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公开(公告)号：US09308937B2
公开(公告)日：2016-04-12
申请号：US14208663
申请日：2014-03-13
发明人： Paul G. Griffiths , Paul W. Mohr , Alan W. Petersen , David Robinson , Nitish Swarup , Mark W. Zimmer , Alexander Makhlin , Julio Santos-Munne , Eric Faulring , Thomas Moyer
CPC分类号： B62D6/10 , A61B34/30 , A61B34/35 , A61B50/10 , A61B50/13 , A61B50/18 , A61B2017/00123 , A61B2017/00482 , A61B2050/185 , A61B2090/064 , B62D1/12
摘要： A patient side cart for a teleoperated surgical system includes at least one manipulator portion for holding a surgical instrument and a steering interface. The steering interface may include at least one sensor positioned to sense turning, fore, and aft forces exerted by a user to move the cart. The steering interface may further include a coupling mechanism to removably couple the steering interface with the patient side cart. The at least one sensor may be placed in signal communication with a drive control system of the patient side cart when the steering interface is in a coupled state with the patient side cart.
摘要翻译： 用于远程手术的外科系统的患者侧车包括至少一个用于保持手术器械和操纵界面的操纵器部分。 转向界面可以包括至少一个传感器，其被定位成感测用户施加的转动，前后力以移动推车。 转向接口还可以包括联接机构，用于可拆卸地将转向接口与患者侧车辆联接。 当转向接口处于与患者侧车的联接状态时，至少一个传感器可被放置成与患者侧车的驱动控制系统进行信号通信。
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92.发明申请SYSTEMS AND METHODS FOR USING THE NULL SPACE TO EMPHASIZE MANIPULATOR JOINT MOTION ANISOTROPICALLY 有权使用空间空间来促进操纵器联合运动的系统和方法各向异性公开(公告)号：US20140316431A1
公开(公告)日：2014-10-23
申请号：US14218842
申请日：2014-03-18
发明人： Arjang Hourtash , Nitish Swarup
IPC分类号： A61B19/00
CPC分类号： A61B34/37 , A61B1/00193 , A61B18/14 , A61B34/25 , A61B34/30 , A61B2018/00595 , B25J9/1607 , B25J18/007
摘要： 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 calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.
摘要翻译： 用于提供操纵器的末端执行器的指令运动的装置，系统和方法，同时提供操纵器的一个或多个关节的期望运动。 方法包括使用关节空间内的加权矩阵计算加权关节速度，以各向异性地强调零空间内的关节运动，以提供第一组关节的期望运动。 方法可以包括使用伪逆解来计算实现期望的末端执行器运动的关节速度，并且使用对应于第一组关节的期望运动的关节空间内的潜在功能梯度来调整计算的关节速度。 方法可以包括使用加权伪逆解和增强雅可比解。 还可以使用从伪逆解算出的联合速度来提供一个或多个辅助运动。 本文提供了使用这种方法的系统的各种配置。
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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
发明人： Paul Griffiths , Paul Mohr , Nitish Swarup
IPC分类号： A61B19/00
CPC分类号： 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
摘要： 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.
摘要翻译： 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：US12035987B2
公开(公告)日：2024-07-16
申请号：US18309453
申请日：2023-04-28
摘要： A computer-assisted device includes an articulated arm configured to support an end effector and a control unit. When coupled to the articulated arm and a table, the control unit is configured to detect movement of the articulated arm caused by movement of the table, determine a movement of the table based on motion data received from the table, and drive one or more first joints of the articulated arm based on the movement of the articulated arm and the determined movement of the table.
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公开(公告)号：US11684448B2
公开(公告)日：2023-06-27
申请号：US17224049
申请日：2021-04-06
CPC分类号： A61B90/50 , A61B34/30 , A61B34/35 , B25J9/0087 , B25J9/06 , B25J9/1641 , B25J9/1664 , B25J9/1689 , B25J19/0004 , A61B34/37 , A61B2034/305 , A61B2090/508 , Y10S901/02
摘要： A computer-assisted device includes a plurality of articulated arms and a control unit. Each articulated arm has a plurality of brakes. The control unit is configured to determine a plurality of timing windows based on a time period for brake release and a number of articulated arms comprising the plurality of articulated arms. The plurality of timing windows include a timing window for each articulated arm of the plurality of articulated arms. The control unit is further configured to determine, for each articulated arm of the plurality of articulated arms, an order for releasing brakes of the plurality of brakes of that articulated arm. The control unit is further configured to cause release of the brakes of the plurality of brakes of each of the plurality of articulated arms according to the determined order and the plurality of timing windows.
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公开(公告)号：US11638619B2
公开(公告)日：2023-05-02
申请号：US17390722
申请日：2021-07-30
发明人： Nitish Swarup , Arjang M. Hourtash
摘要： A system includes a manipulator arm configured to support an instrument having an end effector, the manipulator arm including a distal portion, a proximal portion coupled to a base, and a multitude of joints between the distal portion and the base, the multitude of joints providing sufficient degrees of freedom to allow a range of differing joint states of the multitude of joints for a state of the distal portion. The system also includes a processor coupled to the manipulator arm. The processor is configured with a manipulation mode and a clutch mode, the clutch mode selected from the group consisting of: an arm-null-perpendicular-clutch mode, a port-null-perpendicular-clutch mode, and an arm-port-null-perpendicular-clutch mode. The processor is configured to operate the multitude of joints in accordance with at least one of the manipulation mode and the various clutch modes.
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公开(公告)号：US11369445B2
公开(公告)日：2022-06-28
申请号：US16439634
申请日：2019-06-12
摘要： Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods include both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory on the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor is updated by shipping of new data. Once downloaded by the processor from a component, subsequent components take advantage of the updated processor without repeated downloading.
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98.发明授权公开(公告)号：US11033345B2
公开(公告)日：2021-06-15
申请号：US16355517
申请日：2019-03-15
发明人： Paul G. Griffiths , Paul W. Mohr , Nitish Swarup , Michael Costa , David Q. Larkin , Thomas G. Cooper
摘要： A tele-operated system includes a platform, a manipulator supported by the platform, a support structure supporting the platform, and a processor. In a platform movement mode the processor is configured to sense a manual movement of a link of the manipulator relative to the platform that moves the link from a first to a second positional relationship relative to the platform wherein a difference between the first and second positional relationships includes a displacement having components in first, second, and third directions that are perpendicular to one another, calculate, in response to the sensed manual movement, a command for the support structure that causes the link to move in the first direction so as to reduce the displacement in the first direction and does not change the displacement in the second direction, and transmit the command to the support structure so as to move the platform and the manipulator.
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公开(公告)号：US10939969B2
公开(公告)日：2021-03-09
申请号：US16204449
申请日：2018-11-29
发明人： Nitish Swarup , David W. Robinson
摘要： Systems and methods are provided for the elimination/mitigation of vibration arising from a mode transition during robotic operation include a moveable robotic mechanism and a processor configured to control the robotic mechanism. The processor is configured to detect a request for a mode transition, wherein the request for the mode transition designates a new mode that is different than a current mode, determine initial parameters of the robotic mechanism, calculate a smoothing curve, and move the robotic mechanism according to the smoothing curve. The initial parameters include a position and a velocity of the robotic mechanism. The smoothing curve transitions between the current mode and the new mode and is C3 continuous. In some embodiments, to calculate the smoothing curve, the processor is configured to establish a first command position, calculate a step value, and set a second command position based on the first command position and the step value.
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公开(公告)号：US10905507B2
公开(公告)日：2021-02-02
申请号：US16925030
申请日：2020-07-09
发明人： Niels Smaby , Gregory W. Dachs, II , Nicola Diolaiti , Pushkar Hingwe , Thomas R. Nixon , Bruce M. Schena , Nitish Swarup
IPC分类号： B25J19/00 , A61B34/35 , A61B34/37 , A61B90/00 , A61B34/00 , A61B34/30 , B25J19/02 , B25J19/04
摘要： A system includes a plurality of manipulators and a controller. The controller is configured to detect mounting of a first imaging device to a first manipulator of the plurality of manipulators, determine a first reference frame for the first imaging device based on the mounting of the first imaging device to the first manipulator, detect mounting of a second imaging device to a second manipulator of the plurality of manipulators, select the first imaging device as a reference imaging device, and in response to selecting the first imaging device as the reference imaging device, control the second imaging device relative to the first reference frame. In some embodiments, the controller is configured to select the first imaging device as the reference imaging device in response to the first imaging device being mounted prior to the second imaging device operator selection or based on a type of the first imaging device.
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