(19)
(11)EP 3 459 687 A3

(12)EUROPEAN PATENT APPLICATION

(88)Date of publication A3:
26.06.2019 Bulletin 2019/26

(43)Date of publication A2:
27.03.2019 Bulletin 2019/13

(21)Application number: 18203548.5

(22)Date of filing:  11.06.2010
(51)International Patent Classification (IPC): 
B25J 9/16(2006.01)
A61B 34/35(2016.01)
(84)Designated Contracting States:
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK SM TR

(30)Priority: 30.06.2009 US 49521309

(62)Application number of the earlier application in accordance with Art. 76 EPC:
16160639.7 / 3069829
10724972.4 / 2448511

(71)Applicant: Intuitive Surgical Operations, Inc.
Sunnyvale, California 94086 (US)

(72)Inventors:
  • ITKOWITZ, Brandon, D.
    Sunnyvale, CA 94086 (US)
  • DIMAIO, Simon
    Sunnyvale, CA 94086 (US)
  • NOWLIN, William, C.
    Los Altos Hills, CA 94024 (US)
  • NIEMEYER, Gunter, D.
    Mountain View, CA 94043 (US)
  • MINTZ, David, S.
    Mountain View, CA 94040 (US)

(74)Representative: MacDougall, Alan John Shaw et al
Mathys & Squire LLP The Shard 32 London Bridge Street
London SE1 9SG
London SE1 9SG (GB)

  


(54)RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY-INVASIVE SURGICAL INSTRUMENT


(57) A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.







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