公开(公告)号：US20220183781A1

公开(公告)日：2022-06-16

申请号：US17685317

申请日：2022-03-02

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David LARKIN ,  Thomas COOPER ,  Michael HANUSCHIK

IPC: A61B34/00 ,  A61B34/30

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode; transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure; while in the set-up mode, determine an input displacement of a link from an initial positional relationship relative to a portion of the kinematic structure to a displaced positional relationship relative to the portion of the kinematic structure; and while in the set-up mode and in response to the determined input displacement, drive the kinematic structure so that the link returns toward the initial positional relationship relative to the portion of the kinematic structure.

公开(公告)号：US20210267699A1

公开(公告)日：2021-09-02

申请号：US17321115

申请日：2021-05-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David Q. LARKIN ,  Thomas G. Cooper

IPC: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18

Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

公开(公告)号：US20240245479A1

公开(公告)日：2024-07-25

申请号：US18626050

申请日：2024-04-03

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David LARKIN ,  Thomas COOPER ,  Michael HANUSCHIK

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/32 ,  A61B90/50

CPC classification number: A61B34/70 ,  A61B34/30 ,  A61B2034/304 ,  A61B34/32 ,  A61B90/50 ,  A61B2090/508 ,  Y10S901/02

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system comprising a first manipulating means and processing means. The processing means is for detecting whether a first means for accessing an internal worksite is mounted to the first manipulating means; detecting an input indicating the system is to be in a set-up mode; and inhibiting, in response to detecting that the first means is mounted to the first manipulating means, transition of the system to the set-up mode.

公开(公告)号：US20230329815A1

公开(公告)日：2023-10-19

申请号：US18340943

申请日：2023-06-26

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. GRIFFITHS ,  Paul W. MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David Q. LARKIN ,  Thomas G. COOPER

IPC: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B50/10 ,  A61B34/30 ,  A61B50/18 ,  A61B2050/105 ,  A61B2034/304 ,  A61B2017/00017

Abstract: Techniques for controlling a system include a first structural means supporting a manipulating means, a second structural means supporting the first structural means, and a processing means. The processing means is configured to determine, relative to the first structural means, a first position of a reference location on the system entering into the first mode, the reference location being associated with a linking means of the manipulating means; and while the system in the first mode: detect a manual movement of the reference location that causes a first displacement of the reference location from the first position in a first direction and a second displacement of the reference location from the first position in a second direction,; and, in response, command the second structural means to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

公开(公告)号：US20200229883A1

公开(公告)日：2020-07-23

申请号：US16842592

申请日：2020-04-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul GRIFFITHS ,  Paul MOHR ,  Nitish SWARUP ,  Michael COSTA ,  David LARKIN ,  Thomas COOPER ,  Michael HANUSCHIK

IPC: A61B34/00 ,  A61B34/30

Abstract: Techniques for operating a kinematic structure by manual motion of a link coupled to the kinematic structure include a system having a kinematic structure configured to support an instrument and a processor. The processor is configured to place the system in a clutching mode, transition the system from the clutching mode to a set-up mode in response to detecting a joint operation of the kinematic structure, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.