公开(公告)号：US20180338808A1

公开(公告)日：2018-11-29

申请号：US16052555

申请日：2018-08-01

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Brandon D. Itkowitz ,  Michael Hanuschik ,  Thomas R. Nixon

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

Abstract: A system and method of aligning with a reference target includes a computer-assisted device. The computer-assisted device includes a link, one or more first joints coupled proximally to the link, an articulated arm comprising one or more second joints coupled distally to the link, the articulated arm configured to couple to an instrument, and a control unit. The control unit is configured to position or orient the link, using the one or more first joints, based on at least one reference of the instrument selected from the group consisting of a reference point associated with the instrument and a reference orientation of the instrument. The control unit is further configured to maintain, while positioning or orienting the link and by using the one or more second joints, a position or an orientation of the instrument relative to a workspace in accordance with the at least one reference of the instrument.

公开(公告)号：US09931172B2

公开(公告)日：2018-04-03

申请号：US15295673

申请日：2016-10-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup

IPC: B25J15/02 ,  G05B19/04 ,  A61B34/37 ,  A61B34/00 ,  A61B1/00 ,  A61B18/14 ,  B25J9/16 ,  B25J18/00 ,  A61B18/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B2018/00595 ,  B25J9/1607 ,  B25J18/007

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 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.

公开(公告)号：US09468501B2

公开(公告)日：2016-10-18

申请号：US14218842

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Arjang Hourtash ,  Nitish Swarup

IPC: B25J15/02 ,  G05B19/04 ,  A61B19/00 ,  B25J9/16 ,  B25J18/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B2018/00595 ,  B25J9/1607 ,  B25J18/007

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 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.

Abstract translation: 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。

公开(公告)号：US20160263746A1

公开(公告)日：2016-09-15

申请号：US15057073

申请日：2016-02-29

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash ,  Paul W. Mohr

IPC: B25J9/16 ,  A61B34/20 ,  A61B34/37 ,  B25J18/00

CPC classification number: B25J9/1643 ,  A61B1/00193 ,  A61B34/20 ,  A61B34/30 ,  A61B34/37 ,  A61B34/74 ,  A61B34/76 ,  A61B50/13 ,  A61B2034/107 ,  A61B2034/2059 ,  A61B2034/301 ,  A61B2034/742 ,  A61B2090/065 ,  B25J18/007 ,  G05B2219/40339 ,  G05B2219/40359 ,  G05B2219/40474

Abstract: Devices, systems, and methods for providing a desired movement of one or more joints of a manipulator arm having a plurality of joints with redundant degrees of freedom while effecting commanded movement of a distal end effector of the manipulator. Methods include defining a constraint, such as a network of paths, within a joint space defined by the one or more joints and determining a movement of the plurality of joints within a null-space to track the constraints with the one or more joints. Methods may further include calculating a reconfiguration movement of the joints and modifying the constraints to coincide with a reconfigured position of the one or more joints. Various configurations for devices and systems utilizing such methods are provided herein.

Abstract translation: 用于提供具有冗余自由度的多个关节的操纵臂的一个或多个关节的期望运动的装置，系统和方法，同时执行操纵器的远端执行器的命令运动。 方法包括在由一个或多个关节限定的关节空间内限定诸如路径网络的约束，并且确定多个关节在零空间内的运动以跟踪所述一个或多个关节的约束。 方法还可以包括计算关节的重新配置运动并修改约束以与一个或多个关节的重新配置的位置一致。 本文提供了利用这种方法的装置和系统的各种配置。

公开(公告)号：US09345546B2

公开(公告)日：2016-05-24

申请号：US14145406

申请日：2013-12-31

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Gregory K. Toth ,  Nitish Swarup ,  Thomas R. Nixon ,  David Q. Larkin ,  Steven J. Colton

IPC: A61B19/00 ,  G06F19/00 ,  A61B17/00

CPC classification number: A61B34/32 ,  A61B34/30 ,  A61B34/35 ,  A61B34/37 ,  A61B90/361 ,  A61B2017/00477 ,  A61B2034/305 ,  G05B2219/45123 ,  G05B2219/49305 ,  G06F19/00 ,  G16H40/40 ,  Y10S901/02 ,  Y10S901/41

Abstract: Robotic devices, systems, and methods for use in robotic surgery and other robotic applications, and/or medical instrument devices, systems, and methods includes both a reusable processor and a limited-use robotic tool or medical treatment probe. A memory the limited-use component includes machine readable code with data and/or programming instructions to be implemented by the processor. Programming of the processor can be updated by shipping of new data once downloaded by the processor from a component, subsequent components can take advantage of the updated processor without repeated downloading.

Abstract translation: 用于机器人手术和其他机器人应用的机器人设备，系统和方法，和/或医疗仪器装置，系统和方法包括可重复使用的处理器和有限使用的机器人工具或医疗处理探针。 存储器的有限使用组件包括具有由处理器实现的数据和/或编程指令的机器可读代码。 处理器的编程可以通过由处理器从组件下载而运送新数据来更新，后续组件可以利用更新的处理器而不重复下载。

公开(公告)号：US09308937B2

公开(公告)日：2016-04-12

申请号：US14208663

申请日：2014-03-13

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： 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

IPC: B62D6/10 ,  B62D1/12 ,  A61B19/02 ,  A61B19/00

CPC classification number: B62D6/10 ,  A61B34/30 ,  A61B34/35 ,  A61B50/10 ,  A61B50/13 ,  A61B50/18 ,  A61B2017/00123 ,  A61B2017/00482 ,  A61B2050/185 ,  A61B2090/064 ,  B62D1/12

Abstract: 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.

Abstract translation: 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。

公开(公告)号：US20140316431A1

公开(公告)日：2014-10-23

申请号：US14218842

申请日：2014-03-18

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Arjang Hourtash ,  Nitish Swarup

IPC: A61B19/00

CPC classification number: A61B34/37 ,  A61B1/00193 ,  A61B18/14 ,  A61B34/25 ,  A61B34/30 ,  A61B2018/00595 ,  B25J9/1607 ,  B25J18/007

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 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.

Abstract translation: 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。

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。

公开(公告)号：US12035987B2

公开(公告)日：2024-07-16

申请号：US18309453

申请日：2023-04-28

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Brandon D. Itkowitz ,  Paul G. Griffiths ,  Nitish Swarup ,  Kamyar Ziaei

IPC: G06F17/00 ,  A61B34/30 ,  A61G13/02

CPC classification number: A61B34/30 ,  A61G13/02

Abstract: 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.

公开(公告)号：US11684448B2

公开(公告)日：2023-06-27

申请号：US17224049

申请日：2021-04-06

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  Paul G. Griffiths ,  Goran A. Lynch ,  Daniel N. Miller

IPC: A61B90/50 ,  A61B34/30 ,  A61B34/35 ,  B25J9/16 ,  B25J9/00 ,  B25J9/06 ,  B25J19/00 ,  A61B34/37

CPC classification number: 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

Abstract: 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.