Patent ID: 11950870
Assignee: INTUITIVE SURGICAL OPERATIONS, INC.
Field: Medical technology (Instruments)
Classification: CPC A  B | IPC A  B

Claim 16:
17. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which, when executed by one or more processors associated with a computer-assisted system comprising a manipulator assembly configured to couple to a cannula having a lumen configured to receive a shaft of an instrument, are adapted to cause the one or more processors to perform a method comprising:
determining a first location of a remote center of motion of the computer-assisted system; and
in response to an indication to reposition the remote center of motion relative to the cannula, repositioning the remote center of motion to a second location relative to the cannula while constraining the second location to be located along the cannula, the second location being different from the first location.