US 12,239,401 B2
Positioning indicator system for a remotely controllable arm and related methods
Simon Peter DiMaio, San Carlos, CA (US); Nicholas Leo Bernstein, Cary, NC (US); Paul Millman, San Jose, CA (US); Dinesh Rabindran, Sunnyvale, CA (US); and Alec Paul Robertson, Palo Alto, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Jun. 30, 2021, as Appl. No. 17/364,197.
Application 17/364,197 is a continuation of application No. 16/327,986, granted, now 11,076,925, previously published as PCT/US2017/050536, filed on Sep. 7, 2017.
Claims priority of provisional application 62/396,703, filed on Sep. 19, 2016.
Prior Publication US 2021/0322115 A1, Oct. 21, 2021
Int. Cl. A61B 34/35 (2016.01); A61B 17/34 (2006.01); A61B 34/30 (2016.01); A61B 34/32 (2016.01); A61B 46/00 (2016.01); A61B 46/10 (2016.01); A61B 50/13 (2016.01); A61B 50/15 (2016.01); A61B 50/33 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); B25J 9/16 (2006.01); A61B 90/57 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 17/3423 (2013.01); A61B 34/30 (2016.02); A61B 34/32 (2016.02); A61B 46/00 (2016.02); A61B 46/10 (2016.02); A61B 50/13 (2016.02); A61B 50/15 (2016.02); A61B 50/33 (2016.02); A61B 90/08 (2016.02); A61B 90/50 (2016.02); B25J 9/162 (2013.01); B25J 9/1676 (2013.01); B25J 9/1684 (2013.01); A61B 2090/0808 (2016.02); A61B 2090/0811 (2016.02); A61B 2090/3945 (2016.02); A61B 2090/508 (2016.02); A61B 2090/571 (2016.02)] 22 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a base;
a robotic arm extending from the base, the robotic arm configured to support and move a tool, the robotic arm comprising one or more actuators operable to move the robotic arm relative to the base;
a positioning indicator; and
a processor communicatively coupled to the positioning indicator and the robotic arm, the processor configured to:
receive input data indicative of at least a characteristic of an access port through which the tool is insertable,
determine a desired position or orientation of the base using the characteristic of the access port, and
operate the positioning indicator to direct a manual repositioning of the base toward the desired position or orientation.