Automated rotation of a needle in a computer-assisted system
Techniques for automated rotation of a needle in a computer-assisted system include an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path and a control unit coupled to the drive mechanism. The control unit is configured to, in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path, and, in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path.
1. A computer-assisted device comprising:
an end effector having a drive mechanism configured to be coupled to a curved needle and configured to rotationally actuate the curved needle along an arcuate path; and
a control unit coupled to the drive mechanism;
wherein the control unit is configured to:
in response to receiving a first input, cause the drive mechanism to rotationally actuate the curved needle by a first preset rotation amount along the arcuate path; and
in response to receiving a second input, cause the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path,
wherein the second preset rotation amount differs from the first preset rotation amount.
2. The computer-assisted device of claim 1 , wherein the arcuate path comprises a circular path and the drive mechanism is configured to rotationally actuate the curved needle about an axis that includes a center point of the circular path.
3. The computer-assisted device of claim 2 , wherein the first preset rotation amount is a 180 degree rotation of the curved needle about the axis along a first direction.
4. The computer-assisted device of claim 3 , wherein the second preset rotation amount is a 360 degree rotation of the curved needle about the axis along the first direction.
5. The computer-assisted device of claim 1 , wherein the first input is received from a first input device and the second input is received from a second input device different from the first input device.
6. The computer-assisted device of claim 1 , wherein the first input and the second input are each received from a same input device.
7. The computer-assisted device of claim 5 , wherein the first input device comprises a first foot pedal and the second input device comprises a second foot pedal.
8. The computer-assisted device of claim 5 , wherein the first input device comprises a first digital button and the second input device comprises a second digital button.
9. The computer-assisted device of claim 1 , wherein the computer-assisted device is a surgical device and the curved needle is a curved suturing needle.
10. The computer-assisted device of claim 1 , wherein the end effector is configured to be mounted near a distal end of a repositionable arm.
11. A method comprising:
in response to receiving a first input, causing, by a control unit, a drive mechanism of an end effector of a computer-assisted device to rotationally actuate a curved needle coupled to the drive mechanism by a first preset rotation amount along an arcuate path; and
in response to receiving a second input, causing, by the control unit, the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path,
wherein the second preset rotation amount differs from the first preset rotation amount.
12. The method of claim 11 , wherein the arcuate path comprises a circular path and the drive mechanism is configured to rotationally actuate the curved needle about an axis that includes a center point of the circular path.
13. The method of claim 12 , wherein:
the first preset rotation amount is a 180 degree rotation of the curved needle about the axis along a first direction; and
the second preset rotation amount is a 360 degree rotation of the curved needle about the axis along the first direction.
14. The method of claim 11 , wherein the first input is received from a first input device and the second input is received from a second input device different from the first input device.
15. The method of claim 14 , wherein:
the first input device comprises a first foot pedal and the second input device comprises a second foot pedal; or
the first input device comprises a first digital button and the second input device comprises a second digital button.
16. The method of claim 11 , wherein the first input and the second input are each received from a same input device.
17. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors are adapted to cause the one or more processors to perform a method comprising:
in response to receiving a first input, causing a drive mechanism of an end effector of a computer-assisted device to rotationally actuate a curved needle coupled to the drive mechanism by a first preset rotation amount along an arcuate path; and
in response to receiving a second input, causing the drive mechanism to rotationally actuate the curved needle by a second preset rotation amount along the arcuate path,
wherein the second preset rotation amount differs from the first preset rotation amount.
18. The non-transitory machine-readable medium of claim 17 , wherein the arcuate path comprises a circular path and the drive mechanism is configured to rotationally actuate the curved needle about an axis that includes a center point of the circular path.
19. The non-transitory machine-readable medium of claim 18 , wherein:
the first preset rotation amount is a 180 degree rotation of the curved needle about the axis along a first direction; and
the second preset rotation amount is a 360 degree rotation of the curved needle about the axis along the first direction.
20. The non-transitory machine-readable medium of claim 17 , wherein the first input is received from a first input device and the second input is received from a second input device different from the first input device.