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

Claim 20:
21. The method of claim 18, wherein the instrument holder comprises an instrument holder frame and an instrument holder carriage configured to releasably couple to the instrument, the instrument holder carriage translatable along the instrument holder frame, and wherein the method further comprises:
obtaining a desired motion of the instrument, the desired motion including a longitudinal movement along a longitudinal axis of the instrument;
determining first and second motion components of the longitudinal movement, the first motion component for the manipulator arm, and the second motion for the instrument holder carriage; and
causing the instrument to move in accordance with the longitudinal movement by:
causing motion of the manipulator arm based on the first motion component, and
causing motion of the instrument holder carriage relative to the instrument holder frame, based on the second motion component.