US 12,458,458 B2
Systems and methods for entering and exiting a teleoperational state
Govinda Payyavula, Sunnyvale, CA (US); Simon P. Dimaio, San Carlos, CA (US); John William Henrie, Palo Alto, CA (US); Brandon D. Itkowitz, San Jose, CA (US); and Anthony M. Jarc, Johns Creek, GA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Apr. 17, 2024, as Appl. No. 18/638,519.
Application 18/638,519 is a continuation of application No. 18/061,357, filed on Dec. 2, 2022, granted, now 11,998,293.
Application 18/061,357 is a continuation of application No. 16/489,799, granted, now 11,559,365, issued on Jan. 24, 2023, previously published as PCT/US2018/020967, filed on Mar. 5, 2018.
Claims priority of provisional application 62/467,506, filed on Mar. 6, 2017.
Prior Publication US 2024/0261048 A1, Aug. 8, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 34/20 (2016.01); B25J 9/16 (2006.01)
CPC A61B 34/35 (2016.02) [A61B 34/74 (2016.02); B25J 9/1689 (2013.01); A61B 2017/00216 (2013.01); A61B 2034/2055 (2016.02)] 19 Claims
OG exemplary drawing
 
1. A teleoperational medical system comprising:
a teleoperational control system;
a teleoperational manipulator configured for operating a medical instrument in a medical environment; and
an operator controller in communication with the teleoperational control system, wherein the teleoperational control system includes a processing unit including one or more processors, and wherein the processing unit is configured to:
determine whether a head portion of an operator of the operator controller is directed toward or away from a display region of a display device;
determine whether the head portion of the operator is positioned in a predefined region in the medical environment, wherein the predefined region comprises an operating volume defining an acceptable position of the operator within the medical environment; and
based on a determination that the head portion is directed toward the display region and is positioned within the predefined region in the medical environment, initiate an operator following mode in which a movement of the operator controller provides a corresponding movement to the teleoperational manipulator.