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

Claim 22:
23. A non-transitory computer readable medium configured for storing instructions executed by one or more processors of a medical system comprising a manipulator arm and an instrument holder physically coupled to the manipulator arm by a joint at a distal-most link of the manipulator arm, the instrument holder configured to releasably couple to an instrument, the medium comprising instructions causing the one or more processors to perform operations comprising:
determining a retraction or extension of an adjustable assembly of the instrument holder, wherein the retraction or extension moves a cannula clamp physically coupled to the adjustable assembly relative to the joint at the distal-most link of the manipulator arm; and
driving an actuator to drive the retraction or extension.