# US 11,432,893 B2 · Structural adjustment systems and methods for a teleoperational medical system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,432,893 B2 - Document ID: US11432893B2 - Status: Granted - Kind: B2 - Application number: 16/214,623 - Filed: 2018-12-10 - Published: 2019-04-11 - Granted: 2022-09-06 - Earliest claimed: 2014-03-17 - Assignees: Intuitive Surgical Operations, Inc. - Applicants: Intuitive Surgical Operations, Inc. - Inventors: Brandon D. Itkowitz; Paul W. Mohr - Web page: https://patentgrep.com/patent/US11432893B2 ## CPC - A61B 34/35: for telesurgery - A61B 34/30: Surgical robots - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 90/03: {Automatic limiting or abutting means, e.g. for safety} - B25J 9/1689: {Teleoperation} - A61B 2017/00477: {Coupling (A61B2017/0046 takes precedence)} - 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 teleoperational medical system for performing a medical procedure in a surgical field includes a teleoperational assembly having a plurality of motorized surgical arms configured to assist in a surgical procedure. The motorized surgical arms have a motion limit defining a boundary beyond which the surgical arm cannot pass when the surgical arm is attached to a patient. The teleoperational medical system also includes a control system having a surgical threshold limit stored therein. The surgical threshold limit is an edge of a boundary to be potentially travelled by the surgical arm to suitably perform a surgical procedure. The control system is configured to compare the motion limit to the surgical threshold limit and notify an operator via an output device when the threshold limit is outside a range of motion bounded by the motion limit. ## Claims ### Claim 1 A medical system, comprising: a manipulator assembly configured to assist in medical procedures; one or more sensing elements configured to sense an arrangement of the manipulator assembly; and a control system configured to: determine a motion limit of the manipulator assembly based on the sensed arrangement of the manipulator assembly by: using a position of a joint of a plurality of joints or of a link of a plurality of links, pre-store a plurality of threshold limits, each of the plurality of threshold limits associated with a medical procedure type and defining a limit of a range to be potentially travelled by the manipulator assembly to suitably perform a procedure of the associated medical procedure type, select a threshold limit of the plurality of threshold limits based on which medical procedure type is to be performed, compare the motion limit to the selected threshold limit, and provide a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit. ### Claim 2 (depends on 1) The medical system of claim 1, wherein the manipulator assembly comprises an arm having the plurality of links coupled by the plurality of joints. ### Claim 3 (depends on 2) The medical system of claim 2, wherein the sensed arrangement comprises a pitch of the arm. ### Claim 4 (depends on 2) The medical system of claim 2, wherein the arm is configured to pivot around a remote center, wherein the determination of the motion limit is based on the position of the joint, and wherein a change in the position of the joint changes a pitch of the arm without translating the remote center. ### Claim 5 (depends on 1) The medical system of claim 1, wherein the determination of the motion limit is based on the position of the joint, the medical system further comprising: an input device configured to activate a motor to adjust the position of the joint of the plurality of joints to modify the arrangement of the manipulator assembly and change the motion limit. ### Claim 6 (depends on 1) The medical system of claim 1, wherein the selected threshold limit is accessed for comparison to the motion limit based upon at least a location of the medical procedure in a patient's body. ### Claim 7 (depends on 1) The medical system of claim 1, wherein the selected threshold limit is accessed for comparison to the motion limit based upon at least a patient body feature. ### Claim 8 (depends on 1) The medical system of claim 1, wherein the selected threshold limit is accessed for comparison to the motion limit based upon at least a patient approach. ### Claim 9 (depends on 1) The medical system of claim 1, wherein the control system is further configured to: continuously compare the motion limit to the selected threshold limit as the arrangement of the manipulator assembly is changed, and automatically turn off the notification when the selected threshold limit is within the motion limit. ### Claim 10 (depends on 1) The medical system of claim 1, wherein the notification indicates when the selected threshold limit is outside the range of motion bounded by the motion limit. ### Claim 11 (depends on 1) The medical system of claim 1, wherein the control system is further configured to notify a user via an output device in response to the motion limit being within a preset tolerance of the threshold limit, and wherein the preset tolerance includes unequal dimensions on different sides of the threshold limit. ### Claim 12 (depends on 1) The medical system of claim 1, wherein the notification instructs a user to adjust the manipulator assembly to increase an alignment between the motion limit and the threshold limit. ### Claim 13 (depends on 12) The medical system of claim 12, wherein control system is configured to provide the notification instructing the user to adjust the manipulator assembly only if the motion limit of the manipulator assembly has remaining an available range of motion. ### Claim 14 (depends on 1) The medical system of claim 1, wherein the control system is further configured to change the threshold limit in response to a movement of a patient of the medical procedure. ### Claim 15 A method of setting up a medical system, comprising: sensing an arrangement of a manipulator assembly configured to assist in medical procedures by: sensing an arrangement of an arm having a plurality of links coupled by a plurality of joints, determining a motion limit of the manipulator assembly based on the sensed arrangement of the manipulator assembly by: using at least a position of a joint of the plurality of joints or of a link of the plurality of links, selecting a threshold limit from a plurality of pre-stored threshold limits based on which medical procedure type is to be performed, the selected threshold limit being associated with a medical procedure type and defining a limit of a range to be potentially travelled by the manipulator assembly to suitably perform a procedure of the associated medical procedure type, comparing the motion limit to the selected threshold limit, and providing a notification indicative of whether the selected threshold limit is outside a range of motion bounded by the motion limit. ### Claim 16 (depends on 15) The method of claim 15, wherein the manipulator assembly comprises an arm configured to pivot around a remote center, the method further comprising: changing the motion limit by adjusting the position of the joint of the plurality of joints to change a pitch of the arm without translating the remote center and modify the arrangement of the manipulator assembly and change the motion limit. ### Claim 17 (depends on 15) The method of claim 15, wherein the selected threshold limit is accessed for comparison to the motion limit based upon at least one parameter selected from the group consisting of: a location of the medical procedure in a patient's body, a patient body feature, and a patient approach. ### Claim 18 (depends on 15) The method of claim 15, further comprising: continuously comparing the motion limit to the selected threshold limit as the arrangement of the manipulator assembly is changed, and automatically turning off the notification when the selected threshold limit is within the motion limit.