US 12,167,943 B2
System and method for an articulated arm based tool guide
Mahdi Azizian, San Jose, CA (US); Andrew C. Waterbury, Sunnyvale, CA (US); and Jonathan M. Sorger, Belmont, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Apr. 28, 2023, as Appl. No. 18/308,992.
Application 18/308,992 is a continuation of application No. 16/813,120, filed on Mar. 9, 2020, granted, now 11,666,413.
Application 16/813,120 is a continuation of application No. 15/522,657, granted, now 10,603,135, issued on Mar. 31, 2020, previously published as PCT/US2015/058223, filed on Oct. 30, 2015.
Claims priority of provisional application 62/072,612, filed on Oct. 30, 2014.
Prior Publication US 2023/0338111 A1, Oct. 26, 2023
Int. Cl. A61B 90/50 (2016.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); A61B 90/11 (2016.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01)
CPC A61B 90/50 (2016.02) [A61B 34/20 (2016.02); A61B 90/11 (2016.02); A61B 1/00149 (2013.01); A61B 34/25 (2016.02); A61B 34/70 (2016.02); B25J 9/009 (2013.01); B25J 9/1682 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method of controlling motion of a medical tool, the method comprising:
determining an insertion path and a pose for the medical tool based on a target;
deploying first and second articulated arms of a computer-assisted medical device so that a distal end of each of the first and second articulated arms are positioned and oriented relative to each other based on a size and a shape of a tool guide, the first and second articulated arms being positionable independently of each other with respect to a base, wherein the first articulated arm comprises a plurality of first moveable links actuated by at least one first actuator and forming a first kinematic chain extending from the base, wherein the second articulated arm comprises a plurality of second moveable links actuated by at least one second actuator and forming a second kinematic chain extending from the base;
receiving the tool guide for coupling with the first articulated arm and with the second articulated arm using respective mounting arms of the tool guide such that the tool guide functions as a link in a closed kinematic loop formed by joining the first kinematic chain to the second kinematic chain;
orienting, by operation of the at least one first actuator and/or the at least one second actuator, a guide hole of the tool guide so as to align the guide hole with the insertion path;
positioning, by operation of the at least one first actuator and/or the at least one second actuator, the guide hole a desired distance away from the target based on the pose;
receiving the medical tool in the guide hole; and
advancing the medical tool along the insertion path and toward the target.