US 12,082,902 B2
Head movement control of a viewing system
Sina Parastegari, Campbell, CA (US); and Goran Lynch, Oakland, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 17/637,060
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Aug. 21, 2020, PCT No. PCT/US2020/047493
§ 371(c)(1), (2) Date Feb. 21, 2022,
PCT Pub. No. WO2021/041248, PCT Pub. Date Mar. 4, 2021.
Claims priority of provisional application 62/891,229, filed on Aug. 23, 2019.
Prior Publication US 2022/0287788 A1, Sep. 15, 2022
Int. Cl. A61B 34/00 (2016.01); A61B 34/37 (2016.01); B25J 9/16 (2006.01); A61B 17/00 (2006.01); A61B 34/20 (2016.01)
CPC A61B 34/77 (2016.02) [A61B 34/25 (2016.02); A61B 34/37 (2016.02); B25J 9/1689 (2013.01); A61B 2017/00216 (2013.01); A61B 2034/2059 (2016.02)] 24 Claims
OG exemplary drawing
 
1. A computer-assisted robotic system comprising:
a display unit configured to provide images to an operator of the display unit;
a headrest configured to receive a mechanical input provided by a head of the operator in mechanical contact with the headrest;
a headrest sensor interfacing with the headrest and configured to provide sensor signals based on the mechanical input;
a controller comprising a computer processor, the controller configured to:
process the sensor signals to obtain a driving input;
drive, by the driving input, a virtual mass to obtain a simulated virtual mass movement; and
cause movement of the headrest, the movement of the headrest tracking the virtual mass movement.