Robotic system for engaging a fastener with body tissue

摘要

An improved apparatus and method of securing body tissue may be performed with a robotic mechanism. The robotic mechanism may be utilized to tension a suture with a predetermined force and urge a suture retainer toward body tissue with a predetermined force. Ultrasonic vibratory energy may be transmitted to the suture retainer to effect a gripping of the suture by the suture retainer. The body tissue may be secured with a staple. Legs of the staple may be bonded together to secure the staple. The legs of the staple may be bonded together by transmitting ultrasonic vibratory energy to the legs of the staple. A tissue positioning assembly may be used to hold the body tissue in a desired position. Images of the body tissue being secured may be obtained using various known devices including one or more endoscopes, a fluoroscope, a magnetic resonance imaging device, and/or other known imaging devices.

主权项

1. A robotic system for engaging a fastener with a body tissue, the system comprising:
a robotic mechanism including an adaptive arm, the robotic mechanism configured to position a fastener relative to the body tissue, the robotic mechanism having first and second force transmitting portions configured to apply at least one of an axial force and a transverse force relative to the fastener; a computer configured to control the robotic mechanism; and an adaptive arm interface coupled to the adaptive arm and the computer, the adaptive arm interface configured to operate the computer, wherein a magnitude of the at least one axial force and transverse force applied to the fastener is limited by the computer.