US 12,471,994 B2
Systems and methods for facilitating insertion of a surgical instrument into a surgical space
Marisa C. Babb, Santa Clara, CA (US); Craig Gotsill, San Francisco, CA (US); Sophia R. Hannaford, Palo Alto, CA (US); Brandon D. Itkowitz, San Jose, CA (US); Jason S. LaFrenais, San Jose, CA (US); and Daniel W. Nissenbaum, San Francisco, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/426,603
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Jan. 29, 2020, PCT No. PCT/US2020/015653
§ 371(c)(1), (2) Date Jul. 28, 2021,
PCT Pub. No. WO2020/160129, PCT Pub. Date Aug. 6, 2020.
Claims priority of provisional application 62/799,258, filed on Jan. 31, 2019.
Prior Publication US 2022/0117662 A1, Apr. 21, 2022
Int. Cl. A61B 34/10 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/10 (2016.02) [A61B 34/70 (2016.02); A61B 90/37 (2016.02); A61B 2034/102 (2016.02); A61B 2034/107 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a memory storing instructions; and
a processor communicatively coupled to the memory and configured to execute the instructions to:
determine, based on a surgical instrument coupled to a robotic manipulator arm of a computer-assisted surgical system, an insertion trajectory that the surgical instrument is positioned to follow when inserted into a surgical space;
provide, for display by a display device, an image that depicts a portion of the surgical space captured by an imaging device and at least a portion of a representation of the insertion trajectory in the surgical space;
determine, based on kinematics data indicative of at least one of a pose, a position, or an orientation of the robotic manipulator arm, that the insertion trajectory that the surgical instrument is predicted to follow would result in the surgical instrument contacting an object that is in the surgical space and that represents an obstruction to be avoided;
provide, for display by the display device and together with the representation of the insertion trajectory, an indication of the obstruction of the insertion trajectory by the object in the surgical space;
in response to at least one of the pose, the position, or the orientation of the robotic manipulator arm being changed, determine an updated insertion trajectory; and
control the robotic manipulator arm to move the surgical instrument along the updated insertion trajectory.