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Patent Agency Ranking
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
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.
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公开(公告)号：US20160374768A1
公开(公告)日：2016-12-29
申请号：US15259951
申请日：2016-09-08
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul GRIFFITHS , Paul MOHR , Nitish SWARUP , Michael HANUSCHIK
CPC classification number: A61B34/30 , A61B34/35 , A61B34/37 , A61B34/77 , A61B90/06 , A61B90/50 , A61B2034/301 , A61B2034/304 , A61B2090/066 , A61B2090/508 , B25J9/1633 , B25J9/1669 , G05B2219/40414 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include kinematic linkage structures and associated control systems configured to facilitate preparation of the system for use. A set-up mode employs an intuitive user interface in which one or more joints of the kinematic linkage are initially held static by a brake or joint drive system. The user may articulate the joint(s) by manually pushing against the linkage with a force, torque, or the like that exceeds a manual articulation threshold. Articulation of the moving joints is facilitated by modifying the signals transmitted to the brake or drive system. The system may sense completion of the reconfiguration from a velocity of the joint(s) falling below a threshold, optionally for a desired dwell time. Embodiments of the invention can provide for manual movement of a platform supporting a plurality of surgical manipulators or the like without having to add additional input devices.
Abstract translation: 机器人和/或手术装置，系统和方法包括运动连杆结构和配置为便于准备使用的系统的相关控制系统。 安装模式采用直观的用户界面，其中运动连杆的一个或多个关节最初由制动器或联合驱动系统保持静止。 用户可以通过用超过手动关节阈值的力，扭矩等手动地推动联动装置来铰接关节。 通过改变传输到制动器或驱动系统的信号来促进移动接头的铰接。 该系统可以根据从低于阈值的关节的速度来完成重新配置，可选地为期望的停留时间。 本发明的实施例可以提供支撑多个手术操纵器等的平台的手动移动，而不必增加额外的输入装置。
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3.发明公开公开(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
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.
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公开(公告)号：US20220361970A1
公开(公告)日：2022-11-17
申请号：US17875266
申请日：2022-07-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul GRIFFITHS , Paul MOHR , Nitish SWARUP , Michael HANUSCHIK
Abstract: User-initiated break-away clutching includes a robotic system having a joint, a brake or drive unit coupled to the joint, and a control system coupled with the brake or drive unit. The control system is configured to determine a first manual effort applied to the joint; inhibit, using the brake or drive unit, manual articulation of the joint in response to the first manual effort being below an articulation threshold; facilitate, using the brake or drive unit, the manual articulation of the joint in response to the first manual effort exceeding the articulation threshold; and inhibit, using the brake or drive unit, further manual articulation of the joint in response to a determination that a speed of the manual articulation of the joint is below a speed threshold.
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5.发明申请公开(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
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.
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