公开(公告)号：US20240293121A1

公开(公告)日：2024-09-05

申请号：US18662686

申请日：2024-05-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B17/072 ,  A61B17/00 ,  A61B34/00 ,  A61B34/10 ,  A61B34/20 ,  A61B34/30 ,  A61B34/35 ,  A61B90/00

CPC classification number: A61B17/07207 ,  A61B17/00234 ,  A61B34/00 ,  A61B34/10 ,  A61B34/30 ,  A61B34/35 ,  A61B34/74 ,  A61B90/06 ,  A61B2017/00017 ,  A61B2017/00022 ,  A61B2017/00039 ,  A61B2017/00075 ,  A61B2017/00128 ,  A61B2017/00367 ,  A61B2017/00398 ,  A61B2017/0725 ,  A61B2017/07257 ,  A61B2017/07271 ,  A61B2017/07278 ,  A61B2034/2059 ,  A61B34/25 ,  A61B2034/305 ,  A61B2090/064 ,  A61B2090/066

Abstract: Techniques for control of an instrument include a device having an actuator. To perform an operation with an instrument coupled to the actuator, the instrument is operated according to a state machine by: transitioning the instrument from a gripped state to a clamped state in response to receiving a clamp command; transitioning the instrument from the clamped state to a firing state in response to receiving a fire command; transitioning the instrument from the firing state to a pause state in response to detecting a stall in the actuator used to actuate the instrument; transitioning the instrument from the pause state to a stop firing state in response to a pause limit being reached; and transitioning the instrument from the pause state to the firing state in response to the actuator beginning to move again or after a first predetermined period of time has elapsed since entering the pause state.

公开(公告)号：US20210145441A1

公开(公告)日：2021-05-20

申请号：US17160288

申请日：2021-01-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: A61B17/072 ,  A61B34/10 ,  A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  A61B17/00 ,  A61B90/00

Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.