Electrosurgical robotic system having tool presence detection

{
  "publication_number": "US11717361B2",
  "country": "US",
  "kind": "B2",
  "title": "Electrosurgical robotic system having tool presence detection",
  "abstract": "A robotic system includes an electrosurgical generator; an electrosurgical instrument including an electrosurgical connector; and a robotic arm having an instrument drive unit coupled to the electrosurgical instrument. The instrument drive unit includes a drive unit housing having: an electrosurgical receptacle coupled to the electrosurgical generator and configured to engage the electrosurgical connector; an activation link configured to engage the electrosurgical connector; and a detection switch actuatable by the actuation link upon being engaged by the electrosurgical connector.",
  "claims": [
    "1. A robotic surgical system comprising: an electrosurgical generator; an electrosurgical instrument including an electrosurgical connector; and a robotic arm including an instrument drive unit coupled to the electrosurgical instrument, the instrument drive unit including a drive unit housing having: an electrosurgical receptacle coupled to the electrosurgical generator and configured to engage the electrosurgical connector; an activation link including: a first segment engageable by the electrosurgical connector; a second segment; and a bent portion interconnecting the first segment and the second segment, wherein the first and second segments are configured to flex about the bent portion; and a detection switch actuatable by the actuation link second segment upon the first segment being engaged by the electrosurgical connector.",
    "2. The robotic surgical system according to claim 1, wherein the electrosurgical instrument is a monopolar electrosurgical instrument and the electrosurgical receptacle includes an electrical contact configured to couple to the electrosurgical connector.",
    "3. The robotic surgical system according to claim 1, wherein the electrosurgical instrument is a bipolar electrosurgical instrument and the electrosurgical receptacle includes an active contact and a return contact that are configured to electrically couple to the electrosurgical connector.",
    "4. The robotic surgical system according to claim 1, wherein at least one of the first segment or the second segment includes a deformable portion that flexes in response to the first segment being engaged by the electrosurgical connector being fully inserted into the electrosurgical receptacle.",
    "5. The robotic surgical system according to claim 1, wherein the first segment includes a protrusion disposed in a path of engagement by the electrosurgical connector and configured to contact the electrosurgical connector.",
    "6. The robotic surgical system according to claim 1, wherein the drive unit housing further includes a biased connector link engageable by the electrosurgical connector.",
    "7. The robotic surgical system according to claim 6, wherein the first segment of the activation link is engageable by the connector link."
  ],
  "description_excerpt": "Robotic surgical systems are currently being used in minimally invasive medical procedures. Some robotic surgical systems may include a console supporting a surgical robotic arm and a surgical instrument having an end effector (e.g., forceps or grasping tool) mounted to the robotic arm. The robotic arm provides mechanical power to the surgical instrument for its operation and movement.\n\nRobotic surgical systems also operate with electrosurgical devices. Electrosurgery involves application of high radio frequency electrical current to a surgical site to cut, ablate, desiccate, or coagulate tissue. In monopolar electrosurgery, a source or active electrode delivers radio frequency alternating current from an electrosurgical generator to the targeted tissue. A patient return electrode is placed remotely from the active electrode to conduct the current back to the generator.\n\nIn bipolar electrosurgery, return and active electrodes are placed in close proximity to each other such that an electrical circuit is formed between the two electrodes (e.g., in the case of an electrosurgical forceps). In this manner, the applied electrical current is limited to the body tissue positioned between the electrodes. Accordingly, bipolar electrosurgery generally involves the use of instruments where it is desired to achieve a focused delivery of electrosurgical energy between two electrodes.\n\nWhen using electrosurgical devices with robotic systems, wires connecting these devices to the electrosurgical generator may wrap around the robotic arm.",
  "cpc": [
    "A61B 34/35",
    "A61B 18/14",
    "A61B 18/1445",
    "A61B 2017/00477",
    "A61B 2018/00172",
    "A61B 2018/00178",
    "A61B 2018/00577",
    "A61B 2018/00589",
    "A61B 2018/00601",
    "A61B 2018/00791",
    "A61B 2018/00827",
    "A61B 2018/00875",
    "A61B 2018/00892",
    "A61B 2018/1412",
    "A61B 2018/165",
    "A61B 2034/302",
    "A61B 2090/0808",
    "A61B 34/30"
  ],
  "ipc": [
    "A61B 18/14",
    "A61B 34/35"
  ],
  "assignees": [
    "Covidien LP"
  ],
  "inventors": [
    "Brian Rockrohr"
  ],
  "filing_date": "2018-05-07",
  "publication_date": "2023-08-08",
  "grant_date": "2023-08-08",
  "priority_date": "2017-05-24",
  "application_number": "US-201816611247-A",
  "family_id": "64395850",
  "cited_by_count": 1,
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