Systems and methods for trocar kinematics
US12201387B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 15, 2021 |
| Grant date | Jan 21, 2025 |
| Priority date | — |
| Expiry date | May 22, 2043 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61B2034/302
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
The present disclosure provides systems and methods for discretizing a movement or a motion of one or more robotic arms. The system may comprise a robotic arm, an end effector coupled to a distal portion of the robotic arm, and a trocar through which the end effector may be inserted. The trocar may comprise a trocar reference point. The system may further comprise a processor configured to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) determine a path between the starting position and the destination position, (iii) determine a plurality of points along the path, and (iv) determine a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.