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    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART
    1.
    发明申请
    SURGICAL PATIENT SIDE CART WITH DRIVE SYSTEM AND METHOD OF MOVING A PATIENT SIDE CART 有权

    公开(公告)号：US20220031417A1

    公开(公告)日：2022-02-03

    申请号：US17404289

    申请日：2021-08-17

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Paul G. GRIFFITHS ,  Arjang M. HOURTASH ,  Paul W. MOHR ,  David W. ROBINSON ,  Nitish SWARUP ,  John W. ZABINSKI ,  Mark W. ZIMMER

    IPC分类号： A61B50/10 ,  B25J5/00 ,  A61B50/18 ,  A61B50/13 ,  G05D1/00

    摘要： A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.

    SYSTEM FOR CUTTING ELEMENT POSITION INDICATION
    2.
    发明申请
    SYSTEM FOR CUTTING ELEMENT POSITION INDICATION 有权

    公开(公告)号：US20210077202A1

    公开(公告)日：2021-03-18

    申请号：US17110246

    申请日：2020-12-02

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： David W. ROBINSON

    IPC分类号： A61B34/20 ,  A61B34/30 ,  A61B18/14

    摘要： Systems and methods for cutting element indication include an end effector having a jaw for clamping a material and a cutting element within the end effector and a processor. The cutting element is moveable relative to the end effector. The cutting element is driven by a drive element and a mechanism coupling the drive element to the cutting element. The processor is configured to determine a position of the cutting element relative to the end effector via a displacement of the drive element and a displacement of the mechanism and display, on a user interface, an indicator of the position of the cutting element relative to the end effector.

    METHODS AND SYSTEMS FOR ASSIGNING INPUT DEVICES TO TELEOPERATED SURGICAL INSTRUMENT FUNCTIONS
    3.
    发明申请
    METHODS AND SYSTEMS FOR ASSIGNING INPUT DEVICES TO TELEOPERATED SURGICAL INSTRUMENT FUNCTIONS 审中-公开

    公开(公告)号：US20200281672A1

    公开(公告)日：2020-09-10

    申请号：US16824022

    申请日：2020-03-19

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Randal P. GOLDBERG ,  Michael HANUSCHIK ,  Paul MILLMAN ,  Paul W. MOHR ,  Thomas R. NIXON ,  David W. ROBINSON

    IPC分类号： A61B34/35 ,  A61B34/30 ,  A61B34/37 ,  A61B34/00 ,  A61B90/98 ,  A61B18/00

    摘要： A method of assigning an auxiliary input device to control a surgical instrument in a computer-assisted surgical system includes detecting a first surgical instrument coupled to a first manipulator interface assembly of a computer-assisted surgical system, the first manipulator interface assembly being controlled by a first input device. The method further includes detecting an initial relative position of the first input device and either assigning control of an auxiliary function of the first surgical instrument to a first auxiliary input device disposed in a left position relative to a second auxiliary input device if the initial relative position of the first input device is detected to be at a left position relative to a second input device or assigning may also include assigning control of an auxiliary function of the first surgical instrument to the second auxiliary input device disposed in a right position relative to the first auxiliary input device if the initial relative position the first input device is detected to be at a right position relative to the second input device.

    COMMAND SHAPING TO DAMPEN VIBRATIONS IN MODE TRANSITIONS
    5.
    发明申请
    COMMAND SHAPING TO DAMPEN VIBRATIONS IN MODE TRANSITIONS 审中-公开
    在模式转换中阻止振动的命令

    公开(公告)号：US20170071680A1

    公开(公告)日：2017-03-16

    申请号：US15125944

    申请日：2015-03-17

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Nitish SWARUP ,  David W. ROBINSON

    IPC分类号： A61B34/30 ,  A61B34/00 ,  A61B34/35

    CPC分类号： A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B2034/304 ,  A61B2034/305 ,  A61B2034/742 ,  A61B2034/743

    摘要： Systems and method are provided for the elimination/mitigation of vibration arising from a mode transition during a robotic surgery. The robotic surgery can be performed with a patient side cart, portions of which can be affected by the mode transition. Initial parameters for the portions of the patient side cart that can be affected by the mode transition are identified and are used to create a smoothing curve. The smoothing curve can direct the movement of the portions of the patient side cart to transition between the modes. The smoothing curve can be continuously generated until a new mode transition is requested.

    摘要翻译： 提供了系统和方法，用于消除/减轻在机器人手术期间由模式转变引起的振动。 机器人手术可以用患者侧车进行，其中部分可能受到模式转换的影响。 可以识别可能受模式转换影响的患者侧推车部分的初始参数，并用于创建平滑曲线。 平滑曲线可以引导患者侧推车的部分的运动在模式之间转换。 可以连续生成平滑曲线，直到请求新的模式转换为止。

    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING
    7.
    发明公开
    METHODS AND SYSTEMS FOR CONTROLLING STAPLE FIRING 审中-公开

    公开(公告)号：US20230157687A1

    公开(公告)日：2023-05-25

    申请号：US18158069

    申请日：2023-01-23

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

    IPC分类号： A61B17/068 ,  A61B17/072

    CPC分类号： A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115

    摘要： Systems and methods for controlling staple firing include a manipulator, a drive system, and a processor. The manipulator is configured to be releasably coupled to an instrument. The instrument has an end effector comprising a first jaw and a second jaw. The drive system is configured to apply a force or torque to the instrument to cause staple firing to occur using the end effector. The processor is configured to monitor a force or torque applied by the drive system to cause staple firing to occur and in response to determining that the applied force or torque is outside of an acceptable range of force or torque, maintain application of clamping by the first jaw and the second jaw while suspending application of the force or torque that causes the staple firing to occur.

    ACTIVE AND SEMI-ACTIVE DAMPING
    8.
    发明申请
    ACTIVE AND SEMI-ACTIVE DAMPING 有权

    公开(公告)号：US20230114914A1

    公开(公告)日：2023-04-13

    申请号：US18080577

    申请日：2022-12-13

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

    IPC分类号： A61B34/37

    摘要： Techniques for active and semi-active damping include a system including a processor and a linkage having a first link, a second link, and a damper coupling the second link to the first link. The processor is configured to receive a movement command for moving the linkage; determine one or more first vibrations expected to occur in the linkage as a result of performing the movement command; determine a movement profile for moving the linkage to reduce the one or more first vibrations; and drive, using a drive component, the linkage to move according to the movement profile.

    ACTIVE AND SEMI-ACTIVE DAMPING
    9.
    发明申请
    ACTIVE AND SEMI-ACTIVE DAMPING 有权

    公开(公告)号：US20220117685A1

    公开(公告)日：2022-04-21

    申请号：US17558153

    申请日：2021-12-21

    申请人： INTUITIVE SURGICAL OPERATIONS, INC.

    发明人： Roman L. DEVENGENZO ,  Bruce M. SCHENA ,  David W. ROBINSON

    IPC分类号： A61B34/37

    摘要： Techniques for active and semi-active damping include a system including a base, a first linkage, a second linkage, and a processor. A proximal end of the first linkage is coupled to the base. The first linkage is configured to support a first instrument. The first linkage includes a first link, a second link, and a first damper coupling the second link to the first link. A proximal end of the second linkage is coupled to the base. The second linkage is configured to support a second instrument. The second linkage incudes a third link, a fourth link, and a second damper coupling the fourth link to the third link. The processor is configured to detect a movement or vibration of the first linkage caused by motion of the second linkage and control the second linkage to mitigate the detected movement or vibration of the first linkage.