US 12,376,921 B2
Surgical system with obstacle indication system
Brandon D. Itkowitz, San Jose, CA (US); Michael L. Hanuschik, Mountain View, CA (US); and Paul W. Mohr, Mountain View, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Sep. 11, 2023, as Appl. No. 18/464,666.
Application 18/464,666 is a continuation of application No. 15/909,287, filed on Mar. 1, 2018, granted, now 11,793,581.
Application 15/909,287 is a continuation of application No. 14/659,833, filed on Mar. 17, 2015, granted, now 9,918,800, issued on Mar. 20, 2018.
Claims priority of provisional application 61/954,273, filed on Mar. 17, 2014.
Prior Publication US 2024/0138937 A1, May 2, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/30 (2016.01); A61B 5/00 (2006.01); A61B 17/00 (2006.01); A61B 90/30 (2016.01); A61B 90/35 (2016.01)
CPC A61B 34/30 (2016.02) [A61B 90/35 (2016.02); A61B 5/0017 (2013.01); A61B 2017/00075 (2013.01); A61B 90/30 (2016.02); A61B 2560/02 (2013.01); A61B 2560/0266 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A medical system comprising:
a mobile cart comprising manipulators configured to removably mount one or more medical instruments;
an object detection device mounted on the mobile cart, the object detection device configured to detect an object in a trajectory of movement of the mobile cart relative to a ground surface; and
a control system operably coupled to the object detection device and the mobile cart, the control system configured to:
in response to detection of an object in the trajectory of movement of the mobile cart by the object detection device, store a threshold height in a memory accessible by the control system; and
automatically control movement of the mobile cart based on the threshold height.