US 12,089,905 B1
Computerized control and navigation of a robotic surgical apparatus
Jeffrey Roh, Seattle, WA (US); Justin Esterberg, Mesa, AZ (US); John Cronin, Jericho, VT (US); Seth Cronin, Essex Junction, VT (US); and Michael John Baker, Georgia, VT (US)
Assigned to IX Innovation LLC, Seattle, WA (US)
Filed by IX Innovation LLC, Seattle, WA (US)
Filed on May 22, 2023, as Appl. No. 18/321,084.
Int. Cl. A61B 34/30 (2016.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/10 (2016.02); A61B 34/20 (2016.02); A61B 34/25 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/252 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for control and navigation of a robotic surgical apparatus, the method comprising:
positioning, by a computer system, the robotic surgical apparatus at a first location in an operating room,
wherein the robotic surgical apparatus comprises a mobile unit configured to move the robotic surgical apparatus, a robotic arm, and an end effector attached to the robotic arm;
determining one or more instruments are available for performing at least a portion of a surgical step to be performed on a portion of an anatomy of a patient;
determining at least one outcome of a pre-operative simulation with the one or more instruments and the end effector, when the robotic surgical apparatus is positioned at the first location, wherein the pre-operative simulation indicates that the end effector is unable to use the one or more instruments to perform the portion of the surgical step;
receiving instructions to move the robotic surgical apparatus from the first location to a second location in the operating room;
executing the instructions to navigate the mobile unit within the operating room,
wherein navigating the mobile unit causes the robotic surgical apparatus to move from the first location to the second location; and
causing the robotic surgical apparatus to perform the surgical step at the second location using the end effector and the one or more instruments.