US 12,329,480 B2
Methods and devices for tele-surgical table registration
Mahdi Azizian, San Jose, CA (US); and Jonathan M. Sorger, Belmont, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Aug. 24, 2021, as Appl. No. 17/410,725.
Application 17/410,725 is a continuation of application No. 15/126,480, granted, now 11,173,005, previously published as PCT/US2015/020891, filed on Mar. 17, 2015.
Claims priority of provisional application 61/954,538, filed on Mar. 17, 2014.
Prior Publication US 2021/0378770 A1, Dec. 9, 2021
Int. Cl. A61B 34/35 (2016.01); A61B 34/20 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/98 (2016.01); A61G 13/02 (2006.01); G16H 40/63 (2018.01)
CPC A61B 34/35 (2016.02) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 90/98 (2016.02); A61G 13/02 (2013.01); G16H 40/63 (2018.01); A61B 2034/2051 (2016.02); A61B 2034/2055 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/2061 (2016.02); A61G 2203/30 (2013.01); A61G 2205/60 (2013.01); G05B 2219/40415 (2013.01); G05B 2219/45119 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A surgical robotic system comprising:
a manipulator assembly including at least one manipulator arm having a distal portion, the distal portion being movable with the at least one manipulator arm;
a table mounted registration device mounted to a side of a surgical table between a top surface and a bottom surface of the surgical table, wherein the table mounted registration device includes a registration element shaped to contact with the distal portion of the at least one manipulator arm by receiving the distal portion of the at least one manipulator arm to define a spatial relationship between the manipulator assembly and the table mounted registration device, wherein a keying feature of the distal portion of the at least one manipulator arm is shaped to contact with a key receiving feature of the registration element, wherein the distal portion of the at least one manipulator arm is movable in a plurality of degrees of freedom, and wherein the plurality of degrees of freedom is reduced by the table mounted registration device when the table mounted registration device is in contact with the distal portion of the at least one manipulator arm; and
a control system configured to determine the spatial relationship between the manipulator assembly and the table mounted registration device by receiving at least one sensor reading that indicates a position or an orientation of the at least one manipulator arm.