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US 10,219,868 B2Granted
Methods, systems, and devices for controlling movement of a robotic surgical system
AssigneeEthicon, Inc.
InventorMichael P. Weir
Life of this patent
Estimating the term…
Abstract
Various exemplary methods, systems, and devices for controlling movement of a robotic surgical system are provided. In general, a plurality of surgical instruments are simultaneously usable during performance of a surgical procedure. One or more of the plurality of instruments is coupled to a robotic surgical system that is configured to control movement of the one or more of the plurality of instruments.
Claims20
A surgical system, comprising:
- a robotic surgical system including a first movable arm configured to have a first surgical instrument removably coupled thereto, including a second movable arm configured to have a second surgical instrument removably coupled thereto, having a first mode in which the robotic surgical system is configured to control movement of the first arm such that the first arm and the first surgical instrument removably coupled thereto move relative to the second arm and the second surgical instrument removably coupled thereto, and the robotic surgical system having a second mode in which the robotic surgical system is configured to control movement of the first arm in coordination with the second arm such that the first arm and the first surgical instrument removably coupled thereto and the second arm and the second surgical instrument removably coupled thereto simultaneously move in coordination;
- and
- a controller configured to cause the coordinated movement.
A surgical method, comprising:
- receiving a user selection of one of a plurality of surgical instruments as a master instrument, the plurality of surgical instruments being controlled by a robotic surgical system during performance of a surgical procedure on a patient, each of the plurality of surgical instruments being coupled to one of a plurality of movable arms of the robotic surgical system;
- receiving a user selection of one or more other ones of the plurality of surgical instruments as follower instruments;
- receiving an input indicating movement of the master instrument;
- and
- causing the one or more follower instruments to move in coordination with the movement of the master instrument so as to maintain a fixed spatial relationship between the master instrument and the one or more follower instruments throughout the movement of the master instrument.
2 more elements
Dependencies are inferred from the claim text.