US 11,986,165 B1
Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
Nicolas Linard, Montrouge (FR); Ehsan Basafa, Redwood City, CA (US); and David Paul Noonan, San Francisco, CA (US)
Assigned to Moon Surgical SAS, Paris (FR)
Filed by Moon Surgical SAS, Paris (FR)
Filed on Dec. 11, 2023, as Appl. No. 18/535,991.
Application 18/535,991 is a continuation in part of application No. 18/331,073, filed on Jun. 7, 2023, granted, now 11,839,442.
Claims priority of provisional application 63/495,527, filed on Apr. 11, 2023.
Claims priority of provisional application 63/479,142, filed on Jan. 9, 2023.
Claims priority of application No. 23305026 (EP), filed on Jan. 9, 2023.
Int. Cl. A61B 1/313 (2006.01); A61B 1/00 (2006.01)
CPC A61B 1/3132 (2013.01) [A61B 1/00039 (2013.01); A61B 1/00149 (2013.01); A61B 1/0016 (2013.01)] 22 Claims
OG exemplary drawing
 
1. A method for assisting with laparoscopic surgery using a robot arm comprising a proximal end, a distal end configured to be removably coupled a surgical instrument, a plurality of links, and a plurality of joints between the proximal end and the distal end, the method comprising:
causing, via a controller operatively coupled to the robot arm, the robot arm to switch to a passive mode responsive to determining that movement of the robot arm due to movement at a handle of the surgical instrument is less than a predetermined amount for at least a predetermined dwell time period, the controller configured to cause the robot arm to maintain a static position in the passive mode;
applying, via the controller, gravity compensation to the robot arm to compensate for gravity of the surgical instrument;
calculating, via the controller during application of the gravity compensation, a hold force required to maintain the distal end of the robot arm in a static position in the passive mode;
establishing, via the controller, a baseline hold force based on the hold force; and
applying, via the controller, a breakaway force threshold to the robot arm based on the baseline hold force, the breakaway force threshold being a predetermined amount of force required to be applied to the robot arm to cause the robot arm to exit the passive mode.