US 12,336,773 B2
Interaction between user-interface and 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 Sep. 9, 2020, as Appl. No. 17/016,340.
Application 17/016,340 is a continuation of application No. 15/526,698, granted, now 10,786,315, previously published as PCT/US2015/060330, filed on Nov. 12, 2015.
Claims priority of provisional application 62/079,402, filed on Nov. 13, 2014.
Prior Publication US 2021/0030491 A1, Feb. 4, 2021
Int. Cl. A61B 34/00 (2016.01); A61B 17/00 (2006.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); G06F 3/04812 (2022.01)
CPC A61B 34/25 (2016.02) [A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 34/37 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 90/37 (2016.02); G06F 3/04812 (2013.01); A61B 2017/00203 (2013.01); A61B 2017/00207 (2013.01); A61B 2017/00216 (2013.01); A61B 2034/741 (2016.02); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02); A61B 90/03 (2016.02); A61B 2090/365 (2016.02)] 22 Claims
OG exemplary drawing
 
1. A method of interactive control of a teleoperated surgical system, the method comprising:
displaying at the teleoperated surgical system, a two-dimensional graphical user interface, wherein the two-dimensional graphical user interface includes (i) a graphical pointer that is moveable in two dimensions within the two-dimensional graphical user interface, (ii) a clickable element configured to be interacted with using the graphical pointer, and (iii) a user viewing plane;
constraining movement of a first master controller from a three-dimensional haptic space to a two-dimensional haptic plane oriented based on the user viewing plane of the two-dimensional graphical user interface;
receiving, at the teleoperated surgical system, sensor input indicating the two-dimensional movement of the first master controller constrained to the two-dimensional haptic plane, the sensor input to control movement of the graphical pointer, to move the graphical pointer within the two-dimensional graphical user interface correspondingly with the movement of the first master controller within the two-dimensional haptic plane;
in response to detecting a user intent to interact with the clickable element using the graphical pointer, further constraining the movement of the first master controller within the two-dimensional haptic plane to affect the movement of the graphical pointer within the two-dimensional graphical user interface; and
detecting the user intent to interact with the clickable element using the graphical pointer based upon a change in speed of closing of a pincher formation of the first master controller.