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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
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.
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公开(公告)号：US20210212780A1
公开(公告)日：2021-07-15
申请号：US17217874
申请日：2021-03-30
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
Abstract: Integrated table motion includes a device including a control unit and an arm having one or more joints and a distal portion. The control unit is configured to receive a table movement request from a separate table, determine whether to allow the table movement request based on one or more of whether a type of movement in the table movement request is permitted, whether one or more instruments mounted to the device are within a field of view of an imaging device, or whether one or more instruments mounted to the device are withdrawn into respective cannulas, allow the table to perform the table movement request based on the determining; track movement of the table while the table performs the table movement request; and maintain, using the joint(s) and based on the tracked movement of the table, a position and/or an orientation of the distal portion relative to the table.
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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
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.
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Patent Agency Ranking
公开(公告)号：US20240315786A1
公开(公告)日：2024-09-26
申请号：US18732286
申请日：2024-06-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Nitish SWARUP , Kamyar ZIAEI
Abstract: A computer-assisted device includes an articulating means configured to support an end effector and a processing means. When coupled to the articulating means and a patient supporting means, the processing means is configured to configure a first joint of the articulating means to a first mode to allow movement of the first joint in response to an external force on the articulating means, detect movement of the first joint, determine a movement of the patient supporting means, and drive a second joint of the articulating means based on the movement of the first joint and the movement of the patient supporting means.
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公开(公告)号：US20200229880A1
公开(公告)日：2020-07-23
申请号：US16809471
申请日：2020-03-04
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Nitish SWARUP , Kamyar ZIAEI
Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit configured to, when coupled to the articulated arm and a table: determine a virtual coordinate frame before a first joint of the articulated arm is set to a floating mode, configure the first joint to the floating mode, detect movement of the first joint, determine a movement of the table, and drive a second joint of the articulated arm based on the movement of the first joint and the movement of the table. In some embodiments, the virtual coordinate frame is based on a pose of an imaging device and/or is detached from the imaging device. In some embodiments, the control unit is further configured to maintain the virtual coordinate frame in fixed relationship to a top of the table based on motion data received from the table.
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公开(公告)号：US20240115332A1
公开(公告)日：2024-04-11
申请号：US18544238
申请日：2023-12-18
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
Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes articulating means; means for receiving, via a means for communicatively coupling the computer-assisted device with a table means, a table movement request from a table command means, the table means being separate from the computer-assisted device; means for determining whether the table movement request should be allowed; and means for allowing the table means to perform the table movement request based on determining that the table movement request should be allowed.
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公开(公告)号：US20230263584A1
公开(公告)日：2023-08-24
申请号：US18309453
申请日：2023-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Nitish SWARUP , Kamyar ZIAEI
Abstract: A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.
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公开(公告)号：US20220296318A1
公开(公告)日：2022-09-22
申请号：US17834651
申请日：2022-06-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Nitish SWARUP , Kamyar ZIAEI
Abstract: A computer-assisted device includes a first articulated arm and a control unit coupled to the first articulated arm. The first articulated arm is configured to support an end effector. The control unit is configured to determine a virtual coordinate frame, the virtual coordinate frame being of an imaging device for capturing images of a workspace of the end effector, and the virtual coordinate frame being detached from an actual imaging coordinate frame of the imaging device; receive, from an input control configured to be manipulated by a user, a first instrument motion command to move the end effector; and drive the first articulated arm to move the end effector relative to the virtual coordinate frame based on the first instrument motion command.
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