公开(公告)号：US12004833B2

公开(公告)日：2024-06-11

申请号：US18330438

申请日：2023-06-07

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Nitish Swarup ,  Paul G. Griffiths ,  Goran Lynch

IPC: G01B21/04 ,  A61B1/00 ,  A61B34/00 ,  A61B34/30 ,  B25J9/16 ,  A61B17/00 ,  A61B34/20

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 a control unit and an articulated structure. The articulated structure includes a plurality of joints and is configured to support an instrument. The control unit is configured to determine an error that is introduced, by movement of a first joint of the plurality of joints, to a position of the instrument, an orientation of the instrument, or both the position of the instrument and the orientation of the instrument; and in response at least to determining that a second joint of the plurality of joints is at a range of motion limit or is about to reach the range of motion limit drive one or more joints of the plurality of joints to partially reduce the error, the one or more joints not comprising the second joint, and provide feedback that not all of the error is reduced.

公开(公告)号：US11974828B2

公开(公告)日：2024-05-07

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

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/32 ,  A61B90/50

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 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.

公开(公告)号：US11896326B2

公开(公告)日：2024-02-13

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

IPC: G06F17/00 ,  A61B34/30 ,  A61G13/02 ,  A61B34/00

CPC classification number: A61B34/30 ,  A61B34/25 ,  A61G13/02

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.

公开(公告)号：US11723742B2

公开(公告)日：2023-08-15

申请号：US17404289

申请日：2021-08-17

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Arjang M. Hourtash ,  Paul W. Mohr ,  David W. Robinson ,  Nitish Swarup ,  John W. Zabinski ,  Mark W. Zimmer

IPC: A61B34/30 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/00 ,  G05D1/00

CPC classification number: A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  B25J5/007 ,  G05D1/0011 ,  A61B34/30 ,  A61B2050/185

Abstract: A cart for supporting one or more instruments for a computer-assisted, remote procedure can include a base and a support structure extending from the base and adjustable to different configurations, the support structure being configured to support one or more instruments to perform a remote procedure. The cart can further include a steering interface configured to be grasped by a user and a sensor mechanism configured to detect a force applied to the steering interface. The cart also can include a drive system comprising a control module operably coupled to receive an input from the sensor mechanism in response to the force applied to the steering interface and information about a configuration of the support structure, the control module operably coupled to output a movement command based on the received input from the sensor mechanism and the information about the configuration of the support structure. A driven wheel may be mounted to the base and configured to impart wheeled motion to the cart in response to the movement command.

公开(公告)号：US11723733B2

公开(公告)日：2023-08-15

申请号：US17321115

申请日：2021-05-14

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

CPC classification number: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B2017/00017 ,  A61B2034/304 ,  A61B2050/105

Abstract: Techniques for limiting motion of a first structure include a manipulator supported by the first structure, a second structure supporting the first structure, and a processor. The processor is configured to, in response to entering a first mode, determine, relative to the first structure, a first position of a reference location on entry into the first mode, the reference location being associated with a link of the manipulator; and while in the first mode: detect a manual movement of the reference location to a second position relative to the first structure, wherein a difference between the first and second positions comprises a displacement having first and second components in respective different first and second directions; and, in response, command the second structure to move relative to the reference location in the first direction so as to reduce the first component while not changing the second component.

公开(公告)号：US20220354602A1

公开(公告)日：2022-11-10

申请号：US17752975

申请日：2022-05-25

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  G16H40/40

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

公开(公告)号：US11213360B2

公开(公告)日：2022-01-04

申请号：US16407005

申请日：2019-05-08

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup ,  Pushkar Hingwe

IPC: A61B34/30 ,  B25J9/16 ,  A61B34/00 ,  G05B19/02 ,  A61B34/35

Abstract: Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. Methods include augmenting a Jacobian so that joint movements calculated from the Jacobian perform one or more auxiliary tasks and/or desired joint movements concurrent with commanded end effector movement, the one or more auxiliary tasks and/or desired joint movements extending into a null-space. The auxiliary tasks and desired joint movements include inhibiting movement of one or more joints, inhibiting collisions between adjacent manipulators or between a manipulator and a patient surface, commanded reconfiguration of one or more joints, or various other tasks or combinations thereof. Such joint movements may be provided using joint velocities calculated from the pseudo-inverse solution of the: augmented Jacobian. Various configurations for systems utilizing such methods are provided herein.

公开(公告)号：US11130231B2

公开(公告)日：2021-09-28

申请号：US16275232

申请日：2019-02-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Goran A. Lynch ,  Daniel N. Miller

IPC: G06F17/00 ,  B25J9/16 ,  A61B34/30 ,  B25J9/06 ,  B25J19/00 ,  B25J19/02 ,  A61B90/00 ,  A61B34/20 ,  A61B90/50 ,  A61B34/35

Abstract: Systems and methods for instrument disturbance compensation include a computer-assisted device. The computer-assisted device includes an articulated arm having a plurality of joints and a control unit coupled to the articulated arm. The control unit is configured to detect a disturbance to the articulated arm caused by a release of one or more brakes of the plurality of joints and maintain a position of a point of interest associated with the articulated arm by compensating for the disturbance using one or more joints of the plurality of joints. In some embodiments, the point of interest is a tip of an end effector of the articulated arm. In some embodiments, the control unit is configured to determine a predicted motion for the point of interest based on the disturbance and send a drive command to move the point of interest in a direction opposite to the predicted motion.

公开(公告)号：US10973596B2

公开(公告)日：2021-04-13

申请号：US16563342

申请日：2019-09-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Daniel Miller ,  Nitish Swarup ,  Michael Turner ,  Arjang M. Hourtash ,  Paul G. Griffiths ,  Paul W. Mohr

IPC: A61B34/30 ,  B25J9/16 ,  B25J13/08 ,  A61B18/00 ,  A61B90/00

Abstract: A system and method of breakaway clutching in a device includes an arm including a first joint and a control unit coupled to the arm and including one or more processors. The control unit switches the first joint from a first state of the first joint to a second state of the first joint in response to an external stimulus applied to the arm exceeding a first threshold and switches the first joint from the second state to the first state in response to a speed associated with the first joint falling below a speed threshold. Movement of the first joint is more restricted in the first state of the first joint than in the second state of the first joint. In some embodiments, the external stimulus applied to the arm is a stimulus detected on the first joint or a stimulus detected on a second joint of the arm.

公开(公告)号：US20190388169A1

公开(公告)日：2019-12-26

申请号：US16564734

申请日：2019-09-09

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Brian David Hoffman ,  Rajesh Kumar ,  David Q. Larkin ,  Nitish Swarup ,  Guanghua G. Zhang

IPC: A61B34/37 ,  A61B34/10 ,  A61B1/00 ,  A61B1/04 ,  A61B1/313 ,  A61B5/055 ,  A61B5/00 ,  A61B18/12

Abstract: To assist a surgeon performing a medical procedure, auxiliary images generally indicating internal details of an anatomic structure being treated are displayed and manipulated by the surgeon on a computer display screen to supplement primary images generally of an external view of the anatomic structure. A master input device controlling a robotic arm in a first mode may be switched by the surgeon to a second mode in order to function instead as a mouse-like pointing device to facilitate the surgeon performing such auxiliary information display and manipulation.