公开(公告)号：US20220211460A1

公开(公告)日：2022-07-07

申请号：US17607004

申请日：2020-04-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Saleh TABANDEH ,  Angel PEREZ ROSILLO

IPC: A61B90/00 ,  A61B34/00 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  G16H20/40 ,  G16H40/67

Abstract: Systems and methods for integrated motion with an imaging device include a device having a first manipulator, a second manipulator, and a controller coupled to the first and second manipulators. When the device is in an imaging device motion mode, the controller is configured to determine whether a first portion of an instrument is located within a viewing region of an image captured by an imaging device; in response to determining that the first portion of the instrument is located within the viewing region, command a manipulator supporting the instrument to keep a position of a second portion of the instrument fixed relative to the imaging device as the imaging device moves; and in response to determining that the first portion is not within the viewing region, command the manipulator to keep the position of the second portion fixed relative to the workspace as the imaging device moves.