US 11,877,817 B2
Dynamic scaling for a robotic surgical system
Matthew Robert Penny, Durham, NC (US); Alexander John Maret, Durham, NC (US); and Kevin Andrew Hufford, Durham, NC (US)
Assigned to Asensus Surgical US, Inc., Durham, NC (US)
Filed by Asensus Surgical US, Inc., Durham, NC (US)
Filed on Dec. 30, 2021, as Appl. No. 17/566,634.
Application 17/566,634 is a division of application No. 16/931,425, filed on Jul. 16, 2020.
Claims priority of provisional application 62/874,967, filed on Jul. 16, 2019.
Claims priority of provisional application 62/874,974, filed on Jul. 16, 2019.
Claims priority of provisional application 62/874,960, filed on Jul. 16, 2019.
Claims priority of provisional application 62/874,969, filed on Jul. 16, 2019.
Prior Publication US 2022/0117688 A1, Apr. 21, 2022
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 1/04 (2006.01); A61B 34/30 (2016.01); A61B 1/313 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 1/04 (2013.01); A61B 34/74 (2016.02); A61B 34/77 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 1/3132 (2013.01); A61B 2017/00216 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/254 (2016.02); A61B 2034/258 (2016.02); A61B 2034/302 (2016.02)] 8 Claims
OG exemplary drawing
 
1. A robot-assisted surgical system, comprising:
a first manipulator configured for robotic positioning of a first surgical instrument in a body cavity, the first surgical instrument having a first end effector;
a second surgical instrument positionable in the body cavity, the second surgical instrument having a second end effector;
a camera positionable in the body cavity to capture images of the first end effector and the second end effector within the body cavity;
at least one user input device moveable by a user;
at least one processor and at least one memory storing instructions executable by said at least one processor to;
receive user input from the input device and causing the first manipulator to move the first surgical instrument in response to the user input based on a scaling factor;
perform computer vision analysis of the images to determine a location of a first reference point comprising a portion of said first surgical instrument end effector;
perform computer vision analysis of the images to determine a location of a second reference point comprising a portion of said second surgical instrument end effector;
determine a distance between the first and second reference points, and
adjusting the scaling factor based on the determined distance.