US 12,245,823 B2
System and method for automated trocar and robot base location determination
Yash Evalekar, Princeton, NJ (US); Yuanfeng Mao, Princeton, NJ (US); Guo-Qing Wei, Plainsboro, NJ (US); Li Fan, Belle Mead, NJ (US); Xiaolan Zeng, Princeton, NJ (US); and Jianzhong Qian, Princeton Junction, NJ (US)
Assigned to EDDA TECHNOLOGY, INC., Princeton, NJ (US)
Filed by EDDA TECHNOLOGY, INC., Princeton, NJ (US)
Filed on Feb. 2, 2023, as Appl. No. 18/163,686.
Prior Publication US 2024/0261028 A1, Aug. 8, 2024
Int. Cl. A61B 17/34 (2006.01); A61B 34/10 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/10 (2016.02) [A61B 17/3403 (2013.01); A61B 17/3423 (2013.01); A61B 17/3476 (2013.01); B25J 9/1605 (2013.01); A61B 2017/3409 (2013.01); A61B 2034/104 (2016.02); A61B 2034/105 (2016.02); A61B 2034/107 (2016.02); G05B 2219/45117 (2013.01)] 21 Claims
OG exemplary drawing
 
1. A method implemented on at least one processor, a memory, and a communication platform, comprising:
receiving input related to a surgical operation, including a three-dimensional (3D) model of an organ, wherein the 3D model includes a list of cut points on the organ forming a planned surgical trajectory, wherein a surgical instrument controlled by a robot is used to reach each of the cut points to carry out the surgical operation;
identifying an insertion location on skin of a patient for inserting the surgical instrument, wherein the surgical instrument inserted at the insertion location is controlled by the robot to reach each of the list of cut points;
identifying, with respect to the insertion location, a robot base location, where the robot is to be stationed and operates to control movement of the surgical instrument to reach each of the list of cut points; and
generating control signals for configuring a surgical setting for the surgical operation based on the insertion location for the surgical instrument and the base location for the robot.