US 12,339,871 B2
Systems and methods for synchronizing nodes of a robotic system
Brian D. Hoffman, Mountain View, CA (US); and Joshua Radel, Menlo Park, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Mar. 21, 2024, as Appl. No. 18/612,703.
Application 18/612,703 is a continuation of application No. 18/309,711, filed on Apr. 28, 2023, granted, now 11,971,905.
Application 18/309,711 is a continuation of application No. 16/795,162, filed on Feb. 19, 2020, granted, now 11,687,556, issued on Jun. 23, 2023.
Application 16/795,162 is a continuation of application No. 15/814,214, filed on Nov. 15, 2017, granted, now 10,592,529, issued on Mar. 17, 2020.
Application 15/814,214 is a continuation of application No. 15/242,408, filed on Aug. 19, 2016, granted, now 9,830,371, issued on Nov. 28, 2017.
Application 15/242,408 is a continuation of application No. 14/181,499, filed on Feb. 14, 2014, granted, now 9,424,303, issued on Aug. 23, 2016.
Claims priority of provisional application 61/765,559, filed on Feb. 15, 2013.
Prior Publication US 2024/0232222 A1, Jul. 11, 2024
Int. Cl. G06F 16/00 (2019.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); G06F 9/54 (2006.01); G06F 16/23 (2019.01); G06F 16/27 (2019.01)
CPC G06F 16/27 (2019.01) [A61B 34/00 (2016.02); A61B 34/37 (2016.02); G06F 9/542 (2013.01); G06F 16/2365 (2019.01); G06F 16/2379 (2019.01); G06F 16/273 (2019.01)] 20 Claims
OG exemplary drawing
 
1. A robot-assisted surgical system, comprising:
a publishing node configured to maintain a first synchronization database comprising a subscriber list of subscribing nodes; and
a plurality of manipulators, each manipulator configured to manipulate a respective surgical instrument, wherein, upon removal of a first manipulator of the plurality of manipulators from the surgical system and installation of a second manipulator into the surgical system, the publishing node is configured to add the second manipulator to the subscriber list.