Patent ID: 11857280
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Audio-visual technology (Electrical engineering)
Classification: CPC A  G  H | IPC A  G  H

Claim 17:
18. A teleoperated system comprising:
a master device, a master-device reference frame being associated with the master device; and
a control system comprising a memory storing instructions that, when executed by the control system, cause the control system to perform operations comprising:
determining a complete orientation of a field-of-view reference frame associated with a field of view of an imaging device;
determining a complete orientation of an end-effector reference frame associated with an end effector of a tool;
determining a complete orientation of an image-presentation reference frame associated with an image presented to a user;
determining a complete orientation of the master-device reference frame;
establishing a teleoperated master-slave control relationship between the master device and the end effector by establishing a first alignment relationship, the first alignment relationship comprising an end-effector-to-field-of-view alignment relationship or a master-device-to-image-presentation alignment relationship, wherein the end-effector-to-field-of-view alignment relationship is between the end-effector reference frame and the field-of-view reference frame and is based on less than complete position information relating the end-effector reference frame and the field-of-view reference frame, and wherein the master-device-to-image-presentation alignment relationship is between the master-device reference frame and the image-presentation reference frame, wherein the first alignment relationship between the master-device reference frame and the image-presentation reference frame being is based on less than complete position information relating the master-device reference frame and the image-presentation reference frame; and
executing the teleoperated master-slave control relationship between the master device and the end effector by changing a pose of the end effector corresponding to a change in a pose of the master device.