Systems and methods for controlling a surgical instrument

US11129683B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• John Ryan Steger · Sunnyvale, US
• Brian M. Crews · San Jose, US
• Craig Gerbi · Mountain View, US
• Tyler J. Morrissette · Niantic, US
• Margaret M. Nixon · San Jose, US
• Joseph P. Orban, III · Norwalk, US
• Theodore W. Rogers · Alameda, US
• Alain Sadaka · San Jose, US
• Charles E. Swinehart · San Jose, US
• Michael Turner · Sunnyvale, US
• Kerry S. Wang · Saratoga, US

Key dates

• Filing date: Jul 14, 2017
• Grant date: Sep 28, 2021
• Expiry date: Nov 7, 2037

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/3983
• WIPO field: Medical technology
• WIPO sector: Instruments

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.