System and method for integrated surgical table motion
AssigneeIntuitive Surgical Operations, Inc.
InventorsBrandon D. ITKOWITZ, Paul G. GRIFFITHS, Nitish SWARUP, Kamyar ZIAEI
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Abstract
A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.
Claims20
A computer-assisted device comprising:
- an articulated arm configured to support an end effector;
- and
- a control unit configured to, when coupled to the articulated arm and a table:
- detect movement of the articulated arm caused by movement of the table,
- determine a movement of the table based on motion data received from the table, and
- drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.
A method for operating a computer-assisted device, the computer-assisted device comprising an articulated arm configured to support an end effector, the method comprising:
- detecting, by one or more processors, movement of the articulated arm caused by movement of a table;
- determining, by the one or more processors, a movement of the table based on motion data received from the table;
- and
- driving, by the one or more processors, one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.
A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with a computer-assisted device, are adapted to cause the computer-assisted device to perform a method comprising:
- detecting movement of an articulated arm of the computer-assisted caused by movement of a table, the articulated arm configured to support an end effector;
- determining a movement of the table based on motion data received from the table;
- and
- driving one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.
Dependencies are inferred from the claim text.