US 11,723,734 B2
User-interface control using master controller
Ashwinram Suresh, San Jose, CA (US); and Joey Chau, Cupertino, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Aug. 31, 2021, as Appl. No. 17/463,178.
Application 17/463,178 is a continuation of application No. 16/153,405, filed on Oct. 5, 2018, granted, now 11,135,029.
Application 16/153,405 is a continuation of application No. 15/526,696, granted, now 10,123,846, previously published as PCT/US2015/060317, filed on Nov. 12, 2015.
Claims priority of provisional application 62/079,398, filed on Nov. 13, 2014.
Prior Publication US 2021/0393351 A1, Dec. 23, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); G06F 3/048 (2013.01)
CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); G06F 3/048 (2013.01)] 10 Claims
OG exemplary drawing
 
1. A master assembly for a teleoperated surgical system comprising:
a master controller including a handheld portion and an articulated portion mounted to the master assembly;
a display system mounted to the master assembly; and
a control system configured to,
in a first mode, cause display at the display system of a surgical scene including an instrument mounted on a surgical manipulator assembly, control the articulated portion to allow movement of the handheld portion in three dimensions, and generate instrument control signals in response to movement of the handheld portion in three dimensions, wherein the instrument control signals effect movement of the instrument at the surgical manipulator assembly, and
in a second mode, cause display at the display system of a two dimensional user interface including a pointer, control the articulated portion to constrain movement the handheld portion within a two dimensional haptic surface, and generate pointer control signals in response to movement of the handheld portion within the two dimensional haptic surface, wherein the pointer control signals effect movement of the pointer within the two dimensional user interface.