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公开(公告)号：US20250143815A1
公开(公告)日：2025-05-08
申请号：US19018315
申请日：2025-01-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Jason HEMPHILL , Goran A. LYNCH , Daniel N. MILLER , Patrick O'GRADY , Nitish SWARUP , Kamyar ZIAEI
Abstract: Integrated table motion includes a teleoperated device comprising an articulated structure and a control unit. The articulated structure comprises a first plurality of joints, a plurality of links coupled by the first plurality of joints, and a plurality of actuators coupled to drive motion of the articulated structure. The control unit comprises one or more hardware processors. The control unit is operatively coupled to the articulated structure. The control unit is configured to receive a table movement request from a command unit of a table, the table being separate from the teleoperated device; determine whether the table movement request should be allowed; and in response to a determination that the table movement request should be allowed, allow the table to perform the table movement request.
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公开(公告)号：US20250073899A1
公开(公告)日：2025-03-06
申请号：US18952907
申请日：2024-11-19
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish SWARUP , Paul G. GRIFFITHS , Goran A. LYNCH , Daniel N. MILLER
IPC: B25J9/16 , A61B34/20 , A61B34/30 , A61B34/35 , A61B90/00 , A61B90/50 , B25J9/06 , B25J19/00 , B25J19/02
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.
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公开(公告)号：US20240277434A1
公开(公告)日：2024-08-22
申请号：US18654147
申请日：2024-05-03
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Nitish SWARUP , Paul G. GRIFFITHS , Goran LYNCH
CPC classification number: A61B34/70 , A61B1/00149 , A61B34/30 , B25J9/1607 , B25J9/1633 , A61B2017/00017 , A61B2034/2059 , A61B2034/301 , A61B2034/304 , A61B2034/305
Abstract: Techniques for maintaining instrument position and orientation include a computer-assisted device having an articulated structure and a control unit. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine a reference frame based on a type of a disturbance that causes a movement of a first joint of the plurality of joints; determine, in the reference frame, a first change to the instrument due to the disturbance; and rive at least a second joint of the plurality of joints to reduce the first change. The first change comprises: a change in a position of the instrument, or a change in an orientation of the instrument, or a change in both the position of the instrument and the orientation of the instrument.
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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：US20170035519A1
公开(公告)日：2017-02-09
申请号：US15298130
申请日：2016-10-19
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.
Abstract translation: 公开了用于控制远程外科手术系统的方法，装置和系统。 根据一种方法，控制连接到系统的第一操纵器的第一工具和连接到系统的第二操纵器的第二工具。 然后检测工具的交换，使得第一工具连接到第二操纵器并且第二工具连接到第一操纵器。 然后控制连接到第二操纵器的第一工具和连接到第一操纵器的第二工具。
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Patent Agency Ranking
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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公开(公告)号：US20150313452A1
公开(公告)日：2015-11-05
申请号：US14663854
申请日：2015-03-20
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Christopher J. HASSER , Nitish SWARUP , Thomas G. COOPER , S. Christopher ANDERSON
CPC classification number: A61B1/0055 , A61B1/00142 , A61B1/00149 , A61B1/0058 , A61B1/008 , A61B1/018 , A61B1/05 , A61B34/30 , A61B34/35 , A61B34/37 , A61B34/71 , A61B2017/00243 , A61B2017/003 , A61B2017/00323 , A61B2034/301 , A61B2034/305 , A61B2034/306
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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公开(公告)号：US20240009837A1
公开(公告)日：2024-01-11
申请号：US18474388
申请日：2023-09-26
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Nitish SWARUP , Paul G. GRIFFITHS , Goran A. LYNCH , Daniel N. MILLER
CPC classification number: B25J9/1641 , A61B34/30 , B25J9/06 , B25J9/1607 , B25J9/1653 , B25J9/1682 , B25J19/0004 , B25J19/021 , A61B2090/373
Abstract: Disturbance compensation in computer-assisted devices include an articulated arm comprising one or more first joints and one or more second joints and one or more processors coupled to the articulated arm. The articulated arm is configured to support an end effector. The one or more processors when executing instructions are configured to: detect a disturbance to the one or more first joints, the disturbance causing a point of interest associated with the end effector to move; determine a predicted motion of the point of interest based on the detected disturbance; and drive the one or more second joints to move the point of interest based on an error in a position of the point of interest indicated by the predicted motion.
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公开(公告)号：US20230301736A1
公开(公告)日：2023-09-28
申请号：US18320357
申请日：2023-05-19
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: A system includes first and second manipulating means, and a means for detecting mounting of an imaging means to the first manipulating means, a means for determining a first reference frame for the imaging means while the imaging means is mounted to the first manipulating means, a means for controlling a tool means relative to the first reference frame by maintaining a position and orientation of a distal portion of the tool means relative to the imaging means in the first reference frame based on a position and orientation of an input means relative to a display means, a means for detecting mounting of the imaging means to the second manipulating means, a means for determining a second reference frame for the imaging means while the imaging means is mounted to the second manipulating means, and a means for controlling the tool means relative to the second reference frame.
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公开(公告)号：US20230125548A1
公开(公告)日：2023-04-27
申请号：US18069336
申请日：2022-12-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Brandon D. ITKOWITZ , Paul G. GRIFFITHS , Jason HEMPHILL , Goran A. LYNCH , Daniel N. MILLER , Patrick O'GRADY , Nitish SWARUP , Kamyar ZIAEI
Abstract: Integrated table motion includes a computer-assisted device. The computer-assisted device includes an articulated arm and a control unit coupled to the articulated arm. To support integrated motion with a table physically separate from and communicatively coupled to the computer-assisted device via a communications connection, the control unit is configured to receive a table movement request from a table command unit of the table, determine whether the table movement request should be allowed, and allow the table to perform the table movement request based on determining that the table movement request should be allowed.
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