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. 09, 2024
Filed:
Jan. 09, 2019
Determining positions and conditions of tools of a robotic surgical system utilizing computer vision
Applicant:
Covidien Lp, Mansfield, MA (US);
Inventors:
William J. Peine, Ashland, MA (US);
Meir Rosenberg, Newton, MA (US);
Dwight Meglan, Westwood, MA (US);
Assignee:
COVIDIEN LP, Mansfield, MA (US);
Attorney:
Primary Examiner:
Int. Cl.
CPC ...
A61B 34/32 (2016.01); A61B 17/04 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 17/068 (2006.01); A61B 17/29 (2006.01); A61B 17/295 (2006.01); A61B 34/30 (2016.01);
U.S. Cl.
CPC ...
A61B 34/32 (2016.02); A61B 17/0469 (2013.01); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 17/068 (2013.01); A61B 17/29 (2013.01); A61B 17/295 (2013.01); A61B 2034/2065 (2016.02); A61B 2034/258 (2016.02); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02);
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.