Verb Surgical Inc.

David R Monteverde

Andrew Bzostek

Matthew Reagan Williams

Danyal Fer

A method for determining surgical port placement for minimally invasive surgery. Based on received measurements, an instance of a parametric torso model that defines an external surface and a visceral surface each having a dome shape that takes into account an insufflation effect, is determined. Normalized surgical target locations in the parametric torso model are determined in response to an identification of a surgical procedure, and are mapped to un-normalized surgical target locations. Permissible port locations on the instance of the parametric torso model are computed, based on the characteristics of a surgical tool and based on the un-normalized surgical target locations. Other aspects are also described and claimed.

Port placement guide based on insufflated patient torso model and normalized surgical targets

For kinetic sizing, the dynamic torque to be provided by a robotic system may be based off of, in part, a maximum acceleration. Rather than trying to extract maximum acceleration from many samples, a relationship of velocity to acceleration from repetitive user inputs relative to a non-surgical target in different situations (e.g., accurate, fast, or balance tracing of the target movement) is established. The velocity for any given situation may be used to estimate the acceleration from the relationship. Rather than using many trajectory samples from many users, a synthetic trajectory may be used. The synthetic trajectory may be fit to user data while maintaining high-coverage properties for direction of movement for any given pose of the robot. Alternatively, a virtual trajectory decoupled from time is used. The virtual trajectory samples the directions at any given pose in a global high-coverage manner, without specifically using a time-dependent sequence of poses.

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Sunnyvale, CA, United States of America

David R Monteverde