公开(公告)号：US20210378746A1

公开(公告)日：2021-12-09

申请号：US16894625

申请日：2020-06-05

Applicant: Verb Surgical Inc.

Inventor： David R. Monteverde ,  Danyal Fer ,  Andrew Bzostek

IPC: A61B34/10 ,  A61B90/00 ,  A61B34/37

Abstract: A method for determining surgical port placement for minimally invasive surgery. Based on received measurements, an instance of a parametric torso model that defines an external surface and a visceral surface each having a dome shape that takes into account an insufflation effect, is determined. Normalized surgical target locations in the parametric torso model are determined in response to an identification of a surgical procedure, and are mapped to un-normalized surgical target locations. Permissible port locations on the instance of the parametric torso model are computed, based on the characteristics of a surgical tool and based on the un-normalized surgical target locations. Other aspects are also described and claimed.

公开(公告)号：US11672602B2

公开(公告)日：2023-06-13

申请号：US16894625

申请日：2020-06-05

Applicant: Verb Surgical Inc.

Inventor： David R. Monteverde ,  Danyal Fer ,  Andrew Bzostek

IPC: A61B34/10 ,  G06T17/00 ,  A61B34/37 ,  A61B90/00 ,  A61B34/30

CPC classification number: A61B34/10 ,  A61B34/37 ,  A61B90/06 ,  A61B90/36 ,  G06T17/00 ,  A61B2034/105 ,  A61B2034/107 ,  A61B2034/302 ,  A61B2090/364

Abstract: A method for determining surgical port placement for minimally invasive surgery. Based on received measurements, an instance of a parametric torso model that defines an external surface and a visceral surface each having a dome shape that takes into account an insufflation effect, is determined. Normalized surgical target locations in the parametric torso model are determined in response to an identification of a surgical procedure, and are mapped to un-normalized surgical target locations. Permissible port locations on the instance of the parametric torso model are computed, based on the characteristics of a surgical tool and based on the un-normalized surgical target locations. Other aspects are also described and claimed.

公开(公告)号：US11419686B2

公开(公告)日：2022-08-23

申请号：US16569877

申请日：2019-09-13

Applicant: Verb Surgical Inc.

Inventor： David Monteverde ,  Matthew Williams ,  Andrew Bzostek

IPC: G05B19/04 ,  G05B19/18 ,  A61B34/30 ,  B25J13/06 ,  B25J9/16 ,  B25J19/00 ,  A61B34/37 ,  A61B34/10 ,  A61B17/00 ,  A61B34/20 ,  A61B90/00

Abstract: For kinetic sizing, the dynamic torque to be provided by a robotic system may be based off of, in part, a maximum acceleration. Rather than trying to extract maximum acceleration from many samples, a relationship of velocity to acceleration from repetitive user inputs relative to a non-surgical target in different situations (e.g., accurate, fast, or balance tracing of the target movement) is established. The velocity for any given situation may be used to estimate the acceleration from the relationship. Rather than using many trajectory samples from many users, a synthetic trajectory may be used. The synthetic trajectory may be fit to user data while maintaining high-coverage properties for direction of movement for any given pose of the robot. Alternatively, a virtual trajectory decoupled from time is used. The virtual trajectory samples the directions at any given pose in a global high-coverage manner, without specifically using a time-dependent sequence of poses.