US 11,666,413 B2
System and method for an articulated arm based tool guide
Mahdi Azizian, Santa Clara, CA (US); Andrew C. Waterbury, Sunnyvale, CA (US); and Jonathan M. Sorger, Belmont, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 9, 2020, as Appl. No. 16/813,120.
Application 16/813,120 is a continuation of application No. 15/522,657, granted, now 10,603,135, previously published as PCT/US2015/058223, filed on Oct. 30, 2015.
Claims priority of provisional application 62/072,612, filed on Oct. 30, 2014.
Prior Publication US 2020/0214790 A1, Jul. 9, 2020
Int. Cl. A61B 90/50 (2016.01); A61B 90/11 (2016.01); A61B 34/20 (2016.01); B25J 9/16 (2006.01); B25J 9/00 (2006.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01)
CPC A61B 90/50 (2016.02) [A61B 34/20 (2016.02); A61B 90/11 (2016.02); A61B 1/00149 (2013.01); A61B 34/25 (2016.02); A61B 34/70 (2016.02); B25J 9/009 (2013.01); B25J 9/1682 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A tool guide for use with a computer-assisted medical device, the tool guide comprising:
an elongated body comprising a first end and a second end opposite the first end;
a joint attached to the first end of the elongated body;
a mounting arm coupled to the elongated body via the joint; and
a tool sleeve attached to the second end of the elongated body;
wherein the mounting arm is configured to be attached to a first articulated arm of the computer-assisted medical device; and
wherein the tool sleeve is adapted to receive an end effector attached to a second articulated arm of the computer-assisted medical device.