US 12,329,484 B2
User-interface control using master controller
Ashwinram Suresh, San Jose, CA (US); and Joey Chau, Cupertino, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Jun. 9, 2023, as Appl. No. 18/208,233.
Application 18/208,233 is a continuation of application No. 17/463,178, filed on Aug. 31, 2021, granted, now 11,723,734.
Application 18/208,233 is a continuation of application No. 16/153,405, filed on Oct. 5, 2018, granted, now 11,135,029.
Application 17/463,178 is a continuation of application No. 15/526,696, granted, now 10,123,846, previously published as PCT/US2015/060317, filed on Nov. 12, 2015.
Claims priority of provisional application 62/079,398, filed on Nov. 13, 2014.
Prior Publication US 2023/0320799 A1, Oct. 12, 2023
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/37 (2016.01); A61B 34/00 (2016.01); G06F 3/048 (2013.01)
CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); G06F 3/048 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A teleoperated surgical system comprising:
a display;
an input device;
one or more instruments;
a control system configured to:
cause the display to present a surgical scene depicting a surgical site;
operate the input device in a first mode to control movement of the one or more instruments in three-dimensions of free space within boundaries of the surgical site based on user inputs received via the input device and to provide feedback from the one or more instruments to the input device;
cause the display to present a graphical user interface that is overlayed on the surgical scene, wherein the graphical user interface comprises one or more user interface elements and a pointer for interacting with the one or more user interface elements; and
while the graphical user interface is presented at the display, operate the input device in a second mode to control movement of the pointer of the graphical user interface within a two-dimensional haptic surface oriented in the free space within boundaries of the surgical site to a viewing plane of the graphical user interface that is overlayed on the surgical scene based on user inputs received via the input device and to provide feedback to the input device based on the graphical user interface.