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The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.

The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.

Patent No.:

US 11129683 B1

PDFFull Text
Date of Patent:
Sep. 28, 2021

Filed:

Jul. 14, 2017

Systems and methods for controlling a surgical instrument

Applicant:

Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);

Inventors:

John Ryan Steger, Sunnyvale, CA (US);

Brian M. Crews, San Jose, CA (US);

Craig R. Gerbi, Half Moon Bay, CA (US);

Tyler J. Morrissette, Niantic, CT (US);

Margaret M. Nixon, San Jose, CA (US);

Joseph P. Orban, III, Norwalk, CT (US);

Theodore W. Rogers, Alameda, CA (US);

Alain Sadaka, San Jose, CA (US);

Charles E. Swinehart, San Jose, CA (US);

Michael Turner, Sunnyvale, CA (US);

Kerry S. Wang, Saratoga, CA (US);

Assignee:

INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);

Attorney:

Artegis Law Group, LLP

Primary Examiner:

Nicole F Lavert

Assistant Examiner:

Nicole F Johnson

Int. Cl.
CPC ...
A61B 34/35 (2016.01); A61B 34/30 (2016.01); A61B 90/00 (2016.01); A61B 1/313 (2006.01); A61B 17/42 (2006.01); A61B 17/00 (2006.01);
U.S. Cl.
CPC ...
A61B 34/35 (2016.02); A61B 1/3132 (2013.01); A61B 17/4241 (2013.01); A61B 2017/00477 (2013.01); A61B 2034/302 (2016.02); A61B 2090/3941 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/3983 (2016.02);
Abstract

A teleoperational medical system comprises an input device and a manipulator configured to couple with and move an instrument. The system also comprises a control system including one or more processors. In response to a determination that the instrument is inserted into an instrument workspace in a corresponding direction to a field of view of the workspace, the control system is configured to map movement of the input device to movement of the instrument according to a first mapping. In response to a determination that the instrument is inserted into the instrument workspace in a non-corresponding direction to the field of view, the control system is configured to map movement of the input device to movement of the instrument according to a second mapping. The second mapping includes an inversion of the first mapping for at least one direction of motion of the instrument.

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