Systems and methods for controlling a surgical instrument

US12114947B2 · 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: Aug 27, 2021
• Grant date: Oct 15, 2024
• Expiry date: Apr 28, 2042

Classification

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

Abstract

A teleoperational system receives a movement command in response to movement of an input device, in response to determining an instrument is being controlled based on the movement of the input device, maps the movement command to a first movement of the instrument in an instrument frame using a first mapping, and in response to determining a tissue probe is being controlled based on the movement of the input device, maps the movement command to a second movement of the tissue probe in a tissue probe frame using a second mapping. The first mapping maps motion in an input direction in the input frame to an instrument direction in the instrument frame. The second mapping maps motion in the input direction to a tissue probe direction in the tissue probe frame. The instrument direction corresponding with the input direction. The tissue probe direction not corresponding with the input direction.