US 12,232,837 B2
Systems and methods for master/tool registration and control for intuitive motion
Ambarish G. Goswami, Fremont, CA (US); Paul G. Griffiths, Santa Clara, CA (US); Brandon D. Itkowitz, San Jose, 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 Dec. 7, 2023, as Appl. No. 18/531,965.
Application 18/531,965 is a division of application No. 16/763,552, granted, now 11,877,816, previously published as PCT/US2018/061729, filed on Nov. 19, 2018.
Claims priority of provisional application 62/588,964, filed on Nov. 21, 2017.
Prior Publication US 2024/0108426 A1, Apr. 4, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/35 (2016.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01); A61B 34/30 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 34/70 (2016.02); A61B 90/37 (2016.02); A61B 90/39 (2016.02); A61B 2034/301 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A robotic system comprising:
an input device movable by an operator, wherein an operator reference frame is defined relative to the operator;
a processing unit including one or more processors, the processing unit configured to:
present, to the operator, a first image of a first tool captured by an imaging device;
receive, from the operator, a first indication that a first axis of the input device is aligned with a corresponding axis of the first tool in the first image; and
in response to the first indication, determine a first alignment relationship between the imaging device and the first tool based on a second alignment relationship between the operator reference frame and the input device.