US 12,357,404 B2
Systems and methods for bifurcated navigation control of a manipulator cart included within a computer-assisted medical system
Sophia R. Hannaford, Oakland, CA (US); Marisa C. Babb, Santa Clara, CA (US); Simon P. DiMaio, San Carlos, CA (US); Craig Gotsill, San Francisco, CA (US); Omid Mohareri, San Francisco, CA (US); and Dinesh Rabindran, San Jose, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Filed on Apr. 25, 2024, as Appl. No. 18/646,127.
Application 18/646,127 is a continuation of application No. 17/610,348, granted, now 11,992,281, previously published as PCT/US2020/035229, filed on May 29, 2020.
Claims priority of provisional application 62/855,558, filed on May 31, 2019.
Prior Publication US 2024/0277430 A1, Aug. 22, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/32 (2016.01); A61B 34/00 (2016.01); A61B 34/37 (2016.01); A61B 50/13 (2016.01); B25J 5/00 (2006.01); B25J 9/00 (2006.01); G05D 1/00 (2024.01); G05D 1/692 (2024.01)
CPC A61B 34/32 (2016.02) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); A61B 34/70 (2016.02); A61B 50/13 (2016.02); B25J 5/007 (2013.01); B25J 9/0084 (2013.01); G05D 1/0027 (2013.01); G05D 1/692 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A system comprising:
a memory storing instructions; and
a processor communicatively coupled to the memory and configured to execute the instructions to:
direct a manipulator cart to navigate, in a first bifurcated navigation control mode, from an initial location to an intermediate location; and
direct the manipulator cart to navigate, in a second bifurcated navigation control mode, from the intermediate location to a target location;
wherein:
in the first bifurcated navigation control mode, the processor is configured to execute the instructions to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart using a primary control interface configured to facilitate operator control of both steering and propulsion of the manipulator cart; and
in the second bifurcated navigation control mode, the processor is configured to autonomously control the steering of the manipulator cart while allowing operator control of the propulsion of the manipulator cart using a secondary control interface configured to facilitate operator control of the propulsion and not the steering of the manipulator cart.