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Restoring instrument control input position/orientation during midprocedure restart

  • US 10,085,811 B2
  • Filed: 03/17/2015
  • Issued: 10/02/2018
  • Est. Priority Date: 03/17/2014
  • Status: Active Grant
First Claim
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1. A telesurgery system comprising:

  • a surgical assembly comprising a motor, the surgical assembly having at least one drive mechanism driven by the motor;

    a sensor assembly coupled to non-volatile memory, the sensor assembly for recording position of the at least one drive mechanism to the non-volatile memory; and

    a controller communicatively coupled to the sensor assembly, the controller having at least one processor configured to execute a method comprising;

    recording a position of the at least one drive mechanism to the non-volatile memory during use of the surgical assembly;

    initiating a mid-procedure shut-down of the surgical assembly;

    receiving a request to initiate a mid-procedure restart of the surgical assembly;

    determining whether a post-shutdown position of the at least one drive mechanism is within an accepted tolerance with respect to a pre-shutdown position of the at least one drive mechanism to allow the mid-procedure restart to complete; and

    preventing or allowing further use of the surgical assembly based on determining whether the post-shutdown position of the at least one drive mechanism is within the accepted tolerance with respect to the pre-shutdown position of the at least one drive mechanism.

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