Patent ID: 11963731
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 0:
1. A system, comprising:
a manipulator assembly;
one or more sensing elements configured to sense an arrangement of the manipulator assembly; and
a control system configured to:
determine a motion limit of the manipulator assembly based on the sensed arrangement of the manipulator assembly by: using at least a position of a joint of a plurality of joints or using at least a position of a link of a plurality of links;
store a plurality of threshold motion limits, each of the plurality of threshold motion limits associated with a procedure type and defining a limit of a range to be potentially travelled by the manipulator assembly to perform a procedure of the associated procedure type;
select a threshold motion limit of the plurality of threshold motion limits based on which procedure type is to be performed;
compare the motion limit to the selected threshold motion limit as the arrangement of the manipulator assembly is changed and produce a comparison; and
automatically provide, based on the comparison, a notification indicative of whether the selected threshold motion limit is outside a range of motion bounded by the motion limit.