Autonomous methods and systems for tying surgical knots
Inventors
O'Shea, Liam • Calef, Thomas J. • Zitnick, Dana
Assignees
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Publication Number
US-11963676-B2
Publication Date
2024-04-23
Expiration Date
Abstract
A robotic suture knot tying system includes a first robotic arm, a second robotic arm, a suturing device including a suturing end effector operatively coupled to the first robotic arm, and a suture handling device operatively coupled to the second robotic arm. The system also includes a control system operatively coupled to the first robotic arm, the second robotic arm, the suturing device, and the suture handling device and configured to control operation thereof to cooperatively perform a suture knot tying procedure on a patient.
Core Innovation
The invention discloses a method for tying a suture knot in which a stitch is thrown at a target location on a tissue of a patient to form a first suture line and a second suture line extending out of the target location. The method includes grasping the first suture line and forming conditions for knot tying using the first and second suture lines.
The method further includes grasping the first suture line with one of a first grasper and a second grasper and cutting the first suture line. Cutting the first suture line comprises grasping the first suture line using the first and second graspers at spaced apart locations and retracting the first and second graspers to engage the first suture line with a cutting blade to sever the first suture line.
After cutting, the method manipulates the suturing end effector and the first and second graspers to tie the suture knot using the first and second suture lines. The method then tightens the suture knot onto the tissue using the first and second graspers.
Claims Coverage
Independent claim clm-00001 contains 4 principal inventive features: throwing a stitch to form two suture lines, grasping and cutting one suture line using spaced graspers and a cutting blade, manipulating the suturing end effector and graspers to tie the knot, and tightening the knot onto the tissue using the graspers.
Throwing a stitch to form first and second suture lines
Throwing a stitch at a target location on a tissue of a patient using a suturing end effector to form a first suture line and a second suture line extending out of the target location.
Grasping and cutting the first suture line with spaced graspers and a cutting blade
Grasping the first suture line with one of a first grasper and a second grasper and cutting the first suture line, wherein cutting comprises grasping the first suture line using the first and second graspers at spaced apart locations and retracting the first and second graspers to engage the first suture line with a cutting blade to sever the first suture line.
Manipulating suturing end effector and graspers to tie the knot
Manipulating the suturing end effector and the first and second graspers to tie the suture knot using the first and second suture lines.
Tightening the suture knot onto tissue using the first and second graspers
Tightening the suture knot onto the tissue using the first and second graspers.
Across the independent claim, the inventive workflow centers on throwing a stitch to generate two suture lines, grasping and severing one suture line using spaced graspers that engage a cutting blade, then tying and tightening the knot onto the tissue using the suturing end effector and the graspers.
Stated Advantages
Documented Applications
No documented applications found
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