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公开(公告)号：US20140128885A1
公开(公告)日：2014-05-08
申请号：US14070118
申请日：2013-11-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gregory W. DACHS, II , Bruce M. SCHENA
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B18/1206 , A61B18/1445 , A61B34/37 , A61B90/98 , A61B2018/00178
Abstract: A method of supplying flux may include receiving first data at a control system identifying which of a plurality of remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of flux supply pathways and receiving second data at the control system identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures. A system for supplying flux may include a plurality of flux supply pathways, a plurality of remotely-controllable kinematic flux delivery structures, and a control system receiving first data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of the flux supply pathways and receiving second data identifying which of the remotely-controllable kinematic flux delivery structures is operationally coupled to which of a plurality of kinematic support structures.
Abstract translation: 供应通量的方法可以包括在控制系统处接收第一数据，识别多个可遥控的运动通量输送结构中的哪一个可操作地耦合到多个通量供应通路中的哪一个并且在控制系统处接收第二数据， 可远程控制的运动通量输送结构可操作地耦合到多个运动学支撑结构中的哪一个。 用于供应通量的系统可以包括多个通量供应通道，多个远程控制的运动通量输送结构，以及接收第一数据的控制系统，该第一数据识别哪个远程可控运动通量输送结构可操作地耦合到 通量供应路径和接收第二数据，其识别哪个遥控运动通量输送结构可操作地耦合到多个运动学支持结构中的哪一个。
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公开(公告)号：US20210030500A1
公开(公告)日：2021-02-04
申请号：US16995716
申请日：2020-08-17
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. DEVENGENZO , Bruce M. SCHENA , David W. ROBINSON
IPC: A61B34/37
Abstract: Active and semi-active damping of systems include a first link supported by a base, a second link, a damper coupling the first link to the second link, the damper having a variable damping coefficient, and a processor. The processor is configured to predict an acceleration or a vibration of the second link expected to result from a commanded movement of the second link and adjust the variable damping coefficient of the damper based on the predicted acceleration or the predicted vibration to reduce vibration in the second link.
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公开(公告)号：US20200254633A1
公开(公告)日：2020-08-13
申请号：US16860569
申请日：2020-04-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David ROBINSON , Matthew R. CAVALIER , Gregory W. DACHS , Michael HANUSCHIK , Jason JIANG , Paul W. MOHR , Bruce M. SCHENA , Mark W. ZIMMER
Abstract: A surgical cart assembly may comprise a base portion; a plurality of wheels coupled to the base portion; a column extending vertically from the base portion; a manipulator arm coupled to an end portion of the column; a stabilization device coupled to the base portion, the stabilization device moveable between a retracted position and a deployed position; an actuation device to cause movement of the stabilization device between the retracted position and the deployed position; and a biasing element coupled to the stabilization device, the biasing element exerting a biasing force to bias the stabilization device toward the retracted position. The stabilization device may comprise a stabilization surface, the stabilization surface contacting the ground surface on which the surgical cart assembly is supported in the deployed position of the stabilization device, and the stabilization surface spaced from the ground surface in the retracted position of the stabilization device.
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公开(公告)号：US20180344416A1
公开(公告)日：2018-12-06
申请号：US16102614
申请日：2018-08-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Roman L. DEVENGENZO , Bruce M. SCHENA , David W. ROBINSON
IPC: A61B34/37
CPC classification number: A61B34/37 , A61B2017/00075 , A61B2090/064
Abstract: A surgical system includes methods and systems for damping vibrations. The surgical system can include one or several moveable set-up linkages. A passive, active, or semi-active damper can be connected with one or several of the set-up linkages. The damper can mitigate a vibration arising in one of the set-up linkages and the damper can prevent a vibration arising in one of the linkages from affecting another of the set-up linkages. The active and semi-active dampers can be controlled with a feedback or a feed-forward model. In some embodiments, the system includes a first link supported by a base, a second link, a damper having a variable portion coupling the first link to the second link, and a processor. The processor is configured to detect a movement or a vibration of the second link and adjust the variable portion of the damper based on the detected movement or vibration.
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5.发明申请公开(公告)号：US20180116743A1
公开(公告)日：2018-05-03
申请号：US15568356
申请日：2016-04-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： William A. BURBANK , Gregory W. DACHS, II , Bruce M. SCHENA
CPC classification number: A61B34/71 , A61B34/30 , A61B34/35 , A61B2034/715 , B25J9/1045
Abstract: A device to regulate tension of an actuation element for actuating movement of a surgical instrument includes an elastically deformable body configured to be coupled to the actuation element. The deformable body is configured to elastically deform in response to a state of slack occurring in the actuation element. As slack occurs in the actuation element, the deformable body is configured to divert a path of the actuation element to accommodate the slack so the path of the actuation element differs from an axis the actuation element follows prior to the actuation element developing slack. A force transmission mechanism for a teleoperated surgical instrument includes a chassis, an actuation input mechanism, an actuation element, and a tension regulator coupled to the actuation element to compensate for slack of the actuation element.
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Patent Agency Ranking
6.发明申请CONTROL SYSTEM CONFIGURED TO COMPENSATE FOR NON-IDEAL ACTUATOR-TO-JOINT LINKAGE CHARACTERISTICS IN A MEDICAL ROBOTIC SYSTEM 审中-公开控制系统被配置为补偿医疗机器人系统中非理想的执行器到接头连接特性公开(公告)号：US20150057677A1
公开(公告)日：2015-02-26
申请号：US14478349
申请日：2014-09-05
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Nicola DIOLAITI , David Q. LARKIN , Thomas G. COOPER , Bruce M. SCHENA
IPC: A61B19/00
CPC classification number: A61B34/30 , A61B34/37 , A61B34/71 , A61B34/72 , A61B90/361 , A61B2034/2046 , A61B2034/2048 , A61B2034/2051 , A61B2034/2055 , A61B2034/2059 , A61B2034/2063 , A61B2034/2072 , A61B2034/305 , A61B2090/371 , A61B2090/374 , A61B2090/376 , G05B19/19 , G05B2219/45117 , Y10S901/30
Abstract: A medical robotic system having non-ideal actuator-to-joint linkage characteristics, includes a control system including a proximal control loop with actuator sensor feedback to control dynamic response of an actuator coupled to a distal joint which in turn, is coupled to an end effector to provide a degree of freedom movement of the end effector, a distal control loop with distal joint sensor feedback and feedforward to the actuator to ensure steady-state convergence of the distal joint position, and an end effector control loop with end-point sensor feedback to control the end effector position to reach a commanded end effector position.
Abstract translation: 具有非理想的致动器到关节联动特性的医疗机器人系统包括控制系统，其包括具有致动器传感器反馈的近侧控制回路，以控制联接到远端关节的致动器的动态响应，所述远程关节联接到末端 以提供端部执行器的自由度运动，具有远端关节传感器反馈的前端控制回路和前馈到致动器以确保远端关节位置的稳态收敛，以及具有端点传感器的末端执行器控制回路 反馈以控制末端执行器位置以达到指令的末端执行器位置。
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公开(公告)号：US20250064538A1
公开(公告)日：2025-02-27
申请号：US18946712
申请日：2024-11-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Niels SMABY , Gregory W. DACHS, II , Nicola DIOLAITI , Pushkar HINGWE , Thomas R. NIXON , Bruce M. SCHENA , Nitish SWARUP
Abstract: Teleoperated control includes commanding, in response to a first input to move a tool while an imaging device is mounted to a first manipulator and a tool is mounted to a second manipulator, actuator(s) of the second manipulator to move the tool with a first motion relative to a first reference frame that corresponds with a first movement of an input device relative to a display, the first reference frame defined based on the imaging device mounted to the first manipulator; and commanding, in response to receiving a second input to move the tool while the imaging device is mounted to the third manipulator, the actuator(s) to move the tool with a second motion relative to a second reference frame that corresponds with a second movement of the input device relative to the display, the second reference frame defined based on the imaging device being mounted to the third manipulator.
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公开(公告)号：US20220079695A1
公开(公告)日：2022-03-17
申请号：US17531956
申请日：2021-11-22
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Allen C. THOMPSON , Randal P. GOLDBERG , Dean F. HOORNAERT , Tyler J. MORRISSETTE , Bruce M. SCHENA
Abstract: A cannula mount for a surgical system includes pivotable clamping arm with a first feature configured to engage a second feature of the cannula positioned in the cannula mount. The clamping arm comprises a cam follower surface. The cannula mount further comprises a latch member movable between at least a first position and a second position, and the latch member comprises a cam surface. On the condition that the latch member is in the first position, the cam surface engages the cam follower surface of the clamping arm to actuate the clamping arm to a closed position in which the first feature engages the second feature. On the condition the cam member is in the second position, the clamping arm is free to move to an open position in which the first feature does not engage the second feature. Devices and methods relate to cannula mounts.
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公开(公告)号：US20170340397A1
公开(公告)日：2017-11-30
申请号：US15677964
申请日：2017-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Niels SMABY , Gregory W. DACHS, II , Nicola DIOLAITI , Pushkar HINGWE , Thomas R. NIXON , Bruce M. SCHENA , Nitish SWARUP
CPC classification number: A61B34/35 , A61B34/30 , A61B34/37 , A61B34/70 , A61B90/361
Abstract: Methods, apparatus, and systems for controlling a telesurgical system are disclosed. In accordance with a method, a first tool connected to a first manipulator of the system, and a second tool connected to a second manipulator of the system, are controlled. A swap of the tools such that the first tool is connected to the second manipulator and the second tool is connected to the first manipulator is then detected. The first tool connected to the second manipulator and the second tool connected to the first manipulator are then controlled.
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公开(公告)号：US20140180272A1
公开(公告)日：2014-06-26
申请号：US14070166
申请日：2013-11-01
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Gregory W. DACHS, II , Paul MILLMAN , Paul W. MOHR , Bruce M. SCHENA
IPC: A61B18/00
CPC classification number: A61B18/14 , A61B34/30 , A61B2017/00482 , A61B2018/00178 , A61B2018/00988
Abstract: A surgical flux transmission conduit for operationally coupling a surgical flux supply pathway with a surgical flux delivery instrument may include a data signal transmission pathway, a surgical flux transmission pathway, and a connector interface. The connector interface can include a data signal transmission connector feature in communication with the data signal transmission pathway, and a surgical flux transmission connector feature in communication with the surgical flux transmission pathway. A surgical flux delivery instrument may include an electronic circuit encoded with identification data corresponding to the instrument and a connector interface configured to mate with the connector interface of the conduit. A surgical flux supply source may include a connector interface including a data signal transmission connector to receive a data signal from the instrument and a surgical flux transmission connector feature.
Abstract translation: 用于将外科助焊剂供给路径与手术通量输送器械可操作地连接的手术通量传输导管可以包括数据信号传输通路，手术通量传递路径和连接器接口。 连接器接口可以包括与数据信号传输路径通信的数据信号传输连接器特征，以及与手术通量传输路径通信的手术通量传输连接器特征。 手术通量输送仪器可以包括编码有对应于仪器的识别数据的电子电路和被配置为与导管的连接器接口配合的连接器接口。 手术通量供应源可以包括连接器接口，该连接器接口包括用于从仪器接收数据信号的数据信号传输连接器和手术通量传输连接器特征。
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