US 12,251,184 B2
Systems and methods for onscreen identification of instruments in a teleoperational medical system
Brandon D. Itkowitz, San Jose, CA (US); and Paul W. Mohr, Mountain View, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Oct. 27, 2021, as Appl. No. 17/512,095.
Application 17/512,095 is a continuation of application No. 16/791,046, filed on Feb. 14, 2020.
Application 16/791,046 is a continuation of application No. 15/558,476, granted, now 10,610,315, previously published as PCT/US2016/022612, filed on Mar. 16, 2016.
Claims priority of provisional application 62/134,297, filed on Mar. 17, 2015.
Prior Publication US 2022/0047343 A1, Feb. 17, 2022
Int. Cl. B25J 9/16 (2006.01); A61B 17/29 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); A61B 90/94 (2016.01); B25J 13/06 (2006.01); B25J 19/02 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 17/29 (2013.01); A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 90/37 (2016.02); A61B 90/94 (2016.02); B25J 9/1674 (2013.01); B25J 9/1682 (2013.01); B25J 13/06 (2013.01); B25J 19/023 (2013.01); A61B 2090/0807 (2016.02); B25J 9/1689 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method comprising:
obtaining, for one or more medical instruments coupled to a teleoperational medical system, one or more corresponding estimated medical instrument positions relative to a field of view of at least one imaging instrument coupled to the teleoperational medical system;
initiating, for a selected medical instrument of the one or more medical instruments, generation of a corresponding indicator to a user, wherein the corresponding indicator is based on an estimated position of the selected medical instrument relative to the field of view;
determining, based on a position and orientation of the at least one imaging instrument, the field of view of the at least one imaging instrument;
determining whether a distance between the estimated position of the selected medical instrument and a boundary of the field of view is greater than a bounding threshold distance; and
when the estimated position of the selected medical instrument is outside the boundary of the field of view, disabling a functionality of the selected medical instrument until an operator input is received, the operator input acknowledging that the estimated position of the selected medical instrument is outside the boundary of the field of view.