Patent ID: 11969147
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 10:
11. A system comprising:
a manipulator configured to support an imaging device; and
a controller coupled to the manipulator and configured to:
receive one or more operator inputs via one or more input devices;
determine, based on one or more properties of the one or more operator inputs, if an orientational mode command or a translational mode command is entered;
in response to determining that the orientational mode command is entered, constrain movement of the imaging device using the manipulator so that a focal point of the imaging device moves along a concave virtual surface in response to translational movement of the one or more input devices; and
in response to determining that the translational mode command is entered, cause, using the manipulator, translational movement of the imaging device in a three-dimensional space in response to the translational movement of the one or more input devices.