US 12,465,425 B2
System and method for reducing blade exposures
David W. Weir, Menlo Park, CA (US); Julie L. Berry, San Jose, CA (US); Melissa D. Lippiatt, San Jose, CA (US); Daniel P. Saraliev, Soquel, CA (US); and Melody Wu, Sunnyvale, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jun. 13, 2023, as Appl. No. 18/333,939.
Application 18/333,939 is a continuation of application No. 16/930,239, filed on Jul. 15, 2020, granted, now 11,712,300.
Application 16/930,239 is a continuation of application No. 15/573,031, granted, now 10,743,897, issued on Aug. 18, 2020, previously published as PCT/US2016/032324, filed on May 13, 2016.
Claims priority of provisional application 62/176,893, filed on May 15, 2015.
Prior Publication US 2023/0320786 A1, Oct. 12, 2023
Int. Cl. A61B 34/00 (2016.01); A61B 17/285 (2006.01); A61B 17/32 (2006.01); A61B 18/14 (2006.01); A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 90/00 (2016.01)
CPC A61B 34/00 (2016.02) [A61B 17/285 (2013.01); A61B 17/320016 (2013.01); A61B 18/1445 (2013.01); A61B 34/30 (2016.02); A61B 2017/003 (2013.01); A61B 2018/1455 (2013.01); A61B 2034/305 (2016.02); A61B 2090/067 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
one or more processors; and
a drive system comprising one or more drive units configured to be coupled to a cutting instrument;
wherein the one or more processors are configured to:
measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument;
measure, using one or more second sensors, a roll of a shaft of the cutting instrument;
correct the jaw angle based on the roll of the shaft;
determine a restriction on a cutting operation to be performed using the cutting instrument based on the corrected jaw angle; and
perform or prevent the cutting operation according to the restriction.
 
8. A computer-assisted device comprising:
one or more processors; and
a drive system comprising one or more drive units configured to be coupled to a cutting instrument;
wherein the one or more processors are configured to:
measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument;
measure, using one or more second sensors, a roll of a shaft of the cutting instrument;
correct the jaw angle based on the roll of the shaft;
determine a cutting length based on the corrected jaw angle; and
perform a cutting operation according to the cutting length.
 
15. A method comprising:
measuring, by one or more processors and using one or more first sensors, a jaw angle between gripping jaws of an end effector of a cutting instrument;
measuring, by the one or more processors and using one or more second sensors, a roll of a shaft of the cutting instrument;
correcting, by the one or more processors, the jaw angle based on the roll of the shaft;
determining, by the one or more processors, a cutting length based on the corrected jaw angle or a restriction on a cutting operation performed by the cutting instrument based on the corrected jaw angle; and
performing, using a drive system comprising one or more drive units coupled to the cutting instrument, a cutting operation according to the cutting length or the restriction on the cutting operation.