Patent ID: 9266239
Filing Date: 2016-02-23
CPC Classification: A61B,B25J,Y10T

Claim Text:
1. A medical system comprising: an endoscope positioned to view a work site; a telestrator screen for displaying an image of the work site captured by the endoscope; a telestrator pen; a surgical instrument disposed at the work site for performing a procedure; a robotic arm adapted to hold and move the surgical instrument; a master handle; and a controller programmed with instructions to interpret a first telestration indicated by movement of the telestrator pen over the image of the work site being displayed on the telestrator screen as defining a first space within the work site, and to command the robotic arm to move the surgical instrument according to movement of the master handle and one or more constraint parameters that effect the commanded movement of the robotic arm differently as the surgical instrument moves into or moves within the first space than as the surgical instrument moves out of or moves outside of the first space.