# US 11,076,748 B2 · Display monitor control of a telesurgical tool > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,748 B2 - Document ID: US11076748B2 - Status: Granted - Kind: B2 - Application number: 16/859,867 - Filed: 2020-04-27 - Published: 2020-10-15 - Granted: 2021-08-03 - Earliest claimed: 2008-03-28 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Brian D. Hoffman; William C. Nowlin - Web page: https://patentgrep.com/patent/US11076748B2 ## CPC - A61B 1/00042: {for mechanical operation} - A61B 1/00149: {using articulated arms} - A61B 1/00188: {with focusing or zooming features} - A61B 1/045: Control thereof - A61B 34/25: {User interfaces for surgical systems} - A61B 34/30: Surgical robots - A61B 34/32: operating autonomously - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/74: {Manipulators with manual electric input means} - A61B 90/361: {Image-producing devices, e.g. surgical cameras} - A61B 2017/00199: {with a console, e.g. a control panel with a display} - A61B 2017/00216: {with eye tracking or head position tracking control} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - A61B 2090/372: {Details of monitor hardware} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) ## Abstract A robotic system includes a display to display an image captured by an image capture device, a linkage movably supporting the display, the linkage including a multitude of links, a multitude of joints coupling the multitude of links, and a multitude of sensors configured to sense configuration information of the linkage. A physical movement of the display corresponds to a configuration change of the linkage. The robotic system further includes a processor coupled to the multitude of sensors. The processor is configured to obtain sensor signals from the multitude of sensors, the sensor signals indicative of the configuration change, and adjust the image in response to the sensor signals. ## Claims ### Claim 1 A robotic system, the robotic system comprising: a display to display an image comprising digital pixel information, the image captured by an image capture device; a linkage movably supporting the display, the linkage comprising: a plurality of links, a plurality of joints coupling the plurality of links, and a plurality of sensors configured to sense configuration information of the linkage, wherein a physical movement of the display corresponds to a configuration change of the linkage; and a processor coupled to the plurality of sensors, wherein the processor is configured to: obtain sensor signals from the plurality of sensors, the sensor signals indicative of the configuration change, and adjust the image in response to the sensor signals at least by digitally manipulating the digital pixel information, the digitally manipulating controlled based on the sensor signals. ### Claim 2 (depends on 1) The robotic system of claim 1, wherein the plurality of sensors comprises a plurality of joint encoders, and wherein the configuration information comprises a joint configuration of the plurality of joints. ### Claim 3 (depends on 1) The robotic system of claim 1, wherein the linkage is configured to facilitate movement of the display by a user of the display. ### Claim 4 (depends on 1) The robotic system of claim 1, further comprising: a robotic arm configured to support the image capture device, wherein the image capture device comprises an endoscopic camera or an ultrasound tool. ### Claim 5 (depends on 1) The robotic system of claim 1, wherein adjusting the image in response to the sensor signals comprises commanding mechanical movement of the image capture device based on a control signal derived from the sensor signals. ### Claim 6 (depends on 1) The robotic system of claim 1, wherein adjusting the image in response to the sensor signals comprises causing at least one adjustment selected from the group consisting of: zooming the image and panning the image. ### Claim 7 (depends on 6) The robotic system of claim 6, wherein causing the at least one adjustment comprises causing digital performance of the at least one adjustment only by the digitally manipulating the digital pixel information. ### Claim 8 (depends on 6) The robotic system of claim 6, wherein causing the at least one adjustment comprises commanding mechanical movement of the image capture device in addition to the digitally manipulating the digital pixel information. ### Claim 9 (depends on 6) The robotic system of claim 6, wherein causing the at least one adjustment comprises: digitally adjusting the image by a first amount by the digitally manipulating the digital pixel information; and commanding mechanical movement of the image capture device to adjust the image by a second amount, wherein the second amount is greater than the first amount. ### Claim 10 (depends on 1) The robotic system of claim 1, wherein the robotic system is a medical robotic system, and wherein the image comprises a view of a tool of the robotic system. ### Claim 11 A method of operating a robotic system, the method comprising: displaying, by a display, an image comprising digital pixel information, the image captured by an image capture device, wherein the display is movably supported by a linkage, the linkage comprising: a plurality of links, a plurality of joints coupling the plurality of links, and a plurality of sensors configured to sense configuration information of the linkage, and wherein a physical movement of the display corresponds to a configuration change of the linkage; obtaining sensor signals from the plurality of sensors, the sensor signals indicative of the configuration change; and adjusting the image in response to the sensor signals at least by digitally manipulating the digital pixel information, the digitally manipulating controlled based on the sensor signals. ### Claim 12 (depends on 11) The method of claim 11, wherein the plurality of sensors comprises a plurality of joint encoders, and wherein the configuration information comprises a joint configuration of the plurality of joints. ### Claim 13 (depends on 11) The method of claim 11, wherein adjusting the image in response to the sensor signals comprises commanding mechanical movement of the image capture device based on a control signal derived from the sensor signals. ### Claim 14 (depends on 11) The method of claim 11, wherein adjusting the image in response to the sensor signals comprises causing at least one adjustment selected from the group consisting of: zooming the image and panning the image. ### Claim 15 (depends on 14) The method of claim 14, wherein causing the at least one adjustment comprises causing digital performance of the at least one adjustment only by the digitally manipulating the digital pixel information. ### Claim 16 (depends on 14) The method of claim 14, wherein causing the at least one adjustment comprises commanding mechanical movement of the image capture device in addition to the digitally manipulating the digital pixel information. ### Claim 17 (depends on 14) The method of claim 14, wherein causing the at least one adjustment comprises: digitally adjusting the image by a first amount by the digitally manipulating the digital pixel information; and commanding mechanical movement of the image capture device to adjust the image by a second amount, wherein the second amount is greater than the first amount. ### Claim 18 A non-transitory processor-readable medium comprising a plurality of machine-readable instructions which when executed by one or more associated processors are adapted to cause the one or more processors to perform a method comprising: displaying, by a display, an image comprising digital pixel information, the image captured by an image capture device, wherein the display is movably supported by a linkage, the linkage comprising: a plurality of links, a plurality of joints coupling the plurality of links, and a plurality of sensors configured to sense configuration information of the linkage, and wherein a physical movement of the display corresponds to a configuration change of the linkage; obtaining sensor signals from the plurality of sensors, the sensor signals indicative of the configuration change; and adjusting the image in response to the sensor signals at least by digitally manipulating the digital pixel information, the digitally manipulating controlled based on the sensor signals. ### Claim 19 (depends on 18) The non-transitory processor-readable medium of claim 18, wherein adjusting the image in response to the sensor signals comprises causing at least one adjustment selected from the group consisting of: zooming the image and panning the image, and wherein causing the at least one adjustment comprises both digitally adjusting the image and commanding mechanical movement of the image capture device in addition to the digitally manipulating the digital pixel information. ### Claim 20 (depends on 18) The non-transitory processor-readable medium of claim 18, wherein adjusting the image in response to the sensor signals comprises causing at least one adjustment selected from the group consisting of: zooming the image and panning the image, and wherein causing the at least one adjustment comprises: digitally adjusting the image by a first amount by the digitally manipulating the digital pixel information, and commanding mechanical movement of the image capture device to adjust the image by a second amount, wherein the second amount is greater than the first amount.