US 12,329,470 B2
System and method for automated docking
Saleh Tabandeh, Santa Clara, CA (US); and Daniel H. Gomez, Los Gatos, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Appl. No. 17/422,697
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
PCT Filed Jan. 13, 2020, PCT No. PCT/US2020/013395
§ 371(c)(1), (2) Date Jul. 13, 2021,
PCT Pub. No. WO2020/150165, PCT Pub. Date Jul. 23, 2020.
Claims priority of provisional application 62/792,162, filed on Jan. 14, 2019.
Prior Publication US 2022/0117680 A1, Apr. 21, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/20 (2016.02); A61B 34/32 (2016.02); A61B 90/08 (2016.02); A61B 90/361 (2016.02); A61B 90/50 (2016.02); A61B 2090/0808 (2016.02); A61B 2090/3983 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a linkage;
a docking arm located near a distal end of the linkage;
a docking support mechanism; and
one or more processors coupled to the linkage and the docking support mechanism;
wherein the one or more processors are configured to:
detect a docking port of an access port using the docking support mechanism; and
actuate the linkage based on the detection to:
align the docking arm with an alignment point of the docking port;
align an alignment axis of the docking arm with an alignment axis of the docking port, wherein the alignment axis of the docking port is different than a direction through which an instrument is inserted through the access port;
rotate the docking arm about the alignment axis of the docking port; and
dock the docking arm to the docking port.