US 12,144,572 B2
Robotic surgical systems with roll, pitch, and yaw realignment including trim and flip algorithms
William Peine, Ashland, MA (US); and Albert Dvornik, Somerville, MA (US)
Assigned to Covidien LP, Mansfield, MA (US)
Filed by Covidien LP, Mansfield, MA (US)
Filed on Aug. 1, 2023, as Appl. No. 18/228,935.
Application 18/228,935 is a continuation of application No. 16/643,247, granted, now 11,717,362, issued on Aug. 8, 2023, previously published as PCT/US2018/049330, filed on Sep. 4, 2018.
Claims priority of provisional application 62/554,292, filed on Sep. 5, 2017.
Prior Publication US 2023/0372040 A1, Nov. 23, 2023
Int. Cl. A61B 34/35 (2016.01); A61B 17/00 (2006.01); A61B 34/00 (2016.01)
CPC A61B 34/35 (2016.02) [A61B 2017/00199 (2013.01); A61B 2034/742 (2016.02); A61B 34/76 (2016.02)] 17 Claims
OG exemplary drawing
 
1. A robotic surgical system or simulator comprising:
an input device rotatable about a first axis of rotation;
a display device including a representation of a surgical tool operably associated with the input device; and
a processing unit in communication with the input device and operatively associated with the representation of a surgical tool to rotate the representation of a surgical tool about a first axis of movement based on a scaled rotation of the input device about the first axis of rotation, the input device having an aligned configuration in which the input device is aligned with the representation of a surgical tool about the first axis of rotation,
wherein when the input device is misaligned with the representation of a surgical tool about the first axis of rotation, the processing unit varies the scaled rotation of the input device about the first axis of rotation to return the input device to the first aligned configuration until the input device is misaligned about the first axis of rotation a first predetermined offset from the aligned configuration.