US 11,806,875 B2
Disturbance compensation in computer-assisted devices
Nitish Swamp, Sunnyvale, CA (US); Paul G. Griffiths, Santa Clara, CA (US); Goran A. Lynch, Oakland, CA (US); and Daniel N. Miller, Fremont, CA (US)
Assigned to INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed by INTUITIVE SURGICAL OPERATIONS, INC., Sunnyvale, CA (US)
Filed on Aug. 27, 2021, as Appl. No. 17/459,175.
Application 17/459,175 is a continuation of application No. 16/275,232, filed on Feb. 13, 2019, granted, now 11,130,231.
Application 16/275,232 is a continuation of application No. 15/522,073, granted, now 10,272,569, issued on Apr. 30, 2019, previously published as PCT/US2015/057669, filed on Oct. 27, 2015.
Claims priority of provisional application 62/134,212, filed on Mar. 17, 2015.
Claims priority of provisional application 62/069,245, filed on Oct. 27, 2014.
Prior Publication US 2021/0387338 A1, Dec. 16, 2021
Int. Cl. G06F 17/00 (2019.01); B25J 9/16 (2006.01); A61B 34/30 (2016.01); B25J 9/06 (2006.01); B25J 19/00 (2006.01); B25J 19/02 (2006.01); A61B 90/00 (2016.01); A61B 34/20 (2016.01); A61B 90/50 (2016.01); A61B 34/35 (2016.01)
CPC B25J 9/1641 (2013.01) [A61B 34/30 (2016.02); B25J 9/06 (2013.01); B25J 9/1607 (2013.01); B25J 9/1653 (2013.01); B25J 9/1682 (2013.01); B25J 19/0004 (2013.01); B25J 19/021 (2013.01); A61B 34/35 (2016.02); A61B 90/361 (2016.02); A61B 2034/2059 (2016.02); A61B 2034/305 (2016.02); A61B 2090/373 (2016.02); A61B 2090/508 (2016.02); Y10S 901/02 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-assisted device comprising:
a first articulated arm configured to support an imaging device;
a second articulated arm configured to support an end effector; and
a control unit coupled to the first articulated arm and the second articulated arm, wherein the control unit is configured to:
set a first coordinate reference frame, the first coordinate reference frame being based on a first position of the imaging device at a first time,
detect a first disturbance to the first articulated arm moving the imaging device away from the first position,
receive a first move command to move the end effector, wherein the first move command is defined relative to the first coordinate reference frame, and
convert the first move command into a second move command that is defined relative to a second coordinate reference frame of the end effector.