IP Library › Granted Patent US 12,201,387
Granted Patent B2
US 12,201,387 · App. 17/503,108 · Granted Jan 21, 2025

Systems and methods for trocar kinematics

Inventors: Michael Pickett (Boston, MA); Vasiliy Buharin (Boston, MA); Hossein Dehghani (Boston, MA)
Assignee: ACTIV Surgical, Inc.
A61B34/30A61B17/3423A61B90/50A61B2017/00221A61B2034/2059A61B2034/302
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Quick Facts
Patent No.
US 12,201,387
App. No.
17/503,108
Granted
Jan 21, 2025
Kind
B2
Abstract

The present disclosure provides systems and methods for discretizing a movement or a motion of one or more robotic arms. The system may comprise a robotic arm, an end effector coupled to a distal portion of the robotic arm, and a trocar through which the end effector may be inserted. The trocar may comprise a trocar reference point. The system may further comprise a processor configured to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) determine a path between the starting position and the destination position, (iii) determine a plurality of points along the path, and (iv) determine a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point.

Claims (31)

1. A method, comprising:

(a) providing (i) a robotic arm including an end effector, (ii) a trocar through which the end effector is insertable, wherein the trocar includes a trocar reference point, and (iii) a processor; and

(b) using the processor to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) compute a path between the starting position and the destination position, (iii) identify a plurality of points along the path, (iv) generate a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point, and (v) determine a projected vector from the trocar reference point to a first point of the plurality of points,

wherein the set of motions includes an in-plane rotation of the end effector that maintains the trocar reference point during the in-plane rotation, and

wherein the in-plane rotation is determined based at least in part on a rotation matrix, wherein the rotation matrix is computed as a function of a trocar z-axis vector and the projected vector.

2. The method of claim 1 , wherein the end effector comprises a medical tool or an imaging device.

3. The method of claim 1 , wherein the trocar reference point corresponds to a reference point that is located on the trocar.

4. The method of claim 3 , wherein the reference point corresponds to a portion of the trocar that is located adjacent to an incision in a subject's body.

5. The method of claim 1 , further comprising using the trocar reference point to compute a reference frame of the end effector.

6. The method of claim 1 , further comprising using the trocar reference point to compute a relative position and a relative orientation of the end effector.

7. The method of claim 1 , further comprising using the set of motions to adjust a position and an orientation of the distal end of the end effector to enable a medical operator to access one or more portions of a surgical scene while avoiding one or more obstacles in the surgical scene.

8. The method of claim 1 , further comprising using the set of motions to adjust a position and an orientation of the distal end of the end effector to enable a medical operator to perform one or more steps of a surgical procedure while minimizing damage to a subject.

9. The method of claim 1 , further comprising determining one or more rotations and one or more translations of the end effector to move the distal end of the end effector to the destination position, based at least in part on the starting position, the first point of the plurality of points, and the in-plane rotation of the end effector.

10. The method of claim 1 , wherein the rotation matrix comprises a rotation portion corresponding to a rotational motion of the end effector and a translation portion corresponding to a translational motion of the end effector.

11. The method of claim 1 , wherein the rotation matrix comprises an N×N matrix, wherein N is an integer greater than or equal to 3.

12. A method comprising:

(a) providing (i) a robotic arm including an end effector, (ii) a trocar through which the end effector is insertable, wherein the trocar includes a trocar reference point, and (iii) a processor; and

(b) using the processor to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) compute a path between the starting position and the destination position, (iii) identify a plurality of points along the path, (iv) generate a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point, and (v) determine a projected vector from the trocar reference point to a first point of the plurality of points,

wherein the set of motions includes an in-plane rotation of the end effector that maintains the trocar reference point during the in-plane rotation, and wherein the in-plane rotation is determined based at least in part on an angle between the end effector and the projected vector.

13. The method of claim 12 , wherein the angle between the end effector and the projected vector ranges from 0 degrees to about 45 degrees.

14. The method comprising:

(a) providing (i) a robotic arm including an end effector, (ii) a trocar through which the end effector is insertable, wherein the trocar includes a trocar reference point, and (iii) a processor; and

(b) using the processor to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) compute a path between the starting position and the destination position, (iii) identify of plurality of points along the path, and (iv) generate a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on the trocar reference point,

wherein the set of motions includes an in-plane rotation of the end effector that maintains the trocar reference point during the in-plane rotation, and wherein the plurality of points along the path are determined by discretizing the path into a plurality of segments.

15. The method of claim 1 , wherein the path comprises a linear portion defined by at least one vector.

16. The method of claim 1 , wherein the path comprises a curved portion defined by a plurality of vectors.

17. A method comprising:

(a) providing (i) a robotic arm including an end effector, (ii) a trocar through which the end effector is insertable, wherein the trocar includes a trocar reference point, and (iii) a processor; and

(b) using the processor to (i) determine a starting position and a destination position of a distal end of the end effector, (ii) compute a path between the starting position and the destination position, (iii) identify a plurality of points along the path, (iv) generate a set of motions to move the distal end of the end effector from the starting position to the destination position, based at least in part on e trocar reference point, (v) determine a projected vector from the trocar reference point to a first point of the plurality of points, (vi) determine one or more rotations and one or more translations of the end effector to move the distal end of the end effector to the destination position, based at least in part on the starting position, the first point of the plurality of points, and an in-plane rotation of the end effector, and (vii) determine a set of transformations for the one or more rotations and the one or more translations of the end effector from a first reference frame to a second reference frames,

wherein the set of motions includes the in-plane rotation of the end effector that maintains the trocar reference point during the in-plane rotation.

18. The method of claim 17 , wherein the first reference frame is defined relative to the end effector and the second reference frame is defined relative to the robotic arm.

Assignments (2)
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Feb 10, 2022
From: PICKETT, MICHAEL; BUHARIN, VASILIY; DEHGHANI, HOSSEIN
To: ACTIV SURGICAL, INC.
Reel/Frame 058976/0091 →
ASSIGNMENT OF ASSIGNOR'S INTEREST Recorded Feb 7, 2022
From: PICKETT, MICHAEL; BUHARIN, VASILIY; DEHGHANI, HOSSEIN
To: ACTIV SURGICAL, INC.
Reel/Frame 058914/0303 →
Continuity (3)
Continuation PCTUS2020028536 · Apr 16, 2020
Provisional Application 62836201 · Apr 19, 2019
Related Publication 20220175471A1 · Jun 9, 2022
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