Blue Bossa is another standard that is a favourite at jam sessions. In the video a solo is played, starting with the melody, some variations, and then an improvisation of slowly increasing complexity. Typical scales used:
C minor, C Dorian, Db major, G altered, G diminished and of course chromatic parts.
Rythmically it is quite loose (the rhythm notation is not so accurate, it's better to listen). Try to play by ear as much as you can, and when you can't, check the TABS/notation.
Learn to improvise
Learn to improvise with the Jazz Exercises: From basic exercises to full solos, with backing tracks, midi files, TABS and notation, and a guide with explanations and study advice. Also check out the Smooth Jazz Refill and All Jazz Refill.