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:
May. 12, 2026
Filed:
Feb. 20, 2024
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Dinesh Rabindran, San Jose, CA (US);
Katherine Suzanne Anderson, Mountain View, CA (US);
Nicholas Leo Bernstein, Cary, NC (US);
Simon Peter Dimaio, San Carlos, CA (US);
Catherine Mohr, Mountain View, CA (US);
Theodore W. Rogers, San Jose, CA (US);
Kollin Myles Tierling, Los Altos Hills, CA (US);
Andrew Cullen Waterbury, Sunnyvale, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
A computer-assisted system includes a manipulator assembly configured to couple to a cannula at a distal portion of the manipulator assembly. The cannula has a lumen configured to receive a shaft of an instrument. A cannula axis is aligned with the cannula when the cannula is coupled to the manipulator assembly. An instrument axis is aligned with the instrument when the instrument is coupled to the manipulator assembly. A controller coupled to the manipulator assembly is configured to receive an indication to reposition a remote center of motion (RCM) for the manipulator assembly while the RCM is positioned at a first location relative to the distal portion along an axis, wherein the axis is aligned with the cannula axis or the instrument axis; and in response to receiving the indication, cause the RCM to be positioned at a second location relative to the distal portion along the axis.