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14 条记录 (耗时 0.01 秒)

    USER INITIATED BREAK-AWAY CLUTCHING OF A SURGICAL MOUNTING PLATFORM
    3.
    发明公开
    USER INITIATED BREAK-AWAY CLUTCHING OF A SURGICAL MOUNTING PLATFORM 审中-公开
    使用清洁引导外科手术阶段可解开离合器总成

    公开(公告)号：EP2884933A4

    公开(公告)日：2016-04-13

    申请号：EP13829146

    申请日：2013-08-15

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： GRIFFITHS PAUL G ,  MOHR PAUL W ,  SWARUP NITISH

    IPC分类号： A61B90/00 ,  B25J13/08 ,  B25J17/00 ,  B25J19/06

    CPC分类号： A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/77 ,  A61B90/06 ,  A61B90/50 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2090/066 ,  A61B2090/508 ,  B25J9/1633 ,  B25J9/1669 ,  G05B2219/40414 ,  Y10S901/02

    摘要： Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system or the like without having to add additional input devices.

    COMMAND SHAPING TO DAMPEN VIBRATIONS IN MODE TRANSITIONS
    6.
    发明公开
    COMMAND SHAPING TO DAMPEN VIBRATIONS IN MODE TRANSITIONS 审中-公开
    BEFEHLSFORMUNG ZURDÄMPFUNGVON SCHWINGUNGEN BEIMODUSÜBERGÄNGEN

    公开(公告)号：EP3119326A4

    公开(公告)日：2017-08-09

    申请号：EP15764795

    申请日：2015-03-17

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： SWARUP NITISH ,  ROBINSON DAVID W

    IPC分类号： A61B90/00 ,  A61B34/30 ,  A61B34/37

    CPC分类号： A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2034/743

    摘要： Systems and method are provided for the elimination/mitigation of vibration arising from a mode transition during a robotic surgery. The robotic surgery can be performed with a patient side cart, portions of which can be affected by the mode transition. Initial parameters for the portions of the patient side cart that can be affected by the mode transition are identified and are used to create a smoothing curve. The smoothing curve can direct the movement of the portions of the patient side cart to transition between the modes. The smoothing curve can be continuously generated until a new mode transition is requested.

    摘要翻译： 提供了用于在机器人手术期间消除/减轻由模式转变引起的振动的系统和方法。 机器人手术可以用患者侧推车执行，其中一部分可以受到模式转换的影响。 识别可以受模式转换影响的患者侧推车部分的初始参数，并用于创建平滑曲线。 平滑曲线可以引导患者侧推车的部分的运动在模式之间转换。 平滑曲线可以连续生成，直到请求新的模式转换。

    SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE MOTION
    7.
    发明公开
    SYSTEM AND METHOD FOR INTEGRATED SURGICAL TABLE MOTION 审中-公开

    公开(公告)号：EP3212151A4

    公开(公告)日：2018-05-30

    申请号：EP15855351

    申请日：2015-10-27

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： ITKOWITZ BRANDON D ,  GRIFFITHS PAUL G ,  SWARUP NITISH ,  ZIAEI KAM

    IPC分类号： A61G13/02 ,  A61B34/30

    CPC分类号： A61B34/30 ,  A61G13/02

    摘要： A computer-assisted medical device includes a first articulated arm, the first articulated arm having an end effector, a first joint set, a second joint set and a control unit. The control unit configures one or more joints in the first joint set to a floating mode, detects movement of the first joint set caused by a movement of the surgical table, drives the second joint set based on the movement of the surgical table, receives an instrument motion command to move the end effector while the surgical table is moving, and moves the end effector based on the instrument motion command. In some embodiments, the instrument motion command is relative to an imaging coordinate frame. In some embodiments, the imaging coordinate frame is based on a pose of an imaging device saved prior to the movement of the surgical table.

    SYSTEM AND METHOD FOR BREAKAWAY CLUTCHING IN AN ARTICULATED ARM
    8.
    发明公开
    SYSTEM AND METHOD FOR BREAKAWAY CLUTCHING IN AN ARTICULATED ARM 审中-公开
    SYSTEM UND VERFAHREN ZURLÖSBARENKUPPLUNG IN EINEM GELENKARM

    公开(公告)号：EP3119314A4

    公开(公告)日：2017-09-27

    申请号：EP15764121

    申请日：2015-03-17

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： MILLER DANIEL ,  SWARUP NITISH ,  TURNER MICHAEL ,  HOURTASH ARJANG M ,  GRIFFITHS PAUL G ,  MOHR PAUL W

    IPC分类号： A61B90/00 ,  A61B34/30

    CPC分类号： A61B34/30 ,  A61B2018/00666 ,  A61B2018/00672 ,  A61B2018/00678 ,  A61B2034/305 ,  A61B2090/035 ,  B25J9/1689 ,  B25J9/1694 ,  B25J13/085 ,  B25J13/088

    摘要： A system and method of breakaway clutching in a computer-assisted medical device includes an articulated arm having one or more first joints and a control unit coupled to the articulated arm and having one or more processors. The control unit operates each of the first joints in multiple states. The multiple states include a locked state, wherein movement of respective first joints is restricted, and a float state, wherein movement of the respective first joints is permitted. The control unit further switches one or more second joints selected from the first joints from the locked state to the float state when a stimulus on the second joints exceeds one or more unlock thresholds and switches the second joints from the float state to the locked state when a velocity of each of the second joints is below one or more lock thresholds.

    摘要翻译： 在计算机辅助医疗设备中分离离合的系统和方法包括铰接臂，该铰接臂具有一个或多个第一关节和耦合到关节臂且具有一个或多个处理器的控制单元。 控制单元以多个状态操作每个第一关节。 多个状态包括限制各个第一关节的移动的锁定状态和允许各个第一关节的移动的浮动状态。 当第二关节上的刺激超过一个或多个解锁阈值并且当第二关节从浮动状态切换到锁定状态时，控制单元进一步将从第一关节选择的一个或多个第二关节从锁定状态切换到浮动状态， 每个第二关节的速度低于一个或多个锁定阈值。