US 11,672,619 B2
Ratcheting for master alignment of a teleoperated minimally-invasive surgical instrument
Brandon D. Itkowitz, Sunnyvale, CA (US); Simon P. DiMaio, San Carlos, CA (US); William C. Nowlin, Los Altos, CA (US); Gunter D. Niemeyer, Pasadena, CA (US); and David S. Mintz, Mountain View, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Nov. 30, 2020, as Appl. No. 17/107,862.
Application 17/107,862 is a continuation of application No. 16/862,412, filed on Apr. 29, 2020, granted, now 10,881,473.
Application 16/862,412 is a continuation of application No. 16/353,932, filed on Mar. 14, 2019, granted, now 10,675,109, issued on Jun. 9, 2020.
Application 16/353,932 is a continuation of application No. 15/706,883, filed on Sep. 18, 2017, granted, now 10,278,783, issued on May 7, 2019.
Application 15/706,883 is a continuation of application No. 15/399,600, filed on Jan. 5, 2017, granted, now 9,814,537, issued on Nov. 14, 2017.
Application 15/399,600 is a continuation of application No. 14/996,073, filed on Jan. 14, 2016, granted, now 9,579,164, issued on Feb. 28, 2017.
Application 14/996,073 is a continuation of application No. 14/534,526, filed on Nov. 6, 2014, granted, now 9,265,584, issued on Feb. 23, 2016.
Application 14/534,526 is a continuation of application No. 13/839,438, filed on Mar. 15, 2013, granted, now 8,903,549, issued on Dec. 2, 2014.
Application 13/839,438 is a continuation of application No. 12/495,213, filed on Jun. 30, 2009, granted, now 8,423,186, issued on Apr. 16, 2013.
Prior Publication US 2021/0077210 A1, Mar. 18, 2021
Int. Cl. B25J 9/16 (2006.01); A61B 34/37 (2016.01); A61B 34/30 (2016.01); A61B 90/10 (2016.01); B25J 3/00 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 90/10 (2016.02); B25J 3/00 (2013.01); B25J 9/1669 (2013.01); B25J 9/1689 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/305 (2016.02); G05B 2219/45117 (2013.01); Y10S 901/27 (2013.01); Y10S 901/41 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A teleoperated system comprising:
a master grip; and
a ratcheting system coupled to the master grip, the ratcheting system configured to align the master grip with an instrument commanded by the master grip by:
determining grip rotation values describing an orientation of the master grip;
determining instrument rotation values describing an orientation of the instrument;
determining an orientation error between the orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values; and
reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values, wherein a cutoff frequency for the low pass filtering is determined based on the orientation error.