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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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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
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.
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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
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.
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公开(公告)号：US20240293121A1
公开(公告)日：2024-09-05
申请号：US18662686
申请日：2024-05-13
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. WEIR , Gabriel F. BRISSON , William A. BURBANK , Amir CHAGHAJERDI , Patrick FLANAGAN , Pushkar HINGWE , Andrew WILSON , Donald F. WILSON, JR. , Matthew A. WIXEY
CPC classification number: A61B17/07207 , A61B17/00234 , A61B34/00 , A61B34/10 , A61B34/30 , A61B34/35 , A61B34/74 , A61B90/06 , A61B2017/00017 , A61B2017/00022 , A61B2017/00039 , A61B2017/00075 , A61B2017/00128 , A61B2017/00367 , A61B2017/00398 , A61B2017/0725 , A61B2017/07257 , A61B2017/07271 , A61B2017/07278 , A61B2034/2059 , A61B34/25 , A61B2034/305 , A61B2090/064 , A61B2090/066
Abstract: Techniques for control of an instrument include a device having an actuator. To perform an operation with an instrument coupled to the actuator, the instrument is operated according to a state machine by: transitioning the instrument from a gripped state to a clamped state in response to receiving a clamp command; transitioning the instrument from the clamped state to a firing state in response to receiving a fire command; transitioning the instrument from the firing state to a pause state in response to detecting a stall in the actuator used to actuate the instrument; transitioning the instrument from the pause state to a stop firing state in response to a pause limit being reached; and transitioning the instrument from the pause state to the firing state in response to the actuator beginning to move again or after a first predetermined period of time has elapsed since entering the pause state.
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公开(公告)号：US20230240776A1
公开(公告)日：2023-08-03
申请号：US18298210
申请日：2023-04-10
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Hsien-Hsin LIAO , Brandon D. ITKOWITZ , Julie L. BERRY , Pushkar HINGWE
CPC classification number: A61B34/35 , A61B34/30 , A61B34/70 , A61B2090/064
Abstract: Systems and methods for instrument control include a first actuator for controlling a first mechanical degree of freedom, a second actuator for controlling a second mechanical degree of freedom, and a controller. The controller is configured to command the first actuator to maintain the first actuator at a first position, wherein actuation of the first actuator is subject to a first torque limit; command the second actuator to maintain the second actuator at a second position, wherein actuation of the second actuator is subject to a second torque limit; and in response to detecting that the first actuator cannot be maintained at the first position using actuation subject to the first torque limit and the second actuator can be maintained at the second position using actuation subject to the second torque limit, terminate the command to the first actuator to maintain the first actuator at the first position.
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Patent Agency Ranking
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：US20210145441A1
公开(公告)日：2021-05-20
申请号：US17160288
申请日：2021-01-27
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： David W. WEIR , Gabriel F. BRISSON , William A. BURBANK , Amir CHAGHAJERDI , Patrick FLANAGAN , Pushkar HINGWE , Andrew WILSON , Donald F. WILSON, JR. , Matthew A. WIXEY
Abstract: A system and method of variable velocity control of an instrument by a computer-assisted device includes a computer-assisted device that includes an actuator and one or more processors. To perform an operation with an instrument coupled to the computer-assisted device, the one or more processors are configured to set a velocity set point of the actuator to an initial velocity, monitor force or torque applied by the actuator to actuate the instrument, when the applied force or torque is above a first force or torque limit, determine whether a total duration of a set of pauses occurring during the operation of the instrument is below a maximum pause threshold, and in response to determining that the total duration is below the maximum pause threshold, pause the operation of the instrument.
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公开(公告)号：US20250064538A1
公开(公告)日：2025-02-27
申请号：US18946712
申请日：2024-11-13
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: Teleoperated control includes commanding, in response to a first input to move a tool while an imaging device is mounted to a first manipulator and a tool is mounted to a second manipulator, actuator(s) of the second manipulator to move the tool with a first motion relative to a first reference frame that corresponds with a first movement of an input device relative to a display, the first reference frame defined based on the imaging device mounted to the first manipulator; and commanding, in response to receiving a second input to move the tool while the imaging device is mounted to the third manipulator, the actuator(s) to move the tool with a second motion relative to a second reference frame that corresponds with a second movement of the input device relative to the display, the second reference frame defined based on the imaging device being mounted to the third manipulator.
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公开(公告)号：US20230064265A1
公开(公告)日：2023-03-02
申请号：US17637336
申请日：2020-08-21
Applicant: Intuitive Surgical Operations, Inc.
Inventor： Charles A. SWEENEY , Scott O. LUKE , Michael C. WALDO , Allen C. THOMPSON , Randal P. GOLDBERG , Peling G. LEE , Pushkar HINGWE , Lawton N. VERNER , Goran A. LYNCH , Russell L. E. BLANCHARD
Abstract: Implementations relate to a moveable display system. In some implementations, a control unit includes a first support and a second support coupled to the first support. The second support is linearly translatable along a first axis in a first degree of freedom with respect to the first support, and at least a portion of the second support is linearly translatable along a second axis in a second degree of freedom with respect to the first support. The control unit includes a display unit rotatably coupled to the second support. The display unit is rotatable about a third axis in a third degree of freedom with respect to the second support, and the display unit includes a display device.
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公开(公告)号：US20210015568A1
公开(公告)日：2021-01-21
申请号：US17065483
申请日：2020-10-07
Applicant: INTUITIVE SURGICAL OPERATIONS, INC.
Inventor： Hsien-Hsin LIAO , Brandon D. ITKOWITZ , Julie L. BERRY , Pushkar HINGWE
Abstract: Systems and methods for instrument control include first and second actuators and a controller configured to command the first actuator to maintain a first degree of freedom (DOF) of an instrument at a first position; command the second actuator to maintain a second DOF of the instrument at a second position; detect, while the first actuator is maintaining the first DOF at the first position, a first manual actuation of the first actuator that exceeds a first threshold; detect, while the second actuator is maintaining the second DOF at the second position, a second manual actuation of the second actuator that does not exceed a second threshold; and in response to detecting that the first manual actuation exceeds the first threshold and the second manual actuation does not exceed the second threshold, terminate the command to the first actuator to maintain the first DOF at the first position.
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