US 12,029,513 B2
Software center and highly configurable robotic systems for surgery and other uses
William C. Nowlin, Los Altos, CA (US); Paul W. Mohr, Mountain View, CA (US); Bruce M. Schena, Menlo Park, CA (US); David Q. Larkin, Menlo Park, CA (US); and Gary S. Guthart, Los Altos, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Jul. 19, 2021, as Appl. No. 17/379,379.
Application 17/379,379 is a continuation of application No. 16/667,523, filed on Oct. 29, 2019, granted, now 11,534,251.
Application 16/667,523 is a continuation of application No. 15/790,767, filed on Oct. 23, 2017, granted, now 10,512,514, issued on Dec. 24, 2019.
Application 15/790,767 is a continuation of application No. 15/488,219, filed on Apr. 14, 2017, granted, now 10,194,998, issued on Feb. 5, 2019.
Application 15/488,219 is a continuation of application No. 14/265,671, filed on Apr. 30, 2014, granted, now 9,687,310, issued on Jun. 27, 2017.
Application 14/265,671 is a continuation of application No. 13/175,590, filed on Jul. 1, 2011, granted, now 8,749,190, issued on Jun. 10, 2014.
Application 13/175,590 is a continuation of application No. 11/133,423, filed on May 19, 2005, granted, now 8,004,229, issued on Aug. 23, 2011.
Prior Publication US 2021/0346107 A1, Nov. 11, 2021
Int. Cl. A61B 34/35 (2016.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/37 (2016.01); A61B 90/00 (2016.01); B25J 3/00 (2006.01); B25J 9/16 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 34/30 (2016.02); A61B 34/37 (2016.02); A61B 34/71 (2016.02); A61B 34/77 (2016.02); A61B 90/37 (2016.02); B25J 3/00 (2013.01); B25J 9/1682 (2013.01); B25J 9/1689 (2013.01); A61B 2034/301 (2016.02); A61B 2034/302 (2016.02); A61B 2034/305 (2016.02); A61B 2090/065 (2016.02); A61B 90/361 (2016.02); G05B 2219/39135 (2013.01); G05B 2219/39212 (2013.01); G05B 2219/39322 (2013.01); G05B 2219/40184 (2013.01); G05B 2219/45117 (2013.01)] 29 Claims
OG exemplary drawing
 
1. A robotic system comprising:
an input device;
a base comprising an elongate base body that is elongated along a length of the elongate base body, wherein the elongate base body is configured to assume a horizontal orientation such that the length extends in a substantially horizontal direction, the length being greater than a largest vertical dimension of the elongate base body when the elongate base body has assumed the horizontal orientation;
a plurality of manipulators coupled to the elongate base body and distributed in a row along the length of the elongate base body, wherein the plurality of manipulators comprises three or more manipulators, each manipulator configured to move an instrument relative to the base, wherein each manipulator comprises:
a plurality of links, and
a plurality of joints coupled to the plurality of links; and
a processor coupled to the input device and the plurality of manipulators, the processor configured to:
determine a desired motion for a first manipulator of the plurality of manipulators in response to a motion command received at the input device, and
drive the first manipulator to move in accordance with the desired motion.