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US 12,714,410 B2Granted
Method and apparatus for manipulating tissue
AssigneeIntuitive Surgical Operations, Inc.
InventorsBrandon D. Itkowitz, Pushkar Hingwe
Life of this patent
Estimating the term…
Abstract
A method and apparatus for manipulating tissue. A tissue control point is displayed over an image of the tissue in a user interface. An input is received that moves the tissue control point within the user interface. A first instrument that is physically associated with the tissue is operated based on the received input to thereby manipulate the tissue.
Claims20
An apparatus comprising:
- a display system configured to display an image of tissue in a user interface;
- and
- a control system communicatively coupled to the display system, wherein the control system is configured to:
- display a tissue control point graphical element over the image of tissue;
- receive an input that moves the tissue control point graphical element within the user interface;
- and
- operate an instrument physically associated with the tissue, based on the received input that moves the tissue control point graphical element, to thereby manipulate the tissue.
4 more elements
An apparatus comprising:
- a display system configured to display an image of tissue in a user interface;
- and
- a control system communicatively coupled to the display system, wherein the control system is configured to:
- display a virtual object representing a tissue control point over the image of tissue in the user interface, wherein the virtual object is offset from a position of a first instrument;
- operate a second instrument to move a proxy geometry representing the second instrument into contact with the virtual object and impart a force on the virtual object;
- operate the first instrument based on the force applied to the virtual object to thereby manipulate the tissue;
- and
- generate a haptic feedback response at the second instrument in response to operation of the first instrument.
5 more elements
Dependencies are inferred from the claim text.