18886751. GUIDED TOOL CHANGE (INTUITIVE SURGICAL OPERATIONS, INC.)

GUIDED TOOL CHANGE

Organization Name

INTUITIVE SURGICAL OPERATIONS, INC.

Inventor(s)

Ashwinram Suresh of San Jose CA (US)

Lawton Verner of Saratoga CA (US)

Gabriel Brisson of Livermore CA (US)

GUIDED TOOL CHANGE

This abstract first appeared for US patent application 18886751 titled 'GUIDED TOOL CHANGE

Original Abstract Submitted

A computer-assisted medical system includes a manipulator arm, an actuator system, a sensor system, and a controller. The controller determines, using the sensor system, a kinematic configuration of a previous tool attached to the manipulator arm, determines a mounting of a replacement tool to the manipulator arm after removal of the previous tool from the manipulator arm, determines, based on the kinematic configuration of the previous tool, a trajectory for the replacement tool, and controls the actuator system to move the replacement tool in accordance with the trajectory as the replacement tool is inserted. To control the actuator system to move the replacement according to the trajectory, the controller, in response to the trajectory including a non-straight portion, controls the actuator system to alter an angle or position of a joint of the manipulator arm such that an end effector of the replacement tool moves according to the non-straight portion.