US 12,330,314 B2
Systems and methods for 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. 12, 2023, as Appl. No. 18/537,639.
Application 18/537,639 is a continuation of application No. 18/063,940, filed on Dec. 9, 2022, granted, now 11,911,910.
Application 18/063,940 is a continuation of application No. 16/670,889, filed on Oct. 31, 2019, granted, now 11,529,734, issued on Dec. 20, 2022.
Prior Publication US 2024/0173865 A1, May 30, 2024
Int. Cl. B25J 9/16 (2006.01); A61B 17/34 (2006.01); A61B 34/32 (2016.01); A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01)
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 2017/00477 (2013.01); A61B 2034/107 (2016.02); A61B 2034/2055 (2016.02); A61B 90/50 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
a tool drive to be coupled to a distal end of a surgical robotic arm, the tool drive comprising a docking interface to receive a trocar and configured to secure an attachment portion of the trocar to the docking interface;
one or more sensors operable to visually sense a surface feature of the trocar as image data; and
one or more processors configured to
determine a position of the trocar,
generate a planned trajectory that includes a pre-determined path generated independently of the image data, wherein the planned trajectory starts from a known pose of the docking interface to the determined position of the trocar and is generated based on i) a log of prior movements of the surgical robotic arm and ii) signals received from a plurality of force or torque sensors in the surgical robotic arm, and
signal a plurality of actuators in the arm to guide the robotic arm so that the tool drive, coupled to the distal end of the arm, is guided toward the determined position of the trocar along the pre-determined path.