公开(公告)号：US20250032206A1

公开(公告)日：2025-01-30

申请号：US18784169

申请日：2024-07-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Richard Mahoney ,  Ryan C. Abbott ,  Mitchell Doughty ,  Govinda Payyavula ,  Andrej Simeunovic

IPC: A61B34/35 ,  A61B34/00 ,  A61B90/00 ,  G06F3/01 ,  G06T7/20

Abstract: A grounded virtual portal to interface with a robotic medical system is provided. The system can include an input controller coupled to a first structure via a plurality of linkages. The first structure can be mechanically coupled to a base structure. The input controller can control an object of a medical environment. A head mounted display can be coupled to a second structure extending the base structure. The head mounted display can be configured to render an extended reality environment corresponding to the medical environment. A processor can establish a grounded reference frame for the input controller to be maintained in the extended reality environment rendered via the head mounted display, and configure, based on the plurality of linkages and the grounded reference frame, a force scaler function for bidirectional force delivery between the input controller and the object of the medical environment.