{
  "abstract": "Techniques are disclosed for imaging device control in a computer-assisted device that includes a first repositionable structure comprising joints, links coupled by the joints, and actuators coupled to drive motion of the first repositionable structure, the first repositionable structure configured to support an imaging device and a control system coupled to the first repositionable structure. The control system is configured to determine a first position of a first reference point, the first reference point being located at a first offset from a display unit; convert the first position to a target position; determine, based on the target position, a movement command of the first repositionable structure that moves the imaging device such that the imaging device moves toward a second position that is located at a second offset from the target position; and cause, using the actuators, actuation of the first repositionable structure based on the movement command.",
  "assignees": [
    "INTUITIVE SURGICAL OPERATIONS"
  ],
  "authors": [
    "GRIFFITHS PAUL G",
    "ITKOWITZ BRANDON D",
    "LYNCH GORAN A",
    "PARASTEGARI MOHAMMAD SINA"
  ],
  "canonical_url": "https://opentechnical.org/p/OT-2026-000002210",
  "categories": [
    "robotics-automation/robot-architectures"
  ],
  "extent": {
    "figures": 0,
    "paragraphs": 0,
    "words": 148
  },
  "figures": [],
  "files": [
    {
      "bytes": 10045,
      "media_type": "text/html; charset=utf-8",
      "name": "index.html",
      "sha256": "1dc52292939f48f0e7f1e63625ab48b2b4ebebc17c602a312acc9792e2a108a4"
    },
    {
      "bytes": 1416,
      "media_type": "text/markdown; charset=utf-8",
      "name": "publication.md",
      "sha256": "fb12b7c9f205d59ef3f0f6aa1c73ff0b93e2f9cc1654957b4c5ceb8cd06c8117"
    },
    {
      "bytes": 1508,
      "media_type": "text/plain; charset=utf-8",
      "name": "publication.txt",
      "sha256": "0190e34583e1eb0c5dc5e2d8eb7eb3a2c612ab68904864ee78c7efc9eb443842"
    }
  ],
  "integrity": {
    "hash_algorithm": "sha256",
    "keys_url": "https://opentechnical.org/integrity/keys",
    "record_url": "https://opentechnical.org/p/OT-2026-000002210/integrity",
    "signature_algorithm": "Ed25519",
    "signature_file": "manifest.sig",
    "verify_url": "https://opentechnical.org/integrity/verify"
  },
  "keywords": [
    "a61b90/361",
    "b25j9/1689",
    "b25j9/1689",
    "a61b2017/00216",
    "a61b2034/2048",
    "a61b2090/364"
  ],
  "language": "en",
  "license": {
    "name": "Creative Commons Attribution 4.0 International",
    "url": "https://creativecommons.org/licenses/by/4.0/"
  },
  "publication_id": "OT-2026-000002210",
  "published_at": "2026-09-15T19:11:29.635142Z",
  "publisher": "Nebula Innovations Limited",
  "record_type": "record",
  "schema": "opentechnical-publication-manifest/1.0",
  "source_date": "2026-03-05",
  "source_id": "US-2026061620-A1",
  "source_name": "the United States Patent and Trademark Office",
  "source_url": "https://patents.google.com/patent/US2026061620A1",
  "supersedes": null,
  "title": "Imaging device control in viewing systems",
  "uuid": "01a0a67b-3d62-707b-a962-61f5e82be671"
}