US 11,751,959 B2
Dynamic scaling for a robotic surgical system
Matthew Robert Penny, Holly Springs, NC (US); Alexander John Maret, Apex, NC (US); and Kevin Andrew Hufford, Cary, NC (US)
Assigned to Asensus Surgical US, Inc., Durham, NC (US)
Filed by Asensus Surgical US, Inc., Durham, NC (US)
Filed on Jul. 16, 2020, as Appl. No. 16/931,425.
Claims priority of provisional application 62/874,967, filed on Jul. 16, 2019.
Claims priority of provisional application 62/874,974, filed on Jul. 16, 2019.
Claims priority of provisional application 62/874,960, filed on Jul. 16, 2019.
Claims priority of provisional application 62/874,969, filed on Jul. 16, 2019.
Prior Publication US 2021/0000558 A1, Jan. 7, 2021
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 1/04 (2006.01); A61B 34/30 (2016.01); A61B 1/313 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 1/04 (2013.01); A61B 34/74 (2016.02); A61B 34/77 (2016.02); A61B 90/361 (2016.02); A61B 90/37 (2016.02); A61B 1/3132 (2013.01); A61B 2017/00216 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/2065 (2016.02); A61B 2034/254 (2016.02); A61B 2034/258 (2016.02); A61B 2034/302 (2016.02)] 3 Claims
OG exemplary drawing
 
1. A robot-assisted surgical system, comprising:
a first manipulator configured for robotic positioning of a first surgical instrument in a body cavity;
at least one user input device moveable by a user;
a display configured to display an image of the body cavity captured using a camera in the body cavity;
at least one processor and at least one memory storing instructions executable by said at least one processor to;
receive user input from the input device and causing the first manipulator to move the first surgical instrument in response to the user input based on a scaling factor;
receive first input, and determine a location of a first reference point comprising a portion of said first surgical instrument based on said first input;
determine a distance between the first reference point and a point in the body cavity corresponding to the center point of the displayed image, and
adjusting the scaling factor based on the determined distance.