System and method for reducing blade exposures
Techniques for reducing blade exposures include a computer-assisted device having one or more processors and a drive system comprising one or more drive units configured to be coupled to a cutting instrument. The one or more processors are configured to: measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument; measure, using one or more second sensors, a roll of a shaft of the cutting instrument; correct the jaw angle based on the roll of the shaft; determine a restriction on a cutting operation to be performed using the instrument based on the corrected jaw angle; and perform or prevent the cutting operation according to the restriction.
1 . A computer-assisted device comprising:
one or more processors; and
a drive system comprising one or more drive units configured to be coupled to a cutting instrument;
wherein the one or more processors are configured to:
measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument;
measure, using one or more second sensors, a roll of a shaft of the cutting instrument;
correct the jaw angle based on the roll of the shaft;
determine a restriction on a cutting operation to be performed using the cutting instrument based on the corrected jaw angle; and
perform or prevent the cutting operation according to the restriction.
2 . The computer-assisted device of claim 1 , wherein the restriction on the cutting operation is to prevent the cutting operation when the corrected jaw angle is greater than a jaw angle threshold.
3 . The computer-assisted device of claim 1 , wherein the jaw angle is measured at the one or more drive units.
4 . The computer-assisted device of claim 1 , wherein to correct the jaw angle, the one or more processors are configured to adjust the measured jaw angle based on a correction model.
5 . The computer-assisted device of claim 4 , wherein the correction model is linear.
6 . The computer-assisted device of claim 1 , wherein to correct the jaw angle, the one or more processors are configured to adjust the measured jaw angle proportional to one or more of an absolute value of a pitch angle of an articulated wrist coupling the shaft to the gripping jaws or an absolute value of a yaw angle of the articulated wrist.
7 . The computer-assisted device of claim 1 , wherein to correct the jaw angle, the one or more processors are configured to adjust the measured jaw angle proportional to an absolute value of the roll of the shaft.
8 . A computer-assisted device comprising:
one or more processors; and
a drive system comprising one or more drive units configured to be coupled to a cutting instrument;
wherein the one or more processors are configured to:
measure, using one or more first sensors, a jaw angle between gripping jaws of the cutting instrument;
measure, using one or more second sensors, a roll of a shaft of the cutting instrument;
correct the jaw angle based on the roll of the shaft;
determine a cutting length based on the corrected jaw angle; and
perform a cutting operation according to the cutting length.
9 . The computer-assisted device of claim 8 , wherein the cutting length is less than a full-length cutting length.
10 . The computer-assisted device of claim 8 , wherein the jaw angle is measured at the one or more drive units.
11 . The computer-assisted device of claim 8 , wherein to correct the jaw angle, the one or more processors are configured to adjust the measured jaw angle based on a correction model.
12 . The computer-assisted device of claim 11 , wherein the correction model is linear.
13 . The computer-assisted device of claim 8 , wherein to correct the jaw angle, the one or more processors are configured to adjust the measured jaw angle proportional to one or more of an absolute value of a pitch angle of an articulated wrist coupling the shaft to the gripping jaws or an absolute value of a yaw angle of the articulated wrist.
14 . The computer-assisted device of claim 8 , wherein to correct the jaw angle, the one or more processors are configured to further adjust the measured jaw angle proportional to an absolute value of the roll of the shaft.
15 . A method comprising:
measuring, by one or more processors and using one or more first sensors, a jaw angle between gripping jaws of an end effector of a cutting instrument;
measuring, by the one or more processors and using one or more second sensors, a roll of a shaft of the cutting instrument;
correcting, by the one or more processors, the jaw angle based on the roll of the shaft;
determining, by the one or more processors, a cutting length based on the corrected jaw angle or a restriction on a cutting operation performed by the cutting instrument based on the corrected jaw angle; and
performing, using a drive system comprising one or more drive units coupled to the cutting instrument, a cutting operation according to the cutting length or the restriction on the cutting operation.
16 . The method of claim 15 , wherein the restriction on the cutting operation is to prevent the cutting operation when the corrected jaw angle is greater than a jaw angle threshold.
17 . The method of claim 15 , wherein the cutting length is less than a full-length cutting length.
18 . The method of claim 15 , wherein the jaw angle is measured at the one or more drive units.
19 . The method of claim 15 , wherein correcting the jaw angle comprises adjusting the measured jaw angle based on a correction model.
20 . The method of claim 15 , wherein correcting the jaw angle comprises adjusting the measured jaw angle proportional to an absolute value of the roll of the shaft.