US 12,004,833 B2
System and method for maintaining a tool position and orientation
Brandon D. Itkowitz, San Jose, CA (US); Nitish Swarup, Sunnyvale, CA (US); Paul G. Griffiths, Santa Clara, CA (US); and Goran Lynch, Oakland, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Jun. 7, 2023, as Appl. No. 18/330,438.
Application 18/330,438 is a continuation of application No. 17/389,243, filed on Jul. 29, 2021, granted, now 11,707,337.
Application 17/389,243 is a continuation of application No. 16/743,218, filed on Jan. 15, 2020, granted, now 11,129,684, issued on Sep. 28, 2021.
Application 16/743,218 is a continuation of application No. 16/101,328, filed on Aug. 10, 2018, granted, now 10,575,910, issued on Mar. 3, 2020.
Application 16/101,328 is a continuation of application No. 15/125,533, granted, now 10,070,931, issued on Sep. 11, 2018, previously published as PCT/US2015/021089, filed on Mar. 17, 2015.
Claims priority of provisional application 62/024,887, filed on Jul. 15, 2014.
Claims priority of provisional application 61/954,261, filed on Mar. 17, 2014.
Prior Publication US 2023/0310105 A1, Oct. 5, 2023
Int. Cl. G01B 21/04 (2006.01); A61B 1/00 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/70 (2016.02) [A61B 1/00149 (2013.01); A61B 34/30 (2016.02); B25J 9/1607 (2013.01); B25J 9/1633 (2013.01); A61B 2017/00017 (2013.01); A61B 2034/2059 (2016.02); A61B 2034/301 (2016.02); A61B 2034/304 (2016.02); A61B 2034/305 (2016.02)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
an articulated structure comprising a plurality of joints, the articulated structure being configured to support an instrument; and
a control unit coupled to the articulated structure;
wherein the control unit is configured to:
determine an error that is introduced, by movement of a first joint of the plurality of joints, to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument; and
in response at least to determining that a second joint of the plurality of joints is at a range of motion limit or is about to reach the range of motion limit:
drive one or more joints of the plurality of joints to partially reduce the error, the one or more joints not comprising the second joint, and
provide feedback that not all of the error is reduced.