US 12,465,446 B2
Steerable viewer mode activation and de-activation
Mohammad Sina Parastegari, Campbell, CA (US); Paul G. Griffiths, Santa Clara, CA (US); Brandon D. Itkowitz, San Jose, CA (US); and Goran A. Lynch, Oakland, CA (US)
Assigned to Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
Appl. No. 18/037,896
Filed by Intuitive Surgical Operations, Inc., Sunnyvale, CA (US)
PCT Filed Nov. 23, 2021, PCT No. PCT/US2021/060603
§ 371(c)(1), (2) Date May 19, 2023,
PCT Pub. No. WO2022/115469, PCT Pub. Date Jun. 2, 2022.
Claims priority of provisional application 63/118,175, filed on Nov. 25, 2020.
Prior Publication US 2024/0008942 A1, Jan. 11, 2024
Int. Cl. A61B 34/37 (2016.01); A61B 7/00 (2006.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01); A61B 90/00 (2016.01)
CPC A61B 34/37 (2016.02) [A61B 17/00 (2013.01); A61B 34/25 (2016.02); A61B 90/06 (2016.02); A61B 2017/00216 (2013.01); A61B 2017/00973 (2013.01); A61B 2090/065 (2016.02)] 23 Claims
OG exemplary drawing
 
1. A computer-assisted robotic system comprising:
a head input device configured to receive head inputs provided by a head of an operator of the robotic system, the head input device comprising one or more head input sensors configured to provide head input signals indicative of the head inputs;
a foot input device configured to receive foot inputs provided by a foot of the operator of the robotic system, the foot input device comprising one or more foot input sensors configured to provide foot input signals indicative of the foot inputs; and
a controller communicatively coupled to the head input device and the foot input device, the controller configured to:
process first head input signals from the one or more head input sensors and first foot input signals from the one or more foot input sensors;
identify, based on the processed first head and foot input signals, that the operator has provided a command to activate a steerable viewer mode, wherein a tool supported by the robotic system is not moved and an imaging device view displayed by the robotic system is not modified in response to the first head input signals and the first foot input signals; and
cause the robotic system to enter the steerable viewer mode in response to identifying that the operator has provided the command, wherein in the steerable viewer mode, the robotic system causes motion of the tool in response to second head input signals from the one or more head input sensors, the second head input signals different from the first head input signals and indicative of additional head inputs provided by the head, and wherein the tool is supported by the robotic system.