US 12,239,293 B2
Endoscope for sensing trocars, compatible cannulas, instruments and accessories
Geoffrey Robert Russell, San Jose, CA (US)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Oct. 2, 2020, as Appl. No. 17/062,433.
Prior Publication US 2022/0104695 A1, Apr. 7, 2022
Int. Cl. A61B 1/018 (2006.01); A61B 1/00 (2006.01); A61B 17/00 (2006.01); A61B 17/34 (2006.01); A61B 34/30 (2016.01)
CPC A61B 1/018 (2013.01) [A61B 1/00006 (2013.01); A61B 1/00016 (2013.01); A61B 17/00234 (2013.01); A61B 17/3421 (2013.01); A61B 17/3478 (2013.01); A61B 34/30 (2016.02)] 21 Claims
OG exemplary drawing
 
1. A method performed by at least one processor of a surgical robotic system, comprising:
configuring, by the at least one processor, a first surgical instrument of the surgical robotic system such that the first surgical instrument operates in an initial state while the first surgical instrument is outside of and prior to being inserted into a first cannula of a trocar;
receiving, by the at least one processor, first sensing information from the first surgical instrument indicating that the first surgical instrument has been inserted into the first cannula;
receiving, by the at least one processor, second sensing information of a second surgical instrument or a second cannula; and
responsive to receiving the first and second sensing information:
generating, by the at least one processor, first configuration information of the first surgical instrument based on the first and second sensing information, the first configuration information being used to configure the first surgical instrument to operate in a first state corresponding to when the first surgical instrument is in the first cannula; and
configuring, by the at least one processor, the first surgical instrument using the first configuration information such that the first surgical instrument operates in the first state different from the initial state, wherein the first configuration information is used to configure the first surgical instrument to operate in the first state in which the first surgical instrument is operable with the second surgical instrument or the second cannula.