Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
US12029510B2 · kind B2 · utility
1Cited by
359References
16Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Jan 9, 2019 |
| Grant date | Jul 9, 2024 |
| Priority date | — |
| Expiry date | Nov 10, 2041 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2090/3937
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Robotic Surgical Systems and methods of controlling robotic surgical systems are disclosed herein. One disclosed method includes visually capturing a tool pose of a tool within a surgical site with an imaging device in a fixed frame of reference, determining an arm pose of a linkage supporting the tool from known geometries of the linkage in the fixed frame of reference, and manipulating the linkage to move the tool to a desired tool pose in response to a control signal in the fixed frame of reference.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.