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US 12,708,403 B2Granted
Systems and methods for dynamic trajectory control
AssigneeIntuitive Surgical Operations, Inc.
InventorsChristopher R. Carlson, Federico Barbagli, Randall L. Schlesinger
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Abstract
In one example, a method for performing a medical procedure includes receiving a command to initiate tissue sampling with a surgical instrument at a target location, retrieving a predefined dynamic trajectory for tissue sampling from a memory device, and moving the surgical instrument according to the predefined dynamic trajectory to sample tissue at the target location.
Claims20
A biopsy system comprising:
- a biopsy tool;
- and
- a control system in communication with the biopsy tool, the control system configured to:
- receive a command to perform a biopsy;
- retrieve a predefined dynamic trajectory for performing the biopsy from a memory device, wherein the predefined dynamic trajectory comprises:
- an insertion phase of the biopsy for inserting the biopsy tool to an extraction position inside or at a periphery of a target tissue;
- and
- a sampling phase of the biopsy, after the insertion phase, wherein a motion profile of the sampling phase comprises a plurality of motion cycles, wherein each motion cycle of the plurality of motion cycles comprises an insertion of the biopsy tool and a retraction of the biopsy tool;
- and
- control the biopsy tool to move according to the predefined dynamic trajectory to perform the biopsy.
7 more elements
Dependencies are inferred from the claim text.