公开(公告)号：US20240390068A1

公开(公告)日：2024-11-28

申请号：US18670002

申请日：2024-05-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Steven Manuel ,  Daniel H. Gomez ,  Daniel N. Miller ,  John Ryan Steger ,  Prasad V. Upadrasta ,  Zhuoqun Xu ,  Chun hua Zheng ,  Pavel Chtcheprov

IPC: A61B34/10 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00

Abstract: A computer-assisted system can comprise an instrument configured to be at least partially inserted through a body wall from an external workspace to an internal workspace within a body; and a controller configured to generate a first three-dimensional model of the internal workspace in which a first portion of the instrument is inserted during performance of a medical procedure using the instrument, generate a second three-dimensional model of an external workspace in which a second portion of the instrument is located during the performance of the medical procedure, based on the first three-dimensional model and the second three-dimensional model, determine an internal geometry within the internal workspace defining a reachable volume within the internal workspace within which the instrument may be positioned, and provide output related to performance of the medical procedure based on the determined internal geometry.