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1.发明申请公开(公告)号：US20180036087A1
公开(公告)日：2018-02-08
申请号：US15784682
申请日：2017-10-16
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Randal P. GOLDBERG , Michael HANUSCHIK , Paul MILLMAN , Paul W. MOHR , Thomas R. NIXON , David ROBINSON
CPC classification number: A61B34/35 , A61B18/00 , A61B18/14 , A61B34/25 , A61B34/30 , A61B34/37 , A61B34/74 , A61B90/98 , A61B2017/00225 , A61B2017/00973 , A61B2034/254 , G05B2219/40195
Abstract: A system for controlling a surgical instrument comprises an input device operably coupled to remotely control movement of a surgical instrument operably coupled to a computer-assisted surgical system; a first auxiliary input device configured to transmit an auxiliary function control signal to activate an auxiliary function of a surgical instrument in an operably coupled state of the first auxiliary input device and the surgical instrument. The system further comprises a control system configured to detect at least one of an initial position or a configuration of an input device operably coupled to remotely control movement of the surgical instrument; and operably couple the first auxiliary input device to control the auxiliary function of the surgical instrument based on a position of the first auxiliary input device relative to a second auxiliary input device and the detecting of the at least one of the initial position or configuration of the input device operably coupled to remotely control the movement of the surgical instrument.
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公开(公告)号：US20170253270A1
公开(公告)日：2017-09-07
申请号：US15463740
申请日：2017-03-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. GRIFFITHS , Paul W. MOHR , Alan W. PETERSEN , David ROBINSON , Nitish SWARUP , Mark W. ZIMMER , Alexander MAKHLIN , Julio SANTOS-MUNNE , Eric FAULRING , Thomas MOYER
CPC classification number: B62D6/10 , A61B34/30 , A61B34/35 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2017/00123 , A61B2017/00482 , A61B2050/185 , A61B2090/064 , B62D1/12
Abstract: A patient side cart for a teleoperated surgical system can include one or more wheels positioned to support the cart for wheeled motion on a ground surface, at least one manipulator portion for holding a surgical instrument, a steering interface having a grasping portion and comprising a sensor positioned to sense turning, fore, and aft forces exerted on the grasping portion to move the cart, wherein the sensor is in signal communication with a drive control system of the patient side cart, and an additional sensor operatively coupled to the drive control system. The additional sensor may be positioned between the steering interface and the wheels on a side of the cart at which the steering interface is positioned, wherein in response to a force exerted on the additional sensor during backward motion of the cart in response to an aft force exerted on the grasping portion, the sensor sends a signal to the drive control system to stop motion of the cart.
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公开(公告)号：US20140316654A1
公开(公告)日：2014-10-23
申请号：US14208663
申请日：2014-03-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. GRIFFITHS , Paul W. MOHR , Alan W. PETERSEN , David ROBINSON , Nitish SWARUP , Mark W. ZIMMER , Alexander MAKHLIN , Julio SANTOS-MUNNE , Eric FAULRING , Thomas MOYER
CPC classification number: B62D6/10 , A61B34/30 , A61B34/35 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2017/00123 , A61B2017/00482 , A61B2050/185 , A61B2090/064 , B62D1/12
Abstract: A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.
Abstract translation: 用于远程手术的外科系统的患者侧车包括至少一个用于保持手术器械和操纵界面的操纵器部分。 转向界面可以包括至少一个传感器，其被定位成感测用户施加的转动，前后力以移动推车。 转向接口还可以包括联接机构，用于可拆卸地将转向接口与患者侧车辆联接。 当转向接口处于与患者侧车的联接状态时，至少一个传感器可被放置成与患者侧车的驱动控制系统进行信号通信。
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公开(公告)号：US20200254633A1
公开(公告)日：2020-08-13
申请号：US16860569
申请日：2020-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David ROBINSON , Matthew R. CAVALIER , Gregory W. DACHS , Michael HANUSCHIK , Jason JIANG , Paul W. MOHR , Bruce M. SCHENA , Mark W. ZIMMER
Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.
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公开(公告)号：US20160199143A1
公开(公告)日：2016-07-14
申请号：US15073811
申请日：2016-03-18
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. GRIFFITHS , Paul W. MOHR , Alan W. PETERSEN , David ROBINSON , Nitish SWARUP , Mark W. ZIMMER , Alexander MAKHLIN , Julio SANTOS-MUNNE , Eric FAULRING , Thomas MOYER
CPC classification number: B62D6/10 , A61B34/30 , A61B34/35 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2017/00123 , A61B2017/00482 , A61B2050/185 , A61B2090/064 , B62D1/12
Abstract: A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.
Abstract translation: 用于远程手术的外科系统的患者侧车包括至少一个用于保持手术器械和操纵界面的操纵器部分。 转向界面可以包括至少一个传感器，其被定位成感测用户施加的转动，前后力以移动推车。 转向接口还可以包括联接机构，用于可拆卸地将转向接口与患者侧车辆联接。 当转向接口处于与患者侧车的联接状态时，至少一个传感器可被放置成与患者侧车的驱动控制系统进行信号通信。
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Patent Agency Ranking
6.发明申请SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART 有权具有驱动系统的手术患者侧车和移动患者侧面的方法公开(公告)号：US20140297130A1
公开(公告)日：2014-10-02
申请号：US14209239
申请日：2014-03-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul G. GRIFFITHS , Arjang M. HOURTASH , Paul W. MOHR , David ROBINSON , Nitish SWARUP , John ZABINSKI , Mark ZIMMER
IPC: B62D6/00
CPC classification number: A61B19/0248 , A61B34/30 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2050/185 , B25J5/007 , G05D1/0011
Abstract: A patient side cart for a teleoperated surgical system can include at least one manipulator arm portion for holding a surgical instrument, a steering interface, and a drive system. The steering interface may be configured to detect a force applied by a user to the steering interface indicating a desired movement for the teleoperated surgical system. The drive system can include at least one driven wheel, a control module, and a model section. The control module may receive as input a signal from the steering interface corresponding to the force applied by the user to the steering interface. The control module may be configured to output a desired movement signal corresponding to the signal received from the steering interface. The model section can include a model of movement behavior of the patient side cart, the model section outputting a movement command output to drive the driven wheel.
Abstract translation: 用于远程手术的外科系统的患者侧车可以包括用于保持外科器械，转向接口和驱动系统的至少一个操纵臂部分。 转向接口可以被配置为检测用户对转向接口施加的力，指示远程手术系统的期望运动。 驱动系统可以包括至少一个从动轮，控制模块和模型部分。 控制模块可以接收来自转向接口的信号作为输入，该信号对应于由用户施加到转向接口的力。 控制模块可以被配置为输出对应于从转向接口接收到的信号的期望运动信号。 模型部分可以包括患者侧车的运动行为的模型，模型部分输出运动指令输出以驱动从动轮。
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公开(公告)号：US20200101629A1
公开(公告)日：2020-04-02
申请号：US16577381
申请日：2019-09-20
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David ROBINSON , Matthew R. CAVALIER , Gregory W. DACHS , Michael HANUSCHIK , Jason JIANG , Paul W. MOHR , Bruce M. SCHENA , Mark W. ZIMMER
Abstract: A surgical cart assembly may comprise a base portion. The base portion also includes a plurality of wheels coupled to the base portion and arranged to permit wheeled movement of the surgical cart assembly. The cart also includes a column extending vertically from the base portion, and a manipulator arm coupled to an end portion of the column opposite to a location of the base portion. The cart further comprises a stabilization assembly coupled to the base portion, the stabilization assembly may include a piston assembly moveable between a retracted position and a deployed position, and an actuation device operably coupled to the piston assembly to actuate the piston assembly between the retracted position and the deployed position. The piston assembly in the retracted position is retracted away from a ground surface on which the cart assembly is supported, and the piston assembly in the deployed position is in contact with the ground surface.
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公开(公告)号：US20180319023A1
公开(公告)日：2018-11-08
申请号：US16039599
申请日：2018-07-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David ROBINSON , Matthew R. CAVALIER , Gregory W. DACHS , Michael HANUSCHIK , Jason JIANG , Paul W. MOHR , Bruce M. SCHENA , Mark W. ZIMMER
Abstract: A method of controlling a vibration reduction member of a patient side cart for a teleoperated surgical system includes detecting an occurrence of a first event corresponding to preparation of the patient side cart for a surgical procedure, and issuing a command signal to an actuation device to deploy the vibration reduction member to contact a ground surface upon which the patient side cart is located.
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公开(公告)号：US20210122067A1
公开(公告)日：2021-04-29
申请号：US17140420
申请日：2021-01-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David ROBINSON , Matthew R. CAVALIER , Gregory W. DACHS , Michael HANUSCHIK , Jason JIANG , Paul W. MOHR , Bruce M. SCHENA , Mark W. ZIMMER
Abstract: A method includes moving a stabilization device comprising a stabilization surface relative to a base of a surgical cart, wherein the moving comprises moving the stabilization device from a retracted position in which the stabilization surface is spaced from the ground surface to a deployed position in which the stabilization surface is in contact with the ground surface, and wherein the moving comprises overcoming a biasing force biasing the stabilization device toward the retracted position.
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公开(公告)号：US20170087730A1
公开(公告)日：2017-03-30
申请号：US15126770
申请日：2015-03-17
Applicant: Intuitive Surgical Operations, Inc.
Inventor： David ROBINSON , Matthew R. CAVALIER , Gregory W. DACHS , Michael HANUSCHIK , Jason JIANG , Paul W. MOHR , Bruce M. SCHENA , Mark W. ZIMMER
CPC classification number: B25J19/0091 , A61B34/35 , A61B34/70 , A61B50/13 , B25J5/007
Abstract: A patient side cart for a teleoperated surgical system may include a base, a column connected to the base, a boom connected to the column, a manipulator arm connected to the boom, and a vibration reduction member. The manipulator arm may be configured to support a surgical instrument. The vibration reduction member may be configured to be moved between deployed and retracted positions relative to the base. The vibration reduction member may engage a ground surface in the deployed position and not be in contact with the ground surface in the retracted position. Various exemplary embodiments also relate to carts including a vibration reduction member and methods of controlling a vibration reduction member.
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