US 12,213,757 B2
Master/slave registration and control for teleoperation
Simon P. DiMaio, San Carlos, CA (US); Gerard J. Labonville, San Jose, CA (US); and Kollin M. Tierling, Los Altos Hills, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Nov. 17, 2023, as Appl. No. 18/513,322.
Application 18/513,322 is a continuation of application No. 17/990,318, filed on Nov. 18, 2022, granted, now 11,857,280.
Application 17/990,318 is a continuation of application No. 16/763,556, granted, now 11,534,252, issued on Dec. 27, 2022, previously published as PCT/US2018/060612, filed on Nov. 13, 2018.
Claims priority of provisional application 62/587,175, filed on Nov. 16, 2017.
Prior Publication US 2024/0156554 A1, May 16, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. H04N 23/00 (2023.01); A61B 1/00 (2006.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); G05B 19/4155 (2006.01); G16H 30/40 (2018.01); G16H 40/67 (2018.01); H04N 23/54 (2023.01); A61B 17/02 (2006.01); A61B 17/068 (2006.01); A61B 17/128 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 17/3201 (2006.01); A61B 18/00 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); H04N 23/50 (2023.01)
CPC A61B 34/35 (2016.02) [A61B 1/00149 (2013.01); A61B 34/37 (2016.02); G05B 19/4155 (2013.01); G16H 30/40 (2018.01); G16H 40/67 (2018.01); H04N 23/54 (2023.01); A61B 17/02 (2013.01); A61B 17/068 (2013.01); A61B 17/1285 (2013.01); A61B 17/29 (2013.01); A61B 17/320068 (2013.01); A61B 17/3201 (2013.01); A61B 2018/00595 (2013.01); A61B 34/71 (2016.02); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02); A61B 2090/374 (2016.02); A61B 2090/376 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/378 (2016.02); A61B 2217/005 (2013.01); A61B 2217/007 (2013.01); G05B 2219/40174 (2013.01); H04N 23/555 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A teleoperated system comprising:
a first means for determining:
an orientation of an end-effector reference frame relative to a field-of-view reference frame, the end-effector reference frame moveable relative to the field-of-view reference frame, the end-effector reference frame being defined for an end effector of a tool, and the field-of-view reference frame being defined for a field of view of an imaging device, and
an orientation of an input-device reference frame relative to a display reference frame, the input-device reference frame being defined for a master input device, and the display reference frame being defined for a displayed image;
a second means for establishing a first alignment relationship, the first alignment relationship comprising an end-effector-to-field-of-view alignment relationship or an input-device-to-display alignment relationship, wherein the end-effector-to-field-of-view alignment relationship is between the end-effector reference frame and the field-of-view reference frame and independent of a position relationship between the end-effector reference frame and the field-of-view reference frame, and wherein the input-device-to-display alignment relationship is between the input-device reference frame and the display reference frame and independent of a position relationship between the input-device reference frame and the display reference frame; and
a third means for commanding, based on the first alignment relationship, a change in a pose of the end effector in response to a change in a pose of the master input device.