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

Claim 0:
1. A teleoperated system comprising:
an input device; and
a control system comprising one or more processors and a memory, the memory comprising programmed instructions adapted to cause the one or more processors to perform operations 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 the input device, 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.