The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 19, 2022
Filed:
Feb. 04, 2016
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Mahdi Azizian, Santa Clara, CA (US);
Oliver Wagner, Mountain View, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
A computer-assisted medical device includes a control unit, first and second articulated arms, a first imaging device mounted to the first articulated arm, and a medical tool mounted to the second articulated arm. The control unit obtains first images from a second imaging device using a first imaging modality, determines first coordinates of multi-modal anatomical markers secured to a patient based on the first images, obtains second images from the first imaging device using a second imaging modality, determines second coordinates of the multi-modal markers relative to the medical tool based on the second images, at least one of the multi-modal markers including a body comprising a first region observable by the first imaging modality and a second region observable by the second imaging modality, and registers the medical tool to the patient based on the first and second coordinates and kinematic models of the first and second articulated arms.