US 12,324,637 B2
Base positioning system for a 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, Cupertino, 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 Oct. 5, 2021, as Appl. No. 17/494,300.
Application 17/494,300 is a continuation of application No. 16/331,460, granted, now 11,166,770, previously published as PCT/US2017/050526, filed on Sep. 7, 2017.
Claims priority of provisional application 62/396,714, filed on Sep. 19, 2016.
Prior Publication US 2022/0022980 A1, Jan. 27, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 50/13 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); B25J 9/12 (2006.01); B25J 9/16 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 34/00 (2016.02); A61B 50/13 (2016.02); A61B 90/03 (2016.02); A61B 90/50 (2016.02); B25J 9/126 (2013.01); B25J 9/1664 (2013.01); B25J 9/1689 (2013.01); A61B 2034/2048 (2016.02); A61B 2034/2059 (2016.02)] 16 Claims
OG exemplary drawing
 
1. A robotic system comprising:
a base movable relative to a floor surface;
a robotic arm extending from the base and comprising a powered joint operable to move a distal portion of the robotic arm, the robotic arm configured to support a tool; and
a processor communicatively coupled to the robotic arm, the processor configured to:
receive input data indicative of a characteristic of an access port through which the tool is insertable to perform a procedure on a subject, wherein the input data is further indicative of a second characteristic of a second access port, the second access port to be used in the procedure;
determine a desired position or orientation of the base using the input data, and
drive the powered joint to reposition the base toward the desired position or orientation.