US 11,850,093 B2
Surgical system with combined laser ablation/ imaging tool
Matthew R. Williams, Walnut Creek, CA (US); Gregory W. Dachs, II, Sunnyvale, CA (US); and David Shafer, Menlo Park, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Jul. 6, 2021, as Appl. No. 17/305,334.
Application 17/305,334 is a continuation of application No. 16/531,814, filed on Aug. 5, 2019, granted, now 11,051,788.
Application 16/531,814 is a continuation of application No. 12/060,112, filed on Mar. 31, 2008, granted, now 10,368,838, issued on Aug. 6, 2019.
Prior Publication US 2022/0000452 A1, Jan. 6, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 18/20 (2006.01); A61B 8/00 (2006.01); A61B 18/22 (2006.01); A61B 8/12 (2006.01); A61B 34/00 (2016.01); A61B 90/30 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 17/00 (2006.01)
CPC A61B 8/4488 (2013.01) [A61B 8/12 (2013.01); A61B 8/445 (2013.01); A61B 18/22 (2013.01); A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 90/30 (2016.02); A61B 90/361 (2016.02); A61B 2017/00477 (2013.01); A61B 2018/2025 (2013.01); A61B 2034/305 (2016.02); A61B 2090/3614 (2016.02); A61B 2090/371 (2016.02); A61B 2090/378 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A robotic surgical system comprising:
a patient side cart having a plurality of robotic arms;
a combined laser ablation-imaging surgical tool mounted to a first robotic arm of the patient side cart, the combined laser ablation-imaging surgical tool having a wristed joint and an end effector coupled to the wristed joint, the end effector having a laser emitting device to direct a laser beam onto tissue in a surgical site and an image capturing device to capture video images of the tissue in the surgical site, the laser emitting device and the image capturing device mounted in a hermetically sealed enclosure with an aperture;
a first control console in communication with the combined laser ablation-imaging surgical tool to receive the captured video images of tissue in the surgical site, the first control console to display the captured video images on a first display device to a first user and one or more processors within the first control console configured to generate a computer generated targeting dot overlaid on the captured video images, the computer generated targeting dot representing a location where the laser beam from the laser emitting device is focused; and
a laser generator/controller coupled to the combined laser ablation-imaging surgical tool and the first control console, the laser controller/generator to control the emission of the laser beam onto tissue of the surgical site by the combined laser ablation-imaging surgical tool in response to a control signal.