US 12,167,898 B2
Control of device including mechanical arms
Dvir Cohen, Or-Yehuda (IL); and Eli Shapira, Or-Yehuda (IL)
Assigned to Momentis Surgrical Ltd., Or-Yehuda (IL)
Filed by Memic Innovative Surgery Ltd., Or-Yehuda (IL)
Filed on Sep. 8, 2021, as Appl. No. 17/468,745.
Application 17/468,745 is a continuation of application No. 16/121,704, filed on Sep. 5, 2018, granted, now 11,116,589.
Application 16/121,704 is a continuation of application No. 15/418,891, filed on Jan. 30, 2017, granted, now 10,070,930, issued on Sep. 11, 2018.
Application 15/418,891 is a continuation of application No. PCT/IL2015/050891, filed on Sep. 4, 2015.
Application 15/418,891 is a continuation of application No. PCT/IL2015/050892, filed on Sep. 4, 2015.
Application 15/418,891 is a continuation of application No. PCT/IL2015/050893, filed on Sep. 4, 2015.
Claims priority of provisional application 62/045,756, filed on Sep. 4, 2014.
Claims priority of provisional application 62/045,802, filed on Sep. 4, 2014.
Prior Publication US 2022/0054205 A1, Feb. 24, 2022
Int. Cl. A61B 34/30 (2016.01); A61B 1/05 (2006.01); A61B 1/303 (2006.01); A61B 17/29 (2006.01); A61B 17/32 (2006.01); A61B 17/3201 (2006.01); A61B 18/14 (2006.01); A61B 34/00 (2016.01); A61B 34/35 (2016.01); A61B 90/00 (2016.01); A61B 90/50 (2016.01); A61B 90/57 (2016.01); B25J 9/00 (2006.01); B25J 9/06 (2006.01); B25J 9/16 (2006.01); B25J 13/06 (2006.01); B25J 13/08 (2006.01); A61B 17/00 (2006.01)
CPC A61B 34/30 (2016.02) [A61B 1/05 (2013.01); A61B 1/303 (2013.01); A61B 17/29 (2013.01); A61B 17/320016 (2013.01); A61B 17/3201 (2013.01); A61B 18/1492 (2013.01); A61B 34/35 (2016.02); A61B 34/70 (2016.02); A61B 34/74 (2016.02); A61B 34/76 (2016.02); A61B 34/77 (2016.02); A61B 90/06 (2016.02); A61B 90/37 (2016.02); A61B 90/50 (2016.02); A61B 90/57 (2016.02); B25J 9/0084 (2013.01); B25J 9/065 (2013.01); B25J 9/1674 (2013.01); B25J 13/065 (2013.01); B25J 13/088 (2013.01); A61B 2017/00115 (2013.01); A61B 2017/00207 (2013.01); A61B 17/00234 (2013.01); A61B 2017/00309 (2013.01); A61B 2017/00314 (2013.01); A61B 2017/00424 (2013.01); A61B 2017/00991 (2013.01); A61B 2034/301 (2016.02); A61B 2034/306 (2016.02); A61B 2034/742 (2016.02); A61B 2034/743 (2016.02); A61B 2034/744 (2016.02); A61B 2090/067 (2016.02); A61B 90/361 (2016.02); A61B 2090/374 (2016.02); A61B 2090/3762 (2016.02); A61B 2090/378 (2016.02); A61B 2090/571 (2016.02); G05B 2219/45117 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method of controlling, using gesture recognition, an operation mode of a surgical system including at least one surgical arm insertable into the body, the method comprising:
detecting movement of at least one user body portion; and
controlling said at least one surgical arm based on the detected movement, wherein said controlling comprises controlling movement of said at least one surgical arm and/or transferring between modes of operation of said at least one surgical arm;
wherein controlling movement of said at least one surgical arm is by mapping measured user body portion movement to movement of at least a portion of said surgical arm; wherein said surgical arm comprises a plurality of portions sequentially coupled by joints, and wherein movement of a user's arm joint is mapped to movement of a corresponding surgical arm joint.