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.:
Date of Patent:
Oct. 21, 2025
Filed:
Dec. 20, 2023
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Goran A. Lynch, Tahoe City, CA (US);
Lucas A. Reilly, Sunnyvale, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
Techniques for constraining motion of a drivable assembly including a drivable structure, a manipulator mechanically coupled to the drivable structure, and a processing system. The processing system is configured to perform operations including receiving a command. The command indicates a commanded motion for an end effector of an instrument mechanically coupled to the manipulator. The operations also include; determining a drivable structure limit based a type of procedure being performed by the drivable assembly or an operating mode of the drivable assembly. The drivable structure limit defines a limit for motion of the drivable structure. The operations further include determining a movement for effecting the commanded motion. The movement includes a relative motion of the end effector relative to the drivable structure and a drivable structure motion of the drivable structure based on the drivable structure limit. The operations additionally include driving the drivable assembly to perform the movement.