公开(公告)号：US20220218432A1

公开(公告)日：2022-07-14

申请号：US17610376

申请日：2020-05-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Sophia R. Hannaford ,  Marisa C. Babb ,  Simon P. DiMaio ,  Craig Gotsill ,  Brandon D. Itkowitz ,  Omid Mohareri ,  Dinesh Rabindran

IPC: A61B50/13 ,  A61B34/00 ,  A61B34/20

Abstract: A bifurcated navigation control system defines a path whereby a manipulator cart is to navigate from an initial location to a target location, and identifies a navigation condition associated with a navigation of the manipulator cart along the path. Based on the navigation condition, the bifurcated navigation control system defines a propulsion limitation for the manipulator cart during the navigation of the manipulator cart along the path. The bifurcated navigation control system directs the manipulator cart to navigate along at least part of the path in a bifurcated navigation control mode in which the bifurcated navigation control system is configured to autonomously control a steering of the manipulator cart while allowing operator control of a propulsion of the manipulator cart in accordance with the propulsion limitation. Corresponding methods and systems are also disclosed.