US 12,433,681 B2
Systems and methods for magnetic sensing and docking with a trocar
Bernhard A. Fuerst, Sunnyvale, CA (US); Dennis Moses, Hollywood, FL (US); Miguel Piedrahita, Mountain View, CA (US); Michael Wong, Mountain View, CA (US); Pablo Garcia Kilroy, Menlo Park, CA (US); and Jose Luis Cordoba, Malaga (ES)
Assigned to Verb Surgical Inc., Santa Clara, CA (US)
Filed by Verb Surgical Inc., Santa Clara, CA (US)
Filed on Jul. 29, 2021, as Appl. No. 17/388,682.
Application 17/388,682 is a continuation of application No. 16/285,001, filed on Feb. 25, 2019, granted, now 11,090,122.
Prior Publication US 2021/0353369 A1, Nov. 18, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/20 (2016.01); A61B 17/00 (2006.01); A61B 17/34 (2006.01); A61B 34/35 (2016.01); B25J 9/16 (2006.01); B25J 13/08 (2006.01); B25J 15/00 (2006.01)
CPC A61B 34/20 (2016.02) [A61B 17/3423 (2013.01); A61B 34/35 (2016.02); B25J 13/088 (2013.01); B25J 15/0019 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/2051 (2016.02); A61B 2562/0223 (2013.01); B25J 9/1689 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical robotic system, comprising:
a robotic arm;
a docking interface coupled to the robotic arm to receive a trocar;
one or more sensors operable to sense a magnetic field generated by the trocar wherein the one more sensors are coupled to the robotic arm and the magnetic field is generated by a plurality of magnets embedded in the trocar and wherein the one or more sensors are at least three sensors positioned in a chamber of the docking interface at respective different depths measured from a frontal opening of the docking interface; and
one or more processors configured to:
determine a position of the trocar based on the sensed magnetic field, and
guide the robotic arm toward the determined position of the trocar while the robotic arm is being manually guided by a user, by controlling a plurality of actuators of the robotic arm so as to resist the user's manual guidance of the robotic arm that is directing the robotic arm away from the determined position of the trocar.