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

Claim 13:
14. A method for operating a medical system comprising:
determining an orientation of an end-effector reference frame relative to a field-of-view reference frame, the end-effector reference frame being associated with an end effector of a tool, and the field-of-view reference frame being associated with a field of view of an imaging device;
determining an orientation of an input-device reference frame relative to an image-presentation reference frame, the input-device reference frame being associated with an input device of the medical system, and the image-presentation reference frame being associated with an image presented to a user;
establishing a first alignment relationship, the first alignment relationship comprising an end-effector-to-field-of-view alignment relationship or an input-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 independent of a position relationship between the end-effector reference frame and the field-of-view reference frame, and wherein the input-device-to-image-presentation alignment relationship is between the input-device reference frame and the image-presentation reference frame and independent of a position relationship between the input-device reference frame and the image-presentation reference frame; and
commanding, based on the first alignment relationship, a change in a pose of the end effector in response to a change in a pose of the input device.