US 11,672,618 B2
System and method for integrated surgical table motion
Brandon D. Itkowitz, San Jose, CA (US); Paul G. Griffiths, Santa Clara, CA (US); Nitish Swarup, Sunnyvale, CA (US); and Kamyar Ziaei, Belmont, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jun. 7, 2022, as Appl. No. 17/834,651.
Application 17/834,651 is a continuation of application No. 16/809,471, filed on Mar. 4, 2020, granted, now 11,419,687.
Application 16/809,471 is a continuation of application No. 15/522,261, granted, now 10,617,479, issued on Apr. 14, 2020, previously published as PCT/US2015/057673, filed on Oct. 27, 2015.
Claims priority of provisional application 62/134,292, filed on Mar. 17, 2015.
Claims priority of provisional application 62/069,245, filed on Oct. 27, 2014.
Prior Publication US 2022/0296318 A1, Sep. 22, 2022
Int. Cl. G06F 17/00 (2019.01); A61B 34/30 (2016.01); A61G 13/02 (2006.01)
CPC A61B 34/30 (2016.02) [A61G 13/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a first articulated arm, the first articulated arm being configured to support an end effector; and
a control unit coupled to the first articulated arm;
wherein the control unit is configured to:
determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device;
receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and
drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.