Invention Grant
- Patent Title: Systems and methods for guided port placement selection
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Application No.: US16759073Application Date: 2018-10-17
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Publication No.: US11589939B2Publication Date: 2023-02-28
- Inventor: Robert G. Stricko, III , Brandon D. Itkowitz , Amy E. Kerdok , Brett M. Page , Jason A. Pile
- 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
- Agency: Haynes and Boone, LLP
- International Application: PCT/US2018/056267 WO 20181017
- International Announcement: WO2019/089226 WO 20190509
- Main IPC: A61B34/10
- IPC: A61B34/10 ; B25J9/16 ; A61B34/00 ; A61B34/35 ; A61B34/37 ; B25J17/02 ; A61B34/30 ; G06T15/08 ; G06T17/00

Abstract:
A computing device comprises a memory and a control unit coupled to the memory. The control unit is configured to receive a patient model and identify a plurality of port locations on the patient model for accessing a workspace using a plurality of instruments controlled by a computer-assisted device. For each of the port locations, the control unit determines a collision volume for portions of the computer-assisted device proximal to the port location, a reachability metric, and an anthropomorphic metric. For each combination of the plurality of port locations, the control unit determines a collision metric based on overlaps of the collision volumes for the port locations in the combination, and an aggregate metric for the combination. The control unit is also configured to display one or more of the combinations of the plurality of port locations to a user along with a corresponding aggregate metric.
Public/Granted literature
- US20200345438A1 SYSTEMS AND METHODS FOR GUIDED PORT PLACEMENT SELECTION Public/Granted day:2020-11-05
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