Patent ID: 11903665
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A | IPC A

Claim 8:
9. The system of claim 8, wherein determining whether to apply the bias comprises determining a result of the comparison between the error radius of the instrument tip position error and the percent screen size of the display screen, and wherein:
when the result of the comparison between the error radius of the instrument tip position error and the percent screen size of the display screen is a first result, a distance between the instrument tip and a distal end of the imaging instrument tip is a first distance, and the instrument tip position is used to determine if the instrument tip is outside a field of view of the imaging instrument;
when the result of the comparison between the error radius of the instrument tip position error and the percent screen size of the display screen is a second result, the distance between the instrument tip and the distal end of the imaging instrument tip is a second distance smaller than the first distance, and a portion of the bias is applied to the determined instrument tip position; and
when the result of the comparison between the error radius of the instrument tip position error and the percent screen size of the display screen is a third result, the distance between the instrument tip and the distal end of the imaging instrument tip is a third distance smaller than the second distance, and a full amount of the bias is applied to the determined instrument tip position.