06783524 is referenced by 840 patents and cites 6 patents.

A surgical instrument for enhancing robotic surgery generally includes an elongate shaft with an ultrasound probe, an end effector at the distal end of the shaft, and a base at the proximal end of the shaft. The end effector includes an ultrasound probe tip and the surgical instrument is generally configured for convenient positioning of the probe tip within a surgical site by a robotic surgical system. Ultrasound energy delivered by the probe tip may be used to cut, cauterize, or achieve various other desired effects on tissue at a surgical site. In various embodiments, the end effector also includes a gripper, for gripping tissue in cooperation with the ultrasound probe tip. The base is generally configured to removably couple the surgical instrument to a robotic surgical system and to transmit forces from the surgical system to the end effector, through the elongate shaft. A method for enhancing robotic surgery generally includes coupling the surgical instrument to a robotic surgical system, positioning the probe tip in contact with tissue at a surgical site, and delivering ultrasound energy to the tissue.

Title
Robotic surgical tool with ultrasound cauterizing and cutting instrument
Application Number
10/126499
Publication Number
6783524 (B2)
Application Date
April 18, 2002
Publication Date
August 31, 2004
Inventor
Christopher A Julian
Los Gatos
CA, US
Stephen C Anderson
Northampton
MA, US
Agent
Townsend&Townsend&CrewLLP
US
Agent
Nathan S Cassell Esq
US
Assignee
Intuitive Surgical
CA, US
IPC
A61B 18/04
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