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    SYSTEMS AND METHODS FOR END EFFECTOR POSITION SET POINT ADJUSTMENT
    1.
    发明申请
    SYSTEMS AND METHODS FOR END EFFECTOR POSITION SET POINT ADJUSTMENT 有权

    公开(公告)号：US20210330325A1

    公开(公告)日：2021-10-28

    申请号：US17370818

    申请日：2021-07-08

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Andrew D. WILSON ,  Amir CHAGHAJERDI ,  David W. WEIR

    IPC: A61B17/072

    Abstract: End effector position set point adjustment includes an instrument and a control unit. The instrument includes an end effector and a drive mechanism for actuating the end effector. The control unit is configured to actuate the end effector using the drive mechanism, determine an actual position of the end effector, identify an expected position associated with the determined actual position of the end effector, determine a position offset based on the expected position and the determined actual position of the end effector, adjust a position set point based on the position offset, and actuate the end effector to the adjusted position set point using the drive mechanism.

    TORQUE COMPENSATION
    4.
    发明申请
    TORQUE COMPENSATION 审中-公开

    公开(公告)号：US20200337704A1

    公开(公告)日：2020-10-29

    申请号：US16930235

    申请日：2020-07-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Melody WU ,  Gabriel F. BRISSON ,  Kevin DURANT ,  Grant DUQUE

    IPC: A61B17/08 ,  A61B17/10 ,  A61B17/072 ,  A61B18/14 ,  A61B34/30 ,  A61B50/13 ,  A61B50/33 ,  A61B90/98 ,  A61B34/00 ,  A61B34/37 ,  A61B90/92 ,  A61B1/00 ,  B25J9/16 ,  G01L5/22

    Abstract: In some embodiments, torque compensation in a clamping instrument includes control electronics obtaining an initial torque limit for the clamping instrument, adjusting the initial torque limit based on a temperature of a motor assembly used to operate the clamping instrument, and clamping the clamping instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the clamping instrument to perform the clamping. In some embodiments, torque compensation in a stapling instrument includes control electronics obtaining an initial torque limit for the stapling instrument, adjusting the initial torque limit based on a number of times the stapling instrument has been fired, and firing the stapling instrument according to the adjusted torque limit. The adjusted torque limit corresponds to a maximum torque that may be applied by the stapling instrument to perform the firing.

    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION
    5.
    发明公开
    SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION 审中-公开

    公开(公告)号：US20230329812A1

    公开(公告)日：2023-10-19

    申请号：US18338599

    申请日：2023-06-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Michael WALDO ,  Melody WU

    IPC: A61B34/30 ,  A61B34/00 ,  A61B18/14

    CPC classification number: A61B34/30 ,  A61B34/00 ,  A61B18/1445 ,  A61B18/1442 ,  A61B2017/003

    Abstract: Techniques for operating an instrument include a computer-assisted device having one or more processors, a motor or other active actuator, and an articulated arm configured to support the instrument having a cutting blade. The one or more processors are configured to control, using the motor or other active actuator, the instrument according to a force or torque limit profile. The force or torque limit profile includes a first force or torque limit used when extending the cutting blade from a first position to a second position, a second force or torque limit used when retracting the cutting blade from the second position to a third position between the first position and the second position and further retracting the cutting blade to the first position, and a third force or torque limit used while the cutting blade is in the first position.

    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

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

    IPC: A61B17/068 ,  A61B17/072

    CPC classification number: A61B17/068 ,  A61B17/0686 ,  A61B17/072 ,  A61B17/07207 ,  A61B17/115

    Abstract: 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.

    METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE
    8.
    发明申请
    METHODS AND SYSTEMS FOR DETECTING STAPLE CARTRIDGE MISFIRE OR FAILURE 有权

    公开(公告)号：US20210353292A1

    公开(公告)日：2021-11-18

    申请号：US17391335

    申请日：2021-08-02

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Patrick FLANAGAN ,  David W. WEIR

    IPC: A61B17/072 ,  A61B17/068 ,  A61B34/30

    Abstract: A system comprises a surgical instrument comprising an end effector comprising a first jaw member and a second jaw member, the second jaw member comprising or being configured to receive a plurality of staples; and an actuation mechanism operably coupled to the end effector to actuate the end effector to perform at least one of a clamping procedure or a staple firing procedure. The system further comprises a drive system configured to drive the actuation mechanism, a controller operably coupled to the drive system, and a user interface operably coupled to the controller, which is configured to determine the clamping procedure or the staple firing procedure has failed based on a magnitude of an actuation force applied by the drive system to the actuation mechanism; and cause the user interface to output a failure indication indicative of the failure.

    TECHNIQUES FOR CONTROLLING GRASPING
    10.
    发明申请
    TECHNIQUES FOR CONTROLLING GRASPING 有权

    公开(公告)号：US20250082324A1

    公开(公告)日：2025-03-13

    申请号：US18955586

    申请日：2024-11-21

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： David W. WEIR ,  Kevin DURANT ,  Patrick FLANAGAN ,  David W. ROBINSON

    IPC: A61B17/068 ,  A61B17/00 ,  A61B17/072 ,  A61B17/115 ,  A61B90/00

    Abstract: Techniques for controlling grasping include a manipulator configured to be releasably coupled to an instrument, the instrument having an end effector comprising a first jaw and a second jaw; a drive system configured to apply a force or torque to the instrument to cause the end effector to grasp a material between the first jaw and the second jaw; and a processor. The processor is configured to monitor a force or torque applied by the drive system to cause the end effector to grasp the material and in response to a determination that the applied force or torque is below a lower limit of an acceptable range of force or torque, reverse a direction of the applied force or torque.

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