Patent Number: 7,785,320

Title: Method for operating a medical robotic system by stopping movement of a surgical instrument about a pivot point or issuing a warning if the pivot point moves beyond a threshold value

Abstract: A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The controller controls and limits movement of robotic arms relative to the patient.

Inventors: Wang; Yulun (Goleta, CA), Uecker; Darrin R (Santa Barbara, CA), Wilson; Jeff (Santa Barbara, CA), Laby; Keith Philip (Santa Barbara, CA), Jordan; Steve (Santa Barbara, CA), Wright; James (Santa Barbara, CA)

Assignee: Intuitive Surgical Operations, Inc.

International Classification: A61B 17/00 (20060101)

Expiration Date: 8/31/12018