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    SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT
    1.
    发明公开
    SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT 审中-公开

    公开(公告)号：EP3193768A4

    公开(公告)日：2018-05-09

    申请号：EP15842454

    申请日：2015-09-17

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： HOURTASH ARJANG M ,  SWARUP NITISH ,  HINGWE PUSHKAR

    IPC分类号： A61B34/00 ,  A61B34/30 ,  B25J9/16

    CPC分类号： A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B34/77 ,  B25J9/1607 ,  G05B2219/45123

    摘要： Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS
    2.
    发明公开
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF SURGICAL SYSTEMS 审中-公开
    PHANTOMFREIHEITSGRADE ZUR MANIPULATION DER BEWEGUNG CHIRRGISCHER SYSTEME

    公开(公告)号：EP2884936A4

    公开(公告)日：2016-04-27

    申请号：EP13829667

    申请日：2013-08-14

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： HINGWE PUSHKAR ,  AU SAMUEL KWOK WAI ,  BONNEAU RAYMOND A ,  DIOLAITI NICOLA ,  HOURTASH ARJANG M ,  KERDOK AMY E ,  TURNER MICHAEL

    IPC分类号： B25J13/08 ,  A61B34/30 ,  A61B34/37 ,  B25J13/06 ,  B25J19/04

    CPC分类号： A61B34/30 ,  A61B34/37 ,  A61B90/361

    摘要： Methods, apparatus, and systems for performing minimally invasive surgery through an aperture of a patient. In accordance with a method, parameters are received from an input device associated with a surgeon, the parameters indicating a desired state of an end effector of a surgical instrument oriented through the aperture. The surgical instrument is included in a mechanical assembly having a first set of joints. Instructions are then computed for controlling the mechanical assembly using the received parameters by computing instructions for controlling a second set joints, the second set of joints including the first set of joints and an additional joint, the additional joint being absent from the mechanical assembly. The mechanical assembly is then driven so as to move the end effector toward the desired state based on the computed instructions.

    摘要翻译： 用于通过患者的孔进行微创手术的方法，装置和系统。 根据一种方法，从与外科医生相关联的输入装置接收参数，所述参数指示通过所述孔定向的手术器械的末端执行器的期望状态。 手术器械包括在具有第一组关节的机械组件中。 然后计算指令，以便通过计算用于控制第二组接头的指令来控制机械组件，第二组接头包括第一组接头和附加接头，附加接头不在机械组件中。 然后驱动机械组件，以便基于计算出的指令将末端执行器移动到期望的状态。

    PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL
    4.
    发明公开
    PHANTOM DEGREES OF FREEDOM IN JOINT ESTIMATION AND CONTROL 审中-公开
    PHANTOMFREIHEITSGRADE BEI GEMEINSAMERSCHÄTZUNGUND STEUERUNG

    公开(公告)号：EP2884935A4

    公开(公告)日：2016-06-22

    申请号：EP13829223

    申请日：2013-08-14

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： AU SAMUEL KWOK WAI ,  BONNEAU RAYMOND A ,  DIOLAITI NICOLA ,  HINGWE PUSHKAR ,  HOURTASH ARJANG M ,  KERDOK AMY E ,  TURNER MICHAEL

    IPC分类号： B25J13/08 ,  A61B34/30 ,  A61B34/37 ,  B25J9/06 ,  B25J19/02

    CPC分类号： A61B34/37 ,  A61B34/10 ,  A61B34/30 ,  A61B2034/104 ,  Y10S901/15 ,  Y10S901/29 ,  Y10S901/41

    摘要： Methods, apparatus, and systems for operating a surgical system. In accordance with a method, a position of a surgical instrument is measured, the surgical instrument being included in a mechanical assembly having a plurality of joints and a first number of degrees of freedom, the position of the surgical instrument being measured for each of a second number of degrees of freedom of the surgical instrument. The method further includes estimating a position of each of the joints, where estimating the position of each joint includes applying the position measurements to at least one kinematic model of the mechanical assembly, the kinematic model having a third number of degrees of freedom greater than the first number of degrees of freedom. The method further includes controlling the mechanical assembly based on the estimated position of the joints.

    摘要翻译： 用于操作外科系统的方法，装置和系统。 根据一种方法，测量手术器械的位置，所述手术器械包括在具有多个关节和第一数量自由度的机械组件中，所述手术器械的位置被测量为 手术器械的第二数量的自由度。 该方法还包括估计每个关节的位置，其中估计每个关节的位置包括将位置测量值应用于机械组件的至少一个运动学模型，该运动学模型具有大于 第一数量的自由度。 该方法还包括基于所估计的来控制机械组件。 关节位置。

    SYSTEM AND METHOD FOR BREAKAWAY CLUTCHING IN AN ARTICULATED ARM
    7.
    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。

    SYSTEM AND METHOD FOR RECENTERING IMAGING DEVICES AND INPUT CONTROLS
    8.
    发明公开
    SYSTEM AND METHOD FOR RECENTERING IMAGING DEVICES AND INPUT CONTROLS 审中-公开
    SYSTEM UND VERFAHREN ZUR NEUZENTRIERUNG VON BILDAUFNAHMEVORTHHTUNGEN UND EINGABESTEUERUNGEN

    公开(公告)号：EP3119323A4

    公开(公告)日：2017-08-02

    申请号：EP15764617

    申请日：2015-03-17

    申请人： INTUITIVE SURGICAL OPERATIONS

    发明人： ITKOWITZ BRANDON D ,  HANUSCHIK MICHAEL ,  MOHR PAUL W ,  HOURTASH ARJANG M

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

    CPC分类号： A61B34/35 ,  A61B1/00149 ,  A61B1/3132 ,  A61B34/25 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B90/37 ,  A61B2034/2057 ,  A61B2034/301

    摘要： A system and method of recentering imaging devices and input controls includes a medical device having one or more end effectors, an imaging device, one or more input controls for teleoperating the one or more end effectors, and a control unit including one or more processors coupled to the end effectors, the imaging device, and the input controls. The control unit suspends teleoperated control of the end effectors by the input controls in response to a recentering request, determines a view recentering move for the imaging device so that the end effectors are contained within a view space of the imaging device, determines one or more input control recentering moves to provide positional and orientational harmony between each of the input controls and a corresponding one of the end effectors, executes the view and input control recentering moves, and reinstates teleoperated control of the end effectors by the input controls.

    摘要翻译： 重新采集成像装置和输入控制装置的系统和方法包括具有一个或多个末端执行器，成像装置，用于远程操作一个或多个末端执行器的一个或多个输入控制器的医疗装置以及包括一个或多个耦合器的控制单元， 到末端执行器，成像设备和输入控件。 控制单元响应于重新请求请求通过输入控制中止末端执行器的遥控操作控制，确定重新移动成像设备的视图，以便末端执行器包含在成像设备的视图空间内，确定一个或多个 输入控制重新中心移动以提供每个输入控件与相应的一个末端执行器之间的位置和取向协调，执行视图和输入控制重新移动，并且通过输入控件恢复末端执行器的远程操作控制。