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:
Apr. 01, 2025
Filed:
Jun. 16, 2021
Systems and methods to optimize reachability, workspace, and dexterity in minimally invasive surgery
Activ Surgical, Inc., Boston, MA (US);
Hossein Dehghani, Boston, MA (US);
ACTIV Surgical, Inc., Boston, MA (US);
Abstract
Systems, methods, and computer program products for quantification of error in tool orientation of a surgical robotic are disclosed. A first robotic arm is provided where the robotic arm includes a surgical instrument and a tool disposed at the distal end of the surgical instrument. A first orientation of the tool is determined including a first x-component, a first y-component, and a first z-component. A desired orientation of the tool is determined including a second x-component, a second y-component, and a second z-component. A first angle between the first x-component and the second x-component is determined, a second angle between the first y-component and the second y-component is determined, and a third angle between the first z-component and the second z-component is determined. An error metric based on the first angle, the second angle, and the third angle is determined.