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CONFIGURABLE ROBOTIC SURGICAL SYSTEM WITH VIRTUAL RAIL AND FLEXIBLE ENDOSCOPE

  • US 20170340396A1
  • Filed: 08/18/2017
  • Published: 11/30/2017
  • Est. Priority Date: 09/30/2014
  • Status: Active Grant
First Claim
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1. A method of moving a system of robotic arms, the method comprising:

  • receiving a force feedback signal based on a force exerted by a user on a surgical robotic system that comprises a first robotic arm coupled to a first tool base and a second robotic arm coupled to a second tool base, the first tool base and the second tool base of the second surgical tool being at a predetermined distance relative to each other;

    one or more processors providing to the first robotic arm a first command to move the first tool base along a first movement vector based on the force feedback signal; and

    one or more processors providing to the second robotic arm a second command to move the second tool base simultaneously with the first tool base along a second movement vector to maintain the predetermined distance of the first tool base the second tool base.

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