US 11,957,425 B2
Dynamic control of surgical instruments in a surgical robotic system using repulsion/attraction modes
Matthew Robert Penny, Holly Springs, NC (US)
Assigned to Asensus Surgical US, Inc., Durham, NC (US)
Filed by Asensus Surgical US, Inc., Durham, NC (US)
Filed on Mar. 10, 2023, as Appl. No. 18/120,274.
Application 18/120,274 is a continuation of application No. 16/733,154, filed on Jan. 2, 2020, granted, now 11,607,283.
Claims priority of provisional application 62/787,339, filed on Jan. 1, 2019.
Prior Publication US 2023/0225814 A1, Jul. 20, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); A61B 34/76 (2016.02); B25J 9/1682 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A method of performing surgery with a surgical robotic system, comprising:
positioning a first surgical instrument on a first robotic manipulator and positioning a second surgical instrument on a second robotic manipulator;
positioning a distal part of the first surgical instrument in a patient body cavity, and positioning a distal part of the second surgical instrument in a patient body cavity;
operatively assigning the first robotic manipulator to a user interface for movement of the first surgical instrument in response to user input signals generated from a user control at the user interface;
generating dynamic control signals based on a vector defined by the position of the first surgical instrument relative to the second surgical instrument, wherein the second robotic manipulators is moveable in response to said dynamic control signals to move the second surgical instrument.