US 12,472,006 B2
Systems and methods for monitoring patient motion during a medical procedure
Teresa G. Gadda, Palo Alto, CA (US); Troy K. Adebar, San Jose, CA (US); Cristian Bianchi, Capannori (IT); Vincent Duindam, San Francisco, CA (US); and Timothy D. Soper, San Jose, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jan. 25, 2023, as Appl. No. 18/159,568.
Prior Publication US 2023/0157769 A1, May 25, 2023
Int. Cl. A61B 34/20 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/10 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/20 (2016.02) [A61B 34/35 (2016.02); A61B 34/37 (2016.02); B25J 9/1664 (2013.01); A61B 2017/00809 (2013.01); A61B 2034/105 (2016.02); A61B 2034/2051 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 2034/301 (2016.02); A61B 2090/365 (2016.02); A61B 90/37 (2016.02); A61B 2090/371 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A medical system comprising:
a medical instrument;
a master assembly configured to receive commands from an operator to manipulate the medical instrument; and
a control system in communication with the master assembly and the medical instrument, the control system adapted to perform operations comprising:
determining a motion of at least a portion of the medical instrument by comparing an image of an interior of an anatomy with a virtual view derived from a model of the anatomy;
comparing the determined motion with a threshold motion value; and
determining, based on the determined motion exceeding the threshold motion value, significant movement of a patient has occurred.