EP 4048183 A4 20240403 - ENGAGEMENT AND/OR HOMING OF A SURGICAL TOOL IN A SURIGICAL ROBOTIC SYSTEM
Title (en)
ENGAGEMENT AND/OR HOMING OF A SURGICAL TOOL IN A SURIGICAL ROBOTIC SYSTEM
Title (de)
EINRASTUNG UND/ODER HOMING EINES CHIRURGISCHEN INSTRUMENTS IN EINEM CHIRURGISCHEN ROBOTERSYSTEM
Title (fr)
MISE EN PRISE ET/OU RETOUR EN POSITION INITIALE D'UN OUTIL CHIRURGICAL DANS UN SYSTÈME ROBOTIQUE CHIRURGICAL
Publication
Application
Priority
- US 201916661590 A 20191023
- US 2019058477 W 20191029
Abstract (en)
[origin: WO2021080623A1] Engaging and/or homing is provided for a motor control of a surgical tool in a surgical robotic system. Where two or more motors are to control the same motion, the motors may be used to detect engagement even where no physical stop is provided. The motors operate in opposition to each other or in a way that does not attempt the same motion, resulting in one of the motors acting as a stop for the other motor in engagement. A change in motor operation then indicates the engagement. The known angles of engaged motors and the transmission linking the motor drives to the surgical tool indicate the home or current position of the surgical tool.
IPC 8 full level
A61B 34/30 (2016.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); A61B 90/98 (2016.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 90/96 (2016.01)
CPC (source: EP KR)
A61B 34/30 (2016.02 - EP KR); A61B 34/37 (2016.02 - EP); A61B 34/71 (2016.02 - EP KR); A61B 90/96 (2016.02 - EP KR); A61B 90/98 (2016.02 - EP KR); A61B 2017/00477 (2013.01 - EP KR); A61B 2034/2059 (2016.02 - EP); A61B 2034/301 (2016.02 - EP); A61B 2034/302 (2016.02 - EP KR); A61B 2034/305 (2016.02 - EP); A61B 2034/715 (2016.02 - EP); A61B 2090/066 (2016.02 - EP); A61B 2090/067 (2016.02 - EP); A61B 2090/0808 (2016.02 - EP KR)
Citation (search report)
- [XY] US 2017172549 A1 20170622 - SMABY NIELS [US], et al
- [YA] US 2019059974 A1 20190228 - SHELTON IV FREDERICK E [US], et al
- [XA] WO 2016201313 A1 20161215 - INTUITIVE SURGICAL OPERATIONS [US]
- [X] CN 102630154 A 20120808 - ETERNE INC
- [A] US 2016184033 A1 20160630 - COOPER THOMAS G [US], et al
- [XY] US 2012083801 A1 20120405 - NIXON TOM [US]
- [Y] US 2005149003 A1 20050707 - TIERNEY MICHAEL J [US], et al
- [A] EP 1897511 A2 20080312 - INTUITIVE SURGICAL INC [US]
- [Y] US 2016361126 A1 20161215 - SCHENA BRUCE MICHAEL [US], et al
- See also references of WO 2021080623A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
WO 2021080623 A1 20210429; CN 114929150 A 20220819; EP 4048183 A1 20220831; EP 4048183 A4 20240403; JP 2023508628 A 20230303; JP 7532513 B2 20240813; KR 20220082913 A 20220617
DOCDB simple family (application)
US 2019058477 W 20191029; CN 201980103240 A 20191029; EP 19950081 A 20191029; JP 2022523935 A 20191029; KR 20227017113 A 20191029