Source: https://patents.justia.com/patent/9867671
Timestamp: 2019-08-25 04:39:54
Document Index: 492162161

Matched Legal Cases: ['Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60', 'Application No. 60']

US Patent for Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures Patent (Patent # 9,867,671 issued January 16, 2018) - Justia Patents Search
Justia Patents Plural RobotsUS Patent for Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures Patent (Patent # 9,867,671)
May 29, 2017 - Intuitive Surgical Operations, Inc.
This application is a continuation of U.S. patent application Ser. No. 15/006,555, filed Jan. 26, 2016, which is a divisional of U.S. patent application Ser. No. 13/965,581, filed Aug. 13, 2013, now U.S. Pat. No. 9,271,798, which is a divisional of U.S. patent application Ser. No. 11/319,012, filed Dec. 27, 2005, now U.S. Pat. No. 8,527,094, which claims priority from U.S. Provisional Application No. 60/725,770, filed Oct. 12, 2005, which is incorporated herein by this reference.
This application is also a continuation-in-part of U.S. patent application Ser. No. 11/025,766, filed Dec. 28, 2004, which is a continuation of U.S. patent application Ser. No. 10/214,286, filed Aug. 6, 2002, now U.S. Pat. No. 6,858,003, which is a divisional of U.S. patent application Ser. No. 09/436,982, filed Nov. 9, 1999, now U.S. Pat. No. 6,468,265, which claims priority from U.S. Provisional Patent Application No. 60/109,359, filed Nov. 20, 1998, U.S. Provisional Application No. 60/109,301, filed Nov. 20, 1998, U.S. Provisional Application No. 60/109,303, filed Nov. 20, 1998, and U.S. Provisional Application No. 60/150,145, filed Aug. 20, 1999, and which is a continuation-in-part of U.S. patent application Ser. No. 09/433,120, filed Nov. 3, 1999, now U.S. Pat. No. 6,659,939, which is a continuation-in-part of U.S. patent application Ser. No. 09/399,457, filed Sep. 17, 1999, now abandoned, which is a continuation-in-part of U.S. patent application Ser. No. 09/374,643, filed Aug. 16, 1999, now abandoned, which claims priority from U.S. Provisional Patent Application No. 60/116,891, filed Jan. 22, 1999, U.S. Provisional Patent Application No. 60/116,842, filed Jan. 22, 1999, and U.S. Provisional Patent Application No. 60/109,359, filed Nov. 20, 1998, all of which are incorporated herein by this reference.
This application is also a continuation-in-part application of U.S. patent application Ser. No. 10/948,853, filed Sep. 23, 2004, now U.S. Pat. No. 7,413,565, which is a divisional of U.S. patent application Ser. No. 10/246,236, filed Sep. 17, 2002, now U.S. Pat. No. 6,951,535, which is a continuation of U.S. patent application Ser. No. 10/051,796, filed Jan. 16, 2002, now U.S. Pat. No. 6,852,107, all of which are incorporated herein by this reference.
Alternatively, the system may include multiple endo scopes providing each individual surgeon with a desired view of the workspace. Advantageously, the multiple endoscopes may even be packaged in a single instrument, but with separate steerable camera tips. Optionally, these multiple endoscopes may provide different fields of view such as using a very wide field of view (e.g. with a fish-eye lens) that is appropriately rectified before being displayed to the surgeon.
a first slave manipulator configured to move a first device according to a first slave command;
a first input device operated by a first user, the first input device configured to generate a first command by the first user operating the first input device; and
a control station operated by a second user, the control station coupled to the first slave manipulator and the first input device, the control station including: a second input device operated by the second user, the second input device configured to generate a second command by the second user operating the second input device; means for generating one or more switch commands; and an association module adapted to: receive the first command and the second command, generate the first slave command by using one or both of the first command and the second command according to the one or more switch commands; and provide the first slave command to the first slave manipulator.
wherein the association module comprises: a plurality of inputs, a first input associated with the first input device to receive the first command, a second input associated with the second input device to receive the second command; a plurality of outputs, a first output associated with the first slave manipulator; a routing table selectively coupling the plurality of inputs to the plurality of outputs according to the one or more switch commands; and a shared command filter;
wherein the association module is configured to: conditioned upon the routing table selectively coupling only one of the first command and the second command to the first output, generate the first slave command by using the selectively coupled one of the first command and the second command; and conditioned upon the routing table selectively coupling both of the first command and the second command to the first output, coupling the first command and the second command to the shared command filter to generate the first slave command according to the one or more switch commands.
wherein the shared command filter comprises: an arbiter configured to select one of the first command and the second command to be the first slave command, according to a priority input included among the one or more switch commands.
4. The medical system according to claim 2,
wherein the shared command filter comprises: a weighting function configured to weight each of the first command and the second command to generate the first slave command, according to weight values, included among the one or more switch commands, for the first input device and the second input device.
5. The medical system according to claim 1,
wherein the means for generating one or more switch commands comprises: means for phasing-in a new switch command and phasing-out an old switch command when selective coupling of the plurality of inputs to the plurality of outputs by the routing table is to change as a result of the old switch command being replaced with the new switch command.
6. The medical system according to claim 1,
wherein the means for generating one or more switch commands comprises any one or a combination of: one or more buttons on the second input device, one or more foot pedals, a voice recognition and processing system, a graphical user interface, and other user operable input mechanism.
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Patent Publication Number: 20170258537
Inventors: Rajesh Kumar (Sunnyvale, CA), Brian D. Hoffman (Mountain View, CA), Giuseppe Maria Prisco (Calci), David Q. Larkin (Menlo Park, CA), William C. Nowlin (Los Altos Hills, CA), Frederic H. Moll (San Francisco, CA), Stephen J. Blumenkranz (Los Altos Hills, CA), Gunter D. Niemeyer (Pasadena, CA), J. Kenneth Salisbury, Jr. (Mountain View, CA), Yulun Wang (Goleta, CA), Modjtaba Ghodoussi (Santa Barbara, CA), Darrin R. Uecker (San Mateo, CA), James W. Wright (Santa Barbara, CA), Amante A. Mangaser (Goleta, CA), Ranjan Mukherjee (East Lansing, MI)
Application Number: 15/607,676
International Classification: A61B 34/37 (20160101); A61B 90/00 (20160101); A61B 34/00 (20160101); G09B 23/28 (20060101); A61B 1/00 (20060101); A61B 17/00 (20060101);