Techniques for controlling a moveable component

US12102400B2 · kind B2 · utility

Assignee

• INTUITIVE SURGICAL OPERATIONS, INC. · US

Inventors

• Nicola Diolaiti · Menlo Park, US
• Jeffrey D. Brown · Palo Alto, US
• Daniel H. Gomez · Sunnyvale, US
• Robert E. Holop · Santa Clara, US
• Anthony K. McGrogan · San Jose, US
• Probal Mitra · Woodside, US
• Craig R. Ramstad · Minden, US

Key dates

• Filing date: Aug 15, 2023
• Grant date: Oct 1, 2024
• Expiry date: Aug 15, 2043

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61B2090/064
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

Techniques for controlling a moveable component include a moveable component and a controller. The controller is configured to control motion of the moveable component according to a state machine comprising a first and second state. In the first state, the controller holds the moveable component at a current position. The controller transitions the state machine from the first state to the second state in response to detecting a displacement of the moveable component, due to a disturbance, from the current position for longer than a first predetermined duration of time. In the second state, the controller commands the moveable component to perform a motion. The controller remains in the second state until a stop condition is detected, even if the disturbance ends before the stop condition is detected. The controller transitions the state machine from the second state to the first state in response to detecting the stop condition.