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    Teleoperated surgical system with surgical instrument wear tracking
    4.
    发明授权
    Teleoperated surgical system with surgical instrument wear tracking 有权

    公开(公告)号：US11311347B2

    公开(公告)日：2022-04-26

    申请号：US16349208

    申请日：2017-11-10

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Pushkar Hingwe ,  Amy E. Kerdok ,  William C. Nowlin ,  David W. Robinson

    IPC: A61B34/35 ,  A61B34/00 ,  A61B90/98 ,  A61B34/20 ,  A61B90/00

    Abstract: A surgical method is provided, comprising: providing an information structure in a computer readable storage device that associates an indication of surgeon skill level in at least one surgical activity performed using the surgical instrument with a surgical instrument actuator safety state of the surgical instrument for use during performance of the at least one surgical activity using the surgical instrument by a surgeon having the indicated skill level; tracking surgical instrument actuator state of a surgical instrument during performance of a surgical procedure by a surgeon; and transitioning the surgical instrument actuator state of the surgical instrument to the surgical instrument safety state during performance of the at least one surgical activity by the surgeon using the surgical instrument.

    SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT
    6.
    发明申请
    SYSTEMS AND METHODS FOR UTILIZING AUGMENTED JACOBIAN TO CONTROL MANIPULATOR JOINT MOVEMENT 审中-公开

    公开(公告)号：US20190262085A1

    公开(公告)日：2019-08-29

    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 ,  A61B34/00 ,  B25J9/16

    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.

    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES
    8.
    发明申请
    PHANTOM DEGREES OF FREEDOM FOR MANIPULATING THE MOVEMENT OF MECHANICAL BODIES 审中-公开
    用于操纵机械运动的自由度自由度

    公开(公告)号：US20160213435A1

    公开(公告)日：2016-07-28

    申请号：US15003556

    申请日：2016-01-21

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

    IPC: A61B34/37 ,  A61B34/35 ,  B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

    Phantom degrees of freedom for manipulating the movement of mechanical bodies
    9.
    发明授权
    Phantom degrees of freedom for manipulating the movement of mechanical bodies 有权
    用于操纵机械体运动的幻影自由度

    公开(公告)号：US09272416B2

    公开(公告)日：2016-03-01

    申请号：US13966406

    申请日：2013-08-14

    Applicant: Intuitive Surgical Operations, Inc.

    Inventor： Arjang M. Hourtash ,  Samuel Kwok Wai Au ,  Raymond A. Bonneau ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Amy E. Kerdok ,  Michael Turner

    IPC: B25J13/00 ,  B25J9/16

    CPC classification number: A61B34/37 ,  A61B34/35 ,  B25J9/16 ,  B25J9/1689 ,  G05B2219/40195 ,  G05B2219/45123 ,  Y10S901/02

    Abstract: Methods, apparatus, and systems for controlling the movement of a mechanical body. In accordance with a method, desired movement information is received that identifies a desired motion of a mechanical body, the mechanical body having a first number of degrees of freedom. A plurality of instructions are then generated by applying the received desired movement information to a kinematic model, the kinematic model having a second number of degrees of freedom greater than the first number of degrees of freedom, each of the instructions being configured to control a corresponding one of the second number of degrees of freedom. A subset of the plurality of instructions are then transmitted for use in controlling the first number of degrees of freedom of the mechanical body.

    Abstract translation: 用于控制机械体运动的方法，装置和系统。 根据一种方法，接收标识机械体的期望运动的期望运动信息，机械体具有第一数量的自由度。 然后通过将接收到的期望运动信息应用于运动学模型来生成多个指令，运动学模型具有大于第一自由度数量的第二数量的自由度，每个指令被配置为控制对应的 第二个自由度之一。 然后传输多个指令的子集用于控制机械体的第一数量的自由度。

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