Dynamic trocar positioning for robotic surgical system
US12023116B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Dec 21, 2020 |
| Grant date | Jul 2, 2024 |
| Priority date | — |
| Expiry date | Dec 26, 2041 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/3937
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
A robotic surgical system includes a robotic arm, a surgical device coupled with the robotic arm and configured to extend through a body wall of a patient, and a controller in communication with the robotic arm. The controller is configured to determine a position of the surgical device relative to the patient. The controller is also configured to acknowledge a maximum allowable metric associated with the body wall at the determined position, and determine a metric associated with the body wall at the determined position. The controller is furthermore configured to drive the robotic arm to manipulate the surgical device such that the determined metric does not exceed the maximum allowable metric.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.