US 11,911,910 B2
Systems and methods for sensing of and docking with a trocar
Berk Gonenc, Cupertino, CA (US); Xin Liu, Milpitas, CA (US); Jose Luis Cordoba, Malaga (ES); Bernhard A. Fuerst, Sunnyvale, CA (US); Dennis Moses, Hollywood, FL (US); and Pablo Garcia Kilroy, Menlo Park, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Dec. 9, 2022, as Appl. No. 18/063,940.
Application 18/063,940 is a continuation of application No. 16/670,889, filed on Oct. 31, 2019, granted, now 11,529,734.
Prior Publication US 2023/0219225 A1, Jul. 13, 2023
Int. Cl. A61B 34/37 (2016.01); B25J 9/16 (2006.01); A61B 34/32 (2016.01); A61B 17/34 (2006.01); A61B 34/35 (2016.01); A61B 90/50 (2016.01); A61B 34/20 (2016.01); A61B 34/10 (2016.01); A61B 17/00 (2006.01)
CPC B25J 9/1666 (2013.01) [A61B 17/3423 (2013.01); A61B 34/32 (2016.02); A61B 34/35 (2016.02); B25J 9/16 (2013.01); A61B 90/50 (2016.02); A61B 2017/00477 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
a tool drive to be coupled to a distal end of a robotic arm, the tool drive comprising a docking interface to receive a trocar and secure an attachment portion of the trocar to the docking interface;
one or more sensors operable to sense a sensed feature the trocar; and
one or more processors configured to
determine a first estimate of a location of the trocar, using a physical model;
signal one or more of a plurality of actuators in the surgical robotic arm to guide the surgical robotic arm based on the first estimate so that the docking interface, as coupled to the surgical robotic arm, moves into proximity of the trocar, and then determine a second estimate of a position and an orientation of the trocar based on the sensed feature, and then
alert an operator of the system, and provide a plurality of virtual fixture modes of operation as options to be selected by the operator for moving the docking interface closer to the trocar until the attachment portion of the trocar can be secured to the docking interface.