US 12,226,179 B2
System and method for maintaining a tool position and orientation
Brandon D. Itkowitz, San Jose, CA (US); Nitish Swarup, Sunnyvale, CA (US); Paul G. Griffiths, Santa Clara, CA (US); and Goran Lynch, Oakland, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on May 3, 2024, as Appl. No. 18/654,147.
Application 18/654,147 is a continuation of application No. 18/330,438, filed on Jun. 7, 2023, granted, now 12,004,833.
Application 18/330,438 is a continuation of application No. 17/389,243, filed on Jul. 29, 2021, granted, now 11,707,337, issued on Jul. 25, 2023.
Application 17/389,243 is a continuation of application No. 16/743,218, filed on Jan. 15, 2020, granted, now 11,129,684, issued on Sep. 28, 2021.
Application 16/743,218 is a continuation of application No. 16/101,328, filed on Aug. 10, 2018, granted, now 10,575,910, issued on Mar. 3, 2020.
Application 16/101,328 is a continuation of application No. 15/125,533, granted, now 10,070,931, issued on Sep. 11, 2018, previously published as PCT/US2015/021089, filed on Mar. 17, 2015.
Claims priority of provisional application 62/024,887, filed on Jul. 15, 2014.
Claims priority of provisional application 61/954,261, filed on Mar. 17, 2014.
Prior Publication US 2024/0277434 A1, Aug. 22, 2024
Int. Cl. G01B 21/04 (2006.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/70 (2016.02) [A61B 1/00149 (2013.01); A61B 34/30 (2016.02); B25J 9/1607 (2013.01); B25J 9/1633 (2013.01); A61B 2017/00017 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/301 (2016.02); A61B 2034/304 (2016.02); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
an articulated structure comprising a plurality of joints, the articulated structure being configured to support an instrument; and
a control unit coupled to the articulated structure;
wherein the control unit is configured to:
determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints, and
determine, in the reference frame, a first change to the instrument due to the disturbance, the first change comprising: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument, and
drive at least a second joint of the plurality of joints to reduce the first change.