Invention Grant
- Patent Title: Ratcheting for master alignment of a teleoperated minimally invasive surgical instrument
- Patent Title (中): 用于远程操作的微创外科手术器械的对准的棘轮
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Application No.: US14996073Application Date: 2016-01-14
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Publication No.: US09579164B2Publication Date: 2017-02-28
- Inventor: Brandon D. Itkowitz , Simon P. DiMaio , William C. Nowlin , Gunter D. Niemeyer , David S. Mintz
- Applicant: Intuitive Surgical Operations, Inc.
- Applicant Address: US CA Sunnyvale
- Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee: Intuitive Surgical Operations, Inc.
- Current Assignee Address: US CA Sunnyvale
- Main IPC: G05B15/00
- IPC: G05B15/00 ; B25J9/16 ; B25J3/00

Abstract:
A minimally-invasive surgical system includes a slave surgical instrument having a slave surgical instrument tip and a master grip. The slave surgical instrument tip has an alignment in a common frame of reference and the master grip, which is coupled to the slave surgical instrument, has an alignment in the common frame of reference. An alignment error, in the common frame of reference, is a difference in alignment between the alignment of the slave surgical instrument tip and the alignment of the master grip. A ratcheting system (i) coupled to the master grip to receive the alignment of the master grip and (ii) coupled to the slave surgical instrument, to control motion of the slave by continuously reducing the alignment error, as the master grip moves, without autonomous motion of the slave surgical instrument tip and without autonomous motion of the master grip.
Public/Granted literature
- US20160157949A1 RATCHETING FOR MASTER ALIGNMENT OF A TELEOPERATED MINIMALLY INVASIVE SURGICAL INSTRUMENT Public/Granted day:2016-06-09
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