Medical robotic system with coupled control modes
AssigneeIntuitive Surgical Operations, Inc.
InventorsNicola Diolaiti, David Q. Larkin, Catherine J. Mohr
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Abstract
In a coupled control mode, the surgeon directly controls movement of an associated slave manipulator with an input device while indirectly controlling movement of one or more non-associated slave manipulators, in response to commanded motion of the directly controlled slave manipulator, to achieve a secondary objective. By automatically performing secondary tasks through coupled control modes, the system's usability is enhanced by reducing the surgeon's need to switch to another direct mode to manually achieve the desired secondary objective. Thus, coupled control modes allow the surgeon to better focus on performing medical procedures and to pay less attention to managing the system.
Claims9
1-73. (canceled)
A system comprising:
- an imaging system having a field of view;
- a plurality of slave manipulators;
- a plurality of devices, each device of the plurality of devices coupled to a corresponding slave manipulator of the plurality of slave manipulators;
- an input device;
- and
- means for commanding the plurality of slave manipulators to concurrently move distal ends of the plurality of devices into the field of view of the imaging system in response to a command received from the input device.
A method comprising:
- receiving, at a processor, an insertion command from an input device;
- and
- in response to the insertion command, using the processor to concurrently command inserting a plurality of devices into a field of view of an imaging system.
Dependencies are inferred from the claim text.