公开(公告)号：US20220273384A1

公开(公告)日：2022-09-01

申请号：US17749799

申请日：2022-05-20

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. VERNER ,  Hsien-Hsin LIAO

IPC: A61B34/00 ,  A61B34/30

Abstract: A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.

公开(公告)号：US20240398497A1

公开(公告)日：2024-12-05

申请号：US18738817

申请日：2024-06-10

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. VERNER ,  Hsien-Hsin LIAO

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

Abstract: A surgical system is provided comprising: an input device; a first actuator and a second actuator; a controller for controlling the first actuator and the second actuator, the controller configured to apply a first scale factor to a first commanded output and a second commanded output for the first actuator the second actuator, respectively, when the first commanded output would fall outside a first predetermined working range of the first actuator, wherein the first scale factor adjusts the first commanded output to be within the first predetermined working range.

公开(公告)号：US20230320802A1

公开(公告)日：2023-10-12

申请号：US18204090

申请日：2023-05-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. VERNER ,  Hsien-Hsin LIAO

IPC: A61B34/30 ,  A61B34/00

CPC classification number: A61B34/76 ,  A61B34/30 ,  A61B34/77 ,  A61B2017/00225

Abstract: A surgical system is provided comprising: an input device; and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.

公开(公告)号：US20240004369A1

公开(公告)日：2024-01-04

申请号：US18254963

申请日：2021-11-30

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Varun AGRAWAL ,  Hsien-Hsin LIAO ,  Angel Jeremy PEREZ ROSILLO ,  Korissa A. REYES ,  Lawton N. VERNER ,  Keith J. WATZA

IPC: G05B19/4155 ,  A61B34/00 ,  A61B34/30 ,  A61B18/14 ,  B25J13/02 ,  B25J9/16

CPC classification number: G05B19/4155 ,  A61B34/76 ,  A61B34/30 ,  A61B18/1442 ,  B25J13/025 ,  B25J9/1689 ,  A61B2018/00589

Abstract: Systems and methods of providing a haptic barrier for an instrument include a computer-assisted device. The computer-assisted device includes a grip input control, a repositionable arm configured to support an instrument, and one or more processors. The one or more processors are configured to detect a position of the grip input control in a first direction of a degree of freedom having In a first region, a second region, and a third region between the first and second regions; in response to determining that the detected position is in the first region, operate the instrument according to a first mode; in response to determining that the detected position is in the third region, provide a haptic barrier to resist movement of the grip input control through the third region; and in response to determining that the detected position is in the second region, operate the instrument according to a second mode.

公开(公告)号：US20230393544A1

公开(公告)日：2023-12-07

申请号：US18326567

申请日：2023-05-31

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Ehsan NOOHI BEZANJANI ,  Lawton N. VERNER

IPC: G05B15/02

CPC classification number: G05B15/02 ,  A61B90/37

Abstract: Techniques for adjusting a headrest of a computer-assisted system include the following. The computer-assisted system includes a display unit configured to display images viewable by an operator, a headrest coupled to the display unit, the headrest configured to be contacted by a head of the operator, an actuator operable to move the headrest relative to the display unit, a head-input sensor, and a control unit communicably coupled to the actuator and the head-input sensor. The control unit is configured to: determine head data based on sensor data acquired by the head-input sensor, determine a commanded motion based on at least the head data, a baseline, and a damping, and command the actuator to move the headrest based on the commanded motion.

公开(公告)号：US20210322127A1

公开(公告)日：2021-10-21

申请号：US17234655

申请日：2021-04-19

Applicant: Intuitive Surgical Operations, Inc.

Inventor： David F. MARTIN ,  Lawton N. VERNER ,  Hsien-Hsin LIAO

IPC: A61B90/00 ,  A61B34/35 ,  A61B90/50 ,  G01D5/14

Abstract: Implementations relate to breakage detection of a tension element for a counterbalance mechanism. In some implementations, a tension element breakage detection mechanism includes a tension element, a moveable detection element contacting the tension element, and an actuator. The moveable detection element is biased by the tension element toward a first configuration in a range of motion of the moveable detection element. The moveable detection element is biased toward a second configuration in the range of motion of the moveable detection element by a force generated by the actuator on the moveable detection element. The breakage detection mechanism includes a sensor of a change of the moveable detection element from the first configuration to the second configuration, the change being in response to breakage of the tension element.

公开(公告)号：US20230302650A1

公开(公告)日：2023-09-28

申请号：US18042047

申请日：2021-10-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Randal P. GOLDBERG ,  Matthew CAVALIER ,  Cedric SCHWAB ,  Pushkar HINGWE ,  Lawton N. VERNER

IPC: B25J9/16 ,  B25J13/06 ,  A61B34/35

CPC classification number: B25J9/1689 ,  B25J13/06 ,  B25J9/1676 ,  A61B34/35

Abstract: Implementations relate to detection and mitigation of potential collisions with a user control system. In some implementations, a method includes detecting an object in a sensing field of a sensor of a user control system, and the user control system includes a control input device. The control input device is in a controlling mode in which manipulation of the control input device activates a function of a manipulator device. The method includes determining that the object is an unidentified object and determining a characteristic of the object including a location with respect to the user control system, a velocity, or a trajectory. The method determines whether the characteristic of the object satisfies a condition corresponding to the characteristic, and exits the controlling mode in response to determining that the object is an unidentified object and that the characteristic satisfies the corresponding condition.

公开(公告)号：US20220331039A1

公开(公告)日：2022-10-20

申请号：US17735664

申请日：2022-05-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Lawton N. VERNER ,  Hsien-Hsin LIAO

IPC: A61B34/00 ,  A61B34/30

Abstract: A surgical system is provided comprising: an input device; and a controller for receiving control inputs from the input device and for providing haptic feedback at the input device, the controller configured to apply a staged transition from a first haptic feedback profile at the input device to a second haptic feedback profile at the input device.

公开(公告)号：US20220296323A1

公开(公告)日：2022-09-22

申请号：US17637348

申请日：2020-08-21

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Michael C. WALDO ,  Scott O. LUKE ,  Charles A. SWEENEY ,  Allen C. THOMPSON ,  Randal P. GOLDBERG ,  Jason A. GLASSER ,  Peling G. LEE ,  Pushkar HINGWE ,  Lawton N. VERNER ,  Goran A. LYNCH ,  Russell L. E. BLANCHARD

IPC: A61B34/00 ,  F16M11/12 ,  F16M11/18 ,  F16M11/20 ,  F16M11/28

Abstract: Implementations relate to a moveable display unit on a track. In some implementations, a control unit includes a support linkage including a first support coupled to a second support, a track member coupled to a distal portion of the second support, and a display unit coupled to the track member. The display unit includes a display device. The display unit is linearly translatable in first and second degrees of freedom provided by the support linkage. The display unit is rotatable, with respect to the second support, about a tilt axis in a third degree of freedom defined by the track member.

公开(公告)号：US20210030502A1

公开(公告)日：2021-02-04

申请号：US16758832

申请日：2018-10-22

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Lawton N. VERNER

IPC: A61B34/00 ,  A61B90/00 ,  G16H40/63

Abstract: A system and method of repositioning input control devices includes an operator workstation for controlling a computer-assisted device includes an input control device for use by an operator, one or more sensors, and a controller coupled to the one or more sensors and the input control device. The controller is configured to determine whether the operator is interacting with the input control device using the one or more sensors and in response to determining a lack of operator interaction with the input control device, determine a trajectory for moving the input control device from a current position or orientation toward a desired position or orientation, and move the input control device along the trajectory. In some embodiments, the controller is further configured to stop movement of the input control device along the trajectory in response to detecting a stopping condition.