US 12,383,360 B2
Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument
Brandon D. Itkowitz, San Jose, CA (US); Simon P. DiMaio, San Carlos, CA (US); William C. Nowlin, Los Altos Hills, CA (US); Gunter D. Niemeyer, Pasadena, CA (US); and David S. Mintz, Mountain View, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on May 3, 2024, as Appl. No. 18/655,041.
Application 18/655,041 is a continuation of application No. 18/309,110, filed on Apr. 28, 2023, granted, now 12,011,244.
Application 18/309,110 is a continuation of application No. 17/107,862, filed on Nov. 30, 2020, granted, now 11,672,619, issued on Jun. 13, 2023.
Application 17/107,862 is a continuation of application No. 16/862,412, filed on Apr. 29, 2020, granted, now 10,881,473, issued on Jan. 5, 2021.
Application 16/862,412 is a continuation of application No. 16/353,932, filed on Mar. 14, 2019, granted, now 10,675,109, issued on Jun. 9, 2020.
Application 16/353,932 is a continuation of application No. 15/706,883, filed on Sep. 18, 2017, granted, now 10,278,783, issued on May 7, 2019.
Application 15/706,883 is a continuation of application No. 15/399,600, filed on Jan. 5, 2017, granted, now 9,814,537, issued on Nov. 14, 2017.
Application 15/399,600 is a continuation of application No. 14/996,073, filed on Jan. 14, 2016, granted, now 9,579,164, issued on Feb. 28, 2017.
Application 14/996,073 is a continuation of application No. 14/534,526, filed on Nov. 6, 2014, granted, now 9,265,584, issued on Feb. 23, 2016.
Application 14/534,526 is a continuation of application No. 13/839,438, filed on Mar. 15, 2013, granted, now 8,903,549, issued on Dec. 2, 2014.
Application 13/839,438 is a continuation of application No. 12/495,213, filed on Jun. 30, 2009, granted, now 8,423,186, issued on Apr. 16, 2013.
Prior Publication US 2024/0285362 A1, Aug. 29, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); A61B 34/00 (2016.01); A61B 34/30 (2016.01); A61B 34/35 (2016.01); A61B 34/37 (2016.01); A61B 90/10 (2016.01); B25J 3/00 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/37 (2016.02) [A61B 34/25 (2016.02); A61B 34/30 (2016.02); A61B 34/35 (2016.02); A61B 90/10 (2016.02); B25J 3/00 (2013.01); B25J 9/1669 (2013.01); B25J 9/1689 (2013.01); A61B 2017/00725 (2013.01); A61B 2034/305 (2016.02); G05B 2219/45117 (2013.01); Y10S 901/27 (2013.01); Y10S 901/41 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A teleoperated system comprising:
a robotic means configured to support an instrument;
an input means configured to be manipulated by an operator to command motion of the instrument; and
a ratcheting means configured to:
determine first rotation values describing an orientation of the input means,
determine second rotation values describing an orientation of the instrument,
determine, based on the first rotation values and the second rotation values, an orientation error between the orientation of the input means and the orientation of the instrument,
generate, based on the orientation error, a motion command for the instrument to reduce the orientation error by increasing an alignment between the input means and the instrument, and
command the robotic means to move in accordance with the motion command.