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path; and
a control unit coupled to the drive mechanism;
wherein the control unit is configured to:
in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path; and
in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path,
wherein the second preset rotation amount differs from the first preset rotation amount.