公开(公告)号：EP4356848A2

公开(公告)日：2024-04-24

申请号：EP24153514.5

申请日：2017-01-27

申请人： Intuitive Surgical Operations, Inc.

发明人： WIXEY, Matthew A. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WEIR, David W. ,  WILSON JR., Donald F.

IPC分类号： A61B17/072

CPC分类号： A61B34/30 ,  A61B34/10 ,  A61B34/00 ,  A61B2017/0001720130101 ,  A61B2017/0039820130101 ,  A61B2090/06420160201 ,  A61B34/25 ,  A61B2090/06620160201 ,  A61B2034/205920160201 ,  A61B17/07207

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

公开(公告)号：EP3407819A1

公开(公告)日：2018-12-05

申请号：EP17745046.7

申请日：2017-01-27

申请人： Intuitive Surgical Operations, Inc.

发明人： WEIR, David W. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  CHAGHAJERDI, Amir ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WILSON, Andrew ,  WILSON JR., Donald F. ,  WIXEY, Matthew A.

IPC分类号： A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC分类号： A61B17/07207 ,  A61B34/00 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00017 ,  A61B2017/00398 ,  A61B2034/2059 ,  A61B2090/064 ,  A61B2090/066

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

公开(公告)号：EP4356848A3

公开(公告)日：2024-07-03

申请号：EP24153514.5

申请日：2017-01-27

申请人： Intuitive Surgical Operations, Inc.

发明人： WIXEY, Matthew A. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WEIR, David W. ,  WILSON JR., Donald F.

IPC分类号： A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B17/072 ,  A61B34/20 ,  A61B90/00

CPC分类号： A61B34/30 ,  A61B34/10 ,  A61B34/00 ,  A61B2017/0001720130101 ,  A61B2017/0039820130101 ,  A61B2090/06420160201 ,  A61B34/25 ,  A61B2090/06620160201 ,  A61B2034/205920160201 ,  A61B17/07207

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

公开(公告)号：EP4233759A3

公开(公告)日：2023-10-04

申请号：EP23174145.5

申请日：2017-01-27

申请人： Intuitive Surgical Operations, Inc.

发明人： WEIR, David W. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  CHAGHAJERDI, Amir ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WILSON, Andrew ,  WILSON JR., Donald F. ,  WIXEY, Matthew A.

IPC分类号： A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00 ,  A61B17/072 ,  A61B90/00 ,  A61B34/20

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.

公开(公告)号：EP3407818A1

公开(公告)日：2018-12-05

申请号：EP17745032.7

申请日：2017-01-27

申请人： Intuitive Surgical Operations, Inc.

发明人： WIXEY, Matthew A. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WEIR, David W. ,  WILSON JR., Donald F.

IPC分类号： A61B34/10 ,  A61B34/00 ,  A61B34/30 ,  A61B17/00

CPC分类号： A61B17/07207 ,  A61B34/00 ,  A61B34/10 ,  A61B34/25 ,  A61B34/30 ,  A61B2017/00017 ,  A61B2017/00398 ,  A61B2034/2059 ,  A61B2090/064 ,  A61B2090/066

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device including an end effector located at a distal end of the instrument, an actuator, and drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device sets a velocity set point of the actuator to an initial velocity, monitors force or torque applied by the actuator, reduces the velocity set point when the applied force or torque is above a first threshold, increases the velocity set point when the applied force or torque is below a second threshold, decreases the velocity set point to zero when the applied force or torque is above a maximum threshold, and drives the actuator based on the velocity set point. The first and second thresholds are lower than the maximum threshold.

公开(公告)号：EP4233759A2

公开(公告)日：2023-08-30

申请号：EP23174145.5

申请日：2017-01-27

申请人： Intuitive Surgical Operations, Inc.

发明人： WEIR, David W. ,  BRISSON, Gabriel F. ,  BURBANK, William A. ,  CHAGHAJERDI, Amir ,  FLANAGAN, Patrick ,  HINGWE, Pushkar ,  WILSON, Andrew ,  WILSON JR., Donald F. ,  WIXEY, Matthew A.

IPC分类号： A61B34/00

摘要： A system and method of variable velocity control of a surgical instrument in a computer-assisted medical device includes a surgical instrument having an end effector located at a distal end of the instrument, an actuator, and one or more drive mechanisms for coupling force or torque from the actuator to the end effector. To perform an operation with the instrument, the computer-assisted medical device is configured to set a velocity set point of the actuator to an initial velocity and monitor force or torque applied by the actuator. When the applied force or torque is above a first force or torque limit it is determined whether a continue condition for the operation is satisfied. When the continue condition is satisfied the operation is paused and when the continue condition is not satisfied it is determined whether forced firing of the actuator should take place.