Systems and methods for entry point localization
AssigneeIntuitive Surgical Operations, Inc.
InventorsFederico Barbagli, Lisa Ison
Life of this patent
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Abstract
A method performed by a computing system includes determining an entry position and entry vector of an entry port in a surgical coordinate space, the entry port providing a passageway for insertion of a first medical instrument into a patient's body, wherein the determining of the entry position and entry vector occurs while the first medical instrument is external to the entry port; positioning the first medical instrument based on the entry position and the entry vector of the entry port; and advancing a distal end of the first medical instrument into the entry port.
Claims20
A method performed by a computing system, comprising:
- determining an entry position and entry vector of an entry port in a surgical coordinate space, the entry port providing a passageway for insertion of a first medical instrument into a patient's body, wherein the determining of the entry position and entry vector occurs while the first medical instrument is external to the entry port;
- positioning the first medical instrument based on the entry position and the entry vector of the entry port;
- and
- advancing a distal end of the first medical instrument into the entry port.
A teleoperative system, comprising:
- a teleoperational manipulator;
- a medical instrument coupled to and movable by the teleoperational manipulator;
- an entry port providing a passageway for insertion of the medical instrument into a patient body;
- and
- a control system configured to:
- determine an entry position and entry vector of the entry port in a surgical coordinate space while the medical instrument is external to the entry port;
- position the medical instrument based on the entry position and the entry vector of the entry port;
- and
- advance a distal end of the medical instrument into the entry port.
Dependencies are inferred from the claim text.