DISTURBANCE COMPENSATION IN COMPUTER-ASSISTED DEVICES

    公开(公告)号:US20250073899A1

    公开(公告)日:2025-03-06

    申请号:US18952907

    申请日:2024-11-19

    Abstract: Disturbance compensation in teleoperated devices include a first articulated arm, a second articulated arm, and a control unit. The control unit is configured to detect a first disturbance to the first articulated arm occurring at a first time, the first disturbance moving an imaging device supported by the first articulated arm away from a first orientation of the imaging device toward a second orientation of the imaging device, and after the first time: receive a first indication of a first user input to move an end effector supported by the second articulated arm while the imaging device is not at the first orientation, determine, based on the first indication, a first command for moving the end effector as if the imaging device has the first orientation, and command a second plurality of actuators of the second articulated arm to move the end effector according to the first command.

    USER INITIATED BREAK-AWAY CLUTCHING OF A SURGICAL MOUNTING PLATFORM
    6.
    发明申请
    USER INITIATED BREAK-AWAY CLUTCHING OF A SURGICAL MOUNTING PLATFORM 审中-公开
    用户启动的手术安装平台的突破性离开

    公开(公告)号:US20160374768A1

    公开(公告)日:2016-12-29

    申请号:US15259951

    申请日:2016-09-08

    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。

    ARTICULATE AND SWAPPABLE ENDOSCOPE FOR A SURGICAL ROBOT
    7.
    发明申请
    ARTICULATE AND SWAPPABLE ENDOSCOPE FOR A SURGICAL ROBOT 审中-公开
    手术机器人的可视和可切除的内窥镜

    公开(公告)号:US20150313452A1

    公开(公告)日:2015-11-05

    申请号:US14663854

    申请日:2015-03-20

    Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive a to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

    Abstract translation: 本发明涉及一种具有至少一个自由度的柔性手腕的关节式微创手术内窥镜。 当与具有多个机器人手臂的外科手术机器人一起使用时,内窥镜可以与多个臂中的任一个一起使用,从而允许使用通用臂设计。 根据本发明的内窥镜通过将用于控制至少一个自由度运动的参考框架附接到与至少一个自由度相关联的手腕运动的柔性手腕,使得用户更直观。 根据本发明的内窥镜通过基于围绕位于柔性的近侧的旋转点旋转的参考框架来获取与至少一个自由度相关联的物体的图像来衰减其背部/近端处的不期望的运动 腕。

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