Patent ID: 9259281
Filing Date: 2016-02-16
CPC Classification: A61B,Y10S

Claim Text:
1. A method for preparing for robotic surgery, the method comprising: sensing a movement of a set-up joint linkage supporting a first manipulator to within a threshold of a range of motion limit of the set-up joint linkage, the threshold of the range of motion limit of the set-up joint linkage being less than a total range of motion of the set-up joint linkage; entering a platform movement mode after sensing movement of the set-up joint linkage to within the threshold of the range of motion limit of the set-up joint linkage; after entering the platform movement mode, sensing an input displacement of a first link of the first manipulator from an initial positional relationship relative to an orienting platform to a displaced positional relationship relative to the orienting platform, the input displacement resulting from a manual articulation of the set-up joint linkage supporting the first manipulator so that the first link moves toward a desired position with a surgical site; calculating a movement of a set-up structure linkage in response to the input displacement so that the first link of the first manipulator returns toward the initial positional relationship relative to orienting platform, the set-up structure linkage supporting the orienting platform and the orienting platform supporting the first manipulator via the set-up joint linkage; driving the set-up structure linkage per the calculated movement.