US6364888B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Alignment of master and slave in a minimally invasive surgical apparatus
Assignee: Intuitive Surgical Operations Inc
•
Filing: 1999-04-07
•
Granted: 2002-04-02
•
Expires: 2019-04-07
Abstract
Abstract This invention relates to establishing alignment or a desired orientational relationship between a master and a slave of a telerobotic system. The invention can advantageously be used in a surgical apparatus. A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer is provided. The method includes causing the end effector to remain stationary, determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer and determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer, at which orientation the desired orientational relationship between the hand-held part of the master control and the end effector would be established. The method further includes causing the hand-held part of the master control to be moved into the desired corresponding orientation. The invention extends to a control system arranged to cause the desired orientational relationship between the hand-held part of the master control and the end effector of the associated slave, as viewed in the displayed imaged on the viewer, to be established when operative control between the master control and the slave has been interrupted.
Inventors
- 👤 Gunter D. Niemeyer
- 👤 William C. Nowlin
- 👤 Gary S. Guthart
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 15:59
CPC Classifications
A; A61; A61B; A61B1/00; A61B1/00147; A61B1/00149; A61B34/00; A61B34/30; A61B34/35; A61B34/37; A61B34/70; A61B90/00; A61B90/36; B; B25; B25J; B25J19/00; B25J19/02; B25J19/021; B25J19/023; B25J3/00; B25J3/04; B25J9/00; B25J9/16; B25J9/1679; B25J9/1689; B25J9/1692; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/401; H; H04; H04N; H04N13/00; H04N13/20; H04N13/204; H04N13/246; H04N13/30; H04N13/327; H04N23/00; H04N23/50; H04N23/555; A61B17/00; A61B17/00234; A61B18/00; A61B2018/00982; A61B34/10; A61B2034/101; A61B2034/102; A61B2034/305; A61B90/50; A61B2090/506; G05B2219/00; G05B2219/30; G05B2219/39; G05B2219/39014; G05B2219/39057; G05B2219/39062; G05B2219/39253; G05B2219/39387; G05B2219/39389; G05B2219/39391; G05B2219/39394; G05B2219/39437; G05B2219/39439; G05B2219/39483; G05B2219/40; G05B2219/40144; G05B2219/40354; G05B2219/40552; G05B2219/41; G05B2219/41441; G05B2219/45; G05B2219/45118; H04N13/239
Claims Analysis
Total Claims: 80
Claim 1
Independent Claim
106 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation.
Claim 2
Independent Claim
106 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation.
Claim 3
Dependent Claim
88 words
A method as claimed in claim 1 , which further includes determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; and determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; and moving the hand-held part of the master control into the desired corresponding position.
Claim 4
Dependent Claim
29 words
A method as claimed in claim 2 , in which moving the hand-held part of the master control into the desired corresponding position includes manually moving the hand-held part.
Claim 5
Dependent Claim
48 words
A method as claimed in claim 1 , in which moving the hand-held part of the master control into the desired corresponding orientation includes supplying electrical current to electrical motors associated with the hand-held part thereby to cause the hand-held part to be moved into the desired orientation.
Claim 6
Dependent Claim
29 words
A method as claimed in claim 1 , in which moving the hand-held part of the master control into the desired corresponding orientation includes manually moving the hand-held part.
Claim 7
Independent Claim
126 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer, by computing the orientation relative to a reference coordinate frame positioned at the viewing end of the image capturing device; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation.
Claim 8
Independent Claim
126 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer, by computing the orientation relative to a reference coordinate frame positioned at the viewing end of the image capturing device; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation.
Claim 9
Dependent Claim
45 words
A method as claimed in claim 6 , which further includes defining a coordinate frame on the end effector, the orientation of the end effector then being defined by the orientation of the coordinate frame on the end effector relative to the reference coordinate frame.
Claim 10
Dependent Claim
45 words
A method as claimed in claim 6 , in which determining the desired corresponding orientation of the hand-held part of the master control relative to the viewer includes computing an orientation of the hand-held part relative to a reference coordinate frame generally at the viewer.
Claim 11
Dependent Claim
65 words
A method as claimed in claim 8 , in which computing the orientation of the hand-held part relative to the reference coordinate frame generally at the viewer includes defining a coordinate frame on the hand-held part, the orientation of the hand-held part then being defined by the orientation of the coordinate frame on the hand-held part relative to the reference coordinate frame at the viewer.
Claim 12
Dependent Claim
59 words
A method as claimed in claim 8 , in which determining the desired corresponding orientation of the hand-held part includes determining an orientation of the hand-held part relative to the reference coordinate frame generally at the viewer which is the same as the orientation of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 13
Dependent Claim
59 words
A method as claimed in claim 8 , in which determining the desired corresponding orientation of the hand-held part includes determining an orientation of the hand-held part relative to the reference coordinate frame generally at the viewer which is offset relative to the orientation of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 14
Independent Claim
139 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established, the master control having a plurality of configurations which yield the desired corresponding orientation; computing a preferred configuration of the master control at which the hand-held part is at the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding orientation.
Claim 15
Independent Claim
139 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established, the master control having a plurality of configurations which yield the desired corresponding orientation; computing a preferred configuration of the master control at which the hand-held part is at the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding orientation.
Claim 16
Dependent Claim
28 words
A method as claimed in claim 12 , in which computing the preferred configuration includes examining a plurality of solutions corresponding to at least one segment of solutions.
Claim 17
Dependent Claim
34 words
A method as claimed in claim 13 , in which examining the plurality of solutions of the segment includes selecting an arbitrary solution and then following an iterative procedure to compute the preferred solution.
Claim 18
Dependent Claim
24 words
A method as claimed in claim 14 , in which following an iterative procedure to determine the preferred solution includes using a cost function.
Claim 19
Dependent Claim
23 words
A method as claimed in claim 15 , in which the preferred solution relates to the solution having a lowest cost function value.
Claim 20
Independent Claim
201 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer by computing the position relative to a reference coordinate frame positioned at the viewing end of the image capturing device; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position.
Claim 21
Independent Claim
201 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer by computing the position relative to a reference coordinate frame positioned at the viewing end of the image capturing device; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position.
Claim 22
Dependent Claim
67 words
A method as claimed in claim 17 , in which computing the position of the end effector relative to the reference coordinate frame at the viewing end of the image capturing device includes defining a coordinate frame on the end effector, the position of the end effector then being defined by the position of the coordinate frame on the end effector relative to the reference coordinate frame.
Claim 23
Dependent Claim
45 words
A method as claimed in claim 17 , in which determining the desired corresponding position of the hand-held part of the master control relative to the viewer includes computing a position of the hand-held part relative to a reference coordinate frame generally at the viewer.
Claim 24
Dependent Claim
65 words
A method as claimed in claim 19 , in which computing the position of the hand-held part relative to the reference coordinate frame generally at the viewer includes defining a coordinate frame on the hand-held part, the position of the hand-held part then being defined by the position of the coordinate frame on the hand-held part relative to the reference coordinate frame at the viewer.
Claim 25
Dependent Claim
59 words
A method as claimed in claim 19 , in which determining the desired corresponding position of the hand-held part includes determining a position of the hand-held part relative to the reference coordinate frame generally at the viewer which is the same as the position of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 26
Dependent Claim
59 words
A method as claimed in claim 19 , in which determining the desired corresponding position of the hand-held part includes determining a position of the hand-held part relative to the reference coordinate frame generally at the viewer which is offset relative to the position of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 27
Independent Claim
137 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; moving the hand-held part of the master control into the desired corresponding orientation, which includes manually moving the hand-held part; and causing the hand-held part to be locked in position when its orientation is moved into an orientation in register with the desired corresponding orientation.
Claim 28
Independent Claim
137 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; moving the hand-held part of the master control into the desired corresponding orientation, which includes manually moving the hand-held part; and causing the hand-held part to be locked in position when its orientation is moved into an orientation in register with the desired corresponding orientation.
Claim 29
Independent Claim
140 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; moving the hand-held part of the master control into the desired corresponding orientation, which includes manually moving the hand-held part; and providing a signal to an operator manually moving the hand-held part when the hand-held part is moved into an orientation in register with the desired corresponding orientation.
Claim 30
Independent Claim
140 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; moving the hand-held part of the master control into the desired corresponding orientation, which includes manually moving the hand-held part; and providing a signal to an operator manually moving the hand-held part when the hand-held part is moved into an orientation in register with the desired corresponding orientation.
Claim 31
Independent Claim
206 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position by supplying electrical current to electrical motors associated with the hand-held part thereby to cause the hand-held part to be moved into the desired position.
Claim 32
Independent Claim
206 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position by supplying electrical current to electrical motors associated with the hand-held part thereby to cause the hand-held part to be moved into the desired position.
Claim 33
Independent Claim
213 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position, which includes manually moving the hand-held part and causing the hand-held part to be locked in position when its position is moved into a position in register with the desired corresponding position.
Claim 34
Independent Claim
213 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position, which includes manually moving the hand-held part and causing the hand-held part to be locked in position when its position is moved into a position in register with the desired corresponding position.
Claim 35
Independent Claim
216 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position, which includes manually moving the hand-held part and providing a signal to an operator manually moving the hand-held part when the hand-held part is moved into a position in register with the desired corresponding position.
Claim 36
Independent Claim
216 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and an end effector of an associated slave as viewed in an image displayed on a viewer, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with the viewer; determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; moving the hand-held part of the master control into the desired corresponding orientation; and moving the hand-held part of the master control into the desired corresponding position, which includes manually moving the hand-held part and providing a signal to an operator manually moving the hand-held part when the hand-held part is moved into a position in register with the desired corresponding position.
Claim 37
Independent Claim
129 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and a surgical end effector of an associated surgical instrument slave in a telesurgical apparatus, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation by supplying electrical current to electrical motors associated with the hand-held part thereby to cause the hand-held part to be moved into the desired orientation.
Claim 38
Independent Claim
129 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and a surgical end effector of an associated surgical instrument slave in a telesurgical apparatus, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation by supplying electrical current to electrical motors associated with the hand-held part thereby to cause the hand-held part to be moved into the desired orientation.
Claim 39
Dependent Claim
34 words
A method as claimed in claim 28 , in which the initial determining step includes computing the orientation relative to a reference coordinate frame positioned at the viewing end of the image capturing device.
Claim 40
Dependent Claim
45 words
A method as claimed in claim 29 , which further includes defining a coordinate frame on the end effector, the orientation of the end effector then being defined by the orientation of the coordinate frame on the end effector relative to the reference coordinate frame.
Claim 41
Dependent Claim
45 words
A method as claimed in claim 29 , in which determining the desired corresponding orientation of the hand-held part of the master control relative to the viewer includes computing an orientation of the hand-held part relative to a reference coordinate frame generally at the viewer.
Claim 42
Dependent Claim
65 words
A method as claimed in claim 31 , in which computing the orientation of the hand-held part relative to the reference coordinate frame generally at the viewer includes defining a coordinate frame on the hand-held part, the orientation of the hand-held part then being defined by the orientation of the coordinate frame on the hand-held part relative to the reference coordinate frame at the viewer.
Claim 43
Dependent Claim
59 words
A method as claimed in claim 31 , in which determining the desired corresponding orientation of the hand-held part includes determining an orientation of the hand-held part relative to the reference coordinate frame generally at the viewer which is the same as the orientation of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 44
Dependent Claim
59 words
A method as claimed in claim 31 , in which determining the desired corresponding orientation of the hand-held part includes determining an orientation of the hand-held part relative to the reference coordinate frame generally at the viewer which is offset relative to the orientation of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 45
Dependent Claim
46 words
A method as claimed in claim 28 , in which the master control has a plurality of configurations which yield the desired corresponding orientation, the method including computing a preferred configuration of the master control at which the hand-held part is at the desired corresponding orientation.
Claim 46
Dependent Claim
28 words
A method as claimed in claim 35 , in which computing the preferred configuration includes examining a plurality of solutions corresponding to at least one segment of solutions.
Claim 47
Dependent Claim
34 words
A method as claimed in claim 36 , in which examining the plurality of solutions of the segment includes selecting an arbitrary solution and then following an iterative procedure to compute the preferred solution.
Claim 48
Dependent Claim
24 words
A method as claimed in claim 37 , in which following an iterative procedure to determine the preferred solution includes using a cost function.
Claim 49
Dependent Claim
23 words
A method as claimed in claim 38 , in which the preferred solution relates to the solution having a lowest cost function value.
Claim 50
Dependent Claim
88 words
A method as claimed in claim 28 , which further includes determining a current position of the end effector relative to the viewing end of the image capturing device operatively associated with the viewer; and determining a desired corresponding position of the hand-held part of the master control relative to the viewer at which position a desired positional relationship between the hand-held part of the master control and the end effector would be established; and moving the hand-held part of the master control into the desired corresponding position.
Claim 51
Dependent Claim
48 words
A method as claimed in claim 40 , in which determining the current position of the end effector relative to the viewing end of the image capturing device includes computing the position relative to a reference coordinate frame positioned at the viewing end of the image capturing device.
Claim 52
Dependent Claim
67 words
A method as claimed in claim 41 , in which computing the position of the end effector relative to the reference coordinate frame at the viewing end of the image capturing device includes defining a coordinate frame on the end effector, the position of the end effector then being defined by the position of the coordinate frame on the end effector relative to the reference coordinate frame.
Claim 53
Dependent Claim
45 words
A method as claimed in claim 41 , in which determining the desired corresponding position of the hand-held part of the master control relative to the viewer includes computing a position of the hand-held part relative to a reference coordinate frame generally at the viewer.
Claim 54
Dependent Claim
65 words
A method as claimed in claim 43 , in which computing the position of the hand-held part relative to the reference coordinate frame generally at the viewer includes defining a coordinate frame on the hand-held part, the position of the hand-held part then being defined by the position of the coordinate frame on the hand-held part relative to the reference coordinate frame at the viewer.
Claim 55
Dependent Claim
59 words
A method as claimed in claim 43 , in which determining the desired corresponding position of the hand-held part includes determining a position of the hand-held part relative to the reference coordinate frame generally at the viewer which is the same as the position of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 56
Dependent Claim
59 words
A method as claimed in claim 43 , in which determining the desired corresponding position of the hand-held part includes determining a position of the hand-held part relative to the reference coordinate frame generally at the viewer which is offset relative to the position of the end effector relative to the reference coordinate frame at the image capturing device.
Claim 57
Dependent Claim
48 words
A method as claimed in claim 40 , in which moving the hand-held part of the master control into the desired corresponding position includes supplying electrical current to electrical motors associated with the hand-held part thereby to cause the hand-held part to be moved into the desired position.
Claim 58
Dependent Claim
29 words
A method as claimed in claim 40 , in which moving the hand-held part of the master control into the desired corresponding position includes manually moving the hand-held part.
Claim 59
Dependent Claim
35 words
A method as claimed in claim 48 , which further includes causing the hand-held part to be locked in position when its position is moved into a position in register with the desired corresponding position.
Claim 60
Dependent Claim
38 words
A method as claimed in claim 48 , which further includes providing a signal to an operator manually moving the hand-held part when the hand-held part is moved into a position in register with the desired corresponding position.
Claim 61
Independent Claim
110 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and a surgical end effector of an associated surgical instrument slave in a telesurgical apparatus, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation by manually moving the hand-held part.
Claim 62
Independent Claim
110 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and a surgical end effector of an associated surgical instrument slave in a telesurgical apparatus, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation by manually moving the hand-held part.
Claim 63
Dependent Claim
35 words
A method as claimed in claim 51 , which further includes causing the hand-held part to be locked in position when its orientation is moved into an orientation in register with the desired corresponding orientation.
Claim 64
Dependent Claim
38 words
A method as claimed in claim 51 , which further includes providing a signal to an operator manually moving the hand-held part when the hand-held part is moved into an orientation in register with the desired corresponding orientation.
Claim 65
Independent Claim
161 words
A method of selecting a preferred angular position of a hand-held part of a master control about a roll axis thereof, which corresponds with a current angular position of an end effector about a roll axis thereof, where the hand-held part can have a plurality of angular positions spaced at 180° intervals relative to each other which correspond with the current angular position of the end effector, the method including determining the angular position of the end effector relative to an angular displacement range about its roll axis; comparing the angular position of the end effector relative to its angular displacement range with the angular positions of the hand-held part, which correspond with the angular position of the end effector, relative to an angular displacement range of the hand-held part; and selecting the angular position of the hand-held part relative to its angular displacement range which best mirrors the angular position of the end effector relative to its angular displacement range.
Claim 66
Independent Claim
161 words
A method of selecting a preferred angular position of a hand-held part of a master control about a roll axis thereof, which corresponds with a current angular position of an end effector about a roll axis thereof, where the hand-held part can have a plurality of angular positions spaced at 180° intervals relative to each other which correspond with the current angular position of the end effector, the method including determining the angular position of the end effector relative to an angular displacement range about its roll axis; comparing the angular position of the end effector relative to its angular displacement range with the angular positions of the hand-held part, which correspond with the angular position of the end effector, relative to an angular displacement range of the hand-held part; and selecting the angular position of the hand-held part relative to its angular displacement range which best mirrors the angular position of the end effector relative to its angular displacement range.
Claim 67
Dependent Claim
90 words
A method as claimed in claim 54 , in which the hand-held part is orientationally adjustably mounted on an associated support, the end effector is orientationally adjustably mounted on an associated support, the method including the prior step of determining a desired orientation of the hand-held part which establishes a desired orientational relationship between the hand-held part and the end effector, the desired orientation of the hand-held part defining one of the corresponding angular positions of the hand-held part which corresponds to the current angular position of the end effector.
Claim 68
Dependent Claim
43 words
A method as claimed in claim 55 , in which the comparing step includes imposing a simulated orientational change on the hand-held part which corresponds to a simulated orientational change of the end effector in moving its orientation into a predetermined reference orientation.
Claim 69
Dependent Claim
49 words
A method as claimed in claim 56 , which includes determining a reference solution set of angular positions at 180° intervals relative to each other for the simulated orientation of the hand-held part which correspond to the angular position of the end effector at its simulated predetermined reference orientation.
Claim 70
Dependent Claim
42 words
A method as claimed in claim 57 , which includes comparing the current end effector angular position relative to its angular displacement range with the angular positions of the reference solution set relative to the angular displacement range of the hand-held part.
Claim 71
Dependent Claim
46 words
A method as claimed in claim 58 , which includes selecting the angular position of the reference solution set relative to the angular displacement range of the hand-held part which best mirrors the current angular position of the end effector relative to its angular displacement range.
Claim 72
Dependent Claim
43 words
A method as claimed in claim 59 , which includes predefining a solution branch of 360° intervals and predefining another solution branch of 360° intervals offset from the first solution branch by 180°, the selected angular position defining one of the solution branches.
Claim 73
Dependent Claim
89 words
A method as claimed in claim 60 , which includes comparing the defined solution branch and the selected angular position of the reference solution set with the angular positions of the hand-held part, which correspond with the current angular position of the end effector, relative to the angular displacement range of the hand-held part and selecting that angular position relative to the angular displacement range of the hand-held part which corresponds to the defined solution branch and which best mirrors the selected angular position of the reference solution set.
Claim 74
Dependent Claim
96 words
A surgical system comprising: a master controller having a hand-held part and an actuator; an end effector for manipulation of tissue; a display showing an image of the end effector; and a processor coupling the end effector to the master controller, the processor transmitting actuator signals to the actuator in response to an initial orientation of the hand-held part, the actuator moving the hand-held part from the initial orientation to a desired orientation in response to the actuator signals so that the hand-held part establishes a predetermined orientational relationship with the image of the end effector.
Claim 75
Dependent Claim
96 words
A surgical system comprising: a master controller having a hand-held part and an actuator; an end effector for manipulation of tissue; a display showing an image of the end effector; and a processor coupling the end effector to the master controller, the processor transmitting actuator signals to the actuator in response to an initial orientation of the hand-held part, the actuator moving the hand-held part from the initial orientation to a desired orientation in response to the actuator signals so that the hand-held part establishes a predetermined orientational relationship with the image of the end effector.
Claim 76
Dependent Claim
62 words
A surgical system as claimed in claim 62 , wherein the processor determines a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; and determines the desired corresponding orientation of the hand-held part of the master controller relative to the viewer at which the desired orientational relationship would be established.
Claim 77
Dependent Claim
111 words
A surgical system as claimed in claim 62 , wherein the processor determines a current position of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; determines a desired corresponding position of the hand-held part of the master controller relative to the viewer at which position a desired positional relationship between the hand-held part of the master controller and the end effector would be established; and transmits actuation signals to the actuator in response to an initial position of the hand-held part, the actuator moving the hand-held part from the initial position to a desired position in response to the actuator signals.
Claim 78
Dependent Claim
112 words
A surgical system as claimed in claim 62 , wherein the processor determines an angular position of the end effector relative to an angular displacement range about a roll axis thereof; compares the angular position of the end effector relative to its angular displacement range with angular positions of the hand-held part of a master controller about a roll axis thereof, which correspond with the angular position of the end effector, relative to an angular displacement range of the hand-held part; and selects the angular position of the hand-held part relative to its angular displacement range which best mirrors the angular position of the end effector relative to its angular displacement range.
Claim 79
Independent Claim
116 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and a surgical end effector of an associated surgical instrument slave in a telesurgical apparatus, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation by supplying electrical current to electrical motors associated with the hand-held part.
Claim 80
Independent Claim
116 words
A method of establishing a desired orientational relationship between a hand-held part of a master control and a surgical end effector of an associated surgical instrument slave in a telesurgical apparatus, the method including causing the end effector to remain stationary; determining a current orientation of the end effector relative to a viewing end of an image capturing device operatively associated with a viewer; determining a desired corresponding orientation of the hand-held part of the master control relative to the viewer at which the desired orientational relationship would be established; and moving the hand-held part of the master control into the desired corresponding orientation by supplying electrical current to electrical motors associated with the hand-held part.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-04-01 | 2005-10-01 | 2006-04-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-04-01 | 2009-10-01 | 2010-04-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-04-01 | 2013-10-01 | 2014-04-02 | $7700.00 | Window Closed / Lapsed |