发明申请
WO2019139949A1 DETERMINING POSITIONS AND CONDITIONS OF TOOLS OF A ROBOTIC SURGICAL SYSTEM UTILIZING COMPUTER VISION
审中-公开
基本信息:
- 专利标题： DETERMINING POSITIONS AND CONDITIONS OF TOOLS OF A ROBOTIC SURGICAL SYSTEM UTILIZING COMPUTER VISION
- 申请号：PCT/US2019/012847 申请日：2019-01-09
- 公开(公告)号：WO2019139949A1 公开(公告)日：2019-07-18
- 发明人： PEINE, William , ROSENBERG, Meir , MEGLAN, Dwight
- 申请人： COVIDIEN LP
- 申请人地址： 15 Hampshire Street Mansfield, Massachusetts 02048 US
- 专利权人： COVIDIEN LP
- 当前专利权人： COVIDIEN LP
- 当前专利权人地址： 15 Hampshire Street Mansfield, Massachusetts 02048 US
- 代理机构： AKYUZ, Ishak et al.
- 优先权： US62/615,590 20180110
- 主分类号： A61B34/35
- IPC分类号： A61B34/35 ; A61B34/20 ; A61B90/00
摘要：
Robotic Surgical Systems and methods of controlling robotic surgical systems are disclosed herein. One disclosed method includes visually capturing a tool pose of a tool within a surgical site with an imaging device in a fixed frame of reference, determining an arm pose of a linkage supporting the tool from known geometries of the linkage in the fixed frame of reference, and manipulating the linkage to move the tool to a desired tool pose in response to a control signal in the fixed frame of reference.