US 11,747,895 B2
Robotic system providing user selectable actions associated with gaze tracking
Wenyi Zhao, Mountain View, CA (US); Christopher J. Hasser, Los Altos, CA (US); Brandon D. Itkowitz, Sunnyvale, CA (US); Paul E. Lilagan, Sunnyvale, CA (US); David D. Scott, Oakland, CA (US); Simon P. DiMaio, San Carlos, CA (US); David W. Robinson, Los Altos, CA (US); and Tao Zhao, Sunnyvale, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Mar. 14, 2014, as Appl. No. 14/210,840.
Claims priority of provisional application 61/792,939, filed on Mar. 15, 2013.
Prior Publication US 2014/0282196 A1, Sep. 18, 2014
Int. Cl. G06F 3/048 (2013.01); G06F 3/01 (2006.01); G06F 3/04815 (2022.01)
CPC G06F 3/013 (2013.01) [G06F 3/04815 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A medical robotic system comprising:
a viewer for displaying an image of a work site;
a gaze tracker for tracking a gaze point of a user on the viewer; and
a processor programmed to:
draw an area or volume defining shape, overlaid on the image, in a position determined by the gaze tracker based on the tracked gaze point on the viewer after the user has gazed on the tracked gaze point on the viewer for a programmed period of time;
in response to receiving a user-selected action command, assign a fixed virtual constraint to the area or volume defining shape overlaid on the image and constrain movement of a robotic tool according to the fixed virtual constraint;
map points of the robotic tool in a tool reference frame to a viewer reference frame of the viewer;
determine a closest object to the tracked gaze point is the robotic tool based at least in part on the mapped points;
display an object, at least partially overlaid on the image, proximate to the robotic tool based on determining the robotic tool is the closest object, wherein the object includes text identifying the robotic tool; and
perform an action indicated by the object at least partially overlaid on the image.