System and method for guiding adjustment of a remote center in robotically assisted medical procedures
AssigneeAuris Health, Inc.
InventorsMary Margaret Scheunert, Pouya Sabetian, Kaiyang Zheng, Alexander Tarek Hassan
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Abstract
At least one robotic arm is coupled to an instrument and docked to a cannula. The cannula includes a first location of the cannula and a second location of the cannula. The at least one robotic arm is capable of entering a guided mode whereby a remote center of motion changes from the first location of the cannula to the second location of the cannula, and wherein an alert associated with the guided mode informs a user of entry into the guided mode.
Claims21
1-20. (canceled)
A system for robotic manipulation of a medical tool, comprising:
- a robotic arm comprising a plurality of links and joints that cooperate to move a medical tool, the robotic arm couplable to an elongated shaft adapted to deploy through a body opening of a patient;
- and
- a control unit configured to:
- cause a first location of the elongated shaft to act as a center of motion when the robotic arm manipulates the medical tool;
- determine a second location of the elongated shaft at a distance from the first location;
- receive an indication that the robotic arm has been placed in a guided mode;
- responsive to the robotic arm being placed in the guided mode:
- enable the robotic arm to be moved such that the elongated shaft is advanced or retracted;
- and
- cause, after the guided mode is terminated, the second location of the elongated shaft to act as a center of motion for the elongated shaft when the robotic arm manipulates the medical tool.
A method for guiding adjustment of a remote center, comprising:
- robotically facilitating movement of a robotic arm comprising a plurality of links and joints that cooperate to move a medical tool, the robotic arm coupled to an elongated shaft adapted to deploy through a body opening of a patient;
- causing a first location of the elongated shaft to act as a center of motion for the elongated shaft when the robotic arm manipulates the medical tool;
- determining a second location of the elongated shaft a distance from the first location;
- receiving an indication that the robotic arm has been placed in a guided mode;
- responsive to the robotic arm being placed in the guided mode:
- enabling the robotic arm to move such that the elongated shaft is advanced or retracted;
- and
- causing, after the guided mode is terminated, the second location of the elongated shaft to act as a center of motion for the elongated shaft when the robotic arm manipulates the medical tool.
A medical robotic system comprising a robotic arm couplable to an instrument and to a cannula, wherein the robotic arm is capable of entering a guided mode whereby a remote center of motion changes from a first location of the cannula to a second location of the cannula, and wherein an alert component associated with the guided mode is configured to inform a user of entry into the guided mode.
Dependencies are inferred from the claim text.