# US 11,076,925 B2 · Positioning indicator system for a remotely controllable arm and related methods > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,076,925 B2 - Document ID: US11076925B2 - Status: Granted - Kind: B2 - Application number: 16/327,986 - Filed: 2017-09-07 - Published: 2019-08-01 - Granted: 2021-08-03 - Earliest claimed: 2016-09-19 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Simon Peter DiMaio; Nicholas Leo Bernstein; Paul Millman; Dinesh Rabindran; Alec Paul Robertson - Web page: https://patentgrep.com/patent/US11076925B2 ## CPC - A61B 34/35: for telesurgery - A61B 17/3423: {Access ports, e.g. toroid shape introducers for instruments or hands (access sites for liquids A61M39/0247)} - A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis - A61B 34/25: {User interfaces for surgical systems} - A61B 34/30: Surgical robots - A61B 34/32: operating autonomously - A61B 46/00: Surgical drapes - A61B 46/10: specially adapted for instruments{, e.g. microscopes} - A61B 50/13: Trolleys{, e.g. carts} - A61B 50/15: Mayo stands; Tables - A61B 50/33: Trays - A61B 90/08: {Accessories or related features not otherwise provided for} - A61B 90/50: Supports for surgical instruments, e.g. articulated arms - B25J 9/162: {Mobile manipulator, movable base with manipulator arm mounted on it} - B25J 9/1676: {Avoiding collision or forbidden zones} - B25J 9/1684: {Tracking a line or surface by means of sensors} - A61B 2090/0808: {for indicating correct assembly of components, e.g. of the surgical apparatus} - A61B 2090/0811: {for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument} - A61B 2090/3945: {Active visible markers, e.g. light emitting diodes} - A61B 2090/508: {with releasable brake mechanisms} - A61B 2090/571: {for clamping a support arm to a bed or other supports} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## Abstract A robotic system includes a base movable relative to a floor surface and a controllable arm extending from the base. The arm is configured to support and move a tool. The arm has a powered joint operable to position and/or orient the tool. The robotic system further includes a positioning indicator. A processor operates the positioning indicator to direct a manual repositioning of the base relative to the floor surface while the processor is operating the powered joint to maintain the position and/or orientation of the tool during the manual repositioning. ## Claims ### Claim 1 A robotic system comprising: a base movable relative to a floor surface; a remotely controllable arm extending from the base and configured to support a tool, the remotely controllable arm having a powered joint operable to move the tool when the tool is supported by the remotely controllable arm; a positioning indicator; and a processor communicatively coupled to the positioning indicator and the remotely controllable arm, the processor configured to: operate the positioning indicator to direct a manual repositioning of the base relative to the floor surface; and operate the powered joint to maintain a position of a distal portion of the remotely controllable arm during the manual repositioning. ### Claim 2 (depends on 1) The robotic system of claim 1, wherein the processor is further configured to: operate the powered joint to maintain an orientation of the distal portion of the remotely controllable arm during the manual repositioning. ### Claim 3 (depends on 1) The robotic system of claim 1, wherein the processor is configured to operate the powered joint to maintain the position of the distal portion of the remotely controllable arm during the manual repositioning by: operating the powered joint to maintain the position of the distal portion relative to a location of an access port on a patient through which the tool is to be inserted; or operating the powered joint to maintain a position of a cannula held by the distal portion; or operating the powered joint to maintain a position of the tool. ### Claim 4 (depends on 1) The robotic system of claim 1, further comprising: a cart supported on the floor surface; and a setup assembly comprising a passive joint, the setup assembly connecting the base to the cart, wherein the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: directing the manual repositioning while the cart is movable relative to the floor surface and the base is movable relative to the cart. ### Claim 5 (depends on 1) The robotic system of claim 1, further comprising a braking mechanism communicatively coupled to the processor, wherein the processor is further configured to operate the braking mechanism to inhibit movement of the base away from an optimal base location envelope. ### Claim 6 (depends on 1) The robotic system of claim 1, further comprising: a setup assembly for attaching the base to a table, wherein the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: directing the manual repositioning while the base is movable relative to the table. ### Claim 7 (depends on 1) The robotic system of claim 1, wherein: the remotely controllable arm further comprises a second powered joint connected to the powered joint by one or more links, the second powered joint is operable to move the tool when the tool is supported by the remotely controllable arm, and the processor is configured to operate the powered joint to maintain the position of the distal portion of the remotely controllable arm during the manual repositioning by: operating the powered joint and the second powered joint. ### Claim 8 (depends on 1) The robotic system of claim 1, further comprising a selectively releasable passive joint connected to the base by one or more links and supporting the base above the floor surface, wherein the processor is configured to operate the powered joint to maintain the position of the distal portion of the remotely controllable arm during the manual repositioning by: operating the powered joint and the selectively releasable passive joint to maintain the position of the tool. ### Claim 9 (depends on 1) The robotic system of claim 1, wherein the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: directing the manual repositioning of the base based on a target range of joint states determined by the processor; or directing the manual repositioning of the base based on an optimal base location envelope above the floor surface determined by the processor. ### Claim 10 (depends on 1) The robotic system of claim 1, wherein: the positioning indicator comprises indicator lights selectively activatable by the processor, each of the indicator lights positioned to indicate a corresponding repositioning direction of the manual repositioning of the base; or the positioning indicator comprises a light projector, and the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: projecting light from the light projector toward the floor surface, the light indicative of a repositioning direction of the manual repositioning of the base. ### Claim 11 (depends on 1) The robotic system of claim 1, wherein: the positioning indicator comprises an actuator or a braking mechanism, and the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: controlling the positioning indicator to inhibit movement of the powered joint, or to provide a tactile indication to direct the manual repositioning of the base, during the manual repositioning of the base. ### Claim 12 (depends on 1) The robotic system of claim 1, wherein the processor is further configured to: operate the positioning indicator to alert an operator during the manual repositioning of the base that the base is within an optimal base location envelope; or operate the positioning indicator to alert the operator during the manual repositioning of the base that the base is outside of the optimal base location envelope. ### Claim 13 (depends on 1) The robotic system of claim 1, further comprising a sensor to generate a signal indicative of a manual demonstration of a desired range of motion of the remotely controllable arm, wherein the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: directing the manual repositioning of the base based on the signal indicative of the manual demonstration. ### Claim 14 (depends on 1) The robotic system of claim 1, wherein the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: directing the manual repositioning of the base based on a location of an obstacle on the floor surface relative to the base; or directing the manual repositioning of the base based on a location of an end of a rail relative to the base, wherein the base is movable along the rail. ### Claim 15 (depends on 1) The robotic system of claim 1, further comprising a second remotely controllable arm communicatively coupled to the processor, the second remotely controllable arm configured to support and position a second tool, the second remotely controllable arm having a second powered joint operable to move the second tool, wherein the processor is further configured to: operate the second powered joint to maintain a position of a distal portion of the second remotely controllable arm during the manual repositioning. ### Claim 16 (depends on 1) The robotic system of claim 1, wherein the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: directing the manual repositioning of the base based on a pose of the remotely controllable arm relative to a pose of a second remotely controllable arm. ### Claim 17 (depends on 1) The robotic system of claim 1, wherein the processor is configured to operate the positioning indicator to direct the manual repositioning of the base relative to the floor surface by: directing a first manual repositioning of the base before the tool is inserted into an access port of a patient; and directing a second manual repositioning of the base after the tool is inserted into the access port. ### Claim 18 (depends on 1) The robotic system of claim 1, wherein the processor is configured to operate the powered joint to maintain the position of the distal portion of the remotely controllable arm during the manual repositioning by: operating the powered joint to maintain the position of the distal portion relative to a first reference point before the tool is inserted into an access port; and operating the powered joint to maintain the position of the distal portion relative to a second reference point after the tool is inserted into the access port, the second reference point corresponding to a position of the access port. ### Claim 19 (depends on 1) The robotic system of claim 1, further comprising a movable table configured to support a patient above the floor surface, wherein the processor is further configured to: operate the positioning indicator to direct a manual repositioning of the movable table; and operate the powered joint to maintain the position of the distal portion of the remotely controllable arm during the manual repositioning of the movable table. ### Claim 20 (depends on 1) The robotic system of claim 1, wherein the processor is further configured to operate the positioning indicator to indicate an estimated distance between an optimal location of the base and a current location of the base. ### Claim 21 A method of operating a robotic system comprising a robotic arm extending from a base, the method comprising: determining, by a processor, a target base pose of the base; operating, by the processor, a positioning indicator to direct a manual repositioning of the base relative to a floor surface; and operating, by the processor, the robotic arm to maintain a position of a distal portion of the robotic arm during the manual repositioning of the base. ### Claim 22 (depends on 21) The method of claim 21, further comprising: operating, by the processor, the robotic arm to maintain an orientation of the distal portion of the robotic arm during the manual repositioning of the base. ### Claim 23 (depends on 21) The method of claim 21, wherein operating the robotic arm to maintain the position of the distal portion of the robotic arm during the manual repositioning of the base comprises: operating the robotic arm to maintain the position of the distal portion relative to a location of an access port; or operating the robotic arm to maintain a position of a cannula being held by the robotic arm; or operating the robotic arm to maintain a position of a tool being supported by the robotic arm. ### Claim 24 (depends on 21) The method of claim 21, further comprising: operating, by the processor, a braking mechanism to inhibit movement of the base away from an optimal base location envelope. ### Claim 25 (depends on 21) The method of claim 21, wherein operating the robotic arm to maintain the position of the distal portion of the robotic arm during the manual repositioning of the base comprises: concurrently operating, by the processor, a powered joint of the robotic arm and a release mechanism of a passive joint of the robotic arm. ### Claim 26 (depends on 21) The method of claim 21, wherein operating the positioning indicator to direct the manual repositioning of the base relative to the floor surface comprises: operating, by the processor, an actuator or a brake to inhibit movement of the robotic arm and provide a tactile indication to direct the manual repositioning of the base. ### Claim 27 (depends on 21) The method of claim 21, wherein determining, by the processor, the target base pose of the base comprises: determining the target base pose based on at least one of: a signal indicative of a manual demonstration of a desired range of motion of the robotic arm, a location of an obstacle and a pose of a second robotic arm, and a location of an end of a rail to which the base is movably mounted. ### Claim 28 A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a robotic system comprising a robotic arm extending from a base, are adapted to cause the one or more processors to perform a method comprising: determining a target base pose of the base; operating a positioning indicator to direct a manual repositioning of the base relative to a floor surface; and operating the robotic arm to maintain a position of a distal portion of the robotic arm during the manual repositioning of the base. ### Claim 29 (depends on 28) The non-transitory machine-readable medium of claim 28, wherein the method further comprises: operating the robotic arm to maintain an orientation of the distal portion of the robotic arm during the manual repositioning of the base. ### Claim 30 (depends on 28) The non-transitory machine-readable medium of claim 28, wherein operating the positioning indicator to direct the manual repositioning of the base relative to the floor surface comprises: operating an actuator or a brake to inhibit movement of the robotic arm and provide a tactile indication to direct the manual repositioning of the base.