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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-12576533-B2, on 17 March 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000001892

Techniques for following commands of an input device using a constrained proxy

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Classification
Robotics & Automation › Robot Architectures
Inventors
HOURTASH ARJANG M
Assignee
INTUITIVE SURGICAL OPERATIONS
Original source
US-12576533-B2, the United States Patent and Trademark Office, 17 March 2026
Document SHA-256
500487413d2811c4c90bc0c97d2d3543170b8bb2067a49863720756ff4bdce5e

Abstract

Disclosed techniques include a computer-assisted device having an input control, a functional structure, and a processing system. The functional structure is configured to include a repositionable structure, and the repositionable structure is configured to support an instrument. The processing system is configured to receive a movement command from the input control, update a pose of a proxy based on the movement command and a proxy constraint, and cause the functional structure to move based on the updated pose of the proxy. In some embodiments, the input control controls a pose of a virtual leader device. The processing system updates a pose of a proxy based on the pose of the virtual leader device, updates a pose of a virtual follower device based on the updated pose of the proxy, and causes the functional structure to move based on the pose of the virtual follower device.

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Citation

OpenTechnical Publication OT-2026-000001892, “Techniques for following commands of an input device using a constrained proxy,” published September 15, 2026 at 19:09:20 UTC, https://opentechnical.org/p/OT-2026-000001892.

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