Invention Grant
- Patent Title: System and method for aligning with a reference target
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Application No.: US15126983Application Date: 2015-03-17
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Publication No.: US10064689B2Publication Date: 2018-09-04
- Inventor: Nitish Swarup , Paul G. Griffiths , Brandon D. Itkowitz , Michael Hanuschik , Thomas R. Nixon
- Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
- Applicant Address: US CA Sunnyvale
- Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee Address: US CA Sunnyvale
- International Application: PCT/US2015/021097 WO 20150317
- International Announcement: WO2015/142947 WO 20150924
- Main IPC: A61B34/30
- IPC: A61B34/30 ; B25J9/16 ; A61B1/00 ; A61B34/20

Abstract:
A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.
Public/Granted literature
- US20170172670A1 SYSTEM AND METHOD FOR ALIGNING WITH A REFERENCE TARGET Public/Granted day:2017-06-22
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