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:
Aug. 25, 2026
Filed:
Mar. 27, 2023
Intuitive Surgical Operations, Inc., Sunnyvale, CA (US);
Janice M. Von Itter, Oakland, CA (US);
Nandini Devi Gurunathan, Cupertino, CA (US);
Nathan C. Ho, Fremont, CA (US);
Robert D. Kahn, Gilroy, CA (US);
Goran A. Lynch, Oakland, CA (US);
Lucas A Reilly, Campbell, CA (US);
Amin Zeiaee, Los Gatos, CA (US);
INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US);
Abstract
Setting and using a software remote center of motion (RCM) for a computer-assisted system including an input control, a repositionable structure comprising a plurality of joints, and a processing system. The processing system is configured to: receive a proposed position for a software RCM of the repositionable structure; determine whether to accept the proposed position based on a geometric relationship between a position of a hardware RCM and the proposed position; in response to determining to accept the proposed position, set a current position of the software RCM based on the proposed position; after setting the current position and in response to an indication to move the repositionable structure with a desired motion, determine a commanded motion of the joints to move the repositionable structure in accordance with the desired motion while maintaining the current position of the software RCM; and drive the joints in accordance with the commanded motion.