公开(公告)号：US20250143819A1

公开(公告)日：2025-05-08

申请号：US18837277

申请日：2023-02-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Dinesh RABINDRAN ,  Simon P. DIMAIO ,  Omid MOHARERI

IPC: A61B34/37 ,  A61B34/20 ,  A61B34/35 ,  G06T7/70

Abstract: Techniques for repositioning a computer-assisted system include the following. The computer-assisted system comprises a repositionable structure system, the repositionable structure system comprising a plurality of links coupled by a plurality of joints, and a control unit communicably coupled to the repositionable structure system. The control unit is configured to: determine a target pose of a system portion of the computer-assisted system, determine a current pose of the system portion, determine a motion for the repositionable structure system based on a difference between the target pose and the current pose, the motion including a first component in a first direction, determine a partitioning of the first component into a plurality of partitions, and cause a first movement of a first joint set to achieve a first partition and a second movement of a second joint set to achieve a second partition.