Patent Document ID: 9901408
Application ID: 15136658
Patent Status: 1

Claim One:
1. A method comprising: defining a first allowable volume within a patient, wherein a boundary of the first allowable volume is coincident with a boundary of a first field of view of an image capture component located at a first position, the image capture component being part of a camera instrument; recording motion of a teleoperated instrument inside the first allowable volume as the teleoperated instrument is teleoperatively moved inside the first allowable volume while the image capture component has the first field of view, wherein the teleoperated instrument is different from the camera instrument, and wherein motion of the teleoperated instrument within the first allowable volume does not move the camera instrument; defining an instrument volume using the recorded motion, the instrument volume being a volume within the first allowable volume in which instruments can be moved without colliding with tissue; defining a second allowable volume within the patient after the image capture component is moved from the first position to a second position, wherein a boundary of the second allowable volume is coincident with a boundary of a second field of view of the image capture component at the second position; and controlling, with the image capture component located at the second position, the teleoperated instrument to stay within a combined volume of the instrument volume and the second allowable volume as the teleoperated instrument is teleoperatively moved within and outside the second allowable volume, wherein a portion of the combined volume is outside the second allowable volume, the portion of the combined volume outside the second allowable volume being within the instrument volume.