Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument

Number of patents in Portfolio can not be more than 2000

United States of America Patent

PATENT NO 12011244
APP PUB NO 20230329817A1
SERIAL NO

18309110

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ATTORNEY / AGENT: (SPONSORED)

Importance

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Abstract

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A teleoperated system includes a robotic arm configured to support an instrument, a grip configured to be manipulated by an operator to command motion of the instrument, and a control system communicatively coupled to the robotic arm and the grip. To align the grip with the instrument by the grip, the control system is configured to determine grip rotation values describing an orientation of the grip, determine instrument rotation values describing an orientation of the instrument, determine an orientation error between the orientation of the grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, produce a motion command by selectively imposing, based on the orientation error, an artificial joint limit on a commanded movement of the instrument, and command the robotic arm to move in accordance with the motion command.

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Patent Owner(s)

Patent OwnerAddress
INTUITIVE SURGICAL OPERATIONS INC1020 KIFER ROAD SUNNYVALE CA 94086

International Classification(s)

Inventor(s)

Inventor Name Address # of filed Patents Total Citations
Dimaio, Simon P San Carlos, US 122 5162
Itkowitz, Brandon D San Jose, US 159 5634
Mintz, David S Mountain View, US 76 11685
Niemeyer, Gunter D Pasadena, US 87 32067
Nowlin, William C Los Altos, US 98 31252

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