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1.发明申请公开(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
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.
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2.发明授权公开(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
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.
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