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AssigneeIntuitive Surgical Operations, Inc.
InventorsDaniel H. Gomez, Nicola Diolaiti, David Q. Larkin, Tabish Mustufa, Probal Mitra, Paul E. Lilagan
Estimating the term…
To perform a tool exchange in a medical robotic system, tool is retracted back into an entry guide from a deployed position and pose so that an assistant in the operating room may replace it with a different tool. While the tool is being retracted back towards the entry guide by user action, its configuration is changed to an entry pose while avoiding collisions with other objects so that it may fit in the entry guide. After the tool exchange is completed, a new tool is inserted in the entry guide and extended out of the guide by user action to the original position of the old tool prior to its retraction into the entry guide while the tool's controller assists the user by reconfiguring the new tool so as to resemble the original deployed pose of the old tool prior to its retraction into the entry guide.
A medical system comprising:
A method of operating a medical system comprising an entry guide, an articulated instrument, a manipulator, and a processor, the articulated instrument having a plurality of links, wherein adjacent links of the plurality of links are coupled together by a rotary joint, and wherein the articulated instrument is configured to be coupled to the manipulator so that a most proximal link of the plurality of links is at least partially disposed within the entry guide and a most distal link of the plurality of links is configured to retract into, and extend out of, the entry guide, the method comprising:
Dependencies are inferred from the claim text.