公开(公告)号：US20250143815A1

公开(公告)日：2025-05-08

申请号：US19018315

申请日：2025-01-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61B34/00 ,  A61G13/02

Abstract: Integrated table motion includes a teleoperated device comprising an articulated structure and a control unit. The articulated structure comprises a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a plurality of actuators coupled to drive motion of the articulated structure. The control unit comprises one or more hardware processors. The control unit is operatively coupled to the articulated structure. The control unit is configured to receive a table movement request from a command unit of a table, the table being separate from the teleoperated device; determine whether the table movement request should be allowed; and in response to a determination that the table movement request should be allowed, allow the table to perform the table movement request.

公开(公告)号：US20240277434A1

公开(公告)日：2024-08-22

申请号：US18654147

申请日：2024-05-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Nitish SWARUP ,  Paul G. GRIFFITHS ,  Goran LYNCH

IPC: A61B34/00 ,  A61B1/00 ,  A61B17/00 ,  A61B34/20 ,  A61B34/30 ,  B25J9/16

CPC classification number: A61B34/70 ,  A61B1/00149 ,  A61B34/30 ,  B25J9/1607 ,  B25J9/1633 ,  A61B2017/00017 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/304 ,  A61B2034/305

Abstract: Techniques for maintaining instrument position and orientation include a computer-assisted device having an articulated structure and a control unit. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints; determine, in the reference frame, a first change to the instrument due to the disturbance; and rive at least a second joint of the plurality of joints to reduce the first change. The first change comprises: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument.

公开(公告)号：US20220142721A1

公开(公告)日：2022-05-12

申请号：US17599989

申请日：2020-04-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Yiming MEI

IPC: A61B34/20 ,  A61B1/00 ,  H04N5/232 ,  G06T7/70

Abstract: A system and method of view restoration include a computer-assisted device having an imaging device and a controller coupled to the imaging device. The controller is configured to record kinematic information, imaging information, or both the kinematic information and the imaging information before movement of the imaging device from a first repositionable arm to a second repositionable arm or from a first workspace port to a second workspace port; detect the movement of the imaging device from the first repositionable arm to the second repositionable arm or from the first workspace port to the second workspace port; determine, in response to the detection, a desired position and orientation of the imaging device based on the recorded kinematic information, the recorded imaging information, or both the recorded kinematic information and the recorded imaging information; and move the imaging device based on the desired position and orientation.

公开(公告)号：US20180289427A1

公开(公告)日：2018-10-11

申请号：US15522180

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

IPC: A61B34/20 ,  A61B34/32 ,  A61G13/10 ,  A61G13/04

Abstract: A system and method of registering a surgical table and a computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. The articulated arm has a distally mounted instrument configured to be inserted into a patient at a body opening. The control unit is configured to detect a first motion of a surgical table coupled to the control unit via a communications connection. The first motion of the surgical table causes a corresponding second motion of a control point of the articulated arm. The control unit is further configured to determine a first angular direction of the first motion in a surgical table coordinate frame, determine a second angular direction of the second motion in a computer-assisted medical device coordinate frame, and determine a third angular relationship between the surgical table and the computer-assisted medical device based on the first and second angular directions.

公开(公告)号：US20230372029A1

公开(公告)日：2023-11-23

申请号：US18364879

申请日：2023-08-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ

IPC: A61B34/20 ,  A61G13/04 ,  A61G13/06 ,  A61B34/30 ,  A61G13/02 ,  A61B34/32 ,  A61G13/10

CPC classification number: A61B34/20 ,  A61G13/04 ,  A61G13/06 ,  A61B34/30 ,  A61G13/02 ,  A61B34/32 ,  A61G13/10 ,  A61B2034/2059 ,  A61G2203/36

Abstract: Techniques for registering a computer-assisted device to a table include a computer-assisted device having an articulated arm and a control unit. The control unit is configured to receive information of a first motion of a table, the first motion comprising a first rotation about a first axis and causing a second motion of a point associated with the articulated arm; receive information of the second motion; receive information of a third motion of the table, the third motion of the table comprising a second rotation about a second axis different from the first axis and causing a fourth motion of the point; receive information of the fourth motion; determine a relationship between the computer-assisted device and the table based on a position of the point, the first rotation, the second motion, the second rotation, and the fourth motion; and control motion of the articulated arm based on the relationship.

公开(公告)号：US20230125548A1

公开(公告)日：2023-04-27

申请号：US18069336

申请日：2022-12-21

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Paul G. GRIFFITHS ,  Jason HEMPHILL ,  Goran A. LYNCH ,  Daniel N. MILLER ,  Patrick O'GRADY ,  Nitish SWARUP ,  Kamyar ZIAEI

IPC: A61B34/30 ,  A61G13/02 ,  A61B34/00

Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.

公开(公告)号：US20220125534A1

公开(公告)日：2022-04-28

申请号：US17569729

申请日：2022-01-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Michael L. HANUSCHIK ,  Paul W. MOHR ,  Arjang M. HOURTASH

IPC: A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  A61B1/00 ,  A61B1/313

Abstract: Techniques for determining an ergonomic center for an input control include an input control and a control unit including one or more processors. Movement of the input control during teleoperation is usable to command corresponding movement of an end effector. One or more control points are associated with the input control. The control unit is configured to detect a start of a repositioning movement for the input control, detect an end of the repositioning movement, determine one or more corresponding end positions, each corresponding end position being a position of a control point of the one or more control points at the end of the repositioning movement, determine an input control reference point based on the one or more corresponding end positions, and aggregate the input control reference point with at least one previously obtained input control reference point to determine an ergonomic center for the input control.

公开(公告)号：US20210132701A1

公开(公告)日：2021-05-06

申请号：US17147386

申请日：2021-01-12

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Xingchi HE ,  Brandon D. ITKOWITZ

IPC: G06F3/01 ,  B25J9/16 ,  G06F3/0346

Abstract: A system and method of assisting operator engagement with input devices includes a repositionable structure configured to support a physical input device, a hand detection system, and a control unit. The repositionable structure includes one or more actuators. The physical input device is configured to be operated by a hand of an operator. The control unit is configured to detect the hand of the operator using the hand detection system and in response to a trigger condition, command the one or more actuators to move the input device from a first orientation to a second orientation, wherein the second orientation is closer to a grasping orientation of the hand than the first orientation is to the grasping orientation of the hand.

公开(公告)号：US20210077210A1

公开(公告)日：2021-03-18

申请号：US17107862

申请日：2020-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. ITKOWITZ ,  Simon P. DIMAIO ,  William C. NOWLIN ,  Gunter D. NIEMEYER ,  David S. MINTZ

IPC: A61B34/37 ,  A61B34/30 ,  B25J9/16 ,  A61B90/10 ,  B25J3/00 ,  A61B34/00 ,  A61B34/35

Abstract: A teleoperated system includes a master grip and a ratcheting system coupled to the master grip. The ratcheting system is configured to align the master grip with a slave instrument commanded by the master grip by determining grip rotation values describing an orientation of the master grip, determining instrument rotation values describing an orientation of the instrument, determining an orientation error between an orientation of the master grip and the orientation of the instrument based on the grip rotation values and the instrument rotation values, and reducing the orientation error by low pass filtering the grip rotation values or the instrument rotation values.

公开(公告)号：US20170172670A1

公开(公告)日：2017-06-22

申请号：US15126983

申请日：2015-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish SWARUP ,  Paul G. GRIFFITHS ,  Brandon D. ITKOWITZ ,  Michael HANUSCHIK ,  Thomas R. NIXON

IPC: A61B34/30 ,  A61B1/00 ,  B25J9/16

Abstract: A system and method of aligning with a reference target includes a computer-assisted medical device. The computer-assisted medical device includes an orientation platform, one or more first joints proximal to the orientation platform, one or more second joints distal to the orientation platform, one or more links distal to the orientation platform, a reference instrument coupled to the orientation platform by the second joints and the links; and a control unit coupled to the first joints and the second joints. The control unit determines a pose of the reference instrument. The pose includes a reference point and a reference orientation. The control unit further positions the orientation platform over the reference point using the first joints, rotates the orientation platform to align the orientation platform with the reference orientation using the first joints, and maintains the pose of the reference instrument using the second joints.