Intuitive Surgical Operations, Inc.

Kamyar Ziaei

Brandon D Itkowitz

Nitish Swarup

Paul G Griffiths

Goran Adrian Lynch

Jason W Hemphill

Daniel N Miller

Patrick O'Grady

A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.

System and method for integrated surgical table motion

Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.

System and method for integrated surgical table

A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.

Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.

Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.

A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.

A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.

System and method for integrated table motion

A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement of the first joint set caused by a movement of the surgical table, drives the second joint set based on the movement of the surgical table, receives an instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. In some embodiments, the instrument motion command is relative to an imaging coordinate frame. In some embodiments, the imaging coordinate frame is based on a pose of an imaging device saved prior to the movement of the surgical table.

A system and method for an integrated surgical table includes a medical device including an articulated arm having one or more first and second joints and a control unit. The articulated arm has at least a cannula, an endoscope, or an instrument mounted distal to the first and second joints, which is inserted into a patient at a body opening. The control unit unlocks the first joints, receives a surgical table movement request, determines whether the surgical table movement request should be granted, allows the surgical table to perform the requested movement based on the determining, uses the first joints to allow the articulated arm to track movement of the body opening based on forces applied by a body wall at the body opening, and compensates for changes in a pose of the cannula, endoscope, or instrument due to the tracked movement by performing compensating motions in the second joints.

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Belmont, CA, United States of America

Kamyar Ziaei