公开(公告)号：US11638619B2

公开(公告)日：2023-05-02

申请号：US17390722

申请日：2021-07-30

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Nitish Swarup ,  Arjang M. Hourtash

IPC: A61B34/30 ,  B25J9/16 ,  B25J18/00 ,  A61B34/37

Abstract: 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.

公开(公告)号：US11369445B2

公开(公告)日：2022-06-28

申请号：US16439634

申请日：2019-06-12

Applicant: Intuitive Surgical Operations, Inc.

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

IPC: A61B34/35 ,  A61B34/32 ,  A61B34/30 ,  A61B34/37 ,  G16H40/40 ,  A61B17/00 ,  A61B90/00

Abstract: 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.

公开(公告)号：US11033345B2

公开(公告)日：2021-06-15

申请号：US16355517

申请日：2019-03-15

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Paul G. Griffiths ,  Paul W. Mohr ,  Nitish Swarup ,  Michael Costa ,  David Q. Larkin ,  Thomas G. Cooper

IPC: A61B34/35 ,  A61B34/30 ,  A61B50/10 ,  A61B50/18 ,  A61B17/00

Abstract: 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.

公开(公告)号：US10939969B2

公开(公告)日：2021-03-09

申请号：US16204449

申请日：2018-11-29

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Nitish Swarup ,  David W. Robinson

IPC: A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35

Abstract: 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.

公开(公告)号：US10905507B2

公开(公告)日：2021-02-02

申请号：US16925030

申请日：2020-07-09

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: B25J19/00 ,  A61B34/35 ,  A61B34/37 ,  A61B90/00 ,  A61B34/00 ,  A61B34/30 ,  B25J19/02 ,  B25J19/04

Abstract: 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.

公开(公告)号：US10743953B2

公开(公告)日：2020-08-18

申请号：US16194149

申请日：2018-11-16

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Niels Smaby ,  Gregory W. Dachs, II ,  Nicola Diolaiti ,  Pushkar Hingwe ,  Thomas R. Nixon ,  Bruce M. Schena ,  Nitish Swarup

IPC: A61B34/00 ,  A61B34/35 ,  A61B34/37 ,  A61B34/30 ,  A61B90/00

Abstract: A system includes manipulators and a controller. The controller is configured to detect mounting of an imaging device to a first manipulator of the manipulators, determine a first reference frame for the imaging device based on the mounting of the imaging device to the first manipulator, control a tool relative to the first reference frame by controlling a relative position and orientation of a tip of the tool relative to the imaging device in the first reference frame by correlating movement of a master input control to movement of the tool in the first reference frame, detect mounting of the imaging device to a second manipulator of the manipulators, the second manipulator being different from the first manipulator, determine a second reference frame for the imaging device based on the mounting of the imaging device to the second manipulator, and control the tool relative to the second reference frame.

公开(公告)号：US10717194B2

公开(公告)日：2020-07-21

申请号：US16079970

申请日：2017-02-03

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Paul G. Griffiths ,  Nitish Swarup

IPC: G06F19/00 ,  B25J9/16 ,  A61B34/00 ,  A61B34/30 ,  G16H50/50 ,  A61B34/32 ,  A61B34/35 ,  A61B90/00 ,  A61B34/20 ,  A61B34/10

Abstract: A system and method of collision avoidance includes determining first positions of first joints of a first repositionable arm and second positions of second joints of a second repositionable arm. Distal ends of the first and second repositionable arms are configured to support first and second instruments, respectively. The system and method further include determining first and second virtual boundaries around the first and second repositionable arms, determining an overlap between the first and second virtual boundaries, determining an overlap force on the first repositionable arm due to the overlap, mapping the overlap force to virtual torques on the first joints proximal to the overlap, determining a tip force on a distal end of the first instrument, and applying the tip force as feedback on the first instrument.

公开(公告)号：US10506920B2

公开(公告)日：2019-12-17

申请号：US15652153

申请日：2017-07-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Christopher J. Hasser ,  Nitish Swarup ,  Thomas G. Cooper ,  S. Christopher Anderson

IPC: A61B1/00 ,  A61B1/005 ,  A61B1/05 ,  A61B1/008 ,  A61B34/00 ,  A61B34/30 ,  A61B34/37 ,  A61B34/35 ,  A61B1/018 ,  A61B17/00

Abstract: The present invention is directed to an articulate minimally invasive surgical endoscope with a flexible wrist having at least one degree of freedom. When used with a surgical robot having a plurality of robot arms, the endoscope can be used with any of the plurality of arms thereby allowing the use a universal arm design. The endoscope in accordance to the present invention is made more intuitive to a user by attaching a reference frame used for controlling the at least one degree of freedom motion to the flexible wrist for wrist motion associated with the at least one degree of freedom. The endoscope in accordance to the present invention attenuates undesirable motion at its back/proximal end by acquiring the image of the object in association with the at least one degree of freedom based on a reference frame rotating around a point of rotation located proximal to the flexible wrist.

公开(公告)号：US10327855B2

公开(公告)日：2019-06-25

申请号：US15512495

申请日：2015-09-17

Applicant: Intuitive Surgical Operations, Inc.

Inventor： Arjang M. Hourtash ,  Nitish Swarup ,  Pushkar Hingwe

IPC: A61B34/30 ,  A61B34/00 ,  A61B34/35 ,  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.

公开(公告)号：US10272569B2

公开(公告)日：2019-04-30

申请号：US15522073

申请日：2015-10-27

Applicant: INTUITIVE SURGICAL OPERATIONS, INC.

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

IPC: G06F19/00 ,  B25J9/16 ,  A61B34/30 ,  B25J9/06 ,  B25J19/00 ,  B25J19/02 ,  A61B90/00 ,  A61B34/20 ,  A61B34/35 ,  A61B90/50

Abstract: A computer-assisted medical device including a first joint set on an articulated arm, a second joint set on the articulated arm, and a control unit coupled to the first joint set and second joint set. The control unit determines a disturbance to the first joint set caused by a release of one or more brakes and compensates for the disturbance using the second joint set to reduce motion to a position of a point of interest. In some embodiments, the control unit compensates for the disturbance by determining an initial position for the point of interest with respect to a reference point, determining a predicted motion for the point of interest based on the disturbance to the first joint set, and sending a drive command to the second joint set to move the point of interest in a direction opposite to the predicted motion.