US 11,723,733 B2
Limited movement of a surgical mounting platform controlled by manual motion of robotic arms
Paul G. Griffiths, Santa Clara, CA (US); Paul W. Mohr, Mountain View, CA (US); Nitish Swarup, Sunnyvale, CA (US); Michael Costa, Los Angeles, CA (US); David Q. Larkin, Menlo Park, CA (US); and Thomas G. Cooper, Menlo Park, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on May 14, 2021, as Appl. No. 17/321,115.
Application 17/321,115 is a continuation of application No. 16/355,517, filed on Mar. 15, 2019, granted, now 11,033,345.
Application 16/355,517 is a continuation of application No. 15/118,305, granted, now 10,285,764, issued on May 14, 2019, previously published as PCT/US2015/016616, filed on Feb. 19, 2015.
Claims priority of provisional application 61/942,347, filed on Feb. 20, 2014.
Prior Publication US 2021/0267699 A1, Sep. 2, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/35 (2016.01); A61B 34/30 (2016.01); A61B 50/10 (2016.01); A61B 50/18 (2016.01); A61B 17/00 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 34/30 (2016.02); A61B 50/10 (2016.02); A61B 50/18 (2016.02); A61B 2017/00017 (2013.01); A61B 2034/304 (2016.02); A61B 2050/105 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a first structure;
a manipulator supported by the first structure;
a second structure supporting the first structure; and
a processor coupled to the manipulator and to the second structure;
wherein the processor is configured to:
in response to entering a first mode, determine, relative to the first structure, a first position of a reference location at a time of entry into the first mode, the reference location being associated with a link of the manipulator; and
while in the first mode:
detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first position and the second position comprises a displacement having at least a first displacement component in a first direction and a second displacement component in a second direction, the second direction different from the first direction,
calculate, in response to the detected manual movement and based on at least the first displacement component, a motion of the second structure that reduces the first displacement component while not changing the second displacement component by causing the first structure to move relative to the reference location in the first direction, and
command the second structure to move in accordance with the calculated motion.