Patent ID: 9066737
Filing Date: 2015-06-30
Classification: A61B

Abstract:
1. A method for moving an instrument arm of a laparoscopy robot into a desired position relative to a trocar placed in a patient, comprising: applying a spatial marker on the trocar; applying a further spatial marker on the instrument arm; arranging a camera on the instrument arm that tracks the spatial marker arranged on the trocar and tracks the further spatial marker arranged on the instrument arm on a camera image; detecting a spatial position of the trocar based on the camera image; detecting an actual position of the instrument arm based on the camera image; and moving the instrument arm from the actual position into the desired position based on the camera image using an error minimization method, wherein the desire position is selected to guarantee a coaxial alignment of a central longitudinal axis of an instrument attached to the instrument arm with a central longitudinal axis of the trocar.