Workspace optimization for robotic surgery
US12370002B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 10, 2021 |
| Grant date | Jul 29, 2025 |
| Priority date | — |
| Expiry date | Apr 12, 2043 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/45123
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Certain aspects relate to systems and techniques for optimizing the configuration of a robotic system by moving the links of the system in a null space to minimize a cost function. The null space being defined by the desired set of end effector pose. The cost function may be evaluated by computing the distance of the links from various avoidance zones. The avoidance zones are associated with collisions and joint limit conditions. The systems and techniques may specifically relate to a system wherein the optimization includes movement of an arm support. The system may be employed pre-operatively or intraoperatively to minimize collisions and joint limit event during the course of a procedure. The system may be used at intervals. The system may be used each time the end effectors are commanded into a new pose.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.