System and method of registration between devices with movable arms

US11007023B2 · kind B2 · utility

Assignees

• INTUITIVE SURGICAL OPERATIONS, INC. · US
• Siemens Healthcare Limited · DE

Inventors

• Mahdi Azizian · Santa Clara, US
• Jonathan M. Sorger · Belmont, US
• Lutz Blohm · Möhrendorf, DE
• Christine Niebler · Crimmitschau, DE
• Holger Kunze · Bubenreuth, DE

Key dates

• Filing date: Aug 2, 2018
• Grant date: May 18, 2021
• Expiry date: Jun 16, 2039

Classification

• Technology area (CPC Y): Emerging Cross-Sectional Technologies
• CPC primary: Y10S901/47
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A system and method of registration between devices includes a tracking system and a controller. The system is configured to couple to a first device and a second arm separate from the first device. The first device has a first arm configured to couple to a manipulatable device. The second arm is configured to couple to an imaging device. The controller is configured to determine, based on tracking data from the tracking system, a first pose of the first arm and a second pose of the second arm; send a movement command to the second arm that directs the second arm to move into a third pose while maintaining a safety margin between the first and second arms. In the third pose the imaging device can capture an image of at least a portion of the manipulatable device. The movement command is based on the first and second poses.