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    System and method for maintaining a tool position and orientation
    92.
    发明授权
    System and method for maintaining a tool position and orientation 有权

    公开(公告)号：US11129684B2

    公开(公告)日：2021-09-28

    申请号：US16743218

    申请日：2020-01-15

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

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

    Abstract: A system and method of maintaining a tool position and orientation for a computer-assisted device include an articulated structure including a plurality of joints and a control unit coupled to the articulated structure. The control unit is configured to determine whether a cannula or an instrument is coupled to a distal end of the articulated structure and in response to determining that the cannula or the instrument is coupled to the distal end of the articulated structure: determine an initial position and orientation of the instrument prior to detection of a disturbance in a first joint of the plurality of joints; determine, during the disturbance in the first joint, a current position and orientation of the instrument; determine a difference between the current position and orientation and the initial position and orientation; and drive at least a second joint of the plurality of joints based on the difference.

    System and method for integrated table motion
    93.
    发明授权
    System and method for integrated table motion 有权

    公开(公告)号：US10993772B2

    公开(公告)日：2021-05-04

    申请号：US16242750

    申请日：2019-01-08

    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

    Abstract: A system and method for integrated table motion includes a device. The device includes an articulated arm having joints and a distal portion distal to the joints and a control unit. To support integrated motion with a separate table, the control unit is configured to receive a table movement request from the table, determine whether allowing the table movement request would result in a first joint of the joints being at a range of motion limit, allow the table to perform the table movement request based on determining that allowing the table to perform the table movement request would not result in the first joint being at the range of motion limit, track movement of the table due to performing the table movement request, and maintain, using the joints and based on the tracked movement, a position and/or an orientation of the distal portion relative to the table.

    SYSTEMS AND METHODS FOR ONSCREEN MENUS IN A TELEOPERATIONAL MEDICAL SYSTEM
    99.
    发明申请
    SYSTEMS AND METHODS FOR ONSCREEN MENUS IN A TELEOPERATIONAL MEDICAL SYSTEM 审中-公开

    公开(公告)号：US20200078105A1

    公开(公告)日：2020-03-12

    申请号：US16324891

    申请日：2017-08-11

    Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

    Inventor： Brandon D. Itkowitz ,  Julie L. Berry ,  Anthony Michael Jarc ,  Amy E. Kerdok

    IPC: A61B34/00 ,  A61G13/02

    Abstract: A system comprises a teleoperational assembly including an operator control system and a teleoperational manipulator configured for operation by the operator control system. The teleoperational manipulator is coupled to a medical instrument in a surgical environment. The system also comprises a processing unit including one or more processors. The processing unit is configured to retrieve a user profile for a user. The user profile including a parameter established during a prior teleoperational procedure. The processing unit is also configured to provide instructions to configure an operation of the teleoperational assembly based upon the parameter.

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