METHOD FOR MOVING AN INSTRUMENT ARM OF A LAPAROSCOPY ROBOT INTO A PREDETERMINABLE RELATIVE POSITION WITH RESPECT TO A TROCAR
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Accused Products
Abstract
A method for moving an instrument aim of a laparoscopy robot into a predeterminable position relative to a trocar placed in a patient is proposed. A spatial marker that can be localized from outside of the patient is applied to the trocar. The spatial position of the trocar is detected based on the spatial marker. The intended position of the instrument arm is established from the spatial position and the relative position. The actual position of the instrument arm is detected. The instrument arm is moved into the intended position based on the actual position, the intended position and an error minimization method.
57 Citations
20 Claims
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1-10. -10. (canceled)
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11. A method for moving an instrument arm of a laparoscopy robot into a desired position relative to a trocar placed in a patient, comprising:
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applying a spatial marker located from outside of the patient to the trocar; detecting a spatial position of the trocar based on the spatial marker; establishing a desired position of the instrument arm from the spatial position of the trocar and a relative position of the instrument arm relative to the trocar; detecting an actual position of the instrument arm; and moving the instrument arm into the desired position based on the actual position, the desired position and an error minimization method. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification