# US 2014/0195048 A1 · Cooperative minimally invasive telesurgical system

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- Number: US 2014/0195048 A1
- Document ID: US20140195048A1
- Status: Published application
- Kind: A1
- Application number: 14/163,197
- Filed: 2014-01-24
- Published: 2014-07-10
- Earliest claimed: 1999-08-16
- Assignees: Intuitive Surgical Operations, Inc.
- Applicants: Intuitive Surgical Operations, Inc.
- Inventors: Frederic H. Moll; David J. Rosa; Andris D. Ramans; Steven J. Blumenkranz; Gary S. Guthart; Gunter D. Niemeyer; William C. Nowlin; J. Kenneth Salisbury, JR.; Michael J. Tierney
- Web page: https://patentgrep.com/patent/US20140195048A1

## CPC

- A61B 34/35: for telesurgery
- A61B 34/30: Surgical robots
- A61B 34/37: Leader-follower robots (A61B34/35 takes precedence)
- G09B 23/285: {for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas}
- G16H 20/40: relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
- G16H 30/20: for handling medical images, e.g. DICOM, HL7 or PACS
- G16H 40/63: for local operation
- A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback}
- 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 2034/305: {Details of wrist mechanisms at distal ends of robotic arms}
- A61B 2034/742: {Joysticks}
- A61B 2090/506: {using a parallelogram linkage, e.g. panthograph}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)
- G09B: EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS (devices for psychotechnics or for testing reaction times A61B5/16; games, sports, amusements A63; projectors, projector screens G03B)
- G16H: HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA

## Abstract

Improved robotic surgical systems, devices, and methods include selectably associatable master/slave pairs, often having more manipulator arms than will be moved simultaneously by the two hands of a surgeon. Four manipulator arms can support an image capture device, a left hand tissue manipulation tool, a right hand tissue manipulation tool, and a fourth surgical instrument, particularly for stabilizing, retracting, tool change, or other functions benefiting from intermittent movement. The four or more arms may sequentially be controlled by left and right master input control devices. The fourth arm may be used to support another image capture device, and control of some or all of the arms may be transferred back-and-forth between the operator and an assistant. Two or more robotic systems each having master controls and slave manipulators may be coupled to enable cooperative surgery between two or more operators.

## Claims

### Claim at position 1

1-43. (canceled)

### Claim 44

A medical training method comprising:
receiving a first command from a first master control;
receiving a second command from a second master control; and
commanding an object to be moved according to a user selected percentage of control between the first and second commands.

### Claim 45 (depends on 44)

The medical training method of claim 44, further comprising:
applying a resistance against movement of the first master control such that the resistance is indicative of a difference between the first command and the commanded movement of the object.

### Claim 46 (depends on 44)

The medical training method of claim 44, further comprising:
receiving an indication of the user selected percentage of control from an input device.

### Claim 47 (depends on 46)

The medical training method of claim 46, wherein the input device comprises a dial having a number of discrete settings, and wherein the receiving the user selected percentage of control from the input device comprises:
receiving an indication of a dial setting from the dial.

### Claim 48 (depends on 46)

The medical training method of claim 46, wherein the input device comprises a foot pedal having a number of discrete settings, and wherein the receiving the user selected percentage of control from the input device comprises:
receiving an indication of a foot pedal setting from the foot pedal.

### Claim 49

A medical training method comprising:
receiving a first command from a first master control;
receiving a second command from a second master control; and
commanding an object to be moved according to a percentage of control between the first and second commands while applying a resistance against movement of the first master control such that the resistance is indicative of a difference between the first command and the commanded movement of the object.