Patent ID: 11903664
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 13:
14. The computer-assisted medical system of claim 1, further comprising a processor, the processor configured to:
obtain a desired motion of the instrument, the desired motion including a longitudinal movement along a longitudinal axis of the instrument;
determine first and second motion components of the longitudinal movement, the first motion component for the manipulator arm, and the second motion for an instrument holder carriage of the instrument holder; and
cause the instrument to move in accordance with the longitudinal movement by:
causing motion the manipulator arm based on the first motion component, and
causing, based on the second motion component, motion of an instrument holder carriage relative to the manipulator arm, the instrument holder comprising the instrument holder carriage.