US 11,717,365 B2
Laparoscopic ultrasound robotic surgical system
Christopher J. Hasser, Los Altos, CA (US); Russell H. Taylor, Severna Park, MD (US); Joshua Leven, San Francisco, CA (US); and Michael Choti, Lutherville, MD (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US); and The Johns Hopkins University, Baltimore, MD (US)
Filed on Jul. 11, 2022, as Appl. No. 17/861,530.
Application 16/752,805 is a division of application No. 15/413,378, filed on Jan. 23, 2017, granted, now 10,603,127.
Application 15/413,378 is a division of application No. 11/447,668, filed on Jun. 6, 2006, abandoned.
Application 17/861,530 is a continuation of application No. 16/752,805, filed on Jan. 27, 2020, granted, now 11,399,909.
Claims priority of provisional application 60/688,013, filed on Jun. 6, 2005.
Prior Publication US 2022/0354603 A1, Nov. 10, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/37 (2016.01); A61B 8/00 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 8/12 (2006.01); A61B 34/30 (2016.01); A61B 1/313 (2006.01); A61B 34/10 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 1/3132 (2013.01); A61B 8/12 (2013.01); A61B 8/4218 (2013.01); A61B 8/4245 (2013.01); A61B 8/461 (2013.01); A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/70 (2016.02); A61B 34/76 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 8/00 (2013.01); A61B 90/03 (2016.02); A61B 2017/00203 (2013.01); A61B 2034/107 (2016.02); A61B 2034/305 (2016.02); A61B 2090/364 (2016.02); A61B 2090/365 (2016.02); A61B 2090/378 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A method for providing robotic assisted laparoscopic ultrasound using an ultrasound probe, comprising:
storing a current ultrasound probe position and orientation upon detection of a start of training indication;
moving the ultrasound probe;
after detection of the start of training indication, periodically storing ultrasound probe positions and orientations as the ultrasound probe is moving to define a trajectory of positions and orientations, the periodically storing proceeding until detection of an end of training indication; and
causing the ultrasound probe to move along the defined trajectory of positions and orientations upon receiving a user input command.