US 6,223,100 · Granted 2001-04-24

The Surgical Robot Patent That Let Doctors Operate From Across the Room

Imagine controlling a robot surgeon's hands from a control panel while watching a 3D view of what the robot sees — that's what this patent does. A surgeon sits at controllers, the system mirrors their hand movements to precise robotic arms in the operating room, and special cameras and mirrors create the illusion that they're directly touching the patient.

Curated and verified by the IsItPatented Editorial team

The plain-English version

What it protects

The claim covers a teleoperator system where an operator controls robotic manipulator arms through hand controllers while viewing a stereoscopic 3D image of the surgical workspace. What's protected here is the specific arrangement: dual cameras feed images to a display positioned adjacent to the control arms, creating the sensation that the operator's hands are directly connected to the robot's end effectors. The servomechanism that translates hand movements into precise robotic motion, combined with this visual feedback layout, is the core of what's patented.

Why it matters

This patent represents foundational technology for surgical robotics and telepresence systems. By solving the psychological and mechanical problem of making an operator feel directly connected to remote manipulators, it created a prototype for modern robotic surgery platforms. The integration of stereoscopic vision, real-time control feedback, and intuitive hand-to-tool mapping became essential to any system where precision and operator confidence matter — especially in medical settings where a surgeon's sense of control can mean the difference between success and error.

Real-world use

When a surgeon operates da Vinci or similar robotic surgical systems, they're sitting at a console moving handles while watching a magnified 3D view, feeling as though their hands are inside the patient — that immersive experience traces back to principles locked in this patent.

Original USPTO abstract

A teleoperator system with telepresence is shown which includes right and left hand controllers ( 72 R and 72 L) for control of right and left manipulators ( 24 R and 24 ) through use of a servomechanism that includes computer ( 42 ). Cameras ( 46 R and 46 L) view workspace ( 30 ) from different angles for production of stereoscopic signal outputs at lines ( 48 R and 48 L). In response to the camera outputs a 3-dimensional top-to-bottom inverted image ( 30 I) is produced which, is reflected by mirror ( 66 ) toward the eyes of operator ( 18 ). A virtual image ( 30 V) is produced adjacent control arms ( 76 R and 76 L) which is viewed by operator ( 18 ) looking in the direction of the control arms. By locating the workspace image ( 30 V) adjacent the control arms ( 76 R and 76 L) the operator is provided with a sense that end effectors ( 40 R and 40 L) carried by manipulator arms ( 34 R and 34 L) and control arms ( 76 R and 76 L) are substantially integral. This sense of connection between the control arms ( 76 R and 76 L) and end effectors ( 40 R and 40 L) provide the operator with the sensation of directly controlling the and effectors by hand. By locating visual display ( 246 ) adjacent control arms ( 244 R and 244 L) image ( 240 I) of the workspace is directly viewable by the operator. Use of the teleoperator system for surgical procedures also is disclosed.

Patent details

Publication number: US 6,223,100
Filing date: 1998-03-25
Grant date: 2001-04-24
Assignee: Sri, International
Inventor(s): GREEN PHILIP S.
CPC class: A61B34/77

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