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公开(公告)号：US20140052154A1
公开(公告)日：2014-02-20
申请号：US13967594
申请日：2013-08-15
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup
IPC: A61B19/00
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. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints 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. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system 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。 一个或多个运动联动子系统可以包括被主动驱动的，被动的或两者的混合的关节。 安装模式采用直观的用户界面，其中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。 系统可以提供类似于止动器的手动关节，其不限于机械预定义的止动器接头构造。 本发明的实施例提供并且可以特别适合于在机器人手术系统等中支撑多个外科手术操纵器的平台的手动移动，而不必增加额外的输入装置。
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公开(公告)号：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
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.
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公开(公告)号：US20180303565A1
公开(公告)日：2018-10-25
申请号：US16022602
申请日：2018-06-28
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 a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.
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公开(公告)号：US10034718B2
公开(公告)日：2018-07-31
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.
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公开(公告)号：US11432886B2
公开(公告)日：2022-09-06
申请号：US16022602
申请日：2018-06-28
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Hanuschik
Abstract: Robotic and/or surgical devices, systems, and methods include a robotic device. The robotic device includes a manipulator, a drive unit coupled to the manipulator, and a processor coupled with the drive unit. The processor is configured determine that a cannula is mounted to the manipulator and inhibit, using the drive unit, manual articulation of the manipulator in response to determining that the cannula is mounted to the manipulator. In some embodiments, the robotic device further includes a linkage. The processor is further configured to determine a manual effort against the manipulator; inhibit, using the drive unit, the manual articulation of the linkage in response to the manual effort being below an articulation threshold; and facilitate, using the drive unit and in response to not determining that the cannula is mounted to the manipulator, the manual articulation of the linkage in response to the manual effort exceeding the articulation threshold.
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Patent Agency Ranking
公开(公告)号：US20180263718A1
公开(公告)日：2018-09-20
申请号：US15985529
申请日：2018-05-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , Y10S901/02
Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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公开(公告)号：US11298200B2
公开(公告)日：2022-04-12
申请号：US16842592
申请日：2020-04-07
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, establish a desired reference location of a link relative to a portion of the kinematic structure, detect an error between an actual reference location of the link relative to the portion and the desired reference location of the link, and drive the kinematic structure so as to decrease the error. The link is distal to the portion on the kinematic structure. The error is due to manual movement of the link.
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公开(公告)号：US10646297B2
公开(公告)日：2020-05-12
申请号：US15985529
申请日：2018-05-21
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
Abstract: Robotic and/or surgical devices, systems, and methods include a manipulator configured to be mounted to a cannula and a processor. The processor is configured to detect a mounting state of the cannula, detect an input indicating the system is to be in a set-up mode, and inhibit transition of the system to the set-up mode in response to the detected mounting state. In some embodiments, detecting the input indicating the system is to be in the set-up mode includes detecting an activation of a dedicated input button. In some embodiments, detecting the input indicating the system is to be in the set-up mode comprises detecting a joint operation of a first kinematic structure coupling the manipulator with a platform that is supported by a second kinematic structure.
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公开(公告)号：US09999476B2
公开(公告)日：2018-06-19
申请号：US14995523
申请日：2016-01-14
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Paul Griffiths , Paul Mohr , Nitish Swarup , Michael Costa , David Larkin , Thomas Cooper , Michael Hanuschik
CPC classification number: A61B34/70 , A61B34/30 , A61B34/32 , A61B90/50 , A61B2034/304 , A61B2090/508 , 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. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both, and may employ a set-up mode in which one or more of the joints are actively driven in response to manual articulation of one or more other joints of the kinematic chain. In an exemplary embodiment, the actively driven joints will move a platform structure that supports multiple manipulators in response to movement of one of the manipulators, facilitating and expediting the arrangement of the overall system by moving those multiple manipulators as a unit into alignment with the workspace. Manual independent positioning of the manipulator can be provided through passive set-up joint systems supporting the manipulators relative to the platform.
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公开(公告)号：US09452020B2
公开(公告)日：2016-09-27
申请号：US13967594
申请日：2013-08-15
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. One or more kinematic linkage sub-systems may include joints that are actively driven, passive, or a mix of both. A set-up mode employs an intuitive user interface in which one or more joints 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. The system may provide a detent-like manual articulation that is not limited to mechanically pre-defined detent joint configurations. Embodiments of the invention provide, and can be particularly well-suited for manual movement of a platform supporting a plurality of surgical manipulators in a robotic surgical system 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。 一个或多个运动联动子系统可以包括被主动驱动的，被动的或两者的混合的关节。 安装模式采用直观的用户界面，其中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。 系统可以提供类似于止动器的手动关节，其不限于机械预定义的止动器接头构造。 本发明的实施例提供并且可以特别适合于在机器人手术系统等中支撑多个外科手术操纵器的平台的手动移动，而不必增加额外的输入装置。
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