US 11,992,281 B2
Systems and methods for bifurcated navigation control of a manipulator cart included within a computer-assisted medical system
Sophia R. Hannaford, Palo Alto, CA (US); Marisa C. Babb, Santa Clara, CA (US); Simon P. DiMaio, San Carlos, CA (US); Craig Gotsill, San Francisco, CA (US); Omid Mohareri, San Jose, CA (US); and Dinesh Rabindran, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/610,348
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed May 29, 2020, PCT No. PCT/US2020/035229
§ 371(c)(1), (2) Date Nov. 10, 2021,
PCT Pub. No. WO2020/243500, PCT Pub. Date Dec. 3, 2020.
Claims priority of provisional application 62/855,558, filed on May 31, 2019.
Prior Publication US 2022/0241038 A1, Aug. 4, 2022
Int. Cl. A61B 34/32 (2016.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 50/13 (2016.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); G05D 1/00 (2006.01)
CPC A61B 34/32 (2016.02) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 50/13 (2016.02); B25J 5/007 (2013.01); B25J 9/0084 (2013.01); G05D 1/0027 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A computer-assisted medical system comprising:
a manipulator cart;
a memory storing instructions; and
a processor communicatively coupled to the memory and configured to execute the instructions to:
define a path whereby the manipulator cart is to navigate from an initial location to a target location;
direct the manipulator cart to navigate, in a first bifurcated navigation control mode, along at least part of a first portion of the path extending from the initial location to an intermediate location on the path between the initial location and the target location; and
direct the manipulator cart to navigate, in a second bifurcated navigation control mode, along at least part of a second portion of the path extending from the intermediate location to the target location;
wherein:
in the first bifurcated navigation control mode, the processor autonomously controls a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart; and
in the second bifurcated navigation control mode, the processor autonomously controls the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.